Document Outline

• Please Read Before Use
• Safety Guide
• Prohibited Handling of Cables
• Caution in Handling
• CE Marking
• Table of Contents
• Introduction
• Part 1 Installation
  • Chapter 1 Safety Precautions
  • Chapter 2 Warranty
    • 1. Warranty Period
    • 2. Scope of Warranty
    • 3. Honoring Warranty
    • 4. Limited Liability
    • 5. Applications
    • 6. Other Items Excluded from Warranty
  • Chapter 3 Installation Environment and Noise Measures
    • 1. Installation Environment
    • 2. Heat Radiation and Installation
    • 3. Power Source
    • 4. Noise Measures and Grounding
  • Chapter 4 Name and Function of Each Part
    • 1. Front View of Controller
    • 2. Explanation of Codes Displayed on the Panel Window
      • 2.1 Application
      • 2.2 Core
  • Chapter 5 Specifications
    • 1. Controller Specifications
    • 2. External I/O Specifications
      • 2.1 NPN Specification
      • 2.2 PNP Specification
    • 3. Power-Source Capacity and Heat Output of the Controller
    • 4. External Dimensions
  • Chapter 6 System Setup
    • 1. Connection Method of Controller and Actuator (Standard Specification)
    • 2. I/O Connection Diagram
    • 3. I/O Flat Cable
  • Chapter 7 How to Perform An Absolute Encoder Reset
    • 1. Preparation
    • 2. Procedure
  • Chapter 8 Maintenance
• Part 2 Operation
  • Chapter 1 Operation
    • 1. Starting a Program by Auto-Start via Parameter Setting
    • 2. Starting via External Signal Selection
    • 3. Drive-Source Recovery Request and Operation-Pause Reset Request
• Part 3 Controller Data Structure
  • Chapter 1 How to Save Data
    • 1. Factory Settings: When the System-Memory Backup Battery is Used
    • 2. When the System-Memory Backup Battery is Not Used
    • 3. Points to Note
  • Chapter 2 X-SEL Language Data
    • 1. Values and Symbols Used in SEL Language
      • 1.1 List of Values and Symbols Used
      • 1.2 I/O Ports
      • 1.3 Virtual I/O Ports
      • 1.4 Flags
      • 1.5 Variables
      • 1.6 Tags
      • 1.7 Subroutines
      • 1.8 Symbols
      • 1.9 Character-String Literals
      • 1.10 Axis Specification
    • 2. Position Part
    • 3. Command Part
      • 3.1 SEL language Structure
      • 3.2 Extension Condition
• Part 4 Commands
  • Chapter 1 List of SEL Language Command Codes
    • 1. By Function
      • 1. Alphabetical Order
  • Chapter 2 Explanation of Commands
    • 1. Commands
      • 1.1 Variable Assignment
      • 1.2 Arithmetic Operation
      • 1.3 Function Operation
      • 1.4 Logical Operation
      • 1.5 Comparison Operation
      • 1.6 Timer
      • 1.7 I/O, Flag Operation
      • 1.8 Program Control
      • 1.9 Task Management
      • 1.10 Position Operation
      • 1.11 Actuator Control Declaration
      • 1.12 Actuator Control Command
      • 1.13 Structural IF
      • 1.14 Structural DO
      • 1.15 Multi-Branching
      • 1.16 System Information Acquisition
      • 1.17 Zone
      • 1.18 Communication
      • 1.19 String Operation
      • 1.20 Palletizing-Related
      • 1.21 Palletizing Calculation Command
      • 1.22 Palletizing Movement Command
      • 1.23 Building of Pseudo-Ladder Task
  • Chapter 3 Key Characteristics of Actuator Control Commands and Points toNote
    • 1. Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC, CIRS, ARCS]
    • 2. PATH/PSPL Commands
    • 3. CIR/ARC Commands
    • 4. CIR2/ARC2/ARCD/ARCC Commands
  • Chapter 4 Palletizing Function
    • 1. How to Use
    • 2. Palletizing Setting
    • 3. Palletizing Calculation
    • 4. Palletizing Movement
    • 5. Program Examples
  • Chapter 5 Pseudo-Ladder Task
    • 1. Basic Frame
    • 2. Ladder Statement Field
    • 3. Points to Note
    • 4. Program Example
  • Chapter 6 Application Program Examples
    • 1. Operation by Jog Command [Doll-Picking Game Machine]
    • 2. Operation by Point Movement Command [Riveting System]
    • 3. Palletizing Operation [Palletizing System]
• Part 5 Multi-Tasking
  • Chapter 1 Real-Time Multi-Tasking
    • 1. SEL Language
    • 2. Multi-Tasking
    • 3. Difference from a Sequencer
    • 4. Release of Emergency Stop
    • 5. Program Switching
  • Chapter 2 Example of Building a System
    • 1. Equipment
    • 2. Operation
    • 3. Overview of the Screw-Tightening System
    • 4. Hardware
    • 5. Software
• Appendix
  • Actuator Specification List
  • Programming Method
  • Expansion I/O Board (Optional)
  • Expanded SIO Specification (Optional)
  • Number of Regenerative Resistance Units (REU-1) to Be Connected
  • Combination Table of X-SEL Linear/Rotary Control Parameters
  • Synchro Function
  • Absolute Reset of A Synchro Controller
  • List of Parameters
  • Error Level Control
  • Panel Window Messages (Other than Errors)
  • Error List
  • Ｔroubleshooting of X-SEL Controller
• Trouble Report Sheet
• Change History