Document Outline

• CAUTION
  • Operator Calls Regarding Low Battery Voltage
• Safety Precautions
  • Warning
  • Danger
  • Caution
  • Note
  • Others
  • Prohibited Handling of Cables
  • Before Use
• Table of Contents
• Introduction
• Part 1 Installation
  • Chapter 1 Safety Precautions
  • Chapter 2 Warranty Period and Scope of Warranty
    • 1. Warranty Period
    • 2. Scope of Warranty
    • 3. Scope of Service
  • 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
      • 1.1 JX Type (Compact Type) (for actuators of strokes from 250 to 350)
      • 1.2 KX Type (General-Purpose Type) (for actuators of strokes from 250 to 800)
    • 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
      • 4.1 JX Type (Compact type)
      • 4.2 KX Type (General-purpose type)
  • Chapter 6 System Setup
    • 1. Connection Method of Controller and Robot (KX Type)
    • 2. I/O Connection Diagram
    • 3. I/O Flat Cable
  • Chapter 7 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 (IX-Series Controller)
    • 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. Command Codes by Function
    • 2. Command Codes in 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 Communication
      • 1.18 String Operation
      • 1.19 Palletizing-Related
      • 1.21 Palletizing Calculation Command
      • 1.22 Palletizing Movement Command
      • 1.23 Building of Pseudo-Ladder Task
  • Chapter 3 Key Characteristics of Horizontal Articulated Robot Operation
    • 1. CP Operation and PTP Operation
      • 1.1 CP Operation
      • 1.2 PTP Operation
    • 2. Arm System
      • 2.1 Right/Left Arm Systems
      • 2.2 Arm-System Control Commands
      • 2.3 Arm-System Control Commands and Change of Arm Systems
    • 3. Coordinate System
      • 3.1 Base Coordinate System (= Load Coordinate System No. 0)
      • 3.2 Load Coordinate System
      • 3.3 Tool Coordinate System
    • 4. Simple Interference Check Zone
    • 5. Soft Limits
      • 5.1 Each Axis Coordinate System and Soft Limits
      • 5.2 Monitoring Coordinates on Each Axis Coordinate System
  • Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note
    • 1. Continuous Movement Commands
    • 2. PATH/PSPL Commands
    • 3. CIR/ARC Commands
    • 4. CIR2/ARC2/ARCD/ARCC Commands
  • Chapter 5 Palletizing Function
    • 1. How to Use
    • 2. Palletizing Setting
      • A. 3-point teaching method
      • B. Method to set palletizing positions in parallel with the load coordinate system axes
    • 3. Palletizing Calculation
    • 4. Palletizing Movement
    • 5. Program Examples
  • Chapter 6 Pseudo-Ladder Task
    • 1. Basic Frame
    • 2. Ladder Statement Field
    • 3. Points to Note
    • 4. Program Example
  • Chapter 7 Multi-Tasking
    • 1. Difference from a Sequencer
    • 2. Release of Emergency Stop
    • 3. Program Switching
• Appendix
  • ( Expansion I/O Board (Optional)
  • Expanded SIO Specification (Optional)
  • 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
  • Trouble Report Sheet