Sel TB-03 User manual

Data Setter TB-03
P
Pr ro og gr ra am m C Co on nt tr ro ol ll le er r W Wi ir re ed d L Li in nk k
Instruction Manual First Edition
This instruction manual describes the contents for Program (SEL system)
Controllers Wired Link.
For how to use the ELECYLINDER wireless link, refer to the following instruction manual.
"Data Setter TB-03 ELECYLINDER Wireless Link Instruction Manual" (ME0375)
For how to use the position (CON/SEP/MEC system) controllers and ELECYLINDER wired link, refer
to the following instruction manual.
"Data Setter TB-03 Position Controller, ELECYLINDER Wired Link Instruction Manual" (ME0376)
For details of applicable controllers, refer in the section for the supported models.
ME0375
ME0376

Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual explains the handling methods, structure and maintenance of this product,
among others, providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained
herein to ensure safe use of the product.
The DVD that comes with the product contains Instruction Manuals for IAI products.
When using the product, refer to the necessary portions of the applicable Instruction Manual by
printing them out or displaying them on a PC.
After reading the Instruction Manual, keep it in a convenient place so that whoever is handling this
product can reference it quickly when 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.
The company names, names of products and trademarks of each company shown in the
sentences are re
g
istered trademarks.

Supported Models
This Instruction Manual is for the Program Controller Wired Link.
For details on handling the ELECYLINDER wireless link, refer to the separate “Data Setter
TB-03 ELECYLINDER Wireless Link Instruction Manual (ME0375)”.
For details on handling the position controller (ERC3, ERC2, ACON, PCON, SCON, DCON,
RACON, RPCON, MSCON, MCON, ASEP, PSEP, DSEP, MSEP, AMEC, PMEC, RCP6S, RCM-P6PC,
RCM-P6AC, RCM-P6DC), and ELECYLINDER wired link, refer to the separate “Data Setter
TB-03 Applicable for Position Controller Wired Link Instruction Manual (ME0376)”.
Supported Model List
Model Name Support Started Version
XSEL-K/KX/KT/KET V1.80
XSEL-J/JX Not Supported
XSEL-P/Q/PX/QX/PCT/QCT V1.80
XSEL-R/S/RX/SX/RXD/SXD V1.80
XSEL-RA/SA/RAX/SAX/RAXD/SAXD V1.80
MSEL-PC/PG/PCF/PGF/PCX/PGX V1.80
TT/TTA V1.80
SSEL V1.80
ASEL V1.80
PSEL V1.80

Chapter Contents
Safety Guide 1
Caution in Handling 8
International Standards Compliances 8
Product Check 9
1. Forward 13
2. Specifications Check 15
3. Connection with the Controller 31
4. How to Save Data 45
5. Mode Transition Diagram 53
6. Menu Selection 91
7. Execute or Stop the Positioner Mode of
the SSEL, ASEL and PSEL Controller 93
8. Position Edit 95
9. Program Edit 155
10. Program Execution 189
11. Coordinate System Data Editing of the SCARA Axis 209
12. Symbol Edit 229
13. Parameter Edit 239
14. Monitor 245
15. Controller 269
16. Abusolute Reset 301
17. Gateway Function Associated 413
18. Extended Motion Control Function 441
19. Data Backup 463
20. Environment Setting 479

21. Appendix 487
22. Warranty 491

Table of Contents
Safety Guide............................................................................................................................. 1
Caution in Handling ..................................................................................................................8
International Standards Compliances ...................................................................................... 8
Product Check..........................................................................................................................9
1. Forward ...........................................................................................................................13
2. Specifications Check ....................................................................................................... 15
2.1 Basic Specifications..............................................................................................................15
2.2 Environmental Specifications ...............................................................................................16
2.3 Explanation of Each Part ......................................................................................................17
2.3.1 Front and Side Surface.................................................................................................17
2.3.2 Back ..............................................................................................................................18
2.3.3 AC Adapter Joint ...........................................................................................................18
2.3.4 Cable Joint ....................................................................................................................19
2.4 How to Set in/out SD Memory Card .....................................................................................20
2.4.1 How to Insert SD Memory Card....................................................................................20
2.4.2 How to Take out SD Memory Card ...............................................................................21
2.5 How to Set in/out Battery Unit ..............................................................................................22
2.5.1 How to Take Out Battery Unit .......................................................................................22
2.5.2 How to Attach Battery Unit ............................................................................................23
2.6 External Dimensions.............................................................................................................24
2.7 Life of Touch Panel LCD ......................................................................................................24
2.8 Life of Battery and Replacement of Battery..........................................................................24
2.9 AC Adapter ...........................................................................................................................25
2.9.1 Common Specifications for AC Adapter........................................................................25
2.9.2 AC adapter appearance................................................................................................25
2.10 Optional Items ......................................................................................................................27
2.10.1 Grip Belt (GRP-2)..........................................................................................................27
2.10.2 Strap (STR-1)................................................................................................................27
2.10.3 Spiral Cord (SIC-1)........................................................................................................28
2.11 Maintenance Parts................................................................................................................28
2.11.1 Battery Unit (AB-7) (Enclosed to Main Unit) .................................................................28
2.11.2 Touch Pen (TCH-TB03) (Enclosed to Main Unit, For purpose of lost and damaged) ..28
2.12 Specifications Related to Battery Change............................................................................29
2.12.1 Types of Charger Mode ................................................................................................29
2.12.2 Caution Related to Battery Charging ............................................................................29
3. Connection with the Controller ........................................................................................31
3.1 XSEL-K Type Controller .......................................................................................................31
3.2 XSEL-KT/KET Type Controller.............................................................................................32
3.3 XSEL-P/Q, R/S, RA/SA Type Controller ..............................................................................33
3.4 XSEL-KX Type Controller.....................................................................................................34
3.5 XSEL-PX/QX, RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD Type Controller.......................35
3.6 TT/TTA Type Controller........................................................................................................36
3.7 SSEL Type Controller...........................................................................................................37
3.8 ASEL Type Controller...........................................................................................................38
3.9 PSEL Type Controller...........................................................................................................39
3.10 MSEL Type Controller ..........................................................................................................40
3.11 Connection Cable .................................................................................................................41
3.11.1 Cable for Program Controller (XSEL-J and XSEL-JX excluded) ..................................41
3.12 Data Setter Connection Procedure...............................................................................42

4. How to Save Data ...........................................................................................................45
4.1 Set-up at Shipment with System Memory Backup Battery...................................................45
4.2 Set-up at Shipment without System Memory Backup Battery
(Table Top Actuator (TT), SSEL, ASEL, PSEL)...................................................................48
4.3 XSEL-R/S/RX/SX/RXD/SXD ................................................................................................50
4.4 XSEL-RA/SA/RAX/SAX/RAXD/SAXD..................................................................................51
4.5 TTA, MSEL-PCX/PGX/PC/PG/PCF/PGF.............................................................................52
4.6 Caution .................................................................................................................................53
5. Mode Transition Diagram ................................................................................................ 53
5.1 XSEL-K, P/Q, R/S, RA/SA, TT/TTA Controller.....................................................................53
5.2 XSEL-KX Controller..............................................................................................................59
5.3 XSEL-PX/QX, RX/SX, RAX/SAX Controller .........................................................................64
5.4 XSEL-RXD/SXD, RAXD/SAXD Controller............................................................................70
5.5 MSEL-PCX/PGX/PC/PG/PCF/PGF Controller .....................................................................76
5.6 SSEL, ASEL or PSEL Controller ..........................................................................................81
5.6.1 Program Mode ..............................................................................................................81
5.6.2 Positioner Mode ............................................................................................................86
6. Menu Selection................................................................................................................91
7. Execute or Stop the Positioner Mode of the SSEL, ASEL and PSEL Controller............. 93
8. Position Edit ....................................................................................................................95
8.1 Manual Input (Numerical Input) ............................................................................................95
8.1.1 Basic Operation ............................................................................................................98
8.1.2 Flash ROM Writing......................................................................................................107
8.2 Teaching of the Linear Axis: XSEL-K, P/Q, or 5th to 6th Axes of PX/QX Controller,
R/S, 5th to 8th Axes of RX/SX Controller, RA/SA, or 5th to 8th Axes of RAX/SAX
Controller, Additional Axes on 3-axis SCARA Type MSEL-PCX/PGX Controller,
MSEL-PC/PG/PCF/PGF, TT, TTA, SSEL, ASEL or PSEL Controller................................108
8.2.1 Teaching......................................................................................................................108
8.2.2 Example of Teaching Input..........................................................................................119
8.3 Teaching for SCARA axis: 1st to 4th Axes of XSEL-KX, PX/QX, RX/SX or RAX/SAX
Controller, 1st to 4th Axes or 5th to 8th Axes of XSEL-RXD/SXD or RAXD/SAXD
Controller or 1st to 4th Axes on MSEL-PCX/PGX Controller *1
(*1 1st to 3rd Axes for 3-axis SCARA Type) ......................................................................124
8.3.1 Teaching......................................................................................................................124
8.3.2 Jog Movement Direction and Coordinate System ......................................................127
8.3.3 Actuator Operation......................................................................................................132
8.3.4 Example of Teaching Input..........................................................................................145
8.4 Copy and Movement of Position Data................................................................................150
8.5 Deletion of Position Data ....................................................................................................152
9. Program Edit .................................................................................................................155
9.1 How to Input Program.........................................................................................................155
9.2 Symbol Input During Program Edit.....................................................................................167
9.2.1 When Symbol Not Defined .........................................................................................167
9.2.2 When There is Symbol Definition ...............................................................................169
9.3 Single Line Comment Input ................................................................................................171
9.4 To Change Program Steps.................................................................................................173
9.5 Other Editing Features .......................................................................................................179
9.6 Program: Copy or Move .....................................................................................................184
9.7 Program: Clear ...................................................................................................................186
9.8 Flash ROM Writing .............................................................................................................188
10. Program Execution........................................................................................................ 189
10.1 Operation Confirmation ......................................................................................................189

10.2 Setting of Break Point.........................................................................................................193
10.3 Monitoring in Program Operation .......................................................................................194
10.4 Program Execution Time Measurement Function..............................................................204
10.4.1 Indication of Execution Time Measurement Section...................................................205
10.4.2 Display of Execution Time Measurement Result ........................................................207
10.4.3 Cautions......................................................................................................................208
11. Coordinate System Data Editing of the SCARA Axis ....................................................209
11.1 Editing of Work Coordinate System Data...........................................................................211
11.2 Editing of Tool Coordinate System Data ............................................................................217
11.3 Editing of Simple Interference Check Zone........................................................................223
12. Symbol Edit
(Excluding the positioner mode of the SSEL, ASEL and PSEL Controller.)..................229
12.1 Symbol Edit Items...............................................................................................................230
12.2 Input Example: Symbolize Local Integer Variable No. .......................................................231
12.3 Symbol Edit Screen of Each Items.....................................................................................234
13. Parameter Edit ..............................................................................................................239
13.1 Parameter Edit Items..........................................................................................................240
13.2 Input Example: Edit Specific-Axis Parameter.....................................................................241
14. Monitor ..........................................................................................................................245
14.1 Monitor Items......................................................................................................................245
14.2 Input Port ............................................................................................................................246
14.3 Output Port .........................................................................................................................247
14.4 Input/Output Port ................................................................................................................247
14.5 Global Flag .........................................................................................................................248
14.6 Global Variable ...................................................................................................................249
14.7 Axis Status..........................................................................................................................252
14.8 System Status ....................................................................................................................255
14.9 Error List .............................................................................................................................257
14.10 Version Information ............................................................................................................260
14.11 Control Constant Table Management Information .............................................................262
14.12 Maintenance Information....................................................................................................263
14.12.1 Actuator Replacement ................................................................................................265
14.12.2 Pairing ID Clear...........................................................................................................266
14.13 Servo Additional Data Monitor............................................................................................268
15. Controller.......................................................................................................................269
15.1 Controller Items ..................................................................................................................269
15.2 Flash ROM Writing .............................................................................................................271
15.3 Software Reset ...................................................................................................................272
15.4 Error Reset .........................................................................................................................273
15.5 Memory Clear .....................................................................................................................274
15.5.1 Memory Initialization Items .........................................................................................274
15.5.2 Global Variable............................................................................................................275
15.5.3 User Data Hold Memory .............................................................................................276
15.5.4 Position Data (XSEL-R/S, RX/SX, RXD/SXD, RA/SA, RAX/SAX, RAXD/SAXD,
TTA and MSEL-PCX/PGX/PC/PG/PCF/PGF Only)....................................................276
15.5.5 Coordinate System Data (XSEL-RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD and
MSEL-PCX/PGX Only) ...............................................................................................279
15.5.6 The value of this parameter at the factory (SSEL, ASEL, PSEL, XSEL-R/S,
RX/SX, RXD/SXD, RA/SA, RAX/SAX, RAXD/SAXD, TTA AC Servo Type / High-
Resolution Type and MSEL High-Resolution Type)....................................................281
15.5.7 Program Data (Restore Prev Data) ............................................................................284
15.5.8 Symbol Data (Restore Prev Data) ..............................................................................286
15.5.9 Position Data (Restore Prev Data) .............................................................................287
15.5.10 Parameter Data (Restore Prev Data) .........................................................................288

15.6 Re-Connection....................................................................................................................290
15.7 Baud Rate Change .............................................................................................................291
15.8 Safety Velocity....................................................................................................................292
15.9 Driver Power Recovery Request ........................................................................................292
15.10 Action Pause Release Request..........................................................................................293
15.11 Simultaneous Operation of Multiple Programs...................................................................293
15.12 Driver Power Recovery Request and Action Pause Release Request..............................295
15.12.1 In the Case of Controller Other Than SSEL, ASEL and PSEL Controllers.................295
15.12.2 In the Case of SSEL, ASEL or PSEL Controller .........................................................296
15.13 Time Setting .......................................................................................................................297
15.14 Pairing ID Clear ..................................................................................................................299
16. Absolute Reset .............................................................................................................. 301
16.1 Absolute Reset of the Linear Axis : XSEL-K, P/Q, or 5th and 6th Axes of
PX/QX Controller, XSEL-R/S or 5th to 8th Axes of RX/SX Controller, or SSEL,
ASEL Controller..................................................................................................................301
16.2 Absolute Reset of the SCARA Axis....................................................................................304
16.2.1 How to Conduct Absolute Reset on 1st to 4th Axes of XSEL-KX and PX/QX,
1st to 4th Axes for XSEL-RX/SX and XSEL-RXD/SXD Controllers............................304
16.2.2 How to Conduct Absolute Reset on XSEL-RAX/SAX/RAXD/SAXD SCARA Axes.....325
16.3 Perform Absolute Reset on ZR Unit (Absolute Type) ........................................................331
16.4 Perform Ball Screw Spline Shaft Adjusting on ZR Unit (Incremental Type).......................340
16.5 Linear Axis Synchro Specification Absolute Reset ............................................................348
16.5.1 Synchro Axes ..............................................................................................................348
16.5.2 Location Adjustment of Synchro Axes Sliders ............................................................349
16.5.3 Special Procedure Absolute Reset .............................................................................350
16.5.4 Standard Procedure Absolute Reset...........................................................................360
16.6 How to Perform Pressing Absolute Reset on IX-1000/1200 ..............................................361
16.6.1 How to Acquire Stopper Pressing Position .................................................................363
16.6.2 How to Conduct Stopper Pressing Absolute Reset ....................................................375
16.7 How to Home Adjustment / Absolute Reset on MSEL-PCX/PGX/PC/PG/PCF/PGF and
PSEL...................................................................................................................................388
16.7.1 SCARA J1, J2 and R Axes..........................................................................................390
16.7.2 SCARA Z-Axis, Battery-less Absolute Type Additional Axes and Linear Axes ...........395
16.8 How to Conduct Absolute Reset for Battery-less Absolute Type .......................................398
16.8.1 How to Conduct Absolute Reset for Battery-less Absolute Type................................398
16.8.2 Special ProcedurCe: How to Conduct Absolute Reset Battery-less Absolute
Synchronizing Type.....................................................................................................400
16.9 How to Conduct Absolute Reset on Pulse Motor Type TTA ..............................................404
16.9.1 How to Conduct Absolute Reset on Pulse Motor Type TTA .......................................404
16.10 Procedures for Resetting Absolute-Battery Voltage-Down Warning Error for
Linear Axis: XSEL-K, P/Q, 5th and 6th Axes of PX/QX, XSEL-R/S, 5th to 8th Axes of
RX/SX, XSEL-RA/SA, 5th to 8th Axes of RAX/SAX, SSEL, ASEL and PSEL Controller ..406
16.11 Home Adjust / Absolute Reset for Wrist Unit: MSEL-PC/PG/PCF/PGF.............................408
17. Gateway Function Associated....................................................................................... 413
17.1 Editing of the RC Position Data in XSEL............................................................................413
17.1.1 RC Position Data Creation..........................................................................................413
17.1.2 RC Position Data Input Using the Teaching Operation...............................................421
17.1.3 RC Position Data Deletion ..........................................................................................430
17.2 RC Actuator Monitoring ......................................................................................................434
17.3 User Data Hold Memory Initialization .................................................................................437
17.3.1 Description ..................................................................................................................437
17.3.2 Operation Procedure...................................................................................................437
18. Extended Motion Control Function ................................................................................ 441
18.1 Extended Motion Control Position Data Editing .................................................................441
18.1.1 Extended Motion Control Position Data Creation .......................................................441
18.1.2 Extended Motion Control Position Data Input using the Teaching Operation.............448