IAI America SEL-TG - Manual (Page 33)

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3. Connection to Controller
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When the X-SEL controller K type executes “OPEN 1” (channel 1 shared for the teaching
pendant) within the SEL program in the MANU (manual) mode, the right of use of the serial
port channel 1 is forcefully moved to the SEL program and communication with the teaching
pendant is disconnected. The program in the controller is running. (*Error No. A5D “SCIF open
error non-auto mode”)
Afterwards, if you wish to stop movement, press ON the Emergency Stop Button (Be especially
careful during Jog operation).
*In a case prior to Ver 0.16 of controller main application.
For the controller P/Q type as well as the K type with the controller main application ver. 0.16 or
later, the following are applied regarding OPEN of the TP port (teaching connector) according
to the servo not in use or in use:
<MANU mode, servo not in use>
Before execution of OPEN After execution of OPEN
Connection of TP port Connection to Teaching
Pendant
Forced movement to SEL program connection
(Message error) Program is executing
Error occurring after OPEN command execution: Error No. A50 “SCIF open error during non-AUTO mode”
<MANU mode, servo in use>
Before execution of OPEN After execution of OPEN
Connection of TP port Connection to Teaching
Pendant
Connection to Teaching Pendant
(Cold start error) Program is ending
Error occurring after OPEN command execution: Error No. E.89 “SCIF open error during non-AUTO mode (servo ON)
The channel No. of the TP port varies according to the controller’s type.
K type, KX type, and Table Top Actuator (TT): 1 ch “OPEN 1”
P/Q type, PX/QX type, R/S type, RX/SX type, RXD/SXD type, SSEL, ASEL and PSEL: 0 ch “OPEN 0”
The above “Extra Caution” notes pertain to all other than “MANU mode with I/O parameter No. 90
= 2 (IAI Protocol).
Extra Caution
!