Iai Psel User manual

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 



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 





 



B<



-IB>PB/B>ABCLOB2PB

1E>KHVLRCLOMRO@E>PFKDLROMOLAR@Q

1EFP,MBO>QFLK*>KR>IBUMI>FKPQEBE>KAIFKDJBQELAPPQOR@QROB>KAJ>FKQBK>K@BLCQEFPMOLAR@Q>JLKD

LQEBOPMOLSFAFKDQEBFKCLOJ>QFLKVLRKBBAQLHKLTQLRPBQEBMOLAR@QP>CBIV

BCLOBRPFKDQEBMOLAR@Q?BPROBQLOB>AQEFPJ>KR>I>KACRIIVRKABOPQ>KAQEB@LKQBKQPBUMI>FKBAEBOBFK

QLBKPROBP>CBRPBLCQEBMOLAR@Q

1EB !QE>Q@LJBPTFQEQEBMOLAR@Q@LKQ>FKPLMBO>QFLKJ>KR>IPCLO&&MOLAR@QP

4EBKRPFKDQEBMOLAR@QOBCBOQLQEBKB@BPP>OVMLOQFLKPLCQEB>MMIF@>?IBLMBO>QFLKJ>KR>I?VMOFKQFKD

QEBJLRQLOAFPMI>VFKDQEBJLK>- 

CQBOOB>AFKDQEB,MBO>QFLK*>KR>IHBBMFQFK>@LKSBKFBKQMI>@BPLQE>QTELBSBOFPE>KAIFKDQEFPMOLAR@Q

@>KOBCBOBK@BFQNRF@HIVTEBKKB@BPP>OV

8&JMLOQ>KQ:

x 1EFP,MBO>QFLK*>KR>IFPLOFDFK>I

x 1EBMOLAR@Q@>KKLQ?BLMBO>QBAFK>KVT>VRKIBPPBUMOBPPIVPMB@FCFBAFKQEFP,MBO>QFLK*>KR>I&&

PE>II>PPRJBKLOBPMLKPF?FIFQVCLOQEBLRQ@LJBLC>KVLMBO>QFLKKLQPMB@FCFBAEBOBFK

x &KCLOJ>QFLK@LKQ>FKBAFKQEFP,MBO>QFLK*>KR>IFPPR?GB@QQL@E>KDBTFQELRQKLQF@BCLOQEBMROMLPBLC

MOLAR@QFJMOLSBJBKQ

x &CVLRE>SB>KVNRBPQFLKLO@LJJBKQOBD>OAFKDQEB@LKQBKQLCQEFPJ>KR>IMIB>PB@LKQ>@QQEB&&

P>IBPLCCF@BKB>OVLR

x 2PFKDLO@LMVFKD>IILOM>OQLCQEFP,MBO>QFLK*>KR>ITFQELRQMBOJFPPFLKFPMOLEF?FQBA

x 1EB@LJM>KVK>JBPK>JBPLCMOLAR@QP>KAQO>ABJ>OHPLCB>@E@LJM>KVPELTKFKQEBPBKQBK@BP

>OBOBDFPQBOBAQO>ABJ>OHP

>=

&C>@LJMIF>K@BTFQEQEB "*>OHFKDFPOBNRFOBAMIB>PBCLIILT,SBOPB>P0Q>KA>OAP LJMIF>K@B*>KR>I

*"QE>QFPMOLSFABAPBM>O>QBIV

1>?IBLC LKQBKQP

:<A

0>CBQV-OB@>RQFLKP/B>A1EFP0B@QFLKBCLOB2PB  

->OQ &KPQ>II>QFLK 

E>MQBO ,SBOSFBT  

 &KQOLAR@QFLK  

 1VMB 

 -0") LKQOLIIBO#RK@QFLKP 

 0VPQBJ0BQRM 

 4>OO>KQV-BOFLA>KA0@LMBLC4>OO>KQV  

E>MQBO 0MB@FCF@>QFLKP  

 LKQOLIIBO0MB@FCF@>QFLKP 

 +>JB>KA#RK@QFLKLC">@E->OQ 

 +>JBLC">@E->OQ 

 !LTK3FBT 

 1LM3FBT  

E>MQBO &KPQ>II>QFLK>KA4FOFKD 

 "UQBOK>I!FJBKPFLKP  

 &KPQ>II>QFLK"KSFOLKJBKQ 

 %B>Q/>AF>QFLK>KA&KPQ>II>QFLK  

 +LFPB LKQOLI*B>PROBP>KA$OLRKAFKD 

 0RMMIV3LIQ>DB  

 4FOFKD  

 4FOFKDQEB LKQOLI-LTBO0RMMIV"JBODBK@V0QLM0TFQ@E>KA"K>?IB0TFQ@E 

 4FOFKDQEB*LQLO-LTBO >?IBP  

 LKKB@QFKDQEB@QR>QLO 

 LKKB@QFKDQEB-&, >?IB&, 

 "UQBOK>I&,0MB@FCF@>QFLKP 

 LKKB@QFKDQEB1B>@EFKD-BKA>KQ- 0LCQT>OB1-,MQFLK>I  

 LKKB@QFKDQEB->KBI2KFQ,MQFLK>I  

 &KPQ>IIFKDQEB0VPQBJJBJLOV>@HRM>QQBOV,MQFLK>I  

E>MQBO ,MBO>QFLK  

 0Q>OQRM  

 -LTBO,+0BNRBK@B  

 -LTBO RQLCC0BNRBK@B  

 %LTQL2PBQEB0FJMIB?PLIRQB2KFQ,MQFLK>I  

 %LTQL LKKB@QQEB0FJMIB?PLIRQB2KFQ,MQFLK>I  

 0BQQFKDQEB-F>KL0TFQ@EBPCLOQEB0FJMIB?PLIRQB2KFQ,MQFLK>I  

 0BQQFKDQEB->O>JBQBOP  

 ?PLIRQB/BPBQ*BQELA 

 %LTQL0Q>OQ>-OLDO>J 

 0Q>OQFKD>-OLDO>J?VRQL0Q>OQSF>->O>JBQBO0BQQFKD  

 0Q>OQFKDSF>"UQBOK>I0FDK>I0BIB@QFLK  

 !OFSB0LRO@B/B@LSBOV/BNRBPQ>KA,MBO>QFLK->RPB/BPBQ/BNRBPQ  

 LKQOLIIBO!>Q>0QOR@QROB 

 %LTQL0>SB!>Q>  

 -LFKQPQL+LQB  

E>MQBO *>FKQBK>K@B 

 &KPMB@QFLKMLFKQP  

1>?IBLC LKQBKQP

 0M>OB@LKPRJ>?IBM>OQP  

 /BMI>@BJBKQ-OL@BAROBCLO0VPQBJ*BJLOV>@HRM>QQBOV,MQFLK>I  

->OQ -OLDO>JP  

E>MQBO 0"))>KDR>DB!>Q> 

 3>IRBP>KA0VJ?LIP2PBAFK0"))>KDR>DB 

 )FPQLC3>IRBP>KA0VJ?LIP2PBA  

 &,-LOQP  

 3FOQR>I&,-LOQP 

 #I>DP  

 3>OF>?IBP  

 1>DP 

 0R?OLRQFKBP 

 0VJ?LIP  

 E>O>@QBO0QOFKD)FQBO>IP 

 UFP0MB@FCF@>QFLK  

 -LPFQFLK->OQ 

 LJJ>KA->OQ  

 0")I>KDR>DB0QOR@QROB  

 "UQBKPFLK LKAFQFLK 

E>MQBO )FPQLC0"))>KDR>DB LJJ>KA LABP 

 V#RK@QFLK  

 IME>?BQF@>I,OABO  

E>MQBO "UMI>K>QFLKLC LJJ>KAP 

 LJJ>KAP 

 3>OF>?IBPPFDKJBKQ  

 OFQEJBQF@,MBO>QFLK  

 #RK@QFLK,MBO>QFLK  

 )LDF@>I,MBO>QFLK

 LJM>OFPLK,MBO>QFLK

 1FJBO 

 &,#I>D,MBO>QFLK 

 -OLDO>J LKQOLI 

 1>PH*>K>DBJBKQ 

 -LPFQFLK,MBO>QFLK 

 @QR>QLO LKQOLI!B@I>O>QFLK  

 @QR>QLO LKQOLI LJJ>KA 

 0QOR@QRO>I&#  

 0QOR@QRO>I!, 

 *RIQFO>K@EFKD  

 0VPQBJ&KCLOJ>QFLK@NRFPFQFLK  

 7LKB  

 LJJRKF@>QFLK  

 0QOFKD,MBO>QFLK  

 O@E*LQFLK/BI>QBA  

 ->IIBQFWFKD/BI>QBA  

 ->IIBQFWFKD >I@RI>QFLK LJJ>KA  

 ->IIBQFWFKD*LSBJBKQ LJJ>KA  

 RFIAFKDLC-PBRAL)>AABO 1>PH 

 "UQBKABA LJJ>KA 

E>MQBO (BV E>O>@QBOFPQF@PLC@QR>QLO LKQOLI LJJ>KAP>KA-LFKQPQL+LQB 

 LKQFKRLRP*LSBJBKQ LJJ>KAP8-1% &// -0-) &// / !/ : 

 -1%-0-) LJJ>KAP 

1>?IBLC LKQBKQP

 &//  LJJ>KAP  

 &// / !/  LJJ>KAP  

E>MQBO ->IIBQFWFKD#RK@QFLK>UFP0MB@FCF@>QFLK  

 %LTQL2PB 

 ->IIBQFWFKD0BQQFKD 

 ->IIBQFWFKD >I@RI>QFLK  

 ->IIBQFWFKD*LSBJBKQ  

 -OLDO>J"U>JMIBP 

E>MQBO -PBRAL)>AABO1>PH  

 >PF@#O>JB  

 )>AABO0Q>QBJBKQ#FBIA  

 -LFKQPQL+LQB 

 -OLDO>J"U>JMIB  

E>MQBO MMIF@>QFLK-OLDO>J"U>JMIBP 

 ,MBO>QFLK?V'LD LJJ>KA8!LII-F@HFKD$>JB*>@EFKB:  

 ,MBO>QFLK?V-LFKQ*LSBJBKQ LJJ>KA8/FSBQFKD0VPQBJ: 

E>MQBO /B>I1FJB*RIQF1>PHFKD 

 0"))>KDR>DB 

 *RIQF1>PHFKD  

 !FCCBOBK@BCOLJ>0BNRBK@BO  

 /BIB>PBLC"JBODBK@V0QLM  

 -OLDO>J0TFQ@EFKD  

E>MQBO "U>JMIBLCRFIAFKD>0VPQBJ  

 "NRFMJBKQ  

 ,MBO>QFLK 

 ,SBOSFBTLCQEB0@OBT1FDEQBKFKD0VPQBJ  

 %>OAT>OB 

 0LCQT>OB  

E>MQBO "U>JMIBLCRFIAFKD>0VPQBJ  

 -LPFQFLK1>?IB 

 -OLDO>JJFKD#LOJ>Q  

 -LPFQFLKFKDQL#FSB-LPFQFLKP  

 %LTQL2PB1$>KA$,1, 

 *LSFKD>@H>KA#LOQE?BQTBBK1TL-LFKQP 

 ->QE,MBO>QFLK  

 ,RQMRQ LKQOLIAROFKD->QE*LSBJBKQ  

 FO@IBO@,MBO>QFLK 

 %LJB/BQROK LJMIBQFLK ,RQMRQ 

 UFP*LSBJBKQ?V&KMRQ4>FQFKD>KA LJMIBQFLK,RQMRQ 

 E>KDFKDQEB*LSFKD0MBBA 

 E>KDFKDQEB0MBBAAROFKD,MBO>QFLK 

 )L@>I$IL?>I3>OF>?IBP>KA#I>DP 

 %LTQL2PB0R?OLRQFKBP  

 ->RPFKDQEB,MBO>QFLK  

 >K@BIFKDQEB,MBO>QFLK +  

 >K@BIFKDQEB,MBO>QFLK01,-  

 *LSBJBKQ?V-LPFQFLK+RJ?BO0MB@FCF@>QFLK 

 *LSBJBKQ?V"UQBOK>I-LPFQFLK!>Q>&KMRQ 

 LKAFQFLK>I'RJM  

 4>FQFKD*RIQFMIB&KMRQP  

 %LTQL2PB,CCPBQ  

Table of Contents

23. Executing an Operation N times ................................................................................................ 297

24. Constant-pitch Feed................................................................................................................... 298

25. Jogging....................................................................................................................................... 299

26. Switching Programs ................................................................................................................... 300

27. Aborting a Program .................................................................................................................... 301

Part 3 Positioner Mode ........................................................................................... 302

Chapter 1 Modes and Signal Assignments............................................................................................ 302

1. Feature of Each Mode................................................................................................................ 302

2. Number of Positions Supported in Each Mode.......................................................................... 304

3. Quick Mode Function Reference Table...................................................................................... 304

4. Interface List of All PIO Patterns ................................................................................................ 305

Chapter 2 Standard Mode...................................................................................................................... 306

1. I/O Interface List......................................................................................................................... 306

2. Parameters................................................................................................................................. 307

3. Details of Each Input Signal....................................................................................................... 307

4. Details of Each Output Signal .................................................................................................... 310

5. Timing Chart............................................................................................................................... 311

5.1 Recognition of I/O Signals .............................................................................................. 311

5.2 Home Return....................................................................................................................312

5.3 Movements through Positions ........................................................................................ 313

Chapter 3 Product Switching Mode ....................................................................................................... 315

1. I/O Interface List......................................................................................................................... 315

2. Parameters................................................................................................................................. 316

3. Details of Each Input Signal....................................................................................................... 317

4. Details of Each Output Signal .................................................................................................... 320

5. Timing Chart............................................................................................................................... 321

5.1 Recognition of I/O Signals .............................................................................................. 321

5.2 Home Return................................................................................................................... 322

5.3 Movements through Positions ........................................................................................ 323

Chapter 4 2-axis Independent Mode ..................................................................................................... 325

1. I/O Interface List......................................................................................................................... 325

2. Parameters................................................................................................................................. 326

3. Details of Each Input Signal....................................................................................................... 327

4. Details of Each Output Signal .................................................................................................... 329

5. Timing Chart............................................................................................................................... 331

5.1 Recognition of I/O Signals .............................................................................................. 331

5.2 Home Return................................................................................................................... 332

5.3 Movements through Positions ........................................................................................ 333

Chapter 5 Teaching Mode...................................................................................................................... 334

1. I/O Interface List......................................................................................................................... 335

2. Parameters................................................................................................................................. 336

3. Details of Each Input Signal....................................................................................................... 336

4. Details of Each Output Signal .................................................................................................... 340

5. Timing Chart............................................................................................................................... 342

5.1 Recognition of I/O Signals .............................................................................................. 342

5.2 Home Return................................................................................................................... 343

5.3 Movements through Positions ........................................................................................ 344

5.4 Timings in the Teaching Mode ........................................................................................ 345

Chapter 6 DS-S-C1 Compatible Mode .................................................................................................. 346

1. I/O Interface List......................................................................................................................... 346

Table of Contents

2. Parameters................................................................................................................................. 347

3. Details of Each Input Signal....................................................................................................... 347

4. Details of Each Output Signal .................................................................................................... 349

5. Timing Chart............................................................................................................................... 350

5.1 Recognition of I/O Signals .............................................................................................. 350

5.2 Home Return................................................................................................................... 351

5.3 Movements through Positions ........................................................................................ 352

List of Specifications of Connectable Actuators .................................................................................... 353

Push Force and Current-limiting Value ................................................................................................. 368

Battery Backup Function ....................................................................................................................... 375

1. System-Memory Backup Battery ............................................................................................... 375

2. Absolute Reset (Optional).......................................................................................................... 377

Parameter Utilization ............................................................................................................................ 379

1. Utilization Examples of I/O Parameters ..................................................................................... 380

2. Utilization Examples of Axis-specific Parameters ...................................................................... 387

3. Parameter Utilization Examples (Reference)............................................................................. 396

4. Servo Gain Adjustment .............................................................................................................. 400

List of Parameters ................................................................................................................................. 402

1. I/O Parameters........................................................................................................................... 403

1.1 I/O Parameters................................................................................................................ 403

1.2 I/O Function Lists ............................................................................................................410

(1) Input Function List........................................................................................................... 410

(2) Output Function List........................................................................................................ 411

2. Parameters Common to All Axes ............................................................................................... 412

3. Axis-Specific Parameters ........................................................................................................... 414

4. Driver Parameters ...................................................................................................................... 419

5. Encoder Parameters .................................................................................................................. 422

6. I/O Devices................................................................................................................................. 423

7. Other Parameters....................................................................................................................... 424

8. Manual Operation Types ............................................................................................................ 429

Combination Table of PSEL Linear/Rotary Control Parameters ........................................................... 431

Error Level Control ................................................................................................................................ 432

Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)

.............................................................................................................................................. 434

Error List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.)

.............................................................................................................................................. 465

Troubleshooting of PSEL Controller...................................................................................................... 469

Trouble Report Sheet ................................................................................................................................ 472

Change History............................................................................................................ 473