IAI RA Series User manual

XSELController
RA/SA Series
Extension Motion
Control Function
Instruction Manual Second Edition
IAI Corporation

Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual describes all necessary information items to operate this product safely
such as the operation procedure, structure and maintenance procedure.
To ensure the safe operation of this product, please read and fully understand this manual.
The enclosed DVD in this product package includes the Instruction Manual for this product.
For the operation of this product, print out the necessary sections in the Instruction Manual or
display them using the personal computer.
After reading through this manual, keep this Instruction Manual at hand so that the operator of this
product can read it whenever necessary.
[Important]
•This Instruction Manual is original.
•The product cannot be operated in any way unless expressly specified in this Instruction
Manual. IAI shall assume no responsibility for the outcome of any operation not specified
herein.
•Information contained in this Instruction Manual is subject to change without notice for the
purpose of product improvement.
•If you have any question or comment regarding the content of this manual, please contact
the IAI sales office near you.
•Using or copying all or part of this Instruction Manual without permission is prohibited.
•SSCNET is a registered trademark of Mitsubishi Electric Corporation.
•The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.
ME0364-2B

ME0364-2B

Construction of Instruction Manual for Each Controller Model and
This Manual
XSEL-RA/SA
zOperation Pattern
• Positioner Function Extension Motion Control Feature
(This Manual) ME0346
• Synchronization Control
Function
Basic Specifications XSEL-RA/SA ME0359
and Their Functions
Teaching Tool
• PC Software  PC Software ME0154
• Teaching Pendant
(i) TB-02 Touch Panel Teaching ME0356
(ii) TB-03 Touch Panel Teaching ME0377
ME0364-2B

Table of Overall Contents
19
Chapter 3 Basic Settings
In this chapter, explains the settings necessary for operation.
9
Chapter 1 Outline of Extension Motion Control
Feature
In this chapter, explains the specifications of the product and
supportive operations.
15
Chapter 2 Installation and Wiring
In this chapter, explains the connections to actuators and
external devices
33
Chapter 4 Operation Program
In this chapter, explains how to create programs for each
supportive operation.
111
Chapter 5 Practical Settings
In this chapter, explains such things as synchronization with
the XSEL controller built-in driver.
Chapter 6 Parameter Detail
In this chapter, explains the related parameters. 143
Chapter 7 Details of Features
In this chapter, explains details related to operations and
MECHATROLINK communication. 163
167
Chapter 8 Troubleshooting
In this chapter, explains how to act in errors and contents of
them.
ME0364-2B

Table of Contents
Safety Guide ···································································································· 1
Precautions in Operation ···················································································· 8
1. Outline of Extension Motion Control Feature................................................................9
1.1. Supportive Operations...............................................................................................10
1.2. Basic Specifications...................................................................................................12
1.3. Teaching Tools and Instruction Manuals....................................................................13
2. Installation and Wiring ................................................................................................15
2.1. Starting Procedures ...................................................................................................15
2.2. Name and Function of Each Part Related to Extension Motion Control Feature .......16
2.3. Example for Emergency Stop System Construction ..................................................17
2.4. Cable Layout .............................................................................................................18
3. Basic Settings.............................................................................................................19
3.1. Check Items before Starting Setup............................................................................19
3.2. How to Set Up ...........................................................................................................22
3.3. RC Controller Settings...............................................................................................23
3.4. Setup of XSEL (Functions in Common).....................................................................24
3.5. Setup of XSEL (for Each Axis)...................................................................................27
3.6. Operation Check .......................................................................................................30
4. Operation Program .....................................................................................................33
4.1. Support Function .......................................................................................................33
4.2. Positioner Function....................................................................................................34
4.2.1. Position Data Count............................................................................................. 34
4.2.2. Editing the Position Data ..................................................................................... 34
4.2.3. Positioning Completion........................................................................................ 36
4.2.4. Actuator Control Commands ............................................................................... 37
4.3. Electronic Shaft .........................................................................................................38
4.4. Electronic CAM..........................................................................................................39
4.4.1. Combination of Master Axes and Slave Axes ..................................................... 41
4.4.2. Synchronized Electronic CAM Operation............................................................ 43
4.4.3. Independent Electronic CAM (virtual master) Operation .................................... 47
4.4.4. Reciprocal Movement and Feed Movement ....................................................... 48
4.4.5. Editing of Electronic CAM Data ........................................................................... 50
4.4.6. CAM Curve Types ............................................................................................... 59
4.5. SEL Commands Used in Extension Motion Control Features ...................................64
4.5.1. List of SEL Commands in Extension Motion Control Features ........................... 64
4.5.2. Relation of Other SEL Commands with Extension Motion Control Features...... 66
4.5.3. Extension Motion Control Axis Position Operation Commands .......................... 68
4.5.4. Extension Motion Control Axis Actuator Control Declaration Command............. 75
4.5.5 Extension Motion Control Axis Actuator Control Command................................ 79
4.5.6. Extension Motion Control Axis Status Acquisition Commands.......................... 104
4.6. Sample Programs....................................................................................................106
4.6.1. Positioning Using Position Data ........................................................................ 106
4.6.2. Electronic Shaft Synchronizing Operation......................................................... 107
4.6.3. Electronic Cam Synchronizing Operation ......................................................... 108
4.7. Sample Programs....................................................................................................109
4.7.1. Pausing.............................................................................................................. 109
4.7.2. Synchronous Movement.................................................................................... 109
4.7.3. Others.................................................................................................................110
ME0364-2B

5. Practical Settings...................................................................................................... 111
5.1. Special Ways for Axes Use...................................................................................... 112
5.1.1. Standard Driver Control......................................................................................112
5.1.2. Drive Invalid Axis ................................................................................................114
5.2. Extension Motion Control Axis Status Extension Input Port Assignment ................. 115
5.3. How to Use Wrist Unit ............................................................................................. 118
5.3.1. Preparation Before Operation ............................................................................119
5.3.2. Caution .............................................................................................................. 122
5.3.3. When Operating with Extension Motion Control Command.............................. 123
5.3.4. When Operating with Information of Cartesian Coordinates Gained from
Camera.............................................................................................................. 124
5.3.5. Coordinate Conversion Commands .................................................................. 128
5.3.6. Settings in Common for Coordinate Conversion Commands ........................... 131
5.3.7. Caution .............................................................................................................. 132
5.3.8. Coordinate System............................................................................................ 134
5.3.9. Form .................................................................................................................. 140
5.3.10. Troubleshooting................................................................................................. 141
6. Parameter Detail.......................................................................................................143
6.1. Extension Motion Control Parameter List ................................................................143
6.1.1. I/O Parameter .................................................................................................... 143
6.1.2. All Axes Parameter............................................................................................ 144
6.1.3. Each Axis Parameter......................................................................................... 144
6.1.4. Extension Motion Control Common Parameters............................................... 145
6.1.5. Extension Motion Control Each Axis Parameters.............................................. 146
6.2. Details of Extension Motion Control Parameter.......................................................148
6.3. Relation with Existing Parameters...........................................................................159
6.4. List for Degrees of Indispensability for Parameter Settings (Reference) .................161
7. Details of Features ...................................................................................................163
7.1. Details Related to Operation ...................................................................................163
7.1.1. Safety Speed of Extension Motion Control Axis ................................................ 163
7.2. Transmission Cycle of MECHATROLINK Communication ......................................164
8. Troubleshooting........................................................................................................167
8.1. Notes Related to Generally for Errors......................................................................167
8.2. Process in Trouble Occurrence ...............................................................................168
Change History................................................................................................................175
ME0364-2B

1
Safety Guide (Read before Use)
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No. Operation
Description Description
1 Model
Selection
●This product has not been planned and designed for the application
where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of 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 (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
●Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
●Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
●For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an
accident such as an injury or damage on the work piece.
ME0364-2B

2
No. Operation
Description Description
2 Transportation ●When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
●Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the
instructions in the instruction manual for each model.
●Do not step or sit on the package.
●Do not put any heavy thing that can deform the package, on it.
●When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
●When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
●Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
●Do not get on the load that is hung on a crane.
●Do not leave a load hung up with a crane.
●Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
●The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention
of condensation.
●Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
●Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
●Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
●When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
ME0364-2B