Iai-america ASEL Handbücher

Iai america ASEL Bedienungsanleitung (468 Seiten)

Marke: Iai-america | Kategorie: Hardware | Größe: 11.01 MB |

Englisch

Inhaltsverzeichnis

ASEL Controller

1

Please Read Before Use

3

Table of Contents

7

Change History 444

13

Safety Guide

15

Alert Indication

21

CE Marking

22

Part 1 Installation

23

Chapter 1 Overview

24

Inactivity time Motion

25

4. System Setup

26

1. Warranty Period

27

2. Scope of Warranty

27

3. Scope of Service

27

Chapter 2 Specifications

28

2.1 Name of Each Part

29

2.1.1 Front View

29

2.1.2 Down View

30

2.1.3 Top View

30

Chapter 2 Specications

32

Encoder cable

33

Cable model:

33

(1) 2-axis specification

42

2. Installation Environment

44

Controller

48

5. Supply Voltage

49

6. Wiring

50

6.3 Connecting the Actuator

52

Caution

58

[Output circuit]

59

Internal circuit

59

(1) Application

63

(2) Core

65

Example of installation

68

Chapter 4 Operation

70

1. Startup

70

1.1 Power ON Sequence

71

1.2 Power Cutoff Sequence

71

2.2 Procedure

72

Chapter 4 Operationg

74

3. How to Start a Program

77

Reset the controller

78

Part 1 Installation

80

[2] Timing chart

80

Parameters

82

5.1 How to Save Data

83

5.2 Points to Note

85

Chapter 5 Maintenance

86

1. Inspection points

86

2. Spare consumable parts

86

Chapter 5 Maintenanceg

88

1.2 I/O Ports

92

1.3 Virtual I/O Ports

93

Chapter 1 SEL Language Data

94

1.4 Flags

95

1.5 Variables

96

(Decimal point)

97

1.6 Tags

99

1.7 Subroutines

100

1.8 Symbols

101

1.10 Axis Specification

102

2. Position Part

104

3. Command Part

105

3.2 Extension Condition

106

1. By Function

107

Part 2 Programs

108

2. Alphabetical Order

112

Prohibited

113

1.1 Variable Assignment

117

1.2 Arithmetic Operation

120

Optional Optional MOD

122

Variable

122

Data ZR

122

1.3 Function Operation

123

Optional Optional SQR

125

1.4 Logical Operation

126

Optional Optional OR

127

Optional Optional EOR

128

1.5 Comparison Operation

129

1.6 Timer

130

Optional Optional TIMC

131

Prohibited CP

131

Optional Optional GTTM

132

1.7 I/O, Flag Operation

133

Optional Optional FMIO

141

1.8 Program Control

144

1.9 Task Management

147

Currently paused step

151

1.10 Position Operation

152

Position

159

Optional Optional PSIZ

163

X 100 (%)

171

Optional Optional BASE

174

Optional Optional GRP

175

1.12 Actuator Control Command

183

Optional Optional HOME

184

Prohibited PE

184

Optional Optional MOVP

185

Prohibited PE

185

Optional Optional MOVL

186

Optional Optional MVPI

187

Optional Optional MVLI

188

Optional Optional MOVD

189

(Axis pattern) PE

189

Optional Optional MVDI

190

Start position

191

Position origin

191

End position

191

11 (binary) o 3 (decimal)

192

Optional Optional STOP

193

Optional Optional PUSH

195

Optional Optional PTRQ

197

Ratio CC

197

Center angle

201

Center position

202

Optional Optional PBND

203

Distance CP

203

1.13 Structural IF

206

1.14 Structural DO

209

1.15 Multi-Branching

211

Prohibited Prohibited WH

212

Data CP

212

Optional Optional SYST

217

1.17 Zone

218

1.18 Communication

222

Optional Optional TMRW

225

(Note 1)

227

Optional Optional SCHA

228

Character

228

1.19 String Operation

229

Optional Optional SPUT

232

1 2 3 4 5 6 7 8 9

233

1 2 3 . 0 0 0

233

10 11 12 13 14 15

233

8 7 . 6 5 4

233

1 2 3 4 5

234

Optional Optional SLEN

237

1.20 Arch-Motion-Related

238

Optional Optional ACHZ

240

Optional Optional OFAZ

242

1.21 Palletizing-Related

243

Optional Optional PAPN

244

Optional Optional PAST

246

(Position

246

Optional Optional PAPS

247

Optional Optional PSLI

249

(Count) CP

249

Optional Optional PMVP

253

Palletizing

253

Optional Optional PMVL

254

1.25 Extended Command

257

Variable 99

258

Binary notation

258

Optional Optional ECMD 20

259

2. PATH/PSPL Commands

262

3. CIR/ARC Commands

262

1. How to Use

263

2. Palletizing Setting

263

A. 3-point teaching method

265

Odd-numbered

267

Even-numbered

267

3. Palletizing Calculation

268

4. Palletizing Movement

269

5. Program Examples

270

Reference point

271

Position No. 11

271

(70, 70)

271

Picking position

271

Position No. 10

271

1. Basic Frame

272

2. Ladder Statement Field

273

3. Points to Note

273

4. Program Example

274

Operation Position

276

I/O Assignments

276

Operation Flow Chart

276

1. SEL Language

281

2. Multi-Tasking

282

5. Program Switching

285

1. Equipment

286

2. Operation

286

4. Hardware

288

Z-axis air cylinder

289

Screw tightening

289

Position Table

291

2. Programming Format

292

Description

293

Flowchart

293

4. How to Use TAG and GOTO

294

How to Use

297

Example of Use 1

297

Example of Use 2

297

8. Circle/Arc Operation

298

Example of Use

299

Reference

299

Application program

300

Backup in Battery

303

Application

305

25. Jogging

315

Part 3 Positioner Mode

318

Chapter 2 Standard Mode

321

1. I/O Interface List

321

2. Parameters

322

5. Timing Chart

326

5.2 Home Return

327

Chapter 5 Teaching Mode

349

Appendix

367

 Slider type

368

 Rod type

368

 Arm type

368

Battery Backup Function

370

Parameter Utilization

373

About the home-return method

383

Set a home preset

384

Set a home offset

385

Zone output

388

MAX side

388

Passing status ON

388

MIN side

388

4. Servo Gain Adjustment

394

 List of Parameters

396

1. I/O Parameters

397

I/O Parameters

398

1.2 I/O Function Lists

403

(1) Input Function List

403

(2) Output Function List

404

3. Axis-Specific Parameters

407

Axis-Specific Parameters

408

4. Driver Parameters

411

Driver parameters

412

5. Encoder Parameters

414

6. I/O Devices

415

7. Other Parameters

416

Other Parameters

417

8. Manual Operation Types

421

 Error Level Control

423

Trouble Report Sheet

465

Change History

466

13.02.000

468

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