ASEL_Controller_ME0165

ASEL_Controller_ME0165
ASEL Controller
Operation Manual Third Edition
CAUTION
Operator Alarm on Low Battery Voltage
This controller is equipped with the following backup batteries for retention of data in the event of power
failure:
[1] System-memory backup battery (optional)
For retention of position data, global variables/flags, error list, strings, etc.
[2] Absolute-encoder backup battery (absolute specification)
For retention of multi-rotation data of the encoder
Since these batteries are not rechargeable, they will be eventually consumed. Unless the batteries are
replaced in a timely manner, the voltage will drop to a level where the data can no longer be retained. If a
power failure occurs in this condition, the data will be lost. (The life of each battery varies depending on
the operating time.)
Once the data is lost, the controller will not operate normally the next time the power is turned on, and
recovery will take time.
To prevent this problem, this controller can output a low battery voltage alarm from its I/O port.
You can specify a desired output port to issue a low voltage alarm for the system-memory backup
battery.
Set “15” as the input function specification value in the I/O parameter corresponding to the output port
number you want to specify.
Setting example)
To specify output port No. 306 to issue a low voltage alarm for the system-memory backup battery, set
“15” in I/O parameter No. 52 as the input function specification value.
You can specify a desired output port to issue a low voltage alarm for the absolute-data backup
battery.
Set “16” as the input function specification value in the I/O parameter corresponding to the output port
number you want to specify.
Setting example)
To specify output port No. 307 to issue a low voltage alarm for the absolute-data backup battery, set
“16” in I/O parameter No. 53 as the input function specification value.
It is recommended that this function be utilized to prevent unnecessary problems resulting from low
battery voltage (consumption of battery life).
In particular, the person in charge of overall system design should utilize this function to provide a design
means for issuing an operator alarm using an output signal from an I/O port, while the person in charge of
electrical design should provide an electrical means for achieving the same effect.
For the battery replacement procedure, refer to the applicable section in the operating manual.
It is recommended that you always back up the latest data to a PC in case of voltage drop in the systemmemory backup battery or unexpected controller failure.
CAUTION
Optional System-Memory Backup Battery
The ASEL controller can be used with the optional system-memory backup battery.
Caution: When installing the system-memory backup battery, “Other parameter No. 20” must be set to “2.”
Installing the system-memory backup battery will add the following functions to the controller:
• Save SEL global data
Data of global variables, flags and strings will be retained even after the main power is turned off.
• Save RAM position data
Position data changed by SEL programs will be retained even after the main power is turned off.
• Save an error list
An error list containing up to 100 most recent errors will be retained even after the main power is
turned off.
If you need any or all of the above functions, you must install the optional system-memory backup battery.
CAUTION
Safety Precautions
Please read the information in “Safety Precautions” carefully before selecting a model and using the
product.
Danger
Failure to observe the instruction will result in an imminent danger leading to
death or serious injury.
Warning
Failure to observe the instruction may result in death or serious injury.
Caution
Failure to observe the instruction may result in injury or property damage.
Note
The user should take heed of this information to ensure the proper use of the
product, although failure to do so will not result in injury.
This product has been designed and manufactured as a component for use in general industrial
machinery.
Devices must be selected and handled by a system designer, personnel in charge of the actual operation
using the product or similar individual with sufficient knowledge and experience, who has read both the
catalog and operation manual (particularly the “Safety Precautions” section). Mishandling of the product
poses a risk.
Please read the operation manuals for all devices, including the main unit and controller.
It is the user’s responsibility to verify and determine the compatibility of this product with the user’s
system, and to use them properly.
After reading the catalog, operation manual and other materials, be sure to keep them in a convenient
place easily accessible to the personnel using this product.
When transferring or loaning this product to a third party, be sure to attach the catalog, operation manual
and other materials in a conspicuous location on the product, so that the new owner or user can
understand its safe and proper use.
The danger, warning and caution directions in this “Safety Precautions” do not cover every possible case.
Please read the catalog and operation manual for the given device, particularly for descriptions unique to
it, to ensure its safe and proper handling.
Danger
[General]
z Do not use this product for the following applications:
1. Medical equipment used to maintain, control or otherwise affect human life or physical health
2. Mechanisms and machinery designed for the purpose of moving or transporting people
3. Important safety parts of machinery
This product has not been planned or designed for applications requiring high levels of safety. Use of
this product in such applications may jeopardize the safety of human life. The warranty covers only the
product as it is delivered.
[Installation]
z Do not use this product in a place exposed to ignitable, inflammable or explosive substances. The
product may ignite, burn or explode.
z Avoid using the product in a place where the main unit or controller may come in contact with water or
oil droplets.
z Never cut and/or reconnect the cables supplied with the product for the purpose of extending or
shortening the cable length. Doing so may result in fire.
[Operation]
z Do not pour water onto the product. Spraying water over the product, washing it with water or using it
in water may cause the product to malfunction, resulting in injury, electric shock, fire, etc.
[Maintenance, Inspection, Repair]
z Never modify the product. Unauthorized modification may cause the product to malfunction, resulting in
injury, electric shock, fire, etc.
z Do not disassemble and reassemble the components relating to the basic structure of the product or its
performance and function. Doing so may result in injury, electric shock, fire, etc.
Warning
[General]
z Do not use the product outside the specifications. Using the product outside the specifications may
cause it to fail, stop functioning or sustain damage. It may also significantly reduce the service life of
the product. In particular, observe the maximum loading capacity, acceleration/deceleration and speed.
[Installation]
z If the machine will stop in the case of system problem such as emergency stop or power failure, design
a safety circuit or other device that will prevent equipment damage or injury.
Also provide safety measures to prevent the machine from starting only by the cancellation of an
emergency stop or recovery of power following a power outage.
z Be sure to provide Class D grounding for the controller and actuator (formerly Class 3 grounding:
Grounding resistance at 100 Ω or less). Leakage current may cause electric shock or malfunction.
z Before supplying power to and operating the product, always check the operation area of the
equipment to ensure safety. Supplying power to the product carelessly may cause electric shock or
injury due to contact with the moving parts.
z Wire the product correctly by referring to the operation manual. Securely connect the cables and
connectors so that they will not be disconnected or come loose. Failure to do so may cause the
product to malfunction or cause fire.
[Operation]
z Do not touch the terminal block or various switches while the power is supplied to the product. Failure
to observe this instruction may result in electric shock or malfunction.
z Before operating the moving parts of the product by hand (for the purpose of manual positioning, etc.),
confirm that the servo is turned off (using the teaching pendant or PC software). Failure to observe this
instruction may result in injury.
z The cables supplied with the product are flexible, but they are not robot cables. Do not store the cables
in a movable cable duct (cable bearer, etc.) that bends more than the specified bending radius.
z Do not scratch the cables. Scratching, forcibly bending, pulling, winding, crushing with heavy object or
pinching a cable may cause it to leak current or lose continuity, resulting in fire, electric shock,
malfunction, etc.
z Turn off the power to the product in the event of power failure. Failure to do so may cause the product
to suddenly start moving when the power is restored, thus resulting in injury or product damage.
z If the product is generating heat, smoke or a strange smell, turn off the power immediately. Continuing
to use the product may result in product damage or fire.
z If any of the internal protective devices (alarms) of the product has actuated, turn off the power
immediately. Continuing to use the product may result in product damage or injury due to malfunction.
Once the power supply is cut off, investigate and remove the cause and then turn on the power again.
[Maintenance, Inspection, Repair]
z Before conducting maintenance/inspection, parts replacement or other operations on the product,
completely shut down the power supply. At this time, take the following measures:
1. Display a sign that reads, “WORK IN PROGRESS. DO NOT TURN ON POWER” at a conspicuous
place, in order to prevent a person other than the operator from accidentally turning on the power
while the operation is working.
2. When two or more operators are to perform maintenance/inspection together, always call out every
time the power is turned on/off or an axis is moved in order to ensure safety.
[Disposal]
z Do not throw the product into fire. The product may burst or generate toxic gases.
Caution
[Installation]
z Do not use the product under direct sunlight (UV ray), in a place exposed to dust, salt or iron powder,
in a humid place, or in an atmosphere of organic solvent, phosphate-ester machine oil, sulfur dioxide
gas, chlorine gas, acids, etc. The product may lose its function over a short period of time, or exhibit a
sudden drop in performance or its service life may be significantly reduced.
z Do not use the product in an atmosphere of corrosive gases (sulfuric acid or hydrochloric acid),
inflammable gases or ignitable liquids. Rust may form and reduce the structural strength or the motor
may ignite or explode.
z When using the product in any of the places specified below, provide a sufficient shield. Failure to do
so may result in malfunction:
1. Place where large current or high magnetic field is present
2. Place where welding or other operations are performed that cause arc discharge
3. Place subject to electrostatic noise
4. Place with potential exposure to radiation
z Install the main unit and controller in a place subject to as little dust as possible. Installing them in a
dusty place may result in malfunction.
2
z Do not install the product in a place subject to large vibration or impact (4.9 m/s or more). Doing so
may result in the malfunctioning of the product.
z Provide an emergency-stop device in a readily accessible position so the device can be actuated
immediately upon occurrence of a dangerous situation during operation. Lack of such device in an
appropriate position may result in injury.
z Provide sufficient maintenance space when installing the product. Routine inspection and maintenance
cannot be performed without sufficient space, which will eventually cause the equipment to stop or the
product to sustain damage.
z Do not hold the moving parts of the product or its cables during installation. It may result in injury.
z Always use IAI’s genuine cables for connection between the controller and the actuator. Also use IAI’s
genuine products for the key component units such as the actuator, controller and teaching pendant.
z Before installing or adjusting the product or performing other operations on the product, display a sign
that reads, “WORK IN PROGRESS. DO NOT TURN ON POWER.” If the power is turned on
inadvertently, injury may result due to electric shock or sudden activation of an actuator.
[Operation]
z Provide safety measures to prevent the machine from starting only by the input of power.
Failure to do so may cause the product to start suddenly, resulting in injury or product damage.
z Do not insert a finger or object in the openings in the product. It may cause fire, electric shock or injury.
z Do not bring a floppy disk or other magnetic media within one meter of the product. The magnetic field
generated by the magnet may destroy the data in the floppy disk, etc.
[Maintenance, Inspection, Repair]
z When the power was turned off and the cover was opened to replace the battery, etc., do not touch the
condenser terminal in the product immediately after the power was turned off (within 30 seconds).
Residual voltage may cause electric shock.
z Do not touch the terminals when performing an insulation resistance test. Electric shock may result.
(Do not perform any withstand voltage test, since the product uses DC voltage.)
Note
[General]
z If you are planning to use the product under a condition or environment not specified in the catalogs
and operation manual, or in an application requiring strict safety such as aircraft facility, combustion
system, entertainment machine, safety device or other equipment having significant impact on human
life or property, design operating ranges with sufficient margins from the ratings and design
specifications or provide sufficient safety measures such as fail-safes. Whatever you do, always
consult IAI’s sales representative.
[Installation]
z Do not place objects around the controller that will block airflows. Insufficient ventilation may damage
the controller.
z Do not configure a control circuit that will cause the load to drop in case of power failure. Configure a
control circuit that will prevent the slider or load from dropping when the power to the machine is cut off
or an emergency stop is actuated.
[Installation, Operation, Maintenance]
z When installing the actuator or carrying out other actuator-related work on the site, wear protective
gloves, protective goggles, safety shoes or other necessary gear to ensure safety.
[Disposal]
z When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste.
Others
„ IAI shall not be liable whatsoever for any loss or damage arising from a failure to observe the
items specified in “Safety Precautions.”
„ The product cannot be operated in any way other than what is described in this operation
manual. IAI shall assume no responsibility for any damage or loss resulting from operating
the product in any way other than what is described in this operation manual.
CE Mark
1. European Union EC Directives
The European Union EC Directives are designed to protect the users and consumers of products sold in
the EU (European Union) block against health and safety risks associated with use of such products, while
ensuring free distribution of products within the EU block in compliance with the New Approach Directives
issued by the European Commission. Accordingly, companies exporting to Europe or having production
sites in Europe must meet the CE Marking requirements.
With the ASEL controller, models (conditions) of controller/actuator/peripheral connection & installation are
determined and these models are used to confirm compliance with the standards relating to the applicable
EMC Directives.
2. Conforming Standards
<EMC Directives>
(EMI)
EN 61000-6-4/EN 55011 Group 1, Class A
(EMS)
EN 61000-6-2 (Immunity in Industrial Environment)
EN 61000-4-2 (Electrostatic Discharge Immunity)
EN 61000-4-3 (Radiated Radio-frequency, Electromagnetic Field Immunity)
EN 61000-4-4 (Electrical Fast Transient/Burst Immunity)
EN 61000-4-5 (Surge Immunity)
EN 61000-4-6 (Immunity to Conducted Disturbances Induced by Radio-frequency Electromagnetic Fields)
EN 61000-4-8 (Power-frequency Magnetic Field Immunity)
CE Mark
1. Configuration of Peripherals
Encoder cable
Actuator
Motor cable
Encoder cable
Actuator
Motor cable
100
or
200-VAC
power supply
bus
Control panel
Clamp
filters
24-VDC
power
supply
Controller
(Frame)
Surge
protector
(1) Environment
Item
Overvoltage category
Pollution degree
IP code
Altitude
Standard
I
II
IP20
2000 m or less
• Use the ASEL controller in an environment of pollution degree 2 or 1 as specified in IEC 60664-1.
Example) Install the controller in a control panel having a structure capable of shutting out ingress
of water, oil, carbon, dust, etc. (IP54)
(2) Power supply
For the controller and I/O power supplies, use CE Mark-compliant 24-VDC power supplies whose
input and output circuits are protected by reinforced insulation (SELV).
CE Mark
(3) Clamp filter
Install the following clamp filter on the motor cable:
Manufacturer: TDK Corporation
Model: ZCAT3035-1330
Shape/dimensions
ZCAT type
Shape/dimensions (mm)
A: 39 ± 1
B: 34 ± 1
φC: 13 ± 1
φD: 30 ± 1
Fig. 1 External View of Clamp Filter
(4) Surge protector
Install the following surge protector on the primary side of the 24-VDC power supply:
Manufacturer: Okaya Electric Industries Co., Ltd.
Model: R/A/V-781BWZ-2A
BWZ series
Fig. 2 External View of Surge Protector
CE Mark
(5) Cables
Take note of the following limitations on cables:
A) All cables connected to the ASEL controller, including various network cables, must be less than
30 m long.
B) For the controller power (24-VDC) cable, use a 2-core (1-pair) twisted pair cable with a wire size
of AWG16 to 18 (1.25 mm2 to 0.75 mm2).
Table of Contents
Table of Contents
Part 1
Installation .................................................................................................... 1
Chapter 1
Overview................................................................................................................................. 1
1. Introduction...................................................................................................................................... 1
2. Type ................................................................................................................................................ 1
3. ASEL Controller Functions .............................................................................................................. 2
4. System Setup .................................................................................................................................. 4
5. Warranty Period and Scope of Warranty......................................................................................... 5
Chapter 2
Specifications.......................................................................................................................... 6
1. Controller Specifications.................................................................................................................. 6
2. Name and Function of Each Part .................................................................................................... 7
Chapter 3
Installation and Wiring .......................................................................................................... 20
1. External Dimensions ..................................................................................................................... 20
2. Installation Environment ................................................................................................................ 22
3. Heat Radiation and Installation ..................................................................................................... 23
4. Noise Control Measures and Grounding....................................................................................... 24
5. Supply Voltage .............................................................................................................................. 27
6. Wiring ............................................................................................................................................ 28
6.1 ...........................Wiring the Control Power Supply, Emergency Stop Switch and Enable Switch
...................................................................................................................................................... 28
6.2 .................................................................................................... Wiring the Motor Power Cables
...................................................................................................................................................... 29
6.3 ................................................................................................................Connecting the Actuator
...................................................................................................................................................... 30
6.4 .................................................................................................... Connecting the PIO Cable (I/O)
...................................................................................................................................................... 31
6.5 ............................................................................................................ External I/O Specifications
...................................................................................................................................................... 36
6.6 ............................................... Connecting the Teaching Pendant/PC (Software) (TP) (Optional)
...................................................................................................................................................... 40
6.7 ........................................................................................... Connecting the Panel Unit (Optional)
...................................................................................................................................................... 40
6.8 ........................................................... Installation Method for the Absolute-Data Backup Battery
...................................................................................................................................................... 46
6.9 ............................................................ Installing the System-Memory Backup Battery (Optional)
...................................................................................................................................................... 47
Chapter 4
Operation.............................................................................................................................. 48
1. Startup ........................................................................................................................................... 48
1.1 .................................................................................................................... Power ON Sequence
Table of Contents
...................................................................................................................................................... 49
1.2 ................................................................................................................ Power Cutoff Sequence
...................................................................................................................................................... 49
2. How to Perform Absolute Reset (Absolute Specification) ............................................................. 50
2.1 ....................................................................................................................................Preparation
...................................................................................................................................................... 50
2.2 ......................................................................................................................................Procedure
...................................................................................................................................................... 50
Table of Contents
3. How to Start a Program ................................................................................................................. 55
3.1 ...............................................................Starting a Program by Auto-Start via Parameter Setting
...................................................................................................................................................... 56
3.2 ........................................................................................... Starting via External Signal Selection
...................................................................................................................................................... 57
4. Drive-Source Recovery Request and Operation-Pause Reset Request ...................................... 59
5. Controller Data Structure............................................................................................................... 60
5.1 ......................................................................................................................... How to Save Data
...................................................................................................................................................... 61
5.2 ................................................................................................................................Points to Note
...................................................................................................................................................... 63
Chapter 5
Maintenance ......................................................................................................................... 64
1. Inspection points ........................................................................................................................... 64
2. Spare consumable parts................................................................................................................ 64
3. Replacement Procedure for System-Memory Backup Battery (Optional) .................................... 65
4. Replacement Procedure for Absolute-Data Backup Battery (Optional) ........................................ 67
Part 2
Programs .................................................................................................... 69
Chapter 1
SEL Language Data ............................................................................................................. 69
1. Values and Symbols Used in SEL Language................................................................................ 69
1.1 ................................................................................................. List of Values and Symbols Used
...................................................................................................................................................... 69
1.2 ........................................................................................................................................ I/O Ports
...................................................................................................................................................... 70
1.3 ............................................................................................................................. Virtual I/O Ports
...................................................................................................................................................... 71
1.4 ..............................................................................................................................................Flags
...................................................................................................................................................... 73
1.5 ........................................................................................................................................Variables
...................................................................................................................................................... 74
1.6 ...............................................................................................................................................Tags
...................................................................................................................................................... 77
1.7 ................................................................................................................................... Subroutines
...................................................................................................................................................... 78
1.8 .........................................................................................................................................Symbols
...................................................................................................................................................... 79
1.9 ............................................................................................................... Character-String Literals
...................................................................................................................................................... 79
1.10 ........................................................................................................................ Axis Specification
...................................................................................................................................................... 80
2. Position Part .................................................................................................................................. 82
3. Command Part .............................................................................................................................. 83
3.1 ................................................................................................................ SEL language Structure
Table of Contents
...................................................................................................................................................... 83
3.2 ...................................................................................................................... Extension Condition
...................................................................................................................................................... 84
Chapter 2
List of SEL Language Command Codes .............................................................................. 85
1. By Function ................................................................................................................................... 85
2. Alphabetical Order......................................................................................................................... 90
Table of Contents
Chapter 3
Explanation of Commands ................................................................................................... 95
1. Commands .................................................................................................................................... 95
1.1 ......................................................................................................................Variable Assignment
...................................................................................................................................................... 95
1.2 ..................................................................................................................... Arithmetic Operation
...................................................................................................................................................... 98
1.3 ........................................................................................................................Function Operation
.................................................................................................................................................... 101
1.4 .......................................................................................................................... Logical Operation
.................................................................................................................................................... 104
1.5 .................................................................................................................. Comparison Operation
.................................................................................................................................................... 107
1.6 ............................................................................................................................................. Timer
.................................................................................................................................................... 108
1.7 ........................................................................................................................I/O, Flag Operation
.....................................................................................................................................................111
1.8 ............................................................................................................................Program Control
.................................................................................................................................................... 122
1.9 .........................................................................................................................Task Management
.................................................................................................................................................... 125
1.10 .......................................................................................................................Position Operation
.................................................................................................................................................... 130
1.11 .......................................................................................................Actuator Control Declaration
.................................................................................................................................................... 145
1.12 ........................................................................................................ Actuator Control Command
.................................................................................................................................................... 161
1.13 .................................................................................................................................Structural IF
.................................................................................................................................................... 184
1.14 ...............................................................................................................................Structural DO
.................................................................................................................................................... 187
1.15 ........................................................................................................................... Multi-Branching
.................................................................................................................................................... 189
1.16 ...................................................................................................System Information Acquisition
.................................................................................................................................................... 193
1.17 ............................................................................................................................................ Zone
.................................................................................................................................................... 196
1.18 ........................................................................................................................... Communication
.................................................................................................................................................... 200
1.19 .......................................................................................................................... String Operation
.................................................................................................................................................... 207
1.20 ................................................................................................................... Arch-Motion-Related
.................................................................................................................................................... 216
1.21 ...................................................................................................................... Palletizing-Related
.................................................................................................................................................... 221
Table of Contents
1.22 ............................................................................................... Palletizing Calculation Command
.................................................................................................................................................... 228
1.23 ................................................................................................ Palletizing Movement Command
.................................................................................................................................................... 231
1.24 ................................................................................................. Building of Pseudo-Ladder Task
.................................................................................................................................................... 233
1.25 ................................................................................................................... Extended Command
.................................................................................................................................................... 235
Chapter 4
Key Characteristics of Actuator Control Commands and Points to Note ........................... 238
1. Continuous Movement Commands............................................................................................. 238
2. PATH/PSPL Commands.............................................................................................................. 240
3. CIR/ARC Commands .................................................................................................................. 240
4. CIR2/ARC2/ARCD/ARCC Commands........................................................................................ 240
Chapter 5
Palletizing Function (2-axis Specification).......................................................................... 241
1. How to Use .................................................................................................................................. 241
2. Palletizing Setting........................................................................................................................ 241
3. Palletizing Calculation ................................................................................................................. 246
4. Palletizing Movement .................................................................................................................. 247
5. Program Examples...................................................................................................................... 248
Table of Contents
Chapter 6
Pseudo-Ladder Task........................................................................................................... 250
1. Basic Frame ................................................................................................................................ 250
2. Ladder Statement Field ............................................................................................................... 251
3. Points to Note .............................................................................................................................. 251
4. Program Example........................................................................................................................ 252
Chapter 7
Application Program Examples .......................................................................................... 253
1. Operation by Jog Command [Doll-Picking Game Machine]........................................................ 253
2. Operation by Point Movement Command [Riveting System]...................................................... 256
Chapter 8
Real-Time Multi-Tasking ..................................................................................................... 259
1. SEL Language............................................................................................................................. 259
2. Multi-Tasking ............................................................................................................................... 260
3. Difference from a Sequencer ...................................................................................................... 261
4. Release of Emergency Stop........................................................................................................ 262
5. Program Switching ...................................................................................................................... 263
Chapter 9
Example of Building a System............................................................................................ 264
1. Equipment ................................................................................................................................... 264
2. Operation..................................................................................................................................... 264
3. Overview of the Screw-Tightening System ................................................................................. 265
4. Hardware ..................................................................................................................................... 266
5. Software ...................................................................................................................................... 267
Chapter 10
Example of Building a System............................................................................................ 269
1. Position Table .............................................................................................................................. 269
2. Programming Format .................................................................................................................. 270
3. Positioning to Five Positions ....................................................................................................... 271
4. How to Use TAG and GOTO ....................................................................................................... 272
5. Moving Back and Forth between Two Points .............................................................................. 273
6. Path Operation ............................................................................................................................ 274
7. Output Control during Path Movement........................................................................................ 275
8. Circle/Arc Operation .................................................................................................................... 276
9. Home Return Completion Output................................................................................................ 277
10. Axis Movement by Input Waiting and Completion Output........................................................... 278
11. Changing the Moving Speed ....................................................................................................... 279
12. Changing the Speed during Operation........................................................................................ 280
13. Local/Global Variables and Flags................................................................................................ 281
14. How to Use Subroutines.............................................................................................................. 282
15. Pausing the Operation................................................................................................................. 283
16. Canceling the Operation 1 (CANC)............................................................................................. 284
17. Canceling the Operation 2 (STOP) ............................................................................................. 285
18. Movement by Position Number Specification.............................................................................. 286
19. Movement by External Position Data Input ................................................................................. 287
Table of Contents
20. Conditional Jump......................................................................................................................... 288
21. Waiting Multiple Inputs ................................................................................................................ 289
22. How to Use Offset ....................................................................................................................... 290
23. Executing an Operation N times ................................................................................................. 291
24. Constant-pitch Feed .................................................................................................................... 292
25. Jogging ........................................................................................................................................ 293
26. Switching Programs .................................................................................................................... 294
27. Aborting a Program ..................................................................................................................... 295
Part 3
Positioner Mode........................................................................................ 296
Chapter 1
Modes and Signal Assignments ......................................................................................... 296
1. Feature of Each Mode................................................................................................................. 296
2. Number of Positions Supported in Each Mode ........................................................................... 297
3. Quick Mode Function Reference Table ....................................................................................... 297
4. Interface List of All PIO Patterns ................................................................................................. 298
Chapter 2
Standard Mode ................................................................................................................... 299
1. I/O Interface List .......................................................................................................................... 299
2. Parameters .................................................................................................................................. 300
3. Details of Each Input Signal ........................................................................................................ 300
4. Details of Each Output Signal ..................................................................................................... 303
5. Timing Chart ................................................................................................................................ 304
5.1 ............................................................................................................ Recognition of I/O Signals
.................................................................................................................................................... 304
5.2 .................................................................................................................................Home Return
.................................................................................................................................................... 305
5.3 .......................................................................................................Movements through Positions
.................................................................................................................................................... 306
Chapter 3
Product Switching Mode..................................................................................................... 308
1. I/O Interface List .......................................................................................................................... 308
2. Parameters .................................................................................................................................. 309
3. Details of Each Input Signal ........................................................................................................ 310
4. Details of Each Output Signal ..................................................................................................... 313
5. Timing Chart ................................................................................................................................ 314
5.1 ............................................................................................................ Recognition of I/O Signals
.................................................................................................................................................... 314
5.2 .................................................................................................................................Home Return
.................................................................................................................................................... 315
5.3 .......................................................................................................Movements through Positions
.................................................................................................................................................... 316
Chapter 4
2-axis Independent Mode................................................................................................... 318
1. I/O Interface List .......................................................................................................................... 318
Table of Contents
2. Parameters .................................................................................................................................. 319
3. Details of Each Input Signal ........................................................................................................ 320
4. Details of Each Output Signal ..................................................................................................... 322
5. Timing Chart ................................................................................................................................ 324
Table of Contents
5.1 ............................................................................................................ Recognition of I/O Signals
.................................................................................................................................................... 324
5.2 .................................................................................................................................Home Return
.................................................................................................................................................... 325
5.3 .......................................................................................................Movements through Positions
.................................................................................................................................................... 326
Chapter 5
Teaching Mode ................................................................................................................... 327
1. I/O Interface List .......................................................................................................................... 328
2. Parameters .................................................................................................................................. 329
3. Details of Each Input Signal ........................................................................................................ 329
4. Details of Each Output Signal ..................................................................................................... 332
5. Timing Chart ................................................................................................................................ 334
5.1 ............................................................................................................ Recognition of I/O Signals
.................................................................................................................................................... 334
5.2 .................................................................................................................................Home Return
.................................................................................................................................................... 335
5.3 .......................................................................................................Movements through Positions
.................................................................................................................................................... 337
5.4 ...................................................................................................... Timings in the Teaching Mode
.................................................................................................................................................... 338
Chapter 6
DS-S-C1 Compatible Mode................................................................................................ 339
1. I/O Interface List .......................................................................................................................... 339
2. Parameters .................................................................................................................................. 340
3. Details of Each Input Signal ........................................................................................................ 340
4. Details of Each Output Signal ..................................................................................................... 342
5. Timing Chart ................................................................................................................................ 343
5.1 ............................................................................................................ Recognition of I/O Signals
.................................................................................................................................................... 343
5.2 .................................................................................................................................Home Return
.................................................................................................................................................... 344
5.3 .......................................................................................................Movements through Positions
.................................................................................................................................................... 345
Table of Contents
Appendix
................................................................................................................. 348
Battery Backup Function ................................................................................................................... 348
1. System-Memory Backup Battery................................................................................................. 348
2. Absolute-Data Backup Battery for Absolute Encoder ................................................................. 350
Parameter Utilization ......................................................................................................................... 352
1. Utilization Examples of I/O Parameters ...................................................................................... 353
2. Utilization Examples of Axis-specific Parameters ....................................................................... 360
3. Parameter Utilization Examples (Reference) .............................................................................. 368
4. Servo Gain Adjustment................................................................................................................ 372
List of Parameters.............................................................................................................................. 374
1. I/O Parameters ............................................................................................................................ 375
1.1
I/O Parameters................................................................................................................. 374
1.2
I/O Function Lists ............................................................................................................. 380
2. Parameters Common to All Axes ................................................................................................ 383
3. Axis-Specific Parameters ............................................................................................................ 385
4. Driver Parameters ....................................................................................................................... 389
5. Encoder Parameters ................................................................................................................... 392
6. I/O Devices .................................................................................................................................. 393
7. Other Parameters........................................................................................................................ 394
8. Manual Operation Types ............................................................................................................. 399
Combination Table of ASEL Linear/Rotary Control Parameters ........................................................ 401
Error Level Control............................................................................................................................. 402
Error List ............................................................................................................................................ 404
Error List ............................................................................................................................................ 436
Troubleshooting of ASEL Controller .................................................................................................. 440
Trouble Report Sheet ........................................................................................................................ 444
Part 1 Installation
Part 1
Installation
Chapter 1
Overview
1. Introduction
Thank you for purchasing the ASEL Controller.
Please read this manual carefully, and handle the product with due care and operate it correctly.
Keep this manual in a safe place and reference relevant items when needed.
When actually starting up your system or if you have encountered a problem, you should also refer to the
manuals for the teaching pendant, PC software and other components used with the system, in addition to
this manual.
This manual does not cover all possible operations other than normal operations, or unexpected events
such as complex signal changes resulting from use of critical timings.
Accordingly, you should consider items not specifically explained in this manual as “prohibited.”
* Utmost effort has been made to ensure accuracy and completeness of the information contained in this
manual. However, should you find any error in the manual or if you have any comment regarding its
content, please contact IAI.
Keep this manual in a convenient place so that you can quickly reference it whenever necessary.
2. Type
Refer to the following table for details on type specification.
Example of type specification
Type specification table
Details of axis 1 to axis 2
Series
Controller
type
(Standard
specification)
Motor
Number
of axes output (W)
Encoder
type
Brake
(Axis 1)
(Incremental)
Blank
(Without
brake)
(Axis 2)
(Absolute)
B
(With brake)
Home
sensor
Standard
I/O
I/O flat
cable length
Blank
Standard PIO
24 inputs/8 outputs
NPN specification
(Standard)
(Without home
sensor)
L
(With home
sensor)
Powersource
voltage
0: 24 VDC
Standard PIO
24 inputs/8 outputs
PNP specification
None
1
Part 1 Installation
3. ASEL Controller Functions
The functions provided by the ASEL controller are structured in the following manner.
ASEL
Program mode
Positioner mode
Standard mode
Product switching mode
2-axis independent mode
Teaching mode
DS-S-C1 compatible mode
The ASEL controller has the “program mode” in which SEL programs are input to operate the actuator(s),
and the “positioner mode” in which position numbers are specified from the host PLC to operate the
actuator(s).
The positioner mode provides five sub-modes to meet the needs of various applications.
The program mode has been selected at the factory prior to the shipment of the controller (Other
parameter No. 25 = 0).
Caution: Two modes cannot be selected at the same time.
2
Part 1 Installation
This controller can be configured with one axis and two axes. Just like other conventional SEL controllers,
this controller can be combined with various actuators. When connecting an actuator, be sure to use a
dedicated cable.
• Turn on the I/O power before or simultaneously with the main power (control power + motor power).
• Take the control power and motor power from the same power supply and turn on both powers
simultaneously.
• Before performing a check or inserting/removing a connector, turn off the power and wait for at least 10
minutes.
• About actuator duty
IAI recommends that our actuators be used at a duty of 50% or less as a guideline in view of the
relationship of service life and accuracy:
Duty (%) =
Acceleration / Deceleration Time
X 100
Motion time + Inactivity
• After turning off the control power, be sure to wait for at least 5 seconds before turning it back on.
• Do not insert or remove connectors while the controller power is on. Doing so may cause malfunction.
• Note on introducing a controller of absolute specification
The following steps must be taken to initialize the absolute-data backup battery circuit to prevent the
battery from being consumed quickly. Perform the initialization by following these steps:
[1] Before connecting the encoder cable, disconnect the absolute-data backup battery connector.
[2] Connect the encoder cable.
[3] Turn on the main power.
[4] Connect the absolute-data backup battery.
The above steps must always be performed after the encoder cable has been disconnected for any
reason, such as to move the controller.
Read the operation manual for each actuator. If you have purchased our optional PC software and/or
teaching pendant, read the respective operation manuals, as well.
* Utmost effort has been made to ensure that the information contained in this manual is true and
correct. However, should you find any error or if you have any comment regarding the content,
please contact IAI.
3
Part 1 Installation
4. System Setup
Host
system
Conversion cable
Panel unit
Teaching
pendant
Dummy plug
Emergency
stop switch
Enable switch
24-VDC
power
supply
* Note on connecting the encoder cable to a controller of absolute specification
Follow the steps below when connecting the encoder cable to a controller of absolute specification. If the specified
steps are not followed, the absolute-data backup battery may be consumed quickly.
[1] Before connecting the encoder cable, disconnect the absolute-data backup battery connector.
[2] Connect the encoder cable, and turn on the main power.
[3] Connect the absolute-data backup battery connector. Once the connector has been plugged in, the main
power can be turned off.
For the installation of the absolute-data backup battery, refer to 6.8, “Installation Method for the Absolute-Data
Backup Battery” in Chapter 3 of Part 1.
If you have disconnected the encoder cable for any reason, such as to move the controller, also follow the same
steps to connect the absolute-data backup battery connector.
4
Part 1 Installation
5. Warranty Period and Scope of Warranty
The ASEL Controller you have purchased passed our strict outgoing inspection. This unit is covered by
the following warranty:
1. Warranty Period
The warranty period shall be either of the following periods, whichever ends first:
• 18 months after shipment from our factory
• 12 months after delivery to a specified location
2. Scope of Warranty
Should the product fail during the above period under a proper use condition due to a fault on the part
of the manufacturer, IAI will repair the defect free of charge. However, the following cases are
excluded from the scope of warranty:
•
•
•
•
•
•
•
•
Discoloration of paint or other normal aging
Wear of consumable parts due to use
Subjective imperfection, such as noise not affecting mechanical function
Defect caused by inappropriate handling or use by the user
Defect caused by inappropriate or erroneous maintenance/inspection
Defect caused by use of a part other than IAI’s genuine part
Defect caused by unauthorized modification, etc., not approved by IAI or its agent
Defect due to an act of God, accident, fire, etc.
The warranty covers only the product as it is delivered. IAI shall not be liable for any loss arising in
connection with the delivered product. The user must bring the defective product to our factory to
receive a warranty repair.
3. Scope of Service
The price of the delivered product does not include costs incurred in association with program
generation, dispatch of technician, etc. Therefore, a separate fee will be chargeable in the following
cases even during the warranty period:
•
•
•
•
•
Guidance on installation/adjustment and witnessing of test operation
Maintenance/inspection
Technical guidance and training on operation, wiring method, etc.
Technical guidance and training regarding programs, such as program generation
Other services and operations where IAI finds a need to charge a separate fee
5
Part 1 Installation
Chapter 2
Specifications
1. Controller Specifications
Base specifications of this product
Total output when maximum
30 W x 2 axes
number of axes are connected
Control power input
24 VDC ± 10%
Motor power input
24 VDC ± 10%
Resistance against
Maximum 0.5 msec
momentary power failure
1500 VAC for 1 minute (Measured between all power-supply
Withstand voltage
terminals and FG)
Insulation resistance
500 VDC, 10 MΩ or more
Drive-source cutoff method
Internal relay
Emergency stop input
Contact B input (Internal power-supply type)
Emergency stop action
Deceleration stop + Regenerative brake by timer
Enable input
Contact B input (Internal power-supply type)
Control method
AC full digital servo
Incremental serial encoder
Position detection method
Absolute serial encoder
ABZ parallel encoder
Absolute-data backup battery/System-memory backup battery
Battery
(Optional)
Lithium battery: AB-5 by IAI, 3.6 V/2000 mAh
Programming language
Super SEL language
Number of program steps
2000 steps (total)
Number of positions
1500 positions (total)
Number of programs
64 programs
Multi-tasking capability
8 programs
Storage device
Flash ROM
Data input method
Teaching pendant or PC software
PIO power input
24 VDC ± 10%
Safety category
Category B (Built-in relay)
Built-in, 100 Ω (2 W). An external resistor of 22 Ω (5 W) can be
Regenerative resistor
connected.
PIO inputs
24 points, NPN or PNP (Selectable as factory setting)
PIO outputs
8 points, NPN or PNP (Selectable as factory setting)
Air cooling method
Natural convection method
Weight
450 g
External dimensions
43 (W) x 159 (H) x 110 (D); mounting pitch 151 mm
I/O flat cable
Motor power connector
Accessories
Control power & system I/O connector
RB connector (Not normally used)
6
Part 1 Installation
2. Name and Function of Each Part
2.1
Name of Each Part
2.1.1 Front View
[9]
PIO connector
[10] MANU/AUTO switch
[1]
Axis 1 motor
connector
[2]
Axis 2 motor
connector
[3]
Axis 1 brake-release
switch
[4]
Axis 1 encoder
connector
[5]
Axis 2 brake-release
switch
[6]
Axis 2 encoder
connector
[7]
LED indicators
[8]
Panel unit connector
[11] USB connector
[12] Teaching connector
*1
For the 1-axis specification, [2], [5] and [6] are not installed and the front panel is masked.
7
Part 1 Installation
2.1.2
[14]
Down View
Regenerative
resistor connector
[16]
Motor power
connector
[13]
8
Axis 1 absolute-data
backup battery
connector
[18
Axis 2 absolute-data
backup battery
connector
Control power &
system I/O connector
[15]
2.1.3
[17]
Top View
System-memory backup
battery connector
Part 1 Installation
[1]
Axis 1 motor connector (M1):
This connector is used to connect the motor cable for axis 1.
Motor Connector Specifications
Item
Applicable connector
Connector name
Maximum connection
distance
Connected cable
Specification
2.5-mm pitch
connector, 3 pins
Cable-end
connector
M1
Remarks
DF1E-3P-2.5DS (Hirose)
DF1E-3S-2.5C (Hirose)
Contact: DF1E-2022SC (Hirose)
20 m
Motor cable
AWG22 X 3C
[2]
Axis 2 motor connector (M2):
This connector is used to connect the motor drive-source cable for
axis 2. The specifications are the same as those of the axis 1 motor
connector.
[3]
Axis 1 brake-release switch
(BK1):
This switch is used to forcibly release the electromagnetic brake of
the actuator constituting axis 1.
RLS (left)
NOM (right)
Name
RLS
NOM
Description
Supply the power to the brake and forcibly release the brake.
Turn the brake ON/OFF using an internal sequence.
Normally this switch is set to the “NOM” side.
9
Part 1 Installation
[4]
Axis 1 encoder/sensor
connector (PG1):
This connector is used to connect the encoder cable for axis 1. It
connects the encoder cable of the actuator constituting axis 1.
Encoder Connector Specifications
Item
Specification
Remarks
Applicable connector 2-mm pitch, doubleS18B-PHDRS-B (JST)
row connector, 18 pins
Cable-end connector
PHDR-18VR (JST)
Contact: SPHD-001TP0.5 (JST)
Connector name
PG1
Maximum connection
20 m
distance
Connected cable
Motor cable
AWG26 X 7P Shielded
10
Encoder cable
Cable model:
Controller end
Housing:
Contact:
Actuator end
Plug housing:
Socket contact:
Retainer:
(JST) X 1 (red)
(JST) X 15
XMP-18V (JST) X 1
BXA-001T-P0.6 (JST) X 15
XMS-09V (JST) X 2
Wiring diagram
Signal
ABZ
Wire
Color
Signal
Serial
Color
Wire
White/Blue
White/Purple
White/Yellow
White/Gray
White/Red
Yellow
White/Black
Blue
White/Blue
White/Yellow
White/Purple
White/Red
Drain
(pressure- White/Black
Orange
welded)
(pressurewelded)
Orange
Green
Green
Purple
Purple
Gray
Gray
Red
Red
Black
Black
White/Gray
Blue
Yellow
Drain
Drain wire and braided shield wire
11
Part 1 Installation
(“White/blue” and other designations under
“Color” indicate band color/insulator color.)
12
Encoder cable
Cable model:
Controller end
Housing:
Contact:
Actuator end
Plug housing:
Socket contact:
Retainer:
(JST) X 1 (red)
(JST) X 15
XMP-18V (JST) X 1
BXA-001T-P0.6 (JST) X 15
XMS-09V (JST) X 2
Wiring diagram
Signal
ABZ
Wire
Color
Signal
Serial
Color
Wire
Gray
Blue
Red
Orange
Black
Green
Yellow
Brown
Gray
Blue
Red
Black
(pressurewelded)
Drain
Yellow
Pink
Pink
Purple
Purple
White
White
Red/Blue
Blue/Red
Orange/White
Orange/White
Green/White
Green/White
(pressurewelded)
Orange
Brown
Green
Drain wire and braided shield wire
Part 1 Installation
(“White/blue” and other designations under
“Color” indicate band color/insulator color.)
Drain
Part 1 Installation
[5]
Axis 2 brake-release switch
(BK2):
This switch is used to forcibly release the electromagnetic brake of
the actuator constituting axis 2. The specifications are the same as
those of the axis 1 brake-release switch in [3].
[6]
Axis 2 encoder/sensor
connector (PG2):
This connector is used to connect to the encoder cable for axis 2.
The specifications are the same as those of the axis 1
encoder/sensor connector in [4].
[7]
LED indicators:
These indicators indicate the controller status.
Name
PWR
RDY
ALM
EMG
SV1
SV2
Color
Status when the LED is lit
The controller has been started successfully and is
Green
receiving power.
Green The controller is ready.
An alarm is present (an error of message level or
Orange
higher has generated.)
Red
An emergency stop is being actuated.
Green The servo for axis 1 is on.
Green The servo for axis 2 is on.
[8]
Panel unit connector:
This connector is used to connect the optional panel unit.
[9]
PIO connector:
This 34-pin, flat DIO connector consists of 24 inputs and eight
outputs.
Standard I/O Interface Specifications (key items)
Item
Connector name
Applicable connector
Power supply
Inputs
Outputs
Connected to
Description
I/O
Flat connector, 34 pins
Power is supplied from connector pin Nos. 1
and 34.
24 points (including general-purpose inputs and
dedicated inputs)
8 points (including general-purpose outputs and
dedicated outputs)
External PLC, sensor, etc.
13
Part 1 Installation
I/O Interface List (Program mode)
Pin No. Category Port No.
Function
1A
-
1B
016
Program specification (PRG No. 1)
1-Red
2A
017
Program specification (PRG No. 2)
1-Orange
2B
018
Program specification (PRG No. 4)
1-Yellow
3A
019
Program specification (PRG No. 8)
1-Green
020
Program specification (PRG No. 10)
1-Blue
4A
021
Program specification (PRG No. 20)
1-Purple
4B
022
Program specification (PRG No. 40)
1-Gray
5A
023
Software reset (restart)
1-White
5B
000
Program start
1-Black
6A
001
General-purpose input
2-Brown
6B
002
General-purpose input
2-Red
2-Orange
3B
External power supply 24 V
Cable color
1-Brown
003
General-purpose input
7B
004
General-purpose input
2-Yellow
8A
005
General-purpose input
2-Green
8B
006
General-purpose input
2-Blue
9A
007
General-purpose input
2-Purple
9B
008
General-purpose input
2-Gray
10A
009
General-purpose input
2-White
10B
010
General-purpose input
2-Black
11A
011
General-purpose input
3-Brown
012
General-purpose input
3-Red
12A
013
General-purpose input
3-Orange
12B
014
General-purpose input
3-Yellow
13A
015
General-purpose input
3-Green
13B
300
Alarm output
3-Blue
14A
301
Ready output
3- Purple
14B
302
Emergency-stop output
3-Gray
3-White
7A
Input
11B
303
Emergency-stop output
15B
304
General-purpose output
3-Black
16A
305
General-purpose output
4-Brown
16B
306
General-purpose output
4-Red
307
General-purpose output
4-Orange
External power supply 0 V
4-Yellow
15A
17A
17B
Output
N
The above functions reflect the factory settings for the program mode.
These functions can be changed by changing the corresponding parameters.
14
Part 1 Installation
[10]
MANU/AUTO switch:
MANU
(left)
AUTO
(right)
This switch is used to specify the controller operation mode.
Teaching pendant/PC software operation
(When the teaching connector is used)
PC software operation (when the USB
connector is used)
Starting of an auto start program
MANU
AUTO
Possible
Not possible
Possible
Not possible
Note)
Not possible
Possible
Note) When this switch is set to the “MANU” side and the USB
connector is used, the servo cannot be turned on unless a
dummy plug or teaching pendant is connected to the TP
connector. When the USB connector is used, always keep
a dummy plug or PC software cable connected to the TP
plug while the controller is in use. (This is to cancel the
disabled condition.)
If a dummy plug is used, always operate the controller in a
condition where the emergency stop switch is within an
easy reach.
[11]
USB connector:
This connector is used to connect the PC software and the
controller via a USB cable.
Connector:
USB connector B (XM7B-0442)
Connected to: USB cable
The maximum USB cable length is 5 m.
Note
y When the USB port is used, the USB driver contained in the “X-SEL PC Software IA-101-X-USB” CDROM must be installed by connecting all applicable controllers one by one. For the driver installation
method, refer to the X-SEL PC Software Operation Manual.
y When the USB port is used, a dummy plug must be connected to the teaching connector [12].
Dummy plug model: DP-3
15
Part 1 Installation
[12]
Teaching connector
(TP):
The teaching interface connects IAI’s teaching pendant or a PC (PC
software) to enable operation and setting of your equipment from the
teaching pendant/PC.
The interface is a RS232C system based on a 26-pin, half-pitch I/O
connector. The signal level conforms to RS232C, and a desired baud
rate (maximum 115.2 kbps) can be selected based on the program.
This connector can be used only when the mode switch is set to
“MANU.”
Interface Specifications of Teaching Serial Interface
Item
Connector
Connector
name
Baud rate
Maximum
wiring distance
Interface
standard
Connected unit
Connection
cable
Power supply
Protocol
Emergencystop control
Enabling
control
16
Description
26-pin, half-pitch
I/O connector
Mating connector
TX20A-26PH1-D2P1-D1E (by JAE)
T.P.
Teaching connector
Up to 115.2 kbps
Half-duplex communication speeds of
up to 115.2 kbps are supported.
At 38.4 kbps
10M
Details
TX20A-26R-D2LT1-A1LHE (by JAE)
RS232C
Dedicated teaching
pendant
IAI’s standard IA-T-X (D) for X-SEL
Dedicated cable
5 VDC or 24 VDC
X-SEL teaching
protocol
Series emergencystop relay drive
(24 V)
Enable switch line
(24 V)
A multi-fuse (MF-R090) is installed to
protect each line against short current
(the fuse will trip with currents of
between 1.1 A and 2.2 A).
The connector supports the X-SEL
teaching pendant interface protocol.
An emergency-stop relay drive line is
provided in the interface connector. This
line is connected in series with other
emergency-stop contact.
A line for connecting an enable switch is
provided as an operator interlock..
Part 1 Installation
Teaching pendant & dedicated communication cable connector
Item
Specification
Pin No.
I/O
1
Signal name
SG
Signal ground
2
Out
EMGS
3
Out
VCC
4
In
DTR
Emergency-stop status
Power output (Standard IA-T-X/XD power
supply (5 V))
Data terminal ready (Shorted to DSR)
5
NC
Not connected
6
NC
Not connected
7
NC
NC
Not connected
Power output (ANSI compliant IA-T-XA power
supply (24 V))
Emergency-stop contact output, negative
Power output (ANSI compliant IA-T-XA power
supply (24 V))
Not connected
8
Out
RSVVCC
9
In
EMGIN
10
Out
RSVVCC
11
Terminal
assignments
Remarks
12
Out
EMGOUT2
Emergency-stop contact output, positive
13
Out
RTS
14
In
CTS
15
Out
TXD
Request to send (Not used; fixed to 0 V)
Clear to send (Not used / Used as the TPconnection detection terminal)
Transmitted data
16
In
RXD
Received data
17
Out
DSR
Data set ready (Shorted to DTR)
18
NC
Not connected
19
NC
Not connected
20
NC
Not connected
21
NC
Not connected
22
NC
Not connected
23
In
ENBTB
Enable input
24
Out
ENBVCC
Enable drive power (24V)
25
NC
Not connected (Reserved by ENBTBX2)
26
SG
Signal ground
17
Part 1 Installation
[13]
System-memory backup This connector is used to install the system-memory backup battery.
battery connector:
[14]
Control power & system
I/O connector:
This connector is used to input the 24-VDC control power and connect the
emergency stop switch and enable switch.
The power supply connected to this connector is used for the controller
internal power, brake power, and so on, and not used as the motor drive
source.
The 0-V input is connected to the ground for the controller’s internal power
supply and is not insulated.
Item
Applicable
connector
Connector name
Input voltage
Maximum input
current
Terminal
assignments
[15]
18
Regenerative resistor
connector:
Specification
3.5 mm, 2-piece
COMBICON, 6 pins
Cable-end connector
Remarks
MC1.5/6-G-3.5 by Phoenix
Contact
MC1.5/6-ST-3.5 by Phoenix
Contact
AWG20 ~ 16 (0.5 ~ 1.25 sq)
Applicable wire size
Recommended stripped7 mm
wire length
CP EMG ENB
24 VDC + 10%/-10%
1.2 A
No.
Name
Function
1
EMG+
Emergency stop switch +
2
EMG-
Emergency stop switch -
3
ENB+
Enable switch +
4
ENB-
5
0V
6
24V
Enable switch Control power input ground
(Connected to the internal
ground)
Control power input +24 V
This connector is used to connect a regenerative resistor when the built-in
regenerative resistor alone cannot provide enough capacity in highacceleration/high-load operation, etc. This connector is not normally used
with the ASEL controller.
Part 1 Installation
[16]
Motor power connector:
This connector is used to input the 24-VDC motor power.
The power supply connected to this connector is used as the dedicated
motor drive source.
Since the controller has a built-in drive-source cutoff relay, the power
supply to the motor will be cut off internally if an emergency stop is
actuated or other abnormality occurs.
Although the motor power and control power are input independently, the
0-V terminals of both are connected inside the controller. They are also
connected to the ground for the controller’s internal power supply and are
not insulated.
Item
Applicable
connector
Connector name
Input voltage
Maximum input
current
Terminal
assignments
Specification
5.08 mm, 2-piece
COMBICON, 2 pins
Cable-end connector
Applicable wire size
Recommended strippedwire length
MP
Remarks
MSTB2.5/2-GF-5.08 by
Phoenix Contact
MSTB2.5/2-STF-5.08 by
Phoenix Contact
AWG20 ~ 14 (0.5 ~ 2.0 sq)
7 mm
24 VDC ± 10%
10.2 A
5.1 A per axis
No.
Name
1
0V
2
24V
Function
Motor power input ground
(Connected to the internal
ground)
Motor power input +24 V
[17]
Axis 1 absolute-data
backup battery
connector:
This connector is used to connect the absolute-data backup battery for
axis 1. (This connector is required only if your controller is of absoluteencoder specification.)
[18]
Axis 2 absolute-data
backup battery
connector:
This connector is used to connect the absolute-data backup battery for
axis 2. (This connector is required only if your controller is of absoluteencoder specification.)
19
Part 1 Installation
Chapter 3
Installation and Wiring
1. External Dimensions
(1)
20
2-axis specification
(The same external dimensions also apply to the 1-axis specification.)
Part 1 Installation
(2)
2-axis specification with battery
21
Part 1 Installation
2. Installation Environment
(1) When installing and wiring the controller, do not block the ventilation holes provided for cooling.
(Insufficient ventilation will not only prevent the product from functioning fully, but it may also result in
failure.)
(2) Prevent foreign matter from entering the controller through the ventilation holes. Since the controller is
not designed as dustproof or waterproof (oilproof), avoid using it in a dusty place or place subject to
oil mist or splashed cutting fluid.
(3) Do not expose the controller to direct sunlight or radiant heat from a high heat source such as a heattreating furnace.
(4) Use the controller in a non-condensing environment free from corrosive or inflammable gases.
(5) Use the controller in an environment where it will not receive external vibration or impact.
(6) Prevent electrical noise from entering the controller or its cables.
Environmental Condition of Controller
Item
Operating temperature range
Operating humidity range
Specification and description
0 ~ 40°C
10% ~ 95% (Non-condensing; conforming to JIS C3502 RH-2)
Storage temperature range
-25°C ~ 70°C (Excluding the battery)
Maximum operating altitude
2000 m
Protection class
Vibration
Impact
22
IP20
10 ≤ f < 57: 0.035 mm (continuous), 0.075 mm (intermittent)
57 ≤ f ≤ 150: 4.9 m/s2 (continuous), 9.8 m/s2 (intermittent)
X, Y and Z directions
147 mm/s2, 11 ms, half-sine pulse, 3 times each in X, Y and Z
directions
Part 1 Installation
3. Heat Radiation and Installation
Design the control panel size, controller layout and cooling method so that the ambient temperature
around the controller will be kept at or below 40°C.
Install the controller vertically on a wall, as illustrated below. The controller will be cooled by natural
convection. Be sure to install the controller in the aforementioned direction and provide a minimum
clearance of 50 mm above and below the controller.
If multiple controllers are to be installed side by side, providing additional suction fans on top of the
controllers will help maintain a uniform ambient temperature.
Provide a minimum clearance of 95 mm between the front side of the controller and a wall
(enclosure).
Airflow direction
Fan
50 mm min.
95 mm min.
50 mm min.
Airflow
If multiple controllers are to be connected on top of one another, prevent the controller above from
taking in the exhaust air from the controller below.
23
Part 1 Installation
4. Noise Control Measures and Grounding
The ASEL controller has no dedicated terminal to connect the FG to ground. Accordingly, provide
grounding using the controller mounting screw.
[1]
Provide dedicated Class D grounding. The grounding wire should have a size of 2.0 to
5.5 mm2 or larger.
Other
equipment
Controller
Controller
Other
equipment
Connect a cable of
the largest possible
size over the shortest
possible distance.
Metal
enclosure
Class D grounding
[2]
Proper grounding
Avoid using this method.
Notes on wiring method
Use twisted wires for the 24-VDC external power supply.
Wire the controller cables separately from lines creating a strong electric field such as power circuit
lines (by not bundling them together or placing in the same cable duct).
If you wish to extend the motor cable or encoder cable beyond the length of each supplied cable,
please contact IAI’s Technical Service Section or Sales Engineering Section.
24
Part 1 Installation
(3) Noise sources and noise elimination
There are many noise sources, but solenoid valves, magnet switches and relays are of particular
concern when building a system. Noise from these parts can be eliminated using the measures
specified below:
[1] AC solenoid valve, magnet switch, relay
Measure --- Install a surge killer in parallel with the coil.
Surge killer
← Point
Wire from each coil over the shortest distance.
Installing a surge killer on the terminal block, etc.,
will be less effective because of a longer distance
from the coil.
[2] DC solenoid valve, magnet switch, relay
Measure --- Install a diode in parallel with the coil. Determine the diode capacity in accordance with
the load capacity.
In a DC circuit, connecting a diode in reversed polarity will
damage the diode, internal parts of the controller and DC
power supply. Exercise due caution.
Diode
The above noise elimination measures are particularly important when a 24-VDC relay is driven
directly by a controller output and there is also a 100-VAC solenoid valve, etc.
25
Part 1 Installation
Reference Circuit Diagram
Controller
Surge absorber
Solenoid valve
26
Part 1 Installation
5. Supply Voltage
The supply voltage to the controller is 24 VDC ± 10%.
The power-supply current varies depending on the number of axes, as shown below.
[1]
[2]
[3]
[4]
[5]
Control power-supply current
Rated motor power-input current
Maximum motor power-input current
Rated current ([1] + [2])
Maximum current ([1] + [3])
1-axis specification 2-axis specification
1.2 A
1.7 A
3.4 A
5.1 A
10.2 A
2.9 A
4.6 A
6.3 A
11.4 A
27
Part 1 Installation
6. Wiring
6.1
Wiring the Control Power Supply, Emergency Stop Switch and Enable Switch
As shown to the left, insert the stripped end of each
cable into the control power & system I/O connector,
and tighten the screws with a screwdriver.
Recommended cable size: 0.75 mm2 (AWG18)
Recommended stripped-wire length: 7 mm
Emergency stop switch
Enable switch
24 VDC
28
Part 1 Installation
6.2
Wiring the Motor Power Cables
As shown to the left, insert the stripped end of each
cable into the motor power connector, and tighten the
screws with a screwdriver.
Recommended cable size: 2 mm2 (AWG14)
Recommended stripped-wire length: 7 mm
As shown to the left, tighten the screws to affix the
connector.
24 VDC
29
Part 1 Installation
6.3
Connecting the Actuator
6.3.1
Connecting the Motor Cable (M1/M2)
Connect the motor cable from the actuator to the
applicable motor connector on the front face of the
controller.
6.3.2
Connecting the Encoder Cable (PG1/PG2)
Connect the encoder cable from the actuator to the
applicable encoder connector on the front face of the
controller.
Caution: With the absolute specification,
disconnect the absolute-data
backup battery connector before
connecting the encoder cable.
Connect the absolute-data
backup battery connector after
turning on the main power.
30
Part 1 Installation
6.4
Connecting the PIO Cable (I/O)
Connect the supplied flat cable. Connect the opposite
end (open end without connector) of the cable to a
desired peripheral (host PLC, etc.).
I/O flat cable (supplied): Model CB-DS-P10020
No connector
Flat cable (34 cores)
No.
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
Color
Brown 1
Red 1
Orange 1
Yellow 1
Green 1
Blue 1
Purple 1
Gray 1
White 1
Black 1
Brown-2
Red 2
Orange 2
Yellow 2
Green 2
Blue 2
Purple 2
Wire
Flat cable,
pressurewelded
No.
9B
10A
10B
11A
11B
12A
12B
13A
13B
14A
14B
15A
15B
16A
16B
17A
17B
Color
Gray 2
White 2
Black 2
Brown-3
Red 3
Orange 3
Yellow 3
Green 3
Blue 3
Purple 3
Gray 3
White 3
Black 3
Brown-4
Red 4
Orange 4
Yellow 4
Wire
Flat cable,
pressurewelded
31
Part 1 Installation
6.4.1
I/O Connection Diagram
(1) NPN specification (Program mode)
Pin No.
Category
Port No.
Function
Cable color
1 - Brown
External power supply 24 V
Program specification (PRG No. 1)
Program specification (PRG No. 2)
Program specification (PRG No. 4)
Program specification (PRG No. 8)
Program specification (PRG No. 10)
Program specification (PRG No. 20)
Program specification (PRG No. 40)
Software reset (restart)
Program start
Input
1 - Red
1 - Orange
1 - Yellow
1 - Green
1 - Blue
1 - Purple
1 - Gray
1 - White
1 - Black
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
2 - Brown
2 - Red
2 - Orange
2 - Yellow
2 - Green
2 - Blue
2 - Purple
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
Pin No.
Category
3 - Red
3 - Orange
General-purpose input
General-purpose input
3 - Yellow
Function
Port No.
Ready output
General-purpose output
General-purpose output
General-purpose output
General-purpose output
General-purpose output
General-purpose output
External power supply 0 V
The above functions reflect the factory settings.
32
2 - Black
3 - Brown
General-purpose input
Alarm output
Output
2 - Gray
2 - White
3 - Green
Cable color
3 - Blue
3 - Purple
3 - Gray
3 - White
3 - Black
4 - Brown
4 - Red
4 - Orange
4 - Yellow
Part 1 Installation
(2) PNP specification (Program mode)
Pin No.
Category
Port No.
Function
Cable color
1 - Brown
External power supply 24 V
Program specification (PRG No. 1)
Program specification (PRG No. 2)
Program specification (PRG No. 4)
Program specification (PRG No. 8)
Program specification (PRG No. 10)
Program specification (PRG No. 20)
Program specification (PRG No. 40)
Software reset (restart)
Program start
Input
1 - Red
1 - Orange
1 - Yellow
1 - Green
1 - Blue
1 - Purple
1 - Gray
1 - White
1 - Black
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
2 - Brown
2 - Red
2 - Orange
2 - Yellow
2 - Green
2 - Blue
2 - Purple
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
Pin No.
Category
2 - Black
3 - Brown
3 - Red
General-purpose input
3 - Orange
General-purpose input
General-purpose input
3 - Yellow
Port No.
Function
Alarm output
Output
2 - Gray
2 - White
Ready output
General-purpose output
General-purpose output
General-purpose output
General-purpose output
General-purpose output
General-purpose output
External power supply 0 V
3 - Green
Cable color
3 - Blue
3 - Purple
3 - Gray
3 - White
3 - Black
4 - Brown
4 - Red
4 - Orange
4 - Yellow
The above functions reflect the factory settings.
33
Part 1 Installation
(3) NPN specification (Positioner mode)
Positioner mode
Pin No. Category Port No.
Standard mode
Product switching mode
2-axis independent
mode
Teaching mode
DC-S-C1 compatible
mode
Position No. 1000 input
Cable
color
1 - Brown
24-V input
Position input 10
Input 10
Position input 7
Axis 1 jog-
Position input 11
Input 11
Position input 8
Axis 2 jog+
1 - Orange
Position input 12
Input 12
Position input 9
Axis 2 jog-
1 - Yellow
Position input 13
Input 13
Position input 10
Inching (0.01 mm)
1 - Green
Input 14
Position input 11
Inching (0.1 mm)
1 - Blue
Input 15
Position input 12
Inching (0.5 mm)
1 - Purple
Input 16
Position input 13
Inching (1 mm)
Error reset
Error reset
Error reset
Error reset
1 - Red
1 - Gray
CPU reset
1 - White
Start
Start
Axis 1 start
Start
Start
1 - Black
Home return
Home return
Home return
Sarvo ON
Pause
2 - Brown
Servo ON
Servo ON
Axis 1 servo ON
*Pause
Cancellation
2 - Red
Push motion
Push motion
*Axis 1 pause
Position input 1
Interpolation setting
2 - Orange
Input
*Pause
*Pause
*Axis 1 cancellation
Position input 2
Position No. 1 input
2 - Yellow
*Cancellation
*Cancellation
Axis 2 start
Position input 3
Position No. 2 input
2 - Green
Interpolation
Interpolation
Axis 2 home return
Position input 4
Position No. 4 input
2 - Blue
Position input 1
Input 1
Axis 2 servo ON
Position input 5
Position No. 8 input
2 - Purple
Position input 2
Input 2
*Axis 2 pause
Position input 6
Position No. 10 input
2 - Gray
Position input 3
Input 3
*Axis 2 cancellation
Position input 7
Position No. 20 input
2 - White
Position input 4
Input 4
Position input 1
Position input 8
Position No. 40 input
2 - Black
Position input 5
Input 5
Position input 2
Position input 9
Position No. 80 input
3 - Brown
Position input 6
Input 6
Position input 3
Position input 10
Position No. 100 input
3 - Red
Position input 7
Input 7
Position input 4
Position input 11
Position No. 200 input
3 - Orange
Position input 8
Input 8
Position input 5
Teaching mode
specification
Position No. 400 input
3 - Yellow
Position input 9
Input 9
Position input 6
Axis 1 jog+
Position No. 800 input
3 - Green
Positioner mode
Pin No. Category Port No.
Cable
color
Standard mode
Product switching mode
2-axis independent
mode
Teaching mode
DC-S-C1 compatible
mode
*Alarm
*Alarm
*Alarm
*Alarm
*Alarm
3 - Blue
Ready
Ready
Ready
Ready
Ready
3 - Purple
Axis 1 positioning
complete
Axis 1 home return
complete
Positioning complete
Positioning complete
3 - Gray
Positioning complete
Positioning complete
Home return complete
Home return complete
Servo ON output
Servo ON output
Push motion complete
Push motion complete
System battery error
System battery error
Absolute battery error
Absolute battery error
Output
Home return complete
3 - White
Servo ON output
3 - Black
Axis 1 servo ON
Axis 2 positioning
complete
Axis 2 home return
complete
Axis 2 servo ON
4 - Brown
System battery error
System battery error
4 - Red
Absolute battery error
Absolute battery error
4 - Orange
0-V input
4 - Yellow
*: Contact B (Always ON)
34
Part 1 Installation
(4) PNP specification (Positioner mode)
Positioner mode
Pin No. Category Port No.
Standard mode
Product switching mode
2-axis independent
mode
Teaching mode
DC-S-C1 compatible
mode
Cable
color
1 - Brown
24-V input
Position input 10
Input 10
Position input 7
Axis 1 jog-
Position input 11
Input 11
Position input 8
Axis 2 jog+
Position input 12
Input 12
Position input 9
Axis 2 jog-
1 - Yellow
Position input 13
Input 13
Position input 10
Inching (0.01 mm)
1 - Green
Input 14
Position input 11
Inching (0.1 mm)
1 - Blue
Input 15
Position input 12
Inching (0.5 mm)
1 - Purple
Input 16
Position input 13
Inching (1 mm)
Error reset
Error reset
Error reset
Error reset
Position No. 1000 input
1 - Red
1 - Orange
1 - Gray
CPU reset
1 - White
Start
Start
Axis 1 start
Start
Start
1 - Black
Home return
Home return
Home return
Sarvo ON
Pause
2 - Brown
Servo ON
Servo ON
Axis 1 servo ON
*Pause
Cancellation
2 - Red
Push motion
Push motion
*Axis 1 pause
Position input 1
Interpolation setting
2 - Orange
Input
*Pause
*Pause
*Axis 1 cancellation
Position input 2
Position No. 1 input
2 - Yellow
*Cancellation
*Cancellation
Axis 2 start
Position input 3
Position No. 2 input
2 - Green
Interpolation
Interpolation
Axis 2 home return
Position input 4
Position No. 4 input
2 - Blue
Position input 1
Input 1
Axis 2 servo ON
Position input 5
Position No. 8 input
2 - Purple
Position input 2
Input 2
*Axis 2 pause
Position input 6
Position No. 10 input
2 - Gray
Position input 3
Input 3
*Axis 2 cancellation
Position input 7
Position No. 20 input
2 - White
Position input 4
Input 4
Position input 1
Position input 8
Position No. 40 input
2 - Black
Position input 5
Input 5
Position input 2
Position input 9
Position No. 80 input
3 - Brown
Position input 6
Input 6
Position input 3
Position input 10
Position No. 100 input
3 - Red
Position input 7
Input 7
Position input 4
Position input 11
Position No. 200 input
3 - Orange
Position input 8
Input 8
Position input 5
Teaching mode
specification
Position No. 400 input
3 - Yellow
Position input 9
Input 9
Position input 6
Axis 1 jog+
Position No. 800 input
3 - Green
Positioner mode
Pin No. Category Port No.
Cable
color
Standard mode
Product switching mode
2-axis independent
mode
Teaching mode
DC-S-C1 compatible
mode
*Alarm
*Alarm
*Alarm
*Alarm
*Alarm
3 - Blue
Ready
Ready
Ready
Ready
Ready
3 - Purple
Positioning complete
Positioning complete
Positioning complete
Positioning complete
Home return complete
Home return complete
Axis 1 positioning
complete
Axis 1 home return
complete
Output
Servo ON output
Servo ON output
Push motion complete
Push motion complete
System battery error
System battery error
Absolute battery error
Absolute battery error
3 - White
Servo ON output
3 - Black
Axis 1 servo ON
Axis 2 positioning
complete
Axis 2 home return
complete
Axis 2 servo ON
3 - Gray
Home return complete
4 - Brown
System battery error
System battery error
4 - Red
Absolute battery error
Absolute battery error
4 - Orange
0-V input
4 - Yellow
*: Contact B (Always ON)
35
Part 1 Installation
6.5
External I/O Specifications
6.5.1
NPN Specification
(1) Input part
External Input Specifications (NPN Specification)
Item
Input voltage
Input current
ON/OFF voltage
Insulation method
External devices
Specification
24 VDC ±10%
7 mA per circuit
ON voltage --- 16.0 VDC min.
OFF voltage --- 5.0 VDC max.
Photocoupler insulation
[1] No-voltage contact (minimum load of approx. 5 VDC/1 mA)
[2] Photoelectric/proximity sensor (NPN type)
[3] Sequencer transistor output (open-collector type)
[4] Sequencer contact output (minimum load of approx. 5 VDC/1 mA)
Internal circuit
[Input circuit]
P24*
+ External power
supply 24 VDC +10%
560 Ω
-
3.3 KΩ
Input terminal
* P24: I/O interface pin No. 1
Caution
If a non-contact circuit is connected externally, malfunction may result from leakage
current. Use a circuit in which leakage current in a switch-off state does not exceed 1
mA.
 ASEL controller’s input signal
ON duration
OFF duration
At the default settings, the system recognizes the ON/OFF durations of input signals if they
are approx. 4 msec or longer. The ON/OFF duration settings can also be changed using I/O
parameter No. 20 (input filtering frequency).
36
Part 1 Installation
(2) Output part
External Output Specifications (NPN Specification)
Item
Load voltage
Maximum load current
Leakage current
Insulation method
External devices
Note)
Specification
24 VDC
100 mA per point, 400 mA per 8 ports Note)
0.1 mA max. per point
Photocoupler insulation
[1] Miniature relay
[2] Sequencer input unit
TD62084 (or equivalent)
400 mA is the maximum total load current of output port Nos. 300 to 307.
[Output circuit]
Internal circuit
P24*
Surge absorber
Load
Output terminal
External power supply
24 VDC ± 10%
N*
* P24: I/O interface pin No. 1A
* N: I/O interface pin No. 17B
Caution
In the event that the load is short-circuited or current exceeding the maximum load
current is input, the overcurrent protection circuit will be actuated to cut off the circuit.
However, give due consideration to the circuit connection layout to prevent short-circuit
or overcurrent.
37
Part 1 Installation
6.5.2
PNP Specification
(1) Input part
External Input Specifications (PNP Specification)
Item
Input voltage
Input current
Specification
ON/OFF voltage
Insulation method
External devices
24 VDC ±10%
7 mA per circuit
ON voltage --- 8 VDC max.
OFF voltage --- 19 VDC min.
Photocoupler insulation
[1] No-voltage contact (minimum load of approx. 5 VDC/1 mA)
[2] Photoelectric/proximity sensor (PNP type)
[3] Sequencer transistor output (open-collector type)
[4] Sequencer contact output (minimum load of approx. 5 VDC/1 mA)
[Input circuit]
Internal circuit
Input terminal
+ External power
supply 24 VDC +10%
-
560 Ω
3.3 KΩ
N*
* N: I/O interface pin No. 17B
Caution
If a non-contact circuit is connected externally, malfunction may result from leakage
current. Use a circuit in which leakage current in a switch-off state does not exceed 1
mA.
 ASEL controller’s input signal
ON duration
OFF duration
At the default settings, the system recognizes the ON/OFF durations of input signals if they
are approx. 4 msec or longer. The ON/OFF duration settings can also be changed using I/O
parameter No. 20 (input filtering frequency).
38
Part 1 Installation
(2) Output part
External Output Specifications (PNP specification)
Item
Load voltage
Maximum load current
Leakage current
Insulation method
External devices
Note)
Specification
24 VDC
100 mA per point, 400 mA per 8 ports Note)
0.1 mA max. per point
Photocoupler insulation
[1] Miniature relay
[2] Sequencer input unit
TD62784 (or equivalent)
400 mA is the maximum total load current of output port Nos. 300 to 307.
Internal circuit
[Output circuit]
P24
Surge absorber
10 Ω
Output terminal
+
Load
-
External power supply
24 VDC +10%
N
* P24: I/O interface pin No. 1A
* N: I/O interface pin No. 17B
Caution
In the event that the load is short-circuited or a current exceeding the maximum load
current is input, the overcurrent protection circuit will be actuated to cut off the circuit.
However, give due consideration to the circuit connection layout to prevent short-circuit
or overcurrent.
39
Part 1 Installation
6.6
Connecting the Teaching Pendant/PC (Software) (TP) (Optional)
The ASEL controller’s teaching connector (TP) is a
small, half-pitch connector. If you are using a teaching
pendant or PC software cable, connect the cable to a
connector conversion cable, and then connect the
conversion cable to the teaching connector on the
controller.
6.7
Connecting the Panel Unit (Optional)
When the optional panel unit is connected, the
controller status (program number of each active
program, error codes, etc.) can be monitored.
40
Part 1 Installation
6.7.1
Explanation of Codes Displayed on the Panel Unit (Optional)
(1) Application
Display
Priority (*1)
Description
1
Control power cut off
1
System-down level error
2
Writing data to the flash ROM.
3
Emergency stop is being actuated (except during the update mode).
4
Enable switch (deadman switch/safety gate) OFF (except in the update mode)
5
Cold-start level error
5
Cold-start level error
5
Operation-cancellation level error
5
Operation-cancellation level error
6
Waiting for a drive-source cutoff reset input (except during the update mode).
6
Operation is in pause (waiting for restart) (except during the update mode).
7
All servo axes are interlocked (except during the update mode).
8
Message level error
8
Message level error
9
Core update mode
9
Core update is in progress.
9
Core update has completed.
9
Slave update mode
9
Slave update is in progress.
9
Slave update has completed.
9
Running a program (last started program); “No.” indicates program number.
9
Initialization sequence number
9
Debug mode
(*1) The priority increases as the number decreases.
41
Part 1 Installation
Display
Priority (*1)
Description
9
Ready status (auto mode) (Program mode)
9
Ready status (manual mode) (Program mode)
9
Operating in positioner mode; “No.” indicates positioner mode number.
9
Ready status (auto mode) (Positioner mode)
9
Ready status (manual mode) (Positioner mode)
(*1) The priority increases as the number decreases.
42
Part 1 Installation
(2) Core
Display
Priority (*1)
Description
1
Control power cut off
1
Cold-start level error
1
Cold-start level error
1
Operation-cancellation level error
1
Operation-cancellation level error
2
Message level error
2
Message level error
2
Application update mode
2
Application update is in progress.
2
Application update has completed.
2
Hardware test mode process
2
Clearing the application flash ROM.
2
Application flash ROM has been cleared.
2
Jump to the application
2
Core flash-ROM check process
2
Application flash-ROM check process
2
SDRAM check process
(*1) The priority increases as the number decreases.
43
Part 1 Installation
6.7.2
Current Monitor and Variable Monitor
By setting other parameter Nos. 49 and 50 appropriately, the optional panel unit can be used to monitor
either current levels or variables.
(1) Current monitor
Currents of up to four axes having continuous axis numbers can be monitored.
Parameter settings
Other parameter No. 49 = 1
Other parameter No. 50 = Smallest axis number among the axes to be monitored
Example) If other parameter No. 49 is set to “1” and other parameter No. 50 to “1” for a 2-axis controller,
the far-right segment digit will show the current for axis 1.
Axis 2
Axis 1
When data is written to the flash ROM or a software reset (restart) is executed after the parameter values
have been input, the panel window will show the motor current to rating ratio (%) by a segment pattern,
instead of “ready status” or “program run number.”
The segment display patterns and corresponding motor current to rating ratios (%) are shown below.
0 < Motor current to rating ratio (%) ≤ 25
100 < Motor current to rating ratio (%) ≤ 150
25 < Motor current to rating ratio (%) ≤ 50
150 < Motor current to rating ratio (%) ≤ 200
50 < Motor current to rating ratio (%) ≤ 75
200 < Motor current to rating ratio (%)
75 < Motor current to rating ratio (%) ≤ 100
Thick lines indicate illuminated segments.
44
Part 1 Installation
(2) Variable monitor
The contents of global integer variables can be displayed on the panel window.
Positive integers of 1 to 999 can be displayed.
Parameter settings
Other parameter No. 49 = 2
Other parameter No. 50 = Variable number of the global integer variable to be monitored
When data is written to the flash ROM or a software reset (restart) is executed after the parameter values
have been input, the panel window will show the content of the global integer variable, instead of “ready
status” or “program run number.” The far-left segment digit should read “U.”
Display example)
45
Part 1 Installation
6.8
Installation Method for the Absolute-Data Backup Battery
The ASEL controller does not come with a holder or any other dedicated piece for installing the absolutedata backup battery. The user must affix the battery using tie-bands.
Example of installation
As shown to the left, guide tie-bands through the
controller and tie the ends to make loose loops.
Guide the batteries into the tie-band loops.
Tighten the tie-bands and cut off any excess length at
the end.
Connect each battery connector.
Pay attention to the connector orientation.
(The connector hook should face the left side when
viewed from the front of the controller.)
Caution: If the main power cannot be turned
on immediately after the encoder
cable has been connected, do not
connect the battery connector.
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Part 1 Installation
6.9
Installing the System-Memory Backup Battery (Optional)
As shown to the left, install the supplied battery
holder on the left side face of the controller.
Insert the battery into the holder.
Connect the battery connector.
Pay attention to the connector orientation.
(The connector hook should face the right side.)
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Part 1 Installation
Chapter 4
Operation
1. Startup
(1)
(2)
(3)
(4)
Connect the motor cable and encoder cable to the controller.
Connect the PIO connector to the host PLC using the supplied flat cable.
Execute an emergency stop.
Connect the PC or teaching pendant.
Set the AUTO/MANU switch to the “MANU” side.
(5) Supply the 24-V PIO power through the flat cable.
(6) Turn on the control power and motor power at the same time. (They should be taken from the same
power supply.
(7) Reset the emergency stop.
 The EMG lamp turns off.
 If the ALM lamp is lit, an error is present. Check the error list to identify the problem.
If the 24-V PIO power is not supplied, an “E69” error will generate.
If your controller is of absolute specification, a “914” or “CA2” error may generate during the startup,
indicating that an absolute reset must be performed. Refer to “How to Perform Absolute Reset.”
To check for errors, connect the teaching pendant, PC software or panel unit.
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Part 1 Installation
1.1
Power ON Sequence
• Although separate inputs are provided for the control power and motor power, they should be supplied
from the same power-supply terminal.
• Turn on the PIO power first. You can turn on the PIO power much earlier than the control power and
motor power, as long as it is turned on before the control power/motor power.
The PIO power must be turned on
before the control power, in order
to perform checks during
initialization and self-diagnosis and
apply a hardware latch upon
detection of an error.
Taken from the
same power supply.
Control power
Must be turned on
simultaneously, as a rule.
Motor power
Controller status
Initialization/self-diagnosis
Normal operating condition
Must be turned
on first, as a
rule.
PIO power
* If the PIO power is not turned on before the control power is turned on, an error will be detected.
1.2
Power Cutoff Sequence
• If the PIO power is turned off before the control power and motor power (before the power cutoff
processing is performed), a PIO power error may be logged internally by the controller.
• The PIO power can be turned off much later than the control power and motor power, as long as it is
turned off after the control power/motor power.
Once the control power
drops to approx. 19 V or
below, the power cutoff
processing is started.
Control power
Must be turned off
simultaneously, as a rule.
Motor power
Controller status
Power cutoff processing
PIO power
If the PIO power is
turned off during this
period, an error may
be logged internally by
the controller.
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Part 1 Installation
2. How to Perform Absolute Reset (Absolute Specification)
If the ASEL controller experiences any abnormal absolute-encoder battery voltage or the battery or
encoder cable is disconnected, an encoder battery error will generate. In this case, you must perform an
absolute reset.
This chapter explains how to perform an absolute reset using the PC software. For the procedure to
perform an absolute reset from the teaching pendant, refer to the operation manual for your teaching
pendant.
2.1
Preparation
(1) PC
PC in which IAI’s X-SEL PC software (X_SEL.exe) has been installed
(2) PC cable (supplied with the PC software)
RS232C cross cable (fitted with a female 9-pin connector on the PC end and a male 25-pin connector
on the controller end)
+Connector conversion cable
Alternatively, use a USB cable and a dummy plug (optional).
(3) All adjustment items other than absolute reset must have been completed.
2.2
Procedure
(1) Turn off the ASEL controller power. Turn on the PC power and wait for the OS to start.
(2) Connect the 9-pin D-sub connector on the PC cable to the communication port on the PC, and
connect the 25-pin D-sub connector to the teaching connector on the controller.
Alternatively, connect the PC and controller using a USB cable. If the USB port is used, a dummy
plug must be connected to the teaching connector.
(3) Turn on the controller power. An encoder battery error will generate. If no other adjustment item is
outstanding, “ECA2” or “E914” should be displayed on the 7-segment LED. This indicates that the
controller has detected the encoder battery error.
(4) Launch the X-SEL PC software (X_SEL.exe) on the PC. The following steps explain the operating
procedures in the X-SEL PC software.
(5) When the Connection Check dialog box appears, set the communication port you are using on your
PC. Click OK. (The baud rate need not be set. The software will automatically detect and set the
baud rate.)
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Part 1 Installation
(6) The main window of the X-SEL PC software opens.
Click OK to close the error message.
(7) From the Monitor menu, select Error Detail to check the condition of the present error.
If the controller is experiencing an encoder battery error, the displayed window should look like the
one shown below (an absolute encoder is used for axis 2 in this example). After checking the error
detail, close the Error Detail window.
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Part 1 Installation
(8) From the Controller menu, select Absolute Reset.
(9) When the Warning dialog box appears, click OK.
(10) The Absolute Reset dialog box appears.
Click here to select the axis you want to perform an absolute reset for.
(11) Click Encoder Rotation Data Reset 1. When the Warning dialog box appears, click Yes.
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Part 1 Installation
(12) Another Warning dialog box is displayed. Click Yes again.
(13) After the controller has finished processing encoder rotation data reset 1, the red arrow will move to
the next item. Click the following processing buttons in this order (the arrow will move to the next one
after each processing is completed):
1. Controller Error Reset
2. Servo ON
3. Home Return
4. Servo OFF
Encoder rotation data reset 2 is performed with the servo turned on. Accordingly, the Servo
OFF step will be skipped.
5. Encoder Rotation Data Reset 2
After you have clicked Encoder Rotation Data Reset 2 and the processing is finished, the red arrow
will return to the position in shown in (10). To perform an absolute encoder reset for another axis,
select the target axis and perform the steps from (10) again. To end the procedure, click Close to
close the Absolute Reset dialog box.
(Note) If you have encountered a situation where an absolute encoder reset is required for two or
more axes, be sure to repeat steps (10) to (13) for all applicable axes before performing the
software reset in step (14) below.
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Part 1 Installation
(14) When the Confirmation dialog box appears, click Yes to restart the controller.
(Note)
If you continue to operate the controller without resetting the software or reconnecting the
power, the following errors may generate:
Error No. C70: ABS coordinate non-confirmation error
Error No. C6F: Home-return incomplete error
(15) If an optional panel unit is connected and no other error is present, “rdy” (when the controller is in the
program mode) or “Pry” (in the positioner mode) should be displayed on the 7-seg LED.
(16) This completes the absolute reset.
To repeat the absolute reset, close the X-SEL PC software and perform the steps from the
beginning.
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Part 1 Installation
3. How to Start a Program
With the ASEL Controller, the stored programs can be started (run) using four methods. Of these
methods, two are mainly used to debug programs or perform trial operations, while the remaining two are
used in general applications on site.
The former two methods are “starting from the teaching pendant” and “starting from the PC software.”
These methods provide simple means of checking the operation. For details on “starting from the teaching
pendant,” read the operation manual for the optional teaching pendant. For “starting from the PC
software,” read the applicable explanation in the manual supplied with the PC software.
The latter two methods are “starting automatically via parameter setting” and “starting via external signal
selection.” This chapter only explains the methods for “starting automatically via parameter setting” and
“starting via external signal selection.”
Starting via
external signal
selection
Teaching pendant
ASEL
Controller
Start
Start
Start
PC software
Starting
automatically via
parameter setting
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Part 1 Installation
3.1
Starting a Program by Auto-Start via Parameter Setting
Other parameter No. 7 (Auto program start setting) = 1 (Standard factory setting)
This parameter is set using the teaching pendant or PC software.
Set an auto-start program number
Reset the controller
Automatically starting the program
Set the number of the program you wish to start
automatically in other parameter No. 1 (auto-start
program number).
Set the controller mode to AUTO.
Reconnect the power or execute a software reset, and
the controller will be reset.
Once the controller is reset in the above step, the
program of the set number will start automatically.
*
Caution
[Note on starting a program by auto-start]
The automatic operation will begin immediately after the controller is reset, so the user may be surprised
by unexpected movements of the equipment, particularly those caused by a sudden activation of the servo
actuator. To ensure safety, always provide an interlocking function, such as allowing the program
execution to proceed only after receiving a confirmation signal at the beginning of the program.
If you wish to start multiple programs at the same time, write multiple “EXPG” commands at the beginning
of the main program to start the remaining programs. Provide safety measures for each program to be
started.
* If the following setting is performed, the program of the selected program number will start automatically at the
ON edge of the signal received by the selected input port. The program will be aborted at the OFF edge.
You can set a desired input port for receiving the auto program start signal (dedicated function).
Set the input function setting value “5” in the I/O parameter corresponding to the desired input port number (Nos.
30 through 45, 251 through 258).
(Refer to “I/O Function Lists” and “I/O Parameters.”)
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Part 1 Installation
3.2
Starting via External Signal Selection
Select a desired program number externally and then input a start signal.
(1) Flow chart
Controller
External device
Power ON
Power ON
Ready output
READY signal
confirmed?
READY signal ON
N
Y
When the READY signal (Output
port No. 301) turns ON, the RDY
lamp (green) on the controller front
panel will illuminate.
Various I/O
processing
Program number
input
N
Program number
specification
Program number
confirmed?
Input a desired program number as
a BCD code from the external
device (Input port Nos. 16 through
22).
Y
External start input
N
Start signal
confirmed?
Start signal ON
Input a start signal (input port No. 0)
from the external device.
Y
Emergency-stop
switch ON?
Program run
Emergency-stop
input
N
N
Y
Emergency-stop
signal ON
Emergency-stop
signal confirmed?
If an emergency-stop signal was
input from the external device or a
controller error occurred, the
controller will turn off the servo
power. (The RDY lamp will turn
off.)
Y
N
If the optional panel unit is
connected, the CODE display area
indicates the program number of
each program that has been
started.
Controller
error?
Y
Servo OFF
Alarm output
ALARM signal ON
ALARM signal
confirmed?
N
Y
Note)
ALARM
processing
The assignments of dedicated
input/output port functions (such
as RDY output start signal)
reflect the factory settings.
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Part 1 Installation
[2]
Timing chart
[1] Program start
Ready output
Program 1
Program number
input
External start
input
Program 2
T1:
T2:
T3:
Duration after the ready output turns ON until
input of external start signal is permitted
T1 = 10 msec min.
Duration after the program number is input
until input of external start signal is permitted
T2 = 50 msec min.
Input duration of external start signal
T3 = 100 msec min.
[2] Auto program start
* Set input function specification value 5 (auto-start program start signal) for input port No. *.
Ready output
T1:
Auto-start program
start signal input
Auto program
start
Time after the ready output turns ON until the
auto-start program start signal can be input to
input port No. *
T1 = 10 msec min.
* Auto program start:
Set “0” in other parameter No. 7, “Auto program
start setting.”
[3] Soft reset signal
* Set input function specification value 3 (soft reset signal) for input port No. *.
Ready output
T1:
Soft reset signal
input
T2:
Program starting
T3:
T1: Time after the ready output turns ON until
input function specification value 3 (soft reset
signal) can be input to input port No. *
T1 = 10 msec min.
T2: Time until the soft reset signal becomes
effective
T2 = 1 sec min.
Time after the soft reset signal is cancelled
until the ready signal is output
[4] Servo ON signal
* Set input function specification value 4 (servo ON signal) for input port No. *.
Ready output
T1:
Servo ON signal
input
T2:
Servo ON
Time after the ready output turns ON until input
function specification value 4 (servo ON signal)
can be input to input port No. *
T1 = 10 msec min.
Interval after the servo is turned OFF until it is
turned ON again
T2 = 1.5 sec min.
[5] When the recovery type after emergency stop or enable operation is set to “Operation continued”
* Set other parameter No. 10 to “2,” and set input function specification value 7 (operation-pause reset signal) for input port
No. *. Set input function specification value 17 (drive-source cutoff reset input signal) for other input port No. *.
Program starting
T1:
Emergency stop
T2:
Drive-source
cutoff reset
T3:
Pause reset
58
Time after the emergency stop input is reset until
the drive-source cutoff reset signal can be input.
T1 = 2 sec min.
Time during which the drive-source cutoff reset
signal is input
T1 = 10 msec min.
Time during which the pause reset signal is input
T1 = 10 msec min.
Part 1 Installation
4. Drive-Source Recovery Request and Operation-Pause Reset Request
(1) Drive-source recovery request
[1] Case where a drive-source request is required
A drive-source recovery request is required in the following case:
• Specify a desired input port for receiving the drive-source cutoff reset input signal (dedicated
function).
Occurrence of a drive-source cutoff factor → Recovery after the cutoff factor is removed.
[2]
How to request a drive-source recovery
A drive-source recovery request can be issued using one of the following methods:
• Set the input function specification value “17” in the I/O parameter corresponding to the desired
input port number (Nos. 30 through 45, 251 through 258). (Refer to “I/O Function Lists” and
“I/O Parameters.”)
Input the ON edge to the input port of the specified number.
• Select [Drive-Source Recovery Request (P)] from the [Controller (C)] menu on the PC software
screen.
• Select Ctl (controller operation) and RPwr (drive-source recovery request) on the mode
selection screen of the teaching pendant.
(2) Operation-pause reset request
[1] Cases where an operation-pause reset request is required
An operation-pause reset request is required in any of the following cases:
• An emergency stop was actuated during automatic operation when other parameter No. 10
was set to “2” (Emergency-stop recovery type = Continued operation) (only during automatic
operation) → Recovery (reset of operation pause) after the emergency stop is reset.
• The automatic operation was stopped using the deadman switch or enable switch when other
parameter No. 11 was set to “2” (Deadman/enable switch recovery type = Continued
operation) (only during automatic operation) → Recovery (reset of operation pause) after the
stop is reset.
• Specify a desired input port for receiving the operation-pause input signal (dedicated function).
Set the input function specification value “8” in the I/O parameter corresponding to the desired
input port number (Nos. 30 through 45, 251 through 258). (Refer to “I/O Function Lists” and
“I/O Parameters.”)
OFF level signal input is received by the import port of the specified number during auto
operation (operations pause) → Recovery after detection of ON signal level by the input port
(operation pause is reset).
[2]
How to request an operation-pause reset
An operation-pause reset request can be issued using one of the following methods:
• Specify a desired input port for receiving the operation-pause input signal (dedicated function).
Set the input function specification value “7” in the I/O parameter corresponding to the desired
input port number (Nos. 30 through 45, 251 through 258). (Refer to “I/O Function Lists” and
“I/O Parameters.”)
Input the ON edge to the input port of the specified number.
• Select [Operation-Pause Reset Request (L)] from the [Controller (C)] menu on the PC software
screen.
• Select Ctl (controller operation) and RAct (operation-pause reset request) on the mode
selection screen of the teaching pendant.
* If the case in [1] of (1) and any of the cases in [1] of (2) are present at the same time, a drive-source
recovery request must be issued first, followed by an operation-pause reset request.
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Part 1 Installation
5. Controller Data Structure
The controller data consists of parameters as well as position data and application programs used to
implement SEL language.
ASEL Controller Data Structure
Main
SEL language
Parameters
Position
data
Application
programs
The user must create position data and application programs. The parameters are predefined, but their
settings can be changed in accordance with the user’s system.
Refer to Appendix, “List of Parameters,” for details on the parameters.
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Part 1 Installation
5.1
How to Save Data
The flow to save data in the ASEL controller is illustrated below.
When data is transferred from the PC software or teaching pendant to the controller, the data is only
written to the main CPU memory as shown in the diagram below and will be erased once the controller is
powered down or reset.
For important data, always write to the flash memory so that they will not be lost.
5.1.1
Factory Settings: When the System-Memory Backup Battery is Not Used
Other parameter No. 20 = 0 (System-memory backup battery not installed)
Data edited on the PC
or teaching pendant
Data will be retained while the power
is on and cleared upon reset
Data will be retained even after
the power is turned off
Main CPU memory
Transfer
Programs
Parameters (other than
encorder parameters)
Symbols
Positions
Main CPU flash memory
Write to flash memory
Transfer upon reset
PC
software,
TP
Slave card memory
Transfer
Encoder parameters
Transfer
Transfer upon reset
SEL global data (flags,
variables, strings)
Error lists
Since the programs, parameters and symbols are read from the flash memory at restart, the data in the
temporary memory will remain the same as the original data before edit unless the edited data are written
to the flash memory.
The controller always operates in accordance with the data in the main CPU memory (excluding the
parameters).
Note: SEL global data cannot be retained if the backup battery is not installed.
SEL global data will be cleared once the control power is turned off or a software reset is
executed.
The error list will be cleared once the control power is turned off.
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Part 1 Installation
5.1.2
When the System-Memory Backup Battery (Optional) is Used
Change the setting of other parameter No. 20 to 2 (System-memory backup battery installed).
Data edited on the PC
or teaching pendant
Data will be retained while the power
is on and cleared upon reset
Data will be retained even after
the power is turned off
Main CPU flash memory
Main CPU memory
Write to flash memory
Transfer
Programs
Parameters (other than
encorder parameters)
Symbols
Transfer upon reset
PC
software,
TP
Slave card memory
Transfer
Transfer
Encoder parameters
Transfer upon reset
Battery backup memory
Transfer
Positions
SEL global data (flags,
variables, strings)
Error lists
Since the programs, parameters and symbols are read from the flash memory at restart, the data in the
temporary memory will remain the same as the original data before edit unless the edited data are written
to the flash memory.
The controller always operates in accordance with the data in the main CPU memory (excluding the
parameters).
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Part 1 Installation
5.2
Points to Note
Point to note when transferring data and writing to the flash memory
Never turn off the main power while data is being transferred or written to the flash
memory. The data will be lost and the controller operation may be disabled.
Point to note when saving parameters to a file
The encoder parameters are stored in the EEPROM of the actuator’s encoder itself (unlike other
parameters, they are not stored in the EEPROM of the controller). The encoder parameters will be
read from the encoder’s EEPROM to the controller when the power is turned on or upon software
reset.
Therefore, if the parameters are saved to a file after turning on the controller (or restarting it via a
software reset) without an actuator (encoder) connected, the encoder parameters saved to the file
will become invalid.
Point to note when transferring a parameter file to the controller
When a parameter file is transferred to the controller, the encoder parameters will be transferred to
the EEPROM of the encoder (excluding manufacturing/function information).
Therefore, if the parameter file transferred to the controller has been read from a controller that was
started without an actuator connected, invalid encoder parameters will be written to the encoder’s
EEPROM (provided that an actuator is connected to the controller to which the file was transferred).
When saving the parameters to a file, do so with an actuator connected to the controller.
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Part 1 Installation
Chapter 5
Maintenance
• Routine maintenance and inspection are necessary so that the system will operate properly at all
times. Be sure to turn off the power before performing maintenance or inspection.
• The standard inspection interval is six months to one year. If the environment warrants, however, the
interval should be shortened.
1. Inspection points
• Check to see if the supply voltage to the controller is inside the specified range.
• Inspect the ventilation holes in the controller and remove dirt, dust and other foreign attachments, if
any.
• Inspect the controller cables (controller → actuator) and check for any loose screws or cable
disconnection.
• Check the controller mounting screws, etc., for looseness.
• Inspect each cable (axis link cable, general-purpose I/O cable, system I/O cable, power cable) for
loose connection, disconnection, play, etc.
2. Spare consumable parts
Without spare parts, a failed controller cannot be repaired even when the problem is identified quickly.
We recommend that you keep the following consumable parts as spares:
Consumable parts
• Cables
• System-memory backup battery (optional): AB-5 by IAI -- Must be replaced after approx. 5 years*
• Absolute-data backup battery (optional): AB-5 by IAI -- Must be replaced after approx. 2 years*
(Absolute specification)
*: The actual replacement timing will vary depending on the use condition. For details, refer to “
Battery Backup Function” in Appendix.
When the battery voltage drops, an applicable error code will be displayed on the panel window.
Error Codes Indicating Low Battery Voltage
System-memory backup battery
Absolute-data backup battery
64
A01 or A02
A23
Part 1 Installation
3. Replacement Procedure for System-Memory Backup Battery (Optional)
Backing up the system memory
If the optional system-memory backup battery is installed in the ASEL controller and “Other parameter
No. 20: Backup battery installation function type” is set to “2” (Installed), the following SRAM data will
be retained even after the power is turned off:
• Position data
• SEL global data (flags, integer/real variables, string variables)
• Error list
Always follow the procedure below when replacing the system-memory backup battery:
Note:
If the system-memory backup battery is disconnected while other parameter No. 20, “Backup
battery installation function type” is still set to “2” (Installed), the data stored in the SRAM will
be lost.
So that the position data can be restored after an accidental loss from the SRAM, save the
position data to a file using the PC software before disconnecting the battery.
For the method to save the position data to a file, refer to 6, “Position Data Edit Window” in
the X-SEL PC Software Operation Manual.
(1) Turn on the controller power.
(2) Record (write down) the current setting of “Other parameter No. 20, Backup-battery installation
function type.” (This will be used when reverting the parameter to its original setting following the
replacement of system-memory backup battery.)
(3) If the PC software is installed in your PC, save the position data to a file using the PC software.
The data will be used as a backup in case the SRAM data saved to the flash ROM fails.
(4) Change “Other parameter No. 20, Backup-battery installation function type” to “1” and transfer
the setting to the controller, and then perform a flash ROM write. (The point data will be saved to
the flash ROM.)
* Confirm that the flash ROM writing process has completed.
(5) Perform a software reset to restart the controller. (The SEL global data and error lists will be
saved to the special area in the flash ROM.)
(6) When the controller has been restarted, turn off the power.
* Be sure to keep the power on from the start of controller restart until the RDY LED lamp on teh controller
illuminates.
(7) Replace the system-memory backup battery. SRAM data will be lost if steps (1) through (6) are
not performed properly.
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Part 1 Installation
Battery Replacement Procedure
[1] Remove the battery connector and pull out the
battery.
[2] Insert a new battery into the holder and plug in the
battery connector. The connector hook should face
the right side.
(8)
When the replacement of system-memory backup battery is complete, confirm that the battery is
installed securely and then turn on the controller power.
(9)
Revert “Other parameter No. 20, Backup-battery installation function type” to the value recorded in
step (2), transfer the setting to the controller, and then perform a flash ROM write.
* Confirm that the flash ROM writing process has completed.
(10)
Perform a software reset (restart the controller).
(Note) Commencing the operation without first executing a software reset or reconnecting the
power may generate the following errors:
Error No. C70: ABS coordinate non-confirmation error
Error No. C6F: Home-return incomplete error
(11)
When the controller has been restarted, confirm that the SRAM data have been restored.
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Part 1 Installation
4. Replacement Procedure for Absolute-Data Backup Battery (Optional)
The replacement procedure is different depending on which error is present (No. A23, 914, CA2), or if
no error is present at all, when the battery is replaced.
• If no error is present, perform steps (1) to (4).
• If an absolute-data backup battery voltage-low warning (Error No. A23) has been issued, perform
steps (1) to (11).
• If an absolute-data backup battery voltage error (Error No. 914 or CA2) has been issued, perform
steps (1) to (4) and then perform the procedure explained in Chapter 4-2 of Part 1 “How to Perform
Absolute Reset.”
Note: Among the steps explained below, complete (2) to (4) within 15 minutes.
(1) Turn off the controller power. (Turn off both the control power and drive power.)
(2)
Remove the battery connector and pull out
the battery.
(3)
Insert a new battery into the holder and plug
in the battery connector. The connector
hook should face the right side.
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Part 1 Installation
(4) Turn on the controller power.
(5) Start the PC software on a PC connected to the controller. From the Controller menu, select
Absolute Reset.
(6) When the Warning dialog box appears, click OK.
Warning
(7) The Absolute Reset dialog box appears.
(8) Set the address number corresponding to the axis
whose battery has just been replaced.
Note) Do not click Encoder Rotation Data Reset 1.
(9) Click Encoder Error Reset.
(10) Close the dialog box.
Absolute Reset
(11) In the PC software window, click the Controller menu and then select Software Reset to restart the
controller.
Confirmation
(Note) If you continue to operate the controller without resetting the software or reconnecting the power, the
following errors may generate:
Error No. C70: ABS coordinate non-confirmation error
Error No. C6F: Home-return incomplete error
This completes the procedure to reset a battery voltage low alarm/error.
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Part 2 Programs
Part 2
Programs
Chapter 1
SEL Language Data
1. Values and Symbols Used in SEL Language
1.1
List of Values and Symbols Used
The various functions required in a program are represented by values and symbols.
Function
Global range
Input port
000 ~ 299 (300)
Output port
300 ~ 599 (300)
Flag
600 ~ 899 (300)
200 ~ 299 (100)
1200 ~ 1299 (100)
300 ~ 399 (100)
1300 ~ 1399 (100)
300 ~ 999 (700)
Variable (integer)
Variable (real)
String
Tag number
Subroutine number
Zone number
Pallet number
Local range
Remarks
Varies depending on the
function.
Varies depending on the
function.
900 ~ 999 (100)
1 ~ 99 (99)
1001 ~ 1099 (99)
100 ~ 199 (100)
1100 ~ 1199 (100)
1 ~ 299 (299)
1 ~ 256 (256)
1 ~ 99 (99)
99 is used for IN, INB,
OUT, OUTB, etc.
199 is used for PPUT,
PGET, PARG, etc.
1 ~ 4 (4)
1 ~ 10 (10)
Axis number
1 ~ 2 (2)
Axis pattern
Position number
Program number
Step number
Task level
SIO channel number
Wait timer
0 ~ 11
1 ~ 1500 (1500)
1 ~ 64 (64)
1 ~ 2000 (2000)
NORMAL/HIGH (2)
0 (1)
1
16 (Number of timers that
can be operated
simultaneously)
Local flag (100)
1-shot pulse timer
Ladder timer
Virtual input port (SEL
system → SEL user
program)
Virtual output port (SEL user
program → SEL system)
Number of symbol definitions
Number of times symbol can
be used in commands
Varies depending on the
function.
7000 ~ 7299 (300)
7300 ~ 7599 (300)
500
2500 (including literals)
Used in common from any Referenced separately in
program.
each program.
Cleared when the program
is started.
Caution
• Variables 99 and 199 are special variables this system uses in operations.
Avoid using these two variables for general purposes.
• The values in the table represent ranges that can be processed by
software. Items that require physical devices, such as I/O ports and
functions relating to axis number and SIO, will be determined by possible
combinations and models of commercial boards, etc., available for each
device application.
69
Part 2 Programs
z If the optional system-memory backup battery is installed, data of global variables and flags will be
retained even after the controller power is turned off.
(Other parameter No. 20 must be set to “2.” Refer to 5.1.2, “When the System Memory Backup Battery
is Used” in Chapter 5 of Part 1.)
z The variables and flags in the local range will be cleared when the program is started.
z Ranges of values that can be used in SEL language
Integers and real numbers can be used. However, pay due attention to the following limitations:
(1) Numeric data
The ASEL Controller can handle values of maximum eight digits including a sign and a decimal point.
Integer: -9,999,999 to 99,999,999
Real number: Maximum eight digits including a sign and decimal point, regardless of the size of value
Example) 999999.9, 0.123456, -0.12345
If a floating point is used in operations, the number of valid digits will be limited to seven. Also note
that operations using a floating point are subject to error.
(2) Position data
The input range of position data consists of four integer digits and three decimal digits.
–9999.999 to 9999.999
(The maximum value varies depending on the actuator model.)
If position data are used in internal operations as numeric data (repeated multiplications and
divisions), the accuracy of the last digit may decrease.
Consider the above limitations fully when using values. Particularly when the CPEQ command is used
in a comparison operation using real numbers, a match will rarely result. In this case, the CPLE or
CPGE command that looks at the magnitude relationship of two terms must be used.
1.2
I/O Ports
(1) Input ports
Used as input ports for limit switches, sensor switches, etc.
Input number assignment
000 to 023 (standard)
(2) Output ports
Used as various output ports.
Output number assignment
300 to 307 (standard)
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Part 2 Programs
1.3
Virtual I/O Ports
(1) Virtual input ports
Port No.
Function
7000
Always OFF
7001
Always ON
7002
Voltage low warning for system-memory backup battery
7003
Abnormal voltage of system-memory backup battery
7004
(For future expansion = Use strictly prohibited)
7005
(For future expansion = Use strictly prohibited)
7006
Top-level system error = Message level error is present
7007
Top-level system error = Operation-cancellation level error is present
7008
Top-level system error = Cold-start level error is present
7009
(For future expansion = Use strictly prohibited)
7010
Drive-source cutoff factor is present (including when waiting for cutoff reset input)
Latch signal indicating that all-operation-cancellation factor is present (latch signal for
recognizing 1-shot cancellation factor; latch is cancelled by 7300-ON)
All-operation-pause factor is present (including when waiting for restart switch signal) (Valid
only during automatic operation recognition)
All-servo-axis-interlock factor is present (all-operation-pause factor + interlock input-port
factor)
(For future expansion = Use strictly prohibited)
7011
7012
7013
7014
7015
Voltage low warning for axis-1 absolute-data backup battery
Abnormal voltage of axis-1 absolute-data backup battery (latched until power-on reset or
7016
software reset)
7017
Voltage low warning for axis-2 absolute-data backup battery
Abnormal voltage of axis-2 absolute-data backup battery (latched until power-on reset or
7018
software reset)
7019 ~ 7026 (For future expansion = Use strictly prohibited)
7027 ~ 7040 (For future expansion = Use strictly prohibited)
7041 ~ 7070 (For future expansion = Use strictly prohibited)
7071
In AUTO mode
7072
During automatic operation
7073 ~ 7100 (For future expansion = Use strictly prohibited)
7101
~
7164
Running program No. 01 (including during pause)
~
Running program No. 64 (including during pause)
7165 ~ 7299 (For future expansion = Use strictly prohibited)
71
Part 2 Programs
(2) Virtual output ports
Port No.
7300
Function
Latch cancellation output for a latch signal indicating that all-operation-cancellation factor
is present (7011) (latch is cancelled only when operation-cancellation factor is no longer
present) (7300 will be turned OFF following an attempt to cancel latch.)
7301 ~ 7380 (For future expansion = Use strictly prohibited)
7381 ~ 7399 (For future expansion = Use strictly prohibited)
7400 ~ 7599 (For future expansion = Use strictly prohibited)
72
Part 2 Programs
1.4
Flags
Contrary to its common meaning, the term “flag” as used in programming means “memory.” Flags are
used to set or reset data. They correspond to “auxiliary relays” in a sequencer.
Flags are divided into global flags (Nos. 600 to 899) that can be used in all programs, and local flags (Nos.
900 to 999) that can be used only in each program.
Global flags will be retained (backed up by battery) even after the power is turned off.
Local flags will be cleared when the power is turned off.
Flag number
600 ~ 899
Can be used in all programs
“Global flags”
Flag number
900 ~ 999
Used only in each program
“Local flags”
Program 1
Program n
BTON 600
WTON 600
Turn on flag 600
Wait for flag 600 to turn ON
(Like this, global flags can be
used to exchange signals.)
BTON 900
BTON 900
(Although the number is the
same, these are local flags and
can exist only in their
respective programs.)
73
Part 2 Programs
1.5
Variables
(1) Meaning of variable
“Variable” is a technical term used in software programming. Simply put, it means “a box in which a value
is put.” Variables can be used in many ways, such as putting in or taking out a value and performing
addition or subtraction.
A variable can be used in many ways, such as:
Putting in a value (1234),
Taking out a value (456), or
Adding a value (+1).
Variable
box 1
Command
Operand 1
Operand 2
ADD
1
1
If this command is applied to variable box 1, which already contains 2, then 1 will be added to the current
value and 3 will result.
1 is added.
Variable
box 1
2
(Already contains 2)
74
Part 2 Programs
(2) Types of variables
Variables are classified into two types, as follows:
[1] Integer variables
These variables cannot handle decimal places.
[Example] 1234
Integer variable box
Variable
box 1
1 2 3 4
Integer variable number
Integer variable number
Caution
200 ~ 299
1200 ~ 1299
1 ~ 99
1001 ~ 1099
Can be used in all programs
“Global integer variables”
Used only in each program
“Local integer variables”
Integer 99 is a special register this system uses in integer
operations. Any value in the range from –9,999,999 to
99,999,999 can be input in programs.
[2] Real variables
Actual values. These variables can handle decimal places.
[Example] 1234.567
(Decimal point)
Real variable box
Variable
box 1
1234.567
Real variable number
Real variable number
Caution
300 ~ 399
1300 ~ 1399
100 ~ 199
1100 ~ 1199
Can be used in all programs
“Global real variables”
Used only in each program
“Local real variables”
Real number 199 is a special register this system uses in realnumber operations. Any value in the range from –99,999.9 to
999,999.9 (eight digits including a sign) can be input in
programs.
75
Part 2 Programs
[3] Variables with “*” (asterisk) (indirect specification)
An “*” (asterisk) is used to specify a variable.
In the following example, the content of variable box 1 will be put in variable box 2. If variable box 1
contains “1234,” then “1234” will be put in variable box 2.
Command
Operand 1
Operand 2
LET
1
1234
1 2 3 4
Put in.
Variable
box 1
1 2 3 4
Command
Operand 1
Operand 2
LET
2
*1
Variable
box 1
Variable
box 2
1 2 3 4
1 2 3 4
The above use of variables is called “indirect specification.”
An “*” is also used when indirectly specifying a symbol variable (refer to 1.8, “Symbols”).
Command
Operand 1
Operand 2
LET
ABC
1
Put 1 in variable ABC.
LET
BCD
2
ADD
ABC
*BCD
Put 2 in variable BCD.
Add the content of variable BCD, or 2, to variable ABC.
(The content of variable ABC becomes 3.)
76
Part 2 Programs
1.6
Tags
The term “tag” means “heading.”
Tags are used in the same way you attach labels to the pages in a book you want to reference frequently.
A tag is a destination specified in a jump command “GOTO.”
Tag
Command
Operand 1
TAG
Tag number (Integer between 1 and 256)
They are used only in each program.
TAG 1
GOTO 1
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Part 2 Programs
1.7
Subroutines
By taking out the parts of a program that are used repeatedly and registering them as “subroutines,” the
same processing can be performed with fewer steps. (A maximum of 15 nests are accommodated.)
They are used only in each program.
Command
Operand 1
EXSR
Subroutine number (Integer between 1 and 99; variable is also supported)
Subroutine execution command
Command
Operand 1
BGSR
Subroutine start declaration
Subroutine number (Integer between 1 and 99)
Command
Operand 1
⎯
EDSR
Subroutine end declaration
EXSR 1
Subroutines are called.
EXSR 1
EXSR 1
BGSR 1
Subroutines
EDSR
78
Part 2 Programs
1.8
Symbols
In the ASEL Controller, values such as variable numbers and flag numbers can be handled as symbols.
For the method to edit symbols, refer to “Editing Symbols” in the operation manual for PSEL teaching
pendant or “Symbol Edit Window” in the operation manual for PSEL PC software.
(1) Supported symbols
The following items can be expressed using symbols:
Variable number, flag number, tag number, subroutine number, program number, position number,
input port number, output port number, axis number, constant
(2) Description rules of symbols
[1] A maximum of nine single-byte alphanumeric characters or underscore starting with an alphabet
(Note: The length of a character-string literal must not exceed eight single-byte characters.)
* Exercise caution that the same ASCII code may be expressed differently between the PC
software and the teaching pendant because of the different fonts used by the two. (The same
applies to character-string literals.)
5Ch --- PC software: Backslash \ (overseas specifications, etc.)
Teaching pendant: Yen mark ¥
7Eh --- PC software: ~
Teaching pendant: Right arrow →
[2] Symbols of the same name must not be defined within each function. (The same local symbol
can be used in different programs.)
[3] Symbols of the same name must not be defined within the flag number, input-port number or
output-port number group. (The same local symbol can be used in different programs.)
[4] Symbols of the same name must not be defined within the integer-variable number or realvariable number group. (The same local symbol can be used in different programs.)
[5] Symbols of the same name must not be defined within the integer constant or real constant
group.
(3) Number of symbols that can be defined: Maximum 500
(4) Number of times symbols can be used in all SEL programs: Maximum 2500 times including
character-string literals
* If symbol is used in all of the input condition, operand 1, operand 2 and output fields, it is deemed
that symbol is used four times in one step.
1.9
Character-String Literals
Character-string literals are used in certain string-operation commands and consist of the portion enclosed
by single quotation marks (‘ ‘) (maximum eight single-byte characters).
With the PC software, single-byte ASCII code characters from 20h to 7Eh (limited to those that can be
input via keyboard) can be used inside the single quotation marks. With the teaching pendant, single-byte
alphanumeric characters and single-byte underscores can be used.
79
Part 2 Programs
1.10
Axis Specification
Axes can be specified based on axis number or axis pattern.
(1) Axis numbers and how axes are stated
Each of multiple axes is stated as follows:
Axis number
1
2
How axis is stated
Axis 1
Axis 2
The axis numbers stated above can also be expressed using symbols.
Use axis number if you wish to specify only one of multiple axes.
• Commands that use axis specification based on axis number
BASE, PPUT, PGET, ACHZ, AXST, PASE, PARG, PRDQ, ECMD (1.5)
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Part 2 Programs
(2) Axis pattern
Whether or not each axis will be used is indicated by “1” or “0.”
(Upper)
Axis number
Used
Not used
Axis 2
1
0
(Lower)
Axis 1
1
0
[Example]
When axes 1 and 2 are used
Axis 2
11
Axis 1
[Example]
When axes 2 is used
Axis 2
10 (In this case, the 0s are needed to indicate the position of axis 2.)
Indirect specification of axis pattern in a variable
The axis pattern is considered a binary value, and a converted decimal value is assigned to a variable.
[Example]
To perform home return for axis 2 only, you can specify as follows based on axis pattern:
HOME
10
In indirect specification, 10 (binary) is expressed as 2 (decimal), so the same operation can
be specified as follows:
LET
HOME
6 2
*6
If you must select and specify multiple axes at the same time, use axis pattern.
• Commands that use axis specification based on axis pattern
OFST, GRP, SVON, SVOF, HOME, JFWN, JFWF, JBWN, JBWF, STOP, PTST, PRED
CHVL, PBND, WZNA, WZNO, WZFA, WZFO, MOVD, MVDI, PTRQ
81
Part 2 Programs
SEL language consists of a position part (position data = coordinates, etc.) and a command part
(application program).
2. Position Part
As position data, coordinates, speeds, accelerations and decelerations are set and stored.
*1, 2
1 ~ 2000/mmsec
± 2000000.000 mm
Position No.
1
2
3
Axis 1
Axis 2
Speed
*2
Standard
0.3 G
*2
Standard
0.3 G
Acceleration Deceleration
1498
1499
1500
*1 Varies depending on the actuator model.
*2 If a speed, acceleration or deceleration is set in the position data, the applicable setting takes
precedence over the corresponding data specified in the application program, as shown in the
priority table below. Leave the position data fields empty if you wish to enable the corresponding
data in the application program.
Priority
1
2
3
Speed
Setting corresponding to the position
data specified by operand 1
Setting by a VEL command
Acceleration (deceleration)
Setting corresponding to the position data
specified by operand 1
Setting by an ACC (DCL) command
Default acceleration in all-axis parameter No. 11
(Default deceleration in all-axis parameter No. 12)
Values pertaining to a rotating axis are processed in degrees instead of millimeters.
If axis-specific parameter No. 1 (axis operation type) is set to “1” (rotational movement axis (angle
control)) for a given axis, all millimeter values pertaining to that axis (including parameters, etc.) will be
processed in degrees.
If the gear ratio parameters (axis-specific parameter Nos. 50 and 51) are set correctly, the angles
(deg) will represent those of the body of rotation at the end.
Example)
82
Distance
1 mm → 1 deg
Speed
1 mm/sec → 1 deg/sec
Acceleration/deceleration 1 G = 9807 mm/sec2 → 9807 deg/sec2
Part 2 Programs
3. Command Part
The primary feature of SEL language is its very simple command structure. Since the structure is
simple, there is no need for a compiler (to translate into computer language) and high-speed
operation is possible via an interpreter (the program runs as commands are translated).
3.1
SEL language Structure
The table below shows the structure of one command step.
Extension condition
(AND, OR)
Input condition
(I/O, flag)
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output port, flag)
Using a ladder diagram, this is expressed as follows:
Command
Operand 1
Operand 2
Output
(1) The condition before the command is equivalent to “IF ~ THEN…” in BASIC.
Command
Operand 1
Output
Operand 2
IF ~ THEN
ELSE
To the next step
1. If the input condition is satisfied, the command will be executed. If there is an output specification, the
specified output port will be turned ON. If the input condition is not satisfied, the program will proceed
to the next step regardless of the command that follows (e.g., WTON, WTOF). Obviously nothing will
happen at the output port, but caution must be exercised.
2. If no condition is set, the command will be executed unconditionally.
3. To use the condition in reverse logic (so-called “contact b logic”
), add "N" (NOT) to the condition.
4. The input condition supports input port, output port and flag.
5. The operand 1, operand 2 and output fields can be specified indirectly.
(2) The output field, which follows the command, operand 1 and operand 2 fields, will specify the following
action:
Command
Operand 1
Operand 2
Output
↓
1. In the case of a control command relating to actuator operation, etc., the output will turn OFF the
moment the execution of command is started, and turn ON when the execution is completed. In the
case of a calculation operation command, etc., the output will turn ON if the result corresponds to a
certain value, and turn OFF if not.
2. The output field supports output port and flag.
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Part 2 Programs
3.2
Extension Condition
Conditions can be combined in a complex manner.
AND extension
(SEL language)
(Ladder diagram)
Condition AND
1
Extension
condition
Input
condition
Command
Command
Operand
1
Operand
2
A
Condition 2
A
Condition 3 Command
Operand
1
Operand
2
Output
Condition 1
Condition
AND
2
Condition
3
OR extension
Extension
condition
Condition
1
Input
condition
Command
Command
Operand
1
Operand
2
Condition 2 Command
Operand
1
Operand
2
Output
Condition 1
OR
O
Condition
2
AND extension and OR extension
Condition AND
1
Extension
condition
Input
condition
Command
Command
Operand
1
Operand
2
A
Condition 2
O
Condition 3 Command
Operand
1
Operand
2
Condition 1
Condition
2
OR
Condition
3
84
Output
Part 2 Programs
Chapter 2
List of SEL Language Command Codes
1. By Function
Variables can be specified indirectly in the operand 1, operand 2 and output fields.
Symbols can be input in the condition, operand 1, operand 2 and output fields.
The input items in ( ) under operand 1 and operand 2 are optional.
Once an “actuator control declaration” command is executed in a program, the command will remain valid as
long as the program is running. To change the values (in operand 1, operand 2, etc.) already set by the
“actuator control declaration” command, the necessary parts of the program must be set again. In other words,
the values set by the last executed command will prevail.
The output field will be turned OFF when the command is executed. Once the execution is completed, the
output field may be turned ON depending on the operation type condition in the output field. (The output field
will remain OFF if the condition is not satisfied.)
Note: The output field of a comparison command CP†† (CPEQ, CPNE, CPGT, CPGE, CPLT and CPLE) will
not be turned OFF when the command is executed.
Operation type in the output field
CC: Command was executed successfully,
ZR: Operation result is zero, PE: Operation is complete,
CP: Command part has passed, TU: Time up
Category
Variable
assignment
Arithmetic
operation
Condition
Optional
Optional
Optional
Optional
Optional
Optional
Optional
Optional
Optional
Optional
Function
operation
Optional
Optional
Optional
Optional
Logical
operation
Optional
Optional
Comparison
Timer
I/O, flag
operation
Command
Operand 1
LET
Assignment variable
Copy-destination
TRAN
variable
CLR
Start-of-clear variable
ADD
Augend variable
SUB
Minuend variable
MULT
Multiplicand variable
DIV
Dividend variable
Remainder
MOD
assignment variable
Sine assignment
SIN
variable
Cosine assignment
COS
variable
Tangent assignment
TAN
variable
Inverse-tangent
ATN
assignment operation
Root assignment
SQR
variable
AND operand
AND
variable
OR
OR operand variable
Exclusive-OR
EOR
operand variable
EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2
Operand 2
Assigned value
Output
ZR
Function
Assign
Page
95
Copy-source variable
ZR
Copy
96
End-of-clear variable
Addend
Subtrahend
Multiplier
Divisor
ZR
ZR
ZR
ZR
ZR
Clear variable
Add
Subtract
Multiply
Divide
97
98
98
99
99
Divisor
ZR
Calculate remainder
100
Operand [radian]
ZR
Sine
101
Operand [radian]
ZR
Cosine
101
Operand [radian]
ZR
Tangent
102
Operand
ZR
Inverse tangent
102
Operand
ZR
Root
103
Operand
ZR
Logical AND
104
Operand
ZR
Logical OR
105
ZR
Logical exclusive-OR
106
Operand
EQ, NE, GT,
GE, LT, LE
Optional
CP††
Comparison variable
Comparison value
Compare
107
Optional
Optional
TIMW
TIMC
Prohibited
Prohibited
TU
CP
Wait
Cancel waiting
108
109
Optional
GTTM
Prohibited
CP
Get time
110
Optional
Optional
Optional
Optional
Optional
Optional
Optional
Optional
BT††
BTPN
BTPF
WT††
IN
INB
OUT
OUTB
Wait time (sec)
Program number
Time assignment
variable
Start output, flag
Output port, flag
Output port, flag
I/O, flag
Head I/O, flag
Head I/O, flag
Head output, flag
Head output, flag
(End output, flag)
Timer setting
Timer setting
(Wait time)
End I/O, flag
Conversion digits
End I/O, flag
Conversion digits
CP
CP
CP
TU
CC
CC
CC
CC
111
112
113
114
115
116
117
118
Optional
FMIO
Format type
Prohibited
CP
Output, flag [ON, OF, NT]
Output ON pulse
Output OFF pulse
Wait for I/O, flag [ON, OF]
Input binary (32 bits max.)
Input BCD (8 digits max.)
Output binary (32 bits max.)
Output BCD (8 digits max.)
Set IN (B)/OUT (B)
command format
119
85
Part 2 Programs
Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2
Category
Program
control
Task
management
Position
operation
Actuator
control
declaration
86
Condition
Command
Optional
GOTO
Prohibited
TAG
Optional
EXSR
Prohibited
BGSR
Prohibited
EDSR
Optional
EXIT
Optional
EXPG
Operand 1
Jump-destination tag
number
Declaration tag number
Execution subroutine
number
Declaration subroutine
number
Prohibited
Operand 2
Output
Function
Page
Prohibited
CP
Jump
122
Prohibited
CP
Declare jump destination
122
Prohibited
CP
Execute subroutine
123
Prohibited
CP
Start subroutine
123
Prohibited
CP
End subroutine
124
Prohibited
Execution program
number
Stop program number
Prohibited
(Execution program
number)
(Stop program number)
CP
End program
125
CC
Start program
126
CC
Stop other program
127
(Pause program number)
(Resumption program
number)
Position number
CC
Pause program
128
CC
Resume program
129
CC
Assign position to variable 199
130
Optional
ABPG
Optional
SSPG
Optional
RSPG
Optional
PGET
Pause program number
Resumption program
number
Axis number
Optional
PPUT
Axis number
Position number
CP
Assign value of variable 199
131
Optional
PCLR
132
CP
Copy position data
133
Optional
PRED
End position number
Copy-source position
number
Save-destination position
number
Clear position data
PCPY
Start position number
Copy-destination
position number
CP
Optional
CP
Read current axis position
134
CP
Read current axis position (1
axis direct)
135
CC
Confirm position data
136
CP
Assign position speed
137
CP
Assign position acceleration
138
CP
Assign position deceleration
139
Read axis pattern
Optional
PRDQ
Axis number
Variable number
Optional
PTST
Confirmation axis
pattern
Optional
PVEL
Speed [mm/sec]
Optional
PACC
Acceleration [G]
Optional
PDCL
Deceleration [G]
Confirmation position
number
Assignment-destination
position number
Assignment-destination
position number
Assignment-destination
position number
Optional
GVEL
Axis-pattern assignment
Position number
variable number
Size assignment
variable number
Variable number
Position number
CP
Get speed data
Optional
GACC
Variable number
Position number
CP
Get acceleration data
143
Optional
GDCL
Variable number
Position number
CP
Get deceleration data
144
Optional
VEL
Speed [mm/sec]
Prohibited
CP
Set speed
145
Optional
OVRD
Speed ratio [%]
Prohibited
CP
Set speed coefficient
146
Optional
ACC
Acceleration [G]
Prohibited
CP
Set acceleration
147
Optional
DCL
Deceleration [G]
Prohibited
CP
Set deceleration
148
Optional
SCRV
Ratio [%]
Prohibited
CP
Set sigmoid motion ratio
149
Optional
OFST
Setting axis pattern
Offset value [mm]
CP
Set offset
150
Optional
DEG
Division angle [deg]
Prohibited
CP
Set division angle
151
Optional
BASE
Reference axis number
Prohibited
CP
Set reference axis
152
Optional
GRP
Valid axis pattern
Prohibited
CP
Set group axes
153
154
Optional
PAXS
Optional
PSIZ
CP
Read axis pattern
140
CP
Confirm position size
141
142
Optional
HOLD
(Input port to pause)
(HOLD type)
CP
Declare port to pause
Optional
CANC
(Input port to abort)
(CANC type)
CP
Declare port to abort
155
Optional
VLMX
Prohibited
Prohibited
CP
Specify VLMX speed
156
Optional
DIS
Distance
Prohibited
CP
Set spline division distance
157
Set PATH output type
Set PUSH command distance,
speed
Set quick-return mode
159
Optional
POTP
0 or 1
Prohibited
CP
Optional
PAPR
Distance
Speed
CP
Optional
QRTN
0 or 1
Prohibited
CP
158
160
Part 2 Programs
Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2
Category
Actuator
control
command
Structural
IF
Condition Command
Multibranching
Operand 2
Output
Function
Page
SV††
Operation axis pattern
Prohibited
PE
Servo [ON, OF]
161
Optional
HOME
Home-return axis pattern
Prohibited
PE
Return to home
162
Optional
MOVP
Destination position number Prohibited
PE
163
Optional
MOVL
Destination position number Prohibited
PE
Optional
MVPI
Travel position number
Prohibited
PE
Optional
MVLI
Travel position number
Prohibited
PE
Optional
MOVD
Target position
(Axis pattern)
PE
Move to specified position
Move to specified position via
interpolation
Move to relative position
Move to relative position via
interpolation
Move via direct value specification
164
165
166
167
Optional
MVDI
Travel distance
(Axis pattern)
PE
Optional
PATH
Start position number
End position number
PE
Move relatively via direct value
specification
Move along path
Optional
J†W†
Axis operation pattern
Start I/O, flag
PE
Jog [FN, FF, BN, BF]
170
Optional
STOP
Axis stop pattern
Prohibited
CP
Decelerate and stop axis
171
Optional
PSPL
Start position number
End position number
PE
Move along spline
Optional
PUSH
PTRQ
Prohibited
Ratio [%]
PE
Optional
Target position number
Axis pattern
Optional
CIR2
Optional
ARC2
Optional
CHVL
Optional
ARCD
Optional
ARCC
Optional
PBND
Optional
CIR
Optional
ARC
Optional
Optional
168
169
172
Move by push motion
Change push torque limit
CC
parameter
Passing position 2
Move along circle 2 (arc
Passing position 1 number
PE
number
interpolation)
Move along arc 2 (arc
Passing position number
End position number
PE
interpolation)
Axis pattern
Speed
CP
Change speed
Move along arc via specification of
End position number
Center angle [deg]
PE
end position and center angle
Move along arc via specification of
Center position number
Center angle [deg]
PE
center position and center angle
Axis pattern
Distance
CP
Set positioning band
Passing position 2
Move along circle (CIR2 is
Passing position 1 number
PE
number
recommended)
Move along arc (ARC2 is
Passing position number
End position number
PE
recommended)
Refer to the page on palletizing for commands relating to arch motion.
173
ARCH
Position number
Position number
PE
Arch motion
216
ACHZ
Axis number
Prohibited
CP
Declare arch-motion Z-axis
218
Optional
ATRG
Position number
Position number
CP
Set arch trigger
219
Optional
OFAZ
Offset value
Prohibited
CP
220
Optional
IF††
Comparison variable
Comparison value
CP
Set arch-motion Z-axis offset
Compare [EQ, NE, GT, GE, LT,
LE]
Column number
Column number,
character literal
CP
Optional
IS††
Compare strings
175
176
177
178
179
180
181
182
183
184
185
Prohibited
Prohibited
CP
Declare execution destination
when IF command condition is not
satisfied
Declare end of IF
Comparison variable
Comparison value
CP
Loop [EQ, NE, GT, GE, LT, LE]
LEAV
Prohibited
Prohibited
CP
Pull out from DO
187
Optional
ITER
Prohibited
Prohibited
CP
Repeat DO
188
Prohibited
EDDO
Prohibited
Prohibited
CP
Declare end of DO
188
Optional
SLCT
Prohibited
Prohibited
CP
189
Prohibited
WH††
Comparison variable
Comparison value
CP
Declare start of multi-branching
Branch value [EQ, NE, GT, GE,
LT, LE]
Column number
Column number,
character literal
CP
Prohibited
Structural
DO
Operand 1
Optional
ELSE
Prohibited
EDIF
Optional
DW††
Optional
Prohibited
Prohibited
CP
Prohibited
WS††
Prohibited
OTHE
Prohibited
Prohibited
CP
Prohibited
EDSL
Prohibited
Prohibited
CP
186
186
187
190
Branch character string [EQ, NE]
191
Declare branching destination
when condition is not satisfied
Declare end of SLCT
192
192
87
Part 2 Programs
Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2
Category
System
information
acquisition
Condition Command
Operand 1
Operand 2
Output
Function
Page
Optional
AXST
Variable number
Axis number
CP
Get axis status
193
Optional
PGST
Variable number
Program number
CP
Get program status
194
Optional
SYST
Variable number
Prohibited
CP
Get system status
195
Optional
WZNA
Zone number
Axis pattern
CP
Wait for zone ON, with AND
196
Optional
WZNO
Zone number
Axis pattern
CP
Wait for zone ON, with OR
197
Optional
WZFA
Zone number
Axis pattern
CP
Wait for zone OFF, with AND
198
Optional
WZFO
Zone number
Axis pattern
CP
Wait for zone OFF, with OR
199
Optional
OPEN
Channel number
Prohibited
CP
Open channel
200
Optional
CLOS
Channel number
Prohibited
CP
Close channel
200
Zone
Communica
tion
String
operation
88
Optional
READ
Channel number
Column number
CC
Read from channel
201
Optional
TMRW
Read timer setting
(Write timer setting)
CP
Set READ timeout value
203
Optional
WRIT
Channel number
Column number
CC
Output to channel
205
Optional
SCHA
Character code
Prohibited
CP
Set end character
206
CC
Copy character string
207
EQ
Compare character strings
208
CP
Get character
209
Column number,
character literal
Column number,
character literal
Column number,
character literal
Optional
SCPY
Column number
Optional
SCMP
Column number
Optional
SGET
Variable number
Optional
SPUT
Column number
Data
CP
Set character
210
Optional
STR
Column number
Data
CC
Convert character string; decimal
211
Optional
STRH
Column number
Data
CC
Optional
VAL
Variable number
Optional
VALH
Variable number
Optional
SLEN
Character string length
Column number,
character literal
Column number,
character literal
Prohibited
CC
CC
CP
Convert character string;
hexadecimal
Convert character string data;
decimal
Convert character string data;
hexadecimal
Set length
212
213
214
215
Part 2 Programs
Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2
Category
Palletizingrelated
Condition
Command
Optional
ARCH
Position number
Operand 1
Position number
Operand 2
Output
PE
Arch motion
Function
Page
216
Optional
ACHZ
Axis number
Prohibited
CP
Declare arch-motion Z-axis
218
Optional
ATRG
Position number
Position number
CP
Set arch triggers
219
Optional
OFAZ
Offset amount
Prohibited
CP
Set arch-motion Z-axis offset
220
Optional
BGPA
Palletizing number
Prohibited
CP
Declare start of palletizing setting
221
Prohibited
EDPA
Prohibited
Prohibited
CP
Declare end of palletizing setting
221
Optional
PAPI
Count
Count
CP
Set palletizing counts
222
Optional
PAPN
Pattern number
Prohibited
CP
Set palletizing pattern
222
Optional
PASE
Axis number
Axis number
CP
Set palletizing axes
223
Optional
PAPT
Pitch
Pitch
CP
Set palletizing pitches
223
Optional
PAST
(Position number)
Prohibited
CP
Set palletizing reference point
224
Optional
PAPS
Position number
(Palletizing position
setting type)
CP
Set 3 palletizing points for teaching
225
Optional
PSLI
Offset amount
(Count)
CP
Set zigzag
227
Optional
PTNG
Palletizing number
Variable number
CP
Get palletizing position number
228
Optional
PINC
Palletizing number
Prohibited
CC
Optional
PDEC
Palletizing number
Prohibited
CC
Optional
PSET
Palletizing number
Data
CC
Optional
PARG
Palletizing number
Axis number
CP
Increment palletizing position
number by 1
Decrement palletizing position
number by 1
Set palletizing position number
directly
Get palletizing angle
228
229
229
230
Optional
PAPG
Palletizing number
Position number
CP
Get palletizing calculation data
230
Optional
PMVP
Palletizing number
(Position number)
PE
Move to palletizing points via PTP
231
Optional
PMVL
Palletizing number
(Position number)
PE
Move to palletizing points via
interpolation
232
Extension conditions LD (LOAD), A (AND), O (OR), AB (AND BLOCK) and OB (OR BLOCK) are supported.
Optional
Building of
pseudoladder task
Extended
command
CHPR
0 or 1
Prohibited
CP
Change task level
233
233
Prohibited
TPCD
0 or 1
Prohibited
CP
Specify processing to be performed
when input condition is not specified
Prohibited
TSLP
Time
Prohibited
CP
Task sleep
234
See
251
See
251
Optional
OUTR
Output, flag number
Prohibited
CP
Output relay for ladder
Optional
TIMR
Local flag number
Timer setting
CP
Timer relay for ladder
Optional
ECMD
1
Axis number
CC
Get motor current value
235
Optional
ECMD
5
Axis number
CC
Get axis operation status
236
Optional
ECMD
20
Variable number
CC
Get parameter value
237
89
Part 2 Programs
2. Alphabetical Order
Operation type in the output field
CC: Command was executed successfully,
ZR: Operation result is zero, PE: Operation is complete,
CP: Command part has passed, TU: Time up
Command Page Condition
Operand 1
EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2
Operand 2
Output
Function
A
ABPG
ACC
ACHZ
ADD
AND
ARC
ARC2
127
147
216
98
104
183
177
Optional
Optional
Optional
Optional
Optional
Optional
Optional
Stop program number
Acceleration
Axis number
Augend variable
AND operand variable
(Stop program number)
Prohibited
Prohibited
Addend
Operand
Passing position number End position number
Passing position number End position number
CC
CP
CP
ZR
ZR
PE
PE
Stop other program
Set acceleration
Declare arch-motion Z-axis
Add
Logical AND
Move along arc
Move along arc 2
ARCC
180
Optional
Center position number Center angle
PE
ARCD
179
Optional
End position number
Center angle
PE
Move along arc via specification of center
position and center angle
Move along arc via specification of end position
and center angle
ARCH
216
Optional
Position number
Position number
PE
Arch motion
Operand
ZR
Inverse tangent
Position number
Axis number
CP
CP
Set arch trigger
Get axis status
ATN
102
Optional
Inverse-tangent
assignment operation
ATRG
AXST
219
193
Optional
Optional
Position number
Variable number
BASE
BGPA
152
221
Optional
Optional
Reference axis number Prohibited
Palletizing number
Prohibited
CP
CP
Set reference axis
Declare start of palletizing setting
BGSR
123
Prohibited
Declaration subroutine
number
Prohibited
CP
Start subroutine
BTPF
BTPN
BT††
113
112
111
Optional
Optional
Optional
Output port, flag
Output port, flag
Start output, flag
Timer setting
Timer setting
(End output, flag)
CP
CP
CP
Output OFF pulse
Output ON pulse
Output, flag [ON, OF, NT]
CANC
CHPR
CHVL
CIR
CIR2
CLOS
CLR
155
233
178
182
176
200
97
Optional
Optional
Optional
Optional
Optional
Optional
Optional
(Input port to abort)
0 or 1
Axis pattern
(CANC type)
Prohibited
Speed
CP
CP
CP
PE
PE
CP
ZR
Declare port to abort
Change task level
Change speed
Move along circle
Move along circle 2
Close channel
Clear variable
COS
101
Optional
ZR
Cosine
B
C
CP††
Passing position 1 number Passing position 2 number
Passing position 1 number Passing position 2 number
Channel number
Start-of-clear variable
Prohibited
End-of-clear variable
Cosine assignment
variable
Operand
107
Optional
Comparison variable
Comparison value
EQ NE GT
GE LT LE
148
151
157
99
187
Optional
Optional
Optional
Optional
Optional
Deceleration
Division angle
Distance
Dividend variable
Comparison variable
Prohibited
Prohibited
Prohibited
Divisor
Comparison value
CP
CP
CP
ZR
CP
Set deceleration
Set division angle
Set spline division distance
Divide
Loop [EQ, NE, GT, GE, LT, LE]
235
236
237
188
186
221
192
Optional
Optional
Optional
1
5
20
Prohibited
Prohibited
Prohibited
Prohibited
Axis number
CC
Get motor current value
Axis number
CC
Get axis operation status
Variable number
CC
Get parameter value
Prohibited
Prohibited
Prohibited
Prohibited
CP
CP
CP
CP
Declare end of DO
Declare end of IF
Declare end of palletizing setting
Declare end of SLCT
Compare
D
DCL
DEG
DIS
DIV
DW††
E
ECMD
ECMD
ECMD
EDDO
EDIF
EDPA
EDSL
90
Prohibited
Prohibited
Prohibited
Prohibited
Part 2 Programs
Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2
Command Page Condition
Operand 1
Operand 2
Output
Function
EDSR
124
Prohibited Prohibited
Prohibited
CP
End subroutine
ELSE
186
Prohibited Prohibited
Prohibited
CP
Declare execution destination when IF command
condition is not satisfied
EOR
106
Optional
Exclusive-OR operand
variable
Operand
ZR
Logical exclusive-OR
EXIT
125
Optional
Prohibited
Prohibited
CP
End program
EXPG
126
Optional
(Execution program
number)
CC
Start program
EXSR
123
Optional
Execution program
number
Execution subroutine
number
Prohibited
CP
Execute subroutine
119
Optional
Format type
Prohibited
CP
Set IN (B)/OUT (B) command format
GACC
143
Optional
Variable number
Position number
CP
Get acceleration data
GDCL
144
Optional
Variable number
Position number
CP
Get deceleration data
GOTO
122
Optional
Jump-destination tag
number
Prohibited
CP
Jump
GRP
153
Optional
Valid axis pattern
Prohibited
CP
Set group axes
GTTM
110
Optional
Time assignment variable
Prohibited
CP
Get time
GVEL
142
Optional
Variable number
Position number
CP
Get speed data
F
FMIO
G
H
HOLD
154
Optional
(Input port to pause)
(HOLD type)
CP
Declare port to pause
HOME
162
Optional
Home-return axis pattern
Prohibited
PE
Return to home
I
IF††
184
Optional
Comparison variable
Comparison value
CP
Compare [EQ, NE, GT, GE, LT, LE]
INB
116
Optional
Head I/O, flag
Conversion digits
CC
Input BCD (8 digits max.)
IN
115
Optional
Head I/O, flag
End I/O, flag
CC
Input binary (32 bits max.)
IS††
185
Optional
Column number
Column number, character
literal
CP
Compare strings
ITER
188
Optional
Prohibited
Prohibited
CP
Repeat DO
170
Optional
Axis operation pattern
Start I/O, flag
PE
Jog [FN, FF, BN, BF]
LEAV
187
Optional
Prohibited
Prohibited
CP
Pull out from DO
LET
95
Optional
Assignment variable
Assigned value
ZR
Assign
MOD
100
Optional
Divisor
ZR
Calculate remainder
MOVD
167
Optional
(Axis pattern)
PE
Move via direct value specification
MOVL
164
Optional
Prohibited
PE
Move to specified position via interpolation
MOVP
163
Optional
MULT
99
MVDI
168
J
J†W†
L
M
Prohibited
PE
Move to specified position
Optional
Remainder assignment
variable
Target position
Destination position
number
Destination position
number
Multiplicand variable
Multiplier
ZR
Optional
Travel distance
(Axis pattern)
PE
MVLI
166
Optional
Travel position number Prohibited
PE
Multiply
Move relatively via direct value
specification
Move to relative position via interpolation
MVPI
165
Optional
Travel position number Prohibited
PE
Move to relative position
91
Part 2 Programs
Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2
Command Page Condition
Operand 1
Operand 2
Output
Function
O
OFAZ
OFST
OPEN
OR
220
150
200
105
Optional
Optional
Optional
Optional
OTHE
192
OUT
OUTB
OUTR
OVRD
Offset amount
Setting axis pattern
Channel number
OR operand variable
Prohibited
Offset value
Prohibited
Operand
CP
CP
CP
ZR
Set arch-motion Z-axis offset
Set offset
Open channel
Logical OR
Prohibited Prohibited
Prohibited
CP
Declare branching destination when condition is
not satisfied
117
118
251
146
Optional
Optional
Optional
Optional
Head output, flag
Head output, flag
Output, flag number
Speed ratio
End I/O, flag
Conversion digits
Prohibited
Prohibited
CC
CC
CP
CP
Output binary (32 bits max.)
Output BCD (8 digits max.)
Output relay for ladder
Set speed ratio
PACC
138
Optional
Acceleration
Assignment-destination
position number
CP
Assign position acceleration
PAPG
PAPI
PAPN
PAPR
230
222
222
159
Optional
Optional
Optional
Optional
Palletizing number
Count
Pattern number
Distance
Position number
Count
Prohibited
Speed
CP
CP
CP
CP
Get palletizing calculation data
Set palletizing counts
Set palletizing pattern
Set PUSH command distance, speed
PAPS
225
Optional
Position number
(Palletizing position setting
type)
CP
Set 3 palletizing points for teaching
PAPT
PARG
PASE
PAST
PATH
223
230
223
224
169
Optional
Optional
Optional
Optional
Optional
Pitch
Palletizing number
Axis number
(Position number)
Start position number
Pitch
Axis number
Axis number
Prohibited
End position number
CP
CP
CP
CP
PE
Set palletizing pitches
Get palletizing angle
Set palletizing axes
Set palletizing reference point
Move along path
PAXS
140
Optional
Axis-pattern assignment
variable number
Position number
CP
Read axis pattern
PBND
PCLR
181
132
Optional
Optional
Axis pattern
Start position number
Distance
End position number
CP
CP
Set positioning band
Clear position data
PCPY
133
Optional
Copy-destination position
number
CP
Copy position data
P
PDCL
139
Optional
Deceleration
Copy-source position
number
Assignment-destination
position number
CP
Assign position deceleration
PDEC
PGET
PGST
PMVL
PMVP
POTP
PPUT
PRDQ
229
130
194
232
231
158
131
135
Optional
Optional
Optional
Optional
Optional
Optional
Optional
Optional
Palletizing number
Axis number
Variable number
Palletizing number
Palletizing number
0 or 1
Axis number
Axis number
Prohibited
Position number
Program number
Prohibited
Prohibited
Prohibited
Position number
Variable number
CC
CC
CP
PE
PE
CP
CP
CP
Decrement palletizing position number by 1
Assign position to variable 199
Get program status
Move to palletizing points via interpolation
Move to palletizing points via PTP
Set PATH output type
Assign value of variable 199
Read current axis position (1 axis direct)
PRED
134
Optional
Read axis pattern
Save-destination position
number
CP
Read current axis position
PSET
229
Optional
Palletizing number
Data
CC
Set palletizing position number directly
Size assignment variable
number
PSIZ
141
Optional
CP
Confirm position size
PSLI
PSPL
PTRQ
227
172
175
Optional Offset amount
Optional Start position number
Optional Axis pattern
(Count)
End position number
Ratio
CP
PE
CC
Set zigzag
Move along spline
Change push torque limit parameter
PTST
136
Optional
Confirmation axis pattern
Confirmation position
number
CP
Confirm position data
PUSH
173
Optional
Target position number Prohibited
PE
Move by push motion
PVEL
137
Optional
Speed
CP
Assign position speed
92
Assignment-destination
position number
Part 2 Programs
Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2
Command Page Condition
Operand 1
Operand 2
Output
Function
Q
QRTN
160
Optional
0 or 1
Prohibited
CP
Set quick-return mode
201
Optional
Channel number
Column number
CC
Read from channel
Optional
Resumption program
number
(Resumption program
number)
CC
Resume program
Prohibited
CP
Set end character
EQ
Compare character strings
R
READ
RSPG
129
S
SCHA
206
Optional
Character code
SCMP
208
Optional
Column number
SCPY
207
Optional
Column number
Column number, character
literal
Column number, character
literal
CC
Copy character string
SCRV
149
Optional
Ratio
Prohibited
CP
Set sigmoid motion ratio
SGET
209
Optional
Variable number
Column number, character
literal
CP
Get character
SIN
101
Optional
Sine assignment variable
Operand
ZR
Sine
SLCT
189
Optional
Prohibited
Prohibited
CP
Declare start of multi-branching
SLEN
215
Optional
Character string length
Prohibited
CP
Set length
SPUT
210
Optional
Column number
Data
CP
Set character
SQR
103
Optional
Root assignment variable
Operand
ZR
Root
SSPG
128
Optional
Pause program number
(Pause program number)
CC
Pause program
Decelerate and stop axis
STOP
171
Optional
Axis stop pattern
Prohibited
CP
STR
211
Optional
Column number
Data
CC
Convert character string; decimal
STRH
212
Optional
Column number
Data
CC
Convert character string; hexadecimal
SUB
98
Optional
Minuend variable
Subtrahend
ZR
Subtract
SV††
161
Optional
Operation axis pattern
Prohibited
PE
Servo [ON, OF]
SYST
195
Optional
Variable number
Prohibited
CP
Get system status
93
Part 2 Programs
Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1 ≠ Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 ≥ Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 ≤ Operand 2
Command Page Condition
Operand 1
Operand 2
Output
Function
T
TAG
122
Prohibited Declaration tag number Prohibited
CP
Declare jump destination
ZR
Tangent
TAN
102
Optional
Tangent assignment
variable
TIMC
109
Optional
Program number
Prohibited
CP
Cancel waiting
TIMR
251
Optional
Local flag number
Timer setting
CP
Timer relay for ladder
TIMW
108
Optional
Wait time
Prohibited
TU
Wait
TMRW
203
Optional
Read timer setting
(Write timer setting)
CP
Set READ timeout value
TPCD
233
Prohibited 0 or 1
Prohibited
CP
Specify processing to be performed when input
condition is not specified
Copy-source variable
ZR
Copy
Prohibited
CP
Task sleep
CC
Convert character string data; decimal
Operand
TRAN
96
Optional
TSLP
234
Prohibited Time
VAL
213
Optional
Variable number
VALH
214
Optional
Variable number
Column number, character
literal
Column number, character
literal
CC
Convert character string data; hexadecimal
VEL
145
Optional
Speed
Prohibited
CP
Set speed
VLMX
156
Optional
Prohibited
Prohibited
CP
Specify VLMX speed
190
Prohibited Comparison variable
Comparison value
CP
Branch value [EQ, NE, GT, GE, LT, LE]
Copy-destination variable
V
W
WH††
WRIT
205
Optional
Column number
CC
Output to channel
WS††
191
Prohibited Column number
Channel number
Column number, character
literal
CP
Branch character string [EQ, NE]
WT††
114
Optional
I/O, flag
(Wait time)
TU
Wait for I/O, flag [ON, OF]
WZFA
198
Optional
Zone number
Axis pattern
CP
Wait for zone OFF, with AND
Wait for zone OFF, with OR
WZFO
199
Optional
Zone number
Axis pattern
CP
WZNA
196
Optional
Zone number
Axis pattern
CP
Wait for zone ON, with AND
WZNO
197
Optional
Zone number
Axis pattern
CP
Wait for zone ON, with OR
94
Part 2 Programs
Chapter 3
Explanation of Commands
1. Commands
1.1
Variable Assignment
z LET (Assign)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
LET
Data
Assign the value specified in operand 2 to the variable specified in operand 1.
The output will turn ON when 0 is assigned to the variable specified in operand 1.
[Example 1]
LET
1
10
Assign 10 to variable 1.
[Example 2]
LET
LET
3
1
10
*3
Assign 10 to variable 3.
Assign the content of variable 3 (10) to variable 1.
(Note) When data in a real variable is assigned to an integer variable, all decimal fractions are
rounded to the nearest integer.
LET
100
13.5
Assign 13.5 to real variable 100.
LET
1
*100
Assign 14, which is a rounded result of the content
of real variable 100 (13.5), to integer variable 1.
95
Part 2 Programs
z TRAN (Copy)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
[Example 1]
[Example 2]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
TRAN
Variable
number
Assign the content of the variable specified in operand 2 to the variable specified in
operand 1.
The output will turn ON when 0 is assigned to the variable specified in operand 1.
TRAN
1
2
Assign the content of variable 2 to variable 1.
LET
1
*2
A LET command of the same effect as the above
operation
LET
LET
TRAN
3
4
1
4
10
*3
Assign 4 to variable 3.
Assign 10 to variable 4.
Assign the content of variable 3 (which is variable
4, or 10) to variable 1.
(Note) When data in a real variable is assigned to an integer variable, all decimal fractions are
rounded to the nearest integer.
LET
100
13.5
Assign 13.5 to real variable 100.
TRAN
1
100
Assign 14, which is a rounded result of the content
of real variable 100 (13.5), to integer variable 1.
96
Part 2 Programs
z CLR (Clear variable)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
CLR
Variable
number
Clear the variables from the one specified in operand 1 through the other specified in
operand 2.
The contents of the variables that have been cleared become 0.
The output will turn ON when 0 is assigned to the variable specified in operand 1.
[Example 1]
CLR
1
5
Clear variables 1 through 5.
[Example 2]
LET
LET
CLR
1
2
*1
10
20
*2
Assign 10 to variable 1.
Assign 20 to variable 2.
Clear the variables from the content of variable 1
(variable 10) through the content of variable 2
(variable 20).
97
Part 2 Programs
1.2
Arithmetic Operation
z ADD (Add)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
ADD
Data
Add the content of the variable specified in operand 1 and the value specified in operand
2, and assign the result to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.
[Example 1]
LET
ADD
1
1
3
2
Assign 3 to variable 1.
Add 2 to the content of variable 1 (3).
5 (3+2=5) will be stored in variable 1.
[Example 2]
LET
LET
ADD
1
3
1
2
2
*3
Assign 2 to variable 1.
Assign 2 to variable 3.
Add the content of variable 3 (2) to the content of
variable 1 (2).
4 (2+2=4) will be stored in variable 1.
z SUB (Subtract)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
SUB
Data
Subtract the value specified in operand 2 from the content of the variable specified in
operand 1, and assign the result to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.
[Example 1]
LET
SUB
1
1
3
2
Assign 3 to variable 1.
Subtract 2 from the content of variable 1 (3).
1 (3–2=1) will be stored in variable 1.
[Example 2]
LET
LET
SUB
1
3
1
3
2
*3
Assign 3 to variable 1.
Assign 2 to variable 3.
Subtract the content of variable 3 (2) from the
content of variable 1 (3).
1 (3–2=1) will be stored in variable 1.
98
Part 2 Programs
z MULT (Multiply)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
MULT
Data
Multiply the content of the variable specified in operand 1 by the value specified in
operand 2, and assign the result to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.
[Example 1]
LET
MULT
1
1
3
2
Assign 3 to variable 1.
Multiply the content of variable 1 (3) by 2.
6 (3x2=6) will be stored in variable 1.
[Example 2]
LET
LET
MULT
1
3
1
4
2
*3
Assign 4 to variable 1.
Assign 2 to variable 3.
Multiply the content of variable 1 (4) by the content
of variable 3 (2).
8 (4x2=8) will be stored in variable 1.
z DIV (Divide)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
(Note)
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
DIV
Data
Divide the content of the variable specified in operand 1 by the value specified in operand
2, and assign the result to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.
If the variable specified in operand 1 is an integer variable, any decimal places will be
rounded off.
[Example 1]
LET
DIV
1
1
6
2
Assign 6 to variable 1.
Divide the content of variable 1 (6) by 2.
3 (6÷2=3) will be stored in variable 1.
[Example 2]
LET
LET
DIV
1
3
1
6
2
*3
Assign 6 to variable 1.
Assign 2 to variable 3.
Divide the content of variable 1 (6) by the content
of variable 3 (2).
3 (6÷2=3) will be stored in variable 1.
99
Part 2 Programs
z MOD (Remainder)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
MOD
Data
[Function]
Assign, to the variable specified in 1, the remainder obtained by dividing the content of
the variable specified in operand 1 by the value specified in operand 2.
The output will turn ON when the operation result becomes 0.
(Note)
A MOD command is used with integer variables.
[Example 1]
LET
MOD
1
1
7
3
Assign 7 to variable 1.
Obtain the remainder of dividing the content of
variable 1 (7) by 3.
1 (7÷3=2 with a remainder of 1) will be assigned to
variable 1.
[Example 2]
LET
LET
MOD
1
3
1
7
3
*3
Assign 2 to variable 1.
Assign 3 to variable 3.
Obtain the remainder of dividing the content of
variable 1 (7) by the content of variable 3 (3).
1 (7÷3=2 with a remainder of 1) will be assigned to
variable 1.
100
Part 2 Programs
1.3
Function Operation
z SIN (Sine operation)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
SIN
Data
[Function]
Assign the sine of the data specified in operand 2 to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to 1199, 300
to 399 or 1300 to 1399.
The unit of data in operand 2 is radian.
(Note 1)
Radian = Angle x π ÷ 180
[Example 1]
SIN
100
0.523599
Assign the sine of 0.523599 (0.5) to variable 100.
[Example 2]
LET
MULT
DIV
SIN
101
101
101
100
30
3.141592
180
*101
30 x π ÷ 180 (radian)
(30° will be converted to radian and assigned to
variable 101.)
Assign the sine of the content of variable 101 (0.5) to
variable 100.
z COS (Cosine operation)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
COS
Data
[Function]
Assign the cosine of the data specified in operand 2 to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to 1199, 300
to 399 or 1300 to 1399.
The unit of data in operand 2 is radian.
(Note 1)
Radian = Angle x π ÷ 180
[Example 1]
COS
100
1.047197
Assign the cosine of 1.047197 (0.5) to variable 100.
[Example 2]
LET
MULT
DIV
COS
101
101
101
100
60
3.141592
180
*101
60 x π ÷ 180 (radian)
(60° will be converted to radian and assigned to
variable 101.)
Assign the cosine of the content of variable 101 (0.5)
to variable 100.
101
Part 2 Programs
z TAN (Tangent operation)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
TAN
Data
[Function]
Assign the tangent of the data specified in operand 2 to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to 1199, 300
to 399 or 1300 to 1399.
The unit of data in operand 2 is radian.
(Note 1)
Radian = Angle x π ÷ 180
[Example 1]
TAN
100
0.785398
Assign the tangent of 0.785398 (1) to variable 100.
[Example 2]
LET
MULT
DIV
TAN
101
101
101
100
45
3.141592
180
*101
45 x π ÷ 180 (radian)
(45° will be converted to radian and assigned to
variable 101.)
Assign the tangent of the content of variable 101 (1)
to variable 100.
z ATN (Inverse-tangent operation)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
ATN
Data
[Function]
Assign the inverse tangent of the data specified in operand 2 to the variable specified in
operand 1.
The output will turn ON when the operation result becomes 0.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to 1199, 300
to 399 or 1300 to 1399.
The unit of inverse tangent is radian.
(Note 1)
Radian = Angle x π ÷ 180
[Example 1]
ATN
100
1
Assign the inverse tangent of 1 (0.785398) to
variable 100.
[Example 2]
LET
ATN
101
100
1
*101
Assign 1 to variable 101.
Assign the inverse tangent of the content of variable
101 (0.785398) to variable 100.
102
Part 2 Programs
z SQR (Root operation)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
SQR
Data
Assign the root of the data specified in operand 2 to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.
[Example 1]
SQR
1
4
Assign the root of 4 (2) to variable 1.
[Example 2]
LET
SQR
2
100
5
*2
Assign 5 to variable 2.
Assign the root of the content of variable 2 (5) to
variable 100.
103
Part 2 Programs
1.4
Logical Operation
z AND (Logical AND)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
AND
Data
Assign the logical AND operation result of the content of the variable specified in operand 1
and the value specified in operand 2, to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.
[Example 1]
LET
AND
1
1
204
170
Assign 204 to variable 1.
Assign the logical AND operation result (136) of the
content of variable 1 (204) and 170, to variable 1.
[Example 2]
LET
LET
AND
1
3
1
204
170
*3
Assign 204 to variable 1.
Assign 170 to variable 3.
Assign the logical AND operation result (136) of the
content of variable 1 (204) and the content of
variable 3 (170) to variable 1.
Decimal
AND
104
204
170
136
Binary
11001100
AND 10101010
10001000
Part 2 Programs
z OR (Logical OR)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
OR
Data
Assign the logical OR operation result of the content of the variable specified in operand 1
and the value specified in operand 2, to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.
[Example 1]
LET
OR
1
1
204
170
Assign 204 to variable 1.
Assign the logical OR operation result (238) of the
content of variable 1 (204) and 170, to variable 1.
[Example 2]
LET
LET
OR
1
3
1
204
170
*3
Assign 204 to variable 1.
Assign 170 to variable 3.
Assign the logical OR operation result (238) of the
content of variable 1 (204) and the content of
variable 3 (170) to variable 1.
Decimal
204
OR 170
238
Binary
11001100
OR 10101010
11101110
105
Part 2 Programs
z EOR (Logical exclusive-OR)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
ZR
EOR
Data
Assign the logical exclusive-OR operation result of the content of the variable specified in
operand 1 and the value specified in operand 2, to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.
[Example 1]
LET
EOR
1
1
204
170
Assign 204 to variable 1.
Assign the logical exclusive-OR operation result
(102) of the content of variable 1 (204) and 170, to
variable 1.
[Example 2]
LET
LET
EOR
1
3
1
204
170
*3
Assign 204 to variable 1.
Assign 170 to variable 3.
Assign the logical exclusive-OR operation result
(102) of the content of variable 1 (204) and the
content of variable 3 (170) to variable 1.
Decimal
204
EOR 170
102
106
Binary
11001100
EOR 10101010
01100110
Part 2 Programs
1.5
Comparison Operation
z CP†† (Compare)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Variable
number
CP††
Data
Output
(Output, flag)
EQ
GT
LT
NE
GE
LE
[Function]
The output will be turned ON if the comparison result of the content of the variable specified
in operand 1 and the value specified in operand 2 satisfies the condition.
The value in the variable does not change.
The output will be turned OFF if the condition is not satisfied.
(Note)
The output will not be turned OFF when the command is executed.
CP††
Operand 1 = Operand 2
Operand 1 ≠ Operand 2
Operand 1 > Operand 2
Operand 1 ≥ Operand 2
Operand 1 < Operand 2
Operand 1 ≤ Operand 2
EQ
NE
GT
GE
LT
LE
[Example 1]
600
[Example 2]
LET
CPEQ
1
1
10
10
ADD
2
1
LET
LET
CPEQ
1
3
1
10
10
*3
600
310
Assign 10 to variable 1.
Turn ON flag 600 if the content of variable 1
is 10.
Add 1 to variable 2 if flag 600 is ON.
Assign 10 to variable 1.
Assign 10 to variable 3.
Turn ON output 310 if the content of variable
1 (10) is equal to the content of variable 3.
107
Part 2 Programs
1.6
Timer
z TIMW (Timer)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
TIMW
Time
Prohibited
Output
(Output, flag)
TU
Stop the program and wait for the time specified in operand 1.
The setting range is 0.01 to 99, and the unit is second.
The output will turn ON when the specified time has elapsed and the program proceeds to
the next step.
[Example 1]
TIMW
1.5
[Example 2]
LET
TIMW
1
*1
108
Command, declaration
Command,
Operand 1
Operand 2
declaration
Wait for 1.5 seconds.
10
Assign 10 to variable 1.
Wait for the content of variable 1 (10 seconds).
Part 2 Programs
z TIMC (Cancel timer)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Program
number
CP
TIMC
Prohibited
[Function]
Cancel a timer in other program running in parallel.
(Note)
Timers in TIMW, WTON, WTOF and READ commands can be cancelled. In the case of
WTON, WTOF and READ commands, even if timeout is not specified it is assumed that an
unlimited timer has been specified and the wait time will be cancelled.
[Example 1]
TIMC
10
[Example 2]
LET
TIMC
1
*1
[Example 3]
Program 1
(Note)
Cancel the wait time in program 10.
10
Assign 10 to variable 1.
Cancel the wait time in the content of variable 1
(program 10).
Program 10
:
:
:
WTON 8 20
Program 10 waits for input 8 for 20 seconds.
:
(Wait for input 8)
TIMC
10 (Wait for input 8) Cancel the wait time in program 10.
:
:
The steps shown in the above example represent those executed simultaneously in different
programs.
109
Part 2 Programs
z GTTM (Get time)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
[Example 1]
[Example 2]
110
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
CP
GTTM
Prohibited
Read system time to the variable specified in operand 1. The time is specified in units of 10
milliseconds.
The time obtained here has no base number. Therefore, this command is called twice and
the difference will be used to calculate the elapsed time.
GTTM
ADD
GTTM
DWLE
:
:
GTTM
EDDO
1
1
2
2
LET
GTTM
1
*1
500
*1
2
Read the reference time to variable 1.
Set the ending time to 5 seconds later.
Read the current system time to variable 2.
Proceed to the step next to EDDO when 5 seconds elapsed.
The above process will be repeated for 5 seconds.
Read the current system time to variable 2.
5
Assign 5 to variable 1.
Store the current system time in the content of variable 1
(variable 5).
Part 2 Programs
1.7
I/O, Flag Operation
z BT†† (Output port, flag operation)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
BT††
Output, flag
Output
(Output, flag)
(Output,
flag)
CP
Reverse the ON/OFF status of the output ports or flags from the one specified in operand 1
through the other specified in operand 2.
BT††
Switch the status to ON.
Switch the status to OFF.
Reverse the status.
ON
OF
NT
[Example 1]
BTON
300
Turn ON output port 300.
[Example 2]
BTOF
300
307
Turn OFF output ports 300 through 307.
[Example 3]
LET
BTNT
1
*1
600
Assign 600 to variable 1.
Reverse the content of variable 1 (flag 600).
[Example 4]
LET
LET
BTON
1
2
*1
600
607
*2
Assign 600 to variable 1.
Assign 607 to variable 2.
Turn ON the flags from the content of variable 1 (flag
600) through the content of variable 2 (flag 607).
111
Part 2 Programs
z BTPN (Output ON pulse)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Output
port, flag
CP
BTPN
Timer
setting
Turn ON the specified output port or flag for the specified time.
When this command is executed, the output port or flag specified in operand 1 will be turned
ON and then the program will proceed to the next step. The output port or flag will be turned
OFF automatically upon elapse of the timer setting specified in operand 2.
The timer is set in a range from 0.01 to 99.00 seconds (including up to two decimal places).
Timer setting (seconds)
ON
OFF
The output port or flag turns ON here, after
which the program will proceed to the next step.
(Note 1)
If this command is executed with respect to an output port or flag already ON, the output
port or flag will be turned OFF upon elapse of the timer setting.
(Note 2)
If the program ends after the command has been executed but before the timer is up, the
output port or flag will not be turned OFF.
(Note 3)
This command will not be cancelled by a TIMC command.
(Note 4)
A maximum of 16 timers, including BTPN and BTPF, can be operated simultaneously in a
single program. (There is no limitation as to how many times these timers can be used in a
single program.)
[Example]
112
BTPN
BTPN
300
600
1
10
Turn ON output port 300 for 1 second.
Turn ON flag 600 for 10 seconds.
Part 2 Programs
z BTPF (Output OFF pulse)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Output
port, flag
CP
BTPF
Timer
setting
Turn OFF the specified output port or flag for the specified time.
When this command is executed, the output port or flag specified in operand 1 will be turned
OFF and then the program will proceed to the next step. The output port or flag will be
turned ON automatically upon elapse of the timer setting specified in operand 2.
The timer is set in a range from 0.01 to 99.00 seconds (including up to two decimal places).
Timer setting (seconds)
ON
OFF
The output port or flag turns OFF here, after
which the program will proceed to the next step.
(Note 1)
If this command is executed with respect to an output port or flag already OFF, the output
port or flag will be turned ON upon elapse of the timer setting.
(Note 2)
If the program ends after the command has been executed but before the timer is up, the
output port or flag will not be turned ON.
(Note 3)
This command will not be cancelled by a TIMC command.
(Note 4)
A maximum of 16 timers, including BTPN and BTPF, can be operated simultaneously in a
single program. (There is no limitation as to how many times these timers can be used in a
single program.)
[Example]
(Note 5)
BTPF
BTPF
300
600
1
10
Turn OFF output port 300 for 1 second.
Turn OFF flag 600 for 10 seconds.
If a different task or interruption processing occurs after the port has turned ON, and before
it turns OFF again, an error will occur in the pulse output time. In this case, BTPF can no
longer be used as a constant-time pulse output command.
113
Part 2 Programs
z WT†† (Wait for I/O port, flag)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
WT††
I/O, flag
Output
(Output, flag)
(Time)
TU
[Function]
Wait for the I/O port or flag specified in operand 1 to turn ON/OFF.
The program can be aborted after the specified time by setting the time in operand 2.
The setting range is 0.01 to 99 seconds.
The output will turn ON upon elapse of the specified time (only when operand 2 is specified).
Note) A local flag cannot be entered in operand 1.
WT††
Wait for the applicable I/O port or flag to turn ON.
Wait for the applicable I/O port or flag to turn OFF.
ON
OF
[Example 1]
WTON
15
[Example 2]
WTOF
307
10
Wait for 10 seconds for output port 307 to turn OFF.
[Example 3]
LET
WTON
1
*1
600
Assign 600 to variable 1.
Wait for the content of variable 1 (flag 600) to turn ON.
[Example 4]
LET
LET
WTOF
1
2
*1
8
5
*2
Assign 8 to variable 1.
Assign 5 to variable 2.
Wait for the content of variable 2 (5 seconds) for the
content of variable 1 (input port 8) to turn OFF.
114
Wait for input port 15 to turn ON.
Part 2 Programs
z IN (Read I/O, flag as binary)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
IN
I/O, flag
Output
(Output, flag)
I/O, flag
CC
Read the I/O ports or flags from the one specified in operand 1 through the other specified in
operand 2, to variable 99 as a binary.
27
15
26
14
25
13
24
12
23
11
22
10
21
9
20
8
ON
OFF
OFF
OFF
OFF
ON
OFF
ON
1
0
0
0
0
1
0
1
7
2 +
128 +
0
0
+
+
0
0
+
+
0
0
+
+
0
0
133
+
+
2
4
2
+
+
0
0
+
+
2
1
Binary
Input port number
Binary
0
=
133
Variable 99
(Note 1)
A maximum of 32 bits can be input.
(Note 2)
When 32 bits have been input and the most significant bit is ON, the value read to variable
99 will be treated as a negative value.
(Note 3)
The read data format can be changed using a FMIO command (refer to the section on FMIO
command).
[Example 1]
IN
8
15
Read input ports 8 through 15, to variable 99 as a
binary.
[Example 2]
LET
LET
IN
1
2
*1
8
15
*2
Assign 8 to variable 1.
Assign 15 to variable 2.
Read the input ports from the content of variable 1
(input port 8) through the content of variable 2 (input
port 15), to variable 99 as a binary.
115
Part 2 Programs
z INB (Read I/O, flag as BCD)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
INB
I/O, flag
Output
(Output, flag)
BCD digits
CC
Read the I/O ports or flags from the one specified in operand 1 for the number of digits
specified in operand 2, to variable 99 as a BCD.
Upper digit
15
ON
14
OFF
13
OFF
Lower digit
12
OFF
11
OFF
10
ON
9
OFF
8
ON
Input port number
5
8
Variable 99
85
(Note 1)
A maximum of eight digits (32 bits) can be input.
(Note 2)
The number of I/O ports and flags that can be used is 4 x n (digits).
(Note 3)
The read data format can be changed using a FMIO command (refer to the section on FMIO
command).
[Example 1]
INB
8
2
Read input ports 8 through 15, to variable 99 as a
BCD.
[Example 2]
LET
LET
INB
1
2
*1
8
2
*2
Assign 8 to variable 1.
Assign 2 to variable 2.
Read the input ports from the content of variable 1
(input port 8) for the content of variable 2 (two digits)
(until input port 15), to variable 99 as a BCD.
116
Part 2 Programs
z OUT (Write output, flag as binary)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
OUT
Output
(Output, flag)
Output, flag Output, flag
CC
Write the value in variable 99 to the output ports or flags from the one specified in operand 1
through the other specified in operand 2.
Variable 99
133
Upper
1
0
0
0
0
1
0
Lower
1
307
ON
306
OFF
305
OFF
304
OFF
303
OFF
302
ON
301
OFF
300
ON
Binary
Output port number
(Note 1)
A maximum of 32 bits can be output.
(Note 2)
The write data format can be changed using a FMIO command (refer to the section on FMIO
command).
[Example 1]
OUT
300
307
Write the value in variable 99 to output ports 300
through 307 as a binary.
[Example 2]
LET
LET
OUT
1
2
*1
300
307
*2
Assign 300 to variable 1.
Assign 307 to variable 2.
Write the value in variable 99 to the output ports from
the content of variable 1 (output port 300) through the
content of variable 2 (output port 307) as a binary.
117
Part 2 Programs
z OUTB (Write output, flag as BCD)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
OUTB
Output
(Output, flag)
Output, flag BCD digits
CC
Write the value in variable 99 to the output ports or flags from the one specified in operand 1
for the number of digits specified in operand 2 as a BCD.
Variable 99
85
307
306
305
304
303
302
301
300
ON
OFF
OFF
OFF
OFF
ON
OFF
ON
Output port number
(Note 1)
A maximum of eight digits (32 bits) can be output.
(Note 2)
The number of output ports and flags that can be used is 4 x n (digits).
(Note 3)
The write data format can be changed using a FMIO command (refer to the section on FMIO
command).
[Example 1]
OUTB
300
2
Write the value in variable 99 to the output ports from
300 for two digits (until output port 307) as a BCD.
[Example 2]
LET
LET
OUTB
1
2
*1
300
2
*2
Assign 300 to variable 1.
Assign 2 to variable 2.
Write the value in variable 99 to the output ports from
the content of variable 1 (output port 300) for the
content of variable 2 (two digits) (until output port 307)
as a BCD.
118
Part 2 Programs
z FMIO (Set IN, INB, OUT, OUTB command format)
Command, declaration
Extension condition Input condition
Command,
(LD, A, O, AB, OB)
(I/O, flag)
Operand 1
Operand 2
declaration
Optional
[Function]
Optional
Format
type
FMIO
Output
(Output, flag)
Prohibited
CP
Set the data format for reading or writing I/O ports and flags with an IN, INB, OUT or OUTB
command.
(1) Operand 1 = 0 (Default status when a FMIO command has not been executed)
Data is read or written without being reversed.
(I/O, flag number upper)
01234567h ⇔ 01h 23h 45h 67h ⇔ 0000 0001
Variable 99
Temporary data
0010 0011
(I/O, flag number lower)
0100 0101
0110 0111
I/O port, flag status (0 = OFF, 1 = ON)
OUT(B) command
IN(B) command
(2) Operand 1 = 1
Data is read or written after its upper eight bits and lower eight bits are reversed every
16 bits.
(I/O, flag number upper)
01234567h ⇔ 23h 01h 67h 45h ⇔ 0010 0011
Variable 99
0000 0001
(I/O, flag number lower)
0110 0111
0100 0101
I/O port, flag status (0 = OFF, 1 = ON)
Temporary data
OUT(B) command
IN(B) command
(3) Operand 1 = 2
Data is read or written after its upper 16 bits and lower 16 bits are reversed every 32
bits.
(I/O, flag number upper)
01234567h ⇔ 45h 67h 01h 23h ⇔ 0100 0101
Variable 99
0110 0111
(I/O, flag number lower)
0000 0001
0010 0011
I/O port, flag status (0 = OFF, 1 = ON)
Temporary data
OUT(B) command
IN(B) command
119
Part 2 Programs
(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 bits and lower eight bits are reversed every 16 bits.
(I/O, flag number upper)
01234567h ⇔ 67h 45h 23h 01h ⇔ 0110 0111
Variable 99
0100 0101
(I/O, flag number lower)
0010 0011
0000 0001
I/O port, flag status (0 = OFF, 1 = ON)
Temporary data
OUT(B) command
IN(B) command
[Example 1]
Variable 99 = 00123456h (Decimal: 1193046, BCD: 123456)
OUT(B) command
00123456h
IN(B) command
OUT(B) command
Variable 99 1193046 (IN/OUT command)
123456 (INB/OUTB command)
IN(B) command
(I/O, flag number upper) (I/O, flag number lower)
FMIO = 0
00h 12h 34h 56h
⇔
0000 0000 0001 0010 0011 0100 0101 0110
FMIO = 1
12h 00h 56h 34h
⇔
0001 0010 0000 0000 0101 0110 0011 0100
FMIO = 2
34h 56h 00h 12h
⇔
0011 0100 0101 0110 0000 0000 0001 0010
FMIO = 3
56h 34h 12h 00h
⇔
0101 0110 0011 0100 0001 0010 0000 0000
Temporary data OUT(B) command
IN(B) command
120
I/O port, flag status (0 = OFF, 1 = ON)
Part 2 Programs
[Example 2]
Variable 99 = 00001234h (Decimal: 4660, BCD: 1234)
OUT(B) command
00001234h
IN(B) command
OUT(B) command
Variable 99 4660 (IN/OUT command)
1234 (INB/OUTB command)
IN(B) command
(I/O, flag number upper) (I/O, flag number lower)
FMIO = 0
00h 00h 12h 34h
⇔
0000 0000 0000 0000 0001 0010 0011 0100
FMIO = 1
00h 00h 34h 12h
⇔
0000 0000 0000 0000 0011 0100 0001 0010
FMIO = 2
12h 34h 00h 00h
⇔
0001 0010 0011 0100 0000 0000 0000 0000
FMIO = 3
34h 12h 00h 00h
⇔
0011 0100 0001 0010 0000 0000 0000 0000
Temporary data OUT(B) command
I/O port, flag status (0 = OFF, 1 = ON)
IN(B) command
[Example 3]
Variable 99 = 00000012h (Decimal: 18, BCD: 12)
OUT(B) command
00000012h
IN(B) command
OUT(B) command
Variable 99 18 (IN/OUT command)
12 (INB/OUTB command)
IN(B) command
(I/O, flag number upper) (I/O, flag number lower)
FMIO = 0
00h 00h 00h 12h
⇔
0000 0000 0000 0000 0000 0000 0001 0010
FMIO = 1
00h 00h 12h 00h
⇔
0000 0000 0000 0000 0001 0010 0000 0000
FMIO = 2
00h 12h 00h 00h
⇔
0000 0000 0001 0010 0000 0000 0000 0000
FMIO = 3
12h 00h 00h 00h
⇔
0001 0010 0000 0000 0000 0000 0000 0000
Temporary data
OUT(B) command
I/O port, flag status (0 = OFF, 1 = ON)
IN(B) command
121
Part 2 Programs
1.8
Program Control
z GOTO (Jump)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Tag
number
CP
GOTO
Prohibited
[Function]
Jump to the position of the tag number specified in operand 1.
(Note)
A GOTO command is valid only within the same program.
[Example 1]
TAG
:
:
:
GOTO
1
Set a tag.
1
Jump to tag 1.
Using a GOTO command to branch out of or into any of the syntaxes listed below is prohibited.
Since the maximum number of nests is defined for each conditional branching command or subroutine
call, a nest will be infinitely repeated if an ED†† is not passed, and a nest overflow error will generate. In
the case of palletizing setting, an error will generate if the second BGPA is declared after the first BGPA
declaration without passing an EDPA.
(1) IF†† or IS†† and EDIF syntax
(2) DW†† and EDDO syntax
(3) SLCT and EDSL syntax
(4) BGSR and EDSR syntax
(5) BGPA and EDPA syntax
z TAG (Declare tag)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Prohibited
Prohibited
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Tag
number
CP
TAG
Set the tag number specified in operand 1.
[Example 1] Refer to the section on GOTO command.
122
Prohibited
Part 2 Programs
z EXSR (Execute subroutine)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Subroutine
number
CP
EXSR
Prohibited
[Function]
Execute the subroutine specified in operand 1.
A maximum of 15 nested subroutine calls are supported.
(Note)
This command is valid only for subroutines within the same program.
[Example 1]
[Example 2]
EXSR
:
:
EXIT
BGSR
:
:
:
EDSR
1
Execute subroutine 1.
1
Start subroutine 1.
LET
EXSR
1
*1
End subroutine 1.
10
Assign 10 to variable 1.
Execute the content of variable 1 (subroutine 10).
z BGSR (Start subroutine)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Prohibited
Prohibited
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Subroutine
number
CP
BGSR
Prohibited
Declare the start of the subroutine specified in operand 1.
[Example 1] Refer to the section on EXSR command.
(Note)
Using a GOTO command to branch out of or into a BGSR-EDSR syntax is prohibited.
123
Part 2 Programs
z EDSR (End subroutine)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Prohibited
Prohibited
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
EDSR
Prohibited
CP
Declare the end of a subroutine.
This command is always required at the end of a subroutine.
Thereafter, the program will proceed to the step next to the EXSR that has been called.
[Example 1] Refer to the section on EXSR command.
124
Prohibited
Output
(Output, flag)
Part 2 Programs
1.9
Task Management
z EXIT (End program)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
EXIT
Prohibited
Prohibited
Output
(Output, flag)
CP
[Function]
End the program.
If the last step has been reached without encountering any EXIT command, the program will
return to the beginning.
(Note)
Status at program end
[Example 1]
:
:
EXIT
•
•
•
•
•
•
Output ports
Local flags
Local variables
Current values
Global flags
Global variables
Retained
Cleared
Cleared
Retained
Retained
Retained
End the program.
125
Part 2 Programs
z EXPG (Start other program)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Program
number
CC
EXPG
(Program
number)
[Function] Start the programs from the one specified in operand 1 through the other specified in operand
2, and run them in parallel. Specification in operand 1 only is allowed.
[Example 1]
EXPG
10
12
Start program Nos. 10, 11 and 12.
Error-generation/output-operation conditions
When one EXPG program is specified (only operand 1 is specified)
No program number error *1
Status of the
Program number
Program already registered
Program not yet
specified program
error *1
Program not
registered
Program running
running
A57
C03
C2C
Error
None
“Multiple program
“Non-registered program “Program number
start error”
specification error”
error”
Output operation
ON
ON
OFF
OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 1 --- Program number error indicates specification of a number smaller than 1 or exceeding 64.
When multiple EXPG programs are specified (both operands 1 and 2 are specified)
No program number error *2
Registered program exists inside the
specified range *3
Status of the
Program
None of programs inside
specified program Running program None of programs the specified range are number error *1
inside the
registered
exists inside the
specified range
specified range
are running
A57
C03
C2C
Error
None
“Multiple program
“Non-registered program
“Program
start error”
specification error”
number error”
Output operation
ON
ON
OFF
OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 2 --- Program number error indicates specification of a number smaller than 1 or exceeding 64.
* 3 --- In this case, non-registered programs inside the specified range are not treated as a target of operation. This
will not affect error generation or output operation.
126
Part 2 Programs
z ABPG (Abort other program)
Extension condition Input condition
(LD, A, O, AB, OB)
(I/O, flag)
Optional
Command, declaration
Command,
declaration
Operand 1
Operand 2
ABPG
Program
number
(Program
number)
Optional
Output
(Output, flag)
CC
[Function]
Forcibly end the programs from the one specified in operand 1 to the other specified in
operand 2. Specification in operand 1 only is allowed.
(Note 1)
If an ABPG command is issued while a movement command is being executed, the axes will
immediately decelerate and stop.
Not only the operation but also the execution of the step itself will be terminated.
(Note 2)
[Example 1]
ABPG
10
12
End program Nos. 10, 11 and 12.
Error-generation/output-operation conditions
When one ABPG program is specified (only operand 1 is specified)
No program number error *1
Status of the
Program already registered
Program not yet
specified program
Program not
registered
Program running
running
Error
None
None
None
Output operation
ON (OFF *2)
ON
ON
Program number error
*1
C2C
“Program number error”
OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 1 --- Program number error indicates specification of a number smaller than 1 or exceeding 64.
* 2 --- If an own task (own program) is specified in an ABPG command, the own task will be terminated and then
deleted. The output will turn OFF.
When multiple ABPG programs are specified (both operands 1 and 2 are specified)
No program number error *3
Registered program exists inside the
specified range *4
Status of the
Program
None of programs inside
specified program Running program None of programs the specified range are number error *1
inside the
registered
exists inside the
specified range
specified range
are running
C2C
Error
None
None
None
“Program
number error”
Output operation
ON (OFF *5)
ON
ON
OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 3 --- Program number error indicates specification of a number smaller than 1 or exceeding 64.
* 4 --- In this case, non-registered programs inside the specified range are not treated as a target of operation. This
will not affect error generation or output operation.
* 5 --- If an own task (own program) is included in the specified range, the own task will be terminated, upon which
the processing of the ABPG command will end. Since the own task will be deleted, the result of ending the
processing of specified programs will become indeterminable. Exercise caution. The output will always turn
OFF regardless of the result.
127
Part 2 Programs
z SSPG (Pause program)
Extension condition Input condition
(LD, A, O, AB, OB)
(I/O, flag)
Optional
Command, declaration
Command,
declaration
Operand 1
Operand 2
SSPG
Program
number
(Program
number)
Optional
Output
(Output, flag)
CC
[Function]
Pause the program from the one specified in operand 1 through the other specified in
operand 2, at the current step. Specification in operand 1 only is allowed.
(Note 1)
(Note 2)
Pausing a program will also pause the operation the program has been executing.
Not only the operation but also the execution of the step itself will be paused.
[Example 1]
SSPG
10
12
Pause program Nos. 10, 11 and 12 at the current step.
Program No. 10
Program No. 11
Program No. 12
SSPG
Currently executed step
Currently executed step
Currently executed step
Error-generation/output-operation conditions
When one SSPG program is specified (only operand 1 is specified)
No program number error *1
Status of the
Program number
Program already registered
Program not yet
specified program
error *1
Program not
registered
Program running
running
C03
C2C
Error
None
None
“Non-registered program “Program number
specification error”
error”
Output operation
ON
OFF
OFF
OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 1 --- Program number error indicates specification of a number smaller than 1 or exceeding 64.
When multiple SSPG programs are specified (both operands 1 and 2 are specified)
No program number error *2
Registered program exists inside the
Program
Status of the
None of programs inside
specified range *3
specified program Running program
the specified range are number error *1
None of programs
registered
inside the specified
exists inside the
specified range *4 range are running
C03
C2C
Error
None
None
“Non-registered program
“Program
specification error”
number error”
Output operation
ON
OFF
OFF
OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 2 --- Program number error indicates specification of a number smaller than 1 or exceeding 64.
* 3 --- In this case, non-registered programs inside the specified range are not treated as a target of operation with
EXPG, ABPG, SSPG and PSPG commands. This will not affect error generation or output operation.
* 4 --- In this case, programs not running (but already registered) inside the specified range are not treated as a
target of operation with SSPG and RSPG commands. This will not affect error generation or output operation.
128
Part 2 Programs
z RSPG (Resume program)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Program
number
CC
RSPG
(Program
number)
[Function]
Resume the programs from the one specified in operand 1 through the other specified in
operand 2. Specification in operand 1 only is allowed.
(Note 1)
Resuming a program will also resume the operation the program had been executing before
the pause.
[Example 1]
RSPG
10
12
Resume program Nos. 10, 11 and 12 from the paused step.
Program No. 10
Program No. 11
Program No. 12
SSPG
Currently paused step
Currently paused step
Currently paused step
RSPG
Error-generation/output-operation conditions
When one RSPG program is specified (only operand 1 is specified)
No program number error *1
Status of the
Program number
Program already registered
Program not yet
specified program
error *1
Program not
registered
Program running
running
C03
C2C
Error
None
None
“Non-registered program “Program number
specification error”
error”
Output operation
ON
OFF
OFF
OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 1 --- Program number error indicates specification of a number smaller than 1 or exceeding 64.
When multiple RSPG programs are specified (both operands 1 and 2 are specified)
No program number error *2
Registered program exists inside the
Program
Status of the
None of programs inside
specified range *3
specified program Running program
the specified range are number error *1
None of programs
registered
inside the specified
exists inside the
specified range *4 range are running
C03
C2C
Error
None
None
“Non-registered program
“Program
specification error”
number error”
Output operation
ON
OFF
OFF
OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 2 --- Program number error indicates specification of a number smaller than 1 or exceeding 64.
* 3 --- In this case, non-registered programs inside the specified range are not treated as a target of operation. This
will not affect error generation or output operation.
* 4 --- In this case, programs not running (but already registered) inside the specified range are not treated as a
target of operation with SSPG and RSPG commands. This will not affect error generation or output operation.
129
Part 2 Programs
1.10
Position Operation
z PGET (Read position data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
[Example 1]
[Example 2]
130
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Axis
number
CC
PGET
Position
number
Read to variable 199 the data of the axis number specified in operand 1 in the position data
specified in operand 2.
If a PGET command is executed when the position data table contains no data to be acquired
(the position data field on the teaching pendant shows “X.XXX” or the position data field in the
PC software is blank), no data will be assigned to variable 199 (the PGET command will not
be executed).
PGET
LET
LET
PGET
2
1
2
*1
3
2
3
*2
Read to variable 199 the data of axis 2 at position 3.
Assign 2 to variable 1.
Assign 3 to variable 2.
Read to variable 199 the data of the content of variable 1
(axis 2) at the content of variable 2 (position 3).
Part 2 Programs
z PPUT (Write position data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
[Example 1]
Output
(Output, flag)
Axis
number
CP
PPUT
Position
number
Write the value in variable 199 to the axis number specified in operand 1 in the position data
specified in operand 2.
LET
PPUT
[Example 2]
Command, declaration
Command,
Operand 1
Operand 2
declaration
LET
LET
LET
PPUT
199
2
150
3
Assign 150 to variable 199.
Write the content of variable 199 (150) to axis 2 at position
3.
199
1
2
*1
150
2
3
*2
Assign 150 to variable 199.
Assign 2 to variable 1.
Assign 3 to variable 2
Write the content of variable 199 (150) to the content of
variable 1 (axis 2) at the content of variable 2 (position 3).
131
Part 2 Programs
z PCLR (Clear position data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Position
number
CP
PCLR
Position
number
Clear the position data from the one specified in operand 1 through the other specified in
operand 2.
Once the data has been deleted, the position data field no longer contains any data; it does
not store a value of “0.000.” The position data field on the teaching pendant shows “X.XXX,”
while the position data field in the PC software becomes blank.
[Example 1]
PCLR
10
20
Clear the data from position Nos. 10 through 20.
[Example 2]
LET
LET
PCLR
1
2
*1
10
20
*2
Assign 10 to variable 1.
Assign 20 to variable 2.
Clear the data of the content of variable 1 (position 10)
through the content of variable 2 (position 20).
132
Part 2 Programs
z PCPY (Copy position data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Position
number
CP
PCPY
Position
number
Copy the position data specified in operand 2 to the position number specified in operand 1.
[Example 1]
PCPY
20
10
Copy the data of position No. 10 to position No. 20.
[Example 2]
LET
LET
PCPY
1
2
*1
20
10
*2
Assign 20 to variable 1.
Assign 10 to variable 2.
Copy the data of the content of variable 2 (position 10) to the
content of variable 1 (position 20).
133
Part 2 Programs
z PRED (Read current position)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Axis
pattern
CP
PRED
Position
number
Read the current position of the axis specified in operand 1 to the position specified in
operand 2.
[Example 1]
PRED
[Example 2]
The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using
a variable:
11 (binary) → 3 (decimal)
LET
1
3
Assign 3 to variable 1.
PRED
*1
10
[Example 3]
LET
PRED
134
11
1
11
10
10
*1
Read the current positions of axes 1 and 2 to position No.
10.
Assign 10 to variable 1.
Read the current positions of axes 1 and 2 to the content of
variable 1 (position 10).
Part 2 Programs
z PRDQ (Read current axis position (1 axis direct))
Command, declaration
Extension condition Input condition
Command,
(LD, A, O, AB, OB)
(I/O, flag)
Operand 1
Operand 2
declaration
Optional
[Function]
[Example]
Optional
PRDQ
Axis
number
Variable
number
Output
(Output, flag)
CP
Read the current position of the axis number specified in operand 1 to the variable specified
in operand 2.
The current position can be obtained more quickly than when a PRED command is used.
The current position of a synchronized slave axis can also be read.
PRDQ
2
100
Read the current position of axis 2 to variable 100.
135
Part 2 Programs
z PTST (Check position data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Axis
pattern
CC
PTST
Position
number
Check if valid data is contained in the axis pattern specified in operand 1 at the position
number specified in operand 2.
If the data specified by the axis pattern is not available (the position data field on the teaching
pendant shows “X.XXX” or the position data field in the PC software is blank), the output will
turn ON. “0” is treated as a valid data value.
[Example 1]
PTST
[Example 2]
The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using a
variable:
11 (binary) → 3 (decimal)
LET
1
3
Assign 3 to variable 1.
PTST *1
10
300
[Example 3]
LET
PTST
No.
10
11
136
11
1
11
Axis 1
100.000
10
11
*1
300
600
Turn ON output 300 if there are no valid values of axes
1 and 2 at position 10.
Output 300 will turn OFF if the position data is given as
follows:
Assign 11 to variable 1.
Turn ON flag 600 if there are no valid values in the data
of axes 1 and 2 at the content of variable 1 (position
11).
Flag 600 will turn ON if the position data is given as
follows:
Position data display in PC software
Axis 2
Vel
50.000
Acc
Dcl
Part 2 Programs
z PVEL (Assign speed data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
PVEL
Speed
Position
number
Output
(Output, flag)
CP
[Function]
Write the speed specified in operand 1 to the position number specified in operand 2.
(Note)
If a negative value is written with a PVEL command, an alarm will generate when that position
is specified in a movement operation, etc. Exercise caution.
[Example 1]
[Example 2]
PVEL
LET
LET
PVEL
100
1
2
*1
10
100
10
*2
Write speed 100 mm/s to position No. 10.
Assign 100 to variable 1.
Assign 10 to variable 2.
Write the content of variable 1 (speed 100 mm/s) to the
content of variable 2 (position 10).
137
Part 2 Programs
z PACC (Assign acceleration data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
PACC
Acceleration
Position
number
Output
(Output, flag)
CP
[Function]
Write the acceleration specified in operand 1 to the position number specified in operand 2.
(Note)
Range check is not performed for a PACC command. Be careful not to exceed the limit set for
each actuator.
[Example 1]
[Example 2]
138
PACC
LET
LET
PACC
0.3
100
2
*100
10
0.3
10
*2
Write acceleration 0.3 G to position No. 10.
Assign 0.3 to variable 100.
Assign 10 to variable 2.
Write the content of variable 100 (acceleration 0.3 G) to the
content of variable 2 (position 10).
Part 2 Programs
z PDCL (Assign deceleration data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
[Example 1]
Command, declaration
Command,
Operand 1
Operand 2
declaration
PDCL
Deceleration
Position
number
Output
(Output, flag)
CP
Assign the deceleration data specified in operand 1 to the deceleration item in the position
data specified in operand 2.
The deceleration is set in G and may include up to two decimal places.
PDCL
0.3
3
Assign 0.3 to the deceleration data at position No. 3.
139
Part 2 Programs
z PAXS (Read axis pattern)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
CP
PAXS
Position
number
Store the axis pattern at the position specified in operand 2 to the variable specified in
operand 1.
[Example 1]
PAXS
1
99
Read the axis pattern at position 99 to variable 1.
If the position is given as follows, “1” (binary 01) will be read
to variable 1.
[Example 2]
LET
LET
PAXS
1
2
*1
3
101
*2
Assign 3 to variable 1.
Assign 101 to variable 2.
Read the axis pattern at the content of variable 2 (position
101) to the content of variable 1 (variable 3).
If the point is given as follows, “3” (binary 11) will be stored
in variable 3.
The table below shows different positions and corresponding values stored in a variable.
Position data display in PC software
No.
Axis 1
Axis 2
98
99
00=0+0=0
100.000
100
101
140
100.000
01=0+1=1
150.000
10=2+0=2
50.000
11=2+1=3
Part 2 Programs
z PSIZ (Check position data size)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
CP
PSIZ
Prohibited
Set an appropriate value in the variable specified in operand 1 in accordance with the
parameter setting.
• When “Other parameter No. 23, PSIZ function type” = 0
The maximum number of position data that can be stored in the controller will be set.
(Regardless of whether the data are used or not.)
• When “Other parameter No. 23, PSIZ function type” = 1
The number of point data used will be set.
[Example] PSIZ 1
When “Other parameter No. 23, PSIZ function type” = 0
The maximum number of position data that can be stored in variable 1 will be set.
When “Other parameter No. 23, PSIZ function type” = 1
The number of point data currently used will be set in variable 1.
141
Part 2 Programs
z GVEL (Get speed data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
[Example]
No.
1
2
y
y
y
10
y
y
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
CP
GVEL
Position
number
Obtain speed data from the speed item in the position data specified in operand 2, and set
the value in the variable specified in operand 1.
GVEL
Axis 1
50.000
100
10
Set the speed data at position No. 10 in variable 100.
Position data display in PC software
Axis 2
Vel
100.000
200
Acc
Dcl
0.30
0.30
If the position data is set as above when the command is executed, 200 will be set in variable 100.
142
Part 2 Programs
z GACC (Get acceleration data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
[Example]
No.
1
2
y
y
y
10
y
y
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
CP
GACC
Position
number
Obtain acceleration data from the acceleration item in the position data specified in operand
2, and set the value in the variable specified in operand 1.
GACC
Axis 1
50.000
100
10
Set the acceleration data at position No. 10 in variable 100.
Position data display in PC software
Axis 2
Vel
100.000
200
Acc
Dcl
0.30
0.30
If the position data is set as above when the command is executed, 0.3 will be set in variable 100.
143
Part 2 Programs
z GDCL (Get deceleration data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
[Example]
No.
1
2
y
y
y
10
y
y
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
CP
GDCL
Position
number
Obtain deceleration data from the deceleration item in the position data specified in operand
2, and set the value in the variable specified in operand 1.
GDCL
100
Axis 1
50.000
10
Set the deceleration data at position No. 10 in variable 100.
Position data display in PC software
Axis 2
Vel
100.000
200
Acc
Dcl
0.30
0.30
If the position data is set as above when the command is executed, 0.3 will be set in variable 100.
144
Part 2 Programs
1.11
Actuator Control Declaration
z VEL (Set speed)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
VEL
Speed
Prohibited
Output
(Output, flag)
CP
[Function]
Set the actuator travel speed in the value specified in operand 1.
The unit is mm/s.
The maximum speed will vary depending on the model of the actuator connected. Set a
speed not exceeding the applicable maximum speed.
(Note 1)
(Note 2)
Decimal places cannot be used. An error will generate
The minimum speed is 1 mm/s.
[Example 1]
VEL
MOVP
100
1
Set the speed to 100 mm/s.
Move to point 1 at 100 mm/s.
[Example 2]
VEL
MOVP
500
2
Set the speed to 500 mm/s.
Move to point 2 at 500 mm/s.
[Example 3]
LET
VEL
1
*1
300
Assign 300 to variable 1.
Set the speed to the content of variable 1 (300 mm/s).
145
Part 2 Programs
z OVRD (Override)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
[Example 1]
Command, declaration
Command,
Operand 1
Operand 2
declaration
OVRD
Speed ratio Prohibited
Output
(Output, flag)
CP
Reduce the speed in accordance with the ratio specified in operand 1 (speed coefficient
setting). The speed ratio is set in a range from 1 to 100%.
A speed command specifying a speed below 1 mm/sec can be generated using OVRD.
VEL
OVRD
100
50
Set the speed to 100 mm/s.
Reduce the speed to 50%.
As a result, the actual speed will become 50 mm/s.
Command limit speed for smooth operation: Travel distance per encoder pulse
[mm/pulse]/time [msec]
Command limit speed that can be generated: Travel distance per encoder pulse
[mm/pulse]/time [256 msec]
(Smoothness of actual operation cannot be guaranteed. Movement must be checked on the
actual machine.)
[Calculation formula of travel distance per encoder pulse]
Rotary encoder
Travel distance per encoder pulse [mm/pulse] = (Screw lead [0.001 mm] x Gear ratio
numerator)
/ (Encoder resolution [pulses/rev] x Gear
ratio denominator
/ (2 ^ Encoder division ratio)
Linear encoder
Travel distance per encoder pulse [mm/pulse] = Encoder resolution (0.001 μm/pulse) x 1000
/ (2 ^ Encoder division ratio)
(Reference) Use the values of the following parameters for the above calculation formulas:
Encoder resolution:
Axis-specific parameter No. 42
Encoder division ratio: Axis-specific parameter No. 43
Screw lead:
Axis-specific parameter No. 47
Gear ratio numerator:
Axis-specific parameter No. 50
Gear ratio denominator: Axis-specific parameter No. 51
146
Part 2 Programs
z ACC (Set acceleration)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
ACC
Acceleration Prohibited
Output
(Output, flag)
CP
[Function]
Set the travel acceleration of the actuator.
The maximum acceleration will vary depending on the load and model of the actuator
connected.
The acceleration is set in G and may include up to two decimal places.
(Note)
If the position data contains no acceleration AND acceleration is not set by an ACC
command, the actuator will move based on the default value set in “All-axis parameter No.
11, Default acceleration.”
[Example 1]
(Note)
ACC
0.3
Set the acceleration to 0.3 G.
Setting an acceleration exceeding the specified range for the actuator may generate an error.
It may also result in a failure or shorter product life.
147
Part 2 Programs
z DCL (Set deceleration)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
DCL
Deceleration Prohibited
Output
(Output, flag)
CP
[Function]
Set the travel deceleration of the actuator.
The maximum deceleration will vary depending on the load and model of the actuator
connected.
The deceleration is set in G and may include up to two decimal places.
(Note)
If the position data contains no deceleration AND deceleration is not set by a DCL command,
the actuator will move based on the default value set in “All-axis parameter No. 12, Default
deceleration.”
A DCL command cannot be used with CIR and ARC commands.
[Example]
(Note)
148
DCL
0.3
Set the deceleration to 0.3 G.
Setting a deceleration exceeding the specified range for the actuator may generate an error.
It may also result in a failure or shorter product life.
Part 2 Programs
z SCRV (Set sigmoid motion ratio)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
SCRV
Ratio
Output
(Output, flag)
Prohibited
CP
Set the ratio of sigmoid motion control of the actuator in the value specified in operand 1.
The ratio is set as an integer in a range from 0 to 50 (%).
b
X 100 (%)
a
If the ratio is not set using this command or 0% is set, a trapezoid motion will be
implemented.
A SCRV command can be used with the following commands:
MOVP, MOVL, MVP{, MVL{, JBWF, JBWN, JFWF, JFWN
MOVD, MODI
Speed
b
a
Time
[Example 1]
SCRV
30
Set the sigmoid motion ratio to 30%.
149
Part 2 Programs
z OFST (Set offset)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Axis
pattern
CP
OFST
Offset
value
[Function]
Reset the target value by adding the offset value specified in operand 2 to the original target
value when performing the actuator movement specified in operand 1.
The offset is set in mm, and the effective resolution is 0.001 mm.
A negative offset may be specified as long as the operation range is not exceeded.
An OFST command is processed with respect to soft axes before a BASE shift.
(Note)
An OFST command cannot be used outside the applicable program. To use OFST in multiple
programs, the command must be executed in each program.
An OFST command cannot be used with MVPI, MVLI and MVDI commands.
[Example 1]
OFST
:
OFST
10
50
Add 50 mm to the specified position of axis 2.
10
0
Return the offset of axis 2 to 0.
[Example 2]
The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using
a variable:
10 (binary) → 2 (decimal)
LET
1
2
Assign 2 to variable 1.
OFST
*1
50
:
OFST
*1
0
[Example 3]
LET
OFST
150
2
1
50
*2
Assign 50 to variable 2.
Add the content of variable 2 (50 mm) to the specified
position of axis1.
Part 2 Programs
z DEG (Set arc angle)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
DEG
Angle
Prohibited
Output
(Output, flag)
CP
[Function]
Set a division angle for the interpolation implemented by a CIR (move along circle) or ARC
(move along arc) command.
When CIR or ARC is executed, a circle will be divided by the angle set here to calculate the
passing points.
The angle is set in a range from 0 to 120 degrees.
If the angle is set to “0,” an appropriate division angle will be calculated automatically so that
the actuator will operate at the set speed (maximum 180 degrees).
The angle is set in degrees and may include up to one decimal place.
(Note)
If a CIR or ARC command is executed without setting an angle with this command, the
default value registered in “All-axis parameter No. 30, Default division angle” will be used.
[Example]
DEG
10
Set the division angle to 10 degrees.
151
Part 2 Programs
z BASE (Specify axis base)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Output
(Output, flag)
Axis
number
CP
BASE
Prohibited
Count the axes sequentially based on the axis number specified in operand 1 being the first
axis.
A BASE command can be used with PRED, PRDQ, AXST, actuator-control and zone
commands. Note that each zone range is assigned to the actuator via parameter.
[Example 1]
HOME
BASE
HOME
1
2
1
[Example 2]
LET
BASE
1
*1
152
Command, declaration
Command,
Operand 1
Operand 2
declaration
Axis 1 returns to the home.
Axis 2 is considered the first axis.
Axis 2 returns to the home.
2
Assign 2 to variable 1.
The content of variable 1 (axis 2) will be considered as the
first axis.
Part 2 Programs
z GRP (Set group axes)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Axis
pattern
CP
GRP
Prohibited
Allow only the position data of the axis pattern specified in operand 1 to become valid.
The program assumes that there are no data for other axes not specified.
When multiple programs are run simultaneously, assigning axes will allow the same position
data to be used effectively among the programs.
A GRP command can be used with operand axis-pattern specification commands excluding
an OFST command, as well as with servo operation commands using position data.
A GRP command is processed with respect to soft axes before a BASE shift.
[Example 1]
GRP
10
Data of axis 2 becomes valid.
[Example 2]
The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using
a variable:
10 (binary) → 2 (decimal)
LET
1
2
Assign 2 to variable 1.
GRP
*1
153
Part 2 Programs
z HOLD (Hold: Declare axis port to pause)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
(Input port,
global flag)
CP
HOLD
(HOLD
type)
Declare an input port or global flag to pause while a servo command is being executed.
When operation is performed on the input port or global flag specified in operand 1, the
current servo processing will pause. (If the axes are moving, they will decelerate to a stop.)
If nothing is specified in operand 1, the current pause declaration will become invalid.
A HOLD type can be specified in operand 2.
[HOLD type]
0 = Contact a (Deceleration stop)
1 = Contact b (Deceleration stop)
2 = Contact b (Deceleration stop → Servo OFF (The drive source will not be cut off))
The HOLD type is set to “0” (contact a) when the program is started.
If nothing is specified in operand 2, the current HOLD type will be used.
Using other task to issue a servo ON command to any axis currently stopped via a HOLD
servo OFF will generate an “Error No. C66, Axis duplication error.” If the servo of that axis
was ON prior to the HOLD stop, the system will automatically turn on the servo when the
HOLD is cancelled. Therefore, do not issue a servo ON command to any axis currently
stopped via a HOLD servo OFF.
If any axis currently stopped via a HOLD servo OFF is moved by external force, etc., from the
stopped position, and when the servo of that axis was ON prior to the HOLD stop, the axis
will move to the original stopped position when the HOLD is cancelled before resuming
operation.
(Note 1)
The input port or global flag specified by a HOLD declaration will only pause the axes used in
the task (program) in which the HOLD is declared. The declaration will not be valid on axes
used in different tasks (programs).
An input port or global flag to pause is valid for all active servo commands other than a SVOF
command. (A deceleration stop will also be triggered in J†W† and PATH operations.)
Following a pause of home return, the operation will resume from the beginning of the homereturn sequence.
(Note 2)
(Note 3)
[Example]
V
HOLD
15
0
The axes will decelerate to a stop when input port 15 turns
ON.
Input port 15 ON
Movement is complete.
Remaining operation
T
HOLD
Input port 15 OFF
154
Part 2 Programs
z CANC (Cancel: Declare axis port to abort)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
(Input port,
global flag)
CP
CANC
(CANC
type)
Declare an input port or global flag to abort while a servo command is being executed.
When operation is performed on the input port or global flag specified in operand 1, the
current servo processing will be aborted. (If the axes are moving, they will decelerate to a
stop before the processing is aborted.)
If nothing is specified in operand 1, the current abort declaration will become invalid.
A CANC type can be specified in operand 2.
[CANC type]
0 = Contact a (Deceleration stop)
1 = Contact b (Deceleration stop)
The CANC type is set to “0” (contact a) when the program is started.
If nothing is specified in operand 2, the current CANC type will be used.
(Note 1)
(Note 2)
[Example]
The input port or global flag specified by a CANC command will only abort the axes used in
the task (program) in which the CANC is declared. The declaration will not be valid on axes
used in different tasks (programs).
An input port or global flag to pause is valid for all active servo commands other than a SVOF
command. (A deceleration stop will also be triggered in JXWX and PATH operations.)
CANC
14
0
The axes will decelerate to a stop when input port 14 turns
ON.
V
Input port 14 ON
Not executed.
Remaining operation
T
Movement is complete.
155
Part 2 Programs
z VLMX (Specify VLMX speed)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
VLMX
Prohibited
Prohibited
Output
(Output, flag)
CP
[Function]
Set the actuator travel speed to the VLMX speed (normally maximum speed).
Executing a VLMX command will set the value registered in “Axis-specific parameter No. 29,
VLMX speed” as the travel speed.
(Note)
If the VLMX speed is specified in a continuous position travel command (PATH, PSPL), the
target speed to each position will become a composite VLMX speed not exceeding the
maximum speed of each axis set in “Axis-specific parameter No. 28, Maximum operating
speed of each axis.” To make the target speed constant, a desired speed must be expressly
specified using a VEL command.
[Example]
156
VEL
MOVP
MOVP
VLMX
MOVP
MOVP
1000
1
2
3
4
The speed becomes 1000 mm/sec in this section.
The speed becomes VLMX mm/sec in this section.
Part 2 Programs
z DIS (Set division distance at spline movement)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
DIS
Distance
Prohibited
Output
(Output, flag)
CP
Set a division distance for the interpolation implemented by a PSPL (move along spline)
command.
When a PSPL command is executed, a passing point will be calculated at each distance set
here and the calculated passing points will be used as interpolation points.
If the distance is set to “0,” an appropriate division distance will be calculated automatically so
that the actuator will operate at the set speed
The distance is input in mm.
Interpolation points
Division distance
(Note)
[Example]
If a PSPL command is executed without setting a distance with a DIS command, the default
value registered in “All-axis parameter No. 31, Default division distance” will be used.
DIS
10
Set the division distance to 10 mm.
157
Part 2 Programs
z POTP (Set PATH output type)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
POTP
0 or 1
Prohibited
Output
(Output, flag)
CP
Set the output type in the output field to be used when a PATH or PSPL command is
executed.
When a PATH or PSPL command is executed, the output will operate as follows in
accordance with the setting of the POTP command.
(1) POTP [Operand 1] = 0 (ON upon completion of operation)
The output port or flag will turn ON upon completion of operation.
(2) POTP [Operand 1] = 1 (Increment and output on approaching each position; ON upon
completion of operation for the last position)
During PATH or PSPL operation, the output port number or flag number specified in the
output field will be incremented and turned ON when each specified position approaches.
At the last position, however, the output will turn ON upon completion of operation. This
setting provides a rough guide for output in sequence control.
(Note 1)
(Note 2)
[Example]
The default value of POTP, before it is set, is “0.”
If POTP = 1 and there is no valid data at the specified position, the output number will be
incremented but the output will not turn ON. (The output number will be incremented
regardless of the size of position numbers specified in operands 1 and 2 in a PATH or PSPL
command.)
POTP
PATH
1
1
5
300
Turn ON output port Nos. 300 through 304 sequentially
each time a specified position approaches during a
pass movement from position Nos. 1 through 5, starting
from the first position.
No. 3
Position No. 1
No. 5
Turn ON output port 302.
Turn ON output port 300.
Turn ON output port 304.
No. 4
Position origin
No. 2
Turn ON output port 301.
158
Turn ON output port 303.
Part 2 Programs
z PAPR (Set push-motion approach distance, speed)
Command, declaration
Extension condition Input condition
Command,
(LD, A, O, AB, OB)
(I/O, flag)
Operand 1
Operand 2
declaration
Optional
[Function]
Optional
PAPR
Distance
Output
(Output, flag)
Speed
CP
Set the operation to be performed when a PUSH command is executed.
Set the distance (push-motion approach distance) over which push-motion approach
operation (torque-limiting operation) will be performed in operand 1 (in mm), and set the
speed (push-motion approach speed) at which push-motion approach operation (torquelimiting operation) will be performed in operand 2 (in mm/sec).
The push-motion approach distance specified in operand 1 may contain up to three decimal
places, while the speed specified in operand 2 cannot contain any decimal place.
Y-axis
Push-motion approach distance
Position origin
Target position
X-axis
Start position of push-motion approach operation
(torque-limiting operation)
[Example]
(Note)
PAPR
100
30
MOVP
2
Set the push-motion approach distance in a PUSH
command to 100 mm and the push-motion approach speed
to 30 mm/sec.
Move to position No. 2.
PUSH
10
Move by push-motion from position No. 2 to position No. 10.
The push-motion approach speed in an OVRD command will be clamped by the minimum speed
of 1 mm/sec. (Correct push-motion operation is not guaranteed at the minimum speed.
Operation at slow push-motion approach must be checked on the actual machine by considering
the effects of mechanical characteristics, etc.)
159
Part 2 Programs
z QRTN (Set quick-return mode)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
QRTN
0 or 1
Prohibited
Output
(Output, flag)
CP
Set and cancel the quick-return mode.
(1) QRTN [Operand 1] = 0 (Normal mode)
Positioning is deemed complete when all command pulses have been output and the
current position is inside the positioning band.
* If a deceleration command is currently executed in the quick-return mode, the
system will wait for all command pulses to be output.
(2) QRTN [Operand 1] = 1 (Quick-return mode)
Positioning is deemed complete when “a normal deceleration command is currently
executed (excluding deceleration due to a stop command, etc.) or all command pulses
have been output” AND “the current position is inside the positioning band.” This setting is
used to perform other processing during deceleration, in conjunction with a PBND
command.
Feedback
pulses
V
Command
pulses
In the quick-return mode, the
set positioning band is valid
through this area.
T
(Note 1)
(Note 2)
(Note 3)
(Note 4)
(Note 5)
160
The quick-return mode will be cancelled when the program ends. (The positioning band set
by a PBND command will not be cancelled.)
If a given axis is used even once in the quick-return mode, the program will not release the
right to use the axis until the QRTN is set to “0” (normal mode) or the program ends. Any
attempt to use the axis from other program will generate an “Error No. C66, Axis duplication
error.”
Following a return from a normal deceleration command in the quick-return mode, the next
positioning will start after all command pulses for the previous positioning have been output.
Therefore, in the quick-return mode a simple reciprocating operation will require a longer tact
time because of the extra completion check. In this sense, this setting should be used only if
you wish to reduce the overall tact time by performing other processing during deceleration.
The quick-return mode represents very irregular processing. Therefore, be sure to revert to
the normal mode when the overlay processing is completed in the necessary section.
The quick-return mode cannot be used with a push-motion travel command or arc
interpolation command.
Part 2 Programs
1.12
Actuator Control Command
z SV†† (Turn ON/OFF servo)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Axis
pattern
PE
SV††
Prohibited
Turn ON/OFF the servos of the axes specified by the axis pattern in operand 1.
SV††
Turn ON the servo.
Turn OFF the servo.
ON
OF
[Example 1]
SVON
11
Turn ON the servos of axes 1 and 2. Nothing will occur if the
axis servos are already ON.
[Example 2]
The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using
a variable:
11 (binary) → 3 (decimal)
LET
1
3
Assign 3 to variable 1.
SVON
*1
161
Part 2 Programs
z HOME (Return to home)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Axis
pattern
PE
HOME
Prohibited
[Function]
Perform home return of the axes specified by the axis pattern in operand 1.
The servo of each home-return axis will turn ON automatically.
The output will turn OFF at the start of home return, and turn ON when the home return is
completed.
(Note)
Following a pause of home return, the operation will resume from the beginning of the homereturn sequence.
The home-return operation of an absolute-encoder axis is a movement to the rotation data
reset position and may not necessarily be a movement to the preset home coordinate
(including 0). If an output function specification value of “12” (All-valid-axed home (=0) output)
or “14” (All-valid-axes preset home coordinate output) is stored in the I/O parameter “Output
function setting nnn,” use a MOVP command, not a HOME command, when moving each
absolute-encoder axis for the purpose of turning ON the applicable output.
If the operation is stopped or cancelled while a HOME command is being executed for an
absolute-encoder axis in a mode other than the absolute reset mode provided by the PC
software or teaching pendant, an “actual-position soft limit error” may generate depending on
the position. It is not recommended to perform home return other than for the purpose of
adjusting an absolute-encoder axis.
[Example 1]
HOME
[Example 2]
The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using
a variable:
11 (binary) → 3 (decimal)
LET
1
3
Assign 3 to variable 1.
HOME
*1
162
11
Axes 1 and 2 return to the home.
Part 2 Programs
z MOVP (Move PTP by specifying position data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Position
number
PE
MOVP
Prohibited
Move the actuator to the position corresponding to the position number specified in operand
1, without interpolation (PTP stands for “Point-to-Point”).
The output will turn OFF at the start of axis movement, and turn ON when the movement is
complete.
[Example 1]
VEL
MOVP
100
1
[Example 2]
VEL
LET
MOVP
100
1
*1
Set the speed to 100 mm/s.
Move the axes to the position corresponding to position No.
1 (200, 100).
2
Set the speed to 100 mm/s.
Assign 2 to variable 1.
Move the axes to the position corresponding to the content
of variable 1 (position No. 2, or (100, 100)).
Position data display in PC software
No.
Axis 1 (X-axis) Axis 2 (Y-axis)
Vel
Acc
Dcl
1
200.000
100.000
2
100.000
100.000
(Note) If no position data is available and acceleration and deceleration are not specified by an ACC
(DCL) command, each axis will move according to all-axis parameter No. 11, “Default
acceleration” and all-axis parameter No. 12, “Default deceleration.”
Travel path from the home to the position corresponding to position No. 1 (200, 100)
Y-axis
100 mm
Only the Y-axis completes
movement.
Each axis moves at 100 mm/s.
X-axis
Home 0
100 mm
200 mm
163
Part 2 Programs
z MOVL (Move by specifying position data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Position
number
PE
MOVL
Prohibited
Move the actuator to the position corresponding to the position number specified in operand
1, with interpolation.
The output will turn OFF at the start of axis movement, and turn ON when the movement is
complete.
[Example 1]
VEL
MOVL
100
1
[Example 2]
VEL
LET
MOVL
100
1
*1
Set the speed to 100 mm/s.
Move the axes to the position corresponding to position No.
1 (200, 100), with interpolation.
2
Set the speed to 100 mm/s.
Assign 2 to variable 1.
Move the axes to the position corresponding to the content
of variable 1 (position No. 2, or (100, 100)), with
interpolation.
Position data display in PC software
No.
Axis 1 (X-axis) Axis 2 (Y-axis)
Vel
Acc
Dcl
1
200.000
100.000
2
100.000
100.000
(Note) If no position data is available and acceleration and deceleration are not specified by an ACC
(DCL) command, each axis will move according to all-axis parameter No. 11, “Default
acceleration” and all-axis parameter No. 12, “Default deceleration.”
Travel path from the home to the position corresponding to position No. 1 (200, 100)
Y-axis
100 mm
The X and Y-axes complete
movement simultaneously.
X-axis
Home 0
164
100 mm
200 mm
The tip of each axis moves at 100 mm/s.
Part 2 Programs
z MVPI (Move via incremental PTP)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Position
number
PE
MVPI
Prohibited
Move the actuator, without interpolation, from the current position by the travel distance
corresponding to the position number specified in operand 1. The output will turn OFF at the
start of axis movement, and turn ON when the movement is complete.
[Example 1]
VEL
MVPI
100
1
[Example 2]
VEL
LET
MVPI
100
1
*1
Set the speed to 100 mm/s.
If the current position is (50, 50) and position No. 1 is set to
(150, 100), the axes will move 150 in the X direction and 100
in the Y direction (200, 150) from the current position.
2
Set the speed to 100 mm/s.
Assign 2 to variable 1.
Move from the current position by the travel distance
corresponding to the content of variable 1 (position No. 2, or
(100, 100)).
Position data display in PC software
No.
Axis 1 (X-axis) Axis 2 (Y-axis)
Vel
Acc
Dcl
1
150.000
100.000
2
100.000
100.000
(Note) If no position data is available and acceleration and deceleration are not specified by an ACC
(DCL) command, each axis will move according to all-axis parameter No. 11, “Default
acceleration” and all-axis parameter No. 12, “Default deceleration.”
Travel path from (50, 50) by the travel distance corresponding to position No. 1 (150, 100)
Y-axis
Only the Y-axis completes
movement.
150 mm
Each axis moves at 100 mm/s.
50 mm
X-axis
Home 0
50 mm
200 mm
(Note) If the specified travel distance is equal to or less than the travel distance per encoder pulse [mm/pulse], the
axis may not move.
[Calculation formula of travel distance per encoder pulse]
Rotary encoder
Travel distance per encoder pulse [mm/pulse] = (Screw lead [0.001 mm] x Gear ratio numerator)
/ (Encoder resolution [pulses/rev] x Gear ratio denominator
/ (2 ^ Encoder division ratio)
Linear encoder
Travel distance per encoder pulse [mm/pulse] = Encoder resolution (0.001 μm/pulse) x 1000
/ (2 ^ Encoder division ratio)
(Reference) Use the values of the following parameters for the above calculation formulas:
Encoder resolution:
Axis-specific parameter No. 42
Encoder division ratio: Axis-specific parameter No. 43
Screw lead:
Axis-specific parameter No. 47
Gear ratio numerator: Axis-specific parameter No. 50
Gear ratio denominator: Axis-specific parameter No. 51
165
Part 2 Programs
z MVLI (Move via incremental interpolation)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Position
number
PE
MVLI
Prohibited
Move the actuator, with interpolation, from the current position by the travel distance corresponding to
the position number specified in operand 1. The output will turn OFF at the start of axis movement, and
turn ON when the movement is complete.
[Example 1]
VEL
MVLI
100
1
[Example 2]
VEL
LET
MVLI
100
1
*1
Set the speed to 100 mm/s.
If the current position is (50, 50) and position No. 1 is set to (150,
100), the axes will move 150 in the X direction and 100 in the Y
direction (200, 150) from the current position, with interpolation.
2
Set the speed to 100 mm/s.
Assign 2 to variable 1.
Move from the current position by the travel distance corresponding
to the content of variable 1 (position No. 2, or (100, 100)).
Position data display in PC software
No.
Axis 1 (X-axis) Axis 2 (Y-axis)
Vel
Acc
Dcl
1
150.000
100.000
2
100.000
100.000
(Note) If no position data is available and acceleration and deceleration are not specified by an ACC
(DCL) command, each axis will move according to all-axis parameter No. 11, “Default
acceleration” and all-axis parameter No. 12, “Default deceleration.”
Travel path from (50, 50) by the travel distance corresponding to position No. 1 (150, 100)
Y-axis
The X and Y-axes complete
movement simultaneously.
150 mm
The tip of each axis moves at
100 mm/s.
50 mm
X-axis
Home 0
50 mm
200 mm
(Note) If the specified travel distance is equal to or less than the travel distance per encoder pulse [mm/pulse], the
axis may not move.
[Calculation formula of travel distance per encoder pulse]
Rotary encoder
Travel distance per encoder pulse [mm/pulse] = (Screw lead [0.001 mm] x Gear ratio numerator)
/ (Encoder resolution [pulses/rev] x Gear ratio denominator
/ (2 ^ Encoder division ratio)
Linear encoder
Travel distance per encoder pulse [mm/pulse] = Encoder resolution (0.001 μm/pulse) x 1000
/ (2 ^ Encoder division ratio)
(Reference) Use the values of the following parameters for the above calculation formulas:
Encoder resolution:
Axis-specific parameter No. 42
Encoder division ratio: Axis-specific parameter No. 43
Screw lead:
Axis-specific parameter No. 47
Gear ratio numerator: Axis-specific parameter No. 50
Gear ratio denominator: Axis-specific parameter No. 51
166
Part 2 Programs
z MOVD (Move via direct value specification)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
declaration
Operand 1
Operand 2
Output
(Output, flag)
MOVD
Target
position
(Axis pattern)
PE
Move the axis specified by the axis pattern in operand 2, to the target position corresponding
to the value specified in operand 1. If operand 2 is not specified, all axes will be moved.
The output will turn OFF at the start of axis movement, and turn ON when the movement is
complete.
The target position is set in mm, and the set value is valid to the third decimal place.
[Example 1]
MOVD
100
10
Move axis 2 to position 100.
[Example 2]
LET
MOVD
1
*1
100
11
Assign 100 to variable 1.
Move all axes to the content of variable 1 (100).
167
Part 2 Programs
z MVDI (Move relatively via direct value specification)
Command, declaration
Extension condition Input condition
Command,
(LD, A, O, AB, OB)
(I/O, flag)
Operand 1
Operand 2
declaration
Optional
[Function]
Optional
MVDI
Travel
distance
(Axis pattern)
Output
(Output, flag)
PE
Move the axis specified by the axis pattern in operand 2 from its current position by the travel
distance corresponding to the value specified in operand 1. If operand 2 is not specified, all
axes will be moved.
The output will turn OFF at the start of axis movement, and turn ON when the movement is
complete.
The travel distance is set in mm, and the set value is valid to the third decimal place.
(Note) If the specified travel distance is equal to or less than the travel distance per encoder pulse [mm/pulse], the
axis may not move.
[Calculation formula of travel distance per encoder pulse]
Rotary encoder
Travel distance per encoder pulse [mm/pulse] = (Screw lead [0.001 mm] x Gear ratio numerator)
/ (Encoder resolution [pulses/rev] x Gear ratio denominator
/ (2 ^ Encoder division ratio)
Linear encoder
Travel distance per encoder pulse [mm/pulse] = Encoder resolution (0.001 μm/pulse) x 1000
/ (2 ^ Encoder division ratio)
(Reference) Use the values of the following parameters for the above calculation formulas:
Encoder resolution:
Axis-specific parameter No. 42
Encoder division ratio: Axis-specific parameter No. 43
Screw lead:
Axis-specific parameter No. 47
Gear ratio numerator: Axis-specific parameter No. 50
Gear ratio denominator: Axis-specific parameter No. 51
[Example 1]
MVDI
30
11
Move all axes from the current position by 30 mm in the
positive direction.
[Example 2]
LET
MVDI
1
*1
-100
1
Assign -100 to variable 1.
Move axis 1 from the current position in accordance with the
content of variable 1 (-100), or by 100 mm in the negative
direction.
168
Part 2 Programs
z PATH (Move along path)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Start
position
number
PE
PATH
End
position
number
Move continuously from the position specified in operand 1 to the position specified in
operand 2.
The output type in the output field can be set using an actuator-declaration command POTP.
Increasing the acceleration will make the passing points closer to the specified positions.
If invalid data is set for any position number between the start and end position numbers, that
position number will be skipped during continuous movement.
Start position
Position origin
End position
(Note 1)
Multi-dimensional movement can be performed using a PATH command.
In this case, input in operand 1 the point number of the next target, instead of the predicted
current position upon execution of the applicable command.
(Inputting a point number corresponding to the predicted current position will trigger
movement to the same point during continuous movement, thereby causing the speed to
drop.)
(Note 2)
Continuous movement through positions is possible even when the specified positions are
not continuous.
To do this, specify each discontinuous position number as both the start position number and
end position number in a PATH command, as shown in the example. In this example, position
No. 6 is discontinuous.
[Example]
[Example 1]
[Example 2]
Move continuously through position Nos. 1, 2, 3, 4, 6, 9 and 10 in this order.
PATH
1
4
PATH
6
6 (Discontinuous position)
PATH
9
10
VEL
PATH
100
100
120
VEL
LET
LET
PATH
100
1
2
*1
50
100
*2
Set the speed to 100 mm/s.
Move continuously from position Nos. 100 to 120.
Set the speed to 100 mm/s.
Assign 50 to variable 1.
Assign 100 to variable 2.
Move continuously along the positions from the content of
variable 1 (position No. 50) to the content of variable 2
(position No. 100).
169
Part 2 Programs
z J†W† (Jog)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
(Note 1)
J†W†
Axis
pattern
Input,
output, flag
number
Output
(Output, flag)
PE
The axes in the axis pattern specified in operand 1 will move forward or backward while the
input or output port or flag specified in operand 2 is ON or OFF.
Move backward while the specified port is OFF.
JBWF
Move backward while the specified port is ON.
JBWN
Move forward while the specified port is OFF.
JFWF
Move forward while the specified port is ON.
JFWN
This command is also valid on an axis not yet completing home return. In this case, the
maximum speed will be limited by “All-axis parameter No. 15, Maximum jog speed before
home return.” Since coordinate values do not mean anything before home return, pay due
attention to prevent contact with the stroke ends.
[Example 1]
[Example 2]
[Example 3]
170
Command, declaration
Command,
Operand 1
Operand 2
declaration
VEL
JBWF
100
11
10
Set the speed to 100 mm/s.
Move axes 1 and 2 backward while input 10 is OFF.
The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using a
variable:
11 (binary) → 3 (decimal)
VEL
LET
JBWF
100
1
*1
3
10
VEL
LET
JFWN
100
5
10
20
*5
Set the speed to 100 mm/s.
Assign 3 to variable 1.
Set the speed to 100 mm/s.
Assign 20 to variable 5.
Move axis 2 forward while the content of variable 5 (input
20), is ON.
Part 2 Programs
z STOP (Stop movement)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Axis
pattern
CP
STOP
Prohibited
[Function]
Decelerate and stop the axes specified by the axis pattern in operand 1.
(Note 1)
A STOP command can be used with all active servo commands other than a SVOF
command.
(Note 2)
A STOP command only issues a deceleration-stop command (operation stop) to a specified
axis pattern and does not wait for stopping to complete. Issuing other servo commands to a
decelerating axis will either become invalid or generate an “axis duplication error,” etc.
Set a timer, etc., in the program so that the next servo command will be issued after a
sufficient deceleration-stop processing time elapses.
Even when a STOP command is to be issued to an axis currently stopped, provide a
minimum interval of 0.1 second before the next servo command is issued.
[Example 1]
STOP
11
Decelerate and stop axes 1 and 2.
[Example 2]
The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using
a variable:
11 (binary) → 3 (decimal)
LET
1
3
Assign 3 to variable 1.
STOP
*1
171
Part 2 Programs
z PSPL (Move along spline)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Start
position
number
PE
PSPL
End
position
number
Continuously move from the specified start position to end position via interpolation along a
spline-interpolation curve.
The output type in the output field can be set using an actuator-declaration command POTP.
If invalid data is set for any position number between the start and end position numbers, that
position number will be skipped during continuous movement.
Start position
Position origin
End position
(The above diagram is only an example.)
(Note)
If the acceleration and deceleration are different between points, the speeds will not be
connected smoothly.
In this case, input in operand 1 the point number of the next target, instead of the predicted
current position upon execution of the applicable command.
(Inputting a point number corresponding to the predicted current position will trigger
movement to the same point during continuous movement, thereby causing the speed to
drop.)
[Example]
172
VEL
PSPL
100
100
120
Set the speed to 100 mm/s.
Continuously move from position Nos. 100 to 120 along a
spline-interpolation curve.
Part 2 Programs
z PUSH (Move by push motion)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Target
position
number
PE
PUSH
Prohibited
Perform push-motion operation until the target position specified in operand 1 is reached.
The axes move in a normal mode from the position origin to the push-motion approach start
position as determined by a PAPR command, after which push-motion approach operation
(toque-limiting operation) will be performed. The speed of push-motion approach operation
(toque-limiting operation) is determined by the push-motion approach speed specified by a
PAPR command. If the output field is specified, the output will turn ON when a contact is
confirmed, and turn OFF when a missed contact is detected.
Y-axis
Push-motion approach distance
Position origin
Target position
X-axis
Start position of push-motion approach operation
(torque-limiting operation)
The push force can be adjusted using “Driver parameter No. 38, Push torque limit at
positioning” (default value: 70%).
(Note 1)
(Note 2)
(Note 3)
A PUSH command only moves a single axis. If multiple axes are specified, an “Error No. C91,
Multiple push-axes specification error” will generate.
A push-motion approach speed exceeding the maximum speed permitted by the system will
be clamped at the maximum speed. (The maximum system speed is not the maximum
practical speed. Determine a practical speed by considering the impact upon contact, etc.)
Push-motion operation cannot be performed with a synchro controller.
173
Part 2 Programs
[Example]
PAPR
MOVP
PUSH
100
2
10
20
Set the push-motion approach distance to 100 mm and push-motion approach speed to 20
mm/sec.
Move from the current position to position No. 2.
Perform push-motion movement from position Nos. 2 to 10.
The diagram below describes a push-motion movement based on the position data shown in
the table below:
Position No.
1
2
y
y
y
y
10
y
y
Position data display in PC software
Axis 2
Vel
Acc
Axis 1
50.000
Dcl
100.000
200.000
200
0.30
0.30
Move at 200 mm/sec.
Perform push-motion approach operation
(speed: 20 mm/sec).
Axis 2
Position No. 10
Position No. 2
Axis 1
50
174
100
200
Part 2 Programs
z PTRQ (Change push torque limit parameter)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Axis
pattern
CC
PTRQ
Ratio
[Function]
Change the push torque limit parameter of the axis pattern specified in operand 1 to the value
in operand 2. Operand 2 is set as an integer (unit: %).
A PTRQ command temporarily rewrites “Driver parameter No. 38: Push torque limit at
positioning.”
(Note 1)
If a push torque limit is not set by a PTRQ command, the value set in “Driver parameter No.
38: Push torque limit at positioning” will be used.
The new push torque limit will remain effective even after the program ends. Therefore, when
building a system using the PTRQ command, in every program explicitly specify a push
torque limit using a PTRQ command before each push-motion operation. Assuming that the
push torque limit will be reset to the original value when push-motion operation ends in one
program can cause an unexpected problem in another program, because a different push
torque limit will be used if the program is aborted due to an error, etc.
The new value set by a PTRQ command will become ineffective after a power-on reset or
software reset.
A PTRQ command does not rewrite “Driver parameter No. 38: Push torque limit at
positioning” (main CPU flash memory (non-volatile memory)).
(Note 2)
(Note 3)
(Note 4)
[Example]
PTRQ
PAPR
1
100
MOVP
PUSH
2
10
50
20
Change the push torque limit parameter for axis 1 to 50%.
Set the push-motion approach distance to 100 mm and the
push-motion approach speed to 20 mm/sec.
Move to position No. 2.
Move by push motion from position No. 2 to position No. 10.
175
Part 2 Programs
z CIR2 (Move along circle 2 (arc interpolation))
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Passing
position 1
number
PE
CIR2
Passing
position 2
number
Move along a circle originating from the current position and passing positions 1 and 2, via
arc interpolation.
The rotating direction of the circle is determined by the given position data.
The diagram below describes a CW (clockwise) movement. Reversing passing positions 1
and 2 will change the direction of movement to CCW (counterclockwise).
The speed and acceleration will take valid values based on the following priorities:
Priority
Speed
Acceleration (deceleration)
Setting in the position data
1
Setting in the position data specified in operand 1
specified in operand 1
2
Setting by VEL command
Setting by ACC (DCL) command
Default acceleration in all-axis parameter No. 11
3
(Default deceleration in all-axis parameter No. 12)
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error”
will generate.
Passing position 1
Axis 2
Position origin
Passing position 2
Axis 1
(Note)
[Example]
This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically
prior to axis 1 in accordance with the position data.)
VEL
CIR2
100
100
101
Axis 2
Set the speed to 100 mm/s.
Move along a circle (circular interpolation) passing position
Nos. 100 and 101.
Position No. 100
Position origin
Position No. 101
Axis 1
176
Part 2 Programs
z ARC2 (Move along circle 2 (arc interpolation))
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Passing
position
number
PE
ARC2
End
position
number
Move along an arc originating from the current position, passing the specified position and
terminating at the end position, via arc interpolation.
The speed and acceleration will take valid values based on the following priorities:
Priority
Speed
Acceleration (deceleration)
Setting in the position data
1
Setting in the position data specified in operand 1
specified in operand 1
2
Setting by VEL command
Setting by ACC (DCL) command
Default acceleration in all-axis parameter No. 11
3
(Default deceleration in all-axis parameter No. 12)
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error”
will generate.
Passing position
Axis 2
Position origin
End position
Axis 1
(Note)
[Example]
This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically
prior to axis 1 in accordance with the position data.)
VEL
ARC2
100
100
101
Axis 2
Set the speed to 100 mm/s.
Move along an arc (circular interpolation) from the current
position to position No. 101 by passing position No. 100.
Position No. 100
Position origin
Position No. 101
Axis 1
177
Part 2 Programs
z CHVL (Change speed)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
CHVL
Axis pattern
Output
(Output, flag)
Speed
CP
[Function]
Change the speed of the axes operating in other task.
When a CHVL command is executed, the speed of the axes specified in operand 1 will change to
the value specified in operand 2.
(Note 1)
(Note 2)
This command is not valid on an axis operated by a CIR, ARC, PSPL, PUSH, or ARCH command.
Executing a CHVL command for an axis operating in sigmoid motion (SCRV command) will
generate an “Error No. CC1, Speed-change condition error.”
This is a temporary speed-change command issued from other task to the active packet (point). It
is not affected by the data declared by VEL.
(Note 3)
Program 1
CHVL
11
100
Program 2
VEL 300
•
•
MOVP 1
MOVP 2
MOVP 3
•
•
If CHVL is executed in program 1 while MOVP 2
is executed in program 2, the travel speed of
MOVP 2 will become 100 mm/sec.
The speeds of other move commands will
remain 300 mm/sec.
The axis pattern can be specified indirectly using a variable.
When program 1 is rephrased based on indirect specification using a variable:
11 (binary) → 3 (decimal)
LET
1
3
Assign 3 to variable 1.
CHVL
*1
100
(Note 4)
Since this command is valid only for the packet that is active at the time of execution of the
command for an axis subject to continuous motion in a PATH command, etc., caution must be
exercised against the timing shift. The packet handling will be put on hold during speed-change
processing, so caution must also be exercised against the locus shift.
Program 1
•
•
•
CHVL 11 100
•
•
•
Program 2
VEL 300
•
•
PATH 1
No. 1
No. 3
VEL 100
No. 2
(Note 5)
(Note 6)
[Example]
178
No. 5
5
No. 4
If CHVL is executed in program 1 while PATH is executed in program 2, or specifically during the
PATH movement from point No. 2 to point No. 3, the speed specified by CHVL (100 mm/sec in the
above example) will become valid only during the PATH movement to point No. 3. Other travel
speeds will remain at the speed specified by VEL (300 mm/sec in the above example).
Override of the CHVL call task will be applied, so caution must be exercised.
The maximum speed of the specified axis completing home return will be clamped by the minimum
value set in “Axis-specific parameter No. 28, Maximum operating speed of each axis” or “Axisspecific parameter No. 27, Maximum speed limited by maximum motor speed” with respect to the
specified axis and related interpolation axes currently operating. To prevent the maximum speed
from being limited due to the effect of other axis whose maximum speed is lower than the speed
specified in the CHVL command, issue a CHVL command in multiple steps corresponding to the
respective axes having different maximum speeds. In particular, specification of a CHVL command
in a separate step is recommended for a rotating axis.
CHVL
11
500
⇒
CHVL
CHVL
1
10
500
500
Part 2 Programs
z ARCD (Move along arc via specification of end position and center angle (arc interpolation))
Command, declaration
Extension condition Input condition
Output
Command,
(LD, A, O, AB, OB)
(I/O, flag)
(Output, flag)
Operand 1
Operand 2
declaration
Optional
Optional
ARCD
End
position
number
Center
angle
PE
[Function] Move along an arc originating from the current position and terminating at the end position,
via arc interpolation.
Specify the end position of movement in operand 1, and the center angle formed by the
position origin and end position in operand 2. The center angle is set in a range from –
359.999 to –0.001 or from 0.001 to 359.999. A positive value indicates CCW
(counterclockwise) movement, while a negative value indicates CW (clockwise) movement.
(Note)
The rotating direction of the actual operation locus may vary from the specified direction
depending on how each axis is installed, how the two axes are combined, and so on. Perform
test operation to check the rotating direction.
The center angle is set in degrees and may include up to three decimal places.
The speed and acceleration will take valid values based on the following priorities:
Priority
1
2
Speed
Setting in the position data
specified in operand 1
Setting by VEL command
Acceleration (deceleration)
Setting in the position data specified in operand 1
Setting by ACC (DCL) command
Default acceleration in all-axis parameter No. 11
3
(Default deceleration in all-axis parameter No. 12)
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error”
will generate.
Position origin
End position
Center angle
(Note)
[Example]
This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically
prior to axis 1 in accordance with the position data.)
VEL
ARCD
100
100
120
Set the speed to 100 mm/s.
Move along an arc from the position origin to position No.
100 for a center angle of 120 degrees (CCW direction).
179
Part 2 Programs
z ARCC (Move along arc via specification of center position and center angle (arc interpolation))
Command, declaration
Extension condition Input condition
Output
Command,
(LD, A, O, AB, OB)
(I/O, flag)
(Output, flag)
Operand 1
Operand 2
declaration
Optional
Optional
ARCC
Center
position
number
Center
angle
PE
[Function] Move along an arc originating from the current position by keeping a specified radius from the
center position, via arc interpolation.
Specify the center position in operand 1, and the center angle formed by the position origin
and end position in operand 2. The center angle is set in a range from –3600 to 3600 degrees
(±10 revolutions). A positive value indicates CCW (counterclockwise-direction) movement,
while a negative value indicates CW (clockwise-direction) movement (setting unit: degree).
(Note)
The rotating direction of the actual operation locus may vary from the specified direction
depending on how each axis is installed, how the two axes are combined, and so on. Perform
test operation to check the rotating direction.
The center angle is set in degrees and may include up to three decimal places.
The speed and acceleration will take valid values based on the following priorities:
Priority
1
2
Speed
Setting in the position data
specified in operand 1
Setting by VEL command
Acceleration (deceleration)
Setting in the position data specified in operand 1
Setting by ACC (DCL) command
Default acceleration in all-axis parameter No. 11
3
(Default deceleration in all-axis parameter No. 12)
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error”
will generate.
Position origin
Center angle
Center position
(Note)
[Example]
180
This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically
prior to axis 1 in accordance with the position data.)
VEL
ARCC
100
100
120
Set the speed to 100 mm/s.
Move along an arc from the position origin for a center angle
of 120 degrees around position No. 100 being the center
(CCW direction).
Part 2 Programs
z PBND (Set positioning band)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Axis
pattern
CP
PBND
Distance
Set the position complete width for the axes in the axis pattern specified in operand 1. The
distance in operand 2 is set in mm.
As a rule, positioning is deemed complete when all command pulses have been output and
the current position is inside the positioning band. Therefore, this command is effective if you
wish to reduce the tact time by shortening the approximate positioning settling time. (Normally
a setting of approx. 3 to 5 mm will have effect, but the effect must be confirmed on the actual
machine.)
(This command can be combined with a QRTN command for special purposes. Refer to the
section on QRTN command for details.)
Feedback pulses
V
If the set positioning band exceeds this
area, the settling time will become “0.”
Command
pulses
T
Settling time
(Note 1)
(Note 2)
(Note 3)
If positioning band is not set with a PBND command, the value set in “Axis-specific parameter
No. 58, Positioning band” will be used.
If the positioning band is changed, the new setting will remain valid even after the program
ends. Therefore, to build a system using PBND commands, a positioning band must be
expressly specified with a PBND command before operation of each program. An assumption
that the positioning band will be reset to the original value when the operation ends in other
program may lead to an unexpected problem, because the positioning band will become
different from what is anticipated in case the applicable program is aborted due to error, etc.
The value set in “Axis-specific parameter No. 58, Positioning band” will not be written by a
PBND command.
[Example 1]
PBND
11
5
Set the positioning band for axes 1 and 2 to 5 mm after this
command.
[Example 2]
The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using
a variable:
11 (binary) → 3 (decimal)
LET
1
3
Assign 3 to variable 1.
PBND
*1
5
181
Part 2 Programs
z CIR (Move along circle)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Passing
position 1
number
PE
CIR
Passing
position 2
number
[Function]
Move along a circle originating from the current position and passing the positions specified in
operands 1 and 2.
Therefore, reversing the settings of operands 1 and 2 will implement a circular movement in
the reverse direction.
The output will turn OFF at the start of circular movement, and turn ON when the movement
is complete.
Difference from CIR2:
CIR processing resembles moving along a polygon with a PATH command, while CIR2
actually performs arc interpolation.
Select an applicable command by considering the characteristics of each command.
(Normally CIR2 is used.)
(Note 1)
If the division angle is set to “0” with a DEG command (division angle is calculated
automatically based on priority speed setting), the speed set in the data at passing position 1
or speed set by a VEL command will be used (former is given priority). The speed set in the
data at passing position 2 will have no meaning.
If the division angle is set to a value other than “0” with a DEG command (normal division
angle), the speed specified in the target position data will be used. (The speed set by a VEL
command will become valid if position data is not specified.)
In the case of circular movement, the axes will return from passing position 2 to the start
position at the speed declared by a VEL command. Therefore, a VEL command must always
be used with a CIR command.
The acceleration is selected in the order of the acceleration in the data at passing position 1,
followed by the value in “All-axis parameter No. 11, Default acceleration.”
The deceleration will become the same value as the valid acceleration selected above.
Therefore, the deceleration in the data at passing position 1 and the acceleration/deceleration
in the data at passing position 2 will not have any meaning.
This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically
prior to axis 1 in accordance with the position data.)
(Note 2)
(Note 3)
(Note 4)
[Example 1]
[Example 2]
182
VEL
CIR
100
100
101
VEL
LET
LET
CIR
100
1
2
*1
5
6
*2
Set the speed to 100 mm/s.
Move along a circle from the current position by passing
positions 100 and 101 sequentially.
Set the speed to 100 mm/s.
Assign 5 to variable 1.
Assign 6 to variable 2.
Move along a circle from the current position by passing the
contents of variables 1 and 2 (positions 5 and 6)
sequentially.
Part 2 Programs
z ARC (Move along arc)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Passing
position
number
PE
ARC
End
position
number
[Function]
Move along an arc from the current position to the position specified in operand 2, by passing
the position specified in operand 1.
The output will turn OFF at the start of arc movement, and turn ON when the movement is
complete.
Difference from ARC2:
ARC processing resembles moving along a polygon with a PATH command, while ARC2
actually performs arc interpolation.
Select an applicable command by considering the characteristics of each command.
(Normally ARC2 is used.)
(Note 1)
If the division angle is set to “0” with a DEG command (division angle is calculated
automatically based on priority speed setting), the speed set in the data at passing position 1
or speed set by a VEL command will be used (former is given priority). The speed set in the
data at passing position 2 will have no meaning.
If the division angle is set to a value other than “0” with a DEG command (normal division
angle), the speed specified in the target position data will be used. (The speed set by a VEL
command will become valid if position data is not specified.)
The acceleration is selected in the order of the acceleration in the data at passing position 1,
followed by the value in “All-axis parameter No. 11, Default acceleration.”
The deceleration will become the same value as the valid acceleration selected above.
Therefore, the deceleration in the data at passing position 1 and the acceleration/deceleration
in the data at passing position 2 will not have any meaning.
This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically
prior to axis 1 in accordance with the position data.).
(Note 2)
(Note 3)
(Note 4)
[Example 1]
[Example 2]
VEL
ARC
100
100
101
VEL
LET
LET
ARC
100
1
2
*1
5
6
*2
Set the speed to 100 mm/s.
Move along an arc from the current position to position 101
by passing position 100.
Set the speed to 100 mm/s.
Assign 5 to variable 1.
Assign 6 to variable 2.
Move along an arc from the current position to the content of
variable 2 (position 6) by passing the content of variable 1
(position 5).
183
Part 2 Programs
1.13
Structural IF
z IF†† (Structural IF)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
CP
IF††
Data
Compare the content of the variable specified in operand 1 with the value specified in
operand 2, and proceed to the next step if the condition is satisfied.
If the condition is not satisfied, the program will proceed to the step next to the corresponding
ELSE command, if any, or to the step next to the corresponding EDIF command.
If the input condition is not satisfied and the IF†† command is not executed, the program will
proceed to the step next to the corresponding EDIF.
A maximum of 15 nests are supported when IS†† and DW†† are combined.
IF††
EQ
NE
GT
GE
LT
LE
[Example 1]
(Note)
184
600
Operand 1 = Operand 2
Operand 1 ≠ Operand 2
Operand 1 > Operand 2
Operand 1 ≥ Operand 2
Operand 1 < Operand 2
Operand 1 ≤ Operand 2
IFEQ
1
1
Select an axis.
IFGE
2
0
Select a moving direction.
JFWN
01
5
Move axis 1 forward.
ELSE
JBWN
01
5
Move axis 1 backward.
EDIF
ELSE
IFLT
2
0
Select a moving direction.
JBWN
10
5
Move axis 2 backward.
ELSE
JFWN
10
5
Move axis 2 forward.
EDIF
EDIF
Jog by selecting axis 1/axis 2 by variable 1 and forward/backward (+/–) by
variable 2.
Nothing will happen if flag 600 is OFF, in which case the program will proceed to
the step next to the last EDIF.
Using a GOTO command to branch out of or into an IF††-EDIF syntax is prohibited.
Part 2 Programs
z IS†† (Compare strings)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command, declaration
Command,
Operand 1
Operand 2
declaration
Optional
Column
number
Optional
[Function]
IS††
Column
number,
character
literal
Output
(Output, flag)
CP
Compare the character strings in the columns specified in operands 1 and 2, and proceed to
the next step if the condition is satisfied.
If the condition is not satisfied, the program will proceed to the step next to the corresponding
ELSE command, if any, or to the step next to the corresponding EDIF command.
Comparison will be performed for the length set by a SLEN command.
If a character literal is specified in operand 2, comparison will be performed for the entire
length of the literal.
If the input condition is not satisfied and the IS†† command is not executed, the program
will proceed to the step next to the EDIF.
A maximum of 15 nests are supported when IF†† and DW†† are combined.
IS††
Operand 1 = Operand 2
Operand 1 ≠ Operand 2
EQ
NE
[Example 1]
600
SCPY
10
SCPY
14
‘GOFD’ (Move
forward)
‘GOBK’ (Move
backward)
5
14
LET
1
LET
2
SLEN 4
Set the number of comparing characters to 4.
ISEQ 1
‘1AXS’ (Axis 1) Select an axis.
ISEQ 5
10
Select a moving direction.
JFWN 01
5
Move axis 1 forward.
ELSE
JBWN 01
5
Move axis 1 backward.
EDIF
ELSE
ISNE *1
*2
Select a moving direction.
JFWN 10
5
Move axis 2 backward.
ELSE
JBWN 10
5
Move axis 2 forward.
EDIF
EDIF
Jog by selecting axis 1/axis 2 by columns 1 to 4 and forward/backward by
columns 5 to 8.
Nothing will happen if flag 600 is OFF, in which case the program will proceed to
the step next to the last EDIF.
If columns 1 to 8 contain the following data, axis 1 will be moved forward.
12 34 56 78
1A XS GO FD
(Note)
Using a GOTO command to branch out of or into an IS††-EDIF syntax is prohibited.
185
Part 2 Programs
z ELSE (Else)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Prohibited
Prohibited
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
ELSE
Prohibited
Prohibited
Output
(Output, flag)
CP
An ELSE command is used arbitrarily in conjunction with an IF†† or IS†† command to
declare the command part to be executed when the condition is not satisfied.
[Example 1]
Refer to the sections on IF†† and IS††.
z EDIF (End IF††)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Prohibited
Prohibited
[Function]
[Example 1]
186
Command, declaration
Command,
Operand 1
Operand 2
declaration
EDIF
Prohibited
Declare the end of an IF†† or IS†† command.
Refer to the sections on IF†† and IS††.
Prohibited
Output
(Output, flag)
CP
Part 2 Programs
1.14
Structural DO
z DW†† (DO WHILE)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
CP
DW††
Data
Compare the content of the variable specified in operand 1 with the value specified in
operand 2, and execute the subsequent commands up to EDDO while the condition is
satisfied.
The program will proceed to the step next to the corresponding EDDO if the condition is no
longer satisfied.
A LEAV command can be used to forcibly end a loop.
If the input condition is not satisfied and the DW†† command is not executed, the program
will proceed to the step next to the corresponding EDDO.
A maximum of 15 nests are supported when IF†† and IS†† are combined.
DW††
Operand 1 = Operand 2
Operand 1 ≠ Operand 2
Operand 1 > Operand 2
Operand 1 ≥ Operand 2
Operand 1 < Operand 2
Operand 1 ≤ Operand 2
EQ
NE
GT
GE
LT
LE
[Example 1]
008
DWEQ
1
0
Repeat the command up to an EDDO command while
variable 1 contains “0.”
:
:
EDDO
If DW†† is specified at the start and input 8 is OFF, nothing will occur and the program
will proceed to the step next to EDDO.
(Note)
Using a GOTO command to branch out of or into a DW††-EDDO syntax is prohibited.
z LEAV (Pull out of DO WHILE)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
LEAV
Prohibited
Prohibited
Output
(Output, flag)
CP
Pull out of a DO†† loop and proceed to the step next to EDDO.
[Example 1]
DWEQ
600
:
LEAV
1
0
Repeat the commands up to an EDDO command while
variable 1 contains ‘0.”
Forcibly end the loop if flag 600 is ON and proceed to
the step next to an EDDO command.
:
EDDO
187
Part 2 Programs
z ITER (Repeat)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
ITER
Prohibited
Prohibited
Output
(Output, flag)
CP
Forcibly switch the control to EDDO while in a DO†† loop.
[Example 1]
DWEQ
600
1
0
:
ITER
:
EDDO
Repeat the commands up to an EDDO command while
variable 1 contains “0.”
Forcibly switch the control to an EDDO command and
perform end judgment, if flag 600 is ON.
z EDDO (End DO WHILE)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Prohibited
Prohibited
[Function]
[Example 1]
188
Command, declaration
Command,
Operand 1
Operand 2
declaration
EDDO
Prohibited
Prohibited
Output
(Output, flag)
CP
Declare the end of a loop that began with DW††.
If the DW†† condition is not satisfied, the program will proceed to the step next to this
command.
Refer to the section on DW††.
Part 2 Programs
1.15
Multi-Branching
z SLCT (Start selected group)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
SLCT
Prohibited
Prohibited
Output
(Output, flag)
CP
[Function]
Branch to the step next to any WH†† or WS†† command that exists before an EDSL
command and whose condition is satisfied, or to the step next to an OTHE command if none
of the conditions are satisfied.
A SLCT command must be followed by a WH††, WS†† or EDSL command.
A maximum of 15 nests are supported.
(Note)
Using a GOTO command to branch out of or into a SLCT-EDSL syntax is prohibited.
[Example 1]
600
SCPY
:
SLCT
WSEQ
:
WSEQ
:
OTHE
:
EDSL
1
‘Right’
1
‘Right’
1
‘Left’
Assign ‘right’ to columns 1 and 2.
Jump to a WXXX whose condition is satisfied.
If ‘right’ is stored in columns 1 and 2, this command will
be executed.
If ‘left’ is stored, this command will be executed.
If the content of columns 1 and 2 is neither of the above,
this command will be executed.
If flag 600 is OFF, the processing will move here upon
execution of any of the conditions.
189
Part 2 Programs
z WH†† (Select if true; variable)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Prohibited
Prohibited
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
CP
WH††
Data
This command is used between SLCT and EDSL commands to execute the subsequent
commands up to the next W††† command or an OTHE or EDSL command when the
comparison result of the content of the variable specified in operand 1 with the value
specified in operand 2 satisfies the condition.
WH††
Operand 1 = Operand 2
Operand 1 ≠ Operand 2
Operand 1 > Operand 2
Operand 1 ≥ Operand 2
Operand 1 < Operand 2
Operand 1 ≤ Operand 2
EQ
NE
GT
GE
LT
LE
[Example 1]
LET
LET
:
SLCT
WHEQ
:
(1)
:
WHGT
:
(2)
OTHE
:
(3)
:
EDSL
:
(4)
:
1
2
20
10
1
10
1
*2
Assign 20 to variable 1.
Assign 10 to variable 2.
Execute multi-branching.
(1) will be executed if the content of variable 1 is 10.
Since variable 1 contains 20, however, the next
condition will be referenced.
This command will be executed if the content of variable
1 is greater than the content of variable 2.
Since variable 1 (= 20) > variable 2 (=10), (2) will be
executed.
This command will be executed if none of the conditions
are satisfied. In this example, since (2) was executed,
(3) will not be executed.
The processing will move here if any of the conditions
were satisfied and the applicable command executed. In
this example, (2) and (4) will be executed.
* If multiple conditions are likely to be satisfied, remember that the first W††† will become valid and any
subsequent commands will not be executed. Therefore, state from the command with the most difficult
condition or highest priority.
190
Part 2 Programs
z WS†† (Select if true; character)
Extension condition
(LD, A, O, AB, OB)
Prohibited
[Function]
Input condition
(I/O, flag)
Command, declaration
Command,
Operand 1
Operand 2
declaration
Prohibited
Column
number
WS††
Column
number,
character
literal
Output
(Output, flag)
CP
This command is used between SLCT and EDSL commands to execute the subsequent
commands up to the next W††† command or an OTHE or EDSL command when the
comparison result of the character strings in the columns specified in operands 1 and 2
satisfies the condition.
Comparison will be performed for the length set by a SLEN command.
If a character literal is specified in operand 2, comparison will be performed for the entire
length of the literal.
WS††
Operand 1 = Operand 2
Operand 1 ≠ Operand 2
EQ
NE
[Example 1]
SLEN
SCPY
LET
:
SLCT
WSEQ
:
(1)
:
WSEQ
:
(2)
:
OTHE
:
(3)
:
EDSL
:
(4)
:
3
1
1
‘ABC’
2
1
‘XYZ’
2
*1
Set the number of comparing characters to 3.
Assign ‘ABC’ to column 1.
Assign 2 to variable 1.
Execute multi-branching.
(1) will be executed if columns 1 to 3 contain ‘XYZ.’
Since columns 1 to 3 contain ‘ABC,’ however, this
command will not be executed.
(2) will be executed if the content of the number of
characters specified by SLEN after column 2 is the
same as the content of the column specified in variable
1.
This command will be executed if none of the conditions
are satisfied. In this example, since (2) was executed,
(3) will not be executed.
The processing will move here if any of the conditions
were satisfied and the applicable command executed. In
this example, (2) and (4) will be executed.
* If multiple conditions are likely to be satisfied, remember that the first W††† will become valid and any
subsequent commands will not be executed. Therefore, state from the command with the most difficult
condition or highest priority.
191
Part 2 Programs
z OTHE (Select other)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Prohibited
Prohibited
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
OTHE
Prohibited
Prohibited
Output
(Output, flag)
CP
This command is used between SLCT and EDSL commands to declare the command to be
executed when none of the conditions are satisfied.
[Example 1]
Refer to the sections on SLCT, WH†† and WS††.
z EDSL (End selected group)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Prohibited
Prohibited
[Function]
[Example 1]
192
Command, declaration
Command,
Operand 1
Operand 2
declaration
EDSL
Prohibited
Declare the end of a SLCT command.
Refer to the sections on SLCT, WH†† and WS††.
Prohibited
Output
(Output, flag)
CP
Part 2 Programs
1.16
System Information Acquisition
z AXST (Get axis status)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
CP
AXST
Axis
number
[Function]
Store in the variable specified in operand 1 the status (axis error number) of the axis
specified in operand 2.
(Note 1)
(Note 2)
If the obtained result is “0,” it means no axis error is present.
Since the error lists are written in hexadecimals, they must be converted to decimals.
[Example]
AXST
1
2
Read the error number for axis 2 to variable 1.
If 3188 (decimal) is stored in variable 1 after the execution of this command:
3188 ÷ 16 = 199 ,,,4
199 ÷ 16 = 12 (= C)
,,,7
3188 = 12 (= C) X 162 + 7 X 162 + 4
= C74 (HEX) (Hexadecimal number)
Therefore, an “Error No. C74, Actual-position soft limit over error” is present.
193
Part 2 Programs
z PGST (Get program status)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
CP
PGST
Program
number
[Function]
Store in the variable specified in operand 1 the status (program error number) of the program
specified in operand 2.
(Note 1)
(Note 2)
If the obtained result is “0,” it means no program error is present.
Although the error lists are written in hexadecimals, the status to be stored (program error
number) is a decimal. Therefore, the decimal program error numbers must be converted to
hexadecimals.
[Example]
194
PGST
1
2
Read the error number for program No. 2 to
variable 1.
Part 2 Programs
z SYST (Get system status)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Variable
number
CP
SYST
Prohibited
[Function]
Store the system status (top-priority system error number) in the variable specified in
operand 1.
(Note 1)
(Note 2)
(Note 3)
If the obtained result is “0,” it means no system error is present.
Since the error lists are written in hexadecimals, they must be converted to decimals.
Relationship of error statuses
System errors
Program errors
Axis errors
Other errors
* An axis error that generates during operation with a program command will be
registered both as a program error and an axis error.
[Example]
SYST
1
Read the system error number to variable 1.
195
Part 2 Programs
1.17
Zone
z WZNA (Wait for zone ON, with AND)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Zone
number
CP
WZNA
Axis
pattern
[Function]
Wait for the zone status of all axes (AND) specified by the axis pattern in operand 2 to
become ON (inside zone) with respect to the zone specified in operand 1.
(Note 1)
(Note 2)
The zone status of axes not yet completing home return will remain OFF (outside zone).
A maximum of four areas can be set as zones for each axis (“Axis-specific parameter Nos.
86 to 97”).
Zone output can be specified using “Axis-specific parameter Nos. 88, 91, 94 and 97”
irrespective of this command.
(Note 3)
[Example 1]
WZNA
1
11
If the parameters are set as follows, the program
will wait until the zone status of axes 1 and 2
becomes ON (inside the shaded area shown in the
diagram below).
[Example 2]
The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using
a variable:
11 (binary) → 3 (decimal)
LET
5
3
Assign 3 to variable 5.
WZNA
1
*5
Axis 1
“Axis-specific parameter No. 86, Zone 1 max.” 300000
(Value is set in units of 0.001 mm)
“Axis-specific parameter No. 87, Zone 1 min.” 150000
(Value is set in units of 0.001 mm)
100000
The program will proceed to the next step if both axes
1 and 2 are inside the shaded area.
Axis 2
200
100
Axis 1
150
196
Axis 2
200000
300
Part 2 Programs
z WZNO (Wait for zone ON, with OR)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Zone
number
CP
WZNO
Axis
pattern
[Function]
Wait for the zone status of any of the axes (OR) specified by the axis pattern in operand 2 to
become ON (inside zone) with respect to the zone specified in operand 1.
(Note 1)
(Note 2)
The zone status of axes not yet completing home return will remain OFF (outside zone).
A maximum of four areas can be set as zones for each axis (“Axis-specific parameter Nos.
86 to 97”).
Zone output can be specified using “Axis-specific parameter Nos. 88, 91, 94 and 97”
irrespective of this command.
(Note 3)
[Example 1]
WZNO
1
11
If the parameters are set as follows, the program
will wait until the zone status of axes 1 or 2
becomes ON (inside the shaded area shown in the
diagram below).
[Example 2]
The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using
a variable:
11 (binary) → 3 (decimal)
LET
5
3
Assign 3 to variable 5.
WZNO
1
*5
Axis 1
“Axis-specific parameter No. 86, Zone 1 max.” 300000
(Value is set in units of 0.001 mm)
“Axis-specific parameter No. 87, Zone 1 min.” 150000
(Value is set in units of 0.001 mm)
Axis 2
200000
100000
The program will proceed to the next step if both axes
1 and 2 are inside the shaded area.
Axis 2
200
100
Axis 1
150
300
197
Part 2 Programs
z WZFA (Wait for zone OFF, with AND)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Zone
number
CP
WZFA
Axis
pattern
[Function]
Wait for the zone status of all axes (AND) specified by the axis pattern in operand 2 to
become OFF (outside zone) with respect to the zone specified in operand 1.
(Note 1)
(Note 2)
The zone status of axes not yet completing home return will remain OFF (outside zone).
A maximum of four areas can be set as zones for each axis (“Axis-specific parameter Nos.
86 to 97”).
Zone output can be specified using “Axis-specific parameter Nos. 88, 91, 94 and 97”
irrespective of this command.
(Note 3)
[Example]
WZFA
1
11
If the parameters are set as follows, the program
will wait until the zone status of axes 1 and 2
becomes OFF (inside the shaded area shown in
the diagram below)
[Example 2]
The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using
a variable:
11 (binary) → 3 (decimal)
LET
5
3
Assign 3 to variable 5.
WZFA
1
*5
Axis 1
“Axis-specific parameter No. 86, Zone 1 max.” 300000
(Value is set in units of 0.001 mm)
“Axis-specific parameter No. 87, Zone 1 min.” 150000
(Value is set in units of 0.001 mm)
100000
The program will proceed to the next step if both axes
1 and 2 are inside the shaded area.
Axis 2
200
100
Axis 1
150
198
Axis 2
200000
300
Part 2 Programs
z WZFO (Wait for zone OFF, with OR)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Zone
number
CP
WZFO
Axis
pattern
[Function]
Wait for the zone status of any of the axes (OR) specified by the axis pattern in operand 2 to
become OFF (outside zone) with respect to the zone specified in operand 1.
(Note 1)
(Note 2)
The zone status of axes not yet completing home return will remain OFF (outside zone).
A maximum of four areas can be set as zones for each axis (“Axis-specific parameter Nos.
86 to 97”).
Zone output can be specified using “Axis-specific parameter Nos. 88, 91, 94 and 97”
irrespective of this command.
(Note 3)
[Example 1]
WZFO
1
11
If the parameters are set as follows, the program
will wait until the zone status of axes 1 or 2
becomes OFF (inside the shaded area shown in
the diagram below).
[Example 2]
The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using
a variable:
11 (binary) → 3 (decimal)
LET
5
3
Assign 3 to variable 5.
WZFO
1
*5
Axis 1
“Axis-specific parameter No. 86, Zone 1 max.” 300000
(Value is set in units of 0.001 mm)
“Axis-specific parameter No. 87, Zone 1 min.” 150000
(Value is set in units of 0.001 mm)
Axis 2
200000
100000
The program will proceed to the next step if both axes
1 and 2 are inside the shaded area.
Axis 2
200
100
Axis 1
150
300
199
Part 2 Programs
1.18
Communication
z OPEN (Open channel)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Channel
number
CP
OPEN
Prohibited
Open the channel specified in operand 1.
The specified channel will be enabled to send/receive hereafter.
Prior to executing this command, a SCHA command must be used to set an end character.
[Example]
SCHA
OPEN
10
0
Specify 10 (= LF) as the end character.
Open channel 0.
Note: If “OPEN 0” is executed, communication with the teaching pendant
or PC software will be cut off.
z CLOS (Close channel)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
[Example]
Output
(Output, flag)
Channel
number
CP
CLOS
Prohibited
Close the channel specified in operand 1.
The specified channel will be disabled to send/receive hereafter.
CLOS
0
Close channel 0.
LET
CLOS
200
Command, declaration
Command,
Operand 1
Operand 2
declaration
1
0
*1
Assign 0 to variable 1.
Close the content of variable 1 (channel 0).
Part 2 Programs
z READ (Read)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
[Example]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Channel
number
CC
READ
Column
number
Read a character string from the channel specified in operand 1 to the column specified in
operand 2.
Read will end when the character specified by a SCHA command is received.
Either a local or global column may be specified.
A return code will be stored in a local variable (variable 99 under the factory setting)
immediately after this command is executed.
Whether or not the command has been executed successfully can be checked based on this
return code. Define appropriate processing to handle situations where the command
execution failed due to an error.
Setting “0” in operand 2 will specify a dummy read (receive buffer cleared and receive
disabled) (the return code will indicate that the command was successfully executed).
SCHA
OPEN
READ
10
0
0
TRAN
CLOS
SLCT
1
0
99
WHEQ
:
(1)
:
WHEQ
:
(2)
:
WHEQ
:
(3)
:
OTHE
:
(4)
:
EDSL
1
0
1
1
1
2
2
Set LF (= 10) as the end character.
Open channel 0.
Read a character string from channel 0 to column
2 until LF is received.
Assign the return code (variable 99) to variable 1.
Close the channel.
The processing flow branches out in accordance
with each return code.
(Note) Using a GOTO command to branch out of
a BGPA-EDPA syntax or to other branch
processing within the syntax is prohibited.
If the content of variable 1 is “0” (Completed
successfully), (1) will be executed. In (1), define
the processing that should take place upon
successful command execution.
If the content of variable 1 is “1” (Timeout), (2) will
be executed. In (2), define appropriate processing
to handle this situation, if necessary.
If the content of variable 1 is “2” (Timer cancelled),
(3) will be executed. In (3), define appropriate
processing to handle this situation, if necessary.
If the content of variable 1 is not “0,” “1” or “2,” (4)
will be executed. In (4), define appropriate error
handling, if necessary.
Once one of the specified conditions was met and
the corresponding command has been executed,
the processing will move here.
201
Part 2 Programs
(Note) A READ command must be executed before the other side sends the end character.
SCHA
OPEN
READ
10
0
0
CLOS
0
2
Other side
• Return code of the READ command
The return code is stored in a local variable. The variable number can be set by “Other
parameter No. 24.” The default variable number is 99.
0: READ completed successfully (Receive complete)
1: READ timeout (the timeout value is set by a TMRD command) (Continue to receive)
2: READ timer cancelled (the wait status is cancelled by a TIMC command) (Continue to
receive)
3: READ SCIF overrun error (Receive disabled)
4: READ SCIF receive error (framing error or parity error) (Receive disabled)
5: READ factor error (program abort error) (Receive disabled)
(Cannot be recognized by SEL commands)
6: READ task ended (program end request, etc.) (Receive disabled)
(Cannot be recognized by SEL commands)
7: READ SCIF receive error due to other factor (Receive disabled)
8: READ SIO overrun error (Receive disabled)
9: READ SIO parity error (Receive disabled)
10: READ SIO framing error (Receive disabled)
11: READ SIO buffer overflow error (Receive disabled)
12: READ SIO receive error due to other factor (Receive disabled)
13 ∼ 20: Used only in Ethernet (optional)
21: READ SIO receive temporary queue overflow error (Receive disabled)
22: READ SIO slave receive queue overflow error (Receive disabled)
202
Part 2 Programs
z TMRW (Set READ/WRIT timeout value)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Read timer
setting
CP
TMRW
(Write timer
setting)
[Function]
Set the timeout to be applied to a READ/WRIT command.
With the ASEL controller, a write timer setting cannot be specified.
The timer setting specified in operand 1 will set the maximum time the program will wait for
the character string read to end when a READ command is executed.
If the end character could not be read before the timer is up during the execution of the
READ command, a timeout will occur and the program will move to the next step.
(Whether or not a timeout has occurred can be checked from the return code that will be
stored in variable 99 (factory setting) immediately after the READ command is executed. If
necessary, define appropriate processing to handle a timeout.)
Setting the timer to “0” will allow the READ command to wait infinitely, without timeout, until
the end character is read.
The timer setting is input in seconds (setting range: 0 to 99.00 seconds) including up to two
decimal places.
A variable can be specified indirectly in operand 1.
(Note)
TMRW is set to “0” in the default condition before TMRW setting is performed.
[Example]
SCHA
TMRW
OPEN
READ
10
30
0
0
TRAN
CLOS
SLCT
1
0
99
WHEQ
:
(1)
:
WHEQ
:
(2)
:
WHEQ
:
(3)
:
OTHE
:
(4)
:
EDSL
1
0
1
1
1
2
2
Set LF (=10) as the end character.
Set the READ timeout value to 30 seconds.
Open channel 0.
Read the character string from channel 0 to
column 2 until LF is read.
Assign the return code to variable 1.
Close the channel.
The processing flow branches out in accordance
with each return code.
(Note) Using a GOTO command to branch out of
a BGPA-EDPA syntax or to other branch
processing within the syntax is prohibited.
If the content of variable 1 is “0” (Completed
successfully), (1) will be executed. In (1), define
the processing that should take place upon
successful command execution.
If the content of variable 1 is “1” (Timeout), (2) will
be executed. In (2), define appropriate processing
to handle this situation, if necessary.
If the content of variable 1 is “2” (Timer cancelled),
(3) will be executed. In (3), define appropriate
processing to handle this situation, if necessary.
If the content of variable 1 is not “0,” “1” or “2,” (4)
will be executed. In (4), define appropriate error
handling, if necessary.
Once one of the specified conditions was met and
the corresponding command has been executed,
the processing will move here.
203
Part 2 Programs
Read completes successfully within 30 seconds → Variable No. 1 = 0
Timeout occurs → Variable No. 1 = 1
* The return code of READ command may not be limited to 0 or 1. The variable to
store the return code can be set in “Other parameter No. 24.” Refer to the
explanation of READ command for details.
204
Part 2 Programs
z WRIT (Write)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
[Function]
[Example]
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Channel
number
CC (Note 1)
WRIT
Column
number
Write the character string in the column specified in operand 2 to the channel specified in
operand 1.
The operation will end when the character specified by a SCHA command is written.
Either a local or global column can be specified.
SCHA
OPEN
WRIT
10
0
0
CLOS
0
2
Set LF (= 10) as the end character.
Open channel 0.
Write the character string in column 2 to channel 0
until LF is written.
Close the channel.
Once the channel has been opened, a WRIT command can be executed (data can be sent)
for other tasks besides the one that opened the channel. Accordingly, if a READ command is
executed for a channel-opening task and then a WRIT command is executed for other task,
the response from the other side can be received without delay after the applicable data is
sent from the PSEL.
The return code is stored in a local variable. The variable number can be set by “Other parameter No. 24.”
The default variable number is 99.
0: WRIT completed successfully
1: WRIT timeout (the timeout value is set by a TMRW command)
2: WRIT timer cancelled (the wait status is cancelled by a TIMC command)
3 ~ 4: For future expansion
5: WRIT factor error (program abort error) (Cannot be recognized by SEL commands)
6: WRIT task ended (program end request, etc.) (Cannot be recognized by SEL commands)
205
Part 2 Programs
z SCHA (Set end character)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Character
code
CP
SCHA
Prohibited
[Function] Set the end character to be used by a READ or WRIT command.
Any character from 0 to 255 (character code used in BASIC, etc.) can be specified.
[Example]
206
Refer to the sections on READ and WRIT commands.
Part 2 Programs
1.19
String Operation
z SCPY (Copy character string)
Extension condition Input condition
(LD, A, O, AB, OB)
(I/O, flag)
Optional
Optional
Command, declaration
Command,
declaration
Operand 1
Operand 2
SCPY
Column
number
Column
number,
character literal
Output
(Output, flag)
CC
[Function] Copy the character string in the column specified in operand 2 to the column specified in
operand 1.
Copy will be performed for the length set by a SLEN command.
If a character literal is specified in operand 2, copy will be performed for the entire length of
the literal.
[Example]
SCPY
1
‘ABC’ Copy ‘ABC’ to column 1.
SLEN
SCPY
10
100
200
Set the copying length to 10 bytes.
Copy 10 bytes from column 200 to column 100.
207
Part 2 Programs
z SCMP (Compare character strings)
Extension condition Input condition
(LD, A, O, AB, OB)
(I/O, flag)
Optional
Command, declaration
Command,
declaration
Operand 1
Operand 2
SCMP
Column
number
Column
number,
character literal
Optional
Output
(Output, flag)
EQ
[Function] Compare the column specified in operand 1 with the column specified in operand 2.
Comparison will be performed for the length set by a SLEN command.
If a character literal is specified in operand 2, comparison will be performed for the entire
length of the literal.
[Example]
208
SCMP 1
‘ABC’
600
Flag 600 will turn ON if columns 1 to 3 contain ‘ABC.’
SLEN 5
SCMP 10
30
999
Set the comparing length to five bytes.
Turn ON flag 999 if five bytes from columns 30 and 10
match.
Part 2 Programs
z SGET (Get character)
Extension condition Input condition
(LD, A, O, AB, OB)
(I/O, flag)
Optional
Command, declaration
Command,
declaration
Operand 1
Operand 2
SGET
Variable
number
Column
number,
character literal
Optional
Output
(Output, flag)
CP
[Function] Assign one character from the column specified in operand 2 to the variable specified in
operand 1.
If a character-string literal is specified in operand 2, the first character will be assigned.
[Example]
SGET
1
100
Assign one byte from column 100 to variable 1.
LET
LET
SCPY
SGET
1
2
1
*1
3
1
‘A’
*2
Assign 3 to variable 1.
Assign 1 to variable 2.
Copy ‘A’ to column 1.
Assign ‘A’ from the content of variable 2 (column 1) to the
content of variable 1 (variable 3).
209
Part 2 Programs
z SPUT (Set character)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Column
number
CP
SPUT
Data
[Function] Set the data specified in operand 2 in the column specified in operand 1.
[Example]
210
SPUT
5
10
Set 10 (LF) in column 5.
LET
LET
SPUT
1
2
*1
100
50
*2
Assign 100 to variable 1.
Assign 50 to variable 2.
Set the content of variable 2 (50 (‘2’)) in the content of
variable 1 (column 100).
Part 2 Programs
z STR (Convert character string; decimal)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Column
number
CC
STR
Data
[Function] Copy to the column specified in operand 1 a decimal character string converted from the data
specified in operand 2.
The data will be adjusted to the length set by a SLEN command.
If the data exceeds the specified length, it will be cut off at the length set by a SLEN
command.
If the entire data has been converted within the length set by a SLEN command, the output
will turn ON.
(Note)
[Example]
If the data specified in operand 2 is a 10-digit integer including eight or more valid digits,
conversion of the values in the eighth and subsequent digits will not be guaranteed (the
values through the seventh digits will be converted properly.)
SLEN
5.3
STR
1
123
Set a length consisting of five integer digits and three
decimal digits.
The following values will be set in columns 1 to 9:
1
LET
LET
SLEN
1
102
2.3
STR
*1
2
3
4
5
6
7
8
9
1
2
3
.
0
0
0
10
Assign 10 to variable 1.
987.6543 Assign 987.6543 to variable 102.
Set a length consisting of two integer digits and three
decimal digits.
*102
The following values will be set in columns 10 to 15:
10 11 12 13 14 15
8
7
.
6
5
4
Since the data exceeds the specified length, “9” in the
100’s place and “3” in the fourth decimal place will be cut
off.
211
Part 2 Programs
z STRH (Convert character string; hexadecimal)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Column
number
CC
STRH
Data
[Function] Copy to the column specified in operand 1 a hexadecimal character string converted from the
data specified in operand 2.
Only the integer part will be adjusted to the length set by a SLEN command.
If the data exceeds the specified length, it will be cut off at the length set by a SLEN
command.
If the entire data has been converted within the length set by a SLEN command, the output
will turn ON.
(Note)
[Example]
If the data specified in operand 2 is a negative value, eight columns will be required to covert
the entire data.
SLEN
STRH
5
1
255
Set a format consisting of five integer digits.
The following values will be set in columns 1 to 5:
1
LET
LET
SLEN
1
102
2.3
STRH
*1
2
3
4
5
F
F
10
Assign 10 to variable 1.
987.6543 Assign 987.6543 to variable 102.
Set a length consisting of two integer digits and three
decimal digits.
*102
The following values will be set in columns 10 and 11:
10 11
D B
“.3” in the SLEN command and “.6543” in variable 102,
which are the decimal part, will be ignored.
The integer part is expressed as ‘3DB’ in hexadecimal.
Since the length is two digits, however, “3” in the third
digit will be cut off.
212
Part 2 Programs
z VAL (Convert character string data; decimal)
Extension condition Input condition
(LD, A, O, AB, OB)
(I/O, flag)
Optional
Command, declaration
Command,
declaration
Operand 1
Operand 2
VAL
Variable
number
Column
number,
character literal
Optional
Output
(Output, flag)
CC
[Function] Convert the decimal data in the column specified in operand 2 to a binary and assign the
result to the variable specified in operand 1.
Conversion will be performed for the length set by a SLEN command.
If a character-string literal is specified in operand 2, conversion will be performed for the
entire length of the literal.
(Note)
[Example]
Keep the converting length to 18 characters or less.
SCPY
SLEN
VAL
10
4
1
‘1234’ Set ‘1234’ in column 10.
Set the converting length to four bytes.
10
Assign 1234, which is a binary converted from ‘1234’ in
column 10, to variable 1.
LET
LET
SCPY
SCPY
SLEN
VAL
1
2
20
24
8
*1
100
20
‘1234’
‘.567’
*2
Assign 100 to variable 1.
Assign 20 to variable 2.
Copy ‘1234’ to column 20.
Copy ‘.567’ to column 24.
Set the converting length to eight bytes.
Assign 1234.567, which is a binary converted from
‘1234.567’ in the content of variable 2 (column 20) to the
content of variable 1 (variable 100).
213
Part 2 Programs
z VALH (Convert character string data; hexadecimal)
Command, declaration
Extension condition Input condition
Command,
(LD, A, O, AB, OB)
(I/O, flag)
Operand 1
Operand 2
declaration
Optional
Optional
VALH
Variable
number
Column
number,
character literal
Output
(Output, flag)
CC
[Function] Convert the hexadecimal data in the column specified in operand 2 to a binary and assign the
result to the variable specified in operand 1.
Conversion will be performed for the length set by a SLEN command.
Only the integer part will be converted, with the decimal part being ignored.
If a character-string literal is specified in operand 2, conversion will be performed for the
entire length of the literal.
(Note)
[Example]
214
Keep the converting length to 8 characters or less.
SCPY
SLEN
VALH
10
4
1
LET
LET
SCPY
SLEN
VALH
1
2
20
4
*1
‘1234’
10
Set ‘1234’ in column 10.
Set the converting length to four bytes.
Assign 4660, which is a binary converted from hexadecimal
‘1234’ in column 10, to variable 1.
100
Assign 100 to variable 1.
20
Assign 20 to variable 2.
‘ABCD’ Copy ‘ABCD’ to column 20.
Set the converting length to four bytes.
*2
Assign 43981, which is a binary converted from
hexadecimal ‘ABCD’ in the content of variable 2 (column
20) to the content of variable 1 (variable 100).
Part 2 Programs
z SLEN (Set length)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Character
string
length
CP
SLEN
Prohibited
[Function] Set the length to be processed by a string command.
This must always be set before using the following commands:
SCMP
SCPY
ISXX
WSXX
STRH
VAL,
VALH
STR
Decimal part is invalid.
Decimal part is invalid.
Decimal part is invalid.
Decimal part is invalid.
Decimal part is invalid.
Decimal part is invalid.
Decimal part is valid.
[Example] Refer to the examples of the above commands:
215
Part 2 Programs
1.20
Arch-Motion-Related
z ARCH (Arch motion)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Position
number
PE
ARCH
Position
number
Perform arch motion from the current point and move to the specified points.
• Move to the points specified in operand 1, via arch motion.
• Movements in directions other than the arch-motion Z-axis direction will begin after rising from the
current point to the start-point arch trigger. After the Z point specified in operand 2 (as the highest
point) is passed and movements in directions other than the arch-motion Z-axis direction are complete,
the axes will come down to the end-point arch trigger and reach the specified point.
• Palletizing arch triggers must be set using an ATRG command.
Highest point of arch motion
Position No. 12
*
Start-point arch trigger
Position No. 13
*
Start point
*
*
End-point arch trigger
Position No. 11
End point
Position No. 10
ACHZ
ATRG
2
13
11
ARCH
10
12
* When the operation is resumed after a pause, depending on the position where the operation is
resumed the locus may follow the lines (dotted lines) indicated by asterisks in the diagram for the
composite section from ascent to horizontal movement or from horizontal movement to descent. Be
careful not to cause interference.
• The arch-motion Z-axis coordinate of the end point will become the arch-motion Z-axis component of
the point data specified in operand 1, if any, plus the arch-motion Z-axis offset. If there is no archmotion Z component, the arch-motion Z-axis coordinate of the end point will become the arch-motion
Z-axis coordinate of the start point plus the arch-motion Z-axis offset. (Normally the offset is added to
all arch-motion positions, such as the arch triggers and Z point.)
• An error will generate if the start-point arch trigger is set below the start point or the end-point arch
trigger is set below the end point. (Note: Up/down has nothing to do with +/– on the coordinate
system.)
• The arch-motion Z-axis up direction refers to the direction toward the Z point from the start point (the
down direction refers to the opposite direction), and has nothing to do with the size of coordinate value.
Therefore, be sure to confirm the actual operating direction when using this command.
216
Part 2 Programs
• The arch-motion Z-axis will come down after a rise-process command value is output. Therefore, one
of the following operations will be performed depending on how the arch-trigger point and Z point are
set.
If the resulting operation is undesirable, change the arch trigger and/or Z point to improve the
efficiency of movement.
Z point
Palletizing start point
Arch trigger point
Palletizing start point
Arch trigger point
Start point
End point
Position No. 21
Start point
End point
Position No. 20
The table below shows a program and data to cause the actuator to perform arch-motion operation by
moving back and forth along the above path.
217
Part 2 Programs
z ACHZ (Declare arch-motion Z-axis)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Axis
number
CP
ACHZ
Prohibited
Specify the axis number representing the arch-motion Z direction.
The axis number specified in operand 1 will be set as the axis number representing the arch-motion Z
direction.
If the output field is specified, the output will turn ON after this command is executed.
218
Part 2 Programs
z ATRG (Set arch triggers)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Position
number
CP
ATRG
Position
number
Set the arch triggers used for arch motion.
(This setting becomes valid when an ARCH command is executed.)
Set the arch-motion Z-axis position data in the point data specified in operand 1 as the start-point arch
trigger, and set the arch-motion Z-axis position data in the point data specified in operand 2 as the endpoint arch trigger.
End-point arch trigger
Position No. 11
Start-point arch trigger
Position No. 13
End point
Start point
ATRG
13
11
(Refer to “Palletizing Setting” – “Arch triggers” under “How to Use.”)
For an arch-motion operation, set it so that a horizontal movement will begin when the start-point arch
trigger is reached during ascent from the start point, and that the end-point arch trigger will be reached
after a horizontal movement is completed during descent.
If the output field is specified, the output will turn ON after this command is executed.
219
Part 2 Programs
z OFAZ (Set arch-motion Z-axis offset)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Offset
value
CP
OFAZ
Prohibited
Set the offset in the arch-motion Z-axis direction.
The value specified in operand 1 will be set as the offset in the arch-motion Z-axis direction.
The offset amount is set in mm and the effective resolution is 0.001 mm.
A negative value can also be specified as the offset, as long as the operation range will not be
exceeded.
This offset is valid only at the end point of ARCH (arch motion) operation.
If the output field is specified, the output will turn ON after this command is executed.
220
Part 2 Programs
1.21
Palletizing-Related
z BGPA (Declare start of palletizing setting)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Palletizing
number
CP
BGPA
Prohibited
Declare the start of a palletizing setting.
Once this command is executed, palletizing setting for the palletizing number specified in operand 1 will
be enabled.
(In the case of an ACHZ, AEXT, OFAZ or ATRG command, setting is enabled without declaring BGPA.)
The input range of palletizing number is from 1 to 10.
When the palletizing setting is complete, execute EDPA.
Nested BGPAs are not supported. To declare start of another palletizing setting, execute an EDPA
command and then execute a BGPA command again.
If the output field is specified, the output will turn ON after this command is executed.
Palletizing numbers are in the local range. Therefore, a given palletizing setting is valid only within the
program in which it is set.
(Note)
Using a GOTO command to branch out of or into a BGPA-EDPA syntax is prohibited.
z EDPA (Declare end of palletizing setting)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Prohibited
Prohibited
Command, declaration
Command,
Operand 1
Operand 2
declaration
EDPA
Prohibited
Prohibited
Output
(Output, flag)
CP
Declare the end of a palletizing setting.
If a palletizing-setting command (excluding BGPA, ACHZ, ATRG, AEXT and OFAZ) is executed before
another BGPA is declared following an execution of this command (= while palletizing setting is not
enabled), an error will generate.
If the output field is specified, the output will turn ON after this command is executed.
221
Part 2 Programs
z PAPI (Set palletizing counts)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
PAPI
Count
Count
Output
(Output, flag)
CP
Set counts in the palletizing-axis directions.
The count specified in operand 1 will apply to the preferential-axis (PX-axis) direction, while the count
specified in operand 2 will apply to the PY-axis direction.
If this command is executed before BGPA is declared (= while palletizing setting is not enabled), an error
will generate.
If the output field is specified, the output will turn ON after this command is executed.
z PAPN (Set palletizing pattern)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Pattern
number
CP
PAPN
Prohibited
Set a palletizing pattern.
The palletizing pattern specified in operand 1 will be set (1 = Pattern 1, 2 = Pattern 2).
If this command is not declared, pattern 1 will be used.
If this command is executed before BGPA is declared (= while palletizing setting is not enabled), an error
will generate.
If the output field is specified, the output will turn ON after this command is executed.
222
Part 2 Programs
z PASE (Declare palletizing axes)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Axis
number
CP
PASE
Axis
number
Set the two axes to be used in palletizing (PX and PY-axes).
The axis specified in operand 1 will be set as the preferential axis (PX-axis).
The axis specified in operand 2 will be set as the PY-axis.
This command is used in conjunction with PAPT and PAST.
It cannot be used together with a 3-point teaching (PAPS) command. Whichever is set later will be given
priority.
It is recommended to use a 3 or 4-points teaching (PAPS) command if the palletizing requires high
accuracy.
If this command is executed before BGPA is declared (= while palletizing setting is not enabled), an error
will generate.
If the output field is specified, the output will turn ON after this command is executed.
z PAPT (Set palletizing pitches)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
PAPT
Pitch
Pitch
Output
(Output, flag)
CP
Set palletizing pitches.
The value specified in operand 1 will be set as the pitch for the preferential axis (PX-axis), while the
value specified in operand 2 will be set as the pitch for the PY-axis.
This command is used in conjunction with PASE and PAST.
If this command is executed before BGPA is declared (= while palletizing setting is not enabled), an error
will generate.
If the output field is specified, the output will turn ON after this command is executed.
223
Part 2 Programs
z PAST (Set palletizing reference point)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
(Position
number)
CP
PAST
Prohibited
Set the reference point used in palletizing.
If a value is set in operand 1, that position number specified in operand 1 will be used to store the
reference point data.
If no value is set in operand 1, the position-number setting for storing reference point data will become
invalid.
This command is used in conjunction with PASE and PAPT.
If this command is not set, coordinates (0, 0) are used as the reference point. If this command is set, the
set coordinates are used as the reference point in calculating the position coordinates of palletizing
points.
Coordinates in both the PX and PY-axis directions must always be set as the reference-point
coordinates.
If this command is executed before BGPA is declared (= while palletizing setting is not enabled), an error
will generate.
If the output field is specified, the output will turn ON after this command is executed.
224
Part 2 Programs
z PAPS (Set palletizing points) For 3-point teaching
Command, declaration
Extension condition Input condition
Command,
(LD, A, O, AB, OB)
(I/O, flag)
Operand 1
Operand 2
declaration
(Palletizing
Position
position
Optional
Optional
PAPS
number
setting type)
Output
(Output, flag)
CP
Set palletizing positions in 3-point teaching.
It can also be used to set palletizing positions in 4-point teaching, in which case the pallet plane can be
set to any quadrilateral other than a square, rectangle or parallelogram.
In operand 1, set the position number of the start point needed to set palletizing positions in 3-point
teaching. If “n” is set as the position number for the start point, position data for the end point in the PXaxis direction will be stored in position No. n+1, while position data for the end point in the PY-axis
direction will be stored in position No. n+2.
In the case of 4-point teaching, position data for the end point should be stored in position No. n+3.
In operand 2, specify the applicable palletizing position setting type.
[Palletizing position setting type]
If operand 2 is “0” or blank, 3-point teaching will be specified.
As shown in Fig. 1 (a), palletizing positions will be set on the quadrilateral pallet plane determined by the
three points including the start point, end point in the PX-axis direction and end point in the PY-axis
direction.
If operand 2 is “2,” 4-point teaching will be specified.
As shown in Fig. 1 (b), palletizing positions will be set on the quadrilateral pallet plane determined by the
four points including the start point, end point in the PX-axis direction, end point in the PY-axis direction,
and end point.
Fig. 1 shows two different arrangements of palletizing positions.
End point
End point in PX-axis direction
Preferential axis
(PX-axis)
End point in PX-axis direction
Preferential axis
(PX-axis)
Start point
Start point
PY-axis
PY-axis
End point in PY-axis
direction
End point in PY-axis
direction
(a) 3-point teaching
(b) 4-point teaching
Fig. 1 Layout of Palletizing Positions
225
Part 2 Programs
• If the valid axis pattern does not match the point data for 3-point teaching or 4-point teaching, an error
“CB0, Mismatched valid axes for palletizing 3-point teaching data” will generate. If a PAPS command is
executed after specifying the applicable axes using a GRP command, only the point data
corresponding to the specified axes, among all axes whose point data is valid, will be used as
palletizing point data. Executing a GRP command thereafter with a different setting will have no effect.
• If there are not enough valid axes, an error “CAE, Insufficient valid axes for palletizing 3-point teaching
data” will generate.
• This command cannot be used with a PASE (set palletizing axes) command. Whichever was set later
will be given priority. (A single PAPS command can substitute a set of PASE, PAPT and PAST
commands.)
• If this command is executed before BGPA is declared (= while palletizing setting is not enabled), an
error, “CB5, BGPA not declared at palletizing setting” will generate.
• If the output field is specified, the output will turn ON after this command is executed.
226
Part 2 Programs
z PSLI (Set zigzag)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Offset
amount
CP
PSLI
(Count)
Set a zigzag palletizing.
The value specified in operand 1 will be set as the offset amount for even-numbered rows.
The count specified in operand 2 will be set as the count for even-numbered rows.
(Refer to “Palletizing Setting” – “Zigzag setting” under "How to Use.")
If operand 2 is not specified, the count for even-numbered rows will become the same as the count for
odd-numbered rows.
If a setting is performed by 3-point teaching with PAPS (set palletizing points), the PX and PY-axes need
not be parallel with the physical axes. In this case, the offset will apply in parallel with the PX-axis. If the
offset is a positive value, the absolute value of offset will be applied toward the end-point direction of the
PX-axis. If the offset is a negative value, the absolute value will be applied toward the start-point
direction.
If this command is executed before a BGPA is declared (= while palletizing setting is not enabled), an
error will generate.
If the output field is specified, the output will turn ON after this command is executed.
227
Part 2 Programs
1.22
Palletizing Calculation Command
z PTNG (Get palletizing position number)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Palletizing
number
CP
PTNG
Variable
number
Assign the palletizing position number for the palletizing number specified in operand 1 to the variable
specified in operand 2.
If the output field is specified, the output will turn ON after this command is executed.
z PINC (Increment palletizing position number by 1)
Command, declaration
Extension condition Input condition
Command,
(LD, A, O, AB, OB)
(I/O, flag)
Operand 1
Operand 2
declaration
Optional
Optional
PINC
Palletizing
number
Prohibited
Output
(Output, flag)
CC
Increment by 1 the palletizing position number for the palletizing number specified in operand 1.
If the incremented value is considered normal as a palletizing position number calculated under the
current palletizing setting, the value will be updated. If not, the value will not be updated.
If the output field is specified, the output will turn ON when the value was successfully incremented, and
turn OFF if the increment failed.
228
Part 2 Programs
z PDEC (Decrement palletizing position number by 1)
Command, declaration
Extension condition Input condition
Command,
(LD, A, O, AB, OB)
(I/O, flag)
Operand 1
Operand 2
declaration
Optional
Optional
PDEC
Palletizing
number
Prohibited
Output
(Output, flag)
CC
Decrement by 1 the palletizing position number for the palletizing number specified in operand 1.
If the decremented value is considered normal as a palletizing position calculated under the current
palletizing setting, the value will be updated. If not, the value will not be updated.
If the output field is specified, the output will turn ON when the value was successfully decremented, and
turn OFF if the decrement failed.
z PSET (Set palletizing position number directly)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Palletizing
number
CC
PSET
Data
Set the value specified in operand 2 as the palletizing position number for the palletizing number
specified in operand 1.
If the specified value is considered normal as a palletizing position calculated under the current
palletizing setting, the value will be set. If not, the value will not be set.
If the output field is specified, the output will turn ON when the palletizing position number was
successfully updated, and turn OFF if the update failed.
229
Part 2 Programs
z PARG (Get palletizing angle)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Palletizing
number
CP
PARG
Axis
number
Obtain the palletizing angle.
Calculate the palletizing angle (degrees) from the physical axis specified in operand 2 for the palletizing
number specified in operand 1, and store the result in variable 199.
This command need not be executed, if not necessary.
If this command is executed after PAPS (set 3 palletizing points for teaching) is executed, the angle
formed by the preferential axis and the specified physical axis will be calculated automatically. If this
command is executed before PAPS is executed, or after both PAPS and PASE are executed in this
order, an error will generate.
If point data is not available for two valid axes, an error “CAE, Insufficient valid axes for palletizing 3point teaching data” will generate.
If the axis corresponding to the axis number in operand 2 does not specify one of the two valid axes
associated with the point data, an error “CBA, Reference-axis/PX/PY-axis mismatch error at palletizing
angle acquisition” will generate.
If the reference point data is the same as the point data at the PX-axis end point in 3-point teaching, an
error “Reference-point/PX-axis end point duplication error at palletizing angle acquisition” will generate,
and angle calculation will be disabled.
The actual operating direction may have been reversed depending on the mechanism of the rotating axis
and the setting of axis-specific parameter No. 6, “Operating-direction reversing selection.” To use the
value obtained by this command, be sure to confirm the actual operating direction.
If the output field is specified, the output will turn ON after this command is executed.
z PAPG (Get palletizing calculation data)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Palletizing
number
CP
PAPG
Position
number
Store the position coordinate data of the palletizing points for the palletizing number specified in operand
1, in the position number specified in operand 2.
If the output field is specified, the output will turn ON after this command is executed.
230
Part 2 Programs
1.23
Palletizing Movement Command
z PMVP (Move to palletizing points via PTP)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
Output
(Output, flag)
Palletizing
number
PE
PMVP
Prohibited
Move to the calculated palletizing points via PTP.
The axes will move to the palletizing points specified in operand 1, via PTP.
Executing this command will not increment the palletizing position number by 1.
231
Part 2 Programs
z PMVL (Move to palletizing points via interpolation)
Command, declaration
Extension condition Input condition
Command,
(LD, A, O, AB, OB)
(I/O, flag)
Operand 1
Operand 2
declaration
Optional
Optional
PMVL
Palletizing
number
Prohibited
Move to the calculated palletizing points via interpolation.
The axes will move to the palletizing points specified in operand 1, via interpolation.
Executing this command will not increment the palletizing position number by 1.
232
Output
(Output, flag)
PE
Part 2 Programs
1.24
Building of Pseudo-Ladder Task
z CHPR (Change task level)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
CHPR
0 or 1
Prohibited
Output
(Output, flag)
CP
[Function] Specify “1” (User HIGH) if you wish the target task to be processed before other tasks.
This command can also be used with non-ladder tasks.
Task level change (0: User NORMAL, 1: User HIGH) is not a required component, but
specifying User HIGH will require a TSLP command explained below. (Without TSLP, tasks of
the User NORMAL level will not be processed.)
z TPCD (Specify processing to be performed when input condition is not specified)
Command, declaration
Extension condition Input condition
Command,
(LD, A, O, AB, OB)
(I/O, flag)
Operand 1
Operand 2
declaration
Prohibited
Prohibited
TPCD
0 or 1
Prohibited
Output
(Output, flag)
CP
[Function] Specify the processing to be performed when input condition is not specified.
(0: Execute, 1: Follow the input condition in the last executed step)
In a ladder task, always input “1” (Follow the input condition in the last executed step) in
operand 1.
In a non-ladder task, always input “0” (Execute). (The default value is “0.”)
233
Part 2 Programs
z TSLP (Task sleep)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Prohibited
Prohibited
Command, declaration
Command,
Operand 1
Operand 2
declaration
TSLP
Time
Prohibited
Output
(Output, flag)
CP
[Function] Set the time during which the applicable task will sleep, in order to distribute the processing
time to other tasks.
If the task level is set to User HIGH, this command must always be specified.
The applicable task will sleep during the set time.
The time in operand 1 is set in msec.
An appropriate time setting must be examined on the actual system. (Normally approx. 1 to 3
is set.)
(If the ladder statement becomes long, state this command multiple times between steps, as
necessary.)
This command can also be used with non-ladder tasks.
234
Part 2 Programs
1.25
Extended Command
z ECMD1 (Get motor current value (as percentage of rated current))
Command, declaration
Extension condition Input condition
Command,
(LD, A, O, AB, OB)
(I/O, flag)
Operand 1
Operand 2
declaration
Optional
Optional
ECMD
1
Axis
number
Output
(Output, flag)
CC
[Function] Store the motor current value (percentage of the rated current) corresponding to the “axis
number” specified in operand 2, in variable 99.
Note:
[Example]
The current value data (percentage of the rated current) obtained by this command has been
processed by feedback current filtering and includes analog error.
ECMD
1
2
Extended command 1
Store the motor current value (percentage of the rated
current) of axis 2, in variable 99.
235
Part 2 Programs
z ECMD5 (Get axis operation status)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Optional
Optional
Command, declaration
Command,
Operand 1
Operand 2
declaration
ECMD
5
Axis
number
Output
(Output, flag)
CC
[Function] Store the status of the axis specified in operand 2, in variable 99.
The axis status is indicated by the ON/OFF level of each bit, as shown below. Accordingly,
the obtained value must be converted to a binary value for interpretation.
Variable 99
Servo axis in use (0 = Not in use, 1 = In use)
Home return (00 = Not yet complete, 01 = In progress, 10 = Complete)
Servo ON/OFF (0 = OFF, 1 = ON)
Successful execution of movement command (0 = Not yet complete, 1 =
Successful)
Detection of missed work during push-motion operation (0 = Not detected, 1 =
Detected)
(Note)
[Example]
If an invalid axis number is specified in operand 2, “C44, SEL data error” will generate.
ECMD
5
2
Store the status of axis 2 in variable 99. If 28 (decimal
value) was stored in variable 99 after the command was
executed, the status of axis 2 is interpreted as follows.
Variable 99
Binary notation
Variable 99
Servo axis not in use
Home return complete
Servo ON
Movement command successful
Missed work not detected during
push-motion operation
236
Status of axis 2
Part 2 Programs
z ECMD20 (Get parameter value)
Command, declaration
Command,
Operand 1
Operand 2
declaration
Extension condition Input condition
(LD, A, O, AB, OB)
(I/O, flag)
Optional
Optional
ECMD
20
Output
(Output, flag)
Variable
number
CC
[Function] Store the value of the specified parameter in variable 99, using the data stored in the three
consecutive variables starting from the one corresponding to the variable number specified in
operand 2.
If variable No. n is set in operand 2, the data in variable No. n will indicate the parameter type,
data in variable No. n+1 will indicate the device number (or axis number), and data in variable
No. n+2 will indicate the parameter number, respectively. The ranges of parameter type,
device number (or axis number) and parameter number are specified below. If an out-ofrange value is specified, “C44, SEL data error” will generate.
Common
to all axes
1
0
1 ~ 120
I/O
Parameter type
Device number/axis number
Parameter number
0
0
1 ~ 300
Axisspecific
2
1~2
1 ~ 200
Driver
Encoder
I/O device
Other
3
1~2
1 ~ 97
4
1~2
1 ~ 30
5
0~7
1 ~ 82
7
0
1 ~ 100
Specify an integer variable in operand 2 (integer variables 98, 99, 298, 299, 1098, 1099, 1298 and
1299 cannot be specified, because three consecutive integer variables cannot be allocated if any
of these integer variables is specified). If a variable of non-integer type is specified, “C3C, Variable
number error” will generate.
(Note)
If an invalid axis number is specified in operand 2, “C44, SEL data error” will generate.
[Example 1]
LET
LET
LET
ECMD
10
11
12
20
2
2
42
10
Variable No. 10 = Parameter type (Axis-specific)
Variable No. 11 = Axis number (Axis 2)
Variable No. 12 = Parameter number (No. 42)
Extended command 20 (Use variable Nos. 10 through 12)
Store the value of axis-specific parameter No. 42 (axis 2),
“Encoder resolution,” in variable 99.
[Example 2]
LET
LET
1250
1251
0
0
LET
ECMD
1252
20
30
1250
Variable No. 1250 = Parameter type (I/O)
Variable No. 1251 = Device number (0, in the case of I/O
parameter)
Variable No. 1252 = Parameter number (No. 30)
Extended command 20 (Use variable Nos. 1250 through
1252)
Store the value of I/O parameter No. 30, “Input function
selection 000,” in variable 99.
237
Part 2 Programs
Chapter 4
Key Characteristics of Actuator Control Commands and Points to Note
1. Continuous Movement Commands
[PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC]
(1) By running a program with continuous movement commands input in a series of continuous
program steps, you can allow the actuators to perform operations continuously without stopping
between steps.
P9
P3
P10
P8
PATH
1
5
P2
P4
ARC2
6
7
PATH
8
12
P11
P7
P5
P1
P12
P6
(2) Continuous movement through positions is possible even when the specified positions are not
continuous.
To do this, specify each discontinuous position number as both the start position number and end
position number in a PATH command. In the example, position No. 6 is discontinuous.
Move continuously through position Nos. 1, 2, 3, 4, 6, 9 and 10 in this order.
PATH
1
4
PATH
6
6 (Discontinuous position)
PATH
9
10
(3) Continuous movement will not be achieved if an input condition is specified for any continuous
movement command.
P9
P3
P10
P8
P2
P4
PATH
1
5
20
ARC2
6
7
P11
PATH
8
12
P7
P5
P1
P12
P6
Stops momentarily.
(4) The output field of each command will turn ON as the end position of that command approaches.
Only with the last command in a series of continuous movement commands, the output will turn
ON upon completion of operation (if there is no input condition).
P10
P2
P21
P3
P1
(Position 1)
238
P22
P11
P23
Part 2 Programs
[Example 1]
(POTP = 1)
POTP 1
PATH
ARC2
PATH
[Example 2]
[Example 3]
20
Output field
1
10
21
3
11
23
600
603
604
(POTP = 0)
PATH 1
ARC2 10
PATH 21
3
11
23
600
603
604
600
601
602
603
604
605
606
Timing
Turn ON as P1 approaches.
Turn ON as P2 approaches.
Turn ON as P3 approaches.
Turn ON as P11 approaches.
Turn ON as P21 approaches.
Turn ON as P22 approaches.
Turn ON when P23 operation is complete.
Output field
Timing
600
Turn ON as P3 approaches.
603
Turn ON as P11 approaches.
604
Turn ON when P23 operation is complete.
If an input condition is specified, the output will turn ON upon completion of operation in the step
before the one in which the input condition is specified.
POTP
1
PATH
ARC2
PATH
1
10
21
3
11
23
600
603
604
Output field
600
601
602
603
604
605
606
Timing
Turn ON as P1 approaches.
Turn ON as P2 approaches.
Turn ON when P3 operation is complete.
Turn ON as P11 approaches.
Turn ON as P21 approaches.
Turn ON as P22 approaches.
Turn ON when P23 operation is complete.
(5) When executing continuous movement commands sequentially, the controller is calculating approx. 100
positions ahead. This is why the steps are displayed continuously on the PC screen or teaching-pendant
screen, regardless of the actual operation. The last step in the continuous operation section executed by
continuous movement commands will wait for the applicable operation to complete.
PATH
ARC
PATH
BTON
1
6
8
310
5
7
12
Actuator operation
Step displayed on the PC software or teaching pendant
(6) Do not allow the output fields to duplicate in the continuous operation section executed by continuous
movement commands.
Duplicating output fields in the continuous operation section will not achieve the expected result.
The output field will turn OFF at the start of processing of each command.
POTP
1
PATH
1
Do not let outputs 605 and 604 to duplicate, as in the
example shown at left.
5
605
Continuous operation section executed by continuous
movement commands
PATH
11
15
604
The final output status of duplicate 605 and 604 is indeterminable, because it is affected by the positioning
calculation time and the relationship of durations of actual operations.
239
Part 2 Programs
2. PATH/PSPL Commands
When executing a PATH or PSPL command, pay attention to the locus because it will change if the
acceleration/deceleration is different between points.
The locus can be fine-tuned by changing the acceleration/deceleration, but different
acceleration/deceleration settings between points will prevent smooth transition of speeds when
moving from one position to another.
If there is a large difference in deceleration/acceleration between points and the positioning distance is
small, the speed may drop. Exercise caution.
3. CIR/ARC Commands
The processing by a CIR or ARC command resembles moving along a polygon with a PATH
command.
A small division angle may cause the speed to drop.
CIR2, ARC2, ARCD and ARCC commands actually perform arc interpolation.
Division angle set by a
DEG command
CIR
CIR2
4. CIR2/ARC2/ARCD/ARCC Commands
With a CIR2, ARC2, ARCD or ARCC command, the speed can be changed (only in the arc
interpolation section) by inputting a speed for the point specified in operand 1. These commands are
effective when you must lower the speed partially because the radius is small and the arc locus
cannot be maintained inside the allowable range.
The speed and acceleration will take valid values based on the following priorities:
Priority
Speed
Acceleration (deceleration)
Setting in the position data
1
Setting in the position data specified in operand 1
specified in operand 1
2
Setting by VEL command Setting by ACC (DCL) command
Default acceleration in all-axis parameter No. 11
3
(Default deceleration in all-axis parameter No. 12)
240
Part 2 Programs
Chapter 5
Palletizing Function (2-axis Specification)
The SEL language used by the ASEL Controller provides palletizing commands that support palletizing
operation. These commands allow simple specification of various palletizing settings and enable arch
motion ideal for palletizing.
1. How to Use
Use palletizing commands in the following steps:
(1) Palletizing setting
Set palletizing positions, arch motion, etc., using palletizing setting commands.
(2) Palletizing calculation
Specify palletizing positions using palletizing calculation commands.
(3) Palletizing movement
Execute motion using palletizing movement commands.
2. Palletizing Setting
Use the palletizing setting commands to set items necessary for palletizing operation. The setting
items include the following:
(1) Palletizing number setting --- Command: BGPA
At the beginning of a palletizing setting, determine a palletizing number using a BGPA command
to declare the start of palletizing setting.
At the end, declare the end of palletizing setting using an EDPA command.
BGPA
1
Declare the start of setting for palletizing No. 1.
Set palletizing in these steps.
EDPA
Declare the end of palletizing setting at the end.
A maximum of 10 sets (palletizing Nos. 1 to 10) of palletizing setting can be specified for each
program.
241
Part 2 Programs
(2) Palletizing pattern --- Command: PAPN
Select a pattern indicating the palletizing order.
The two patterns illustrated below are available.
The encircled numbers indicate the order of palletizing and are called “palletizing position
numbers.”
Pattern 1
Preferential
axis (PXaxis)
Pattern 2
Preferential
axis (PXaxis)
(PY-axis)
Start point
Start point
(PY-axis)
Fig. 1
PAPN
2
When pattern 2 is selected
(Setting is not necessary if pattern 1 is selected.)
The row from 1 to 3 to be placed first is called the “preferential axis (PX-axis),” while the other
direction comprising the palletizing plane is called the “PY-axis.”
(3) Palletizing counts --- Command: PAPI
Set the palletizing counts.
PAPI
3
4
Count for preferential axis (PX-axis): 3, Count for PY-axis: 4
(4) Palletizing position setting
Palletizing position setting is performed mainly by method A or B, as explained below. Set the
palletizing positions for each palletizing setting based on method A or B.
Setting method
A
B
242
3-point teaching method
Set three position-data points specifying the palletizing
positions.
Method to set palletizing positions in parallel with the actuators
Set from the palletizing axes, palletizing reference point and
palletizing pitches.
Commands
PAPS
PASE, PAST,
PAPT
Part 2 Programs
A.
3-point teaching method
To set the palletizing positions by 3-point teaching, store desired positions in position data fields as
three continuous position data and then specify the first position number using a PAPS command.
This method allows you to set the PX-axis and PY-axis as three-dimensional axes not parallel with
the actuators and not crossing with each other.
In the example shown below, position data c, e and l are stored in three continuous position data
fields.
When three points are taught from position No. 11
Position No. 11
[1]: Start point (First palletizing position)
Position No. 12
[3]: Palletizing position corresponding to the end point in the PX-axis direction
Position No. 13
[10]: Palletizing position corresponding to the end point in the PY-axis direction
The encircled numbers indicate palletizing position numbers (palletizing order).
Use a PAPS command to specify the position number corresponding to the start point.
Preferential
axis (PXaxis)
(PY-axis)
Start point
Fig. 1
PAPS
11
The pitches are calculated automatically from the count set for each axis.
When setting data for 3-point teaching, specify position data for two axes.
243
Part 2 Programs
B.
Method to set palletizing positions in parallel with the actuators
Palletizing reference point: Store the position data of the start point (palletizing position No. 1) in a
position data field and specify the applicable position number using a
PAST command, as shown below.
Palletizing pitches: Use a PAPT command to specify the pitches in the PX-axis and PY-axis
directions.
Palletizing axes: Use a PASE command to specify the two axes, one representing the PX-axis
direction and the other representing the PY-axis direction, to be used in palletizing.
45
PX-axis direction pitch
Axis 2
(An actuator axis number parallel with the preferential axis (PX-axis) and another perpendicular to
the preferential axis)
Teach position data No. 100.
30
PY-axis direction pitch
Axis 1
PAST
PAPT
100
45
30
PASE
2
1
Teach position data No. 100 as the start point.
The PX-axis direction pitch is 45 mm and the PY-axis direction
pitch is 30 mm.
Set the PX-axis as axis 2 and PY-axis as axis 1.
(Note) When the above palletizing axes, palletizing pitches and palletizing reference point
are used, the PX-axis and PY-axis must be parallel with the actuators and crossing
with each other.
Select either method A or B for each palletizing setting.
244
Part 2 Programs
(5) Zigzag setting --- Command: PSLI
Use a PSLI command to set a zigzag layout as shown below.
Zigzag offset: Offset amount in the preferential-axis direction, which will be applied when evennumbered rows are placed.
“Even-numbered rows” refer to the rows occurring at the even numbers based on
the row placed first representing the first row.
Zigzag count: Number in the even-numbered rows. Two in the diagram below.
Preferential
axis (PXaxis)
Offset
35
Odd-numbered Even-numbered
row
row
PSLI
35
(PY-axis)
2
245
Part 2 Programs
3. Palletizing Calculation
The items that can be operated or obtained using palletizing calculation commands are shown below:
(1) Palletizing position number
Commands --- PSET, PINC, PDEC, PTNG
Number showing the ordinal number of a palletizing point.
(In Fig. 1 given in the explanation of palletizing pattern, the encircled numbers are palletizing
position numbers.)
Always set this command before executing a palletizing movement command --- PSET
For example, executing a palletizing movement command by setting 1 as the palletizing position
number will move the axes to the start point. Executing a palletizing movement command by
setting 2 as the palletizing position number will move the axes to the point immediately next to the
start point in the PX-axis direction.
(2) Palletizing angle
Command --- PARG
This is the angle formed by the physical axis (actuator) and the preferential palletizing axis (PXaxis) (θ in the figure below).
In the figure below, θ will become a negative value if axis 1 is used as the reference for angle
calculation.
Palletizing container
PY-axis
Physical-axis
direction (axis 2)
PX-axis
–θ direction
θ
+θ direction
Physical-axis
direction (axis 1)
Fig. 4
With ASEL commands, executing a “get palletizing angle” command following a palletizing setting via
3-point teaching will automatically obtain the palletizing angle.
(3) Palletizing calculation data
Command --- PAPG
When a palletizing position number is set, this data refers to the position coordinate data of the
palletizing point corresponding to that palletizing position number.
Note that this position coordinate data does not reflect normal offset or palletizing Z-axis offset.
246
Part 2 Programs
4. Palletizing Movement
Palletizing movement commands are used to move the actuator to palletizing points.
(1) Movement commands to palletizing point --- PMVP, PMVL
Position coordinates of a two-dimensionally placed palletizing point are calculated and movement
is performed using the calculated point as the end point. (The axes will move to the palletizing
point of the palletizing position number specified in the executed command.)
Two actuator axes will be required to comprise a two-dimensional plane.
PMVP: Move from the current position to a palletizing point via PTP.
PMVL: Move from the current position to a palletizing point via interpolation.
247
Part 2 Programs
5. Program Examples
(1) Simple program example (two-axis specification) using PAPS (set by 3-point teaching)
The example below specifies movement only and does not cover picking operation.
Start setting palletizing number 1
Palletizing counts 3x7
Set 3 point for teaching
Zigzag offset = 20 mm
End palletizing number 1 setting
Speed 20 mm/sec.
Move to pick position
Set palletizing position number to 1
Move to palletizing points via PTP
Move to pick position via PTP
Palletizing position number by +1
Loop begging when PINC successful
PY-axis end-point coordinates
Position No. 4
(69, 143)
Reference point
Position No. 2
(70, 70)
PX-axis end-point coordinates
Position No. 3
(152, 71)
z
248
Picking position
Position No. 1
Part 2 Programs
(2) Simple program example (two-axis specification) using PAPS, PAPT and PAST
The example below specifies movement only and does not cover picking operation.
Start setting palletizing number 2
Palletizing counts 4x5
PX axis = 1, PY axis = 2
Pitch X = 20, Y = 15
Position number 11 reference point
Zigzag offset = 10 mm
End palletizing number 2 setting
Speed 20 mm/sec.
Move to pick position
Set palletizing position number to 1
Move to palletizing points via PTP
Move to pick position via PTP
Palletizing position number by +1
Loop begging when PINC successful
Reference point
Position No. 11
(70, 70)
z
Picking position
Position No. 10
249
Part 2 Programs
Chapter 6
Pseudo-Ladder Task
With the ASEL Controller, a pseudo-ladder task function can be used depending on the command and
extension condition.
The input format is shown below. Note that this function must be used by expert engineers with a full
knowledge of PLC software design.
1. Basic Frame
Extension condition
E
LD
N
N
Input condition
Cnd
7001
Command
Cmnd
CHPR
TPCD
TAG
Operand 1
Operand 1
1
1
1
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
LD
7001
TSLP
1 ~ 100
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
LD
LD
LD
7001
7001
7001
TSLP
GOTO
EXIT
1 ~ 100
1
*
250
Operand 2
Operand 2
Output
Pst
Ladder
statement
field
Ladder
statement
field
* Virtual input 7001: “Normally ON” contact
Part 2 Programs
2. Ladder Statement Field
[1] Extension conditions
LOAD
LD
AND
A
OR
O
AND BLOCK
AB
OR BLOCK
OB
All of the above extension conditions can be used in non-ladder tasks.
[2] Ladder commands
OUTR
TIMR
Ladder output relay (Operand 1 = Output, flag number)
Ladder timer relay (Operand 1 = Local flag number, Operand 2 =
Timer setting (sec))
3. Points to Note
• This system only processes software ladders using an interpreter. Therefore, the processing time is
much longer than that of a dedicated commercial sequencer.
(This system is not suitable for large-scale ladder processing.)
• If an extension condition is not specified for steps in which an input condition is specified, the steps
will be treated as LD (LOAD).
• Always specify a “normally ON” contact for those steps that must be processed without fail, such as
CHPR, TSLP and GOTO. (LD 7001)
Virtual input 7001: “Normally ON” contact
• The following circuit cannot be expressed. Create an equivalent circuit.
OUTR301
1
2
OUTR302
3
Cannot be expressed.
251
Part 2 Programs
4. Program Example
OUTR314
8
9
10
11
12
13
14
TIMR900
15
0.5 SEC
Extension condition
E
LD
LD
A
O
LD
A
LD
A
OB
AB
A
LD
LD
LD
252
N
N
N
N
N
Input condition
Cnd
7001
Command
Cmnd
CHPR
TPCD
TAG
Operand 1
Operand 1
1
1
1
15
OUTR
TIMR
314
900
7001
7001
7001
TSLP
GOTO
EXIT
3
1
Operand 2
Operand 2
8
9
10
11
12
13
14
0.5
Output
Pst
Part 2 Programs
Chapter 7
Application Program Examples
1. Operation by Jog Command
[Doll-Picking Game Machine]
(1) Overview of the system
This system is a doll-picking game machine consisting of axis-1 and axis-2 actuators. Pushbutton
switches corresponding to the two axes are provided on an external operation switch box, and
these switches are used to move the actuators to a desired position to grab and pick up dolls
inside the case.
Axis 1
Axis 2
Hand
Load
Hand control unit
Axis-1 movement
pushbutton switch
Axis-2 movement pushbutton switch
253
Part 2 Programs
(2) Explanation of the operation
1.
2.
3.
4.
5.
6.
7.
Wait for the axis-1 movement pushbutton switch to turn ON.
The X-axis moves while the pushbutton switch is ON, and stops when the switch turns OFF.
Wait for the axis-2 movement pushbutton switch to turn ON.
The Y-axis moves while the pushbutton switch is ON, and stops when the switch turns OFF.
Output a start command to the hand control unit.
Wait for an operation completion input from the hand control unit.
Move to the home after the input is received.
The above operation will be repeated. The operation position, external I/O assignments and
operation flow chart of this operation are shown below:
Operation Flow Chart
Operation Position
Start
Hand control unit
Operation home
Axis 1
switch ON
Axis 1
N
Y
Axis 1 operates in forward
direction
Axis 1
switch OFF
Arbitrary distance
N
Y
Arbitrary
distance
Axis 1 stops
Axis
2
Axis 2
switch ON
N
Y
Axis 2 operates in forward
direction
Axis 2
switch OFF
N
Y
I/O Assignments
Axis 2 stops
ASEL
Category
254
I/O No.
Signal name
Axis-1 movement
16
command
Axis-2 movement
Input
17
command
Hand operation
18
completion
Hand start
Output
307
command
* Flag is not used.
Specification
Pushbutton switch
Pushbutton switch
Hand-control-unit start
command ON
Complete
Y
External control unit
24 VDC
Hand-control-unit start
command OFF
Move to home position
N
Part 2 Programs
(3) ASEL Controller application program
Step
E
N
Cnd
Cmnd
Operand 1 Operand 2
Pst
Comment
1
HOME
11
Axes 1 and 2 return to home (servo ON).
2
VEL
400
Set speed to 400 mm/s.
3
TAG
1
4
WTON
16
5
JFWN
1
6
WTON
17
7
JFWN
10
8
BTON
307
9
WTON
18
10
BTOF
307
11
JBWF
11
12
GOTO
1
16
17
18
Wait for input from axis-1 movement switch.
Move forward while axis-1 movement switch
is ON.
Wait for input from axis-2 movement switch.
Move forward while axis-2 movement switch
is ON.
Start command for external control unit turns
ON.
Wait for external control unit to complete
operation.
Start command for external control unit turns
OFF.
Axes 1 and 2 move backward while 18 is
ON.
Jump to TAG1.
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
255
Part 2 Programs
2. Operation by Point Movement Command
[Riveting System]
(1) Overview of the system
This system is a riveting system consisting of an XY-table operated by axis-1 and axis-2 actuators
and a riveter. By setting a load on the XY-table at the operation home and turning on the start
switch, rivets will be driven at the three points specified on the load.
Riveter
Axis 2
Load
XY-table
Axis 1
Operation box
256
Body frame
Part 2 Programs
(2) Explanation of the operation
[1] The XY-table moves to the operation home (P1) and waits.
[2] The operator sets a load on the XY-table and turns on the start switch.
[3] The load riveting position No. 1 (P2) moves to the riveting position on the XY-table, and a
riveting command is output to the riveter.
[4] When the riveter completes the riveting operation and a completion signal is input, riveting
position Nos. 2 (P3) and 3 (P4) move to the riveting position in the same manner.
[5] When all three points have been riveted, the table will return to the operation home.
The above operation will be repeated. The operation position, external I/O assignments and
operation flow chart of this operation are shown below:
Operation Position
Operation Flow Chart
Start
XY-table
Move to position No. 1
P1
(Operation
home)
P4
Load counter = 2
Load
N
Start
Y
Move to riveting position
P3
P2
Riveting command ON
Riveter position
Riveting
complete
N
Riveting command OFF
Load counter + 1
I/O Assignments
ASEL
Category
I/O No.
Signal name
16
Start command
Input
Riveting
17
completion
Riveting
Output
307
command
* Flag is used from 600.
Specification
Pushbutton switch
N
Operation
complete
Y
Contact signal
24 VDC
257
Part 2 Programs
(3) ASEL Controller application program
Step
Cmnd
Operand 1
1
HOME
11
XY-table returns to home (servo ON).
2
VEL
400
Set speed to 400 mm/s.
3
TAG
1
4
MOVL
1
5
LET
1
6
BTOF
600
Clear completion flag.
7
WTON
16
Wait for start command.
8
TAG
2
9
MOVL
*1
Move to load counter position.
10
BTON
307
Riveting command turns ON.
11
WTON
17
Wait for riveting to complete.
12
BTOF
307
Riveting command turns OFF.
13
ADD
1
1
14
CPEQ
1
5
GOTO
2
Jump to TAG2 if not complete.
GOTO
1
Jump to TAG1 if complete.
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
258
E
N
N
Cnd
600
Operand 2
Pst
Comment
Move to position No. 1 (operation home)
2
Set 2 in load counter.
Increment load counter by 1.
600
Turns ON flag if operation is complete.
Part 2 Programs
Chapter 8
Real-Time Multi-Tasking
1. SEL Language
The ASEL Controller allows integrated control of actuators and peripherals with a single controller using its
32-bit RISC CPU and high-speed real-time operating system. There is no need to learn various languages
for different units, such as robot language for robots and sequencer language for peripherals. Since SEL
language is the only language used, an efficient system can be designed.
The current version of SEL language represents a pioneering evolution of the widely proven programming
language, evidenced by higher-performance features and advanced functions. The latest version is also
easier to use compared with the conventional SEL language.
General system
Ladder diagram
Peripheral
equipment,
control unit,
sequencer
Robot
control unit
Robot
Conveyor
Robot language
IfxxxThenxxxElsexxx
MOVP P10
DOUT (307) = IB
ASEL system
Interlocking wiring
Wiring is also simpler.
ASEL
Controller
SEL language
N600 MOVL10 307
259
Part 2 Programs
2. Multi-Tasking
“Multi-tasking” operation may not be a familiar term, but it is widely used in computer programming to
refer to parallel processing. Simply put, multi-tasking means running several programs in parallel.
Take a screw-tightening robot, for example.
In general, a screw-tightening robot consists of axis-1 and axis-2 actuators and a screw-tightening
machine (up/down air cylinder, etc.).
Operation Flow
Move
Parts feeder prepares screws
Tighten screw
Parts feeder prepares screws
Move XY
Tighten screw
Although the flow chart is simple, the movement of axis-1 and axis 2 actuators and the operation of
the parts feeder must take place simultaneously. This requires “multi-tasking” operation.
Program 1
Start
Move
Program 2
Start
Parts feeder ON
Screw
preparation OK
Tighten screw
Parts feeder OFF
Move
Tighten screw
260
Shortage
of screws
Timer
Part 2 Programs
3. Difference from a Sequencer
The parallel processing method has evolved from the traditional method of using a sequence control
circuit consisting of relays to a more recent one using a sequencer equipped with a microcomputer.
Since a microcomputer basically allows one process for each clock, a sequence control circuit with a
microcomputer must scan the entire program to achieve apparent parallel processing. For this reason,
a scan time is required, which adds to overhead (dead time).
The microcomputer scans the enter program and outputs only where the condition is satisfied.
On the other hand, a system consisting of a microcomputer and a real-time operating system no
longer uses parallel processing scan (by always scanning the entire program), but adopts an eventdriven method instead (whereby the system operates only when an event occurs, such as upon
receipt of an input signal). Since no extra scan is necessary, the system can operate at high speed. In
addition, each program to be processed in parallel is programmed in steps, so the program is easy to
understand and maintain.
Real-time OS
Program 1
Program 2
Program n
Programmed
in steps
The programmer need not worry about running all programs in parallel, which is controlled by the realtime operating system.
261
Part 2 Programs
4. Release of Emergency Stop
Default factory settings of parameters
“Other parameter No. 10, Emergency-stop recovery type” = 0
“Other parameter No. 11, Safety-gate open recovery type” = 0
“Other parameter No. 12, Recognition type during automatic operation” = 0
An emergency stop is actuated by turning the emergency-stop contact b input to OFF, and released
by turning the input to ON.
(1) Flow chart
(2) Timing chart
Emergency stop is
actuated
Emergency-stop release timing on ASEL Controller
Emergency-stop input
(contact b)
0
Ready output
0
Emergency-stop output
0
Teaching-pendant restart
input
0
Program number output
External start input
0
External start (000) input
General-purpose output
0
Emergency stop
released?
NO
YES
Alarm
reset?
NO
YES
NO
Ready
output ON?
YES
The selected program is executed from step 1.
 The internal conditions of the controller during an emergency stop are as follows:
• Programs
• Output ports, local flags, local
variables
• Global flags, global variables
Aborted (excluding “I/O processing programs
operation when program is aborted”)
Cleared
Retained
If the peripherals are to be controlled by program, create a management program beforehand and use
the program to control the peripherals. Alternatively, start (EXPG) or abort (ABPG) other programs in
accordance with the status of each general-purpose input.
262
Part 2 Programs
5. Program Switching
Various methods are available to switch between programs, depending on the purpose of programs.
The representative methods are explained below.
External start
Program switching
Program
Single-tasking
Multi-tasking
EXIT command
EXPG command
First, the program switching methods are largely divided into switching by external start and switching
by application program.
(1) External start method
Refer to Chapter 4, 2.2, “Standing via External Signal
Selection” in Part 1.
(2) Program method
{ Single-tasking
Executing an EXIT command (end program) at the end of each program will end the program and
cause the system to return to the condition immediately after the power is turned on. However,
since the home position is retained, another program can be started by an external start input with
the corresponding program number specified.
{ Multi-tasking
Creating a management program and executing EXPG commands (start other program) will allow
a series of programs to be run in parallel.
263
Part 2 Programs
Chapter 9
Example of Building a System
How to build hardware and software is explained in details by using a screw-tightening robot as an
example.
1. Equipment
Screw-tightening machine (for Z-axis)
Actuators (for axes 1 and 2)
Controller
IAI’s actuator with 300-mm stroke x 2
IAI’s ASEL controller
2. Operation
(1) Tighten six screws at 30-mm pitches on axes 1 and 2.
1. The actuators move to a screw-tightening position.
2. The Z-axis air cylinder of the screw-tightening
machine comes down.
3. The screw-tightening machine starts operating.
4. When the screw tightening is complete, the Z-axis
air cylinder rises.
5. The actuators move to the next position.
Coordinates
30
Axis 2
30
(2) The parts feeder operates in parallel with the above
operation.
1. The parts feeder starts when screws are short.
2. The parts feeder stops when the screws are fully loaded.
264
4
5
6
1
2
3
30
30
Axis 1
30
30
Part 2 Programs
3. Overview of the Screw-Tightening System
This system consists of axis-1 and axis-2 actuators, Z-axis cylinder, screw-tightening device and parts
feeder, and tightens the screws fed by the parts feeder at the specified positions on the load.
Axis 2
Z-axis cylinder
Screw-tightening device
Parts feeder
Axis 1
Load
Operation box
265
Part 2 Programs
Pin No. Category Port No.
1A
P24
1B
016
2A
017
2B
018
3A
019
3B
020
4A
021
4B
022
5A
023
5B
000
6A
001
6B
002
7A
003
Input
7B
004
8A
005
8B
006
9A
007
9B
008
10A
009
10B
010
11A
011
11B
012
12A
013
12B
014
13A
015
13B
300
14A
301
14B
302
15A
303
Output
15B
304
16A
305
16B
306
17A
307
17B
N
266
Function
External power supply 24 V
Program specification (PRG No. 1)
Program specification (PRG No. 2)
Program specification (PRG No. 4)
Program specification (PRG No. 8)
Program specification (PRG No. 10)
Program specification (PRG No. 20)
Program specification (PRG No. 40)
Software reset (restart)
Program start
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input (Screw tightening start)
General-purpose input (Screw tightening end)
General-purpose input (Z-axis air cylinder top)
General-purpose input (Parts-feeder all screws tightened)
General-purpose input (Screw tightening complete)
Alarm output
Ready output
General-purpose output
General-purpose output
General-purpose output
General-purpose input (Z-axis air cylinder down)
General-purpose input (Screw tightening start)
General-purpose input (Parts feeder start)
External power supply 0 V
Digital switch
4. Hardware
Z-axis down Parts feeder
Tightening complete
Screw
tightening start
Part 2 Programs
5. Software
(1) Control flow chart
Main program:
Screw-tightening
machine
Sub program:
Parts feeder
Program 1
Program 2
Start program 2
Screws short
Align origin
Parts feeder ON
Start screw tightening (pushbutton)
Screws fully loaded
Move
Parts feeder OFF
Z-axis air cylinder
down
5 seconds on timer
Start screw tightening
Screw tightening
complete
Z-axis air cylinder up
NO
6 screws
tightened?
YES
NO
Screw
tightening
complete?
YES
Stop program 2
Stop parts feeder
End
267
Part 2 Programs
(2) Main program
Screw-tightening program No. 1
Application program
Comment
Extension
Input
condition condition
AND, OR
I/O, flag
1
2
3
4
5
6
7
Output
condition
Operand Operand Output
Command
1
2
port, flag
EXPG
2
HOME
11
VEL
100
ACC
0.3
TAG
1
WTON
11
LET
1
1
Command
8
TAG
2
9
10
11
12
13
14
15
16
MOVL
BTON
BTON
WTON
BTOF
WTON
ADD
CPEQ
*1
305
306
12
305
13
1
1
17
N900
GOTO
2
18
19
20
21
N17
GOTO
ABPG
BTOF
EXIT
1
2
307
306
1
7
900
Comment
Start program 2.
Align home.
Speed: 100 mm/sec
Acceleration: 0.3 G
Jump destination at restart
Screw-tightening start pushbutton
Set screw counter.
Jump destination after tightening one
screw
Move.
Z-axis air cylinder down
Start screw tightening.
Screw tightening complete.
Cylinder up, screw tightening stopped.
Check Z-axis air cylinder top position.
Increment screw counter by 1.
Compare after tightening six screws.
Go to next screw-tightening cycle after
tightening one screw.
Restart screw tightening.
Stop program 2.
Stop parts feeder.
End of program 1
Position program
No.
1
2
3
4
5
6
X
30
60
90
30
60
90
Y
30
30
30
60
60
60
(3) Sub program
Parts feeder program No. 2
Application program
Comment
Extension
Input
condition condition
AND, OR
1
2
3
4
5
6
7
268
I/O, flag
Output
condition
Operand Operand Output
Command
1
2
port, flag
Command
TAG
WTOF
BTON
WTON
BTOF
TIMW
GOTO
1
14
307
14
307
5
1
Comment
Jump destination for repeating
Screws short.
Start parts feeder.
Screws fully loaded.
Stop parts feeder.
5 seconds on restart timer
Repeat.
Part 2 Programs
Chapter 10 Example of Building a System
1. Position Table
Position Table
Up to 1,500 position points can be registered in the ASEL controller.
Positions are registered using the PC software or teaching pendant.
(Example of 2-axis system)
No.:
Specify a number, and the actuator will move to the position registered for the
specified number in the program.
Axis 1 to Axis 2: Enter the target position of each axis for each position number.
Vel:
Set a speed. The speed set in this field takes precedence over the speed
specified in the program. In other words, the actuator uses the speed specified
here when moving to the position specified for the corresponding position
number.
Acc:
Set an acceleration. The acceleration set in this field takes precedence over the
acceleration specified in the program or one set by the applicable parameter.
Dcl:
Set a deceleration. The deceleration set in this field takes precedence over the
deceleration specified by the program or one set by the applicable parameter.
269
Part 2 Programs
2. Programming Format
Program Edit Screen (PC Software)
The ASEL controllers support programs consisting of up to 2,000 steps.
Programs are edited using the PC software or teaching pendant.
No.:
B:
Step number
Set a breakpoint (this field becomes editable during online edit).
Click the “B” field in the line where you want to set a breakpoint. Once a breakpoint has
been set, “B” is shown in the line.
* Breakpoint --- A breakpoint is set in a step where you want to stop the program
temporarily while the program is run from the PC software.
E:
Enter a desired extension condition (A, O, LD, AB or OB).
N:
Specify “N” to indicate negation of the input condition.
Cnd:
Enter an input condition.
Cmnd:
Enter a SEL command.
Operand 1: Enter operand 1.
Operand 2: Enter operand 2.
Pst:
Enter an output (operand 3).
Comment: Enter a comment, if necessary (using up to 18 single-byte characters).
270
Part 2 Programs
3. Positioning to Five Positions
Description
Move the actuator to positions 1 through 5 at a speed of 100 mm/sec after homing.
Use of only 1 axis is assumed.
Flowchart
Start
Homing
• Homing must be performed and a speed must be set, before the actuator
can be operated.
• The actuator moves to the position data coordinates specified by the
respective move commands.
• With the absolute specification, homing (HOME command) is not required.
Set speed
Move to P1
Move to P2
Move to P3
Move to P4
Move to P5
End of program
Application program
Position data
271
Part 2 Programs
4. How to Use TAG and GOTO
Description
Use GOTO and TAG commands to repeat the same operation within the program or to jump to a desired
step if a condition is satisfied. A TAG command can be written in a step either before or after a GOTO
command.
Example of Use 1
Repeat the same operation.
Steps to be repeated
Repeated.
Example of Use 2
Skip steps.
Jump.
272
Steps to be ignored
Part 2 Programs
5. Moving Back and Forth between Two Points
Description
Moves back and forth between two points.
Flowchart
Start
Homing
• The actuator moves back and forth between P1 and P2 indefinitely.
• Use of only 1 axis is assumed.
• Enter TAG in the first of the steps to be repeated, and enter GOTO
in the last of the steps to be repeated.
Move to P1
Move to P2
Application program
Position data
273
Part 2 Programs
6. Path Operation
Description
Move continuously through four arbitrary points without stopping
(PATH movement).
The actuator moves along the path shown at right, without
stopping at P2 and P3.
Compared with MOVP and MOVL, this command does not
require the actuator to position exactly at P2 and P3, and thus
the movement tact time can be reduced.
Assume the following command is executed when the actuator
is stopped at P1:
PATH 2 4
The actuator will move from P1 to P4 by passing points near P2
and P3. (The passing points can be brought closer to the
specified positions by increasing the acceleration.)
Even if “PATH 2 3” and “PATH 3 4” are input successively, the
actuator will still move in the same way as when “PATH 2 4” is
input.
If “PATH 4 1” is executed while the actuator is stopped at P4,
the actuator will move along the same path in the opposite
direction (P4 → P3 → P2 → P1).
Continuous movement through positions is possible even when
the specified positions are not continuous.
PATH 1 4
PATH 6 6 (Discontinuous position)
PATH 9 10
As shown above, specify each discontinuous position number,
or position No. 6 in this case, as both the start position number
and end position number in a PATH command. The axis will
move through P1, P2, P3, P4, P6, P9 and P10 in this order.
274
Part 2 Programs
7. Output Control during Path Movement
Description
In spray operation, etc., output control may be required while the actuator is moving. The ASEL controller
can output signals while the actuator is moving with a PATH command.
How to Use
Before executing a PATH command, declare a POTP command to specify signal output during movement.
If a given output or global flag is specified in the output field of the PATH command, the output or flag
specified in the output field will turn ON as the actuator approaches, via path movement, the position
specified in the PATH command.
Example of Use 1
The actuator moves from P1 to P5 along the positions shown at
right, without stopping. As the actuator approaches P2, output
port 304 turns ON.
A declaration command to specify signal output during path
movement.
304 turns ON when the actuator approaches P2 specified in
this step.
Outputs and flags can only be turned ON. The output or flag that was turned ON during path operation
must be turned OFF (using a BTOF command) after the operation is completed.
Example of Use 2
Outputs 304 to 307 can be turned ON sequentially at the respective points of P2 to P5.
A declaration command to specify signal output during path
movement.
304 to 307 turn ON sequentially at P2 to P5 specified in this
step.
275
Part 2 Programs
8. Circle/Arc Operation
Description
The actuator moves along a two-dimensional circle or arc.
How to Use
To specify a circle, specify three points the actuator will pass. To specify an arc, specify the starting point,
passing point and end point.
Example of Use 1
Circle
• Specify “CIR2 2 3” after the actuator has moved to P1.
• If “CIR2 2 3” is specified in the figure shown at left, the actuator
will move along this circle clockwise.
• To cause the actuator to move counterclockwise, specify “CIR2
3 2.”
Example of Use 2
Arc
• Specify “ARC2 2 3” after the actuator has moved to P1.
276
Part 2 Programs
9. Home Return Completion Output
Description
Output a signal to confirm completion of homing (incremental specification).
With the ASEL controller, a home return completion signal can be output using an I/O parameter.
However, the following explains how to output a home return completion signal within a program using a
general-purpose output.
Once turned ON, a general-purpose output will remain ON even after the current program ends or other
program is started. (It will turn OFF upon emergency stop, etc., but the ON status can be maintained
using an I/O parameter (I/O parameter Nos. 70 and 71).)
Example of Use
a. Output a home return completion signal.
Execute homing.
General-purpose output (arbitrary)
b. Use a home return completion signal to make sure the actuator will not perform homing if it has
already been performed.
Execute homing if output 303 is OFF.
Home return completion output
c. Use the output field instead of a BTON command.
Execute the same processing
performed with the above two steps.
Reference
Output port No. 304 can be used as a home return completion output (dedicated output) by setting I/O
parameter No. 50 to “13.”
277
Part 2 Programs
10. Axis Movement by Input Waiting and Completion Output
Description
How to perform input waiting and output a processing completion signal is explained.
Flowchart
Start
Input 10
Move to P1
Output 303 ON
Input 11
Output 303 OFF
Move to P2
Output 304 ON
End of program
Application program
278
Example of Use
The actuator waits until input port 10 turns ON, and then
moves to P1.
The actuator waits until input port 11 turns ON, and then
moves to P2.
A movement completion signal is output from 303 upon
reaching P1, and from 304 upon reaching P2.
Part 2 Programs
11. Changing the Moving Speed
Description
Change the moving speed.
How to Use
With the ASEL controller, the speed can be set using the following two methods:
a: Use a VEL command within the application program
b: Use a speed setting in the position data table
Example of Use
Application program
Position data
Moving speeds in the above program
Position at 100 mm --- The actuator moves at 100 mm/sec.
Position at 200 mm --- The actuator moves at 500 mm/sec.
Position at 300 mm --- The actuator moves at 1000 mm/sec.
Position at 400 mm --- The actuator moves at 50 mm/sec.
If a speed is specified in the position data table, this speed takes precedence over the speed specified in
the application program, as shown above. In general, speeds are set in the application program using
VEL.
Vel in Point Data Table and PATH Command
The speed can be changed without stopping the actuator, by using a PATH command and Vel in the
position data table. (Refer to the next page.)
279
Part 2 Programs
12. Changing the Speed during Operation
Description
Use a PATH command to change the speed while the actuator is moving.
For example, this command is useful in a paint dispensing application where the application volume
changes in the middle.
Example of Use
The actuator moves through linear sections a, b and c at 50 mm/sec, 20 mm/sec and 50 mm/sec,
respectively, without stopping (PATH movement).
Application width
Section a
Section b
Section c
Position data
Application program
“PATH 1 4” is the only movement command required.
Reference
The speed can also be changed from other program using a CHVL (speed change) command (in the
multi-tasking mode).
280
Part 2 Programs
13. Local/Global Variables and Flags
Description
The internal variables and flags used in the SEL language are classified into local and global types.
The data range used commonly by all programs is called the global range, while the data range used only
by each program is called the local range. When multi-tasking programs are run simultaneously, the
global range must be used to synchronize the programs and allow cross-referencing of variables among
the programs.
Example of Use
Program handshake
Program A
Program B
Use of global flags with the above two programs permits handshake between the programs, and the
actuator moves per “MOVL 1” in program A, moves per “MOVL 2” in program B, and then move per
“MOVL 3” in program A, for example.
Backup in Battery
If the ASEL controller has a built-in battery (optional), variables and flags used in the programs are
retained. For both variables and flags, only those in the global range will be retained after the controller
power is turned off.
The variables and flags in the local range are cleared when the program is started (the variables are reset
to “0,” while the flags turn OFF).
281
Part 2 Programs
14. How to Use Subroutines
Description
A subroutine is a group of steps that are called and executed several times within a program. Subroutines
are used to reduce the number of program steps and make the program easy to read. Up to 99
subroutines can be used in one program. Up to 15 subroutine calls can be nested.
How to Use
Declare/call subroutines using the following commands:
EXSR: Call a subroutine
BGSR: Declare the start of a subroutine (start of a group of steps)
EDSR: Declare the end of a subroutine (end of a group of steps)
Example of Use
Subroutine
The same tasks are consolidated
into a single location.
Caution
Jumping from within a subroutine to a TAG position outside the subroutine using a GOTO command is
prohibited.
282
Part 2 Programs
15. Pausing the Operation
Description
Use a declaration command HOLD to pause the moving axis temporarily via external input.
How to Use
A pause interruption operation can be executed to a moving axis (to decelerate the axis to a stop) by
declaring a HOLD command within the program.
While HOLD is input, the actuator pauses (decelerates to a stop, if currently moving) against all moving
commands in the same program.
Example of Use
HOLD 15
A declaration to execute pause if general-purpose input 15 turns ON.
Input port 15 ON
Input port 15 OFF
The axis stops.
Speed
Remaining
operation
Time
Application
You can specify a global flag, instead of an input port, in Operand 1 of the HOLD command.
Use of a global flag allows the actuator to be paused from other program.
The input signal pattern and stop action can be selected using Operand 2.
0 = Contact a (Decelerates to a stop) ⇒ Same as when Operand 2 is not specified.
1 = Contact b (Decelerates to a stop)
2 = Contact b (Decelerates to a stop, and then servo OFF ⇒ The drive power is not cut off.)
Caution
If the actuator is paused during homing, it will start the homing sequence from the beginning upon restart.
283
Part 2 Programs
16. Canceling the Operation 1 (CANC)
Description
Use a declaration command CANC to decelerate the moving axis to a stop and cancel the remaining
operation.
How to Use
While CAN is input, all movement commands in the same program are cancelled.
Example of Use
CANC command
Cancel the movement commands if input port 15 turns ON (declaration).
* Declare this command in a step before the movement commands you want to cancel.
* While CANC is input, all operation commands are cancelled sequentially, while tasks other than
operation commands (such as I/O processing and calculation processing) are executed sequentially.
Input port 15 ON
The operation within this range
is cancelled.
Speed
Remaining
operation
Time
Caution
Since execution of this command makes it no longer possible to specify which program step is currently
executed, it is recommended that a WTON command be used to create an input wait step.
Application
A desired input signal pattern can be selected for a CANC command using Operand 2.
0 = Contact a (Decelerates to a stop) ⇒ Same as when Operand 2 is not specified.
1 = Contact b (Decelerates to a stop)
284
Part 2 Programs
17. Canceling the Operation 2 (STOP)
Description
Decelerate the moving axis to a stop and cancel the remaining operation. (STOP)
How to Use
Execute a STOP command from other program to forcibly stop the operation (in the multi-tasking mode).
Specify the axis you want to stop using an axis pattern.
Input port 15 ON
The operation within this range
is cancelled.
Speed
Remaining
operation
Time
Example of Use 1
STOP command
Main program
Stop control program
The stop program starts.
Wait for stop input.
Axes 1 and 2 stop.
If “STOP 11” is executed while “MOVL 1” is being executed, “MOVL 1” will be cancelled and the actuator
will continue its operation from “MOVL 2.”
Example of Use 2
Main program
Stop control program
The stop program starts.
Wait for stop input.
Axis 2 stops.
If “STOP 10” is executed while “MOVL 1” is being executed, only the axis 2 part of “MOVL 1” will be
cancelled. Both axes 1 and 2 will operate under “MOVL 2.”
Caution
If a STOP command is executed during a CP operation (interpolation operation) initiated by MOVL, etc.,
the operations of all axes will be cancelled regardless of the axis pattern specified in the STOP command.
285
Part 2 Programs
18. Movement by Position Number Specification
Description
Load externally input BCD codes as position numbers to execute movements.
Example of Use
Use an INB command to load a position number as a BCD code from an input port.
A position number can be specified using a value consisting of up to three digits.
Flowchart
Start
Initial setting
Start input
Read BCD
Movement
completion OFF
Move to specified
position number
Movement
completion ON
Application program
286
Input assignment
Port
1
2
3
4
5
6
7
8
9
10
11
12
13
Output
Description
303 Movement completion
Start input
Position specification 1
Position specification 2
Position specification 4
Position specification 8
Position specification 10
Position specification 20
Position specification 40
Position specification 80
Position specification 100
Position specification 200
Position specification 400
Position specification 800
Part 2 Programs
19. Movement by External Position Data Input
Description
Receive target position data as absolute values from a host device to execute movements.
Example of Use
Use an INB command to load position data as a BCD code from an input port.
Each BCD value should consist of four digits, with the last digit indicating a decimal place.
The moving axis is axis 1.
Example: If a BCD of “1234” is received, the axis will move to the position at 123.4 mm.
Note: When using input port Nos. 16 and 17, do so after changing them to general-purpose inputs.
Flowchart
Start
Input assignment
Port
Description
Start input
Output
303 Movement completion
Initial setting
Start input
Read BCD
Movement
completion OFF
Move to specified
position
Movement
completion ON
Application program
287
Part 2 Programs
20. Conditional Jump
Description
Select the destination to jump to via GOTO using the external input, output and/or internal flag statuses as
a condition.
The controller waits for multiple inputs, and performs processing according to the received input(s).
Example of Use 1
If input 10 turns ON, the actuator will jump to TAG 1. If it turns OFF, the actuator will proceed to the next
processing.
Execute GOTO 1 if input 10 turns ON.
Input 10
Processing a
Processing a
Processing b
* If input 10 turns ON, the actuator will skip processing a and perform
processing b.
If input 10 turns OFF, the actuator will perform processing a, and then
perform processing b.
Example of Use 2
The controller waits for an input signal to be received at input port 10 or 11. If an input signal is received at
input 10, the actuator will perform processing a. If an input signal is received at input 11, it will perform
processing b.
Input 10
Input 11
Processing a
Processing a
Processing b
Processing b
No input.
Input 10 turns ON.
Input 11 turns ON.
If both inputs 10 and 11 turn ON, the actuator will perform processing a.
288
Part 2 Programs
21. Waiting Multiple Inputs
Description
The controller waits for multiple different inputs and performs processing upon reception of any of these
inputs.
Point
A WTON command permits processing only when the specified input is received. The controller cannot
wait for multiple inputs.
Example of Use
Inputs 10 and 11 are monitored, and the actuator will proceed to the next step when either input is
received (OR logic).
Input 10
Program a
Program b
Input 11
Next processing
Next processing
Next processing
* Both programs a and b perform the same processing.
As shown in the sample, the controller waits for input without using a WTON command.
This method can also be used when multiple input conditions must be combined.
289
Part 2 Programs
22. How to Use Offset
Description
With an OFST command, an offset can be specified for position data when you want to shift (offset) all
teaching points by several millimeters because the actuator was not installed exactly in the specified
position or for other reasons.
An OFST command can also be used to perform pitch feed. (Refer to 24, “Constant-pitch Feed.”)
Home
Caution
Once an offset has been set, the offset applies to all movement commands executed thereafter. To cancel
the offset, execute an offset command again by specifying “0” mm. An offset does not apply to other
programs (even in the multi-tasking mode). If a given offset must be applied to all programs, it must be set
for all programs individually.
290
Part 2 Programs
23. Executing an Operation N times
Description
Execute a specific operation n times.
Example of Use
The actuator moves back and forth between P1 and P2 ten times, and then the program ends.
Use a CPEQ command to compare the number of times the movement has been actually repeated,
against 10.
It is assumed that homing has been completed.
Application program
Reference
The same operation can also be performed using a DWEQ command.
291
Part 2 Programs
24. Constant-pitch Feed
Description
Feed the actuator by a specified pitch n times from a reference point.
The pitch and number of repetitions are specified by variables in advance.
Flowchart
Start
Initial setting
Start input
Move
Example of Use
Use an OFST command to perform pitch feed.
The number of times the actuator has been fed is counted by a
counter variable.
The X-axis is fed in the positive direction.
Point
An OFST command applies to movement commands.
Executing an OFST command alone does not move the axis.
Increment pitch
variable
Apply offset
Increment feed
counter
Pitch (mm)
Reference point
(Number of feeds n)
Counter up?
End of program
Application program
Reference
Pitch feed can also
be performed using
a MVPI or MVLI
command.
292
Part 2 Programs
25. Jogging
Description
The slider moves forward or backward while an input is ON or OFF.
Instead of an input, an output or global flag can be used as a cue.
The slider will move directly to the next step if the specified input does not satisfy the condition when the
command is executed.
Regardless of the input status, the slider will stop upon reaching the soft limit, and the command in the
next step will be executed.
How to Use
• Explanation of commands
Axis 1 moves forward while input 1 is ON.
Axis 1 moves forward while input 2 is OFF.
Axis 2 moves backward while input 3 is ON.
Axis 2 moves backward while input 4 is OFF.
Example of Use 1
• Stop the axis when a sensor input is received.
The axis comes down and stops
upon detecting a work.
Sensor detection line
Specify a low speed.
Move until a sensor input (10) is received.
The program ends.
Work
Example of Use 2
• Cause the actuator to jog just like in teaching pendant operation (2 axes are operated).
Application program
Reference
HOLD, STOP and CANC commands
remain valid while the actuators are
jogging.
293
Part 2 Programs
26. Switching Programs
Description
Use EXPG/ABPG commands to switch programs using a program.
Example of Use 1
Start program 2 once the processing of program 1 is completed, and then end program 1.
Program 1
Program 2
Example of Use 2
Start a program via an external signal, and then end the other program.
Program 1
Program 2
If program 2 is started while program 1 is running, program 1 will be aborted.
If program 1 is started while program 2 is running, program 2 will be aborted.
Application
If a program number is specified in operand 2, the programs from the one corresponding to the program
number in operand 1 to the other corresponding to the program number in operand 2 can be started
(EXPG) or ended (ABPG) simultaneously.
Caution
z The ASEL controller supports multi-tasking. Up to 8 programs can be run at the same time. To use
other programs when the controller is already running 8 programs, switch programs by closing a
program or programs that are not required.
z If an ABPG command was executed to end a program while the program was executing a movement
command, the actuator immediately decelerates to a stop.
294
Part 2 Programs
27. Aborting a Program
Description
Abort a program currently running.
Execute an ABPG command (command to abort other program) from other program in the multi-tasking
mode.
Caution
* If the target program was executing a movement command, the actuator immediately decelerates to a
stop and the program ends.
Example of Use
Main program (Prg. 1)
The abort control program starts.
Abort control program (Prg. n)
Wait for an abort input.
Prg. 1 is aborted.
The program ends.
* If ABPG was executed while the actuator was moving via a MOVP command, the actuator immediately
decelerates to a stop and the program ends.
295
Part 3 Positioner Mode
Part 3
Positioner Mode
In the positioner mode, position data is input in the MANU mode and positioning operation based on input
data is performed in the AUTO mode (the controller modes are switched using the AUTO/MANU switch).
If the controller mode is changed to MANU while positioning is performed in the AUTO mode, the
controller will maintain the servo ON or OFF status that was effective prior to the mode change. The
output conditions of ready/alarm status and absolute-data/system battery error status will be retained. All
other outputs will be turned OFF.
When the controller is returned to the AUTO mode in this condition, the outputs will also return to their
original conditions.
Chapter 1
Modes and Signal Assignments
The positioner mode provides five sub-modes associated with different PIO (parallel I/O) patterns. Select
a mode appropriate for your specific purpose.
To select a desired mode, set a number between 1 and 4 or 16 in other parameter No. 25, “Operation
mode type.”
1. Feature of Each Mode
Value set in parameter
No. 25
1
2
3
4
16
296
Feature of each mode
Standard mode
Positioning to up to 1,500 positions can be performed. Push-motion
operation is also supported.
Product switching mode
Product numbers can be set in addition to position numbers.
A position number can be changed for each product under the same
position number.
Push-motion operation is also supported.
2-axis independent mode
Operations of two axes (start/stop) can be controlled separately.
Teaching mode
Positions to be registered can be taught externally.
DS-S-C1 compatible mode
This mode reflects the operation of the DS-S-C1 controller by adopting
compatible pin assignments. Replacement without any modification is
possible.
Part 3 Positioner Mode
2. Number of Positions Supported in Each Mode
Mode
Standard mode
Product switching
mode
2-axis independent
mode
Teaching mode
DS-S-C1 compatible
mode
Note)
Number of positions
Maximum 1,500 positions
Total 1,500 positions for all products
(The same number of position data sets is used for each product.)
13 input bits are divided into position-number input bits for axis 1 and positionnumber input bits for axis 2.
Maximum 1,500 positions
Maximum 1,500 positions
Two sets of position data are needed for push-motion operation. (Push-motion operation can
be performed only in the standard mode and product switching mode.)
3. Quick Mode Function Reference Table
1
I/O
Function
Push-motion operation
Error reset
CPU reset
Home return
Input
Servo ON
Cancellation
Interpolation
Jog
Home return complete
Servo ON output
Output
System battery error
Absolute battery error
Standard
mode
{
{
x
{
{
{
{
x
{
{
{
{
Other parameter No. 25
2
3
4
Product
2-axis
Teaching
switching independent
mode
mode
mode
{
x
x
{
{
{
x
x
x
{
{
Note 1
{
{
{
{
{
x
{
x
x
{
x
x
{
{
{
{
{
{
{
{
x Note 3
{
{
x Note 4
16
DS-S-C1
compatible
mode
x
x
{
Note 2
x
{
{
x
x
x
{
{
Note 1) In the teaching mode, home return will be performed when the start signal is input after
specifying a desired position number in a condition where home return is not yet complete.
Note 2) In the DS-S-C1 compatible mode, home return will be performed when the start signal is input
after specifying position No. 0.
Note 3) In the 2-axis independent mode, a system-battery voltage low warning will not be output. In
this mode, it is recommended not to back up the position data and error list using the battery
(not to use the optional system-memory backup battery).
Note 4) In the 2-axis independent mode, an absolute-data backup battery low warning will not be
output. If your system operates in this mode, use incremental actuators.
297
Part 3 Positioner Mode
4. Interface List of All PIO Patterns
Pin
No.
Category
1A
P24
Port
No.
Positioner mode
Standard mode
Product switching
mode
2-axis
independent mode
Teaching mode
DS-S-C1
compatible mode
24-V input
Cable
color
1-Brown
Position No. 1000
input
1-Red
1B
16
Position input 10
Input 10
Position input 7
Axis 1 jog-
2A
17
Position input 11
Input 11
Position input 8
Axis 2 jog+
-
1-Orange
2B
18
Position input 12
Input 12
Position input 9
Axis 2 jog-
-
1-Yellow
3A
19
Position input 13
Input 13
Position input 10
Inching (0.01 mm)
-
1-Green
3B
20
-
Input 14
Position input 11
Inching (0.1 mm)
-
1-Blue
4A
21
-
Input 15
Position input 12
Inching (0.5 mm)
-
1-Purple
4B
22
-
Input 16
Position input 13
Inching (1 mm)
-
1-Gray
5A
23
Error reset
Error reset
Error reset
Error reset
CPU reset
1-White
5B
0
Start
Start
Axis 1 start
Start
Start
1-Black
6A
1
Home return
Home return
Home return
Servo ON
Pause
2-Brown
6B
2
Servo ON
Servo ON
Axis 1 servo ON
*Pause
Cancellation
7A
3
Push motion
Push motion
*Axis 1 pause
Position input 1
Position input 2
Position input 3
4
*Pause
*Pause
*Axis 1
cancellation
8A
5
*Cancellation
*Cancellation
Axis 2 start
8B
6
Interpolation
Interpolation
Axis 2 home return Position input 4
9A
7
Position input 1
Input 1
Axis 2 servo ON
Position input 5
9B
8
Position input 2
Input 2
*Axis 2 pause
Position input 6
Position input 7
7B
Input
Interpolation
setting
Position No. 1
input
Position No. 2
input
Position No. 4
input
Position No. 8
input
Position No. 10
input
Position No. 20
input
Position No. 40
input
Position No. 80
input
Position No. 100
input
Position No. 200
input
Position No. 400
input
Position No. 800
input
2-Red
2-Orange
2-Yellow
2-Green
2-Blue
2-Purple
2-Gray
10A
9
Position input 3
Input 3
*Axis 2
cancellation
10B
10
Position input 4
Input 4
Position input 1
Position input 8
11A
11
Position input 5
Input 5
Position input 2
Position input 9
11B
12
Position input 6
Input 6
Position input 3
Position input 10
12A
13
Position input 7
Input 7
Position input 4
Position input 11
12B
14
Position input 8
Input 8
Position input 5
Teaching mode
specification
13A
15
Position input 9
Input 9
Position input 6
Axis 1 jog+
13B
300 *Alarm
*Alarm
*Alarm
*Alarm
Alarm
3-Blue
14A
301 Ready
Ready
Ready
Ready
Ready
3-Purple
Positioning
302
complete
Home return
303
complete
Positioning
complete
Home return
complete
Axis 1 positioning
complete
Axis 1 home return
complete
Positioning
complete
Home return
complete
Positioning
complete
304 Servo ON output
Servo ON output
Axis 1 servo ON
Servo ON output
Push motion
305
complete
System battery
306
error
Absolute battery
307
error
Push motion
complete
System battery
error
Absolute battery
error
Axis 2 positioning
complete
Axis 2 home return System battery
complete
error
Absolute battery
Axis 2 servo ON
error
14B
15A
15B
Output
16A
16B
17A
17B
N
0-V input
2-White
2-Black
3-Brown
3-Red
3-Orange
3-Yellow
3-Green
3-Gray
-
3-White
-
3-Black
-
4-Brown
System battery
error
Absolute battery
error
4-Red
4-Orange
4-Yellow
*: Contact B (always ON)
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Part 3 Positioner Mode
Chapter 2
Standard Mode
The standard mode provides a PIO pattern of greatest general utility among all positioner modes
accessible in the ASEL controller.
1. I/O Interface List
Pin
No.
1A
Category
Port
No.
P24
Signal name
External power supply 24 V
Signal
symbol
P24
Cable
color
1-Brown
Function overview
1B
016 Position input 10
PC10
1-Red
2A
017 Position input 11
PC11
1-Orange
2B
018 Position input 12
PC12
3A
019 Position input 13
PC13
3B
020
-
1-Blue
4A
021
-
1-Purple
4B
022
-
5A
023 Error reset
RES
5B
000 Start
CSTR
6A
001 Home return
HOME
6B
002 Servo ON
SON
003 Push motion
PUSH
7B
004 *Pause
*STP
8A
005 *Cancellation
*CANC
8B
006 Interpolation
LINE
9A
007 Position input 1
PC1
(Same as position inputs 1 through 9)
1-Yellow
1-Green
9B
008 Position input 2
PC2
10A
009 Position input 3
PC3
10B
010 Position input 4
PC4
11A
011 Position input 5
PC5
11B
012 Position input 6
PC6
12A
013 Position input 7
PC7
1-Gray
Present alarms will be reset at the leading edge of this
1-White
signal.
The actuator will start moving at the leading edge of this
1-Black
signal.
The actuator will start home-return operation at the leading
2-Brown
edge of this signal.
The servo will remain on while this signal is ON, and remain
2-Red
off while this signal is OFF.
The actuator will start linear interpolation operation if the
2-Orange
start input signal is turned ON while this signal is ON.
The actuator can be moved when this signal is ON, and will
2-Yellow
decelerate to a stop when the signal turns OFF.
The remaining travel distance will be cancelled if this signal
2-Green
turns OFF.
With the 2-axis specification, linear interpolation operation
will start when the start input signal is turned ON while this
2-Blue
signal is ON.
Input the position number corresponding to the position you 2-Purple
want to move the actuator to.
2-Gray
Be sure to specify a position input by no later than 6 msec
before the start input signal turns ON.
2-White
Position numbers are input as binary codes (factory setting).
2-Black
The input mode can be changed to BCD by changing the
setting of other parameter No. 71.
3-Brown
(PC1 through 4 indicate the one’s place, PC5 through 8
3-Red
indicate ten’s place, PC9 through 12 indicate the hundred’s
place, and PC13 indicates the thousand’s place.)
3-Orange
12B
014 Position input 8
PC8
3-Yellow
13A
015 Position input 9
PC9
7A
Input
13B
300 *Alarm
*ALM
14A
301 Ready
RDY
14B
302 Positioning complete
PEND
15A
303 Home return complete
HEND
304 Servo ON output
SVON
16A
305 Push motion complete
PSED
16B
306 System battery error
SSER
17A
307 Absolute battery error
ABER
15B
17B
Output
N
External power supply 0 V
N
3-Green
This signal remains ON if the controller is normal. It will turn
OFF if an alarm occurs.
This signal will turn ON when the controller becomes ready.
3-Blue
3-Purple
This signal will turn ON once the actuator has moved to the
3-Gray
target position and entered the positioning band.
This signal is OFF when the power is input, and will turn ON
3-White
when home return is completed.
This signal will turn ON when the servo is turned on, and
3-Black
turn OFF when the servo is turned off.
This signal will turn ON when the push-motion operation is
4-Brown
completed successfully, and turn OFF if the work is mixed.
This signal will turn ON when the voltage of the systemmemory backup battery drops to the voltage-low warning
4-Red
level.
This signal will turn ON when the voltage of the absolute4-Orange
data backup battery drops to the voltage-low warning level.
4-Yellow
*: Contact B (always ON)
299
Part 3 Positioner Mode
2. Parameters
To use the controller in the standard mode, set other parameter No. 25 to “1.”
Position numbers are specified as binary codes according to the factory setting. To change the input mode
to BCD, set a value “other than 0” in other parameter No. 25.
No.
Other
Parameter
25
Operation mode type
71
Positioner mode parameter 1
Function
1: Standard mode
Position-number input mode specification (0: Binary, ≠ 0: BCD)
* Default value: 0 (Binary)
3. Details of Each Input Signal
„ Start (CSTR)
When the OFF → ON leading edge of this signal is detected, the controller will load the target point
number specified by the 13-bit binary code consisting of PC1 through PC13, and perform positioning to
the target position specified by the corresponding position data.
Before movement is started, the target position, speed and other operation data must be set in the
position table using a PC or teaching pendant.
If this signal is input when no single home-return operation has been performed after the power was input
(= when the HEND output signal is OFF), “C6F, Home-return incomplete error” will generate.
„ Command position number (PC1 through PC13)
When a movement command is executed upon the OFF → ON edge of the start signal, the controller will
load the command position number specified by the 13-bit binary code consisting of signals PC1 through
PC13.
0
1
2
3
4
10
The weight of each bit is as follows: 2 for PC1, 2 for PC2, 2 for PC3, 2 for PC4, 2 for PC5, ..., and 2
for PC11. By combining these bits, any position number between 0 and 1500 (maximum) can be specified.
The input mode can be changed to BCD by changing the setting of other parameter No. 71, as follows:
Other parameter No. 71 = 1 (BCD input)
(Default setting of other parameter No. 71 = 0 (Binary input))
In the BCD input mode, PC1 through 4 indicate the one’s place, PC5 through 8 indicate ten’s place, PC9
through 12 indicate the hundred’s place, and PC13 indicates the thousand’s place.
„ Pause (*STP)
If this signal turns OFF while the actuator is moving, the controller will cause the actuator to decelerate to
a stop.
The remaining travel distance will be held, which means that when the signal turns ON again, the actuator
will resume movement of the remaining travel distance.
To cancel the movement command altogether after turning OFF the pause signal, turn OFF the
cancellation signal while this signal is OFF to cancel the remaining travel distance.
The pause signal can be used for the following purposes:
[1] As a sensor to detect entry into a specified area around the system or for other lower-level safety
measures to stop the axis while the servo is on
[2] To prevent contact with other equipment
[3] For positioning based on sensor or LS signal detection
(Note) When this signal is input during home return, the movement command will be held if the actuator
has not yet contacted the mechanical end. If the signal is input after the actuator has reversed
upon contacting the mechanical end, home return will be performed again.
300
Part 3 Positioner Mode
„ Cancellation (*CANC)
If this signal turns OFF while the actuator is moving, the controller will cause the actuator to decelerate to
a stop. The remaining travel distance will be cancelled and the movement will not resume even when the
signal turns ON thereafter.
„ Home return (HOME)
The actuator will start home-return operation upon detection of the OFF → ON edge of this signal.
Once the home return is complete, the HEND signal will be output. This signal can be input as many
times as desired after completion of the initial home return.
(Note) An actuator of incremental specification must always perform home return after the power is
turned on.
„ Servo ON (SON)
The servo remains on while this signal is ON.
To operate the actuator using the start input/home return input, the servo ON input signal must be ON. If
the servo ON input signal is OFF, these operation commands will not be accepted. (Only the commands
will be ignored, and no error will generate.)
(Note) When this signal turns OFF while the actuator is moving, the actuator will not decelerate to a stop.
It will complete the movement to the target position, after which the servo will turn off.
„ Error reset (RES)
This signal is used to reset the alarm output signal (*ALM) that has been generated due to an error.
If an error occurred, check the content of the error and then turn this signal ON.
The error will be reset upon detection of the leading edge of the signal.
(Note) Errors of cold start and higher level cannot be reset using this signal. The power must be
reconnected to reset these errors. For details, refer to Appendix, “Error Level Management.”
„ Push motion (PUSH)
The actuator will perform push-motion operation if the position signal and start signal are input while this
signal is ON. To perform push-motion operation, turn ON the push-motion input signal before turning the
start input signal ON.
A push-motion operation command is specified using two successive position data points.
If the “start” input signal is turned ON while the “push-motion” input signal is ON for position No. n, the
position data corresponding to position No. n and position No. n+1 will indicate the following items:
The position data for position No. n indicates the target position.
The position data for position No. n+1 indicates the push width.
The acceleration data for position No. n+1, multiplied by 100, indicates the current-limiting value during
push-motion operation.
The speed data for position No. n+1 indicates the push speed.
Example: The position data for position No. 1, as specified in the table below, is used for push-motion
operation.
Target position: 100 mm, Push width: 30 mm, Current-limiting value: 50%
Acceleration/deceleration until the push width before the target position: 0.2 G
Push speed: 25 mm/sec
301
Part 3 Positioner Mode
„ Interpolation (LINE)
With the 2-axis specification, input of the position signal and start signal while this signal is ON will cause
the two axes to perform interpolation operation (the two axes will start simultaneously and arrive at the
target position simultaneously).
To perform interpolation operation, turn ON the interpolation input signal before turning ON the start input
signal.
Axis 2
Movement when the interpolation signal is OFF
Movement when the interpolation signal is ON
Axis 1
302
Part 3 Positioner Mode
4. Details of Each Output Signal
„ Positioning complete (PEND)
This signal indicates that the actuator reached the target position and the positioning has completed.
After the power was input and the servo has turned on, this signal will turn ON if the position deviation is
within the in-position band when the controller becomes ready.
Thereafter, this signal will turn OFF when the start signal is turned ON to execute a movement command.
The signal will turn ON if the position deviation from the target position is within the in-position band after
the start signal has turned OFF.
Once this signal turns ON, it will not turn OFF even after the position deviation subsequently exceeds the
in-position band.
(Note) If the start signal is ON, this signal will not turn ON even when the position deviation from the
target position falls within the in-position band. The signal will turn ON after the start signal turns
OFF.
Even if the motor is stopped, this signal will remain OFF if a pause signal is input or the servo is
off.
„ Home return complete (HEND)
This signal is OFF when the power is input, and will turn ON when the home-return operation initiated by
input of the home-return signal is completed.
Once this signal turns ON, it will not turn OFF until the input power is cut off or the home-return signal is
input again.
„ Alarm (*ALM)
This signal remains ON while the controller is normal, and will turn OFF if an alarm occurs.
This signal will turn OFF when an error of operation-cancellation level or higher generates.
Program the PLC so that it will monitor this signal and implement appropriate safety measures to protect
the entire system when the signal turns OFF.
For details on alarms, refer to Appendix “ Error Level Management” and “ Error List.”
„ Ready (RDY)
This signal will turn ON when the initialization has completed successfully after the main power was input,
and the controller enters the mode where it can control the actuator.
This signal will turn OFF when an error of cold level or higher generates.
Use this signal as a condition to start control on the PLC side.
„ Servo ON output (SVON)
This signal will turn ON when the servo turns on. Issue a movement command after the servo ON output
signal has turned ON.
„ System battery error
This signal will turn ON when the voltage of the optional system-memory backup battery drops to a
specified level.
„ Absolute battery error
On a controller of absolute specification, this signal will turn ON when the voltage of the absolute-data
backup battery drops to a specified level.
303
Part 3 Positioner Mode
5. Timing Chart
5.1
Recognition of I/O Signals
An input time constant is set for the input signals of this controller to prevent malfunction due to chattering,
noise, etc.
Except for certain signals, the input signal will switch if the new signal level has remained for at least 6
[msec].
For example, when an input signal is turned ON, the controller will recognize that the signal is ON after
elapse of 6 [msec]. The same applies when the signal is turned OFF. (Fig. 1)
Input signal
Not recognized
Not recognized
Recognition by controller
Fig. 1 Recognition of Input Signal
304
Part 3 Positioner Mode
5.2
Home Return
Timings associated with home-return operation are illustrated below.
Start
Input
Home return
Servo ON
Alarm
Ready
Output
Positioning complete
Home return complete
Servo ON status
Home return in progress
Timing Chart of Home-return Operation (Standard Positioner Mode)
Perform home-return operation by following the procedure explained below.
* Before commencing the procedure, confirm that the ready output signal and alarm output signal are ON.
[1] Turn ON the servo ON input signal.
[4] Confirm that the positioning complete output signal is
[2] Confirm that the servo-ON status output signal is
OFF.
ON.
[5] Turn OFF the home-return input signal.
[3] Turn ON the home-return input signal.
[6] Confirm that the home-return complete output signal
is ON. Home return is now completed.
*Pause and *cancellation inputs are contact-B input signals (always ON), so keep these signals ON while home return
is in progress.
To initiate home return using the home-return signal input, the servo ON input signal must be ON. These operation
commands will not be accepted if the servo ON input signal is OFF. Note, however, that only the commands will be
ignored and no error will generate.
With the 2-axis specification, the controller has been configured at the factory so that the two axes will start home
return simultaneously.
You can cause either axis to start home return earlier than the other axis by changing the applicable parameter
setting.
Specifically, change the setting in axis-specific parameter No. 13, “SIO/PIO home-return order” so that the parameter
value for the axis number corresponding to the axis for which you want to complete home return first, will become
smaller than the parameter value for the other axis number.
Example) Cause axis 1 to perform home return after axis 2 has completed home return, set “1” for axis 1 and “0” for
axis 2 in axis-specific parameter No. 13.
305
Part 3 Positioner Mode
5.3
Movements through Positions
Timings of how the actuator moves through positions are illustrated below.
Start
Input
Servo ON
Position input
Alarm
Ready
Output
Positioning complete
Home return complete
Servo ON status
Timing Chart of Movement through Positions (Standard Positioner Mode)
Ti: At least 6 msec
Operate the actuator to move through positions by following the procedure explained below.
* Confirm beforehand that the positioning complete output signal, home-return complete output signal and
servo-ON status output signal are all ON.
[1] Change the previous position number input to a different position number.
[2] Turn ON the start input signal.
[3] Confirm that the positioning complete output signal is OFF.
[4] Turn OFF the start input signal.
[5] Confirm that the positioning complete output signal is ON.
Repeat steps [1] through [5] sequentially.
* Pause and *cancellation inputs are contact-B input signals (always ON), so keep these signals ON while
the actuator are moving through the specified positions.
306
Part 3 Positioner Mode
* To perform push-motion or interpolation operation, turn ON the applicable input signal before turning
ON the start input signal. Turn the operation signal OFF after the start input signal has turned OFF.
* While the actuator is moving to the target position, only the pause or cancellation input is accepted.
The servo cannot be turned off even if the servo ON input signal is turned OFF. (The servo can be
turned off only when the positioning complete output signal is ON.)
* While the start input signal is ON, the positioning complete output signal will not turn ON even after the
actuator physically completes moving to the target position. Therefore, always turn OFF the start input
signal ([4]) to detect the completion of positioning.
* As for the positioning complete output signal and push-motion complete output signal, they will not be
output until the start signal turns OFF (based on the I/O control handshake rules).
* For the actuator to operate upon start signal input, the servo ON input signal must be ON. If the servo
ON input signal is OFF, these operation commands will not be accepted. Note, however, that only the
commands will be ignored and no error will generate.
307
Part 3 Positioner Mode
Chapter 3
Product Switching Mode
In addition to position numbers, product numbers can also be specified in this mode. Sixteen bits of inputs
1 through 16 are divided into position number inputs and product number inputs.
In other words, the actuator can be moved to different positions for different products by specifying the
same position number.
1. I/O Interface List
Pin
No.
1A
Category
P24
Port
No.
Signal name
External power supply 24 V
Signal
symbol
P24
Cable
color
1-Brown
Function overview
1B
016 Input 10
PC10
1-Red
2A
017 Input 11
PC11
1-Orange
2B
018 Input 12
PC12
3A
019 Input 13
PC13
3B
020 Input 14
PC14
1-Blue
4A
021 Input 15
PC15
1-Purple
4B
022 Input 16
PC16
5A
023 Error reset
RES
5B
000 Start
CSTR
6A
001 Home return
HOME
6B
002 Servo ON
SON
003 Push motion
PUSH
7B
004 *Pause
*STP
8A
005 *Cancellation
*CANC
8B
006 Interpolation
LINE
9A
007 Input 1
PC1
9B
008 Input 2
PC2
10A
009 Input 3
PC3
10B
010 Input 4
PC4
11A
011 Input 5
PC5
11B
012 Input 6
PC6
12A
013 Input 7
PC7
12B
014 Input 8
PC8
13A
015 Input 9
PC9
7A
Input
13B
300 *Alarm
*ALM
14A
301 Ready
RDY
14B
302 Positioning complete
PEND
15A
303 Home return complete
HEND
304 Servo ON output
SVON
16A
305 Push motion complete
PSED
16B
306 System battery error
SSER
307 Absolute battery error
ABER
15B
Output
17A
17B
N
External power supply 0 V
N
1-Yellow
(Same as inputs 1 through 9)
1-Green
1-Gray
Present alarms will be reset at the leading edge of this
signal.
The actuator will start moving at the leading edge of this
signal.
The actuator will start home-return operation at the leading
edge of this signal.
The servo will remain on while this signal is ON, and remain
off while this signal is OFF.
The actuator will start linear interpolation operation if the
start input signal is turned ON while this signal is ON.
The actuator can be moved when this signal is ON, and will
decelerate to a stop when the signal turns OFF.
The remaining travel distance will be cancelled if this signal
turns OFF.
With the 2-axis specification, linear interpolation operation
will start when the start input signal is turned ON while this
signal is ON.
These input signals specify position numbers and product
numbers.
Sixteen bits of inputs 1 through 16 are divided into position
number inputs and product number inputs. Be sure to
specify an input by no later than 6 msec before the start
signal turns ON.
Position numbers and product numbers are input as binary
codes (factory setting).
The input mode can be changed to BCD by changing the
setting of other parameter No. 71.
1-White
1-Black
2-Brown
2-Red
2-Orange
2-Yellow
2-Green
2-Blue
2-Purple
2-Gray
2-White
2-Black
3-Brown
3-Red
3-Orange
3-Yellow
3-Green
This signal remains ON if the controller is normal. It will turn
OFF if an alarm occurs.
This signal will turn ON when the controller becomes ready.
3-Blue
3-Purple
This signal will turn ON once the actuator has moved to the
3-Gray
target position and entered the positioning band.
This signal is OFF when the power is input, and will turn ON
3-White
when home return is completed.
This signal will turn ON when the servo is turned on, and
3-Black
turn OFF when the servo is turned off.
This signal will turn ON when the push-motion operation is
4-Brown
completed successfully, and turn OFF if the work is mixed.
This signal will turn ON when the voltage of the systemmemory backup battery drops to the voltage-low warning
4-Red
level.
This signal will turn ON when the voltage of the absolute4-Orange
data backup battery drops to the voltage-low warning level.
4-Yellow
*: Contact B (always ON)
308
Part 3 Positioner Mode
2. Parameters
The following parameters must be set in the product switching mode.
Table: Parameter Settings in Product Switching Mode
Type
No.
Parameter
25
Operation mode type
71
Positioner mode parameter 1
72
Positioner mode parameter 2
73
Positioner mode parameter 3
Other
Function
2: Product switching mode
Position-number input mode specification (0: Binary, ≠ 0: BCD)
* Default value: 0 (Binary)
Number of position-number input bits
Binary: Number of bits – 1 through 15 bits
BCD: Number of BCD digits – 1 through 3 digits
Number of positions per product
When the above parameters are set, the actual position movement commands will apply based on the
following formula:
“(Product number input – 1) x Number of positions per product + Position number input”
For example, assume that the parameters are set as follows:
Other parameter No. 71 = 0 (Binary) “Position-number input mode specification”
Other parameter No. 72 = 6 “Number of position-number input bits”
Other parameter No. 73 = 50 “Number of positions per product”
Each position number is assigned to six bits of inputs 1 through 6 (007 through 012), as a binary code,
and position Nos. 1 through 63 can be specified.
Each product number is assigned to 10 bits of inputs 7 through 6 (013 through 022), as a binary code, and
30 types can be specified (the number of types is limited to 30, because the maximum number of position
data is 1500). If any greater value is set that brings the number of position data to more than 1500, a
“point number error” will generate.
* If the value of position number input exceeds the number of positions per product, the controller will
recognize that “1” has been set as the position number.
(Note) The result of “Number of position-number input bits” + “Number of product-number input bits” must
not exceed 16 (bits).
309
Part 3 Positioner Mode
3. Details of Each Input Signal
„ Start (CSTR)
Movement to the position corresponding to the position data of the specified product will start upon
detection of the OFF → ON leading edge of this signal. Product numbers and position numbers are
specified by the 16-bit binary code consisting of inputs 1 through 16.
Before movement is started, the target position, speed and acceleration/deceleration must be set as
position data. Use a PC (software) or teaching pendant to set position data.
If this signal is input when no single home-return operation has been performed after the power was input
(= when the HEND output signal is OFF), “C6F, Home-return incomplete error” will generate.
„ Inputs 1 through 16 (PC1 through 16)
Sixteen bits of inputs 1 through 16 are divided into position-number input bits and product-number input
bits.
Example) Assume that the parameters are set as follows:
Other parameter No. 71 = 0 (Binary) “Position-number input mode specification”
Other parameter No. 72 = 6 “Number of position-number input bits”
Other parameter No. 73 = 50 “Number of positions per product”
Each position number input is assigned to six bits of inputs 1 through 6 (007 through 012), as a binary
code.
Each product number input is assigned to 10 bits of inputs 7 through 16 (013 through 022), as a binary
code
Position numbers and product numbers are specified as shown in the table below, based on the ON/OFF
levels of inputs 1 through 16.
Product
Position number input
Product 1 Product 2 Product 3 Product 4
Product number input
Position number
(when set)
Input 6
Input 5
Input 4
Input 3
Input 2
Input 1
1
51
101
151
0
0
0
0
0
1
2
52
102
152
0
0
0
0
1
0
3
53
103
153
0
0
0
0
1
1
4
54
104
154
0
0
0
1
0
0
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
49
99
149
199
1
1
0
0
0
1
1
1
0
0
1
0
50
100
150
200
Input 7
1
0
1
0
Input 8
0
1
1
0
Input 9
0
0
0
1
Input 10
0
0
0
0
Input 11
0
0
0
0
Input 12
0
0
0
0
Input 13
0
0
0
0
Input 14
0
0
0
0
Input 15
0
0
0
0
Input 16
0
0
0
0
Fifty position numbers (Nos. 1 through 50) can be specified for each product.
Position No. 49 for product 2 (set as No. 99 within the entire data) is specified as follows.
Input 16
Input 15
Input 14
Input 13
Input 12
Input 11
Input 10
Input 9
Input 8
Input 7
Input 6
Input 5
Input 4
Input 3
Input 2
Input 1
0
0
0
0
0
0
0
0
1
0
1
1
0
0
0
1
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Part 3 Positioner Mode
The input mode can be changed to BCD by changing the setting of other parameter No. 71.
Assume the following settings:
Other parameter No. 71, “Position-number input method specification” = 1 (BCD)
Other parameter No. 72, “Number of position-number input bits” = 8
(In the BCD input mode, one digit consists of four bits. In other words, bits are input in units of four.)
Other parameter No. 73, “Number of positions per product” = 50
Each position number is assigned to eight bits of inputs 1 through 8 (007 through 014), as a two-digit
BCD code.
Each product number is assigned to eight bits of inputs 9 through 16 (015 through 022), as a two-digit
BCD code.
As for the position number, specify the one’s place in inputs 1 through 4, and ten’s place in inputs 5
through 8.
As for the product number, specify the one’s place in inputs 9 through 12, and ten’s place in inputs 13
through 16.
„ Pause (*STP)
If this signal turns OFF while the actuator is moving, the controller will cause the actuator to decelerate to
a stop.
The remaining travel distance will be held, which means that when the signal turns ON again, the actuator
will resume movement of the remaining travel distance.
To cancel the movement command altogether after turning OFF the pause signal, turn OFF the
cancellation signal while this signal is OFF to cancel the remaining travel distance.
The pause signal can be used for the following purposes:
[1] As a sensor to detect entry into a specified area around the system or for other lower-level safety
measures to stop the axis while the servo is on
[2] To prevent contact with other equipment
[3] For positioning based on sensor or LS signal detection
(Note) When this signal is input during home return, the movement command will be held if the actuator
has not yet contacted the mechanical end. If the signal is input after the actuator has reversed
upon contacting the mechanical end, home return will be performed again.
„ Cancellation (*CANC)
If this signal turns OFF while the actuator is moving, the controller will cause the actuator to decelerate to
a stop. The remaining travel distance will be cancelled and the movement will not resume even when the
signal turns ON thereafter.
„ Home return (HOME)
The actuator will start home-return operation upon detection of the OFF → ON edge of this signal.
Once the home return is complete, the HEND signal will be output. This signal can be input as many
times as desired after completion of the initial home return.
(Note) An actuator of incremental specification must always perform home return after the power is
turned on.
„ Servo ON (SON)
The servo remains on while this signal is ON.
Use this signal if servo ON/OFF control is required as part of the safety circuit for the entire system to be
provided on the PLC side.
To operate the actuator using the start input/home return input, the servo ON input signal must be ON. If
the servo ON input signal is OFF, these operation commands will not be accepted. (Only the commands
will be ignored, and no error will generate.)
(Note) When this signal turns OFF while the actuator is moving, the actuator will not decelerate to a stop.
It will complete the movement to the target position, after which the servo will turn off.
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Part 3 Positioner Mode
„ Error reset (RES)
This signal is used to reset the alarm output signal (*ALM) that has been generated due to an error.
If an error occurred, check the content of the error and then turn this signal ON.
The error will be reset upon detection of the leading edge of the signal.
(Note) Errors of cold start and higher level cannot be reset using this signal. The power must be
reconnected to reset these errors. For details, refer to Appendix, “Error Level Management.”
„ Push motion (PUSH)
The actuator will perform push-motion operation if the position signal and start signal are input while this
signal is ON. To perform push-motion operation, turn ON the push-motion input signal before turning the
start input signal ON.
A push-motion operation command is specified using two successive position data points.
If the “start” input signal is turned ON while the “push-motion” input signal is ON for position No. n, the
position data corresponding to position No. n and position No. n+1 will indicate the following items:
The position data for position No. n indicates the target position.
The position data for position No. n+1 indicates the push width.
The speed data for position No. n+1 indicates the push speed.
The acceleration data for position No. n+1, multiplied by 100, indicates the current-limiting value during
push-motion operation.
Example: The position data for position No. 1, as specified in the table below, is used for push-motion
operation.
The actuator moves at a speed of 100 mm/sec, acceleration of 0.2 G and deceleration of 0.2 G, until 30
mm before a target position of 100 mm. Thereafter, the actuator performs push-motion operation to the
target position at a speed of 25 mm/sec and current-limiting value of 50%.
„ Interpolation (LINE)
With the 2-axis specification, input of the position signal and start signal while this signal is ON will cause
the two axes to perform interpolation operation (the two axes will start simultaneously and arrive at the
target position simultaneously).
To perform interpolation operation, turn ON the interpolation input signal before turning ON the start input
signal.
Axis 2
Movement when the interpolation signal is OFF
Movement when the interpolation signal is ON
Axis 1
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Part 3 Positioner Mode
4. Details of Each Output Signal
„ Positioning complete (PEND)
This signal indicates that the actuator reached the target position and the positioning has completed.
After the power was input and the servo has turned on, this signal will turn ON if the position deviation is
within the in-position band when the controller becomes ready.
Thereafter, this signal will turn OFF when the start signal is turned ON to execute a movement command.
The signal will turn ON if the position deviation from the target position is within the in-position band after
the start signal has turned OFF.
Once this signal turns ON, it will not turn OFF even after the position deviation subsequently exceeds the
in-position band.
(Note) If the start signal is ON, this signal will not turn ON even when the position deviation from the
target position falls within the in-position band. The signal will turn ON after the start signal turns
OFF.
Even if the motor is stopped, this signal will remain OFF if a pause signal is input or the servo is
off.
„ Home return complete (HEND)
This signal is OFF when the power is input, and will turn ON when the home-return operation initiated by
input of the home-return signal is completed.
Once this signal turns ON, it will not turn OFF until the input power is cut off or the home-return signal is
input again.
„ Alarm (*ALM)
This signal remains ON while the controller is normal, and will turn OFF if an alarm occurs.
This signal will turn OFF when an error of operation-cancellation level or higher generates.
Program the PLC so that it will monitor this signal and implement appropriate safety measures to protect
the entire system when the signal turns OFF.
For details on alarms, refer to Appendix “ Error Level Management” and “ Error List.”
„ Ready (RDY)
This signal will turn ON when the initialization has completed successfully after the main power was input,
and the controller enters the mode where it can control the actuator.
This signal will turn OFF when an error of cold level or higher generates.
Use this signal as a condition to start control on the PLC side.
„ Servo ON output (SVON)
This signal will turn ON when the servo turns on. Issue a movement command after the servo ON output
signal has turned ON.
„ System battery error
This signal will turn ON when the voltage of the optional system-memory backup battery drops to a
specified level.
„ Absolute battery error
On a controller of absolute specification, this signal will turn ON when the voltage of the absolute-data
backup battery drops to a specified level.
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Part 3 Positioner Mode
5. Timing Chart
5.1
Recognition of I/O Signals
An input time constant is set for the input signals of this controller to prevent malfunction due to chattering,
noise, etc.
Except for certain signals, the input signal will switch if the new signal level has remained for at least 6
[msec].
For example, when an input signal is turned ON, the controller will recognize that the signal is ON after
elapse of 6 [msec]. The same applies when the signal is turned OFF. (Fig. 1)
Input signal
Not recognized
Not recognized
Recognition by controller
Fig. 1 Recognition of Input Signal
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Part 3 Positioner Mode
5.2
Home Return
Timings associated with home-return operation are illustrated below.
Start
Input
Home return
Servo ON
Alarm
Ready
Output
Positioning complete
Home return complete
Servo ON status
Home return in progress
Timing Chart of Home-return Operation (Standard Positioner Mode)
Perform home-return operation by following the procedure explained below.
* Before commencing the procedure, confirm that the ready output signal and alarm output signal are ON.
[1] Turn ON the servo ON input signal.
[4] Confirm that the positioning complete output signal is
[2] Confirm that the servo-ON status output signal is
OFF.
ON.
[5] Turn OFF the home-return input signal.
[3] Turn ON the home-return input signal.
[6] Confirm that the home-return complete output signal
is ON. Home return is now completed.
*Pause and *cancellation inputs are contact-B input signals (always ON), so keep these signals ON while home return
is in progress.
To initiate home return using the home-return signal input, the servo ON input signal must be ON. These operation
commands will not be accepted if the servo ON input signal is OFF. Note, however, that only the commands will be
ignored and no error will generate.
With the 2-axis specification, the controller has been configured at the factory so that the two axes will start home
return simultaneously.
You can cause either axis to start home return earlier than the other axis by changing the applicable parameter
setting.
Specifically, change the setting in axis-specific parameter No. 13, “SIO/PIO home-return order” so that the parameter
value for the axis number corresponding to the axis for which you want to complete home return first, will become
smaller than the parameter value for the other axis number.
Example) Cause axis 1 to perform home return after axis 2 has completed home return, set “1” for axis 1 and “0” for
axis 2 in axis-specific parameter No. 13.
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Part 3 Positioner Mode
5.3
Movements through Positions
Timings of how the actuator moves through positions are illustrated below.
Start
Input
Servo ON
Product/
position input
Alarm
Ready
Output
Positioning complete
Home return complete
Servo ON status
Timing Chart of Movement through Positions (Standard Positioner Mode)
Ti: At least 6 msec
Operate the actuator to move through positions by following the procedure explained below.
* Confirm beforehand that the positioning complete output signal, home-return complete output signal and
servo-ON status output signal are all ON.
[1] Change the previous product/position number inputs to different product/position numbers.
[2] Turn ON the start input signal.
[3] Confirm that the positioning complete output signal is OFF.
[4] Turn OFF the start input signal.
[5] Confirm that the positioning complete output signal is ON.
Repeat steps [1] through [5] sequentially.
* Pause and *cancellation inputs are contact-B input signals (always ON), so keep these signals ON while
the actuator are moving through the specified positions.
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Part 3 Positioner Mode
* To perform push-motion or interpolation operation, turn ON the applicable input signal before turning
ON the start input signal. Turn the operation signal OFF after the start input signal has turned OFF.
* While the actuator is moving to the target position, only the pause or cancellation input is accepted.
The servo cannot be turned off even if the servo ON input signal is turned OFF. (The servo can be
turned off only when the positioning complete output signal is ON.)
* While the start input signal is ON, the positioning complete output signal will not turn ON even after the
actuator physically completes moving to the target position. Therefore, always turn OFF the start input
signal ([4]) to detect the completion of positioning.
* As for the positioning complete output signal and push-motion complete output signal, they will not be
output until the start signal turns OFF (based on the I/O control handshake rules).
* For the actuator to operate upon start signal input, the servo ON input signal must be ON. If the servo
ON input signal is OFF, these operation commands will not be accepted. Note, however, that only the
commands will be ignored and no error will generate.
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Part 3 Positioner Mode
Chapter 4
2-axis Independent Mode
With the 2-axis specification, each axis can be controlled separately in this mode. A set of signals, such as
the start input signal and positioning complete output signal, are provided for each axis.
Although the position number specification applies commonly to both axes, 13 bits of position inputs 1
through 13 (PC1 through 13) are divided into position-number specification bits for axis 1 and positionnumber specification bits for axis 2.
1. I/O Interface List
Pin
No.
1A
Category
Port
No.
P24
Signal name
External power supply 24 V
Signal
symbol
P24
Cable
color
1-Brown
Function overview
1B
016 Position input 7
PC7
1-Red
2A
017 Position input 8
PC8
1-Orange
2B
018 Position input 9
PC9
3A
019 Position input 10
PC10
3B
020 Position input 11
PC11
1-Blue
4A
021 Position input 12
PC12
1-Purple
4B
022 Position input 13
PC13
1-Yellow
(Same as position inputs 1 through 9)
1-Green
1-Gray
Present alarms will be reset at the leading edge of this
signal.
Axis 1 will start moving at the leading edge of this signal.
Axis 1 will start home-return operation at the leading edge
of this signal.
The servo for axis 1 will remain on while this signal is ON,
and remain off while this signal is OFF.
Axis 1 can be moved when this signal turns ON, and will
decelerate to a stop when the signal turns OFF.
The remaining travel distance of axis 1 will be cancelled if
this signal turns OFF.
Axis 2 will start moving at the leading edge of this signal.
Axis 2 will start home-return operation at the leading edge
of this signal.
The servo for axis 2 will remain on while this signal is ON,
and remain off while this signal is OFF.
Axis 2 can be moved when this signal turns ON, and will
decelerate to a stop when the signal turns OFF.
The remaining travel distance of axis 2 will be cancelled if
this signal turns OFF.
Thirteen bits of position inputs 1 through 13 are divided into
position-number specification bits for axis 1 and positionnumber specification bits for axis 2.
5A
023 Error reset
RES
5B
000 Axis 1 start
CSTR1
6A
001 Axis 1 home return
HOME1
6B
002 Axis 1 servo ON
SON1
003 *Axis 1 pause
*STP1
004 *Axis 1 cancellation
*CANC
8A
005 Axis 2 start
CSTR2
8B
006 Axis 2 home return
HOME2
9A
007 Axis 2 servo ON
SON2
9B
008 *Axis 2 pause
*STP2
10A
009 *Axis 2 cancellation
*CANC2
10B
010 Position input 1
PC1
11A
011 Position input 2
PC2
11B
012 Position input 3
PC3
3-Red
12A
013 Position input 4
PC4
3-Orange
12B
014 Position input 5
PC5
3-Yellow
13A
015 Position input 6
PC6
7A
7B
Input
13B
300 *Alarm
*ALM
14A
301 Ready
RDY
14B
302 Axis 1 positioning complete
PEND1
15A
Axis 1 home-return
303
complete
HEND1
304 Axis 1 servo ON
SVON1
16A
305 Axis 2 positioning complete
PEND2
16B
306
17A
307 Axis 2 servo ON
15B
17B
Output
N
Axis 2 home-return
complete
External power supply 0 V
HEND2
SVON2
N
1-White
1-Black
2-Brown
2-Red
2-Orange
2-Yellow
2-Green
2-Blue
2-Purple
2-Gray
2-White
2-Black
3-Brown
3-Green
This signal remains ON if the controller is normal. It will turn
OFF if an alarm occurs.
This signal will turn ON when the controller becomes ready.
This signal will turn ON once axis 1 has moved to the target
position and entered the positioning band.
This signal is OFF when the power to axis 1 is input, and
will turn ON when home return is completed.
This signal will turn ON when the servo for axis 1 is turned
on, and turn OFF when the servo is turned off.
This signal will turn ON once axis 2 has moved to the target
position and entered the positioning band.
This signal is OFF when the power to axis 2 is input, and
will turn ON when home return is completed.
This signal will turn ON when the servo for axis 2 is turned
on, and turn OFF when the servo is turned off.
3-Blue
3-Purple
3-Gray
3-White
3-Black
4-Brown
4-Red
4-Orange
4-Yellow
*: Contact B (always ON)
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Part 3 Positioner Mode
2. Parameters
The following parameters must be set in the 2-axis independent mode.
Type
Other
No.
Parameter
25
Operation mode type
71
Positioner mode parameter 1
72
Positioner mode parameter 2
Function
3: 2-axis independent mode
Position-number input mode specification (0: Binary, ≠ 0: BCD)
* Default value: 0 (Binary)
Specification of number of position-number input bits for axis 1
Binary: Number of bits – 1 through 12 bits
BCD: Number of BCD digits – 1 or 2 digits
Specify the number of position-number input bits for axis 1 in other parameter No. 72, “Positioner mode
parameter 2.” Specify how many bits will be assigned to axis 1, from among the 13 bits of position inputs 1
through 13. The remainder of the bits will be assigned to axis 2.
By specifying binary or BCD in the “position-number input mode specification” parameter, the setting unit
of this parameter will change between bit and BCD digit.
Example) Assume that the parameters are set as follows:
Other parameter No. 71 = 0 (Binary) “Position-number input mode specification”
Other parameter No. 72 = 7 “Specification of position-number input bits for axis 1”
Each position number input for axis 1 is assigned to seven bits of inputs 1 through 7 (010 through 016), as
a binary code, and position Nos. 1 through 127 can be specified.
Each position number input for axis 2 is assigned to the remaining six bits of inputs 8 through 13 (017
through 022), as a binary code, and position Nos. 1 through 63 can be specified.
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Part 3 Positioner Mode
3. Details of Each Input Signal
„ Position inputs 1 through 13 (PC1 through 13)
Thirteen bits of PC1 through 13 are divided into position-number specification bits for axis 1 and positionnumber specification bits for axis 2.
Example) Assume that the parameters are set as follows:
Other parameter No. 71 = 0 (Binary) “Position-number input mode specification”
Other parameter No. 72 = 7 “Specification of position-number input bits for axis 1”
Each position number input for axis 1 is assigned to seven bits of PC1 through 7 (010 through 016), as a
binary code, and position Nos. 1 through 127 can be specified.
Each position number input for axis 2 is assigned to the remaining six bits of PC8 through 13 (017 through
022), as a binary code, and position Nos. 1 through 63 can be specified.
Position numbers for respective axes are specified as shown in the table below, based on the ON/OFF
levels of PC1 through 13.
Position number specification for axis 2
Position No.
Position number specification for axis 1
Also, the input mode can be changed to BCD by changing the setting of other parameter No. 71.
In the BCD input mode, one digit consists of four bits. Since there are 13 position input bits, the total
number of digits assigned to the two axes will become 3.
Assume that the parameters are set as follows:
Other parameter No. 71 = 1 (BCD) “Position-number input mode specification”
Other parameter No. 72 = 8 “Specification of position-number input bits for axis 1”
(Bits are input in units of four.)
Each position number input for axis 1 is assigned to eight bits of PC1 through 8 (010 through 017), as a
two-digit BCD code (position Nos. 1 to 99 can be specified). Specify the one’s place in PC1 through 4, and
ten’s place in PC5 through 8.
Each position number input for axis 2 is assigned to five bits (actually four bits) of PC9 through 13 (011
through 022), as a one-digit BCD code (position Nos. 1 to 9 can be specified).
„ Axis 1 start (CSTR1)
Axis 1 will start moving to the position corresponding to the specified position data for axis 1 upon
detection of the OFF → ON leading edge of this signal. Position numbers are specified using, among the
13 bits of PC1 through 13, the number of bits set in other parameter No. 72. Position numbers are
specified as binary codes according to the factory setting.
Before movement is started, the target position, speed and acceleration/deceleration must be set as
position data. Use a PC (software) or teaching pendant to set position data.
If this signal is input when no single home-return operation has been performed after the power was input
(= when the HEND output signal is OFF), “C6F, Home-return incomplete error” will generate.
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Part 3 Positioner Mode
„ Axis 2 start (CSTR2)
Axis 2 will start moving to the position corresponding to the specified position data for axis 2 upon
detection of the OFF → ON leading edge of this signal. Position numbers are specified using, among the
13 bits of PC1 through 13, the remainder of the bits excluding those used for axis 1. Other specifications
are the same as those explained under “Start 1 (CSTR1).”
„ Axis 1 pause (*STP1)
If this signal turns OFF while the actuator is moving, the controller will cause the actuator to decelerate to
a stop.
The remaining travel distance will be held, which means that when the signal turns ON again, the actuator
will resume movement of the remaining travel distance.
To cancel the movement command altogether after turning OFF the pause signal, turn OFF the CANC1
while this signal is OFF to cancel the remaining travel distance.
The pause signal can be used for the following purposes:
[1] As a sensor to detect entry into a specified area around the system or for other lower-level safety
measures to stop the axis while the servo is on
[2] To prevent contact with other equipment
[3] For positioning based on sensor or LS signal detection
(Note) When this signal is input during home return, the movement command will be held if the actuator
has not yet contacted the mechanical end. If the signal is input after the actuator has reversed
upon contacting the mechanical end, home return will be performed again.
„ Axis 2 pause (*STP2)
If this signal turns OFF while axis 2 is moving, the controller will cause the actuator to decelerate to a stop.
For other items, the same explanation under “Axis 1 pause (*STP1)” applies, except that CANC2 is used
as the signal to cancel movement commands.
„ Axis 1 cancellation (*CANC1)
If this signal turns OFF while axis 1 is moving, the controller will cause the actuator to decelerate to a stop.
The remaining travel distance will be cancelled, which means that even when the signal turns ON again,
the actuator will not resume movement.
„ Axis 2 cancellation (*CANC2)
If this signal turns OFF while axis 2 is moving, the controller will cause the actuator to decelerate to a stop.
The remaining travel distance will be cancelled, which means that even when the signal turns ON again,
the actuator will not resume movement.
„ Axis 1 home return (HOME1)
Axis 1 will stat home-return operation upon detection of the OFF → ON edge of this signal.
Once the home return is complete, the HEND1 signal will be output. This signal can be input as many
times as desired after completion of the initial home return.
(Note) An actuator of incremental specification must always perform home return after the power is
turned on.
„ Axis 2 home return (HOME2)
Axis 2 will start home-return operation upon detection of the OFF Æ ON edge of this signal.
Once the home return is complete, the HEND2 signal will be output.
For other items, the same explanation under “Axis 1 home return (HOME1)” applies.
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Part 3 Positioner Mode
„ Axis 1 servo ON (SON1)
The servo for axis 1 will remain ON while this signal is ON.
To operate the actuator using the start input/home return input, the servo ON input signal must be ON. If
the servo ON input signal is OFF, these operation commands will not be accepted. (Only the commands
will be ignored, and no error will generate.)
(Note) When this signal turns OFF while the actuator is moving, the actuator will not decelerate to a stop.
It will complete the movement to the target position, after which the servo will turn off.
„ Axis 2 servo ON (SON2)
The axis 2 servo remains ON while this signal is ON.
For other items, the same explanation under “Axis 1 servo ON (SON1)” applies.
„ Error reset (RES)
[1] This signal is used to reset the alarm output signal (*ALM) that has been generated due to an error.
If an error occurred, check the content of the error and then turn this signal ON.
The error will be reset upon detection of the leading edge of the signal.
(Note) Depending on the nature of error, some errors cannot be reset using this signal. For details, refer
to 10, “Troubleshooting.”
Errors of cold start and higher level cannot be reset using this signal. The power must be
reconnected to reset these errors. For details, refer to Appendix, “Error Level Management.”
4. Details of Each Output Signal
„ Axis 1 positioning complete (PEND1)
This signal indicates that axis 1 reached the target position and the positioning has completed.
Use it together with the aforementioned MOVE signal to determine the positioning completion status on
the PLC side.
After the power was input and the servo has turned on, this signal will turn ON if the position deviation is
within the in-position band when the controller becomes ready.
Thereafter, this signal will turn OFF when the start signal is turned ON to execute a movement command.
The signal will turn ON if the position deviation from the target position is within the in-position band after
the start signal has turned OFF.
Once this signal turns ON, it will not turn OFF even after the position deviation subsequently exceeds the
in-position band.
(Note) If the start signal is ON, this signal will not turn ON even when the position deviation from the
target position falls within the in-position band. The signal will turn ON after the start signal turns
OFF.
Even if the motor is stopped, this signal will remain OFF if a pause signal is input or the servo is
off.
„ Axis 2 positioning complete (PEND2)
This signal indicates that axis 2 reached the target position and the positioning has completed.
For other items, the same explanation under “Axis 1 positioning complete (PEND1)” applies.
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Part 3 Positioner Mode
„ Axis 1 home return complete (HEND1)
This signal is OFF while the power is input. It will turn ON at the following timings:
[1] The home-return operation has completed in connection with the first movement command issued
with the start signal.
[2] The home-return operation has completed following an input of the home return signal.
Once this signal turns ON, it will not turn OFF until the input power is cut off or the axis 1 home return
signal (HOME1) is input again.
„ Axis 2 home return complete (HEND2)
This signal is OFF while the power is input. It will turn ON at the following timings:
[1] The home-return operation has completed in connection with the first axis 2 movement command
issued with the start signal.
[2] The home-return operation of axis 2 has completed following an input of the axis 2 home return
signal (HOME2).
Once this signal turns ON, it will not turn OFF until the input power is cut off or the axis 2 home return
signal (HOME2) is input again.
„ Alarm (*ALM)
This signal remains ON while the controller is normal, and will turn OFF if an alarm occurs.
This signal will turn OFF when an error of operation-cancellation level or higher generates.
Program the PLC so that it will monitor this signal and implement appropriate safety measures to protect
the entire system when the signal turns OFF.
For details on alarms, refer to Appendix “ Error Level Management” and “ Error List.”
„ Ready (RDY)
This signal will turn ON when the initialization has completed successfully after the main power was input,
and the controller enters the mode where it can control the actuator.
This signal will turn OFF when an error of cold level or higher generates.
Use this signal as a condition to start control on the PLC side.
„ Servo ON output 1 (SVON1)
This signal will turn ON when the servo for axis 1 turns on. Issue a movement command after the servo
ON output signal has turned ON.
„ Servo ON output 2 (SVON2)
This signal will turn ON when the servo for axis 2 turns on. Issue a movement command after the servo
ON output signal has turned ON.
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Part 3 Positioner Mode
5. Timing Chart
5.1
Recognition of I/O Signals
An input time constant is set for the input signals of this controller to prevent malfunction due to chattering,
noise, etc.
Except for certain signals, the input signal will switch if the new signal level has remained for at least 6
[msec].
For example, when an input signal is turned ON, the controller will recognize that the signal is ON after
elapse of 6 [msec]. The same applies when the signal is turned OFF. (Fig. 1)
Input signal
Not recognized
Not recognized
Recognition by controller
Fig. 1 Recognition of Input Signal
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Part 3 Positioner Mode
5.2
Home Return
Timings associated with home-return operation are illustrated below. The figures in parentheses indicate
port numbers for axis 2.
Start
Input
Home return
Servo ON
Alarm
Ready
Output
Positioning complete
Home return complete
Servo ON status
Home return in progress
Timing Chart of Home-return Operation (Standard Positioner Mode)
Perform home-return operation by following the procedure explained below.
* Before commencing the procedure, confirm that the ready output signal and alarm output signal are OFF.
[1] Turn ON the servo ON input signal.
[2] Confirm that the servo-ON status output signal is ON.
[3] Turn ON the home-return input signal.
[4] Confirm that the positioning complete output signal is OFF.
[5] Turn OFF the home-return input signal.
[6] Confirm that the home-return complete output signal is ON. Home return is now completed.
*Pause and *cancellation inputs are contact-B input signals (always ON), so keep these signals ON while home return
is in progress.
To initiate home return using the home-return signal input, the servo ON input signal must be ON. These operation
commands will not be accepted if the servo ON input signal is OFF. Note, however, that only the commands will be
ignored and no error will generate.
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Part 3 Positioner Mode
5.3
Movements through Positions
Timings of how the actuator moves through positions are illustrated below. The figures in parentheses
indicate port numbers for axis 2.
Start
Input
Servo ON
Position input
Alarm
Ready
Output
Positioning complete
Home return complete
Servo ON status
Timing Chart of Movement through Positions (Standard Positioner Mode)
Ti: At least 6 msec
Operate the actuator to move through positions by following the procedure explained below.
* Confirm beforehand that the positioning complete output signal, home-return complete output signal and servo-ON
status output signal are all ON.
[1] Change the previous position number input (BCD input) to a different position number .
[2] Turn ON the start input signal.
[3] Confirm that the positioning complete output signal is OFF.
[4] Turn OFF the start input signal.
[5] Confirm that the positioning complete output signal is ON.
Repeat steps [1] through [5] sequentially.
* Pause and *cancellation inputs are contact-B input signals (always ON), so keep these signals ON while the
actuator are moving through the specified positions.
* While the actuator is moving to the target position, only the pause or cancellation input is accepted. The servo
cannot be turned off even if the servo ON input signal is turned OFF. (The servo can be turned off only when the
positioning complete output signal is ON.)
* While the start input signal is ON, the positioning complete output signal will not turn ON even after the actuator
physically completes moving to the target position. Therefore, always turn OFF the start input signal ([4]) to detect
the completion of positioning.
* As for the positioning complete output signal and push-motion complete output signal, they will not be output until
the start signal turns OFF (based on the I/O control handshake rules).
* For the actuator to operate upon start signal input, the servo ON input signal must be ON. If the servo ON input
signal is OFF, these operation commands will not be accepted. Note, however, that only the commands will be
ignored and no error will generate.
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Part 3 Positioner Mode
Chapter 5
Teaching Mode
In addition to normal positioning operation, jogging, inching and teaching can be performed in this mode.
A dedicated input is used to switch to the teaching mode, where the actuator can be moved using I/Os
and the achieved position can be written to the position data table.
Caution:
Position data input via teaching will be lost when the power is turned off. To retain the
position data, one of the following measures must be taken:
• Install the optional system-memory backup battery to back up the position data. To do
this, the setting of other parameter No. 20 must be changed to “2.”
Note, however, that the position data may still be lost if the battery voltage drops.
(The battery should be replaced after approx. five years.)
If the battery is replaced as soon as a voltage-low warning generates, the data will be
retained.
Once a voltage-low error generates, the data will be lost.
Use the host PLC, etc., to monitor for a system-memory backup error output.
• Write the position data to the flash memory using a teaching pendant or PC (software).
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Part 3 Positioner Mode
1. I/O Interface List
Pin
No.
1A
Category
Port
No.
P24
Signal name
External power supply 24 V
Signal
symbol
P24
Function overview
Cable
color
1-Brown
1B
016 Axis 1 jog-
JOG1-
2A
017 Axis 2 jog+
JOG2+
2B
018 Axis 2 jog-
KPG2-
3A
019 Inching (0.01 mm)
1C001
Axis 1 will move in the negative direction while this signal is
ON.
Axis 2 will move in the positive direction while this signal is
ON.
Axis 2 will move in the negative direction while this signal is
ON.
“0.01 mm” is specified as the inching distance.
3B
020 Inching (0.1 mm)
1C01
“0.1 mm” is specified as the inching distance.
1-Blue
4A
021 Inching (0.5 mm)
1C05
“0.5 mm” is specified as the inching distance.
1-Purple
4B
022 Inching (1 mm)
1C1
5A
023 Error reset
RES
5B
000
“1 mm” is specified as the inching distance.
Present alarms will be reset at the leading edge of this
signal.
The actuator will start moving at the leading edge of this
signal.
The current position is written in the teaching mode.
The servo will remain on while this signal is ON, and remain
off while this signal is OFF.
The actuator can be moved when this signal is ON, and will
decelerate to a stop when the signal turns OFF.
Input the position number corresponding to the position
you want to move the actuator to.
Be sure to specify a position input by no later than 6 msec
before the start input signal turns ON.
Position numbers are input as binary codes (factory
setting).
In the teaching mode, specify the position number for
which the current position will be written.
Position numbers are input as binary codes (factory
setting).
6A
Start
CSTR
Current position write
PWRT
001 Servo ON
SON
002 *Pause
*STP
7A
003 Position input 1
PC1
7B
004 Position input 2
PC2
8A
005 Position input 3
PC3
8B
006 Position input 4
PC4
9A
007 Position input 5
PC5
6B
Input
1-Red
1-Orange
1-Yellow
1-Green
1-Gray
1-White
1-Black
2-Brown
2-Red
2-Orange
2-Yellow
2-Green
2-Blue
2-Purple
9B
008 Position input 6
PC6
10A
009 Position input 7
PC7
10B
010 Position input 8
PC8
2-Black
11A
011 Position input 9
PC9
3-Brown
11B
012 Position input 10
PC10
3-Red
12A
013 Position input 11
PC11
3-Orange
12B
014 Teaching mode specification
MODE
13A
015 Axis 1 jog+
JOG1+
13B
300 *Alarm
*ALM
14A
301 Ready
RDY
14B
302
Positioning complete
PEND
Write complete
WEND
303 Home return complete
HEND
15B
304 Servo ON output
SVON
16A
305 Teaching mode output
TCMD
16B
306 System battery error
SSER
17A
307 Absolute battery error
ABER
15A
17B
Output
N
External power supply 0 V
*: Contact B (always ON)
328
N
2-Gray
2-White
ON: Teaching mode
3-Yellow
OFF: Positioner mode
Axis 1 will move in the positive direction while this signal is
3-Green
ON.
This signal remains ON if the controller is normal. It will turn
3-Blue
OFF if an alarm occurs.
This signal will turn ON when the controller becomes ready. 3-Purple
This signal will turn ON once the actuator has moved to the
target position and entered the positioning band.
3-Gray
This signal will turn ON when writing of position data is
completed.
This signal is OFF when the power is input, and will turn ON
3-White
when home return is completed.
This signal will turn ON when the servo is turned on, and
3-Black
turn OFF when the servo is turned off.
This signal will remain ON during the teaching mode.
4-Brown
This signal will turn ON when the voltage of the systemmemory backup battery drops to the voltage-low warning
4-Red
level.
This signal will turn ON when the voltage of the absolute4-Orange
data backup battery drops to the voltage-low warning level.
4-Yellow
Part 3 Positioner Mode
2. Parameters
To use the controller in the teaching mode, set other parameter No. 25 to “4.”
Position numbers are specified as binary codes according to the factory setting. To change the input mode
to BCD, set a value “other than 0” in other parameter No. 25.
No.
25
Other
71
Parameter
Function
Operation mode type
4: Teaching mode
Positioner mode parameter 1
Position-number input mode specification (0: Binary, ≠ 0: BCD)
* Default value: 0 (Binary)
3. Details of Each Input Signal
„ Start (CSTR)
When the OFF → ON leading edge of this signal is detected, the controller will load the target point
number specified by the 13-bit binary code consisting of PC1 through PC13, and perform positioning to
the target position specified by the corresponding position data.
Before movement is started, the target position, speed and acceleration/deceleration operation data must
be set in the position table using a PC or teaching pendant.
If this signal is input when no single home-return operation has been performed after the power was input
(= when the HEND output signal is OFF), the actuator will perform home-return operation.
„ Position inputs 1 through 11 (PC1 through PC11)
When a movement command is executed upon the OFF → ON edge of the start signal, the controller will
load the command position number specified by the 11-bit binary code consisting of signals PC1 through
PC11.
0
1
2
3
10
The weight of each bit is as follows: 2 for PC1, 2 for PC2, 2 for PC3, 2 for PC4, ..., and 2 for PC11.
By combining these bits, any position number between 1 and 1500 (maximum) can be specified.
In the teaching mode, specify the position number for which the current position will be written.
When the PWRT input signal is turned ON, the current position will be written to the position number
specified by the binary code.
Also, the input mode can be changed to BCD by changing the setting of other parameter No. 71, as
follows:
Other parameter No. 71 = 1 (other than 0) (BCD input)
(Default setting of other parameter No. 71 = 0 (Binary input))
In the BCD input mode, specify the one’s place in PC1 through 4, and ten’s place in PC5 through 8
(position Nos. 1 to 99 can be specified).
„ Pause (*STP)
If this signal turns OFF while the actuator is moving, the controller will cause the actuator to decelerate to
a stop.
The remaining travel distance will be held, which means that when the signal turns ON again, the actuator
will resume movement of the remaining travel distance.
To cancel the movement command altogether after turning OFF the pause signal, turn ON the alarm reset
signal while this signal is OFF to cancel the remaining travel distance.
The pause signal can be used for the following purposes:
[1] As a sensor to detect entry into a specified area around the system or for other lower-level safety
measures to stop the axis while the servo is on
[2] To prevent contact with other equipment
[3] For positioning based on sensor or LS signal detection
(Note) When this signal is input during home return, the movement command will be held if the actuator
has not yet contacted the mechanical end. If the signal is input after the actuator has reversed
upon contacting the mechanical end, home return will be performed again.
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Part 3 Positioner Mode
„ Servo ON (SON)
The servo remains on while this signal is ON.
Use this signal if servo ON/OFF control is required as part of the safety circuit for the entire system to be
provided on the PLC side.
To operate the actuator using the start input/jog input, the servo ON input signal must be ON. If the servo
ON input signal is OFF, these operation commands will not be accepted. (Only the commands will be
ignored, and no error will generate.)
(Note) When this signal turns OFF while the actuator is moving, the actuator will not decelerate to a stop.
It will complete the movement to the target position, after which the servo will turn off.
„ Error reset (RES)
This signal is used to reset the alarm output signal (*ALM) that has been generated due to an error.
If an error occurred, check the content of the error and then turn this signal ON.
The error will be reset upon detection of the leading edge of the signal.
(Note) Errors of cold start and higher level cannot be reset using this signal. The power must be
reconnected to reset these errors. For details, refer to Appendix, “Error Level Management.”
„ Teaching mode specification (MODE)
When this signal turns ON, the normal positioning mode will change to the teaching mode. When the new
mode becomes effective, the TCMD output signal will turn ON.
Program the PLC so that it will accept PWRT/JOG1+ and other operation commands after confirming that
the TCMD output signal is ON.
To return the controller to the normal positioning mode, turn this signal OFF.
Program the PLC so that it will accept operation commands in the normal positioning mode after
confirming that the TCMD output signal is OFF.
The controller will not return to the positioning mode right away when this signal is turned OFF while the
actuator is jogging. It will not immediately stop the actuator, either. The controller will complete the
movement first, and then return to the positioning mode.
Exercise caution because the actuator will start moving if this signal is turned ON when the servo is on in
the positioning mode while any jog input signal (JOG1+, JOG1-, etc.) is also ON.
„ Current position write (PWRT)
This signal is effective when the aforementioned TCMD output signal is ON.
If this signal has remained on for at least 20 msec, the controller will load the position number
corresponding to the binary code specified by PC1 through PC11 as currently detected, and write the
current position data in the corresponding target position field of the position data table.
If any of the data fields other than the target position (such as speed, acceleration/deceleration and
positioning band) is not yet defined, the default value of the applicable parameter (all-axis parameter Nos.
11, 12 or 13) will be written in that field.
When the data write is successfully completed, the WEND output signal will turn ON.
Program the PLC so that it will turn this signal OFF once the WEND signal turns ON. When this signal
turns OFF, the controller will turn OFF the WEND signal.
(Note) An error will generate if position data is written before home return is completed. Position data
cannot be written while the actuator is jogging.
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Part 3 Positioner Mode
„ Axis 1 jog (JOG1+, JOG1-)
These signals are effective when the aforementioned MODES output signal is ON.
The actuator of axis 1 will move to the + or - soft limit position upon detection of the OFF → ON leading
edge of each signal.
Although the actuator will be forcibly decelerated to a stop after reaching the soft limit, no alarm will
generate.
The speed and acceleration/deceleration to be used are the values set in user parameter No. 26 (PIO jog
speed) and No. 9 (Default acceleration/deceleration).
If both the JOG+ and JOG- signals turn ON at the same time, the actuator will move to the direction
corresponding to the signal that was input first.
The actuator will decelerate to a stop upon detection of the ON → OFF trailing edge of the signal while the
actuator is moving.
(Note) Exercise due caution not to perform jogging before home return is complete, because the soft
limits are still invalid and the actuator may collide with the mechanical end.
„ Inching (IN001 through 1)
These signals are used to specify the inching distance for inching operation performed in the teaching
mode.
The four bits of IN001 through 1 indicate different inching distances, as follows:
IN001: 0.01 mm, IN01: 0.1 mm, IN05: 0.5 mm, IN1: 1 mm
The actuator will perform inching operation when a jog movement command is input while the bit or bits
corresponding to a given inching distance is/are ON (if all four bits are OFF, the actuator will jog).
When multiple bits are turned ON, the sum of the distances represented by the applicable bits will become
the inching distance.
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Part 3 Positioner Mode
4. Details of Each Output Signal
„ Positioning complete (PEND)
This signal indicates that the actuator reached the target position and the positioning has completed.
The signal will turn ON when the servo has turned on after the main power was input, and the controller
becomes ready.
Thereafter, this signal will turn OFF when the start signal is turned ON to execute a movement command.
The signal will turn ON if the position deviation from the target position is within the in-position band after
the start signal has turned OFF.
Once this signal turns ON, it will not turn OFF even after the position deviation subsequently exceeds the
in-position band.
(Note) If the start signal is ON, this signal will not turn ON even when the position deviation from the
target position falls within the in-position band. The signal will turn ON after the start signal turns
OFF.
The signal will remain OFF while the servo is off.
„ Home return complete (HEND)
This signal is OFF when the power is input. It will turn ON upon completion of home return (if the actuator
is of incremental specification).
To perform home return, specify a desired position number, and then turn ON the start input signal.
Use this signal as a condition for moving the actuator and also for writing the current position in the
teaching mode.
(Note) Actuators of incremental specification must always perform home return after the power is input.
In the teaching mode, the actuator can be jogged before it completes home return, but the soft
limits are still ineffective. Since coordinate values have no meaning in this condition, exercise due
caution not to let the actuator contact the stroke end.
Once this signal turns ON, it will not turn OFF until the input power is cut off or the home-return signal is
input again.
„ Teaching mode specification (MODES)
This signal will turn ON when the teaching mode was selected by the teaching mode input signal (turning
ON the MODE signal) and the teaching mode has become effective.
Thereafter, this signal will remain ON until the MODE signal turns OFF.
Program the PLC so that it will start teaching operation after confirming that this signal has turned ON.
„ Write complete (WEND)
This signal is effective only in the teaching mode.
The signal is OFF immediately after the controller has entered the teaching mode, and will turn ON upon
completion of the position data write initiated by the current position write signal.
When the current position write signal turns OFF thereafter, this signal will also turn OFF.
Program the PLC so that it will recognize completion of write operation upon turning OFF of this signal.
„ Alarm (*ALM)
This signal remains ON while the controller is normal, and will turn OFF if an alarm occurs.
This signal will turn OFF when an error of operation-cancellation level or higher generates.
Program the PLC so that it will monitor this signal and implement appropriate safety measures to protect
the entire system when the signal turns OFF.
For details on alarms, refer to Appendix “ Error Level Management” and “ Error List.”
„ Ready (RDY)
This signal will turn ON when the initialization has completed successfully after the main power was input,
and the controller enters the mode where it can control the actuator.
This signal will turn OFF when an error of cold level or higher generates.
Use this signal as a condition to start control on the PLC side.
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Part 3 Positioner Mode
„ Servo ON output (SVON)
This signal will turn ON when the servo turns on. Issue a movement command after the servo ON
output signal has turned ON.
„ System battery error
This signal will turn ON when the voltage of the optional system-memory backup battery drops to a
specified level.
„ Absolute battery error
On a controller of absolute specification, this signal will turn ON when the voltage of the absolute-data
backup battery drops to a specified level.
333
Part 3 Positioner Mode
5. Timing Chart
5.1
Recognition of I/O Signals
An input time constant is set for the input signals of this controller to prevent malfunction due to chattering,
noise, etc.
Except for certain signals, the input signal will switch if the new signal level has remained for at least 6
[msec].
For example, when an input signal is turned ON, the controller will recognize that the signal is ON after
elapse of 6 [msec]. The same applies when the signal is turned OFF. (Fig. 1)
Input signal
Not recognized
Not recognized
Recognition by controller
Fig. 1 Recognition of Input Signal
334
Part 3 Positioner Mode
5.2
Home Return
In the teaching mode, no dedicated home-return input is available.
Home return will be performed when the start signal is input after specifying a desired position in a
condition where home return is not yet completed.
Timings associated with home-return operation are illustrated below.
Start
Input
Servo ON
Alarm
Ready
Output
Positioning complete
Home return complete
Servo ON status
Home return in progress
Timing Chart of Home-return Operation (Teaching Positioner Mode)
Perform home-return operation by following the procedure explained below.
* Before commencing the procedure, confirm that the ready output signal is ON, alarm output signal is
OFF, and home-return complete output signal is OFF.
[1] Turn ON the servo ON input signal.
[2] Confirm that the servo-ON status output signal is
ON.
[3] Turn ON the start input signal.
[4] Confirm that the positioning complete output signal is
OFF.
[5] Turn OFF the start input signal.
[6] Confirm that the home-return complete output signal
is ON. Home return is now completed.
* Pause input is a contact-B input signal (always ON), so keep this signal ON while home return is in
progress.
To operate the actuator using the start input, the servo ON input signal must be ON. If the servo ON input
signal is OFF, this operation command will not be accepted. Note, however, that only the command will be
ignored and no error will generate.
With the 2-axis specification, the controller has been configured at the factory so that the two axes will start home
return simultaneously.
You can cause either axis to start home return earlier than the other axis by changing the applicable parameter
setting.
Specifically, change the setting in axis-specific parameter No. 13, “SIO/PIO home-return order” so that the parameter
value for the axis number corresponding to the axis for which you want to complete home return first, will become
smaller than the parameter value for the other axis number.
335
Part 3 Positioner Mode
Example)
336
Cause axis 1 to perform home return after axis 2 has completed home return, set “1” for axis 1 and “0” for
axis 2 in axis-specific parameter No. 13.
Part 3 Positioner Mode
5.3
Movements through Positions
Timings of how the actuator moves through positions are illustrated below.
Start
Input
Servo ON
Position input
Alarm
Ready
Output
Positioning complete
Home return complete
Servo ON status
Timing Chart of Movement through Positions (Standard Positioner Mode)
Ti: At least 6 msec
Operate the actuator to move through positions by following the procedure explained below.
* Confirm beforehand that the positioning complete output signal, home-return complete output signal and
servo-ON status output signal are all ON.
[1] Change the previous position number input to a different position number.
[2] Turn ON the start input signal.
[3] Confirm that the positioning complete output signal is OFF.
[4] Turn OFF the start input signal.
[5] Confirm that the positioning complete output signal is ON.
Repeat steps [1] through [5] sequentially.
* Pause input is a contact-B input signal (always ON), so keep this signal ON while home return is in
progress.
* While the actuator is moving to the target position, only the pause or cancellation input is accepted.
The servo cannot be turned off even if the servo ON input signal is turned OFF. (The servo can be
turned off only when the positioning complete output signal is ON.)
* While the start input signal is ON, the positioning complete output signal will not turn ON even after the
actuator physically completes moving to the target position. Therefore, always turn OFF the start input
signal ([4]) to detect the completion of positioning.
* As for the positioning complete output signal and push-motion complete output signal, they will not be
output until the start signal turns OFF (based on the I/O control handshake rules).
* For the actuator to operate upon start signal input, the servo ON input signal must be ON. If the servo
ON input signal is OFF, these operation commands will not be accepted. Note, however, that only the
commands will be ignored and no error will generate.
337
Part 3 Positioner Mode
5.4
Timings in the Teaching Mode
303: Home return complete
014: Teaching mode specification
305: Teaching mode output
015, 016: Axis 1 jog
017, 018: Axis 2 jog
003 through 013: Command positions
Position 1
000: Current position write
302: Write complete
T1: At least 20 msec. T1 represents the time after the position-information write input signal turns ON, until
writing of the current position starts.
When the teaching mode specification (MODE) input signal is turned ON, the teaching mode (TCMD)
output signal will turn ON. The controller will enter the teaching mode and jogging/teaching via PIOs will
become possible.
To confirm if the controller is in the teaching mode, check if the TCMD signal is ON.
If both the jog+ and jog- input signals turn ON at the same time, the actuator will move to the position
corresponding to the signal that was input first.
*Pause signal is a contact-B input signal (always ON), so keep this signal ON while teaching is in
progress.
To perform inching, specify a desired inching distance (IC001 through 1) before the jog command is input.
If the current position write (PWRT) input signal has remained ON for at least 20 msec, the current
actuator position will be written to the selected command position number.
Once the data write is complete, the write complete (WEND) output signal will turn ON. To confirm if the
controller has finished writing data, check if the WEND signal is ON.
When the PWRT input signal turns OFF, the WEND output signal will turn OFF.
If the position table screen is open on the PC or teaching pendant, inputting a write signal from the
PLC will not update the position data display. To check the acquired position data, do one of the
following operations:
PC --- Click the
button.
Teaching pendant --- Turn the PORT switch from OFF to ON.
338
Part 3 Positioner Mode
Chapter 6
DS-S-C1 Compatible Mode
In this mode, the same I/O assignments used by the conventional controller model DS-S-C1 are used.
As added functions, the cancellation (CANC) input, interpolation setting input, system battery error output,
and absolute battery error output are available, and the number of positions has been increased.
1. I/O Interface List
Pin
No.
1A
Category
Port
No.
P24
Signal name
External power supply 24 V
Signal
symbol
P24
016 Position No. 1000 input
2A
017
-
1-Orange
2B
018
-
1-Yellow
3A
019
-
1-Green
3B
020
-
1-Blue
4A
021
-
1-Purple
4B
022
-
5A
023 CPU reset
CPRES
5B
000 Start
CSTR
6A
001 Pause
STP
6B
002 Cancellation
CANC
003 Interpolation setting
LINE
7B
004 Position No. 1 input
PC1
8A
005 Position No. 2 input
PC2
8B
006 Position No. 4 input
PC4
9A
007 Position No. 8 input
PC8
9B
008 Position No. 10 input
PC10
10A
009 Position No. 20 input
PC20
10B
010 Position No. 40 input
PC40
11A
011 Position No. 80 input
PC80
11B
012 Position No. 100 input
PC100
3-Red
12A
013 Position No. 200 input
PC200
3-Orange
12B
014 Position No. 400 input
PC400
3-Yellow
13A
015 *Position No. 800 input
PC800
Input
13B
1-Red
1-Gray
300 *Alarm
ALM
14A
301 Ready
RDY
14B
302 Positioning complete
PEND
15A
(Same as PC1 through 800)
Cable
color
1-Brown
1B
7A
PC1000
Function overview
The CPU will be restarted at the leading edge of this signal.
The actuator will start moving at the leading edge of this
signal.
The actuator can be moved when this signal is ON, and will
decelerate to a stop when the signal turns OFF.
The remaining travel distance will be cancelled if this signal
turns ON.
With the 2-axis specification, linear interpolation operation
will start when the start input signal is turned ON while this
signal is ON.
Input the position number corresponding to the position you
want to move the actuator to.
Be sure to specify a position input by no later than 6 msec
before the start input signal turns ON.
Position numbers are input as BCD codes. (PC1 through 8
indicate the one’s place, PC10 through 80 indicate the ten’s
place, PC100 through 800 indicate the hundred’s place, and
PC1000 indicates the thousand’s place.)
1-White
1-Black
2-Brown
2-Red
2-Orange
2-Yellow
2-Green
2-Blue
2-Purple
2-Gray
2-White
2-Black
3-Brown
3-Green
This signal remains ON if the controller is normal. It will turn
OFF if an alarm occurs.
This signal will turn ON when the controller becomes ready.
This signal will turn ON once the actuator has moved to the
target position and entered the positioning band.
3-Blue
3-Purple
3-Gray
303
-
304
-
3-Black
16A
305
-
4-Brown
16B
306 System battery error
SSER
17A
307 Absolute battery error
ABER
15B
17B
Output
N
External power supply 0 V
3-White
N
This signal will turn ON when the voltage of the systemmemory backup battery drops to the voltage-low warning
level.
This signal will turn ON when the voltage of absolute-data
backup battery drops to the voltage-low warning level.
4-Red
4-Orange
4-Yellow
Caution: The power wiring polarities are reversed from those of the PNP specification applicable to the
old DS-S-C1 controller. As shown above, pin Nos. 1A and 17B are connected to 24 V and 0 V,
respectively, even in the PNP specification.
339
Part 3 Positioner Mode
2. Parameters
To use the controller in the DS-S-C1 compatible mode, set other parameter No. 25 to “16.”
Other parameter No. 25 = 16, “DS-S-C1 compatible mode”
3. Details of Each Input Signal
„ Start (CSTR)
The actuator will start moving to the position corresponding to the specified position data upon detection of
the OFF → ON leading edge of this signal. Position numbers are specified using a 13-bit BCD code
consisting of PC1 through 1000.
Before movement is started, the target position, speed and acceleration/deceleration must be set as
position data. Use a PC (software) or teaching pendant to set position data.
Turn on the power, specify position No. 0 (PC1 through 1000 are all OFF) and then turn this signal ON,
and the actuator will start home return.
If a movement command is executed when no single home-return operation has been performed after the
power was input, “C6F, Home-return incomplete error” will generate.
„ Position Nos. 1 through 1000 (PC1 through 1000)
When a movement command is executed upon OFF → ON of the start signal, the controller will load the
command position number specified by the 13-bit BCD code consisting of PC1 through 1000.
A desired position number between 1 and 1500 can be specified. Specify the one’s place in PC1 through
8, ten’s place in PC10 through 80, hundred’s place in PC100 through 800, and thousand’s place in
PC1000.
An example of position number specification based on ON/OFF levels of PC1 through 1000 is shown
below.
Position No.
„ Pause (STP)
If this signal turns ON while the actuator is moving, the controller will cause the actuator to decelerate to a
stop.
The remaining travel distance will be held, which means that when the signal turns OFF again, the
actuator will resume movement of the remaining travel distance.
To cancel the movement command altogether after turning ON the pause signal, turn ON the cancellation
signal while this signal is ON to cancel the remaining travel distance.
The pause signal can be used for the following purposes:
[1] As a sensor to detect entry into a specified area around the system or for other lower-level safety
measures to stop the axis while the servo is on
[2] To prevent contact with other equipment
[3] For positioning based on sensor or LS signal detection
(Note) When this signal is input during home return, the movement command will be held if the actuator
has not yet contacted the mechanical end. If the signal is input after the actuator has reversed
upon contacting the mechanical end, home return will be performed again.
340
Part 3 Positioner Mode
„ Cancellation (CANC)
If this signal turns ON while the actuator is moving, the controller will cause the actuator to decelerate to a
stop. The remaining travel distance will be cancelled and the movement will not resume even when the
signal turns OFF thereafter.
„ CPU reset (CPRES)
This input signal is used to restart the controller.
If an error occurs, identify and eliminate the cause, and then turn this signal ON.
„ Interpolation (LINE)
With the 2-axis specification, input of the position signal and start signal while this signal is ON will cause
the two axes to perform interpolation operation (the two axes will start simultaneously and arrive at the
target position simultaneously).
To perform interpolation operation, turn ON the interpolation input signal before turning ON the start input
signal.
Axis 2
Movement when the interpolation signal is OFF
Movement when the interpolation signal is ON
Axis 1
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Part 3 Positioner Mode
4. Details of Each Output Signal
„ Ready (RDY)
This signal will turn ON when the initialization has completed successfully after the main power was input,
and the controller enters the mode where it can control the actuator.
This signal will turn OFF when an error of cold level or higher generates.
Use this signal as a condition to start control on the PLC side.
„ Alarm (ALM)
This signal remains OFF while the controller is normal, and will turn ON if an alarm occurs.
Program the PLC so that it will monitor this signal and implement appropriate safety measures to protect
the entire system when the signal turns ON.
For details on alarms, refer to 10, “Troubleshooting.”
„ Positioning complete (PEND)
This signal indicates that the actuator reached the target position and the positioning has completed.
When a movement command is executed by turning ON the start signal, this signal will turn OFF.
Thereafter, it will turn ON when the position deviation from the target position has entered the in-position
band regardless of whether the start signal is ON or OFF.
Once this signal turns ON, it will not turn OFF even after the position deviation subsequently exceeds the
in-position band.
(Note) Even if the motor is stopped, this signal will remain OFF if a pause signal is input or the servo is
off.
This signal is OFF when the power is input. It will turn ON upon completion of home-return operation (if
the actuator is of incremental specification).
„ System battery error
This signal will turn ON when the voltage of the optional system-memory backup battery drops to a
specified level.
„ Absolute battery error
On a controller of absolute specification, this signal will turn ON when the voltage of the absolute-data
backup battery drops to a specified level.
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Part 3 Positioner Mode
5. Timing Chart
5.1
Recognition of I/O Signals
An input time constant is set for the input signals of this controller to prevent malfunction due to chattering,
noise, etc.
Except for certain signals, the input signal will switch if the new signal level has remained for at least 6
[msec].
For example, when an input signal is turned ON, the controller will recognize that the signal is ON after
elapse of 6 [msec]. The same applies when the signal is turned OFF. (Fig. 1)
Input signal
Not recognized
Not recognized
Recognition by controller
Fig. 1 Recognition of Input Signal
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Part 3 Positioner Mode
5.2
Home Return
In the DS-S-C1 compatible mode, no dedicated home-return input is available.
Home return will be performed when the start signal is input after specifying position No. 0. The
positioning complete output signal is OFF after the power is input when home return is not yet completed.
Timings associated with home-return operation are illustrated below.
Home Return
Stop
Input
Start
Alarm
Output
Ready
Positioning complete
T1: Time after the ready output signal turns ON until input of the start signal becomes
possible (50 msec or more)
T2: Start signal input (50 msec or more)
Timing Chart of Home-return Operation (Positioner Mode)
Perform home-return operation by following the procedure explained below.
* Before commencing the procedure, confirm that the ready output signal and alarm output signal are ON.
[1] Specify position No. 0 (PC1 through 1000 are all OFF).
[2] Turn ON the start input signal. (The signal should remain ON continuously for 30 msec or more (T2).)
[3] Turn OFF the start input signal.
[4] Confirm that the positioning complete output signal is ON. Home return is now completed.
With the 2-axis specification, the controller has been configured at the factory so that the two axes will
start home return simultaneously.
You can cause either axis to start home return earlier than the other axis by changing the applicable
parameter setting.
Specifically, change the setting in axis-specific parameter No. 13, “SIO/PIO home-return order” so that the
parameter value for the axis number corresponding to the axis for which you want to complete home
return first, will become smaller than the parameter value for the other axis number.
Example) Cause axis 1 to perform home return after axis 2 has completed home return, set “1” for axis
1 and “0” for axis 2 in axis-specific parameter No. 13.
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Part 3 Positioner Mode
5.3
Movements through Positions
Timings of how the actuator moves through positions are illustrated below.
Stop
Move
Stop
Move
Stop
Start
Input
Position input
Alarm
Output
Ready
Positioning complete
Timing Chart of Movement through Positions (Positioner Mode)
T1: Time after the position number signal is input until input of the start signal becomes
possible (30 msec or more)
T2: Start signal input (30 msec or more)
T3: Time after the start signal turns ON until the positioning complete output signal turns
OFF (60 msec or less)
T4: Time after the previous positioning complete output signal turns ON until input of the
next start signal becomes possible (50 msec or more)
Operate the actuator to move through positions by following the procedure explained below.
* Confirm beforehand that the positioning complete output signal, home-return complete output signal and
servo-ON status output signal are all ON.
[1] Change the previous position number input (BCD input) to a different position number.
[2] Turn ON the start input signal. (The signal should remain ON continuously for 30 msec or more (T2).)
[3] Turn OFF the start input signal.
[4] Wait for T3 after [2].
[5] Confirm that the positioning complete output signal is ON.
Repeat steps [1] through [5] sequentially.
* To perform interpolation operation, turn ON the interpolation setting input signal at least 30 msec before
turning ON the start input signal. Turn OFF the interpolation signal after the start input signal has turned
OFF.
* The positioning complete output signal turns ON when the actuator completes moving to the specified
position, regardless of whether the start input signal is ON or OFF.
* Take note that the time after the start signal turns ON until the positioning complete output signal turns
OFF is 60 msec or less, which is different from 15 msec or less with the DS-S-C1 controller.
Caution: Unlike in other modes, the pause input and cancellation input are contact-A input signals
(always OFF). The alarm output is also a contact-A output signal (always OFF) unlike in
other modes.
345
Appendix
346
Appendix
~ List of Applicable Actuator Specifications
„
Slider type
„
„
„
Load capacity
Stroke (mm) and maximum speed (mm/sec) *1
Type
Horizontal
Vertical
Rated acceleration
Horizontal
Vertical
Rod type
Type
Stroke (mm) and maximum speed
(mm/sec) *1
Type
Stroke (mm) and maximum speed
(mm/sec) *1
Rated
thrust
Maximum
push force
Load capacity
Horizontal
Vertical
Rated acceleration
Horizontal
Vertical
Arm type
Load capacity
Thrust
Horizontal
Vertical
Rated acceleration
Horizontal
Vertical
Dustproof/splashproof type
Type
Stroke (mm) and maximum speed (mm/sec) *1
*Note 1
Maximum
Load capacity
push
Horizontal
Vertical
force
Rated acceleration
Horizontal
Vertical
Each band indicates applicable strokes, while the number
in the band represents the maximum speed corresponding
to each stroke.
347
Appendix
Appendix

Battery Backup Function
The ASEL controller uses the following two batteries.
• System-memory backup battery (optional)
The optional battery is available for backing up position data, SEL program variables and other data.
• Absolute-data backup battery
A separate battery is used to retain the absolute encoder’s rotation data, so that the motor rotation data
can be retained/refreshed when the controller power is cut off. A controller specified with an absolutetype actuator is shipped with the absolute-data backup battery.
Each battery is explained in details.
1. System-Memory Backup Battery
The system-memory backup battery can be installed on the top face of the controller so that the data
stored in the ASEL controller’s SRAM will be retained even after the power is cut off.
Data to be backed up include controller parameters, SEL language variable data (global variables),
position table data, and error list. The stored data will be retained even after the power is cut off.
(Use of the system-memory backup battery must be specified in the applicable controller parameter (other
parameter No. 20 = 2).)
348
Appendix
<Battery Replacement>
To replace the system-memory backup battery, disconnect the battery connector on the top face of the
controller, and change the battery in the battery holder with a new battery.
It is recommended that you set a replacement schedule and replace the battery regularly.
The battery must be replaced as soon as the controller’s battery voltage monitor function generates a
battery voltage low alarm.
After an alarm is detected, a battery error will occur in approx. 10 days at an ambient temperature of 20°C
if the power is supplied to the controller continuously. Once a battery error occurs, the data will be
physically lost in approx. four days.
If the controller is not operated, the above periods should be reduced to 80% at 20°C or to 25% at 40°C.
The controller is designed so that the data will not be lost for at least 30 minutes without a battery if the
controller is not detecting a battery error. Keep in mind to complete the battery replacement—taking out
the current battery from the battery holder and placing a new battery in the holder—within 30 minutes.
To prevent the risk of data loss, you can use the PC software to evacuate the data in the SRAM to the
flash ROM and then reload the flash ROM data to the SRAM after a new battery is installed.
The battery specifications are shown in the table below.
List of System-Memory Backup Battery Functions
Battery type
Battery voltage
Current capacity
Switching voltage at momentary
power failure
Power-source voltage drop at
backup
Detection voltage for battery
voltage low alarm
Detection voltage for battery
voltage low error
Time after alarm detection until
error detection (reference)
Minimum data retention voltage
Time after error detection until
data loss (reference)
Data protection time during
battery replacement
Guide on when to replace
battery
AB-5 (by IAI)
3.6 V
2000 mAH
(Typical) 2.81 V (2.7 V ∼ 2.93 V)
System reset detection voltage
(Typical) 0.3 V
(Typical) 2.65 V ± 5%
(Typical) 2.37 V ± 5%
10 days at 20°C based on continuous operation; 8 days if the power is not
supplied.
10 days at 40°C based on continuous operation; 2.5 days if the power is not
supplied.
Min. 2.0 V (Varies depending on the SRAM characteristics.)
4 days at 20°C based on continuous operation; 3 days if the power is not
supplied.
4 days at 40°C based on continuous operation; 1 day if the power is not
supplied.
30 minutes (Maximum retention
Data is retained by the super capacitor
time when no battery is installed
inside the controller.
in the battery holder)
Approx. 5 years
349
Appendix
2. Absolute-Data Backup Battery for Absolute Encoder
If the ASEL controller is to drive/control an absolute type actuator, an absolute-data backup battery must
be installed in the controller.
An absolute encoder is designed to retain rotation data and detect rotations using the power supplied from
the absolute-data backup battery, even when the controller’s control power is not supplied. This allows the
controller to resume positioning control immediately after the controller power is restored, without
performing home return.
<Backup Time>
The recommended replacement interval for the absolute-data backup battery is two years. This may be a
little misleading. It means that if the battery is left at an ambient temperature of 40°C, it will retain the
stored data for two years. In normal operating conditions, the battery can retain data for a longer period.
As a guide, the battery will last for around four years if the controller is used at an ambient temperature of
40°C with the controller powered up 50% of the time.
<Battery Replacement>
To replace the absolute-data backup battery, disconnect the battery connector at the bottom of the
controller, and change the battery in the battery holder with a new battery.
It is recommended that the battery be replaced regularly in accordance with the frequency/duration of
usage.
The battery must be replaced as soon as the controller’s battery voltage monitor function generates a
battery voltage low alarm.
After an alarm is detected, a battery error will occur in approx. 10 days at an ambient temperature of 20°C
if the power is supplied to the controller continuously. Once a battery error occurs, operations can no
longer be performed unless the battery is replaced and an absolute reset is performed.
If the controller is not operated, the above periods should be reduced to 70% at 20°C or to 60% at 40°C.
The controller is designed so that the data will not be lost for at least 15 minutes without a battery if the
controller is not detecting a battery error. Remember to complete the battery replacement within 15
minutes (i.e., the controller should not be without a battery for more than 15 minutes).
To prevent data loss, you can use the PC software to evacuate the data in the SRAM to the flash ROM
and then reload the flash ROM data to the SRAM after a new battery is installed.
The absolute data backup battery is replaced differently depending on whether a battery error has
generated or not. If an error has not been detected, only the battery needs to be replaced and an absolute
reset is not required. If an error has been detected, an absolute reset will be required.
350
Appendix
The absolute encoder backup specifications are shown in the table below.
List of Absolute Encoder Backup Functions
Battery type
AB-5 (by IAI)
Battery voltage
3.6 V
Current capacity
2000 mAH
Detection voltage for battery
voltage low alarm
Detection voltage for battery
voltage low error
(Typical) 3.1 V 3.0 V ∼ 3.2 V
Time after alarm detection until
error detection (reference)
Minimum data retention voltage
Time after error detection until
data loss (reference)
Data protection time during
battery replacement
Guide on when to replace
battery
(Typical) 2.5 V 2.3 V ~ 2.7 V
10 days at 20°C based on continuous operation; 7 days if the power is not
supplied.
10 days at 40°C based on continuous operation; 2.5 days if the power is not
supplied.
Min. 2.7 V (Varies depending on the encoder characteristics.)
With an absolute encoder, an absolute reset must be performed once an
error is detected.
15 minutes (Maximum retention time when Data is retained by the super
no battery is installed in the battery holder) capacitor inside the controller.
Temperature 40°C, power supplied 0% of
2 years
the time
Temperature 40°C, power supplied 50%
4 years
of the time
351
Appendix
 Parameter Utilization
Functions not initially available on the controller can be added, or dedicated functions can be assigned to
input/output ports, by changing the values of corresponding parameters. Before changing a given
parameter, always read the applicable section in the parameter list.
If you have any question regarding changing the parameters, please contact IAI’s Sales Engineering
Section. After changing a parameter, record the new and old parameter settings.
If you have purchased the PC software, we recommend that you back up the parameters immediately
after the controller is delivered and when the system incorporating the controller is started. Since a
number of customizing settings use parameters, you should back up the parameters regularly as you back
up the programs.
To make the new parameters effective, write them to the flash ROM and then execute a software reset or
reconnect the power.
Parameter classification
Parameters are classified into the following seven types based on what they specify:
1. I/O parameters
2. Parameters common to all axes
3. Axis-specific parameters
4. Driver parameters
5. Encoder parameters
6. I/O devices
7. Other parameters
352
Appendix
1. Utilization Examples of I/O Parameters
I/Os include general-purpose inputs/outputs and dedicated inputs/outputs. General-purpose inputs/outputs
are used by the user in SEL programs for sending/receiving ON/OFF signals to/from peripherals, among
others.
Dedicated inputs are turned ON/OFF externally to activate specific functions.
Dedicated outputs turn ON or OFF in specific conditions. (Dedicated outputs cannot be turned ON/OFF in
SEL programs.)
(1) I/O parameters
A desired input/output port can be specified as a dedicated input/output or general-purpose input/output.
Set an appropriate input function specification value in the I/O parameter (Input/output function selection
n) corresponding to the input/output port number you want to set.
The relationship of input port numbers and I/O parameter numbers is shown below.
Input port number
I/O parameter number
Input port number
I/O parameter number
Output port number
I/O parameter number
353
Appendix
Example 1)
How to set input port No. 5 as an input to forcibly release the brake for axis 1
Change the input function specification value of I/O parameter No. 35, which corresponds to input port No.
5, to “22” (Axis 1 forced brake-release input).
I/O parameter No. 35 = 22
Example 2)
How to set output port No. 307 as a servo-ON status output for axis 1
Change the output function specification value of I/O parameter No. 53, which corresponds to output port
No. 307, to “24” (Axis 1 servo-ON status output).
I/O parameter No. 53 = 24
Example 3)
How to set input port Nos. 21 and 22 as general-purpose inputs
Change the input function specification values of I/O parameter Nos. 256 and 257, which correspond to
input port Nos. 21 and 22, respectively, to “0” (General-purpose input).
I/O parameter No. 256 = 0
I/O parameter No. 257 = 0
If the above parameter changes are made from their factory settings, the start-program number
specification bits will change to the five bits represented by input port Nos. 16 through 20. The range of
program numbers that can be specified will become 1 to 19.
354
Appendix
(2) Explanation of input function specification values
Input function specification value 0:
General-purpose input
The applicable input can be used freely in programs as a generalpurpose input.
Input function specification value 1:
Program start signal (BCD) (ON edge)
The applicable signal is set as a program start signal.
Once set, the signal can start the BCD program number specified
by input function setting values 9 through 15.
Input function specification value 2:
Program start signal (BIN) (ON edge)
The applicable signal is set as a program start signal.
Once set, the signal can start the binary program number specified
by input function setting values 9 through 15.
Input function specification value 3:
Soft reset signal (ON edge)
Allow the applicable signal to restart the controller in the event of an
error, etc.
Note 1: The input signal must remain ON for at least 1 second.
Note 2: The coordinate values will be cleared, so home return
must be performed again.
Input function specification value 4:
Servo ON
Allow the applicable signal to turn on the servo of a valid axis at its
ON edge.
The signal will turn off the servo of a valid axis at its OFF edge.
Note:
There must be an interval of at least 1.5 seconds between
ON and OFF edges.
Input function specification value 5:
Auto-start program start signal
If an auto-start program is set, this signal can be used to start the
program.
The program will start at the ON edge of this signal, while all
operations and programs will be aborted at the OFF edge.
Input function specification value 6:
Soft interlock for all servo axes (OFF level)
The active programs will be paused when this signal turns OFF.
(Any moving axis will decelerate to a stop.)
Input function specification value 7:
Operation-pause reset signal (ON edge)
Allow the applicable signal to reset the operation pause signal set
by input function selection value 8.
Input function specification value 8:
Operation pause signal (OFF level)
Allow the applicable signal to pause all valid axes.
Note:
The pause will be reset at the ON edge of the operationpause reset signal (specified by input function selection 7)
after turning this signal ON.
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Appendix
Input function specification value 9:
Start-program number specification bit 1 (least significant bit)
This bit specifies the least significant bit of a program number.
Note:
Start-program number specification bits x (input function
setting values 9 through 15) cannot be assigned
discontinuously from the least significant bit or in
descending order from the least significant bit.
Input function specification value 10: Start-program number specification bit 2
This bit specifies the second bit of a program number.
Input function specification value 11: Start-program number specification bit 3
This bit specifies the third bit of a program number.
Input function specification value 12: Start-program number specification bit 4
This bit specifies the forth bit of a program number.
Input function specification value 13: Start-program number specification bit 5
This bit specifies the fifth bit of a program number.
Input function specification value 14: Start-program number specification bit 6
This bit specifies the sixth bit of a program number.
Input function specification value 15: Start-program number specification bit 7
This bit specifies the seventh bit of a program number.
Input function specification value 16: Error reset (ON edge)
This signal is used to reset errors.
Note:
Only errors of operation-cancellation level or lower can be
reset using this signal.
Input function specification value 17: Drive-source cutoff reset input (ON edge) (Effective when the
problem factor has been removed)
This signal is used as a drive-source cutoff reset input when the
emergency stop/enable switch recovery type is set to “Operation
continued.”
Input function specification value 18: Home-return command signal for all valid axes (ON edge)
This signal commands home return of all valid axes.
Note:
The servo ON input signal (input function specification
value 4) must be turned ON first.
Input function specification value 19: Home-return command signal for all incremental axes (ON edge)
This signal commands home return of all incremental axes.
Note:
The servo ON input signal (input function specification
value 4) must be turned ON first.
Input function specification value 20: PC/TP-servo movement command acceptance permission input
Movements can be permitted from the PC software or teaching
pendant.
Input function specification value 21: Remote-mode control input
This signal can be used to switch between the AUTO mode and
MANUAL mode.
Note:
Switching is enabled only when the mode switch is set to
“AUTO.”
356
Appendix
Input function specification value 22: Axis 1 forced brake release
Forcibly release the brake (axis 1).
Note:
This function is effective only when the brake switch is
tilted down (NOM).
Input function specification value 23: Axis 2 forced brake release
Forcibly release the brake (axis 2).
Note:
This function is effective only when the brake switch is
tilted down (NOM).
Input function specification value 24 ~ 27: For future expansion
Not used.
357
Appendix
(3) Explanation of output function specification values
Output function specification value 0:
General-purpose output
The applicable output can be used freely in programs as a generalpurpose output.
Output function specification value 1:
Operation-cancellation level or higher error output (ON)
The signal will turn ON when an error of operation-cancellation level or
higher generates.
Output function specification value 2:
Operation-cancellation level or higher error output (OFF)
The signal will turn OFF when an error of operation-cancellation level or
higher generates.
Output function specification value 3:
Operation-cancellation level or higher error + emergency stop output
(ON)
This error output signal and emergency-stop output signal will turn ON
when an error of operation-cancellation level or higher generates.
Output function specification value 4:
Operation-cancellation level or higher error + emergency stop output
(OFF)
This error output signal and emergency-stop output signal will turn OFF
when an error of operation-cancellation level or higher generates.
Output function specification value 5:
READY output (PIO trigger program operation enabled)
A signal will be output after the check is completed following the
controller power input.
The signal will turn ON only when the controller is able to perform
program operation.
Output function specification value 6:
READY output (Absence of operation-cancellation level or higher error)
The function is the same as that of output function specification value 5,
but absence of operation-cancellation level or higher error is added as
a condition.
Output function specification value 7:
READY output (Absence of cold-start level or higher error)
The function is the same as that of output function specification value 5,
but absence of cold-start level or higher error is added as a condition.
Output function specification value 8:
Emergency stop output (ON)
The output signal will turn ON when the emergency-stop input signal
turns ON. The signal will turn OFF when the emergency stop is reset.
Output function specification value 9:
Emergency stop output (OFF)
The output signal will turn OFF when the emergency-stop input signal
turns ON. The signal will turn ON when the emergency stop is reset.
Output function specification value 10: AUTO mode output
A signal will be output during the AUTO mode.
Output function specification value 11: Auto operation status output
A signal will be output during auto program operation.
Output function specification value 12: All-valid-axes home (= 0) output
A signal will be output when all valid axes are at the 0-mm position.
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Appendix
Output function specification value 13: All-valid-axes home-return complete (coordinate confirmed)
output
A signal will be output when all valid axes have completed home
return.
Output function specification value 14: All-valid-axes preset home coordinate output
A signal will be output when all valid axes have completed home
return.
The value set by axis-specific parameter No. 12, “Home preset
value” is used as the home position.
Output function specification value 15: Voltage-low warning output for system-memory backup battery
A signal will be output when the voltage of the system-memory
backup battery drops to approx. 2.6 V.
Output function specification value 16: Voltage-low warning output for absolute-data backup battery
A signal will be output when the voltage of the absolute-data
backup battery drops to approx. 3.2 V.
Once an abnormal voltage level is detected, the signal will remain
ON until a power ON reset or software reset is performed.
Output function specification value 17: Drive-source cutoff (SDN) notification output
The output port will turn OFF when the drive source is cut off.
Output function specification value 18 ~ 23: For future expansion
Not used.
Output function specification value 24: Axis 1 servo ON output
This signal is output while the axis 1 servo is ON.
Output function specification value 25: Axis 2 servo ON output
This signal is output while the axis 2 servo is ON.
Output function specification value 26 ~ 29: For future expansion
Not used.
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Appendix
2. Utilization Examples of Axis-specific Parameters
The following functions can be added to, or changed from the factory-set functions, by changing the
values of the corresponding axis-specific parameters. Before changing a given parameter, always read
the applicable section in the parameter list.
•
•
•
•
•
•
Change the home return direction
About the home-return method
Set a home preset
Set a home offset
Apply length measurement correction
Zone output
360
Appendix
Change the home return direction
Axis-specific parameter No. 6, “Coordinate/physical-operation direction selection”
No.
Parameter name
Default value
Input range
Unit
6
Coordinate/physical-operation direction selection
1
0~1
None
z Setting method
A desired direction of home-return operation can be selected.
z Set value
0: Motor CCW → Positive coordinate direction
1: Motor CCW → Negative coordinate direction
Example 1:
A linear axis whose home is at the standard position: When the parameter is set to “1”
Positive
coordinate
Example 2:
A linear axis whose home is at the standard position: When the parameter is set to “0”
Positive
coordinate
Note:
The default home return direction cannot be reversed on rod actuators simply by changing the
parameter.
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Appendix
About the home-return method
Axis-specific parameter No. 10, “Home-return method”
No.
Parameter name
Default value
Input range
Unit
10
Home-return method
0
0~5
None
z Setting method
Set a desired method to perform home return.
z Set value
0: Search phase Z after end search
The actuator performs normal home-return operation.
Home-return
command
The actuator moves at low speed in the
direction selected by axis-specific
parameter No. 6.
The actuator hits the
mechanical end.
The actuator reverses after the axis
remains stationary for the duration of
time specified by axis-specific
parameter No. 24, or upon reaching the
deviation specified by axis-specific
parameter No. 56.
After phase Z is detected, the actuator
moves by the offset specified by axisspecific parameter No. 21 and
completes the home return.
1:
Current position 0 home (This setting can be specified only when an incremental encoder is used.)
The position at which the actuator is currently stopped is recognized as the home.
* Home-return operation is not performed.
2:
Current position 0 home = Preset home (This setting can be specified only when an incremental
encoder is used.)
Related parameter: Axis-specific parameter No. 12, “Home preset value”
The position at which the actuator is currently stopped is recognized as the home. (On the coordinate
system, this position becomes the value set by the home preset parameter.)
* Home-return operation is not performed.
3 to 5: For future expansion
362
Appendix
Set a home preset
Axis-specific parameter No. 12, “Home preset value”
No.
Parameter name
Default value
Input range
Unit
12
Home preset value
0
-99999999 ~ 99999999
0.001 mm
z Explanation of setting
Set a value indicating where the actuator should be upon completing home return.
(Normally, the actuator should be at 0-mm coordinate upon completing home return.)
z Set value
Unit: 0.001 mm
Example 1:
“Do not set” a home preset value
Home return complete → [0.000] mm is displayed.
Example 2:
Set “3000” as a home preset value
Home return complete → [3.000] mm is displayed.
z Note
Take note that when a home-return preset value is set, the effective stroke will also change. In
particular, the stroke will decrease if the preset position is on the positive side of the default home.
363
Appendix
Set a home offset
Axis-specific parameter No. 21, “Offset travel distance at home return”
No.
Parameter name
Default value
Input range
Unit
21
Offset travel distance at home return
1000
-99999999 ~ 99999999
0.001 mm
z Explanation of setting
An offset can be set that will be applied after detecting phase Z (point 0) during home return.
* If the home position has shifted after replacing the motor, jig, etc., use this parameter to adjust the
home.
z Set value
Setting unit: 0.001 mm
Example:
Set the offset to 0.5 mm = 500
z Note
If the offset travel distance is near an integer multiple of the ball screw lead (such as 0, 6, 12 or 18 mm
when the lead is 6 mm), the home will come directly above phase Z and thus rotation data may shift by
one revolution upon absolute reset due to an “unstable” servo lock condition (a phenomenon where the
coordinate values shift by one motor revolution). In this case, the position after home return will
become the integer multiple of the lead length.
* If the position after home return has become an integer multiple of the lead value, make adjustment
using axis-specific parameter No. 12, “Home preset value.”
364
Appendix
Apply length measurement correction
Axis-specific parameter No. 44, “Length measurement correction”
No.
Parameter name
Default value
Input range
Unit
44
Length measurement correction
0
-99999999 ~ 99999999
0.001 mm/1 M
z Explanation of setting
Adjust the difference between the actual distance traveled and the measured distance, for the
commanded travel distance.
Example: Move the actuator from 0 mm to 1000 mm by specifying a position.
[1] Absolute value (measured distance): 1000 mm
[2] Actual distance traveled (999 mm)
Correct the travel distance of [2] with respect to [1].
In the above example, enter “1000” because the actual distance traveled is 999 mm.
(Setting unit: 0.001/1 m)
* C10-class ball screws are subject to a margin of error of ± 0.21 mm per 300 mm.
365
Appendix
Zone output
A signal can be output when the actuator has entered a desired zone specified by the user.
Three parameters must be set to specify a zone.
A zone is set for each axis.
No.
Parameter name
Default value
Input range
Unit
86
Zone 1 MAX
0
-99999999 ~ 99999999
0.001 mm
87
Zone 1 MIN
0
-99999999 ~ 99999999
0.001 mm
88
Zone 1 output number
0
0 ~ 899
None
Axis-specific parameter No. 86, “Zone 1 MAX”
Set the maximum limit of the zone, in units of 0.001 mm.
Example: To set 50 mm, set the value “50000.”
Axis-specific parameter No. 87, “Zone 1 MIN”
Set the minimum limit of the zone, in units of 0.001 mm.
Example: To set 10 mm, set the value “10000.
Axis-specific parameter No. 88, “Zone 1 output number”
Set an output port or flag number for the zone.
The output number set in this parameter cannot be used in programs.
Set an output range.
(A signal is output while the actuator is
passing through this range.)
(Axis-specific
parameter No. 86)
MAX side
MIN side
(Axis-specific
parameter No. 87)
Passing status ON
(Axis-specific parameter No. 88)
Actuator
z Note
Set the zone so that the passing time through the zone will become at least 3 msec.
366
Appendix
The zone output function allows four zones (zones 1 through 4) to be set for each axis.
No.
Parameter name
Default value
Input range
Unit
86
Zone 1 MAX
0
-99999999 ~ 99999999
0.001 mm
87
Zone 1 MIN
0
-99999999 ~ 99999999
0.001 mm
88
Zone 1 output number
0
0 ~ 899
None
89
Zone 2 MAX
0
-99999999 ~ 99999999
0.001 mm
90
Zone 2 MIN
0
-99999999 ~ 99999999
0.001 mm
91
Zone 2 output number
0
0 ~ 899
None
92
Zone 3 MAX
0
-99999999 ~ 99999999
0.001 mm
93
Zone 3 MIN
0
-99999999 ~ 99999999
0.001 mm
94
Zone 3 output number
0
0 ~ 899
None
95
Zone 4 MAX
0
-99999999 ~ 99999999
0.001 mm
96
Zone 4 MIN
0
-99999999 ~ 99999999
0.001 mm
97
Zone 4 output number
0
0 ~ 899
None
367
368
3. Parameter Utilization Examples (Reference)
Description
1
Suppress generation of errors pertaining
to the standard I/O board (so that trial
operation can be performed before the
board is wired, for example).
Implement a restart (software reset)
using an external input signal.
Action
The I/O-board error monitor can
be disabled to suppress error
generation.
A desired input port can be set as
a restart input.
2
Turn on the servo using an external input A desired input port can be set as
signal.
a servo ON input.
3
4
Start an auto-start program using an
external input signal. (Under the default
setting, the auto-start program will start
when the power is input or the controller
is restarted (by software reset) in the
AUTO mode.) (The steps to start the
auto-start program will increase.)
Pause operations using an external input
signal.
A desired input port can be set as
an input for auto-program start
signal.
Reset errors (errors of operationcancellation level or lower) using an
external input signal.
A desired input port can be set as
an error reset input.
Perform home return using an external
input signal.
A desired input port can be set as
a home return input.
A desired input port can be set as
a pause input.
A desired input port can be set as
a pause reset input.
5
6
7
Parameter setting
Operation/outcome
Set “0” in the I/O parameter corresponding
to the I/O whose error monitor is to be
disabled.
Standard I/O: I/O parameter No. 10 = 0
Set the following value in the I/O parameter
“Input function selection n” corresponding to
the selected input port:
I/O parameter “Input function specification
value” = 3
Set the following value in the I/O parameter
“Input function selection n” corresponding to
the selected input port:
I/O parameter “Input function specification
value” = 4
Set the following value in the I/O parameter
“Input function selection n” corresponding to
the selected input port:
I/O parameter “Input function specification
value” = 5
Other parameter No. 7 = 0
To disable the error monitor of the standard
I/O board, set “0” in I/O parameter No. 10.
Note: Before operating the I/O board again,
be sure to reset the parameter value to “1.”
The controller will be restarted when the
specified port has remained ON for at least
1 second.
Set the following value in each I/O
parameter “Input function selection n”
corresponding to the selected input port:
I/O parameter “Input function specification
value” = 7
I/O parameter “Input function specification
value” = 8
Setting example) To set input port No. 5 as
the pause reset input and input port No. 6
as the pause input, set “8” in I/O parameter
No. 35 and “7” in I/O parameter No. 36.
Set the following value in the I/O parameter
“Input function selection n” corresponding to
the selected input port:
I/O parameter “Input function specification
value” = 16
Set the following value in the I/O parameter
“Input function selection n” corresponding to
the selected input port:
I/O parameter “Input function specification
value” = 18
Operations will pause at the OFF edge of
the specified port set as the operationpause signal input.
Pause will be reset at the ON edge of the
port set as the operation-pause reset signal
input. (The port set as the operation-pause
signal input is always ON.)
The servo will turn ON at the ON edge of
the specified port.
The servo will turn OFF at the OFF edge.
The program will start at the ON edge of the
specified port.
The program will end at the OFF edge.
Errors will be reset at the ON edge of the
specified port.
Home return will be performed at the ON
edge of the specified port. (The servo must
be turned ON first.)
Appendix
Description
8
9
10
11
12
13
Parameter setting
Operation/outcome
Program numbers to be specified can be
input as binary codes using the ports set
as start-program number specification bits
1 through 7.
Note) Factory-set parameters
Note) Not set at the factory.
The specified port will turn ON during
the AUTO mode.
The specified port will turn ON during
auto operation.
The specified port will turn ON when all
valid axes are at their home.
Appendix
369
14
Action
Set the following value in the I/O parameter
“Input function selection n” corresponding to the
selected input port:
I/O parameter “Input function specification
value” = 2
Check the level of each error
Error levels can be checked based on the Set the following value in each I/O parameter
“Output function selection n” corresponding to
currently present, using an
combination of the output function
the selected output port:
output port.
specification values (1 through 4, 5
I/O parameter “Output function specification
through 7) and the ON/OFF levels of the
value” = 2
applicable output ports.
I/O parameter “Output function specification
value” = 7
(I/O parameter No. 46 and No. 47 have been
set to “2” and “7,” respectively, at the factory.)
Set the following value in the I/O parameter
Have emergency stop status
Whether or not an emergency stop is
“Output function selection n” corresponding to
notified via an output port.
currently actuated can be checked from
the ON/OFF levels of the output ports for the selected output port:
I/O parameter “Output function specification
which function specification values of 8
value” = 9
and 9 are specified.
Output a signal during the AUTO A desired output port can be set as an
Set the following value in the I/O parameter
mode.
AUTO mode output.
“Output function selection n” corresponding to
the selected output port:
I/O parameter “Output function specification
value” = 10
Output a signal during auto
A desired output port can be set as an
Set the following value in the I/O parameter
operation.
auto operation status output.
“Output function selection n” corresponding to
the selected output port:
I/O parameter “Output function specification
value” = 11
• Auto operation status will be recognized • Other parameter No. 12 = 0
How auto operation status is
Auto operation will be recognized when a
recognized during auto operation if a program is running (regardless of the
program is running.
can be changed using the setting MANU or AUTO mode).
• Auto operation status will be recognized • Other parameter No. 12 = 1
of other parameter No. 12.
Auto operation will be recognized when a
if a program is running or when the
program is running or the controller is in the
controller is in the AUTO mode
(regardless of whether or not a program is AUTO mode.
• “No all-operation-cancellation factor is present”
running).
refers to a condition in which no error of
In either case, no all-operationcancellation factor must be present. Auto operation-cancellation level or higher is present
operation status will be recognized based AND no emergency stop signal is input AND no
safety gate signal is input AND the deadman
on one of the two conditions specified
switch is ON (teaching pendant option).
above.
Output a signal when all valid
A desired output port can be set as an all- Set the following value in the I/O parameter
“Output function selection n” corresponding to
axes are at their home.
valid-axis home position signal output.
Note: Do not use a HOME command if the the selected output port:
I/O parameter “Output function specification
controller is of absolute specification.
value” = 12
Enter program numbers as
binary codes using input ports
(default setting: BCD input).
370
Description
15
16
17
Action
Output a signal when all valid
axes have completed home
return.
A desired output port can be set
as an all-valid-axes home-return
complete output.
Output a warning signal when
the voltage of the systemmemory backup battery became
low.
Output a warning signal when
the voltage of the absolute
encoder battery became low.
A desired output port can be set
as a voltage-low warning output
for the system-memory backup
battery.
A desired output port can be set
as a voltage-low warning output
for the absolute encoder battery.
Release the brake using an
external input signal.
A desired input port can be set as
a forced brake-release input.
Retain output conditions upon
actuation of an emergency stop
or opening of the safety gate.
The minimum and maximum
output port numbers can be set to
specify a range of outputs whose
condition is to be retained.
18
19
20
Start a program when the
emergency stop input turns ON
or the safety gate opens.
Programs that can be started in
these conditions are limited to
those not containing I/O
processing, calculation
processing or any other
processing involving actuator
operation (PIO processing
programs).
A PIO processing program to be
started in these conditions can be
set. The program number of the
applicable PIO processing
program, and the minimum and
maximum output port numbers
indicating the range of processed
outputs, are set by parameters.
Parameter setting
Operation/outcome
Set the following value in the I/O parameter “Output
function selection n” corresponding to the selected input
port:
I/O parameter “Output function specification value” = 13
Set the following value in the I/O parameter “Output
function selection n” corresponding to the selected input
port:
I/O parameter “Output function specification value” = 15
Set the following value in the I/O parameter “Output
function selection n” corresponding to the selected input
port:
I/O parameter “Output function specification value” = 16
Set the following value in each I/O parameter “Input
function selection n” corresponding to the selected input
port:
I/O parameter “Input function specification value” = 22
(Axis 1)
I/O parameter “Input function specification value” = 23
(Axis 2)
Setting example) To set input port No. 12 as the brake
release input for axis 2, set “23” in I/O parameter No.
42.
I/O parameter No. 70 = Min. output port number
I/O parameter No. 71 = Max. output port number
Setting example) To retain the conditions of output port
Nos. 303 through 307, set as follows:
I/O parameter No. 70 = 303
I/O parameter No. 71 = 307
The specified port will turn ON when all
valid axes have completed home return.
Other parameter No. 2 = PIO processing program
number
Other parameter No. 70 = Min. output port number
Other parameter No. 71 = Max. output port number
Setting example) To start program No. 5 that processes
output port Nos. 303 through 307, set as follows:
Other parameter No. 2 = 5
Other parameter No. 70 = 303
Other parameter No. 71 = 307
The specified port will turn ON when the
voltage of the system-memory backup
battery became low.
The specified port will turn ON when the
voltage of the absolute encoder battery
became low.
The brake will be forcibly released when
the specified port turns ON.
← The conditions of output port Nos.
303 through 307 will be retained when
the emergency stop input turns ON or
the safety gate opens.
← Program No. 5 will start when the
emergency stop input turns ON or the
safety gate opens.
Output port Nos. 303 through 307 can
be processed.
Appendix
Description
Action
Parameter setting
Operation/outcome
Switch between the AUTO mode
and MANUAL mode using an
input port.
A desired input port can be set as
a mode switching input.
Set the following value in the I/O parameter
“Input function selection n” corresponding to the
selected input port:
I/O parameter “Input function specification
value” = 21
Automatically restart the
controller (effect a software
reset) and start the auto-start
program after an emergency
stop has been reset.
Automatically reset errors and
start the auto-start program after
an emergency stop has been
reset.
The emergency-stop recovery
type can be set to “Abort
operations/programs (Software
reset when the emergency stop is
reset).”
The emergency-stop recovery
type can be set to “Abort
operations/programs (Error reset
and auto-start program start when
the emergency stop is reset).”
The emergency-stop recovery
type can be set to “Operation
continued.”
A desired port can be selected as
a pause reset input.
A desired port can be selected as
a restart input.
Other parameter No. 10 = 3
Other parameter No. 7 = 1
Set the mode switch to the “AUTO” side. The
controller will switch to the AUTO mode when
the specified input port turns OFF, and to the
MANU mode when the port turns ON.
If the mode switch is set to the “MANU” side, the
controller will remain in the MANU mode
regardless of the ON/OFF level of the input port.
After the emergency stop button has been reset,
the controller will be reset (software reset will be
effected) automatically and the auto-start
program will start.
Other parameter No. 10 = 4
Other parameter No. 7 = 1
“17” must not be set as the “input function
specification value” in the I/O parameter “Input
function selection n.”
Other parameter No. 10 = 2.
Set the following value in each I/O parameter
“Input function selection n” corresponding to the
selected input port:
I/O parameter “Input function specification
value” = 7
I/O parameter “Input function specification
value” = 3 (To ensure the specified operation
cancellation method will work)
Setting example) To set input port No. 5 as the
pause reset input and input port No. 1 as the
restart input, set “7” in I/O parameter No. 35 and
“3” in I/O parameter No. 31.
After the emergency stop button has been reset,
errors will be reset automatically and the autostart program will start.
Install the optional systemmemory backup battery.
Other parameter No. 20 = 2
When this setting is enabled, SEL global data
and error list will be retained even after the main
power is turned off.
21
22
23
24
25
Continue to operate the actuator
after an emergency stop has
been reset (= resume actuator
operation from immediately
before the emergency-stop input
signal turned ON). When an
emergency-stop input signal is
ON, all programs remain active
and only programs involving
actuator operation will be
stopped.
(When an emergency stop is
actuated, all programs in which
actuator operations are not
specified will remain active.
Programs in which actuator
operations are specified will run
until reaching a step in which an
actuator operation command is
specified.)
Use the system-memory backup
battery.
After the emergency stop button has been reset,
the actuator operation will resume at the ON
edge of the port for which the input function
specification value 7 (operation-pause reset
signal) is set.
To abort the remaining operation, do not allow
the port for which the input function specification
value 7 is set to receive an ON signal edge.
Instead, turn ON for at least 1 second the port
for which the input function specification value 3
(software reset signal) is set, in order to restart
the controller.
Appendix
371
Appendix
4. Servo Gain Adjustment
Since the servo has been adjusted at the factory in accordance with the standard specification of the
actuator, the servo gain need not be changed in normal conditions of use.
However, vibration or noise may occur depending on how the actuator is affixed, specific load condition,
and so on, and therefore the parameters relating to servo adjustment are disclosed to allow the customer
to take quick actions should adjustment become necessary.
Particularly with custom models (whose ball screw lead or stroke is longer than that of the standard
model), vibration/noise may occur due to external conditions.
In this case, the parameters shown below must be changed. Contact IAI for details.
z Position gain
Axis-specific parameter
number
60
Unit
Input range
/sec
1 to 9999
Default value
(reference)
30
This parameter determines the level of response with respect to a position control loop.
Increasing the setting improves compliance with the position command.
However, increasing the setting too much increases the tendency of the actuator to overshoot.
If the setting is low, compliance with the position command drops and the positioning time increases as
a result.
Speed
Setting is high (overshoot)
Setting is low
Time
z Speed loop proportional gain
Driver parameter
number
43
Unit
Input range
---
1 to 32767
Default value
(reference)
500
This parameter determines the level of response with respect to a speed control loop.
Increasing the setting improves compliance with the speed command (i.e., servo rigidity increases).
The greater the load inertia, the higher the setting should be.
However, increasing the setting too much increases the tendency of the actuator to overshoot or
oscillate, resulting in increased mechanical vibration.
Speed
Setting is high (overshoot)
Setting is low
Time
372
Appendix
z Speed loop integral gain
Driver parameter
number
44
Unit
Input range
---
1 to 3276700
Default value
(reference)
1667
This parameter determines the level of response with respect to a speed control loop.
Decreasing the setting results in lower response to the speed command and decreases the reactive
force upon load change. If the setting is too low, compliance with the position command drops and the
positioning time increases as a result.
Increasing the setting too much increases the tendency of the actuator to overshoot or oscillate,
resulting in increased mechanical vibration.
Speed
Setting is high (overshoot)
Setting is low
Time
z Torque filter time constant
Driver parameter
number
45
Unit
Input range
---
0 to 2500
Default value
(reference)
0
This parameter determines the filter time constant applicable to the torque command.
If the mechanical resonance frequency is equal to or lower than the servo loop response frequency,
the motor will vibrate.
This mechanical resonance can be suppressed by increasing the setting of this parameter.
It should be noted, however, that increasing the setting too much may affect the stability of the control
system.
z Current control band number
Driver parameter
number
46
Unit
Input range
---
0 to 4
Default value
(reference)
4
This parameter sets the control band of the PI current control system.
Normally the default setting should not be changed.
If this parameter is changed carelessly, stability of the control system may be affected and a very
dangerous situation may occur.
Changing this parameter may be effective in certain situations, such as when resonance noise occurs.
If you wish to change the setting of this parameter, please contact IAI.
373
Appendix
 List of Parameters
If you have any question regarding changing the parameters, please contact IAI’s Sales Engineering
Section. After changing a parameter, record the new and old parameter settings.
If you have purchased the PC software, we recommend that you back up the parameters immediately
after the controller is delivered and when the system incorporating the controller is started. Since a
number of customizing settings use parameters, you should back up the parameters regularly as you
back up the programs.
To make the new parameters effective, write them to the flash ROM and then execute a software reset
or reconnect the power.
The lists below are examples of default values displayed on the PC software. The default parameter
settings vary depending on the operating condition and actuators used.
The values in the “Input range” column represent input limitations on the teaching pendant or in PC
software. For the actual settings, enter the values defined in the “Remarks” column.
Values other than those defined in the “Remarks” column are for future expansion, even when they are
inside the input range.
Therefore, do not enter values other than those defined in the “Remarks” column.
374
Appendix
1. I/O Parameters
1.1
No.
I/O Parameters
Parameter name
1
I/O port assignment
type
2
Input port start number
with fixed standard I/O
assignments (I/O1)
Output port start
number with fixed
standard I/O
assignments (I/O1)
For future expansion
3
4~
9
10
Standard I/O error
monitor
11 ~ For future expansion
13
14 Network system
reservation
15 Network system
reservation
16 Network system
reservation
17 Network system
reservation
18 Network system
reservation
19 (For expansion)
Default value
(Reference)
Input range
1
0 ~ 20
000
-1 ~ 599
0: Fixed assignment
1: Automatic assignment (Priority: Network I/F module Æ Standard
I/O; * Ports are assigned only for the installed adjoining slots,
starting from the standard I/O slot = For safety reasons)
0 + (Multiple of 8) (Invalid if a negative value is set)
300
-1 ~ 599
300 + (Multiple of 8) (Invalid if a negative value is set)
-1
-1 ~ 599
1
0~5
1
0~5
0
0 ~ 256
0
0 ~ 256
-1
-1 ~ 599
-1
-1 ~ 599
1
0~5
Unit
Remarks
0: Do not monitor
1: Monitor
2: Monitor (Do not monitor errors relating to 24-V I/O power source)
3: Monitor (Monitor only errors relating to 24-V I/O power source)
* Some exceptions apply.
* If this parameter is set to “0” (= Do not monitor) or “2” (= Do not
monitor errors relating to 24-V I/O power source), a system error will
not generate even when the 24-V I/O power source presents
abnormality. However, the actual outputs from digital I/Os will be cut
off by circuitry thereafter to protect the controller.
0
20
Input filtering periods
2
1~9
21
0
1~9
22
For future expansion
(change prohibited)
For future expansion
0
0 ~ 99999
23
For future expansion
0H
24
I/O setting bit pattern 1
10000H
0H ~
FFFFFFFFH
0H ~
FFFFFFFFH
25
I/O setting bit pattern 2
0H
26
(For expansion)
msec Input signal is recognized when the status is held for twice the period
set by this parameter.
msec
Bits 0 to 3:
RDY OUT function selection (System IO)
(0: SYSRDY (Software = PIO trigger program can be
run) and hardware is normal (emergency stop has
not been actuated and hardware error is not
present)
1: Error of operation-cancellation level or higher is not
present
2: Error of cold-start level or higher is not present)
Bits 4 to 7:
RDY LED function selection
(0: Program can be run
1: Error of operation-cancellation level or higher is not
present
2: Error of cold-start level or higher is not present)
Bits 8 to 19:
(For future expansion)
Bits 20 to 23: ALM LED function selection
(0: Error of message level or higher error is present
1: Error of operation-cancellation level or higher is
present
2: Error of cold-start level or higher is present
3: Error of system-down level or higher is present)
0H ~
FFFFFFFFH
0
375
Appendix
I/O Parameters
No.
27
Parameter name
(For expansion)
Default value
(Reference)
0
Input range
28
(For expansion)
0
29
For future expansion
0
0 ~ 599
30
Input function selection
000
Input function selection
001
Input function selection
002
Input function selection
003
Input function selection
004
Input function selection
005
Input function selection
006
Input function selection
007
Input function selection
008
Input function selection
009
Input function selection
010
Input function selection
011
Input function selection
012
Input function selection
013
Input function selection
014
Input function selection
015
Output function
selection 300
Output function
selection 301
Output function
selection 302
Output function
selection 303
Output function
selection 304
Output function
selection 305
Output function
selection 306
Output function
selection 307
1
0 ~ 99
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
376
Unit
Remarks
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
2
0 ~ 99
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
7
0 ~ 99
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
0 ~ 99
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Appendix
I/O Parameters
No.
Parameter name
54
62
Output function selection
308
Output function selection
309
Output function selection
310
Output function selection
311
Output function selection
312
Output function selection
313
Output function selection
314
Output function selection
315
For future expansion
63
55
Default value
(Reference)
0
Input range
0 ~ 99
0 ~ 99
0
0 ~ 99
0
0 ~ 99
0
0 ~ 99
0
0 ~ 99
0
0 ~ 99
0
0 ~ 99
0
0 ~ 299
For future expansion
0
0 ~ 299
64 ~ For future expansion
67
68 (For expansion)
0
0 ~ 299
57
58
59
60
61
Remarks
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
56
Unit
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
0
69
(For expansion)
0
70
0
0 ~ 599
0
0 ~ 599
300
0 ~ 599
599
0 ~ 599
0
0~8
Referenced by TP.
(Invalid if “0” is set)
0
0 ~ 599
Referenced by TP.
76
Unaffected generalpurpose output area
number (MIN) when all
operations/programs are
aborted
Unaffected generalpurpose output area
number (MAX) when all
operations/programs are
aborted
Unaffected generalpurpose output area
number (MIN) when all
operations are paused
(servo-axis soft interlock
+ output-port soft
interlock)
Unaffected generalpurpose output area
number (MAX) when all
operations are paused
(servo-axis soft interlock
+ output-port soft
interlock)
Number of TP user
output ports used (hand,
etc.)
TP user output port start
number (hand, etc.)
For future expansion
0
0 ~ 599
77
For future expansion
0
0 ~ 299
78
0
0B ~
11111111B
79
Axis pattern permitted to
receive PC/TP servo
movement command for
For future expansion
0
0 ~ 299
80
(PC/TP SIO usage)
1
1~1
81
(PC/TP SIO station
code)
(PC/TP SIO reservation)
153
153 ~ 153
71
72
73
74
75
82
* Important: Outputs in this area must be operated under the
responsibility of user programs including the “I/O processing program
at operation/program abort.” Outputs outside this area will be forcibly
turned OFF.
(Invalid if “0” is set)
* Important: Outputs in this area must be operated (including recovery)
under the responsibility of user programs including the “I/O
processing program at all operations pause.” Outputs outside this
area will be forcibly turned OFF, reflecting/holding the results of
operations performed while all operation pause is effective (only
during automatic operation).
(Invalid if “0” is set)
Switching of DIP switches
Fixed to 153 (99H).
0
377
Appendix
I/O Parameters
83
(PC/TP SIO reservation)
Default value
(Reference)
0
84
(PC/TP SIO reservation)
0
85
(PC/TP SIO reservation)
0
86
(PC/TP SIO reservation)
0
87
(PC/TP SIO reservation)
0
88
(PC/TP SIO reservation)
0
89
(PC/TP SIO reservation)
0
90
Usage of SIO channel 0
opened to user
(AUTO mode)
0
0~9
153
0 ~ 255
0
0~5
8
7~8
1
1~2
0
0~2
0: None 1: Odd 2: Even
0
0~1
0: Forcibly enable receive after send
1: Do not forcibly enable receive at send
0
0 ~ 999
No.
Parameter name
91
Station code of SIO channel
0 opened to user
92 Baud rate type of SIO
channel 0 opened to user
93 Data length of SIO channel
0 opened to user
94 Stop bit length of SIO
channel 0 opened to user
95 Parity type of SIO channel 0
opened to user
96 Receive operation type of
SIO channel 0 opened to
user
97 IAI-protocol minimum
response delay for SIO
channel 0 opened to user
98 (Reservation of SIO
channel 0 opened to user)
99 (Reservation of SIO
channel 0 opened to user)
100 ~ SIO system reservation
Input range
0
0
0
115
0H ~
FFFFFFFFH
116
(For expansion)
0
117
(For expansion)
0
118
(For expansion)
0
119
(For expansion)
120
Network system reservation
1H
121
Network system reservation
0
122
Network system reservation
0
123
Network system reservation
0H
124
Network system reservation
0H
125
Network system reservation
1E32H
126
Network system reservation
7D007D0H
127
Network system reservation
5050214H
128
Network system reservation
0H
129
Network system reservation
0H
130
Network system reservation
0H
131
Network system reservation
0H
132
Network system reservation
192
1 ~ 255
133
Network system reservation
168
0 ~ 255
134
Network system reservation
0
0 ~ 255
135
Network system reservation
1
1 ~ 254
378
0
0H ~
FFFFFFFFH
0H ~
FFFFFFFFH
0H ~
FFFFFFFFH
0H ~
FFFFFFFFH
0H ~
FFFFFFFFH
0H ~
FFFFFFFFH
0H ~
FFFFFFFFH
0H ~
FFFFFFFFH
0H ~
FFFFFFFFH
0H ~
FFFFFFFFH
Reference
only (HEX)
Reference
only (HEX)
Unit
Remarks
0: Open SEL program
1: Open SEL program (Connect PC/TP when both devices
are closed = Used exclusively by the manufacturer)
2: IAI protocol B (Slave)
Valid only with IAI protocol.
0: 9.6, 1: 19.2, 2: 38.4, 3: 57.6, 4: 76.8,
5: 115.2 kbps
msec
Valid only with IAI protocol.
Appendix
I/O Parameters
No.
Parameter name
136
Network system reservation
Default value
(Reference)
255
137
Network system reservation
255
0 ~ 255
138
Network system reservation
255
0 ~ 255
139
Network system reservation
0
0 ~ 255
140
Network system reservation
0
0 ~ 255
141
Network system reservation
0
0 ~ 255
142
Network system reservation
0
0 ~ 255
143
Network system reservation
0
0 ~ 255
144
Network system reservation
64511
1025 ~ 65535
145
Network system reservation
64512
1025 ~ 65535
146
Network system reservation
64513
1025 ~ 65535
147
Network system reservation
64514
1025 ~ 65535
148
Network system reservation
64515
1025 ~ 65535
149
Network system reservation
192
0 ~ 255
150
Network system reservation
168
0 ~ 255
151
Network system reservation
0
0 ~ 255
152
Network system reservation
100
0 ~ 254
153
Network system reservation
64611
0 ~ 65535
154
Network system reservation
192
0 ~ 255
155
Network system reservation
168
0 ~ 255
156
Network system reservation
0
0 ~ 255
157
Network system reservation
100
0 ~ 254
158
Network system reservation
64611
0 ~ 65535
159
Network system reservation
64516
1025 ~ 65535
160 ~
169
170 ~
200
201 ~
224
225 ~
250
(For network expansion)
0
(For expansion)
0
SIO system reservation
(For expansion)
251
Input function selection 016
252
Input function selection 017
253
254
255
256
257
Input function selection 018
Input function selection 019
Input function selection 020
Input function selection 021
Input function selection 022
258
Input function selection 023
259
Input function selection 024
00000000H
Input range
Unit
Remarks
0 ~ 255
0H ~
FFFFFFFFH
0
9
0 ~ 99
10
0 ~ 99
11
0 ~ 99
12
0 ~ 99
13
0 ~ 99
14
0 ~ 99
15
0 ~ 99
3
0 ~ 99
0
0 ~ 99
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
Input function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
379
Appendix
I/O Parameters
260
Input function selection 025
Default value
(Reference)
0
261
Input function selection 026
262
No.
Parameter name
Input range
Unit
Remarks
0 ~ 99
Input function specification value
0
0 ~ 99
Input function specification value
Input function selection 027
0
0 ~ 99
Input function specification value
263
Input function selection 028
0
0 ~ 99
Input function specification value
264
Input function selection 029
0
0 ~ 99
Input function specification value
265
Input function selection 030
0
0 ~ 99
Input function specification value
266
Input function selection 031
0
0 ~ 99
Input function specification value
267
Output function selection 316
0
0 ~ 99
Output function specification value
268
Output function selection 317
0
0 ~ 99
Output function specification value
269
Output function selection 318
0
0 ~ 99
Output function specification value
270
Output function selection 319
0
0 ~ 99
Output function specification value
271
Output function selection 320
0
0 ~ 99
Output function specification value
272
Output function selection 321
0
0 ~ 99
Output function specification value
273
Output function selection 322
0
0 ~ 99
Output function specification value
274
Output function selection 323
0
0 ~ 99
Output function specification value
275
Output function selection 324
0
0 ~ 99
Output function specification value
276
Output function selection 325
0
0 ~ 99
Output function specification value
277
Output function selection 326
0
0 ~ 99
Output function specification value
278
Output function selection 327
0
0 ~ 99
Output function specification value
279
Output function selection 328
0
0 ~ 99
Output function specification value
280
Output function selection 329
0
0 ~ 99
Output function specification value
281
Output function selection 330
0
0 ~ 99
Output function specification value
282
Output function selection 331
0
0 ~ 99
Output function specification value
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
* Refer to 1.2, “I/O Function Lists” under “I/O Parameters” for details.
283 ~ (For expansion)
300
380
0
Appendix
1.2
I/O Function Lists
(1)
Input Function List
Input function
specification value
0
Function name
1
Program start signal (BCD) (ON
edge)
2
Program start signal (BIN) (ON
edge)
3
4
Soft reset signal (ON for 1
second)
Servo ON
5
Auto-start program start signal
6
Soft interlock for all servo axes
(OFF level)
7
Operation-pause reset signal
(ON edge)
Operation pause signal (OFF
level)
Start-program number
specification bit 1 (least
significant bit)
Start-program number
specification bit 2
Start-program number
specification bit 3
Start-program number
specification bit 4
Start-program number
specification bit 5
Start-program number
specification bit 6
Start-program number
specification bit 7
Error reset (ON edge)
8
9
10
11
12
13
14
15
16
17
18
19
20
21
Drive-source cutoff reset input
(ON edge) (Effective when the
problem factor has been
removed)
Home return command signal
for all valid axes (ON edge)
Home return command signal
for all incremental axes (ON
edge)
PC/TP-servo movement
command acceptance
permission input
Remote-mode control input
22
Axis 1 forced brake-release
input
23
Axis 2 forced brake-release
input
24 ~ 27
Remarks
General-purpose input
Specify a BCD program number using the ports to which start-program number
specification bits x (input function specification values 9 through 15) are assigned.
* To ensure starting of the program, keep these bits ON for at least 100 msec.
* The following input functions cannot be assigned at the same time:
• Program start signal (BCD) (input function specification value = 1)
• Program start signal (BIN) (input function specification value = 2)
Specify a binary program number using the ports to which start-program number
specification bits x (input function specification values 9 through 15) are assigned.
* To ensure starting of the program, keep these bits ON for at least 100 msec.
* The following input functions cannot be assigned at the same time:
• Program start signal (BCD) (input function specification value = 1)
• Program start signal (BIN) (input function specification value = 2)
If the emergency-stop recovery type is set to “Operation continued,” enable the soft reset
signal (to ensure the specified operation cancellation method will work.)
ON edge: Same as the all-valid-axes servo ON command
OFF edge: Same as the all-valid-axes servo OFF command (an interval of at least 1.5
seconds is required).
* The signal must be input when the actuator is not operating.
ON edge: Start the program
OFF edge: Abort all operations/programs (excluding the I/O processing program at
operation/program abort)
* Turn ON the signal for at least 100 msec to ensure starting of the program.
Effective when the servo OFF command is not active. Operations will be put on hold if the
interlock signal is input during auto operation. Operations will be aborted if the interlock
signal is input during non-auto operation.
Effective only during auto operation.
* Pause is reset using the operation-pause reset signal.
* Start-program number specification bits x (input function setting values 9 through 15)
cannot be assigned discontinuously from the LSB or in descending order from the LSB
(port numbers are not considered). Program No. 1 (BIN or BCD)
(Same as “Input function specification value = 9”) Program No. 2 (BIN or BCD)
(Same as “Input function specification value = 9”) Program No. 4 (BIN or BCD)
(Same as “Input function specification value = 9”) Program No. 8 (BIN or BCD)
(Same as “Input function specification value = 9”) Program No. 16 (BIN) or 10 (BCD)
(Same as “Input function specification value = 9”) Program No. 32 (BIN) or 20 (BCD)
(Same as “Input function specification value = 9”) Program No. 64 (BIN) or 40 (BCD)
Drive-source cutoff control is not available for axes whose motor-drive power source is not
installed in this controller, or axes whose drive-source cutoff circuit is not controlled by this
controller.
The servo must be turned on first (Input function specification value = 4, axis-specific
parameter No. 13)
The servo must be turned on first (Input function specification value = 4, axis-specific
parameter No. 13)
* Caution: Ineffective once operation is started.
Is the specified DI is ON or the AUTO/MANU switch is set to “MANU,” the system mode
will become MANU.
* Debug filter is disabled on the remote-mode control input port.
When the applicable port turns ON, the brake will be unlocked forcibly (pay attention to
falling load).
* Brake release of the synchronized slave axis conforms to brake release of the
synchronized master axis.
When the applicable port turns ON, the brake will be unlocked forcibly (pay attention to
falling load).
* Brake release of the synchronized slave axis conforms to brake release of the
synchronized master axis.
For future expansion
381
Appendix
(2)
Output Function List
Output function
specification value
0
Function name
1
Operation-cancellation level or
higher error output (ON)
2
Operation-cancellation level or
higher error output (OFF)
Operation-cancellation level or
higher error + emergency stop
output (ON)
Operation-cancellation level or
higher error + emergency stop
output (OFF)
READY output (PIO trigger program
operation enabled)
3
4
5
6
Remarks
General-purpose output
* The following output functions cannot be assigned at the same time:
• Operation-cancellation level or higher alarm output (ON) (Output function
specification value = 1)
• Operation-cancellation level or higher alarm output (OFF) (Output function
specification value = 2)
• Operation-cancellation level or higher alarm + emergency stop output (ON) (Output
function specification value = 3)
• Operation-cancellation level or higher alarm + emergency stop output (OFF)
(Output function specification value = 4)
(Same as “Output function specification value = 1”)
(Same as “Output function specification value = 1”)
(Same as “Output function specification value = 1”)
* The following output functions cannot be assigned at the same time:
• READY output (PIO trigger program operation enabled) (Output function
specification value = 5)
• READY output (PIO trigger program operation enabled AND absence of
operation-cancellation level or higher error) (Output function specification value =
6)
• READY output (PIO trigger program operation enabled AND absence of cold-start
level or higher error) (Output function specification value = 7)
(Same as “Output function specification value = 5”)
9
READY output (PIO trigger program
operation enabled AND absence of
operation-cancellation level or higher
error)
READY output (PIO trigger program (Same as “Output function specification value = 5”)
operation enabled AND absence of
cold-start level or higher error)
Emergency stop output (ON)
* The following output functions cannot be assigned at the same time:
• Emergency stop output (ON) (Output function specification value = 8)
• Emergency stop output (OFF) (Output function specification value = 9)
Emergency stop output (OFF)
(Same as “Output function specification value = 8”)
10
AUTO mode output
11
Auto operation status output
(Other parameter No. 12)
12
All-valid-axes home (= 0) output
13
18
All-valid-axes home return complete
(coordinate confirmed) output
All-valid-axes preset home
coordinate output
Voltage-low warning output for
system-memory backup battery
Voltage-low warning output for
absolute-data backup battery
Drive-source cutoff (SDN)
notification output
For future expansion
* To move the absolute-encoder axis to coordinate 0 or the preset home coordinate,
use a MOVP command instead of a HOME command.
* To move the absolute-encoder axis to coordinate 0 or the preset home coordinate,
use a MOVP command instead of a HOME command.
* To move the absolute-encoder axis to coordinate 0 or the preset home coordinate,
use a MOVP command instead of a HOME command.
19
For future expansion
7
8
14
15
16
17
20 ~ 23
For future expansion
24
Axis 1 servo-ON status output
25
Axis 2 servo-ON status output
26 ~ 29
All axes are checked by the OR gate. Once an abnormal level has been detected, the
signal will remain ON until a power ON reset or software reset is performed.
The output port will turn OFF when the drive source is cut off.
(* Caution: This notification output is implemented only by software means.)
For future expansion
The following assignments are prohibited:
• Assign a specification value not included in the I/O function lists.
• Assign the same input function specification value, which is not for general-purpose input, to multiple input ports.
• Assign the same output function specification value, which is not for general-purpose output, to multiple output ports.
(For the conditions associated with each specification value, refer to the Remarks field of the applicable item.)
If a prohibited assignment is set, an error “I/O function assignment error” will generate and all input ports and output ports will
become general-purpose inputs and general -purpose outputs, respectively.
* In the positioner mode, input and output function assignments are ignored. Each function will follow the corresponding specification
in the positioner mode.
382
Appendix
2. Parameters Common to All Axes
No.
Parameter name
Default value
(Reference)
Input range
Unit
Remarks
~
1
Valid axis pattern
2
Default override
3 ~ 8 (For expansion)
0000B
100
00B ~
11111111B
1 ~ 100
An OFF bit indicates that no driver is installed.
Used if not specified in program. (Invalid for SIO operation)
0
~
11111111B
00B ~
11111111B
(For expansion)
0
11
Default acceleration
30
0H ~
FFFFFFFFH
1 ~ 200
0.01 G
12
Default deceleration
30
1 ~ 200
0.01 G
13
Default speed
30
1 ~ 250
mm/s
14
Valid selection when
operation point data
deceleration is 0
0
0~5
15
Maximum jog speed
when home return is
incomplete
(For expansion)
30
1 ~ 250
0
~
Processing type upon
stationary (non-push)
torque limit over
Maximum operating
speed check timing
0
0~9
1
0~1
Maximum operating
speed for input value
check
Maximum
acceleration
Maximum
deceleration
Minimum emergency
deceleration
1000
1 ~ 9999
mm/s
100
1 ~ 999
0.01 G
100
1 ~ 999
0.01 G
30
1 ~ 300
0.01 G
9
Physical axis pattern
for which enable
switch (deadman
switch/safety gate) is
effective
10
16 ~
18
19
20
21
22
23
24
Not affected by a BASE command. (To make the enable switch
effective for all axes (= it must be effective for all axes, as a rule),
always specify “11111111.” Only when “11111111” is set will the
enable switch be included in the drive-source cutoff factor. If a
value other than “11111111” is set, the drive source will not be cut
off and only the servo of the specified axis will be turned off.)
* All axes are specified if “Other parameter No. 11: Deadman
switch/safety-gate open recovery type” is set to 1 (Reset required
for recovery).
* The drive-source cannot be cut off for axes whose motor-drive
power unit is not housed inside this controller or whose drivesource cutoff circuit is not controlled by this controller.
* If the optional (custom) specification is available, the optional
(custom) specification will be given priority over the deadmanswitch-enabled physical axis/drive-source cutoff specification,
servo OFF specification or 7-segment display specification.
Used if not specified in position data, program or SIO message,
etc.
Used if not specified in position data, program or SIO message,
etc.
Used if not specified in SIO message or position data, when
movement is to be continued, etc.
0: “Deceleration = Acceleration” when the deceleration in the
operation point data is “0”
1: “Deceleration = 0” when the deceleration in the operation point
data is “0”
mm/s
0:
1:
*
0:
1:
Operation-cancellation level error (recommended)
Operation cancellation (SEL command outputs will turn OFF)
Driver errors resulting from overload, etc., will be given priority.
Check at input
Check at operation
* If “Check at operation” is selected, the distribution speed (CP)
of specified speed or the specified speed (PTP) will be
compared against the maximum operating speed of each axis
and clamped at the allowable speed. Accordingly, the system
can achieve its maximum performance in accordance with
the operation command. However, complete check cannot be
performed at input (since the command/operation start
position is indeterminable). In the case of CP, the distribution
speed will vary depending on the operation start position.
Therefore, specifying CP at an unspecified position (first point
movement, etc.) will cause the speed to fluctuate depending
on where the operation is started.
If “Input” is selected as the maximum speed check timing, this
parameter will be used to check for input error.
383
Appendix
Parameters Common to All Axes
No.
Parameter name
25
(Acceleration/deceler
ation at home return
(old))
Acceleration/decelera
tion specification type
Master axis type
26
27
28
Selection of inching
→ jog auto-switching
prohibition
29
All-axis setting bit
pattern 1
30
Default division angle
31
Default division
distance
Arch-trigger startpoint check type
Safety speed in
manual mode
32
33
34 ~
100
(For expansion)
Default value
(Reference)
30
0
0
0
Input range
Unit
1 ~ 300
0.01 G
Reference
only
Reference
only
Reference
only
10000H
0H ~
FFFFFFFFH
150
0 ~ 1200
0
0 ~ 10000
0
0~5
250
1 ~ 250
0
~
~
101
For future expansion
0H
102
For future expansion
0H
103
For future expansion
0H
104
For future expansion
0H
105 ~ (For expansion)
120
0
0H ~
FFFFFFFFH
0H ~
FFFFFFFFH
0H ~
FFFFFFFFH
0H ~
FFFFFFFFH
~
~
~
384
Remarks
(Invalid)
0: T system, 1: P, M system
0: T system, 1: P system
0:
Execute auto-switching (Continuous button ON timer), 1:
Prohibited
* Referenced by the PC/TP (no handy terminal auto-switching
function)
Bits 0 to 3:
Selection of use of last PC/TP inching distance (0:
Do not use, 1: Use)
* Referenced by the PC/TP
(Excluding ANSI-compatible TP)
Bits 4 to 7:
Overrun (servo) error level (0: Operationcancellation level, 1: Cold-start level, 2: Operationcancellation level at reset, thereafter cold-start
level)
Bits 8 to 11:
“Actual-position soft limit over (servo)” error level (0:
Operation-cancellation level, 1: Cold-start level, 2:
Operation-cancellation level at reset, thereafter
cold-start level)
Bits 12 to 15: For future expansion
Bits 16 to 19: Absolute-data backup battery voltage error level
(0: Operation-cancellation level, 1: Message level)
0.1
degree
mm
0:
mm/s
Check operation amount and actual position, 1: Check
operation amount only
* This parameter is treated as a value equivalent to or below the
minimum value set in “Axis-specific parameter No. 29, VLMX
speed” for all valid axes.
Appendix
3. Axis-Specific Parameters
No
Parameter name
Default value
(Reference)
Input range
0
0~1
0
~
1
0~1
Unit
Remarks
~
1
Axis operation type
2 ~ (For expansion)
5
6 Coordinate/physicaloperation direction selection
0: Linear movement axis, 1: Rotational movement axis
(Angle control)
7
Soft limit +
50000
8
Soft limit –
0
9
Soft-limit actual position
margin
Home-return method
2000
-99999999 ~
99999999
-99999999 ~
99999999
0 ~ 9999
0
0~5
0
0~1
12
Home-return end-search
direction selection
Home preset value
0
13
SIO/PIO home-return order
0
-99999999 ~
99999999
0 ~ 16
14
Home-sensor input polarity
0
0~2
15
For future expansion
0
16
For future expansion
0
17
Initial home-sensor pull-out
speed at home return
For future expansion
10
Reference
only
Reference
only
1 ~ 100
mm/sec
20
Reference
only
1 ~ 100
mm/sec
3
1 ~ 10
mm/sec
1000
-99999999 ~
99999999
0.001 mm
0.001 mm
10
11
18
19
20
21
End search speed at home
return
Phase-Z search speed at
home return
Offset travel distance at
home return
100
0.001 mm
0.001 mm
0.001 mm
0.001 mm
Executed from the smallest one.
0: Do not use, 1: Contact a, 2: Contact b
22
Allowable phase-Z position
error check value at home
return
200
0 ~ 99999999
23
Phase-Z count per encoder
revolution
Push stop check time at
home return
Push stop check time at
positioning
1
1~8
700
1 ~ 5000
msec
500
1 ~ 5000
msec
24
25
0: Motor CCW → Positive direction on the coordinate
system
1: Motor CCW → Negative direction on the coordinate
system
Fixed to 359.999 degrees internally in the index mode.
Invalid in the infinite-stroke mode.
Fixed to 0 degree internally in the index mode. Invalid in
the infinite-stroke mode.
Actual position margin in the positioning boundary
critical zone in the infinite-stroke mode
0: Search phase Z after end search, 1: Current position
0 home (This parameter can be specified only with
an incremental encoder. Pay attention to contact.), 2:
Current position = Preset home (This parameter can
be specified only with an incremental encoder. Pay
attention to contact.)
0: Negative end of the coordinate system
1: Positive end of the coordinate system
(Refer to axis-specific parameter No. 76)
Exercise caution, since limitations apply depending on
the read/encoder pulse count.
Offset travel distance from the ideal phase-Z position
(Positive value = Applied in the direction of moving away
from the end) (Refer to axis-specific parameter No. 76)
* Note on absolute encoders
When a value near an integer multiple of the phase-Z
distance (including an offset travel distance of 0) is set
in this parameter, the servo will lock above phase Z
upon absolute reset. As a result, the coordinates may
shift by the pulses corresponding to the phase-Z
distance. Therefore, never set a value near an integer
multiple of the phase-Z distance.
(Provide a sufficient margin with respect to the servo
amplitude.)
Minimum allowable distance between the end
(mechanical or LS) and phase Z in a rotary encoder
specification. Phase-Z search limit in a linear encoder
specification.
Only “1” can be set, in the case of an absolute encoder.
Invalid in the case of a linear encoder.
Used to confirm push action during home return.
Used to confirm push action during PUSH command
operation.
385
Appendix
Axis-Specific Parameters
No
Parameter name
Default value
Input range
(Reference)
1000
0 ~ 99999
Unit
26
(Phase-Z evacuation
distance at absolute home
return (old))
27
Maximum motor speed
5000
28
1000
29
Maximum operating speed
of each axis
VLMX speed
Reference
only
1 ~ 9999
1000
1 ~ 9999
mm/s
30
Servo ON check time
150
0 ~ 5000
msec
31
Offset travel speed at home
return
Actual distance between
phase Z and end
3
1 ~ 500
mm/sec
-1
-1 ~ 99999
0
0 ~ 99999
32
33
Remarks
0.001 mm Evacuation distance from the actual phase-Z position
(Positive value = Applied in the direction of moving away
from the end) (Phase-shift prevention margin) (Refer to axisspecific parameter No. 76)
In rpm when a rotary encoder is used, or in mm/sec when a
linear encoder is used (cannot be changed).
mm/s
During VLMX operation, the maximum operating speed of
each axis or VLMX speed, whichever is lower, is used as the
maximum speed of the applicable axis.
Brake equipped:
Time after receiving a servo-ON start
response until start of brake unlocking
Brake not equipped: Time after receiving a servo ON start
response until transition to an
operation-enabled status
0.001 mm Absolute distance from the end (mechanical or LS).
Obtained automatically if the distance is a negative value.
When multiple actuators are combined, it is recommended to
write the flash ROM after automatic acquisition. (Refer to
axis-specific parameter No. 76)
0.001 mm Absolute distance from the end (mechanical or LS). (Refer to
axis-specific parameter No. 76)
0: Not equipped, 1: Equipped
0
0~1
35
Ideal distance between
phase Z and end
Brake equipment
specification
Brake unlock check time
150
0 ~ 3000
msec
36
Brake lock check time
300
0 ~ 1000
msec
37
Encoder linear/rotary type
0
0~1
38
Encoder ABS/INC type
0
0~1
Time after receiving a brake-unlock start response until
transition to an operation-enabled status
Time after receiving a brake-lock start response until start of
servo OFF
0: Rotary encoder
1: Linear encoder
0: INC, 1: ABS
39
0
0~1
0: Not equipped, 1: Equipped
0
0~1
25
1 ~ 100
42
Magnetic-pole sensor
equipment specification
For future expansion
(change prohibited)
For future expansion
(change prohibited)
Encoder resolution
800
0~
99999999
43
Encoder division ratio
0
Length measurement
correction
45 ~ (For expansion)
46
47 Screw lead
0
34
40
41
44
48 ~ (For expansion)
49
50 Gear ratio numerator
51
-7 ~ 7
0
6000
1~
99999999
0.001 mm Valid only for linear movement axes.
Invalid in the case of a linear encoder.
1~
99999999
1~
99999999
Invalid in the case of a linear encoder.
0
1
1
52
(For expansion)
0
53
Setting bit pattern 1 of each
axis
0
54
Travel distance for push
stop detection at home
return
Travel distance for push
stop detection at positioning
Push-abort deviation ratio at
home return
20
0H ~
FFFFFFFF
H
1 ~ 99999
30
1 ~ 99999
2000
1 ~ 99999
56
386
Pulse/rev, Pulses (before division)/rev, in the case of a rotary encoder.
0.001
0.001 μm/pulse (before division), in the case of a linear
μm/pulse encoder.
Pulses are multiplied by (“n”th power of 1/2).
-99999999 0.001 mm/ Valid only for linear movement axes. (Coordinates other than
~ 99999999
1M
the encoder reference Z point will change proportionally.)
Gear ratio denominator
55
DRVVR
Invalid in the case of a linear encoder.
0.001 mm Used to confirm push action during home return.
0.001 mm Used to confirm push action during PUSH command
operation.
Deviation is compared against “Steady-state deviation of
push speed + Push-speed pulse speed x Abort deviation
ratio.”
Appendix
Axis-Specific Parameters
No
57
Default value
(Reference)
Push-abort deviation ratio at
5000
positioning
Parameter name
Input range
Unit
1 ~ 99999
Remarks
Deviation is compared against “Steady-state deviation of
push speed + Push-speed pulse speed x Abort deviation
ratio.”
58
Positioning band
100
1 ~ 9999
59
27
1 ~ 9999
60
Allowable deviation error
ratio
(Maximum speed pulse
ratio)
Position gain
30
1 ~ 9999
61
FAG
0
0 ~ 999
62
Synchro FB gain
77
0 ~ 1000
63
Stop special output range
1
0 ~ 9999
Pulse
64
Stop special output value
1
0 ~ 999
DRVVR
65
Mating synchro-axis number
0
0~8
66
Mode selection for rotational
movement axis
Short-cut control selection
for rotational movement axis
Mode selection for linear
movement axis
0
0~5
0
0~5
0
0~5
69
(For expansion)
0
~
70
For future expansion
0
71
For future expansion
0
72
DRVVR + offset
0
73
DRVVR – offset
0
74
For future expansion
0
75
For future expansion
0
76
Home-adjustment
parameter set selection
1
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
77
Synchro S pulse
3
0 ~ 99999
78
Maximum takeoff command
amount
0
-3000 ~
3000
79
5
0 ~ 3000
80
Actual takeoff check
distance
Maximum forced-feed range
0
0 ~ 9999
81
Minimum forced-feed range
200
0 ~ 9999
0.001 mm For reduction of settling time. (Invalid range if “0” is set)
(Approx. 1.000 mm as a guideline)
0.001 mm
82
Medium forced-feed range
600
0 ~ 9999
0.001 mm
83
Absolute synchro slave-axis
initialization cancellation
0
0~5
67
68
0.001 mm
Deviation is compared against “Steady-state deviation of
maximum operating speed of each axis + Pulse speed of
maximum operating speed of each axis x Allowable deviation
error ratio.”
/s
Invalid if “0” is set.
Must be input for both axes. (Of the axis pair, the axis with
the smaller axis number becomes the master axis. Both axes
must have the same resolution characteristics. Commands
cannot be issued to the slave axis.) (Invalid if “0” is set)
0: Normal, 1: Index mode
0: Do not select, 1: Select (Valid only in the index mode
AND when an incremental encoder is used)
0: Normal, 1: Infinite-stroke mode (Note: Positioning
boundary applies. This setting can be specified only when
an incremental encoder is used.)
DRVVR
DRVVR
(Change prohibited) To maintain symmetry of the positive
and negative sides.
(Change prohibited) To maintain symmetry of the positive
and negative sides.
(Change prohibited)
0: P21 = Phase-Z evacuation distance at INC home return
P12 = Ideal phase-Z position coordinate
1: P32 is read automatically even when P33 = 0. P33 = 0
indicates “actual distance.”
P21 = Offset travel at home return
P12 = Coordinate achieved by offset travel at home return
P26 = Invalid
(To facilitate adjustment)
Pulse
0.001 mm Maximum lift command amount before brake unlock (Input
with sign)
(Suppression of momentary drop upon servo ON when a
heavy object is placed)
* Important: Input using the same sign as the rising
coordinate direction. (0.100 mm to 0.500 mm in absolute
value as a guideline)
* The servo-ON check time (axis-specific parameter No. 30)
must also be extended (approx. 1000 to 1500 msec) to
provide a sufficient time for rise-direction torque to follow.
(Valid only when installation of brake is specified.)
0.001 mm Absolute value input
Valid only with a synchro slave axis.
387
Appendix
Axis-Specific Parameters
No
84
Parameter name
Default value
(Reference)
5
Input range
Unit
Remarks
0 ~ 100
mm/sec
Maximum travel speed for synchronization position
correction of slave axis. Valid only with a synchro slave axis.
* Note: Not limited by the safety speed.
15
1 ~ 300
0.01 G
0
-99999999 ~
99999999
-99999999 ~
99999999
0 ~ 899
86
Maximum
synchronization
correction speed of
synchro slave axis
Home-return
acceleration/
deceleration
Zone 1 MAX
87
Zone 1 MIN
0
88
Zone 1 output number
0
89
Zone 2 MAX
0
90
Zone 2 MIN
0
91
Zone 2 output number
0
92
Zone 3 MAX
0
93
Zone 3 MIN
0
94
Zone 3 output number
0
95
Zone 4 MAX
0
96
Zone 4 MIN
0
97
Zone 4 output number
0
98
For future expansion
0
99
For future expansion
0
85
100 ~ (For expansion)
118
119 FSG
-99999999 ~
99999999
-99999999 ~
99999999
0 ~ 899
-99999999 ~
99999999
-99999999 ~
99999999
0 ~ 899
-99999999 ~
99999999
-99999999 ~
99999999
0 ~ 899
0
Reference
only
Reference
only
~
0
0 ~ 100
120
FFF
10
0 ~ 100
121~
170
171
(For expansion)
0
~
0
~
172
0
~
173
0
~
174
0
~
175
0
~
176
0
~
0
~
~ 200 (For expansion)
388
0.001 mm Valid only when MAX > MIN. * Must be inside the range for
at least 3 msec.
0.001 mm Valid only when MAX > MIN. * Must be inside the range for
at least 3 msec.
Physical output port or global flag (Output is invalid if “0” is
input; multiple specification is invalid)
0.001 mm Valid only when MAX > MIN. * Must be inside the range for
at least 3 msec.
0.001 mm Valid only when MAX > MIN. * Must be inside the range for
at least 3 msec.
Physical output port or global flag (Output is invalid if “0” is
input; multiple specification is invalid)
0.001 mm Valid only when MAX > MIN. * Must be inside the range for
at least 3 msec.
0.001 mm Valid only when MAX > MIN. * Must be inside the range for
at least 3 msec.
Physical output port or global flag (Output is invalid if “0” is
input; multiple specification is invalid)
0.001 mm Valid only when MAX > MIN. * Must be inside the range for
at least 3 msec.
0.001 mm Valid only when MAX > MIN. * Must be inside the range for
at least 3 msec.
Physical output port or global flag (Output is invalid if “0” is
input; multiple specification is invalid)
* Change is prohibited unless instructed by the manufacturer.
Appendix
4. Driver Parameters
No.
Parameter name
1
Type (upper) (Manufacturing
information)
Type (middle) (Manufacturing
information)
Type (lower) (Manufacturing information)
2
3
4
Default value
(Reference)
Space
Space
Space
Manufacturing data (Manufacturing
information)
Manufacturing data (Manufacturing
information)
Manufacturing data (Manufacturing
information)
Manufacturing data (Manufacturing
information)
Board type (Function information)
Space
Installation type word 1
(Function information)
Installation type word 2
(Function information)
(Function information)
0101H
0000H
15
Software version
(Function information)
Maximum supported motor ID number
(Function information)
Motor control data use selection
(Function information)
(Function information)
16
(Function information)
0000H
17
(Function information)
0000H
18
(Function information)
0000H
19
(Function information)
0000H
20
(Function information)
0000H
21
(Function information)
0000H
22
(Function information)
0000H
23
(Configuration information)
0000H
24
0014H
27
Configuration capacity (rated motor
output) (compatible with E, priority on E)
(configuration information)
Configuration voltage (motor voltage)
(compatible with E, priority on E)
(configuration information)
Motor/encoder configuration information
(compatible with E, priority on E)
(configuration information)
(Configuration information)
28
(Configuration information)
0000H
5
6
7
8
9
10
11
12
13
14
25
26
Space
Space
Space
0
0000H
0000H
0000H
0000H
0000H
Input range
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Unit
Remarks
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
W
For adjustment by the manufacturer
V
For adjustment by the manufacturer
0018H
Reference
only
0005H
Reference
only
For adjustment by the manufacturer
0000H
Reference
only
Reference
only
For adjustment by the manufacturer
For adjustment by the manufacturer
389
Appendix
Driver parameters
No.
Parameter name
29
Motor/encoder characteristic word
(compatible with E, priority on E)
(configuration information)
Motor/encoder control word 1
(compatible with E, priority on E)
(configuration information)
Motor/encoder control word 2
(compatible with E, priority on E)
(configuration information)
Motor/encoder control word 3
(configuration information)
(encoder cable length) [m]
30
31
32
33
Default value
(Reference)
0000H
Input range
Unit
Remarks
Reference
only
For adjustment by the manufacturer
5000
Reference
only
0.1 K (Kelvin =
For adjustment by the manufacturer
temperature unit)
0000H
Reference
only
For adjustment by the manufacturer
2
1 ~ 30
14H
%
Encoder cable length (m)
If the encoder has been replaced, don’t
forget to change the setting of this
parameter.
For adjustment by the manufacturer
0000H
35
Motor/encoder control word 4
(configuration information)
Motor/encoder control word 5
(configuration information)
(Configuration information)
36
(Configuration information)
0000H
37
(Configuration information)
0000H
38
Push torque limit at positioning
70
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
0 ~ 70
39
Push torque limit at home return
120
0 ~ 150
%
40
Maximum torque limit
300
10 ~ 400
%
41
0
0~1
0
0~1
0: Disable, 1: Enable
43
Dynamic brake operation
specification
Software DB operation
specification
Speed loop proportional gain
* The maximum value that can be set varies
depending on the motor, etc.
(Data for other model)
500
1 ~ 32767
44
Speed loop integral gain
1667
1 ~ 3276700
45
Torque filter time constant
0
0 ~ 2500
46
Current control band number
4
0~4
47
Current ON time for excitedphase signal detection step
Excited-phase signal detection
method
128
0 ~ 32767
1
0~2
0
0~1
0
0~1
(Data for other model)
0
0 ~ 100
52
Excited-phase signal detection
direction
Excited-phase fixed mode:
Torque-limit switching type
Excited-phase fixed mode:
Torque limit
(For expansion)
0: Current suppression method
1: Distance suppression method
2: Distance suppression method (300%
excitation) (Main application version
0.10 or later)
0: CW, 1: CCW
0H
53
Current control word 1
0H
54
Current control word 2
0H
55
Current control word 3
0H
56
Current control word 4
0H
57
Current control word 5
0H
58
Current control word 6
0H
59
Current control word 7
0H
0000H ~
FFFFH
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
0000H ~
FFFFH
34
42
48
49
50
51
390
0000H
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
Proportional gain
Integral gain
ms
%
(Data for other model)
Appendix
Driver parameters
No.
60
61 ~
67
68 ~
97
Parameter name
Current control word 8
Default value
(Reference)
0H
(For expansion)
0H
For future expansion
0H
Input range
Unit
Remarks
00000000H ~
FFFFFFFFH
00000000H ~
FFFFFFFFH
Reference only
391
Appendix
5. Encoder Parameters
No.
1
2
3
4
5
6
7
8
9
Parameter name
Type (upper) (Manufacturing
information)
Type (middle) (Manufacturing
information)
Type (lower) (Manufacturing
information)
Manufacturing data (Manufacturing
information)
Manufacturing data (Manufacturing
information)
Manufacturing data (Manufacturing
information)
Manufacturing data (Manufacturing
information)
Board type (Function information)
Default value
(Reference)
Space
Space
Space
Space
Space
Space
Space
0
19
Configuration capacity (rated motor
output) (compatible with X/E) (function
information)
Configuration voltage (motor voltage)
(compatible with X/E) (function
information)
Motor/encoder configuration
information (compatible with X/E)
(function information)
Encoder resolution (upper word)
(compatible with X/E) (function
information)
Encoder resolution (lower word)
(compatible with X/E) (function
information)
Motor/encoder characteristic word
(compatible with X/E) (function
information)
Motor/encoder control word 1
(function information)
Motor/encoder control word 2
(function information)
Motor/encoder control word 3
(function information)
Motor/encoder control word 4
(function information)
(Function information)
20
(Function information)
0000H
21
(Function information)
0000H
22
(Function information)
0000H
10
11
12
13
14
15
16
17
18
23 ~ Card parameter (by board type)
30
392
0000H
Input range
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Unit
Remarks
W
For adjustment by the manufacturer
V
For adjustment by the manufacturer
0000H
Reference
only
0000H
Reference
only
For adjustment by the manufacturer
0000H
Reference
only
For adjustment by the manufacturer
0000H
Reference
only
For adjustment by the manufacturer
0000H
Reference
only
For adjustment by the manufacturer
0000H
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
Reference
only
0.1 K (Kelvin =
For adjustment by the manufacturer
temperature unit)
For adjustment by the manufacturer
0000H
0000H
0001H
0000H
0000H
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
For adjustment by the manufacturer
Appendix
6. I/O Devices
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23 ~
52
53 ~
82
Parameter name
Type (upper) (Manufacturing
information)
Type (middle) (Manufacturing
information)
Type (lower) (Manufacturing
information)
Manufacturing data
(Manufacturing information)
Manufacturing data
(Manufacturing information)
Manufacturing data
(Manufacturing information)
Manufacturing data
(Manufacturing information)
Board type (Function
information)
Function information 01 (by
board type)
Function information 02 (by
board type)
Function information 03 (by
board type)
Function information 04 (by
board type)
Function information 05 (by
board type)
Function information 06 (by
board type)
Function information 07 (by
board type)
Function information 08 (by
board type)
Function information 09 (by
board type)
Function information 10 (by
board type)
Function information 11 (by
board type)
Function information 12 (by
board type)
Function information 13 (by
board type)
Function information 14 (by
board type)
Device parameter (by board
type)
Query information 01 to 30 (by
board type)
Default value
(Reference)
Space
Reference only
For adjustment by the manufacturer
Space
Reference only
For adjustment by the manufacturer
Space
Reference only
For adjustment by the manufacturer
Space
Reference only
For adjustment by the manufacturer
Space
Reference only
For adjustment by the manufacturer
Space
Reference only
For adjustment by the manufacturer
Space
Reference only
For adjustment by the manufacturer
0
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
0000H
Reference only
For adjustment by the manufacturer
Input range
Unit
Remarks
393
Appendix
7. Other Parameters
No.
1
2
Parameter name
Auto-start program
number
I/O processing program
number at
operation/program abort
Default value
(Reference)
0
Input range
0
0 ~ 64
The start trigger is determined from the “I/O processing
program start type at operation/program abort.” (Note: This
program will be started before confirming an abort of other
programs.)
(Invalid if “0” is set) * If the setting is valid, the number of user
program tasks that can be used will decrease by 1.
This program will be started when an all-operation-pause
command is issued due to an all-operation-pause factor. (Only
when a program is running) (Invalid if “0” is set) * If the setting
is valid, the number of user program tasks that can be used will
decrease by 1.
0: Cancel only the program in which an error of operationcancellation level or higher has generated. (If the error
requires the drive source to be cut off or a servo-OFF or allaxis servo-OFF request to be issued, all programs other
than the “I/O processing program at operation/program
abort” will be cancelled.)
1: Cancel all programs other than the “I/O processing program
at operation/program abort” when an error of operationcancellation level or higher has generated.
0: When all-operation-cancellation factor has generated (Only
when a program is running)
1: When all-operation-cancellation factor has generated
(Always)
2: All-operation-cancellation factor + Error of operationcancellation level or higher (“Other parameter No. 4 = 0” is
considered) (Only when a program is running)
3: All-operation-cancellation factor + Error of operationcancellation level or higher (“Other parameter No. 4 = 0” is
considered) (Always)
* The setting will become effective after the controller, PC or
TP is restarted.
0: Do not start the auto-start program upon power ON
reset/software reset
1: Start the auto-start program
I/O processing program
number at all operation
pause
0
0 ~ 64
4
Program abort type at
error
0
0~5
5
I/O processing program
start type at
operation/program abort
0
0~5
6
PC/TP reconnection delay
at software reset
Auto program start setting
14000
1 ~ 99999
1
0~5
8
(For expansion)
0
9
For future expansion
(change prohibited)
Emergency-stop recovery
type
0
0~2
0
0~4
0
0~2
10
11
394
Enable switch
(deadman/enable switch)
recovery type
Remarks
(Invalid if “0” is set)
3
7
Unit
0 ~ 64
msec
0: Abort operations/programs
1: Recovery after reset
2: Operation continued (Only during automatic operation.
* Operation commands from the PC/TP will be aborted on
the PC/TP side.)
3: Abort operations/programs (Software reset when the
emergency stop is reset. The home-return completion
status of incremental-encoder axes will be reset (EG
approximation swap).)
4: Abort operations/programs (Error reset (only with an error
of operation-cancellation level or lower) and auto-start
program start (only if AUTO mode AND other parameter
No. 7 = 1 AND I/O parameter “Input function selection” ≠ 17
AND all-operation-cancellation factor is not present) when
the emergency stop is reset.
There must be a minimum interval of 1 second after an
emergency stop is actuated before it is reset. The homereturn completion status of incremental-encoder axes will
be retained.
0: Abort operations/programs
1: Recovery after reset
2: Operation continued (Only during automatic operation.
* Operation commands from the PC/TP will be aborted on
the PC/TP side.)
Appendix
Other Parameters
No.
12
Parameter name
Automatic operation
recognition type
13 ~ (For expansion)
19
20 System-memory backup
battery installation
function type
Default value
(Reference)
0
Input range
0
0~2
0: Not installed (SEL global data/error lists cannot be
recovered from the flash ROM)
1: Not installed (SEL global data/error lists can be
recovered from the flash ROM)
2: Installed
* When the power is turned on without battery installed,
point data can be copied from the flash ROM. * Use of
setting “1” will be prohibited for the time being due to
limitations. * When point data is lost due to a battery
error, the point data valid before the flash ROM was
written can be restored → Input “0” (not installed) and
transfer the setting to the controller, and then perform
a software reset without writing the flash ROM. The
point data last written to the flash ROM will be
restored. Thereafter, reset this parameter to the
original value. (No remedy is available for recovery of
SEL global data/error lists.)
0: Always enable edit and SIO/PIO start (Initial condition
after connection = With safety speed)
1: Select edit and start (with password) (EU, etc.)
2: Always enable edit and SIO/PIO start (Initial condition
after connection = Without safety speed (cancellation))
* Referenced by the PC/TP.
0: J, 1: E, 2: EU
0
Manual mode type
0
0~5
22
Control use region
0
0 ~ 99
23
PSIZ command function
type
Local variable number
for storing SEL
communication
command return code
Operation mode type
0
0~5
99
1 ~ 99
1001 ~ 1099
0
0 ~ 16
25
26 ~ (For expansion)
29
30 Option Password 00
0: Maximum number of point data areas
1: Number of point data used
0: Program mode
1 to 16: Positioner mode
0
0H
0H ~
FFFFFFFFH
31
Option Password 01
0H
0H ~
FFFFFFFFH
32
Option Password 02
0H
0H ~
FFFFFFFFH
0
0H ~
FFFFFFFFH
33 ~ (For expansion)
35
Remarks
0: Program is running AND all-operation-cancellation factor
is not present
1: [Program is running OR in AUTO mode] AND alloperation-cancellation factor is not present
21
24
Unit
0~3
HOME command option (Change prohibited)
* Change is prohibited unless instructed by the
manufacturer.
Reserved (Change prohibited)
* Change is prohibited unless instructed by the
manufacturer.
Reserved (Change prohibited)
* Change is prohibited unless instructed by the
manufacturer.
395
Appendix
Other Parameters
No.
Parameter name
Default value
(Reference)
0H
Input range
36
PC/TP data protect
setting (Program)
37
PC/TP data protect
setting (Position)
0H
0H ~
FFFFFFFFH
38
PC/TP data protect
setting (Symbol,
parameter)
0H
0H ~
FFFFFFFFH
39
(For future expansion)
0H
0H ~
FFFFFFFFH
396
0H ~
FFFFFFFFH
Unit
Remarks
Bits 0 to 3:
Protect type (0: Read/write, 1: Read only, 2:
No read/write)
Bits 4 to 7:
Protect release method (0: Special operation)
Bits 8 to 11:
Protect range maximum number (1’s place,
BCD)
Bits 12 to 15:
Protect range maximum number (10’s place,
BCD)
Bits 16 to 19:
Protect range minimum number (1’s place,
BCD)
Bits 20 to 23:
Protect range minimum number (10’s place,
BCD)
* Referenced by the PC/TP
Bits 0 to 3:
Protect type (0: Read/write, 1: Read only, 2:
No read/write)
Bits 4 to 7:
Protect release method (0: Special
operation)
Bits 8 to 11:
Protect range maximum number (10’s place,
BCD)
Bits 12 to 15:
Protect range maximum number (100’s
place, BCD)
Bits 16 to 19:
Protect range maximum number (1000’s
place, BCD)
Bits 20 to 23:
Protect range minimum number (10’s place,
BCD)
Bits 24 to 27:
Protect range minimum number (100’s
place, BCD)
Bits 28 to 31:
Protect range minimum number (1000’s
place, BCD)
* The value in the 1’s place is considered “0” for both the
protect range maximum/minimum numbers.
* Referenced by the PC/TP
Bits 0 to 3:
Protect type (Parameter) (0: Read/write, 1:
Read only, 2: No read/write)
Bits 4 to 7:
Protect release method (Parameter) (0:
Special operation)
Bits 8 to 11:
Protect type (Symbol) (0: Read/write, 1: Read
only, 2: No read/write)
Bits 12 to 15:
Protect release method (Symbol) (0: Special
operation)
* Referenced by the PC/TP
Appendix
Other Parameters
No.
40
41
Parameter name
EEPROM
information check
type
Default value
(Reference)
02H
Input range
0H ~
FFFFFFFFH
Unit
Remarks
0: Disable checksum, 1: Enable checksum
Bit 0 = (For future expansion)
Bit 1 = Encoder
Bits 2 to 7 = (For future expansion)
0: Do not use EEPROM, 1: Use EEPROM
Bits 16 to 23 = (For future expansion)
Bits 0 = (For future expansion)
0H
0H ~
FFFFFFFFH
42
Hardware
information check
type
Hardware test type
0H
Bits 0 to 2 = (For future expansion)
43
For future expansion
0H
0H ~
FFFFFFFFH
0H ~
FFFFFFFFH
Bits 0 to 3:
44
(For expansion)
0
45
Special start
condition setting
0
0H ~
FFFFFFFFH
46
Other setting bit
pattern 1
2011H
0H ~
FFFFFFFFH
47 ~ (For expansion)
48
Enable start from PC/TP in AUTO mode = Used
exclusively by the manufacturer (0: Do not enable, 1:
Enable)
Bits 4 to 7:
PIO program start (Input port 000)
Single start selection (0: Normal, 1: Single start)
* In accordance with the input port for which the I/O
parameter “Input function selection” has been set to
“1” or “2.”
* When single start is selected, the next PIO program
start will not be accepted as long as a program with
the same program number as the one started by
the last PIO program start is running.
Bits 8 to 11:
Permission of auto program start when all-operationcancellation factor is present
(0: Do not permit, 1: Permit)
Bits 12 to 15: Permission of ON edge acceptance for PIO-program
start when all-operation-cancellation factor is present
(0: Do not permit, 1: Permit)
* In accordance with the input port for which the I/O
parameter “Input function selection” has been set to
“1” or “2.”
* This parameter specifies an ON-edge acceptance
condition. If the starting condition is not satisfied,
an “Error No. A1E: Start condition non-satisfaction
error” will generate.
Bits 0 to 3:
Variable-value format type in response message to
real-number/variable query
(0: Big endian with four upper/lower binary-converted
bytes reversed, 1: Big endian)
Bits 4 to 7:
Decimal-place rounding selection for real-number →
integer-variable assignment in LET/TRAN
commands (0: Do not round, 1: Round)
Bits 8 to 11:
For future expansion
* Change strictly prohibited unless specified by the
manufacturer.
Bits 12 to 15: Selection of processing to be performed when
subroutine first step input condition is not specified
when TPCD command = 1
(0: Do not execute, 1: Execute, 2: Error)
0
397
Appendix
Other Parameters
No.
49
Parameter name
Panel 7-segment
display data type
Default value
(Reference)
0
Input range
Unit
0~9
Remarks
0: Display controller status
1: Display motor current indicator
The current pattern of each axis is displayed instead of
“ready status” or “program run number.”
“Minimum indicator-displayed axis number” (far-right
column) is specified by “Other parameter No. 50.”
0 < Motor current to rating ratio (%) ≤ 25
25 < Motor current to rating ratio (%) ≤ 50
50 < Motor current to rating ratio (%) ≤ 75
75 < Motor current to rating ratio (%) ≤ 100
100 < Motor current to rating ratio (%) ≤ 150
150 < Motor current to rating ratio (%) ≤ 200
200 < Motor current to rating ratio (%)
2: Display user information number (U001 to U999)
The user information number is displayed instead of
“ready status” or “program run number” only when the
user information number is not “0.” “Global integer
variable number for specifying user information number”
is specified by “Other parameter No. 50.”
50
51
52 ~
70
71
72
73
74
75
70 ~
100
398
Auxiliary specification
for panel 7-segment
display data type
Monitoring-data
buffering period
(For expansion)
Positioner mode
parameter 1
Positioner mode
parameter 2
Positioner mode
parameter 3
Positioner mode
parameter 4
Positioner mode
parameter 5
(For expansion)
0
-99999999 ~
99999999
10
1 ~ 100
0
0
0
0
0
0
0
-99999999 ~
99999999
-99999999 ~
99999999
-99999999 ~
99999999
-99999999 ~
99999999
-99999999 ~
99999999
* Refer to the Remarks field for “Other parameter No. 49.”
msec
Appendix
8. Manual Operation Types
The selectable operation types will vary depending on the setting of the “Manual operation type”
parameter (Other parameter No. 21).
(1) PC software
[1] Setting = 0 (Always enable edit and SIO/PIO start)
Operation type
Password
With safety speed
Without safety
speed
[2]
Edit
Safety
speed
Not required.
{
{
Not required.
{
Functions
Jog, move,
continuous
move
{
SIO program
start
PIO program
start
{
{
{
{
{
SIO program
start
PIO program
start
Setting = 1 (Select edit and start (with password))
Edit
Safety
speed
{
{
Functions
Jog, move,
continuous
move
{
{
{
{
1818 (*1)
{
{
1819 (*1)
{
{
Operation type
Password
Edit and jog
SIO start and jog
(safety speed)
SIO start and jog
SIO/PIO start and
jog
Not required.
1817 (*1)
(*1)
{
PC software version 0.0.6.0 or later (“0000” in versions 0.0.0.0 through 0.0.5.x)
(2) Teaching pendant
[1] Setting = 0 (Always enable edit and SIO/PIO start)
Safety-speed enable
selection
Password
Enable
Disable
[2]
Edit
Safety speed
Not required.
{
{
Not required.
{
Functions
Jog, move,
continuous
move
{
SIO program
start
PIO program
start
{
{
{
{
{
Functions
Jog, move,
continuous
move
{
SIO program
start
PIO program
start
Setting = 1 (Select edit and start (with password))
Safety-speed enable
selection
Password
Enable
Disable
Edit
Safety speed
Not required.
{
{
{
(*3)
1818 (*1)
{
{
{
(*3)
Edit
Safety
speed
SIO
program
start
{
PIO
program
start
{
{
PIO start
prohibition
selection
Password
Prohibit
Not required.
{
(*4)
Functions
Jog, move,
continuous
move
{
Enable
1819 (*1)
{
(*4)
{
(*1)
(*2)
(*3)
(*4)
Teaching pendant application version 0.02 or later (not supported by version 0.01 or earlier)
PIO program start is enabled only in modes other than the edit mode.
In accordance with the “PIO start prohibition selection” setting.
In accordance with the “Safety-speed enable” setting.
399
*2
*2
 Combination Table of ASEL Linear/Rotary Control Parameters
Axis-specific
parameter
Axis-specific
parameter No. 68, Mode
selection for
No. 1, Axis
linear
operation
movement
type
axis
Axis-specific
Axis-specific
parameter
parameter
No. 67, ShortNo. 66, Mode
cut control
selection for
selection for
rotational
rotational
movement
movement
axis
axis
Permitted encoder
processing method
ABS
INC
Expression
of current
position
(approx.)
Axis-specific
parameter
Axis-specific Axis-specific
No. 44,
parameter
parameter
Length
No. 8, Soft
No. 7, Soft
measurement
limit limit +
correction
Axisspecific
parameter
No. 47,
Screw lead
Axisspecific
parameter
No. 50,
Gear ratio
numerator
Axis-specific
parameter
No. 51, Gear
ratio
denominator
Input unit
• Distance mm
0
(Linear
movement
axis)
0
(Normal
mode)
Invalid
Invalid
{
{
Counter
range
Valid
Valid
Valid
Valid
Valid
Valid
• Speed mm/sec
• Acceleration/
deceleration G
Appendix
401
Message level
Secret level
Error
level
System error
assignment
source
MAIN application
MAIN core
Error No.
(HEX)
Display (7segment
display, etc.)
Error list
(Application
only)
Error LED
output (MAIN
only)
Error reset
(Application
Other parameter No. 4 = 1
only)
Program run (Application only)
Other parameter No. 4 = 0
800 ~ 88F
890 ~ 8AF
Special error level
provided for
maintenance
purposes
{
PC
TP
MAIN application
MAIN core
PC
PC (Update tool)
TP
MAIN application
MAIN core
PC
PC (Update tool)
TP
MAIN application
MAIN core
PC
PC (Update tool)
TP
MAIN application
MAIN core
8B0 ~ 8DF
8E0 ~ 8FF
PC
TP
MAIN application
MAIN core
PC
PC (Update tool)
TP
MAIN application
MAIN core
PC
PC (Update tool)
TP
AA0 ~ ACF
AD0 ~ AFF
Remarks
-
200 ~ 24F
250 ~ 29F
2A0 ~ 2CF
2D0 ~ 2FF
900 ~ 93F
940 ~ 97F
980 ~ 9AF
9B0 ~ 9BF
9C0 ~ 9FF
A00 ~ A6F
A70 ~ A9F
{
U
(Battery and
fieldbus
errors will be
registered in
an error list.)
-
400 ~4CF
4D0 ~ 4DF
4E0 ~ 4EF
4F0 ~ 4FF
{
{
The program in which the error
generated will be cancelled.
(Except for axis errors, a
cancellation factor is present
only for the moment the error
occurs.)
* However, in the case of an
error requiring servo OFF or
all-axis servo OFF, all
programs other than the “I/O
processing program at
operation/program abort” will
be cancelled.
All programs other than the
“I/O processing program at
operation/program abort”
will be cancelled. (Except
for axis errors, a
cancellation factor is
present only for the
moment the error occurs.)
Enabled.
Status display,
input error, etc.
Enabled.
Errors affecting
operation. The
system will
attempt to reset
minor errors below
this level using an
auto-reset function
via external active
command
(SIO/PIO)
(application only).
Appendix
Operation-cancellation level
402
 Error Level Control
System-down level
Cold-start level
Operation-cancellation level
Error
level
System error
assignment
source
MAIN application
B00 ~ B9F
MAIN core
BA0 ~ BBF
PC
BC0 ~ BDF
Error No.
(HEX)
TP
BE0 ~ BFF
MAIN application
C00 ~ CCF
MAIN core
CD0 ~ CDF
PC
CE0 ~ CEF
TP
MAIN application
MAIN core
PC
PC (Update tool)
TP
MAIN application
MAIN core
PC
PC (Update tool)
TP
MAIN application
MAIN core
PC
PC (Update tool)
TP
MAIN application
MAIN core
CF0 ~ CFF
PC
TP
MAIN application
MAIN core
PC
PC (Update tool)
TP
MAIN application
MAIN core
Display (7segment
display, etc.)
{
Error list
(Application
only)
Error LED
output (MAIN
only)
Error reset
(Application
Other parameter No. 4 = 1
only)
Program run (Application only)
Other parameter No. 4 = 0
{
The program in which the error
generated will be cancelled.
(Except for axis errors, a
cancellation factor is present
only for the moment the error
occurs.)
* However, in the case of an
error requiring servo OFF or
all-axis servo OFF, all
programs other than the “I/O
processing program at
operation/program abort” will
be cancelled.
All programs other than the
“I/O processing program at
operation/program abort”
will be cancelled. (Except
for axis errors, a
cancellation factor is
present only for the
moment the error occurs.)
{
The program in which the error
generated will be cancelled.
* However, in the case of an
error requiring drive-source
cutoff, servo OFF or all-axis
servo OFF (initialization error,
power error, etc.), all programs
other than the “I/O processing
program at operation/program
abort” will be cancelled.
All programs other than the
“I/O processing program at
operation/program abort”
will be cancelled.
Remarks
Enabled.
Errors affecting
operation. The
system will
attempt to reset
minor errors below
this level using an
auto-reset function
via external active
command
(SIO/PIO)
(application only).
Not
enabled.
The controller
power must be
reconnected
(MAIN only).
(The CPU and OS
will run properly.)
Not
enabled.
The controller
power must be
reconnected
(MAIN only).
(The CPU and OS
will not run.)
-
600 ~ 6CF
6D0 ~ 6DF
6E0 ~ 6EF
6F0 ~ 6FF
D00 ~ D8F
D90 ~ DAF
DB0 ~ DCF
DD0 ~ DDF
DE0 ~ DFF
E00 ~ E8F
E90 ~ EBF
{
{
(Core only)
EC0 ~ EDF
EE0 ~ EFF
-
FF0 ~ FBF
FC0 ~ FCF
{
{
{
All programs will be cancelled.
Appendix
403
PC
FD0 ~ FDF
TP
FE0 ~ FEF
Note)
Secret-level errors are not actual errors. Internal statuses are registered in an error list as secret-level errors, when deemed necessary, in order to facilitate error analysis.
PC: PC software
TP: Teaching pendant
404
 Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)
Error No.
200
203
206
207
208
209
20A
20B
20C
20D
20E
20F
210
Error name
Encoder parameter data version mismatch warning
Description, action, etc.
Drive-source cutoff relay DET (MELT) error
The version of encoder parameter data is not supported by this controller. Update the
encoder parameters.
The drive-source cutoff relay may have fused.
Updating system mode error (IAI protocol)
An update command was received other than in the update mode.
Update file name error (IAI protocol)
Time data error
The name of the update program file selected in the update mode is invalid. Select the
correct file and repeat the updating procedure from the beginning.
The time data is invalid. Check the data.
Unsupported control constant table ID error
The control constant table ID is not supported. Check the data.
Control constant table change/query error
Control constant table management information mismatch
error
Flash busy reset timeout error
The message of the control constant table change/query command contains error.
Check the message that has been sent.
The specified control constant table write data type is invalid. Check the message that
has been sent.
The management information regarding the control constant table is invalid. Confirm
that the control constant table is supported by the controller.
Error erasing/writing the flash ROM
Motorola S-byte count error
The update program file is invalid. Check the file.
Control constant table write data type specification error
Updating target specification error (Received by the
application)
The system application received an updating target specification command. To update
the program, restart the controller and repeat the updating procedure from the
beginning.
Program-related data change/run command rejection error in Change of program-related data or running of programs is prohibited in the positioner
positioner mode
mode.
Appendix
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
406
Flash busy reset timeout
407
Control constant table management information mismatch
error
408
Control constant table ID error
409
Encoder control constant error (power-source voltage
control)
40A
Encoder power-source voltage calculation error
40B
Speed control parameter calculation error
Description, action, etc.
Error erasing/writing the flash ROM
The management information regarding the control constant table is invalid. If this error
occurs when the controller is started, the control constant table may need to be
updated.
The control constant table ID is invalid.
An encoder control constant relating to power-source voltage control is invalid. The
encoder power-source voltage cannot be adjusted (the encoder power will be supplied
without voltage adjustment).
The encoder power-source voltage cannot be adjusted (the encoder power will be
supplied without voltage adjustment). Check the “motor/encoder configuration
information” in driver parameter No. 26 and encoder parameter No. 11.
Check driver parameter Nos. 38, 39, 40, 43, 44, 45, etc.
Appendix
405
406
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
605
Forced discharge error
Error name
606
Regenerative discharge error
Description, action, etc.
Abnormal forced discharge. The drive-source cutoff relay may be abnormal. The
power must be reconnected.
Abnormal regenerative discharge. The power must be reconnected.
607
Motor power-source voltage low error
Low voltage was detected in the motor power circuit.
608
Power-supply board FRCDCSTR-ON timeout error
609
Power-supply board RBONSTR-ON timeout error
Power-supply board FRCDCSTR-ON could not be confirmed within the specified
time.
Power-supply board RBONSTR-ON could not be confirmed within the specified time.
60A
Power-supply board RBONSTR-OFF timeout error
60B
Power-supply board FRCDCSTR-OFF timeout error
60C
Power-system overheat error
60D
Slave board CPU ready OFF error (other than power supply)
60E
Dynamic brake ON/OFF timeout error
Power-supply board RBONSTR-OFF could not be confirmed within the specified
time.
Power-supply board FRCDCSTR-OFF could not be confirmed within the specified
time.
An overheated power-supply board, regenerative resistor, etc., was detected. The
power must be reconnected.
A ready status of the driver board, etc. (other than power-supply board) cannot be
confirmed.
Dynamic brake ON/OFF cannot be confirmed within the specified time.
613
Driver synchronous communication driver read error
A communication failure occurred between the driver board and FPGA (main).
614
Driver synchronous communication LRC error
A communication failure occurred between the driver board and FPGA (main).
615
Driver synchronous communication toggle error
A communication failure occurred between the driver board and FPGA (main).
623
Driver error detail code acquisition error
A driver error occurred, but an error detail code could not be acquired.
624
Undefined driver error
A driver error occurred.
625
Driver-side detection synchronous communication error
A communication failure occurred between the driver board and FPGA (main).
626
Driver IPM15V voltage low error
A low voltage was detected in the driver IPM15V circuit.
627
Driver current detection A/D offset over error
A driver current detection A/D offset error was detected.
628
Driver error
(Driver error for future expansion)
Driver error
(Driver error for future expansion)
Driver error
(Driver error for future expansion)
62B
Driver error
(Driver error for future expansion)
62C
Driver error
(Driver error for future expansion)
62D
Driver error
(Driver error for future expansion)
62E
Driver error
(Driver error for future expansion)
62F
Driver error
(Driver error for future expansion)
Appendix
629
62A
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
630
631
632
633
638
Speed control parameter setting command busy error
639
Speed control parameter setting command timeout error
63A
ABZ encoder logic error
63B
Encoder/motor control constant table flash ROM status error
63C
63D
Encoder/motor control constant table checksum error
ABZ encoder specification error
63E
63F
640
641
642
643
644
646
647
648
649
ABZ encoder magnetic-pole sensor signal logic error
Encoder control constant error
Motor control constant error
Encoder power-source voltage control parameter error
Speed loop parameter error
Encoder resolution division error
Encoder/motor combination mismatch error (encoder
resolution)
DAC transfer completion check timeout error when encoder
power was supplied
Encoder EEPROM read busy error
Encoder EEPROM write address mismatch error
Encoder EEPROM read address mismatch error
Undefined serial encoder installation error
64A
Undefined serial encoder command error
634
645
Description, action, etc.
The updating system code is invalid.
The updating unit code is invalid.
The updating device number is invalid.
Abnormal feedback pulse synchronization (detected in the speed loop).
Abnormal feedback pulse synchronization (detected in the position loop).
Reset the deadman/enable switch, and then reconnect the power.
The system was busy when the serial encoder command was issued.
Completion of the serial encoder command cannot be confirmed after the specified
time.
The system was busy when the speed control parameter setting command was
issued.
Completion of the speed control parameter setting command cannot be confirmed
after the specified time.
An encoder phase-A/B electrical level pattern error was detected. The power must be
reconnected.
Data is not written correctly to the flash ROM, or the data is of an old, incompatible
version.
The flash ROM data is corrupted.
An ABZ encoder cannot be installed for this axis. Check the “motor/encoder
configuration information” in driver parameter No. 26 and encoder parameter No. 11.
Check if the encoder cable is connected.
The encoder control constant is invalid.
The motor control constant is invalid.
Check driver parameter Nos. 32, 33, etc.
Check driver parameter Nos. 43, 44, 45, etc.
Check “Axis-specific parameter No. 43: Encoder division ratio.”
Check driver parameter No. 26, encoder parameter No. 11.
A timeout occurred during DAC transfer when the encoder power was supplied.
407
The encoder is faulty or an encoder communication failure occurred.
The encoder is faulty or an encoder communication failure occurred.
The encoder is faulty or an encoder communication failure occurred.
Installation of serial encoder is not defined. Check the “motor/encoder configuration
information” in driver parameter No. 26 and encoder parameter No. 11.
The serial encoder command is not defined.
Appendix
635
636
637
Error name
Updating system code error (Application detection)
Updating unit code error (Application detection)
Updating device number error (Application detection)
Feedback pulse synchronization error (Detected in the speed
loop)
Feedback pulse synchronization error (Detected in the position
loop)
Deadman/enable switch requiring reset recovery open
Serial encoder command busy error
Serial encoder command timeout error
408
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
64B
Serial encoder command packet error
64C
1-revolution data reset error at servo ON (serial encoder
command)
64D
Encoder reset command timeout error (serial encoder
command)
64E
ABS data query command timeout error (serial encoder
command)
64F
Encoder error reset error at servo ON (serial encoder
command)
650
Encoder receive timeout error (during initialization
communication)
651
Speed control interruption control job error
652
Serial encoder command control job error
653
Encoder control job logic error
654
655
Encoder receive timeout error at serial encoder command
issuance
656
Torque limit logic error
657
Torque limit parameter error
658
Movement error during ABZ encoder counter initialization
Unsupported encoder ID error
65B
Unsupported encoder error (main information)
65C
Unsupported motor error (main information)
65D
Unsupported motor error (driver information)
65E
Current detection circuit type mismatch error
An encoder communication failure.
Turn OFF the servo before resetting an encoder error.
An encoder communication failure.
The speed control interruption error job is invalid.
The serial encoder command control job is invalid.
The encoder control job logic is invalid.
An encoder communication failure.
The torque limit logic is invalid.
Check driver parameter Nos. 38, 39, 40, etc.
Axis movement was detected while initializing the ABZ encoder counter following
power on. The power may have been turned on or a software reset executed while the
actuator was moving due to external force such as reactive force of a self-supported
cable or while the installation location was vibrating.
The encoder is not supported. No encoder control constant record is available that
corresponds to the encoder ID. Check the installed encoder.
The encoder is not supported. No encoder control constant record is available that
corresponds to the encoder ID, or the record is invalid. Check the “motor/encoder
configuration information” in driver parameter No. 26 and encoder parameter No. 11.
The motor is not supported. No motor control constant record is available that
corresponds to the motor ID, or the record is invalid. Check the “motor/encoder
configuration information” in driver parameter No. 26 and encoder parameter No. 11.
The motor is not supported. The motor ID bit number is outside the range of
“maximum supported motor ID number” when the driver parameter, “Use motor
control data in driver flash ROM” is specified. Check the “motor/encoder configuration
information” in driver parameter No. 26 and encoder parameter No. 11.
The motor control constant, “Current detection circuit specification” does not match
the driver parameter, “Installation type word 1, current detection circuit type.” Check
the “motor/encoder configuration information” in driver parameter No. 26 and encoder
parameter No. 11.
Appendix
65A
Description, action, etc.
The serial encoder command packet is invalid.
A 1-revolution data reset was commanded when the servo was ON. Turn OFF the
servo.
An encoder communication failure.
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
65F
Main/driver motor control data mismatch error
66B
Description, action, etc.
A motor control constant does not match the corresponding driver parameter (rated
speed, maximum speed, rated current, maximum current number of pole pairs, linear
motor lead, linear motor specification). Check the “motor/encoder configuration
information” in driver parameter No. 26 and encoder parameter No. 11.
Maximum motor speed mismatch error
The axis-specific parameter, “Maximum motor speed” does not match the motor
control constant, “Maximum speed.” Check the “motor/encoder configuration
information” in driver parameter No. 26 and encoder parameter No. 11.
Encoder/motor combination mismatch error (linear/rotary type) The linear/rotary type does not match between the encoder and motor. Check the
“motor/encoder configuration information” in driver parameter No. 26 and encoder
parameter No. 11.
Mechanical angle 360-degree pulse count calculation error
The calculated pulse count based on 360 mechanical angle degrees is invalid. (The
calculated value is “0,” or in the case of a linear encoder, the calculated value has
fraction.)
Software DB specification error
The value in the driver parameter, “Software DB specification” is invalid.
Current control band number specification error
The value in the driver parameter, “Current control band number” is invalid.
Driver/encoder communication line channel number
All-axis parameter No. 101 or 102, “Driver/encoder communication line channel
specification error
setting” is invalid (invalid value, duplicate specifications).
Driver initialization communication type specification error
All-axis parameter No. 103 or 104, “Driver initialization communication type setting” is
invalid (invalid value, duplicate specifications, mismatch).
Invalid driver initialization communication line specification error Initialization communication line channel number is not specified for a valid axis.
at specification of valid axis
Check all-axis parameter No. 1, “Valid axis pattern,” Nos. 101 and 102,
“Driver/encoder communication line channel setting” and Nos. 103 and 104, “Driver
initialization communication type setting.”
Driver target information initialization error
The initialization sequence of driver target information did not complete successfully.
Check the installed driver board. Check all-axis parameter Nos. 101, 102, 103 and
104, or driver parameter No. 26, encoder parameter No. 11.
Encoder target information initialization error
The initialization sequence of encoder target information did not complete
successfully. Check the installed encoder. Check all-axis parameter Nos. 101, 102,
103 and 104, or driver parameter No. 26, encoder parameter No. 11.
Power-system target information initialization error
The initialization sequence of power-system target information did not complete
successfully. Check the installed power-supply board. Check the power-supply board
parameters.
Slave communication error response error
An error response was received during slave communication.
66C
SCI LRC error (slave communication)
The message LRC of slave communication is invalid.
66D
Slave communication target ID error
The target ID of slave communication is invalid.
66E
Slave communication block number error
The block number of slave communication is invalid.
660
661
662
663
664
665
666
667
668
669
66A
Appendix
409
410
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
66F
Target specification error due to no axis number
670
Target board type error
671
Encoder control data error
672
Motor control data error
680
Magnetic-pole detection parameter error
682
I/O function specification error
683
Axis operation error in system semi-locked (encoder stopped)
status
Description, action, etc.
The specified target of slave communication (driver or encoder) is invalid (no axis
number is assigned for the target ID, or an internal driver board axis is specified).
The target board type is invalid.
690
Motor overcurrent error
The encoder control data is invalid or cannot be acquired. Take the same actions
specified for error Nos. 65A, 65B and 669.
The motor control data is invalid or cannot be acquired. Take the same actions as
specified for error Nos. 65C, 65D, 668 and 669.
Invalid parameter used for magnetic-pole detection. Check driver parameter Nos. 49,
50, etc.
Wrong I/O function specification. Check I/O parameter Nos. 30 through 61 and 251
through 282.
An attempt was made to operate an axis by turning on the servo, executing an
absolute reset, etc., when the system was in semi-locked status (encoder was
stopped).
Excessive current flew through the motor.
691
Driver error
(Driver error for future expansion)
692
Driver error
(Driver error for future expansion)
693
Driver error
(Driver error for future expansion)
694
Driver error
(Driver error for future expansion)
695
Driver error
(Driver error for future expansion)
696
Driver error
(Driver error for future expansion)
697
Driver error
(Driver error for future expansion)
698
Driver error
(Driver error for future expansion)
699
Driver error
(Driver error for future expansion)
Appendix
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
801
SCIF overrun status (IAI protocol reception)
Description, action, etc.
Communication failure. Check for noise, connected equipment and
communication setting.
Communication failure. Check for noise, shorted/disconnected communication
cable, connected equipment and communication setting. This error will also occur
when establishing communication with the PC/TP wrongly connected to SIO-CH1
being opened to the user.
The transfer interval after the first received byte is too long. Possible causes
include disconnected communication cable and error in the connected
equipment.
Communication failure. Check for noise, connected equipment and
communication setting.
Communication failure. Check for noise, shorted/disconnected communication
cable, connected equipment and communication setting.
Communication failure. Take the same action specified for error No. 804 or 805.
802
SCIF receive ER status (IAI protocol reception)
803
Receive timeout status (IAI protocol reception)
804
SCIF overrun status (SEL reception)
805
SCIF receive ER status (SEL reception)
806
SCIF receive ER status due to other factor (SEL reception)
807
Drive-source cutoff relay ER status
808
Power OFF status during slave parameter write
809
Power OFF status during data write to flash ROM
80F
Ethernet control status 1
The motor-drive power ON status remains ON even when the drive source is cut
off. The drive-source cut-off relay contacts may have been melted.
The power was turned off while writing slave parameters. (This error can be
detected only when a backup battery is used.)
The power was turned off while writing data to the flash ROM. (This error can be
detected only when a backup battery is used.)
Ethernet control information (for analysis)
810
Ethernet control status 2
Ethernet control information (for analysis)
811
Maintenance information 1
Maintenance information (for analysis)
812
Maintenance information 2
Maintenance information (for analysis)
813
Maintenance information 3
Maintenance information (for analysis)
814
Maintenance information 4
Maintenance information (for analysis)
815
Maintenance information 5
Maintenance information (for analysis)
820
DRV status 820 (TO_SELECTEDDATA)
(This is not an error, but maintenance information.)
Appendix
411
412
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
900
Blank step shortage error
Error name
901
Step number error
Description, action, etc.
There are not enough blank steps to save step data. Provide enough blank
steps needed to save step data.
The step number is invalid.
902
Symbol-definition table number error
The symbol-definition table number is invalid.
903
Point number error
The point number is invalid.
904
Variable number error
The variable number is invalid.
905
Flag number error
The flag number is invalid.
I/O port/flag number error
The I/O port/flag number is invalid.
910
Command error (IAI protocol HT reception)
The command ID is not supported or invalid. (For future expansion)
911
Message conversion error (IAI protocol HT reception)
912
PC/TP servo-movement command acceptance-enable input OFF
error
913
Multiple-program simultaneous start inhibition error
The transmitted message does not match the message format or contains
invalid data. (For future expansion)
Any axis movement command issued to the axis specified in I/O parameter No.
78 from the PC/TP will not be accepted while the input port specified in I/O
parameter No. 77 is OFF. (Important: The acceptance-enable input port will
become invalid once the operation is started.)
Simultaneously starting of multiple programs is inhibited.
914
Absolute-data backup battery voltage error
A01
System-memory backup battery voltage-low warning
A02
Abnormal system-memory backup battery voltage
A03
Absolute-data backup battery voltage-low warning (Driver analysis)
A04
System mode error at core update
A05
Motorola S record format error
Check the connection of the absolute-data backup battery and replace the
battery if necessary, and also check the connection of the encoder cable, and
then perform an absolute reset.
The voltage of the system-memory backup battery is low. Replace the battery.
(Above the minimum data-backup voltage)
The voltage of the system-memory backup battery is low. Replace the battery.
(Below the minimum data-backup voltage)
The voltage of the absolute-data backup battery is low. Check the battery
connection or replace the battery.
An update command was received when the system was not in the core update
mode. Before updating the core, confirm that a chip resistance for setting core
update mode is provided on the board. (For maintenance)
The update program file is invalid. Check the file.
A06
Motorola S checksum error
The update program file is invalid. Check the file.
A07
Motorola S load address error
The update program file is invalid. Check the file.
A08
Motorola S write address over error
The update program file is invalid. Check the file.
A09
Flash-ROM timing limit over error (Write)
Error writing the flash ROM
A0A
Flash-ROM timing limit over error (Erase)
Error erasing the flash ROM
Appendix
906
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
A0B
Flash-ROM verify error
Error name
Description, action, etc.
Error erasing/writing the flash ROM
A0C
Flash-ROM ACK timeout
Error erasing/writing the flash ROM
A0D
Head sector number specification error
Error erasing the flash ROM
A0E
Sector count specification error
Error erasing the flash ROM
A0F
Write-destination offset address error (Odd-numbered address)
Error writing the flash ROM
A10
Write-source data buffer address error (Odd-numbered address)
Error writing the flash ROM
A11
Invalid core-code sector block ID error
The core program already written to the flash ROM is invalid.
A12
Core-code sector block ID erase count over
The number of times the flash ROM can be erased was exceeded.
A13
Flash-ROM write request error when erase is incomplete
When updating, a flash-ROM write command was received before a flash-ROM
erase command. Check the update program file and perform update again.
A busy-status reset timeout occurred after executing EEPROM write.
A14
Busy-status reset timeout error at EEPROM write
A15
EEPROM write request error due to no-EEPROM in target
A16
EEPROM read request error due to no-EEPROM in target
A17
Message checksum error (IAI protocol reception)
A18
Message header error (IAI protocol reception)
A19
Message station number error (IAI protocol reception)
The header in the received message is invalid. Invalid header position (message
is 9 bytes or less) is suspected, among other reasons.
The station number in the received message is invalid.
A1A
Message ID error (IAI protocol reception)
The ID in the received message is invalid.
A1C
Message conversion error
The transmitted message does not match the message format or contains invalid
data. Check the transmitted message.
A start not permitted in the current mode (MANU/AUTO) was attempted.
An EEPROM write request was received for a driver or other unit with CPU not
equipped with EEPROM.
An EEPROM read request was received for a driver or other unit with CPU not
equipped with EEPROM.
The checksum in the received message is invalid.
A1D
Start mode error
A1E
Start condition non-satisfaction error
A1F
Axis duplication error (SIO x PIO)
Start was attempted when the start condition was not satisfied, such as when an
all-operation-cancellation factor (see the 7-segment display: Drive-source cutoff,
mode switching, error, auto-start switch OFF edge, deadman switch, safety gate,
emergency stop, etc.) was present or the flash ROM was being written.
The applicable axis is currently in use.
A20
Servo-control-right acquisition error (SIO x PIO)
The servo control right is not available.
A21
Servo-control-right duplicate-acquisition error (SIO x PIO)
The servo control right has already been acquired.
A22
Servo-control-right non-acquisition error (SIO x PIO)
An attempt to retain the servo control right has failed.
Appendix
413
414
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
A23
Absolute-data backup battery voltage-low warning (Main analysis)
A25
Step count specification error
Description, action, etc.
The voltage of the absolute-data backup battery is low. Check the battery
connection or replace the battery.
The specified number of steps is invalid.
A26
Program count specification error
The specified number of programs is invalid.
A27
Program non-registration error
The applicable program is not registered.
A28
Reorganization disable error during program run
A29
Active-program edit disable error
A2A
Program inactive error
A program-area reorganization operation was attempted while a program was
running. End all active programs first.
An edit operation was attempted to a program currently not running. End the
applicable program first.
The specified program is not running.
A2B
Program-run command refusal error in AUTO mode
Programs cannot be run from the TP/PC software connector in the AUTO mode.
A2C
Program number error
The program number is invalid.
A2D
Inactive program resumption error
A resumption request was received for a program currently not running.
A2E
Inactive program pause error
A pause request was received for a program currently not running.
A2F
Breakpoint error
The step number specified as a breakpoint is invalid.
A30
Breakpoint setting-count specification error
The number of breakpoints to be set exceeds the limit value.
A31
Parameter change value error
The value of parameter changed is invalid.
A32
Parameter type error
The parameter type is invalid.
A33
Parameter number error
The parameter number is invalid.
Card-parameter buffer read error
Error reading the card-parameter buffer
A35
Card-parameter buffer write error
Error writing the card-parameter buffer
A36
Parameter change refusal error during operation
A37
Card manufacturing/function information change refusal error
Parameters cannot be changed during operation (program is running, servo is in
use, etc.).
The card manufacturing/function information cannot be changed.
A38
Parameter change refusal error during servo ON
A39
Non-acquired card parameter change error
An attempt was made to change a parameter whose change is not permitted
while the servo is ON.
An attempt was made to change a parameter for a card not recognized at reset.
A3A
Device number error
The device number is invalid.
A3C
Memory initialization type specification error
The specified memory initialization type is invalid.
A3D
Unit type error
The unit type is invalid.
A3E
SEL write data type specification error
The specified SEL write data type is invalid.
A3F
Flash-ROM write refusal error during program run
The flash ROM cannot be written while a program is running.
Appendix
A34
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
A40
Data change refusal error during flash ROM write
A41
Duplicate flash-ROM write commands refusal error
Direct monitor prohibition error during flash ROM write
P0/P3-area direct monitor prohibition error
Point-data count specification error
Symbol-record count specification error
Variable-data count specification error
Error-detail query type 1 error
Error-detail query type 2 error
Monitoring data type error
Monitoring-record count specification error
Monitoring-operation special command register busy error
Parameter register busy error at issuance of slave command
A4F
Software reset refusal error during operation
A50
Drive-source recovery request refusal error
A51
Operation-pause reset request refusal error
A53
A54
A55
A56
A57
A58
Refusal error due to servo ON
Refusal error due to unsupported function
Refusal error due to exclusive manufacturer function
Refusal error due to invalid data
Program start duplication error
BCD error warning
A59
IN/OUT command port flag error warning
A5B
Character-string → value conversion error warning
A5C
A5D
Copying-character count error warning with SCPY command
SCIF open error in non-AUTO mode
415
Appendix
A42
A43
A44
A45
A46
A48
A49
A4A
A4B
A4C
A4E
Description, action, etc.
Data cannot be changed while the flash ROM is being written.
Another flash-ROM write command was received while the flash ROM was being
written.
Direct monitor is prohibited while the flash ROM is being written.
Direct monitor in the P0/P3 areas is prohibited.
The specified number of point data is invalid.
The specified number of symbol records is invalid.
The specified number of variable data is invalid.
Error-detail query type 1 is invalid.
Error-detail query type 2 is invalid.
The data type for monitoring data query is invalid.
The specified number of records for monitoring data query is invalid.
The driver special command ACK generated a timeout during monitoring operation.
The driver special command ACK generated a timeout at issuance of a slave
command.
Software reset (SIO) is prohibited during operation (program is running, servo is in
use, etc.).
The drive-source cutoff factor (error, deadman switch, safety gate, emergency stop,
etc.) has not been removed.
The all-operation-pause factor (drive-source cutoff, operation-pause signal, deadman
switch, safety gate, emergency stop, etc.) has not been removed.
A processing not permitted during servo ON was attempted.
The function is not supported.
A processing not opened to users other than the manufacturer was attempted.
The data is invalid.
An attempt was made to start a program currently running.
The BCD value being read may be invalid, or the value being written (variable 99)
may be a negative value, among other reasons.
The number of I/O ports (flags) may have exceeded 32, among other reasons. Check
the I/O port (flag) specifications.
The specified number of converting characters is invalid or characters that cannot be
converted to value are included.
The specified number of copying characters is invalid.
The channel was opened in a non-AUTO mode. In the MANU mode, the PC/TP
connection must be forcibly disconnected before opening the serial channel opened
to the user. Exercise caution.
416
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
A5E
I/O-port/flag count specification error
Description, action, etc.
The specified number of I/O ports/flags is invalid.
A5F
Fieldbus error (LERROR-ON)
A LERROR-ON was detected.
A60
Fieldbus error (LERROR-BLINK)
A LERROR-BLINK was detected.
A61
Fieldbus error (HERROR-ON)
A HERROR-ON was detected.
A62
Fieldbus error (HERROR-BLINK)
A HERROR-BLINK was detected.
A63
Fieldbus not ready
Fieldbus ready cannot be confirmed.
A69
Data change refusal error during operation
A6A
Software reset refusal error during write
A6B
Fieldbus error (FBRS link error)
An attempt was made to change data whose change is prohibited during
operation (program is running, servo is in use, etc.).
Software reset is prohibited while data is being written to the flash ROM or slave
parameters are being written.
A FBRS link error was detected.
A6C
PC/TP start command refusal error in AUTO mode
Starting from the PC software/TP connector is prohibited in the AUTO mode.
A6D
P0/P3/FROM-area direct write prohibition error
Direct write to the P0/P3/FROM areas is prohibited.
A6E
Refusal error during write
A6F
Driver monitor type mismatch error
A processing not permitted while data is being written to the flash ROM or slave
parameters are being written was attempted.
The monitor type supported by the standard DIO board or based on the capacity
of FROM on the main CPU board does not match the monitor type on the PC
software side (selected on the monitor screen).
Appendix
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
B00
SCHA setting error
Error name
Description, action, etc.
The setting of SCHA command is invalid.
B01
TPCD setting error
The setting of TPCD command is invalid.
B02
SLEN setting error
The setting of SLEN command is invalid.
B03
Home-return method error
B04
1-shot-pulse output excessive simultaneous use error
B05
Estimate-stroke over error at home return
B10
Phase-Z search timeout error
B11
Home-sensor pull-out timeout error
B12
Storage variable number error for SEL command return code
The setting of “Axis-specific parameter No. 10, Home-return method” is invalid.
(Not incremental encoder AND current position 0 home is specified, etc.)
The number of BTPN and BTPF timers operating in one program simultaneously
exceeds the upper limit (16).
The operation at home return exceeded the estimate stroke. The home sensor or
creep sensor may be faulty, among other reasons.
Phase Z cannot be detected. Check for operation restriction, wiring, encoder,
motor, etc.
Pull-out from the home sensor cannot be confirmed. Check for operation
restriction, wiring, motor, home sensor, etc.
The variable number specified for storing SEL command’s return code is invalid.
B13
Backup SRAM data checksum error
The backup SRAM data has been destroyed. Check the battery.
B15
Input-port debug filter type error
The setting of input-port debug filter type is invalid.
B16
SEL operand specification error
The operand specification of SEL command is invalid.
B17
Parameter register busy error at issuance of slave command
B18
Device number error
The driver special command ACK generated a timeout at issuance of a slave
command.
The device number is invalid.
B19
Unit type error
The unit type is invalid
B1A
Absolute reset specification error
Ethernet non-closed socket open error
B1C
Ethernet in-use-by-other-task error
An attempt was made to open a channel already opened by other task.
B1D
Ethernet non-open error
An attempt was made to use a channel not opened by own task.
B1E
Ethernet multiple WRIT execution error
B1F
Ethernet job busy error
B20
Ethernet non-initialization device use error
WRIT commands were executed simultaneously by multiple tasks for the same
channel.
An attempt was made to start a new process when the Ethernet mailbox control
job was busy.
An attempt was made to use the Ethernet system when Ethernet device
initialization was not yet complete. Check I/O parameter Nos. 123 to 159, 14, 15,
etc., depending on the purpose of use.
417
Appendix
B1B
The specification for absolute reset using an optional function, etc., is invalid.
(Two or more axes are specified simultaneously, non-absolute-encoder axis is
specified, etc.)
An attempt was made to open a socket without closing it first.
418
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
B21
Ethernet IP address error
Error name
B22
Ethernet port number error
B86
SEL PTRQ command preprocessing error
Description, action, etc.
An error will generate under the following conditions during normal use.
When IP address (H) (first octet) through IP address (L) (fourth octet) are given
as IP_H, IP_MH, IP_ML and IP_L, the error conditions are described as follows:
IP_H ≤ 0 or IP_H = 127 or IP_H > 255
or IP_MH < 0 or IP_MH > 255
or IP_ML < 0 or IP_ML > 255
or IP_L ≤ 0 or IP_L ≥ 255
Check I/O parameter Nos. 132 to 135, 149 to 152, and 154 to 157, the IP address
of connection destination specified by an IPCN command in an integer variable,
or the like.
An error will generate if own port number < 1025, or own port number > 65535, or
own port number duplication, or connection-destination port number for client ≤ 0,
or connection-destination port number for client > 65535, or connectiondestination port number for server < 0, or connection-destination port number for
server > 65535 is satisfied.
Check I/O parameter Nos. 144 to 148, 159, 153, and 158, the port number of
connection destination specified by an IPCN command in an integer variable, or
the like.
The PTRQ command setting is abnormal. Check the setting for abnormality, such
as deviation from the allowable range.
B92
Excessive arc interpolation radius error
The radius of arc interpolation is too large. Use a CIR/ARC command, etc.
C02
Executable program count over error
C03
Non-registered program specification error
Execution requests were received for programs exceeding the number that can
be executed simultaneously.
The specified program is not registered.
C04
Program entry point non-detection error
C05
Program first-step BGSR error
A request was made to execute a program number for which no program steps
are registered.
The program specified for execution starts with BGSR.
C06
Executable step non-detection error
The program specified for execution does not contain executable program steps.
C07
Subroutine non-definition error
The subroutine specified for call is not defined.
Subroutine duplicate-definition error
The same subroutine number is defined at multiple locations.
Tag duplicate-definition error
The same tag number is defined at multiple locations.
C0B
Tag non-definition error
The tag specified as the jump destination of a GOTO statement is not defined.
C0C
DW/IF/IS/SL pair-end mismatch error
C0D
DW/IF/IS/SL no pair-end error
The branching command syntax is invalid. Correspondence with the last
appearing branching command is invalid when EDIF, EDDO or EDSL is used.
Check the correspondence between IF/IS command and EDIF, DO command
and EDDO or SLCT command and EDSL.
EDIF, EDDO or EDSL is not found. Check the correspondence between IF/IS
command and EDIF, DO command and EDDO or SLCT command and EDSL.
Appendix
C08
C0A
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
C0E
BGSR no pair-end error
Error name
C16
Create stack failed
Description, action, etc.
There is no EDSR for BGSR, or no BGSR for EDSR. Check the correspondence
between BGSR and EDSR.
The number of nests in a DO or IF/IS command exceeds the limit value. Check
for excessive nesting or branching out of or into the syntax using a GOTO
command.
The number of nests in a SLCT command exceeds the limit value. Check for
excessive nesting or branching out of or into the syntax using a GOTO
command.
The number of nests in a subroutine exceeds the limit value. Check for excessive
nesting or branching out of or into the syntax using a GOTO command.
The EDIF or EDDO position is invalid. Check the correspondence between IF/IS
command and EDIF or DO command and EDDO, or branching out of or into the
syntax using a GOTO command.
The EDSL position is invalid. Check the correspondence between SLCT and
EDSR, or branching out of or into the syntax using a GOTO command.
The EDSR position is invalid. Check the correspondence between BGSR and
EDSR, or branching out of or into the syntax using a GOTO command.
The program step next to SLCT must be WHEQ, WHNE, WHGT, WHGE, WHLT,
WHLE, WSEQ, WSNE, OTHE or EDSL.
Initialization of the input-condition-status storage stack has failed.
C17
Expansion-condition code error
Input program step error. The expansion condition code is invalid.
C18
Expansion-condition LD simultaneous processing over error
The number of LDs processed simultaneously exceeds the limit value.
C0F
DO/IF/IS over-nesting error
C10
SLCT over-nesting error
C11
Subroutine over-nesting error
C12
DO/IF/IS under-nesting error
C13
SLCT under-nesting error
C14
Subroutine under-nesting error
C15
SLCT next-step command code error
Expansion-condition LD shortage error 1
There is not enough LD when expansion condition A or O is used.
Expansion-condition LD shortage error 2
There is not enough LD when expansion condition AB or OB is used.
C1C
Unused-LD detection error
C1F
Input-condition CND shortage error
An attempt was made to execute a command based on multiple LD condition that
has been saved, without using it in expansion condition AB or OB.
The necessary input condition is not found when an expansion condition is used.
C21
Input-condition use error with input-condition prohibited command
Input-condition prohibited commands prohibit the use of input conditions.
C22
C23
Invalid command position error with input-condition prohibited
command
Invalid operand error
A command for which input condition is prohibited cannot be included in an input
condition nest.
Program step error. The necessary operand data is invalid.
C24
Operand type error
Program step error. The operand data type is invalid.
C25
Actuator control declaration error
The setting of actuator control declaration command is invalid.
C26
Timer setting-range over error
The timer setting is invalid.
C27
Timeout setting-range over error during wait
The timeout setting is invalid.
C28
Tick count setting-range error
The Tick count setting is invalid.
Appendix
419
C19
C1A
420
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
C29
DIV command divisor 0 error
C2A
SQR command range error
BCD display digit range error
C2C
C2D
C2E
Program number error
Step number error
Blank step shortage error
C2F
C30
C32
Axis number error
Axis pattern error
Operating-axis addition error during command execution
C33
C34
C35
C36
C37
C38
C39
C3A
C3B
C3C
C3D
C3E
C40
C41
C42
Base axis number error
Zone number error
Point number error
I/O port/flag number error
Flag number error
Tag number error
Subroutine number error
User-open communication channel number error
Parameter number error
Variable number error
String number error
String-variable data count specification error
String-variable delimiter non-detection error
String-variable copy size over error
Character count non-detection error during string processing
C43
Character-string length error during string processing
C45
C46
Symbol definition table number error
Blank area shortage error with source-symbol storage table
Appendix
C2B
Description, action, etc.
“0” was specified as the divisor in the DIV command.
The operand value in the SQR command is invalid. Input a value larger than “0”
as data in a SQR command.
The specified number of BCD display digits is invalid. Specify a value between 1
and 8.
The program number is invalid.
The step number is invalid.
There are not enough blank steps to save step data. Provide enough blank steps
needed to save step data.
The axis number is invalid.
The axis pattern is invalid.
An operating axis for point data was added during continuous point movement or
push-motion movement calculation.
The base axis number is invalid.
The zone number is invalid.
The point number is invalid.
The I/O port/flag number is invalid.
The flag number is invalid.
The tag number is invalid.
The subroutine number is invalid.
The channel number of the communication channel opened to the user is invalid.
The parameter number is invalid.
The variable number is invalid.
The string number is invalid.
The specified number of string variables exceeds the area, etc.
Delimiter cannot be detected in the string variable.
The copy size of string variable is too large.
The character-string length is not defined in string processing. Execute a string
processing command after defining the length with a SLEN command.
The character-string length used in string processing is invalid. Check the value
of character-string length defined by a SLEN command.
The symbol definition table number is invalid.
There is not enough area to store the source symbols. Check the number of
times source symbol can be used.
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
C47
Symbol search error
C48
SIO-message continuous conversion error
SEL-SIO in-use error
SCIF unopen error
C4B
Delimiter non-definition error
C4E
SIO1 invalid usage OPEN error
C4F
C50
C51
C52
C53
C54
C55
SEL program/source symbol checksum error
Symbol definition table checksum error
Point data checksum error
Backup SRAM data destruction error
Invalid flash-ROM SEL global data/error list error
Flash-ROM SEL global data/error list duplication error
Flash-ROM erase count over error for SEL global data/error lists
C56
C57
C58
C59
C5A
C5B
C5C
C5D
C5E
C5F
C60
C61
Timing limit over error (Flash ROM erase)
Flash-ROM verify error (Flash ROM erase)
Flash-ROM ACK timeout error (Flash ROM erase)
Head sector number specification error (Flash ROM erase)
Sector count specification error (Flash ROM erase)
Timing limit over error (Flash ROM write)
Flash-ROM verify error (Flash ROM write)
Flash-ROM ACK timeout error (Flash ROM write)
Write-destination offset address error (Flash ROM write)
Write-source data buffer address error (Flash ROM write)
No SEL global data/error list write area error
SEL-data flash-ROM erase count over error
C62
Operation command error at servo OFF
C63
Servo operation condition error
421
Appendix
C49
C4A
Description, action, etc.
Definitions are not found for the symbols used in the program steps.
The transmitted SIO message does not match the message format or contains
invalid data. Check the transmitted message.
The SIO is being used by other interpreter task.
Serial channel 1 opened to the user is not opened in the target task. Open the
channel using an OPEN command first.
An end character is not defined. Set an end character using a SCHA command
first.
The usage of serial channel opened to the user does not match the parameter.
Check “I/O parameter No. 90, Usage of SIO channel opened to user.”
The flash ROM data has been destroyed.
The flash ROM data has been destroyed.
The flash ROM data has been destroyed.
The backup SRAM data has been destroyed. Check the battery.
The SEL global data/error lists in the flash ROM are invalid.
The SEL global data/error lists in the flash ROM are duplicated.
The number of time the flash ROM containing SEL global data/error lists can be
erased was exceeded.
Error erasing the flash ROM
Error erasing the flash ROM
Error erasing the flash ROM
Error erasing the flash ROM
Error erasing the flash ROM
Error writing the flash ROM
Error writing the flash ROM
Error writing the flash ROM
Error writing the flash ROM
Error writing the flash ROM
There is no area to write the erased SEL global data/error lists.
The number of times the flash ROM containing SEL data can be erased was
exceeded.
An attempt was made to execute an operation command when the servo was
OFF.
The servo is not in an operation-enabled condition.
422
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
C64
C65
C66
C67
C68
C69
C6A
C6B
Error name
Invalid servo acceleration/deceleration error
Servo ON/OFF logic error
Axis duplication error
Servo-control-right acquisition error
Servo-control-right duplicate-acquisition error
Servo-control-right non-acquisition error
Push-motion flag logic error
Deviation overflow error
Movement error during absolute data acquisition
C6D
Maximum installable axes over error
C6E
C6F
Servo-OFF axis use error
Home-return incomplete error
C70
Absolute coordinate non-confirmation error
C71
C72
C73
Synchro slave-axis command error
Overrun error
Target-locus soft limit over error
C74
Actual-position soft limit over error
C75
C76
C77
C78
Motion-data-packet generation logic error
Movement-point count over error
Handling-packet overflow error
Motion-data-packet overflow error
Appendix
C6C
Description, action, etc.
The internal servo acceleration/deceleration is invalid.
The servo ON/OFF logic between the main and driver is invalid.
An attempt was made to acquire the control right to an axis already in use.
There is no space in the servo user management area.
The servo control right has already been acquired.
A user who doesn’t have the servo control right attempted to retain the control right.
The internal logic for push-motion processing is invalid.
The command cannot be followed. Check for operation restriction, wiring, encoder,
motor, etc.
Axis movement was detected while acquiring absolute encoder data after the power
was turned on. The power may have been turned or a software reset executed
while the actuator was moving due to external force such as reactive force of a selfsupported cable or while the installation location was vibrating. Or, a software reset
may have been executed. Absolute coordinates cannot be confirmed in this
condition.
The specified number of axes exceeded the number of installable axes as a result
of axis shift with a base command.
An attempt was made to use an axis whose servo is OFF.
Home return has not completed yet.
This error may also occur if operation is performed immediately after changing an
encoder parameter, performing an absolute encoder reset or resetting an encoder
error, without first executing a software reset or reconnecting the power.
Absolute coordinates have not been confirmed. The power must be reconnected.
This error may also occur if operation is performed immediately after changing an
encoder parameter, performing an absolute encoder reset or resetting an encoder
error, without first executing a software reset or reconnecting the power.
A command was issued to the synchro slave axis.
The overrun sensor was actuated.
The target position or movement locus exceeds a soft limit.
* In the case of a SCARA specification, position data may not exist for the
applicable axis.
The actual position exceeds a soft limit by the “soft limit/actual position margin” or
more.
The motion-data-packet generation logic is invalid.
Too many packets are generated simultaneously.
The servo handling packets overflowed.
The servo motion data packets overflowed.
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
C79
Pole sense operation error
Description, action, etc.
Operation is disabled in the pole sense mode.
C7A
Servo unsupported function error
An attempt was made to use an unsupported function.
C7B
Odd-pulse slide error
Internal servo calculation error
C7C
Odd-pulse processing logic error
Internal servo calculation error
C7D
Packet pulse shortage error
Internal servo calculation error
C7E
Quadratic equation solution error
An error was detected while calculating a quadratic equation solution.
C7F
No valid specified axis error
No valid axes are specified.
C80
Servo-packet calculation logic error
C81
Operation-amount logic during servo ON
Internal servo calculation error
If the controller is of absolute encoder specification and the system has just been
moved or “Error No. C74, Actual-position soft limit over error” has also generated,
the controller may be experiencing a servo-packet calculation overflow caused by
abnormal current position resulting from an unsuccessful absolute reset. Perform
an absolute reset again by following the operation manual.
(Simply selecting “Encoder error reset” on the absolute reset screen will not allow
the controller to recognize the correct position. Always perform an absolute reset
by strictly following the specified procedure.)
Servo processing logic error
C82
Servo direct command type error
Servo processing logic error
C83
Servo calculation method type error
The servo calculation method type is invalid.
C84
In-use axis servo OFF error
The servo of an axis currently in use (being processed) was turned off.
C85
Non-installed driver error
Driver is not installed for the applicable axis.
C86
Driver servo ready OFF error
The ready signal for the driver of the applicable axis is OFF.
C87
SEL unsupported function error
An attempt was made to use a function not supported by SEL.
C88
Speed specification error
The specified speed is invalid.
Acceleration/deceleration specification error
The specified acceleration/deceleration is invalid.
Circle/arc calculation logic error
The arc calculation logic is invalid.
C8D
Circle/arc calculation error
C8E
Point deletion error during command execution
C8F
Axis operation type error
Position data that cannot be used in arc movement was specified. Check the
position data.
The final point data was deleted while continuous point movement was being
calculated.
The axis operation type is invalid. Check “Axis-specific parameter No. 1, Axis
operation type” and perform operation appropriate for the operation type
specified.
Appendix
423
C89
C8B
424
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
C90
C91
C92
C93
C94
C95
C96
C97
Error name
Spline calculation logic error
Push-motion axis multiple specification error
Push-motion approach distance/speed specification error
System output operation error
C9D
C9E
CA1
Card parameter write error
Servo calculation overflow error
Abnormal absolute-data backup battery voltage (Driver analysis)
CA2
Abnormal absolute-data backup battery voltage (Main analysis)
CA3
CA4
CA5
Slave setting data out-of-range error
Slave error response
Stop deviation overflow error
CA6
CA7
CA8
CA9
Palletizing number error
Setting error of even-numbered row count for palletizing zigzag
Setting error of palletizing pitches
Setting error of placement points in palletizing-axis directions
C98
Appendix
C99
C9A
C9B
C9C
PIO program number error
AUTO program number error
Start error from operation-abort program
Program number error for I/O processing program at
operation/program abort
Program number error for I/O processing program at operation
pause
Home sensor non-detection error
Creep sensor non-detection error
Phase Z non-detection error
Defective phase-Z position error
Description, action, etc.
The spline processing logic is invalid.
Two or more push-motion axes were specified.
The specified push-motion approach distance/speed is invalid.
The user attempted a system output operation (through the port specified by I/O
parameter for output function selection or the zone output port specified by axisspecific parameter).
The PIO-specified program number is invalid.
The setting of “Other parameter No. 1, Auto-start program number” is invalid.
(This error should not occur now that the specification has been changed.)
The setting of “Other parameter No. 2, I/O processing program number at
operation/program abort” is invalid.
The setting of “Other parameter No. 3, I/O processing program number at all
operation pause” is invalid.
The home sensor cannot be detected. Check the wiring and sensor.
The creep sensor cannot be detected. Check the wiring and sensor.
Phase Z cannot be detected. Check the wiring and encoder.
The phase-Z position is defective. Normal wear and tear of the mechanical ends
and home sensor may also be a reason. Readjustment is necessary.
Error writing card parameters
Internal servo calculation error
Check the connection of the absolute-data backup battery/replace the battery
and/or check the encoder cable connection, and then perform an absolute reset.
Check the connection of the absolute-data backup battery/replace the battery
and/or check the encoder cable connection, and then perform an absolute reset.
The data set to the slave is outside the allowable range.
An error response was returned from the slave.
Movement may have occurred during stopping due to external force or operation
may have been restricted during deceleration. This error may also generate when
jog operation is restricted (due to contact with an obstacle, contact with a
mechanical end before home return, etc.) or when wiring error, faulty encoder or
faulty motor is detected during deceleration.
The specified palletizing number is invalid.
The set even-numbered row count for palletizing zigzag is invalid.
The set palletizing pitches are abnormal.
The set X/Y-axis direction counts for palletizing are invalid.
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
CAA
Palletizing PASE/PAPS non-declaration error
Description, action, etc.
Neither PASE nor PAPS palletizing-setting command is set. Set either command.
CAB
Palletizing position number error
The specified palletizing position number is invalid.
CAC
Palletizing position number setting over
CAD
Palletizing PX/PY/PZ-axis duplication error
The specified palletizing position number exceeds the position number range
calculated for the current palletizing setting.
Any two of the specified PX, PY and PZ-axes for palletizing are the same axis.
CAE
Insufficient valid axes for palletizing 3-point teaching data
CAF
Excessive valid axes for palletizing 3-point teaching data
CB0
Mismatched valid axes for palletizing 3-point teaching data
CB1
Offset setting error at palletizing 3-point teaching
CB2
BGPA/EDPA pair-end mismatch error
CB4
Arch-motion Z-axis non-declaration error
CB5
BGPA non-declaration error during palletizing setting
CB6
Palletizing point error
CB7
Arch-trigger non-declaration error
CB8
No 3-point teaching setting error at palletizing angle acquisition
CB9
PX/PY-axis indeterminable error at palletizing angle acquisition
CBA
Reference-axis/PY/PY-axis mismatch error at palletizing angle
acquisition
Reference-point/PX-axis end-point duplication error at palletizing
angle acquisition
There are not enough valid axes in the point data for palletizing 3-point teaching.
Axes to comprise the palletizing PX/PY planes cannot be specified.
There are too many valid axes in the point data for palletizing 3-point teaching.
Axes to comprise the palletizing PX/PY planes cannot be specified.
The valid axis pattern in the point data for palletizing 3-point teaching does not
match.
Zigzag offset (not zero) cannot be set in palletizing 3-point teaching, if the
reference point is the same as the end point of the PX-axis.
The BGPA/EDPA syntax is invalid. EDPA was declared before BGPA, or another
BGPA was declared after BGPA without first declaring EDPA.
Z-axis has not been declared by PCHZ or ACHZ.
Palletizing setting cannot be performed without first declaring BGPA. Declare
BGPA.
The palletizing points are invalid (non-Z-axis components for arch-motion
movement are absent, etc.).
Declare arch triggers using PTRG or ATRG.
CBC
Palletizing motion calculation error
The palletizing angle cannot be acquired until setting by palletizing 3-point
teaching is complete.
Angle cannot be calculated because there are too many valid axes in the 3-point
teaching data and thus PX/PY-axes cannot be specified.
Angle cannot be calculated because the reference axis for angle calculation is
neither of the axes comprising the PX/PY-axes as set by 3-point teaching.
Angle cannot be calculated because the reference point of 3-point teaching is the
same as the PX-axis end-point data other than the PZ-axis component and thus
arc tangent cannot be calculated.
Trapezoid control calculation error for palletizing motion
CBD
MOD command divisor 0 error
“0” was specified as the divisor in the MOD command.
CBE
Target-locus boundary over error
The target position or movement locus exceeded the positioning boundary in the
infinite-stroke mode.
CBB
Appendix
425
426
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
CBF
Positioning distance overflow error
Description, action, etc.
The positioning distance is too large.
If the controller is of absolute encoder specification and the system has just been
moved or “Error No. C74, Actual-position soft limit over error” has also generated,
the controller may be experiencing a servo-packet calculation overflow caused by
abnormal current position resulting from an unsuccessful absolute reset. Perform
an absolute reset again by following the operation manual.
(Simply selecting “Encoder error reset” on the absolute reset screen will not allow
the controller to recognize the correct position. Always perform an absolute reset
by strictly following the specified procedure.)
The axis mode is invalid.
CC0
Axis mode error
CC1
Speed change condition error
CC2
Driver parameter list number error
An attempt was made to change the speed of an axis whose speed cannot be
changed (axis operating in S-motion, etc.).
The driver parameter list number is invalid.
CC3
Angle error
The angle is invalid.
CC4
SEL data error
The SEL data is invalid.
CC5
Positioning boundary pull-out error
CC6
Driver error primary detection
An attempt was made to execute a command not permitted outside the
positioning boundary.
A driver error was found by primary detection.
CC7
Palletizing movement PZ-axis pattern non-detection error
PZ-axis component is not found in the axis pattern during palletizing movement.
CC8
Arch top Z-axis pattern non-detection error
CC9
Arch trigger Z-axis pattern non-detection error
CCA
Arch top/end-point reversing error
CCB
Arch start-point/trigger reversing error
CCC
Arch end-point/trigger reversing error
CCD
Drive-source cutoff axis use error
Z-axis component relating to the highest point of arch motion is not found in the
axis pattern during arch motion operation.
Z-axis component relating to arch motion is not found in the axis pattern of the
arch-trigger declaration point data.
The coordinates of highest point and end point are reversed during arch motion
operation.
The coordinates of start point and start-point arch trigger are reversed during
arch motion operation.
The coordinates of end point and end-point arch trigger are reversed during arch
motion operation.
An attempt was made to use an axis whose drive source is cut off.
CCE
Error axis use error
An attempt was made to use an axis currently generating an error.
CCF
Palletizing reference-point/valid-axis mismatch error
The PX/PY(/PZ)-axes set by PASE/PCHZ are not valid in the axis pattern of the
reference-point data set by PAST.
Appendix
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
D01
D02
D03
D04
D05
D06
D07
D08
D09
D0A
D0B
D0C
D0E
D0F
D10
D11
D12
D13
D14
D15
D17
D18
D19
D1A
D1B
D1C
D1D
D1E
D1F
Error name
Encoder EEPROM-write timeout error
Encoder EEPROM-read timeout error
Encoder count error
Encoder one-revolution reset error
Encoder-EEPROM write acceptance error
Encoder received-data error
Driver logic error
Encoder CRC error
Driver overspeed error
Driver overload error
Driver EEPROM data error
Encoder EEPROM data error
Axis sensor error
Power stage temperature error
IPM error
Driver abnormal interruption error
Encoder disconnection error
FPGA watchdog timer error
Current loop underrun error
Driver-CPU down status error
Main-CPU alarm status error
Speed loop underrun error
Encoder receive timeout error
Driver command error
Serial bus receive error
Encoder overspeed error
Encoder full-absolute status error
Encoder counter overflow error
Encoder rotation error
Description, action, etc.
The encoder is faulty or failure occurred in the encoder communication.
The encoder is faulty or failure occurred in the encoder communication.
Faulty encoder or defective encoder assembly condition is suspected.
The encoder is faulty or has turned.
The encoder is faulty or failure occurred in the encoder communication.
The encoder is faulty or failure occurred in the encoder communication.
The driver CPU board is in a condition where it cannot operate normally.
The encoder is faulty or failure occurred in the encoder communication.
The motor speed exceeded the upper limit.
The power input to the motor exceeded the upper limit.
Failure during write or EEPROM failure
Failure during write or EEPROM failure
An error occurred in the axis sensor.
The power stage board exceeded the upper temperature limit.
A failure occurred in the motor drive circuit.
The driver CPU board is in a condition where it cannot operate normally.
The encoder cable is disconnected.
The power must be reconnected.
Failure in the interface with the main CPU
Failure in the interface with the main CPU
An error occurred in the driver CPU board.
Failure in the interface with the main CPU
Failure in the interface with the main CPU
The encoder is faulty or failure occurred in the encoder communication.
An error occurred in the CPU bus command.
Failure in the interface with the main CPU
The motor speed exceeded the upper limit.
The motor speed exceeded the upper limit.
The encoder rotation counter exceeded the upper limit.
Faulty encoder or defective encoder assembly condition is suspected.
Appendix
427
428
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
D20
Driver error
Error name
Description, action, etc.
(Refer to error No. CA1.)
D22
Encoder rotation reset error
The encoder is faulty or has turned.
D23
Encoder alarm reset error
Faulty encoder
D24
Encoder ID error
The encoder is faulty or failure occurred in the encoder communication.
D25
Encoder configuration mismatch error
The encoder configuration information is outside the function information range.
D26
Motor configuration mismatch error
The motor configuration information is outside the function information range.
D50
Fieldbus error (FBMIRQ timeout)
D51
Fieldbus error (FBMIRQ reset)
D52
Fieldbus error (FBMBSY)
D53
Fieldbus error (BSYERR)
D54
Window lock error (LERR)
D55
Fieldbus error (Min busy)
D56
Fieldbus error (MinACK timeout)
D57
Fieldbus error (MoutSTB timeout)
A FBMIRQ timeout was detected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
A FBMIRQ reset error was detected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
A FBMBSY was detected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
A BSYERR was detected. The power must be reconnected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
A LERR was detected. The power must be reconnected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
A Min busy error was detected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
A Min ACK timeout was detected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
A Mout STB timeout was detected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
Appendix
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
D58
Fieldbus error (INIT timeout)
D59
Fieldbus error (DPRAM write/read)
D5A
Fieldbus error (TOGGLE timeout)
D5B
Fieldbus error (Access-privilege retry over)
D5C
Fieldbus error (Access-privilege open error)
D5D
Fieldbus error (FBRS link error)
D5E
Fieldbus error (Mailbox response)
D67
Motor/encoder configuration information mismatch error
D68
No remote-mode control support board error
D69
External terminal block overcurrent or power-supply error
D70
Option use permission error
Description, action, etc.
An INIT timeout was detected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
A DPRAM write/read error was detected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
A TOGGLE timeout was detected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
An access-privilege retry over error was detected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
An access-privilege open error was detected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
A FBRS link error was detected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
A mailbox response error was detected.
Check the status of the monitor LED on the front face of the board by referring to
the operation manual for the field network board.
The “motor/encoder configuration information” (motor identification number and
encoder identification number) in driver parameter No. 26 does not match the
“motor/ encoder configuration information” (motor identification number and
encoder identification number) in encoder parameter No. 11. Check the
parameter values, encoder cable connection, etc.
Hardware supporting remote-mode control is not installed, although remote-mode
control (AUTO/MANU) is specified in I/O parameter No. 79.
Overcurrent or power-supply error in the external terminal block
D6A
Hardware unsupported function error
Check if any option whose use is not permitted is specified in the system
program.
An attempt was made to use a function not supported by the hardware.
D6B
Overrun error
The overrun sensor was actuated.
Appendix
429
430
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
D6C
Actual-position soft limit over error
D6D
D6F
Logic error
Optional password error
E01
E02
E03
E04
E05
E06
E07
E08
E09
E0A
E10
E11
E14
E15
E16
E17
E18
E19
E1A
E1B
E1C
E1D
DMA address error
SCIF send-buffer overflow error
SCI send-buffer overflow error
SCIF receive-buffer overflow error
SCI receive-buffer overflow error
Receive timeout error (Slave communication)
SCI overrun error (Slave communication)
SCI framing error (Slave communication)
SCI parity error (Slave communication)
SCI CRC error (Slave communication)
SCIF communication mode error
SCI communication mode error
SCI receive-data-register full wait timeout error
SCI overrun error
Program end confirmation timeout error
I/O-processing-program start logic error
Task ID error
WAIT factor error
WAIT logic error
Point-data valid address error
Source data error
Unaffected output number error
E1E
Zone parameter error
Appendix
Description, action, etc.
The actual position exceeded a soft limit by the “soft limit/actual position margin”
or more.
A logic error occurred.
The optional function the controller is attempting to use requires an optional
password. Check other parameter Nos. 30 through 32, etc., in accordance with
the applicable function.
DMA transfer error
The SCIF send buffer overflowed.
The SCI send buffer overflowed.
The SCIF receive buffer overflowed. Excessive data was received from outside.
The SCI receive buffer overflowed. Excessive data was received from the slave.
Response from the slave cannot be recognized.
Communication failure. Check for noise, circuit failure and slave card.
Communication failure. Check for noise, shorting, circuit failure and slave card.
Communication failure. Check for noise, shorting, circuit failure and slave card.
The CRC in the message is invalid.
The communication mode is invalid.
The communication mode is invalid.
Communication failure. Check for noise, shorting, circuit failure and slave card.
Communication failure. Check for noise, shorting, circuit failure and slave card.
The program cannot be ended.
The I/O-processing-program start logic is invalid.
The task ID is invalid.
The WAIT factor is invalid.
The WAIT logic is invalid.
Point-data valid address is not set.
The source data is invalid.
The unaffected output number is invalid. A value other than an output port
number (“0” is acceptable) may be input in I/O parameter Nos. 70 to 73.
A value other than an output port/global flag number (“0” is acceptable) or
duplicate numbers may be input in axis-specific parameter Nos. 88, 91, 94 and
97, or the output number specified as system output in the I/O parameter for
output function selection may be duplicated, among other reasons.
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
E1F
I/O assignment parameter error
I/O assignment duplication error
E21
I/O assignment count over error
E22
E23
E24
E25
E26
E27
E29
E2A
E2B
E33
E34
E37
E38
E39
E3A
E3C
E3D
Header error (Slave communication)
Card ID error (Slave communication)
Response type error (Slave communication)
Command type error (Slave communication)
Target type error
No target error
EEPROM error (EWEN/EWDS not permitted)
Read compare mismatch error during EEPROM write
Abnormal response error when sending EEPROM information
acquisition command
Maximum receive size over error when sending EEPROM
information acquisition command
Receive-data checksum error when sending EEPROM information
acquisition command
Slave response logic error
Slave block number out of range
Slave data setting prohibited
Faulty slave EEPROM
No encoder EEPROM error
Absolute encoder error
Undefined slave-command error code detected
SEL program/point/parameter flash ROM status error
E3E
E3F
E40
E41
Parameter checksum error
Gain parameter error
Rotational-movement axis parameter error
Servo-motion data packet shortage error
E2C
E2D
431
Appendix
E20
Description, action, etc.
A value other than an I/O port number (“-1” is acceptable) or other than an I/O
head port number + [multiple of 8] may be input in I/O parameter Nos. 2 to 9, or a
value other than a [multiple of 8] may be input in I/O parameter Nos. 14 to 17.
I/O assignments are duplicated. Check I/O parameter Nos. 2 to 9 and 14 to 17
and the I/O slot card type (number of I/Os), etc.
The I/O assignments exceed the specified range. Check I/O parameter Nos. 2 to
9 and 14 to 17 and the I/O slot card type (number of I/Os).
The header in the message received from the slave card is invalid.
The card ID in the message received from the slave card is invalid.
The response type in the message received from the slave card is invalid.
The command type of the transmitting command is invalid.
The target type is invalid.
Target (driver card, I/O card, encoder or other slave card) is not installed.
EEPROM access error (when writing)
EEPROM access error (when writing)
An abnormal response was received when a slave-EEPROM information
acquisition command was sent.
The maximum receive size exceeds the limit value when a slave-EEPROM
information acquisition command is sent.
The checksum of receive data is invalid when a slave-EEPROM information
acquisition command is sent.
The slave response logic is invalid.
The slave block number is out of range.
Setting of slave data is prohibited.
The slave EEPROM is faulty.
The encoder is not equipped with EEPROM.
Absolute encoder is specified illegally.
An undefined slave-command error code was detected.
Data is not written to the flash ROM correctly or written in an old, incompatible
application version.
The flash ROM data has been destroyed.
The setting of “Axis-specific parameter No. 60, Position gain,” etc., is invalid.
Check axis-specific parameter Nos. 67, 66, 38, 37, 1, etc.
There are not enough servo-motion data packets.
432
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
E42
E45
E46
E47
E49
E4A
E4B
E4C
E4D
Error name
Servo job error
Servo undefined command detection error
Maximum receive size over error at absolute-data acquisition
No normal response error at absolute-data acquisition
Encoder rotation error
Encoder rotation counter overflow error
Encoder count error
Encoder overspeed error
Driver phase-Z detection logic error
Phase-Z count parameter error
Synchro parameter error
Driver special command ACK-timeout error
Drive unit error (DRVESR)
Encoder error (DRVESR)
Driver CPU error (DRVESR)
Servo control error (DRVESR)
Command error (DRVESR)
Motor temperature error (DRVESR)
Servo ON/OFF timeout error
Brake ON/OFF timeout error
Pole sense non-detection error
Detection OFF error upon pole sense completion
E5C
E5D
E5E
E5F
E60
E61
E62
Hold-at-stop servo job error
Servo packet error
Servo-control-right management array number error
Length conversion parameter error
Slave maximum receive size over error
Slave no normal response reception error
Sending-slave CPU type error
Appendix
E4E
E4F
E50
E51
E52
E53
E54
E55
E56
E58
E59
E5A
E5B
Description, action, etc.
The servo job is invalid.
An undefined command was detected during servo processing.
The receive size is too large when acquiring absolute data.
Normal response is not received when acquiring absolute data.
An encoder rotation error was detected.
An encoder rotation counter overflow error was detected.
An encoder count error was detected.
An encoder overspeed error was detected.
A phase-Z detection completion status was notified from the driver in a mode
other than the phase-Z detection operation mode.
Check axis-specific parameter Nos. 23, 38, 37, etc.
Check axis-specific parameter Nos. 65, 39, all-axis parameter No. 1, etc.
ACK cannot be detected for the driver special command.
Error notification from the driver
Error notification from the driver
Error notification from the driver
Error notification from the driver
Error notification from the driver
Error notification from the driver
Servo ON/OFF cannot be confirmed.
Brake ON/OFF cannot be confirmed.
Motor magnetic pole cannot be detected.
The motor-magnetic-pole detection status bit (Psenex) is turned OFF after
completion of pole sense.
The servo job is invalid.
The servo packets are invalid.
The servo-control-right management array number is invalid.
Check axis-specific parameter Nos. 47, 50, 51, 42, 1, etc.
The slave receive size is too large.
Normal response cannot be received from the slave.
The CPU type of the sending slave is invalid.
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
E63
Message-buffer information type error
Description, action, etc.
The message-buffer information type is invalid.
E64
Abnormal standby power detection error
Abnormal standby power was detected.
E65
Regenerative resistance temperature error
A regenerative resistance temperature error was detected.
E66
AC-power overvoltage error
An AC-power overvoltage error was detected.
E67
Motor-power overvoltage error
A motor-power overvoltage error was detected.
E68
Emergency-stop status requiring reset recovery (not error)
Reset the emergency stop and then reconnect the power.
E69
Abnormal 24-V I/O power source
The 24-V I/O power source is abnormal.
E6A
Safety-gate open status requiring reset recovery (not error)
Close the safety gate and then reconnect the power.
E6B
Shutdown factor indeterminable error
Shutdown factor cannot be determined.
E6C
DO output current error
The DO output current is abnormal.
E6D
Drive-source cutoff relay error
The drive-source cutoff relay may have been melted.
E71
Encoder configuration information outside supported function
information range
Motor configuration information outside supported function
information range
Encoder resolution mismatch error
E7C
Register read/write test error
Error reading/writing the register
E7D
Linear-movement axis parameter error
Check axis-specific parameter Nos. 38, 68, 1, etc.
E7E
Parameter error
The parameter is invalid.
E72
E73
E74
E75
E76
E77
E78
E79
E7A
433
Appendix
E7B
An encoder whose configuration information is outside the range supported by
the driver unit is installed.
A motor whose configuration information is outside the range supported by the
driver unit is installed.
The encoder resolution in the system’s axis-specific parameter and that of the
installed encoder do not match.
Encoder division ratio mismatch error
The encoder division ratio in the system’s axis-specific parameter and that of the
installed encoder do not match.
Encoder linear/rotary type mismatch error
The encoder linear/rotary type in the system’s axis-specific parameter and that of
the installed encoder do not match.
Encoder ABS/INC type mismatch error
The encoder ABS/INC type in the system’s axis-specific parameter and that of
the installed encoder do not match.
Magnetic-pole sensor installation specification mismatch error
The magnetic-sensor installation specification in the system’s axis-specific
parameter and that of the installed encoder do not match.
Brake installation specification mismatch error
The brake installation specification in the system’s axis-specific parameter and
that of the installed encoder do not match.
Abnormal response error when sending EEPROM-data setting slave An abnormal response was received when an EEPROM-data setting slave
command
command was sent.
Maximum receive size over error when sending EEPROM-data
The receive size exceeded the limit value when an EEPROM-data setting slave
setting slave command
command was sent.
Motor-drive power ON timeout error
Abnormal current flow from the motor-drive power source
434
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
E7F
Stroke parameter error
Error name
Description, action, etc.
Check axis-specific parameter Nos. 7, 8, 1, etc.
E80
Unsupported card error
An unsupported card is installed in an I/O slot.
E81
Priority auto-assignment card non-detection error
Priority auto-assignment card cannot be detected.
E82
Card mismatch error
The combination or positioning of I/O slot cards has a problem.
E83
I/O slot card error
The I/O slot card is invalid.
E84
Resolution parameter error
Check axis-specific parameter Nos. 47, 50, 51, 44, 42, 43, 1, 37, etc.
E85
Driver ready OFF factor indeterminable error
Driver ready OFF factor cannot be determined.
E86
Fieldbus error (FBVCCER)
A fieldbus error (FBVCCER) was detected.
E87
Fieldbus error (FBPOWER)
A fieldbus error (FBPOWER) was detected.
E88
Power error (Other)
E89
SCIF open error in non-AUTO mode (Servo in use)
E8A
SEL program flash-ROM status error
A power error (Other) was detected. This error also generates when the power
OFF → ON interval is short. After the power has been turned off, be sure to wait
for at least 5 seconds before turning it back on. Abnormal regenerative resistance
temperature is also suspected.
In a mode other than AUTO, opening of the serial 1 channel (also used by the PC
software/TP port) from a SEL program is prohibited while the servo is in use (to
ensure safety).
Data is not written to the flash ROM correctly or written in an old, incompatible
application version.
E8B
Symbol definition table flash-ROM status error
Data is not written to the flash ROM correctly or written in an old, incompatible
application version.
E8C
Point data flash-ROM status error
Data is not written to the flash ROM correctly or written in an old, incompatible
application version.
E8D
Parameter flash-ROM status error
Data is not written to the flash ROM correctly or written in an old, incompatible
application version.
Appendix
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
FF0 ~ Shutdown error (hi_sysdwn () definition)
F00
F03 ~ Shutdown error (OS call error)
F58
F60
System-down level error-call procedure error
Description, action, etc.
A shutdown error (hi_sysdwn () definition) was detected.
A shutdown error (OS call error) was detected.
A system-down level error-call procedure error was detected.
F61
Interpreter-task end task ID error
An interpreter-task end task ID error was detected.
F62
Abnormal standby power detection error
Abnormal standby power was detected.
F63
Regenerative resistance temperature error
A regenerative resistance temperature error was detected.
F64
AC-power overvoltage error
An AC-power overvoltage error was detected.
F65
Motor-power overvoltage error
A motor-power overvoltage error was detected.
F66
Servo control underrun error
A servo control underrun error was detected.
F67
FROM-write bus width error
F68
FROM write protect error
F69
Boot watchdog error
A write operation other than 32-bit long word access was detected while writing
the flash ROM.
Write operation to a write-protected flash ROM area (FRMWE bit in DEVCTR = 1)
was detected.
A FPGA boot watchdog was detected. The core program may not be running
properly.
An undefined exception/interruption occurred.
F6A ~
FA0
FB0
Undefined exception/interruption error
TMU0 interruption error
A TMU0 interruption error was detected.
FB1
Application code SDRAM copy error (Checksum)
FB2
Installed flash ROM type mismatch (Application)
FB8
Undefined NMI error
The sum of 4 bytes does not match between the corresponding sections after
FROM → SDRAM program copy.
The flash ROM type anticipated in the software does not match the flash ROM
type actually installed. Check the combination of software and hardware.
An undefined NMI interruption occurred.
Appendix
435
436
 Error List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.)
Error No.
A70
SCIF overrun error
Error name
A71
SCIF framing error
A72
SCIF parity error
A73
IAI protocol header error
A74
IAI protocol terminal ID error
A75
IAI protocol command ID error
A76
IAI protocol checksum error
A77
Motorola S record type error
Description, action, etc.
Communication error. Check for noise, connected equipment and communication
setting. (When updating the application, connect to a PC and use IAI’s update
tool.)
Communication error. Check for noise, shorted/disconnected communication
cable, connected equipment and communication setting. (When updating the
application, connect to a PC and use IAI’s update tool.)
Communication error. Check for noise, shorted/disconnected communication
cable, connected equipment and communication setting. (When updating the
application, connect to a PC and use IAI’s update tool.)
Communication protocol error. Check for noise and connected equipment. (When
updating the application, connect to a PC and use IAI’s update tool.)
Communication protocol error. Check for noise and connected equipment. (When
updating the application, connect to a PC and use IAI’s update tool.)
Communication protocol error. Check for noise and connected equipment. (When
updating the application, connect to a PC and use IAI’s update tool.)
Communication protocol error. Check for noise and connected equipment. (When
updating the application, connect to a PC and use IAI’s update tool.)
The update program file is invalid. Check the file.
A78
Motorola S checksum error
The update program file is invalid. Check the file.
A79
Motorola S load address error
The update program file is invalid. Check the file.
A7A
Motorola S write address over error
The update program file is invalid. Check the file.
Flash timing limit over error (Write)
Error writing the flash ROM (When updating)
Flash timing limit over error (Erase)
Error erasing the flash ROM (When updating)
A7D
Flash verify error
Error erasing/writing the flash ROM (When updating)
A7E
Flash ACK timeout
Error erasing/writing the flash ROM (When updating)
A7F
Head sector number specification error
Error erasing the flash ROM (When updating)
A80
Sector count specification error
Error erasing the flash ROM (When updating)
A81
Write-destination offset address error (Odd-numbered address)
A82
Write-source data buffer address error (Odd-numbered address)
The address written during flash ROM write (when updating) is invalid. Check the
update program file.
Error writing the flash ROM (When updating)
A83
Invalid code sector block ID error
A84
Code sector block ID erase count over
The flash ROM is new, or the program currently written to the flash ROM is
invalid because the last update was aborted. The ROM can be updated without
problem.
The number of times the flash ROM was erased exceeded the allowable count.
Appendix
A7B
A7C
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
Error name
A85
FROM write request error before erase is complete
A86
A87
Absolute-encoder backup battery voltage-low warning (Driver
detection)
Motorola S-byte count error (Core detection)
A88
Message conversion error (Core detection)
A89
Updating target non-specification error (Core detection)
A8A
Updating system code error (Core detection)
A8B
Updating unit code error (Core detection)
A8C
Updating device number error (Core detection)
Description, action, etc.
When updating, a flash-ROM write command was received before a flash-ROM
erase command. Confirm that the update program file is valid and then perform
update again.
The voltage of the absolute-data backup battery is low. Check the battery
connection or replace the battery.
The update program file is invalid. Check the file.
The received message does not conform to the message format or contains
invalid data. Check the message sent from the host communication device.
During update, an update command was received before the updating target was
specified properly. Check if an appropriate updating PC tool is used and the
target specification and other settings in the updating PC tool are correct.
The system code in the message received with the updating target specification
command does not match the controller system. Check the target specification
and other settings in the updating PC tool.
The unit code in the message received with the updating target specification
command does not match any updatable unit in the controller. Check the target
specification and other settings in the updating PC tool.
The specified device number in the message received with the updating target
specification command is not appropriate. Check the target specification and
other settings in the updating PC tool.
Error erasing/writing the flash ROM
A8D
Flash busy reset timeout (Core detection)
A8E
Unit type error (Core detection)
CD0
Drive error (Driver detection)
The unit type specified in the message received with the command is invalid or
not supported.
Error notification from the driver
CD1
Encoder error (Driver detection)
Error notification from the driver
CD2
Driver CPU error (Driver detection)
Error notification from the driver
CD3
Servo control error (Driver detection)
Error notification from the driver
CD4
Command error (Driver detection)
Error notification from the driver
CD5
Motor temperature error (Driver detection)
Error notification from the driver
Appendix
437
438
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
E90
E91
E92
E93
E94
E95
E96
E97
E98
E99
E9A
E9B
E9C
E9D
E9E
E9F
Error name
Core code flash-ROM status error
Application code flash-ROM status error
Core code sum error
Application code sum error
Timing limit over error (Flash erase)
Flash verify error (Flash erase)
Flash ACK timeout (Flash erase)
Head sector number specification error (Flash erase)
Sector count specification error (Flash erase)
Timing limit over error (Flash write)
Flash verify error (Flash write)
Flash ACK timeout (Flash write)
Write-destination offset address error (Flash write)
Write-source data buffer address error (Flash write)
Watchdog reset occurrence error
Exception occurrence error while BL = 1 (NMI)
Exception occurrence error while BL = 1 (Other than NMI)
EA1
Bit exception reset due to command/data TLB duplication
EA2
EA3
EA4
EA5
EA6
EA7
EA8
Undefined exception/interruption error
AC-power cutoff detection error
Abnormal standby power detection error
Regenerative resistance temperature error
AC-power overvoltage error
Motor-power overvoltage error
FROM-write bus width error
EA9
FROM write protect error
EAA
EAB
SDRAM write/read test error
Application-update SCIF send-queue overflow error
Appendix
EA0
Description, action, etc.
The core program is invalid. Contact the manufacturer.
The application program is invalid. Contact the manufacturer.
The core program is invalid. Contact the manufacturer.
The application program is invalid. Contact the manufacturer.
Error erasing the flash ROM
Error erasing the flash ROM
Error erasing the flash ROM
Error erasing the flash ROM
Error erasing the flash ROM
Error writing the flash ROM
Error writing the flash ROM
Error writing the flash ROM
Error writing the flash ROM
Error writing the flash ROM
A WDT (watchdog timer) was manually reset (error detection).
An exception occurred while the block bit in the CPU status register was “1.”
(NMI)
An exception occurred while the block bit in the CPU status register was “1.”
(Other than NMI)
This reset occurs when there are multiple TLB entries corresponding to the virtual
address.
An undefined exception/interruption occurred.
An AC-power cutoff was detected.
Abnormal standby power was detected.
A regenerative resistance temperature error was detected.
An AC-power overvoltage error was detected.
A motor-power overvoltage error was detected.
A write operation other than 32-bit long word access was detected while writing
the flash ROM.
Write operation to a write-protected flash ROM area (FRMWE bit in DEVCTR =
1) was detected.
The SDRAM is faulty. Contact the manufacturer.
An overflow occurred in the send queue.
(In the panel window, the three digits after “E” indicate an error number.)
Error No.
EAC
Error name
Servo control underrun error
EB0
Undefined NMI error (Core)
A FPGA boot watchdog was detected. The core program may not be running
properly.
Excessive data is received from outside. (Confirm that a PC and IAI’s update tool
are used to update the application.)
The flash ROM type anticipated in the software does not match the flash ROM
type actually installed. Check the combination of software and hardware.
An undefined NMI interruption occurred.
EB1
FPGA read/write test error (Core)
A read/write error of the FPGA.
EB2
Flash busy reset timeout (Core detection)
Flash ROM malfunction. The busy status of the flash ROM is not reset.
EAD
EAE
EAF
Boot error
Description, action, etc.
A servo control underrun error was detected.
Application-update SCIF receive-queue overflow error
Installed flash ROM type mismatch (Core)
Appendix
439
Appendix
 Troubleshooting of ASEL Controller
After the optional panel unit was connected, the panel window began displaying an error number every
time an error generates.
When the power is turned on, normally “rdy” or “Ardy” will be displayed. “P01” or other code will be
displayed while a program is running.
When an error generates, the panel window will show “EA1D” or other code starting with “E.” (Some errors
do not begin with “E.”)
Status
Panel window display
After turning on the power
rdy, Ardy
Program is running
P01, P64, etc.
Error has generated
EA1D, ED03, etc.
* Among the alphabets, B and D are shown in lower case.
Depending on the error number, it may be possible to reset the error after removing the cause of the error,
or the power must be reconnected to reset the error.
Also, some error numbers are output to the LED display in the panel window, while others are not.
For details, see “ Error Level Control.”
440
Troubleshooting (Causes and Countermeasures for Key Errors)
Error No.
Error name
Cause
Countermeasure
dCF
DC power cutoff
Momentary power failure has occurred or the
voltage has dropped.
Check the power-source voltage.
(24-VDC specification)
ErG
Emergency stop
(This is not an error.)
Emergency-stop signal is input.
Emergency-stop signal is input in the following condition:
1. The emergency-stop button on the teaching pendant is
pressed.
2. The applicable input terminal in the system connector is
turned ON.
3. The port switch on the front panel is set to the manual side.
(The teaching-pendant/PC-software connector is not
connected.)
4. The actuator is of sensor specification and the slider is
stopped on either end of the slider.
enb
Safety gate open
The safety gate is open.
Check the system connector wiring.
C9C
Defective phase-Z position
error
The phase-Z position is defective or the
reversing amount at home return is small.
Check to see if foreign object has entered the actuator.
Check to see if the mounting bolts are contacting the slider.
* Change axis-specific parameter No. 22 to “100.”
914
CA2
Abnormal absolute-data
backup battery voltage
Connect the PG cable to the controller and execute an absolute
reset.
Replace the absolute-data backup battery and execute an
absolute reset.
CA5
Stop deviation overflow error
The PG cable was disconnected from the
controller.
Absolute reset has not been executed after the
initial setup.
The voltage of the absolute-data backup battery
has dropped.
Operation is mechanically disabled.
If there is no problem in the mechanical
function, the power stage board is faulty.
C6b
Deviation overflow error
Operation is mechanically disabled.
Check to see if the actuator mounting bolts are contacting inside
the axes, or if the slider attachment is contacting any
surrounding mechanical parts.
Check to see if the actuator mounting bolts are contacting inside
the axes, or if the slider attachment is contacting any
surrounding mechanical parts.
Replace the board.
Appendix
441
442
Error No.
Error name
Cause
Countermeasure
d03
Faulty encoder or attachment of
dust
The encoder is faulty or dust is attached.
Remove the motor cover and apply cleaning air spray for OA
equipment, etc., over the cord wheel.
If the problem persists, replace/readjust the encoder.
d06
Encoder received-data error
The encoder cable is disconnected.
Replace the encoder cable.
690
Motor overcurrent error
The motor coil is damaged.
d19
Encoder receive timeout error
The encoder cable is disconnected.
Replace the encoder cable.
d18
Speed loop underrun error
The driver CPU board was damaged due to
noise in the encoder cable.
Replace the board and implement noise control measures.
807
Shutdown relay ER status
The transistor on the power-supply board (to
which the power cable is connected) is
damaged.
Replace the board.
Measure the inter-phase resistances among U, V and
W. If the measured resistances are not the same, burn
damage is suspected. Replace the motor.
If the measured resistances are roughly the same,
there is no burn damage.
If the motor coil is not damaged, the driver’s Replace the board.
CPU board (the board to which the motor
drive cable is connected) is faulty.
Appendix
443
Appendix
Trouble Report Sheet
Company name
TEL
IAI agent
Serial number
[1] Number of axes
Trouble Report Sheet
Department
(Ext)
FAX
Purchase date
Manufacture date
Date:
Reported by
… axis(es)
Type
[2] Type of problem
1. Disabled operation
4. Error
2. Position deviation
3. Runaway machine
Error code =
5. Other (
)
[3] Problem frequency and condition
Frequency =
Condition
[4] When did the problem occur?
1. Right after the system was set up
2. After operating for a while (Operating hours:
[5] Operating direction
1. Horizontal
month(s))
2. Horizontal + Vertical
[6] Load condition
1. Load transfer
2. Push-motion operation
4. Speed: Approx.
mm/sec
[7] Special specification (option, etc.)
444
year(s) and
3. Load: Approx.
kg
Catalog No.: ME0165-3A (September 2008)
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143
TEL (630) 467-9900 FAX (630) 467-9912
Atlanta Office: 1220-E Kennestone Circle, Marrietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL 06196-88950 FAX 06196-889524
The information contained in this document is subject to change without notice for the purpose of product improvement.
Copyright © 2008. SEP. IAI Corporation. All rights reserved.
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