Document Outline

• Please Read Before Use
• CAUTION
  • Operator Calls Regarding Low Battery Voltage
• CE Marking
• Table of Contents
• Safety Guide
• Prohibited Handling of Cables
• Introduction
• Part 1 Installation
  • Chapter 1 Safety Precautions
  • Chapter 2 Warranty Period and Scope of Warranty
  • Chapter 3 Installation Environment and Noise Measures
  • 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. Drive-Power Cutoff Control Circuit
      • 2.1 System I/O Connector
      • 2.2 Relay Box
      • 2.3 Drive-Power Cutoff Control Circuit
  • Chapter 7 How to Perform An Absolute Encoder Reset
  • 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 by Function
  • 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 to Note
    • 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
      • A. 3-point teaching method
      • B. Method to set palletizing positions in parallel with the actuators
    • 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
    • 2. Operation by Point Movement Command
    • 3. Palletizing Operation
• 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
  • 1. Position Table
  • 2. Program Format
  • 3. Positioning to Five Positions
  • 4. How to Use TAG and GOTO
  • 5. Reciprocating Operation between Two Points
  • 6. Path Operation
  • 7. Output Control during Path Movement
  • 8. Circular/Arc Operation
  • 9. Home return Complete Output
  • 10. Axis Movement with Input Waiting and Complete Output
  • 11. Travel Speed Change
  • 12. Speed Change during Operation
  • 13. Local/Global Variables and Flags
  • 14. How to Use Subroutines
  • 15. Pause
  • 16. Abort 1 (CANC)
  • 17. Abort 2 (STOP)
  • 18. Movement by Position Number Specification
  • 19. Movement by External Position Data Input
  • 20. Coordinate Value Output
  • 21. Conditional Jump
  • 22. Wait for Multiple Inputs
  • 23. How to Use Offset
  • 24. Repetition of Operation N Times
  • 25. Constant Pitch Feed Operation
  • 26. Jogging
  • 27. Program Switching
  • 28. Program Abort
  • ( Expansion Board (Optional)
  • ( Expanded SIO Specification (Optional)
  • ( Number of Regenerative Resistance Units (REU-1s) to Be Connected
  • ( Synchro Function
  • 1. Common Items (Applicable to both the absolute specification and incremental specification)
  • 2. Incremental Specification
  • 3. Absolute Specification (When both the master axis and slave axis are of the absolute specification)
  • ( Absolute Reset of A Synchro Controller
  • 1. Synchro Axes
  • 2. Position Adjustment of Synchro-Axis Sliders
  • 3. Special Absolute-Reset Procedure
  • 4. Standard Absolute-Reset Procedure
  • 5. Notes on Use of the Synchro Function
  • ( 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
  • 10. Servo Gain Adjustment
  • ( Combination Table of X-SEL Linear/Rotational Control Parameters
  • ( Error Level Control
  • ( Error List
  • ( Troubleshooting of X-SEL Controller
  • Trouble Report Sheet
• Change History