Iai-america IA-101-X-USBMW User Manual

1PC Software for X-SEL IA-101-X-MW IA-101-X-MW-J IA-101-XA-MW IA-101-X-USB IA-101-X-USBMW IA-101-TT-USB Operation Manual 11th EditionIAI America, I

2Installing V6.0.0.0 Compatible with the IA Super SEL Controller E/G Types and the DS ControllerV6.0.0.0 compatible with the IA Super SEL Controller E

5. Copying/Moving/Clearing a Program92Program number to copy/move fromProgram number to copy/move to In the case of the SSEL, ASEL, or PSEL controller

5. Copying/Moving/Clearing a Program93This is not displayed for SSEL, ASEL and PSELFor SSEL, ASEL and PSEL or X-SEL-P/Q and PX/QX compatible with incr

5. Copying/Moving/Clearing a Program94In the case of the SSEL, ASEL, and PSEL controllers, the number of remaining steps will be 2000 or less.5.2 Pro

5. Copying/Moving/Clearing a Program95This is not displayed for SSEL, ASEL and PSELFor SSEL, ASEL and PSEL or X-SEL-P/Q and PX/QX compatible with incr

6. Position Data Edit Window966. Position Data Edit Window 6.1 Explanation of the Items Displayed in the Position Data Edit Window (1) Click Posit

6. Position Data Edit Window97(1) Position data (1) Position data (2) Common buttons (6) Axis-specific buttons (SCARA axis) (7) Setting functions (SCA

6. Position Data Edit Window98(1) Position data (2) Common buttons(4) Axis-specific buttons (Orthogonal axis)(5) Setting functions(Orthogonal axis)Fi

6. Position Data Edit Window99Fig. 6.11 Position Data (X-SEL-RXD/SXD) (1) Position data Fig. 6.12 Position Data (X-SEL-RXD/SXD) (1) Position dat

6. Position Data Edit Window100(2) Common buttons (4) Axis-specific buttons (Orthogonal axis) (5) Setting functions (Orthogonal axis)(1) P

6. Position Data Edit Window101Axis 1 to 4Specify each desired position for Axis 1 to Axis 4. In the case of the JX/KX, PX/QX, RX/SX and RXD/SXD contr

3[4] Click TOOL.[5] The PC SOFT V6.0.0.0 folder containing the V6.0.0.0 installer will appear. Click PC SOFT V6.0.0.0 folder.[6] Click the ENGLIS

6. Position Data Edit Window102DclSpecify a desired deceleration. The setting range is from 1 to the value set in All-axis common parameter No. 23,

6. Position Data Edit Window103(2) Common buttons (X-SEL-J/K, P/Q, PX/QX, R/S, RX/SX, TT, SSEL, ASEL, and PSEL) Fig.6.17 Common Buttons (X-SEL-J/K, P

6. Position Data Edit Window104Jog – This button is not displayed for X-SEL-JX/KX.The axes specified as the ones to be operated by the common but

6. Position Data Edit Window105Move ContinuouslyClicking this button will move all axes indicated by (in the case of the SCARA axis, the 1st arm, 2

6. Position Data Edit Window106The axis you want to move using the common buttons Current position of the selected axisError code !Select the axis to

6. Position Data Edit Window107(5) Setting functions (Orthogonal axis) Set the velocity (Vel), acceleration (Acc), deceleration (Dcl) and inching dis

6. Position Data Edit Window108Select the axis you want to move using the common buttons. Axis number Current position of the selected axis Error code

6. Position Data Edit Window109(7) Setting functions (SCARA axis) Set the velocity (Vel), acceleration (Acc), deceleration (Dcl) and inching distan

6. Position Data Edit Window110 (8) Movement Selection Various buttons are provided to set Current arm system, Jog movement coordinate system, Work

6. Position Data Edit Window111 (9) Axis-specific button/setting function/movement selection display axis switching Fig. 6.34 Axis-specific Button/

4[7] Double-click PC Interface Software…. The PC Interface Software for X-SEL installation screen will appear. Install the software based on the

6. Position Data Edit Window112 6.2 Saving Position Data and Closing the Edit Window (1) Saving to a file the position data you are editing Click th

6. Position Data Edit Window113  Error/warning display before data transfer When transferring position data to the controller, the position data t

6. Position Data Edit Window114 This is not displayed for SSEL, ASEL and PSEL. (3) Writing to the flash ROM Once the program has been transferred t

6. Position Data Edit Window115 (4) Closing the point edit window Attempting to close the point edit window will open the following confirmation dial

7. Copying/Moving/Clearing Position Data116 7. Copying/Moving/Clearing Position Data 7.1 Copying/Moving Position Data (1) Click Position (O) from

7. Copying/Moving/Clearing Position Data117 The following screen will be displayed for the SSEL, ASEL and PSEL or X-SEL-P/Q and PX/QX compatible with

7. Copying/Moving/Clearing Position Data118 7.2 Clearing Position Data (1) Click Position (O) from the menu bar, and then select Clear (L). (2)

7. Copying/Moving/Clearing Position Data119 This is not displayed for SSEL, ASEL and PSEL. The following screen will be displayed for the SSEL, ASEL a

8. Parameter Edit Window1208. Parameter Edit Window 8.1 Explanation of the Parameter Edit Window (1) Click Parameter (P) from the menu bar, and th

8. Parameter Edit Window121In the parameter edit window, clicking Edit (E) from the menu bar and then selecting Undo (U) can cancel up to the most rec

5Software License AgreementThank you for purchasing the PC software for IAI’s X-SEL controller. This software is provided strictly with your consent

8. Parameter Edit Window122Parameter file saved by controller incompatible with increased memory Parameter saved by controller compatible with increas

8. Parameter Edit Window123This is not displayed for SSEL, ASEL and PSEL. (3) Writing to the flash ROM Once the program has been transferred to the

8. Parameter Edit Window124(4) Restarting the controller (software reset) After the data has been written to the flash ROM, the following confirmatio

8. Parameter Edit Window1258.3 Transferring a Parameter File Pay attention to parameter categories when transferring parameter data files to the cont

8. Parameter Edit Window1268.3.1 Selecting Categories of Parameters to Be Transferred (1) Select Open from the File menu or click the corresponding

8. Parameter Edit Window127Fig. 8.11 Select Parameter Category Window (X-SEL-JX/KX) (This window is supported by PC software version 3.0.1.0 or later.

8. Parameter Edit Window128[2] General parameter categories Click the checkbox corresponding to each category of parameters you want to transfer (the

8. Parameter Edit Window129[5] Parameter transfer options – Controller basic unit Transmit options Select whether to enable transfer of controller ba

8. Parameter Edit Window1308.4 How to Initialize XSEL-R/S, RX/SX, RXD/SXD, SSEL/ASEL/PSEL Parameters (at the time of shipment) Note: Initializatio

8. Parameter Edit Window131(3) Selecting the displayed menu Parameter of Shipping displayed in (2) will display a dialog in Fig. 8.18. If you have no

6A Word of Caution [1] This software is copyrighted by IAI Corporation (IAI). [2] The software and the manual can only be used under the terms and

9. Symbol Edit Window1329. Symbol Edit Window 9.1 About Symbols In the X-SEL controller, variable numbers, flag numbers and other values can be trea

9. Symbol Edit Window1339.2 Explanation of the Symbol Edit Window (1) Click Symbol (Y) from the menu bar, and then select Edit (E). (2) The symbo

9. Symbol Edit Window134(4) A symbol character string can be dragged and dropped between the symbol edit window and program edit window. By dragging

9. Symbol Edit Window1359.3 Saving Symbol Data and Closing the Edit Window (1) Saving to a file the symbol data you are editing Click the Save to

9. Symbol Edit Window136This is not displayed for SSEL, ASEL and PSEL. (3) Writing to the flash ROM Once the program has been transferred to the cont

9. Symbol Edit Window137(4) Closing the symbol edit window Attempting to close the symbol edit window will display the following confirmation dialo

10. Coordinate System Denition Data Edit Window13810. Coordinate System Definition Data Edit Window 10.1 Explanation of Coordinate System Definition

10. Coordinate System Denition Data Edit Window139(2) The coordinate system definition data edit window will be displayed. This window provides the

10. Coordinate System Denition Data Edit Window14010.2 Work Coordinate System A total of 32 different coordinates, provided as a combination of thre

10. Coordinate System Denition Data Edit Window141(1) Setting of work coordinate system Set the offsets with respect to the base coordinate system.

7Safety Guide Before using the product, ensure safety by following the safety precautions provided below and taking the necessary measures. Regulation

10. Coordinate System Denition Data Edit Window142(2) Positioning in a work coordinate system Perform positioning after selecting a desired work coo

10. Coordinate System Denition Data Edit Window143[2] When performing PTP positioning to position No. 5 and No. 6 in work coordinate system No. 2. F

10. Coordinate System Denition Data Edit Window144RtnntXntYRoftnXoftnYoftnZoftnZtnR-axis Tool Tool endXoftn: X tool coordinate offset Yoftn: Y tool

10. Coordinate System Denition Data Edit Window14545°4535001(1) Setting of tool coordinate system Set the offsets from the center of tool installat

10. Coordinate System Denition Data Edit Window146(2) Positioning based on tool coordinate system offsets Perform positioning after selecting a desi

10. Coordinate System Denition Data Edit Window147[2] When performing PTP positioning of the tool end in tool coordinate system No. 1 to position No

10. Coordinate System Denition Data Edit Window14810.4 Simple Interference Check Zone The simple interference check zone is an area set for the purp

10. Coordinate System Denition Data Edit Window149ޓޓޓ;D:D 㧙<D<D㧗:D㧗;D 㧙;D:D:D#$%&'()*[1] Set simple interference

10. Coordinate System Denition Data Edit Window150Fig. 10.16 Simple Interference Check Zone Definition Coordinates Setting Screen (X-SEL-RXD/SXD) Zon

10. Coordinate System Denition Data Edit Window151When simple interference check zone No. 1 is selected, entry of the tool into the rectangular solid

8Requirements for Industrial Robots by Ordinance on Industrial Safety and HygieneWork area Work condition Drive-source cutoff Measure Article Signs

10. Coordinate System Denition Data Edit Window152Fig. 10.18 Warning 10.5 Coordinate System Definition Data Clear Window The procedure to delete coo

10. Coordinate System Denition Data Edit Window153In the case of X-SEL-PX/QX compatible with increased memory (with gateway function), or RX/SX and R

10. Coordinate System Denition Data Edit Window15410.6 Printing of Coordinate System Definition Data The procedure to print coordinate system defini

11. Monitor15511. Monitor You can check the current statuses of various items from the Monitor menu. (1) Task status monitor windowThis window sho

11. Monitor156In the case of the SSEL, ASEL or PSEL controller, the Status of Positioner Mode can be checked by Status 3. (3) Axis status monitor win

11. Monitor157(4) Input port, virtual input port, output port and virtual output port windowsThese windows show the ON/OFF status of each input/outpu

11. Monitor158An ON filter has been set for this port. In the input port window, you can set an input port debug filter. "Input port debug filter

11. Monitor159Fig. 11.10 Warning Message The status (ON/OFF) of each input port as recognized by the controller changes the moment the debug filter is

11. Monitor160(5) Global flag, global integer variable, global real variable and global string windowsFig. 11.11 Global You can change the values in

11. Monitor161(6) Local Data (Version V9.00.01.00 or later) Select “Monitor (M)” ĺ “Local Data (B)” in the main menu and the Show Local Data wind

9Applicable Models of IAI’s Industrial RobotsAccording to Notice of Ministry of Labor No. 51 and Labor Standards Bureau Director notice (No. 340), mac

11. Monitor162All are shown at once at the first time one on top of another. Fig. 11.15 Local Data Display Window (display at first time)Drag one

11. Monitor163(7) Detailed error informationClicking Monitor (M) from the main menu and then selecting Detailed Error Information (E) will display t

11. Monitor164In the case of the X-SEL-R/S, RX/SX or RXD/SXD controller, the header of the time of error column displayed as part of detailed error in

11. Monitor165Save the maintenance information data to a file (CSV format). Transfer the data of entered new values to the controller.Print the mainte

11. Monitor166By setting thresholds for total number of movements and total distance travelled, you can notify an external device, by means of a messa

11. Monitor167Yes (Y) Write the memory data to the flash ROM. No (N) Do not write the memory data to the flash ROM. When a reset is performed (b

11. Monitor168(9) Monitoring data This item cannot be displayed for X-SEL-JX/KX controllers.With regard to the orthogonal axis selected for Target A

11. Monitor169Save the data in a file. (CSV format) Time (msec) Manipulated Variable: Original command pulse that composes the trapezoid or triangular

11. Monitor170Save the data in a file. (CSV format) Time (msec) Manipulated Variable: Original command pulse that composes the trapezoid or triangular

12. RC Gateway Function Setting17112. RC Gateway Function Setting Operational manual for RC gateway function is in a separate volume. Operational manu

10Safety Precautionsfor Our ProductsThe common safety precautions for the use of any of our robots in each operation. NO.Work Description Precautions

13. How to Reset an Absolute Encoder17213. How to Reset an Absolute Encoder 13.1 Orthogonal axis If the voltage of the absolute-encoder backup batter

13. How to Reset an Absolute Encoder173(5) When the following ‘Warning’ dialog box appears, click Yes Fig. 14.4 Warning (6) After the Encoder Rotati

13. How to Reset an Absolute Encoder17413.2 Scara Axis 13.2.1 Absolute Reset Preparation The following jigs are required to perform an absolute reset

13. How to Reset an Absolute Encoder17513.2.2 Starting the Absolute Reset Menu (1) Open the Abs. Encoder Reset window from PC software. (Note) In th

13. How to Reset an Absolute Encoder17613.2.3 Absolute Reset Procedure for Arm 1 or 2 (1) Click the Encoder Rotation Data Reset1 button. Fig. 14.9 En

13. How to Reset an Absolute Encoder177(3) Click the Servo ON button. Fig. 14.11 Servo ON Operation (4) Jog the arm to near the reference position (

13. How to Reset an Absolute Encoder178(6) Press the EMERGENCY STOP switch. (7) When performing an absolute reset for arm 1, set an adjustment jig

13. How to Reset an Absolute Encoder179Arm 1 (Arm length 250/300/350) Arm 2 (Arm length 250/300/350) Fig. 14.15 Arm length 250/300/350 Reference Pos

13. How to Reset an Absolute Encoder180Arm 1 (Arm length 120/150/180) Arm 2 (Arm length 150/180) Arm 2 (Arm length 120) x Always press the EMERGENCY S

13. How to Reset an Absolute Encoder181(8) Click the OK button. Fig. 14.18 Confirmation Operation (9) Click the Encoder Rotation Data Reset2 button.

11 NO. Work Description Precautions(1) Installation of Robot Main Body and Controller, etc. z Make sure to securely hold and fix the product (inclu

13. How to Reset an Absolute Encoder182(10) Remove the adjustment jig. x Install the cover and secure it with the setscrews for arm 1 only. (11)

13. How to Reset an Absolute Encoder18313.2.4 Absolute Reset Procedure for Rotation Axis + Vertical Axis (1) Click the Encoder Rotation Data Reset1 b

13. How to Reset an Absolute Encoder184(3) Click the Servo ON button. Fig. 14.23 Servo ON Operation (4) Click the Temp. Standard posture standby but

13. How to Reset an Absolute Encoder185D-cut surfacePositioning mark label for rotation axisThe top face of the stopper should align with the bottom f

13. How to Reset an Absolute Encoder186(Bottom view) Fig. 14.28 Arm Length 250/300/350 Reference Position x Always press the EMERGENCY STOP switch bef

13. How to Reset an Absolute Encoder187Fig. 14.29 Arm Length 120 Reference Position

13. How to Reset an Absolute Encoder188(Bottom view) Fig. 14.30 Arm Length 150/180 Reference Position x Always press the EMERGENCY STOP switch before

13. How to Reset an Absolute Encoder189(9) Click the OK button. Fig. 14.31 Confirmation Operation (10) Click the Encoder Rotation Data Reset2 button

13. How to Reset an Absolute Encoder190(11) Click the Home pos. automatic update button. Fig. 14.33 Home Pos. Automatic Update Operation (12) Remove

13. How to Reset an Absolute Encoder191(15) Click the Servo ON button. Fig. 14.35 Confirmation Operation (16) Click the Standard posture standby but

12NO. Work Description Precautions4 Installation and Start z Take the measure so that the work part is not dropped in power failure or emergency st

13. How to Reset an Absolute Encoder192(18) Click the Encoder Rotation Data Reset3 button. Fig. 14.38 Encoder Rotation Data Reset3 Operation (19) Cl

13. How to Reset an Absolute Encoder19313.3 ZR Unit (Absolute Type Only) Under certain conditions such as when the ZR unit is connected to the contro

13. How to Reset an Absolute Encoder19413.3.2 Starting the Absolute Reset Menu (Ball-screw Spline Adjustment Window) (1) Start the ball-screw spline

13. How to Reset an Absolute Encoder19513.3.3 Absolute Reset (Ball-screw Spline Adjustment) Procedure (1) Select a "linear movement axis number&

13. How to Reset an Absolute Encoder196(3) When the dialog box appears, click the [Yes (Y)] button. Fig. 14.45 Encoder Multi-Rotation Data Reset 1 Op

13. How to Reset an Absolute Encoder197(5) Click the [Reset Controller Error] button. Fig. 14.47 Controller Error Reset Operation (6) Click the [Ser

13. How to Reset an Absolute Encoder198(7) Click the [Temp. Standard posture standby (Lnr. Axis)] button. x Be careful because the linear movement a

13. How to Reset an Absolute Encoder199(9) Click the [Servo-OFF (Lnr. Axis, Rot. Axis)] button. Fig. 14.51 Servo OFF Operation (10) Press the emerge

13. How to Reset an Absolute Encoder200(12) Set the plate and pin constituting the adjustment jig, as shown below, to affix the robot in the referenc

13. How to Reset an Absolute Encoder201(13) Click the [OK] button. Fig. 14.53 Adjustment Jig Installation Confirmation Screen (14) Click the [Encode

13NO. Work Description Precautions8 Maintenance and Inspectionz When the work is carried out with 2 or more persons, make it clear who is to be the

13. How to Reset an Absolute Encoder202(15) When the dialog box appears, click the [Yes (Y)] button. Fig. 14.55 Encoder Multi-Rotation Data Reset 2 O

13. How to Reset an Absolute Encoder203(17) Click the [Home pos. automatic update (Indispensability) (Rot. Axis)] button. Fig. 14.57 Home Position Au

13. How to Reset an Absolute Encoder204(22) Click the [Servo ON (Lnr. Axis, Rot. Axis)] button. Fig. 14.59 Servo ON Operation (23) Click the [Stan

13. How to Reset an Absolute Encoder205(24) Click the [Servo-OFF (Lnr. Axis, Rot.Axis)] button. Fig. 14.61 Servo OFF Operation (25) Click the [Encod

13. How to Reset an Absolute Encoder206(26) When the dialog box appears, click the [Yes (Y)] button. Fig. 14.63 Encoder Multi-Rotation Data Reset 3 O

13. How to Reset an Absolute Encoder207(28) Closing the ball-screw spline adjustment window following the ball-screw spline adjustment opens the foll

13. How to Reset an Absolute Encoder20813.4 Simple absolute Unit for PSEL Controller (Option) Perform an absolute reset for following conditions: x

13. How to Reset an Absolute Encoder209(4) "PC Software for X-Sel" dialog box will appear on screen. If an error is detected, error message

13. How to Reset an Absolute Encoder210(6) Select Controller (C)– Absolute reset (A) from Menu. (7) [Warning] window will appear on screen. Click &q

13. How to Reset an Absolute Encoder211 (9) Click following process button sequentially. When each processing finishes, red arrow will move to next p

14Caution Indications The safety precautions are divided into "Danger", "Warning", "Caution" and "Notice" acco

13. How to Reset an Absolute Encoder212(10) [Confirmation] windowof Software reset will appear on screen. Click [Yes (Y)] to restart controller. Fi

14. Supplemental Information on Controller Menu Items21314. Supplemental Information on Controller Menu Items 14.1 Software Reset Selecting this menu

14. Supplemental Information on Controller Menu Items21414.3. Drive-source Recovery Request and Operation-pause Reset Request 14.3.1 In the cases of

14. Supplemental Information on Controller Menu Items21514.3.2 In the cases of SSEL, ASEL or PSEL Controllers (1) Drive-source recovery request [1]

14. Supplemental Information on Controller Menu Items21614.4 Setting Time Select "Controller (C)" o "Time Setting (T)" from the

14. Supplemental Information on Controller Menu Items217[2] Transmitting to the controller Global flags, global integer variables, global real variab

14. Supplemental Information on Controller Menu Items21814.6 Control Constant Table Management Information The versions of control constant tables fo

14. Supplemental Information on Controller Menu Items21914.7 Execution Stop of Positioner Mode of SSEL, ASEL or PSEL Controller If you select Execute

14. Supplemental Information on Controller Menu Items22014.8 Getting Positioner Mode Information from SSEL, ASEL and PSEL Controllers Positioner mode

14. Supplemental Information on Controller Menu Items22114.9 Positioner Mode Management Information for SSEL, ASEL or PSEL Controller The operation

1. Before You Begin151. Before You Begin 1.1 Items Supplied with This Software (Product Components) Please check to make sure that the following

15. Tool222If this checkbox is not selected, symbol errors will not be checked. If this checkbox is not selected, the communication port which can b

15. Tool223For PC interface software version 7.2.0.0 or later, saving method can be chosen in the Environment Setup screen. • Always save by Format 2

15. Tool224In PC Software V9.00.00.00 or later, "Maximum number of errors/warnings shown on the Edit Position screen before transfer" is dis

16. Appendix22516. Appendix 16.1 Parameter Recovery Method for X-SEL-P/Q, PX/QX, R/S, RX/SX and RXD/SXD ControllersIf parameter data is lost during p

16. Appendix2261. Setting of Effective Axis Pattern of the Controller Note: Prepare a parameter file for recovery. Check that the prepared param

16. Appendix227Once the transfer has been completed, the flash ROM write confirmation dialog will be displayed (Fig. 17.4). After confirming that Para

16. Appendix2282. Transfer of Actuator Non-specific Parameters First, open a parameter file for recovery. Clicking the transfer to the controller but

16. Appendix229Make settings in the Select Parameter Category form (Fig. 17.7) as shown below. [1] Select I/O, Common to All Axes, Other and Manufa

16. Appendix2303. Transfer of Actuator Specific Parameters Display the Select Parameter Category form from the parameter file for recovery in the s

16. Appendix231Fig. 17.9 Warning Dialog before Transfer of Actuator Specific Parameters After performing this procedure, always write the parameters t

1. Before You Begin16DP-1TTType External Connection Cable IA-101-X-USBMW USB conversion adapter (IA-CV-USB): 1 unit USB cable (CB-SEL-USB030): 1 pi

16. Appendix23216.2 Error Level Control Program run Error level System error origin Error No. (HEX)Display (7SEG, DISPLAY, etc.)Error list Error LED

16. Appendix23316.3 X-SEL PC Software Error Table (Errors specific to the PC Software are listed below. See the X-SEL Controller Operation Manual for

16. Appendix234Error No. Error name Special note 992Clear of coordinate system definition data prohibited while being edited on-line Coordinate syst

16. Appendix235Error No. Error name Special note AAB Writing to flash ROM prohibited in operating mode An operation to write to the flash ROM was p

16. Appendix236Error No. Error name Special note AC3 Date entry error (For future extension) AC4 Time entry error (For future extension) AC5 In

16. Appendix237Error No. Error name Special note ECA Framing Error (PC) Framing error occurred. Perform "reconnection." ECB Communicati

Change History238Change History Revision Date Description of Revision December 2010 The 4th edition Page 86: Added a caution on the movement of the

Catalog No.: ME0154-11A (December 2012) IAI CorporationHead Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105

1. Before You Begin171.3 Installing the Software This software is run from the hard disk. This section explains how to install the software. 1.3.1

1. Before You Begin18[3] The screen will change to the installation screen (Fig. 1.3) for PC interface software for X-SEL. Click Next >.Fig. 1.3

1. Before You Begin19[5] Specify a destination folder to install the PC interface software for X-SEL. (Fig. 1.5) Normally, you can install it to the

1. Before You Begin20The screen shown in Fig. 1.7 will be displayed during installation. Fig. 1.7 Installation Progress [7] When the installation is

1. Before You Begin211.3.2 How to Install the USB Conversion Adapter Driver Software When a USB port is used, it is required to install USB convers

Before Use Thank you for purchasing our product. This operation manual explains the handling methods, providing the information you need to know to us

1. Before You Begin22[4] When the folder of IAI USB (copy data) already exists in the copy destination, you are prompted to overwrite it. Click OK to

1. Before You Begin23[8] Then, insert the USB conversion adapter (IA-CV-USB) into the USB port of your PC. In the case of the SSEL/ASEL/PSEL contro

1. Before You Begin24[11] The "Search and Installation Options Selection Screen" will appear. Select the checkbox "Include this locatio

1. Before You Begin25[13] When the IAI USB Composite Device driver installation finish is displayed, the installation of the driver is completed. Cl

1. Before You Begin26[15] The "Search and Installation Options Selection Screen" will appear. Select the checkbox "Include this locat

1. Before You Begin27AI USB to UART, Bridge Controller (COM?)[17] The installation of the "IAI USB to UART Bridge Controller" driver is comp

1. Before You Begin28(2) Windows 7, Windows Vista For Windows 7, install the software based on the following procedure. For Windows Vista, install

1. Before You Begin29[5] If IAI USB is installed, the Notice display confirmation screen appears. Click "Yes (Y)." Fig. 1.26 Notice Display

1. Before You Begin30[9] Launch Device Manager. Right-click "CP2102 USB to UART Bridge Controller" and click "Update Driver Software (

1. Before You Begin31[11] The Update Driver Software screen appears. In the area circled on the Update Driver Software screen, enter the Save to loca

Table of Contents Support Models...

1. Before You Begin321.3.3 How to change the USB COM port The COM port set in the installation of USB conversion adapter driver software can be chang

1. Before You Begin33COM port number (P):[4] COM? Port Option screen will be displayed. Change the COM port number in the COM Port Number (P) box to

1. Before You Begin341.4 Connection to Controller Fig. 1.35 X-SEL-K (J) Type Controller

1. Before You Begin35Mode Switch Teaching Pendant Type Selector Switch* X-SEL-P only PC2-axis 1-axis Fig. 1.36 X-SEL-P (Q) Type Controller Caution Set

1. Before You Begin36Fig. 1.37 Table Top Actuator (TT)

1. Before You Begin37Fig. 1.38 X-SEL-KX (JX) Type Controller

1. Before You Begin38Fig. 1.39 X-SEL-PX (QX) Type Controller Caution Set the type selector switch of the X-SEL-PX teaching pendant to the right. Warni

1. Before You Begin39Fig. 1.40 X-SEL-R (S) Type Controller Warning: The internal components of the controller may burn if the following cable is used

1. Before You Begin40Fig. 1.41 X-SEL-RX (SX) Type Controller Warning: The internal components of the controller may burn if the following cable is us

1. Before You Begin41Fig. 1.42 X-SEL-RXD (SXD) Type Controller Warning: The internal components of the controller may burn if the following cable is

6. Position Data Edit Window ...966.1 Explanation of the I

1. Before You Begin42Emergency Stop SwitchEnable Switch Conversion CableUSB Cable Mode Switch Panel Unit 1-axis 2-axis Fig. 1.43 SSEL Type Controller

1. Before You Begin43Fig. 1.44 ASEL Type Controller USB Cable

1. Before You Begin44Fig. 1.45 PSEL Type Controller USB Cable

1. Before You Begin451.5 Starting the Software (Online Connection) [1] Turn off the power to the controller and PC, and connect the controller to th

1. Before You Begin46[4] If XSEL-P/Q (application version 0.36 or later), XSEL-PX/QX (application version 0.17 or later), XSEL-R/S, XSEL-RX/SX, XSEL-

1. Before You Begin47With J/K type X-SEL controllers, executing the command "OPEN 1" (channel 1 is shared with the PC software) in a SEL pro

2. How to Save Data482. How to Save Data The controller adopts a flash memory. Accordingly, some data is stored in the memory areas backed up by a ba

2. How to Save Data49Position No. 10001-20000 and user retained memory (RC-axis position in XSEL) are added to X-SEL-P/Q, PX/QX controller with gatewa

2. How to Save Data50Programs, parameters and symbols are loaded from the flash memory after the controller is restarted. Unless written to the flash

2. How to Save Data51Position No. 10001-20000 and user retained memory (RC-axis position in XSEL) are added to X-SEL-P/Q, PX/QX controller with gatewa

14. Supplemental Information on Controller Menu Items...21314.1 Software Reset...

2. How to Save Data52Data editing on the PC or teaching pendant Data retained while the power is on and cleared after resetData retained after the pow

2. How to Save Data532.4 Notes Note on transferring data and writing it to the flash memory: Never turn off the main power while data is still bein

2. How to Save Data54Parameter file saved by controller incompatible with increased memoryParameter saved by controller compatible with increased memo

3. Menu Window55MenuIconsTree View 3. Menu Window 3.1 Explanation of the Menu 3.1.1 Online Screen (1) X-SEL-J/K or TT controller When this softwar

3. Menu Window56MenuIconsTree View (2) X-SEL-P/Q and R/S controllers When this software has been started, the main window in Fig. 3.2 will open showi

3. Menu Window57(4) X-SEL-PX/QX, RX/SX and RXD/SXD controllers When this software has been started, the main window in Fig. 3.2 will open showing the

3. Menu Window58MenuIconsTree View (6) SSEL controller in the positioner mode When this software has been started, the main window in Fig. 3.6 will o

3. Menu Window59(8) PSEL controller When this software has been started, the main window in Fig. 3.8 will open showing the menu items with icons on t

3. Menu Window603.2 Explanation of the Commands (1) File (F) [1] New (N) Create new SEL data. • Program (S) Open the edit window for creating

3. Menu Window61[3] Close (C) Close the currently active window. [4] Save (S) Save the data in the active edit window by overwriting the c

3. Menu Window62In PC software V9.00.00.00 or later, whether or not to print the folder name can be selected. .Fig. 3.13 Print Setting Screen (V9.00

3. Menu Window63(2) Edit (E) This menu lets you perform operations used in editing data. [1] Undo (U) Up to the most recent 10 operations ca

3. Menu Window64(4) Program (S) This menu lets you perform operations relating to programs. (Available only in the online mode.) (Refer to "4. P

3. Menu Window65(6) Parameter (P) This menu lets you operate parameters. (Available only in the online mode.) (Refer to "8. Parameter Edit Wind

3. Menu Window66(9) Monitor (M) This menu lets you monitor various statuses, global variables, port statuses, and so on. (Available only in the onl

3. Menu Window67[3] Offline Operation (Communication port close) (O) [4] Message Manager Communication Change (N) For future extension [5] R

3. Menu Window68[When the RC-axis position data in RC controller is used] RC-axis position data in RC controller can not be saved in the PC interface

3. Menu Window69The following section explains about "Transfer to Controller" and "Divide File." ƒ Transfer to Controller On

3. Menu Window70[When RC-axis position data in RC controller is used] RC-axis position data in RC controller cannot be transferred in PC interface sof

3. Menu Window71䊶Divide Files Divide all the saved backup data (all data including program and position) into program, position, parameter, symbol, X

3. Menu Window72[10] Initialize Memory (I) ƒ Position (O) Clear all position data. This item is displayed on the XSEL-R/S, RX/SX and RXD/SXD con

3. Menu Window73[11] Absolute Reset (A) Reset absolute data. This item is not displayed for XSEL-PX/QX, and RX/SX/RXD/SX controllers.[12] Absolute R

3. Menu Window743.3 Explanation of the Toolbar This section explains the toolbar (Fig.3.27) shown at the top of the main window (below the menu bar).

3. Menu Window75This list box is used to enable/disable the safety velocity limit in the manual mode. [Safety Vel Specified] --- Enable the safety vel

3. Menu Window76Remaining steps that can be stored in the controllerCurrently registered programs Number of registered steps in ( ) Program name in

3. Menu Window77Remaining steps that can be stored in the controller Currently registered programs Number of registered steps in ( ) Program name i

4. Program Edit Window784. Program Edit Window 4.1 Explanation of the Items Displayed in the Program Edit Window (1) Click Program (S) from the

4. Program Edit Window79Fig. 4.2 Program Edit If even one line is changed, all step numbers will be displayed in red. Right-clicking a desired input i

4. Program Edit Window80In the program edit window, selecting Edit (E) from the menu and then Undo (U) can cancel up to the most recent 10 operations.

4. Program Edit Window81Right-clicking on the SEL Command Explanation window will open a pop-up menu containing the following items.Input (I) Input

1Support ModelsVarious data file extensions Model Name Program(Individually)Program(Batch)Position Parameter SymbolGlobaldataSupport Started Version X

4. Program Edit Window82(4) This window has the various buttons shown below. (a) (b) (c)(d) (e) (f) (g) (h) (I) (j) (k)(l) Fig. 4.7 Buttons (a) Sa

4. Program Edit Window83(5) Checking the program The software will check the program you have created, for SEL syntax errors. [1] Click the Check

4. Program Edit Window84[a] Syntax Error Message (error content) [b] Variable No. Use ConditionVariable No. Category (Integer, real number)

4. Program Edit Window85Caution: If you click "Always save with Format 2", files will be always saved with Format 2. And this screen won’t b

4. Program Edit Window86This is not displayed for SSEL, ASEL and PSEL(3) Writing to the flash ROM Once the program has been transferred to the cont

4. Program Edit Window87(4) Closing the program edit window Attempting to close the program edit window will display the following confirmation dialo

4. Program Edit Window884.3 Saving All Programs to a File (1) Saving all programs to a file You can save programs No. 1 to 64 in the controller (or

4. Program Edit Window89(3) Important note on transferring an all programs file to the controller [1] Transferring all program files to a controll

4. Program Edit Window90[5] If the data saved by the Program File Format 2 (extended format) is transferred to a controller incompatible with increas

4. Program Edit Window91[e][f] [g] [h]4.4 Running the Program You can run the program in the program edit window. To run the program you are editing,