Document Outline

• Please Read Before Use
• CAUTION
• CE Marking
• Before Use
• Table of Contents
• Safety Guide
• Caution in Handling
• Chapter 1 Installation
  • 1.1 Introduction
  • 1.2 Models
  • 1.3 Safety Precautions
  • 1.4 Warranty
  • 2. Specifications
    • 2.1 Basic Specifications
    • 2.2 Name and Function of Each Part
    • 2.3 Interfaces of the Tabletop Robot
    • 2.4 External I/O Specifications
    • 2.5 External Dimensions
  • 3. Installation Environment, Noise Measures and Other
    • 3.1 Installation Environment
    • 3.2 Installation
    • 3.3 Power Source
    • 3.4 Noise Measures and Grounding
  • 4. System Setup
    • 4.1 Connecting the Tabletop Robot with Peripheral Equipment
    • 4.2 I/O Connection Diagram (External DIOs)
• Chapter 2 Operation
  • 1. Operation
    • 1.1 How to Start a Program
    • 1.2 Starting a Program by Auto-Start via Parameter Setting
    • 1.3 Starting via the Digital Program Selector Switch and Function Switch
  • 2. Controller Data
    • 2.1 Data Structure
    • 2.2 Saving Data
• Chapter 3 X-SEL Language Data
  • 1. Values and Symbols Used in SEL Language
  • 2. Position Part
  • 3. Command Part
    • 3.1 SEL language Structure
    • 3.2 Extension Condition
• Chapter 4 Commands
  • 1. List of SEL Language Command Codes by Function
    • 1.1 List of Commands by Function
    • 1.2 List of Commands in Alphabetical Order
  • 2. Explanation of Commands
  • 3. Key Characteristics of Actuator Control Commands and Points to Note
    • 3.1 Continuous Movement Commands
    • 3.2 PATH/PSPL Commands
    • 3.3 CIR/ARC Commands
    • 3.4 CIR2/ARC2/ARCD/ARCC Commands
  • 4. Palletizing Function
    • 4.1 How to Use
    • 4.2 Palletizing Setting
    • 4.3 Palletizing Calculation
    • 4.4 Palletizing Movement
    • 4.5 Program Examples
  • 5. Pseudo-Ladder Task
    • 5.1 Basic Frame
    • 5.2 Ladder Statement Field
    • 5.3 Points to Note
    • 5.4 Program Example
• Chapter 5 Maintenance and Inspection
  • 1. Inspection Items and Inspection Intervals
  • 2. Visual Inspection of the Exterior
  • 3. Visual Inspection and Cleaning
    • 3.1 Cleaning
    • 3.2 Interior Inspection
    • 3.3 Internal Cleaning
  • 4. Greasing the Guides
    • 4.1 Applicable Grease
    • 4.2 How to Apply Grease
  • 5. Greasing the Ball Screw
    • 5.1 Applicable Grease
    • 5.2 How to Apply Grease
  • 6. Timing Belt
    • 6.1 Inspecting the Belt
    • 6.2 Applicable Belt
    • 6.3 Belt Replacement Procedure
• Appendix
  • How to Create a Program
    • 1. Position Table
    • 2. Program Format
    • 3. Positioning to Five Positions
    • 4. How to Use TAG and GOTO
    • 5. Moving Back and Forth between Two Points
    • 6. Path Operation
    • 7. Output Control during Path Movement
    • 8. Circular/Arc Operation
    • 9. Home-return Completion Output
    • 10. Moving an Axis Selectively based on Input and Outputting aCompletion Signal
    • 11. Changing the Moving Speed
    • 12. Changing the Speed during Movement
    • 13. Local/Global Classification of Variables and Flags
    • 14. How to Use Subroutines
    • 15. Pausing the Operation
    • 16. Aborting the Operation 1 (CANC)
    • 17. Aborting the Operation 2 (STOP)
    • 18. Moving to a Specified Position Number
    • 19. Conditional Jump
    • 20. Waiting for Multiple Inputs
    • 21. How to Use Offset
    • 22. Executing an Operation n Times
    • 23. Constant-pitch Feed Operation
    • 24. Jogging
    • 25. Switching Programs
    • 26. Aborting a Program
  • How to Use Internal DIOs
    • 1. Internal DIs and Dedicated Functions
    • 2. Showing User SEL Program Data on the 7-segment LED Display
  • List of Parameters
    • 1. I/O Parameters
    • 2. Parameters Common to All Axes
    • 3. Axis-Specific Parameters
    • 4. Driver Card Parameters
    • 5. Encoder Parameters
    • 6. I/O-Slot Card Parameters
    • 7. Other Parameters
    • 8. Manual Operation Types
    • 9. Use Examples of Key Parameters
  • Error Level Control
  • Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)
  • Error List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.)
  • Troubleshooting of X-SEL Controller
  • Trouble Report Sheet
• Change History