Iai-america IA-T-XD User Manual

X-SEL IX Series Teaching Pendant Instruction Manual Ver. 2.0 IAI Corporation

④ F1 F2 F3 and F4 keys (function keys) These keys correspond to each item in the LCD display (function key section). ⑤ SF key (shift key) When the

To write the data in flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. The message “Please wait…” flashes during flash RO

14. Symbol Editing For the X-SEL Controller, symbols (names) can be given to variables, input ports, flags, points, etc. Select the F1 (Edit) key

14-2. Input example: Symbolization of local integer variables The local variable No. 5 of the program No. 3 is symbolized by “Cnt5.” Press the F2 (V

Then, press 5 of the ten-key numeric pad several times to display “n,” and press the return key. Then, press 1 of the ten-key nume

When the name is confirmed, the cursor moves to the first character. Before confirmation, the name can be corrected by one character with the BS ke

Return to the Edit screen with the ESC key. 102

14-3. Symbol edit screen for each item (1) Constant Select the F1 (Cnst) key on the constant symbol edit screen. Mode flow: Selection between intege

(3) Program Select the F3 (Prog) key on the symbol edit screen. Mode flow: Program No. symbol edit screen Enter a symbol with alphabetic/numeri

(6) Output port Select the F2 (Out) key on the symbol edit screen. Mode flow: Output port No. symbol edit screen Enter a symbol with alphabeti

(9) Tag Select the F1 (Tag) key on the symbol edit screen. Mode flow: Tag No. symbol edit screen Since the tag No. is in the local area, enter t

⑪ ↵ key (return key) It is used to confirm the input data or move the cursor forward. ⑫ PAGE UP and PAGE DOWN keys (page-up key, page-down key) Th

14-4. Flash ROM writing If data is only transferred to the controller after symbol editing, the edited program is erased when the power is turned on

15. Parameter Editing Parameters can be changed according to the customer’s system. When you change parameters, record the parameter descriptions. P

15-2. Input example: Editing of axis-specific parameters The axis-specific parameter No.58 positioning width is set as axis No. 1 = 0.1 mm and axis

Data input for axis No. 2 The display screen advances to the screen for parameter No. 59. Since the axis No. 2 for the parameter No. 58 is uned

To write the data in flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. The message “Please wait…” flashes during flash RO

16. Monitoring Various statuses, global variables, port conditions, etc., are monitored. Select the F3 (Moni) key on the Mode Selection screen. 1

16-2. Input ports The ON/OFF conditions of input ports are displayed. Select the F1 (In) key on the Moni screen. Mode flow: 1: ON, 0: OFF Every time

16-5. Global variables The descriptions of global variables and global strings are displayed. In addition, numeric values can be assigned to global v

16-6. Axis status The current position, servo status, sensor status, etc., are displayed. Select the F1 (ASts) key on the Moni screen. Mode flow: P

(3) Sensor input status Mode flow: The axis No. can be changed with the PAGE UP and PAGE DOWN keys. Over push limit error (System reservati

7. Mode Flow Chart (Continuous movement) (Jog velocity)(User-specified output port monitor) (Output monitor) (Velocity data)(Coordinate system No.

(4) Encoder status Mode flow: The axis No. can be changed with the PAGE UP and PAGE DOWN keys. Axis No. Over speed Full absolute status Count er

(5) Axis-related errors Mode flow: The axis No. can be changed with the PAGE UP and PAGE DOWN keys. Error No. Axis No. Program No. Step No. Axis N

16-7. System status The system status is displayed. Select the F2 (SSts) key on the Moni screen. Mode flow: Mode: System mode Err: System error S

(3) System status 1 Mode flow: (4) System status 2 Mode flow: Application data flash ROM write status Run mode SW status Slave parameter write

(5) System status 3 Mode flow: (6) System status 4 Mode flow: The system status 4 is all “Reserved” (system reservation). Power down status Syste

16-8. Error detail information Error detail information is displayed. Select the F3 (ErrL) key on the Moni screen. Mode flow: The list No. can be

16-9. Version information A variety of version information is displayed. Select the F4 (Ver) key on the Moni screen. Mode flow: Main: Main Drv: Dr

17. Controller Operations such as software reset and error reset are performed for the controller. Select the F4 (Ctl) key on the Mode Selection s

17-2. Flash ROM writing After the data in flash ROM has been erased, the data stored in the controller’s memory is written in flash ROM. Select the F

17-3. Software reset The controller’s software is reset. The data in memory that has not been written in flash ROM is abandoned. Select the F2 (SRst)

10 (Breakpoint setting) (Clear) (Modify) (Coordinate system) Function key (Real variable) (String variable) * Only during program stop(Program error

17-5. Memory clear Global variables are cleared to zero. Select the F4 (MClr) key on the Ctl screen. Mode flow: Press the F2 (Gvar) key. When cle

17-7. Baud rate change The communication baud rate between the controller and the Teaching Pendant is changed. Select the F2 (Baud) key on the Ctl s

17-9. Driving power recovery request The driving power recovery request is given to the controller. Select the F3 (RPwr) key on the Ctl screen. Mode

17-11. Driving power recovery request (RPwr) and action restart request (RAct) (1) Driving power recovery request ① How to request driving power reco

17-12. Absolute encoder reset Preparation for absolute reset The following jigs are required for an absolute reset: ▪ Absolute reset adjusting jigs

An absolute reset is performed on the following 3 types: arm 1, arm 2 and Z-axis + R-axis. (1) Absolute reset on arm 1 and arm 2 Select the F1 (RA

③ Servo ON Press the F1 (OK) key. ④ Jog movement Jog the arm to the vicinity of the basic position (see the “Standard Posture Drawing” on th

Check that the EMERGENCY STOP button has been pressed. Set an adjusting jig (pin) to the arm 1 or arm 2 and fix the standard posture. ▪ After check

⑦ Encoder multi-rotation data reset (2) Press the F1 (OK) key. ⑧ Home preset value auto refresh Press the PAGE UP key and do not press the

Press the ESC key. Restart the controller. Press the F1 (Yes) key. When executing “home preset value auto refresh” using an adjusting jig, be

11 Function key (Monitor) (Input port) (Output port) (Global flag) Function key(Global variable)(Integer variable)(Real variable) (String variable)Fu

(2) Absolute reset on Z-axis + R-axis Select the F1 (RAbs) key on the Ctl screen. Mode flow: When performing an absolute reset, press the F1 (Y

③ Servo ON Press the F1 (OK) key. ④ Temporary standard posture standby Press the F1 (OK) key. Note: The Z-axis returns to the home positi

⑦ Emergency stop input and adjusting jig set Press the EMERGENCY STOP button. Press the brake release switch to release the brake. After fixing

⑧ Encoder multi-rotation data reset (2) Press the F1 (OK) key. ⑨ Home preset value auto refresh Press the F1 (OK) key. ⑩ Adjusting

⑬ Servo OFF Press the F1 (OK) key. ⑭ Encoder multi-rotation data reset (3) Press the F1 (OK) key. ⑮ Home preset value auto refresh Press t

Restart the controller. Press the F1 (Yes) key. The screen returns to the Mode Selection screen. 142

Remarks Special error level for maintenance Status display, input errors, etc. Errors interfering with action. For any minor errors with a level lowe

Special remarks Input data error. Check the input data. Too-small input data. Check the allowable input range. Too-large input data. Check the allow

Operand 2 undefined symbol use error. An undefined symbol is used for the operand 2. Operand 3 undefined symbol use error. An undefined symbol is us

Program edit prohibition error while running. Editing operation cannot be performed for the running program. Exit from the program first. Excessive

12 Function key(System status) (Sy e)stem mod(System error)(System status 1)(System status 2)(System status 3)(System status 4)(Error list) Function

Special remarks There is a communication error. Check noise, connecting equipment, communication setting, etc. There is a communication error. Check

Manual No.: ME0121-2B (December 2011)The information contained in this document is subject to change without notice for purposes of product improvemen

Function key (Controller) (Flash ROM writing) (Software reset)(Error reset) Function key(Memory clear) (Global variable)(Reconnection) (Baud rate c

8. Data Storage Method Since the X-SEL Controller adopts flash memory, there is a storage area by battery backup and a storage area by flash memory

Since the program, parameter, and symbol are read from flash memory at restart time, the data in memory becomes the original data before editing unle

8-3. Cautions Cautions in data transfer and flash writing Never turn off the main power during data transfer and flash writing. Failure to do so may

1. Introduction ...1 2. Before Use...

9. Simple Operating Procedures In this section, a program and position data are created. Position Data (① to ③) 17

9-1. Creation of position data Input the position data of 3 points as shown in the position data list below. Connect the Teaching Pendant to the c

Mode Selection screen This screen becomes the basic screen for all operations. Press the F1 (Edit) key. * When you make a selection error or inp

① Data input for 1st point Enter a numeric value of 0 and press the return key. 0.000 is displayed, the axis No. changes to 2, and the cursor

When the data is transferred with the WRT key, the position No. is incremented by 1 and becomes 2. * When the screen is changed with the PAGE U

Transfer the data with the WRT key and advance the position No. to 3. ③ Data input for 3rd point Press the return key since the X-axis pos

Complete position editing and write the data in flash ROM. Pressing the ESC key moves the cursor to the location of the position No. Press

The message “Please wait…” flashes during flash ROM writing. * Never turn off the power to the Controller at this time. The screen returns

9-2. Creation of program The program to move the position data created in 9-1. is created. Application Program List In this section, the X-SEL pr

Select the F1 (Edit) key on the Mode Selection screen. Select the F2 (Prog) key on the Edit mode screen. Select the F1 (Mdfy) key on th

13. Coordinate System Data Editing...86 13-1. Editing of work coordinate system

The cursor has moved to the location of the step No. Press the return key. Enter commands. Commands are displayed in the function key section. Comma

The cursor moves to operation 1. Set 50% of the maximum PTP acceleration. Enter 50 and press the return key. To reattempt input: Move the c

Set 50% of the maximum PTP deceleration. Enter 50 and press the return key. Press the WRT key to transfer the data to the controller. The

Set 100% of the maximum PTP velocity. Enter 100 and press the return key. Press the WRT key to transfer the data to the controller. The s

Press the WRT key to transfer the data to the controller. The step No. advances to 5. Display MOVP with 5 of the ten-key numeric pad and

Press the WRT key to transfer the data to the controller. The step No. advances to 6. Input the program data of MOVP 2, MOVP 3, MOVP 2 a

Complete the program editing and write the data in flash ROM. Press the ESC key. (The cursor moves to the location for step No.) Press th

To write the data in flash ROM, press the F1 (Yes) key. If not, press the F2 (No) key. The message “Please wait…” flashes during flash RO

9-3. Change of application program The program created in the preceding section (9-2) is changed. A program step is inserted or deleted to allow th

Select the F1 (Mdfy) key on the Edit-Prog screen. The display changes to the program edit mode screen. Press the return key once to move t

1. Introduction Thank you very much for purchasing our X-SEL Controller Teaching Pendant. Improper usage or mishandling may result in a product not

Select the F2 (TAG) key and press the return key. Enter a numeric value of 1 for operation 1 and press the return key. Press the WRT

Press the F2 (Del) key. Press the F2 (Del) key again. (When canceling deletion, press the ESC key.) Press the return key to move the

Enter the same numeric value as the one input for “TAG” operation 1 for operation 1. Enter 1 here and press the return key. Press the WRT key

10. Program Execution Now, operate the program created in “9. Simple Operating Procedures.” 10-1. Operation check Play mode screen Press the F2 (Pl

The screen has moved to the Run mode selection screen. Select whether to make a run by 1 step of the program or to make a continuous run. Run mode

10-2. Setting of break point The break points in a continuous run can be set. Press the F4 (Brk) key on the Run mode selection screen or Run mode sc

(2) Local flags The ON/OFF conditions of local flags are displayed. The conditions of local flags can be changed between ON and OFF. Select the F2 (

③ Local string Mode flow: The cursor is located at the data (column). Entering an ASCII code with the ten-key numeric pad and pressing the return

11. Position Editing 11-1. Mdi (numeric input) Method of inputting a numeric value with the ten-key numeric pad for position data For the data input

11-2. Teac (teaching) Teaching (method in which an actuator is moved to any given position and the current positions of the actuator are incorporated

3. Safety Precautions (1) Use a genuine product specified by us for wiring between the actuator and X-SEL Controller. (2) Keep out of the operati

(1) Teaching screen The teaching screen consists of two screens including 'position No. selection screen' and 'axis-specific data inp

Function key descriptions F1(Disp): It switches the display between the input data screen and the current position display. F2(Scan): It incorp

11-3. Jog movement direction and coordinate system (1) Jog keys and movement directions The movement direction during jog operation changes accordin

② Jog movement on work coordinate system Example) The jog keys and movement directions on the work coordinate system No. 1 are as shown below. The

③ Jog movement on tool coordinate system Example) The jog keys and movement directions on the tool coordinate system No. 1 are as shown below. The

④ Jog movement on each axis system (jog movement on each arm) Each arm, jog keys and movement directions are as shown below. In the case of each

(2) Selection of coordinate system No. Use the SF key to display Crd# on the teaching screen. Press the F1 (Crd#) key. Enter the wor

11-4. Actuator operation Jog the actuator or move it to the input (transferred) position data by using the Teaching Pendant. Operate the actuator o

(2) Inching operation Mode flow: Set the inching distance (travel made every time the JOG key is pressed once). Enter a numeric value for Dis (i

(4) Arm system change Change the current arm system over to the opposite arm system. (Right arm → left arm, left arm → right arm) The 1st arm does

4. Warranty Term and Coverage The Teaching Pendant you purchased has been delivered upon completion of our strict shipping test. We shall warran

(5) Incorporation of current positions as data Check the work coordinate system No., tool coordinate system No., and arm system currently selected.

(7) I/O monitoring Input and output ports can be monitored during teaching operation. ① I/O monitoring Select In or Out among the function keys i

(8) Movement The actuator is moved to the location of the position data transferred to the controller. (Check the location of the teaching position

(9) Continuous movement The actuator is continuously moved to the location of the position data transferred to the controller. Mode flow to teaching

(10) Jump movement The actuator is moved to the location of the position data transferred to the controller by jump motion (arch motion). Before/afte

Setting of jump movement is performed on the teaching screen. Mode flow to teaching screen: Press the SF key to display “Jump” in the function key

(11) User-specified output port operation The output ports set for the parameter can be easily turned ON/OFF. Select UsrO among the function keys in

① Setting of user-specified output port parameters For the operation method for parameter setting, refer to “14. Parameter Editing.” The first port N

11-5. Teaching input example Data is input for the position No. 10 by jog operation and for the position No. 11 by manual operation under servo OFF.

Press the jog key ←1 1→ ←2 2→ to move the robot to any given position. Pressing the F2 (Scan) key incorporates the current position o

5. Connection to Controller Teaching Pendant AC power Class D grounding (Protective ground) Output voltage: 24V DC±10% Capacity: 20 – 30W 24V DC p

Press the EMERGENCY STOP button to turn the servo OFF. Press the ESC key to return from the Emergency Stop input screen to the previous screen

Pressing the F2 (Scan) key incorporates the current position of the axis No. over which the cursor is located onto the input screen. P

Complete the position data input by teaching. Press the ESC key. Press the ESC key. Press the ESC key. Press the ESC key.

The message “Please wait…” flashes during flash ROM writing. * Never turn off the power to the Controller at this time. The screen returns t

11-6. Copy and movement of position data The following operating instructions are to copy or move the position data to another position No. Sel

11-7. Deletion of position data The following operating instructions are to delete the position data. Select the F1 (Edit) key on the Mode Sele

12. Program Editing 12-1. Program input method Procedures for input of extension condition (E), input condition (N・Cnd) and output (Pst) The progra

Select the F1 (Edit) key on the Mode Selection screen. Select the F2 (Prog) key on the Edit mode screen. Select the F1 (Mdfy) key on t

Input section for Cmnd Press the return key. Input section for Operand 1 Press the return key. Input section for Operand 2 Press the r

Input section for N·Cnd Enter 601 with the ten-key numeric pad and press the return key. Press the WRT key to transfer the data of step No.

Reconnection screen Mode Selection screen Flip the MODE switch to MANU, and press the F1 (Yes) key to reconnect the controller. This is the basi

Input section for Operand 2 (variable indirect specification) Select the F3 (*) key first, enter 201 with the ten-key numeric pad, and press the

12-2. Symbol input during program editing Symbols can be input when the cursor is located at Operand 1/Operand 2 (operation 1/2), Pst (output), or C

The ten-key numeric pad now functions for alphabetic input. Enter “TAIKIITI.” For the input method, refer to “13. Symbol Editing.” Press the

12-3. One-line comment input A comment is input for the program step (invalid step) with numeric values, alphabetic letters, and symbols (*, ・, and

Numeric input Press the F1 key to display “Num.” Enter a numeric value with the ten-key numeric pad. The figure at the left is the display

12-4. Copy and movement of program The following operating instructions are to copy or move a program to another program No.: Select the F1 (Edi

12-5. Deletion of program The following operating instructions are to delete a program: Select the F1 (Edit) key on the Mode Selection screen.

Press the ESC key to return to the previous screen. Then, press the ESC key several times to return to the Flsh screen. 84

12-6. Flash ROM writing If data is only transferred to the controller after program editing, the edited program is erased when the power is turned on

13. Coordinate System Data Editing As the coordinate system data of the IX series, there are the work coordinate system data, tool coordinate system

6. Functions and Specifications of Teaching Pendant 6-1. Main operation keys and their functions ① LCD display It displays the program or operatio

13-1. Editing of work coordinate system data As an input example of the work coordinate system data, a coordinate system as shown below is set for t

The cursor is located at the Y-axis offset value data. Enter 200 and press the return key. The cursor is located at the Z-axis offset valu

Pressing the ESC key returns the cursor to the coordinate system data selection screen. Coordinate system data selection screen Pressing t

13-2. Editing of tool coordinate system data As an input example of the tool coordinate system data, a tool as shown below is set for the tool coord

The cursor is located at the Y-axis offset value data. Enter 35 and press the return key. The cursor is located at the Z-axis offset value

Pressing the ESC key returns the cursor to the coordinate system data selection screen. Coordinate system data selection screen Pressing t

13-3. Editing of simple interference check zone It is required to input the following 3 items to set the simple interference check zone: ▪ 2-point po

Input of base coordinate values of Ⓐ The cursor is located at the X-axis data. Enter 475 and press the return key. The cursor is located

Input of base coordinate values of Ⓖ Enter the base coordinate values of Ⓖ in the same way as A. Set the output port/global flag and erro

Transfer the data with the WRT key. The screen advances to the edit screen for the simple interference check zone No. 2. When the axial pattern