Xsel J - K (Me0116 23a) PDF

X-SEL Controller
J/K/KE Type
Operation Manual Twenty third Edition
Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual describes all necessary information items to operate this product safely
such as the operation procedure, structure and maintenance procedure.
Before the operation, read this manual carefully and fully understand it to operate this product
safely.
The enclosed CD/DVD in this product package includes the Instruction Manual for this product.
For the operation of this product, print out the necessary sections in the Instruction Manual or
display them using the personal computer.
After reading through this manual, keep this Instruction Manual at hand so that the operator of this
product can read it whenever necessary.
[Important]
x This Instruction Manual is original.
x The product cannot be operated in any way unless expressly specified in this Instruction
Manual. IAI shall assume no responsibility for the outcome of any operation not specified
herein.
x Information contained in this Instruction Manual is subject to change without notice for the
purpose of product improvement.
x If you have any question or comment regarding the content of this manual, please contact
the IAI sales office near you.
x Using or copying all or part of this Instruction Manual without permission is prohibited.
x The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.
Operation
No. Description
Description
1 Model Ɣ This product has not been planned and designed for the application
Selection where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect
human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
Ɣ Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten
2 Transportation Ɣ Consider well so that it is not bumped against anything or dropped
during the transportation.
Ɣ Transport it using an appropriate transportation measure.
Ɣ Do not step or sit on the package.
Ɣ Do not put any heavy thing that can deform the package, on it.
Ɣ When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
Ɣ When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Ɣ Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Ɣ Do not get on the load that is hung on a crane.
Ɣ Do not leave a load hung up with a crane.
Ɣ Do not stand under the load that is hung up with a crane.
3 Storage and Ɣ The storage and preservation environment conforms to the installation
Preservation environment.
However, especially give consideration to the prevention of
condensation.
Operation
No. Description
Description
4 Installation (1) Installation of Robot Main Body and Controller, etc.
and Start Ɣ Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Ɣ Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
Ɣ When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
(2) Cable Wiring
Ɣ Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Ɣ Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
Ɣ When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
Ɣ Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
Ɣ Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
may cause the product to malfunction or cause fire.
(3) Grounding
Ɣ Make sure to perform the grounding of type D (Former Type 3) for the
controller. The grounding operation should be performed to prevent an
electric shock or electrostatic charge, enhance the noise-resistance
ability and control the unnecessary electromagnetic radiation.
Operation
No. Description
Description
4 Installation (4) Safety Measures
and Start Ɣ When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection fence)
so that nobody can enter the area within the robot’s movable range.
When the robot under operation is touched, it may result in death or
serious injury.
Ɣ Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Ɣ Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
Ɣ Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
Ɣ When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
Ɣ Take the measure so that the work part is not dropped in power failure or
emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Ɣ Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or fire.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching Ɣ Perform the teaching operation from outside the safety protection fence,
if possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
Ɣ When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so
that the unit can be stopped any time in an emergency.
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the
operation so that any third person can not operate the switches
carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
Operation
No. Description
Description
6 Trial Ɣ After the teaching or programming operation, perform the check
Operation operation one step by one step and then shift to the automatic operation.
Ɣ When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Ɣ Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
Ɣ Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic Ɣ Before the automatic operation is started up, make sure that there is
Operation nobody inside the safety protection fence.
Ɣ Before the automatic operation is started up, make sure that all the
related peripheral machines are ready for the automatic operation and
there is no error indication.
Ɣ Make sure to perform the startup operation for the automatic operation,
out of the safety protection fence.
Ɣ In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and turn
OFF the power switch. Failure to do so may result in a fire or damage to
the product.
Ɣ When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recovery operation from the power failure.
8 Maintenance Ɣ Perform the work out of the safety protection fence, if possible. In the
and case that the operation is to be performed unavoidably inside the safety
Inspection protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
Ɣ When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
the worker should have an emergency stop switch at hand with him so
that the unit can be stopped any time in an emergency.
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the
operation so that any third person can not operate the switches
carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
Ɣ Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
Operation
No. Description
Description
9 Modification Ɣ Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
Ɣ In such case, the warranty is not applied.
10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
Ɣ Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to
the warning level, as follows, and described in the Instruction Manual for each model.
Level Degree of Danger and Damage Symbol
This indicates an imminently hazardous situation which, if the

Danger product is not handled correctly, will result in death or serious Danger
injury.
This indicates a potentially hazardous situation which, if the

Warning product is not handled correctly, could result in death or serious Warning
injury.
This indicates a potentially hazardous situation which, if the

Caution product is not handled correctly, may result in minor injury or Caution
property damage.
This indicates lower possibility for the injury, but should be kept
Notice
to use this product properly. Notice
Prohibited Handling of Cables
Caution
When designing an application system using actuators and controllers, incorrect wiring or connection of
each cable may cause unexpected problems such as a disconnected cable or poor contact, or even a
runaway system. This section explains prohibited handling of cables. Read the information carefully to
connect the cables properly.
Ten Rules for Handling Cables (Must be Observed!)

1. Do not let the cable flex at a single point.
Steel band
(piano wire)
Bundle loosely.
2. Do not let the cable bend, kink or twist. 3. Do not pull the cable with a strong force.
4. Do not let the cable receive a turning force at a 5. When fixing the cable, provide a moderate slack
single point. and do not tension it too tight.
Use a curly
cable.
6. Do not pinch, drop a heavy object onto or cut the

cable. Do not use a spiral tube
where the cable flexes
frequently.
7. Do not let the cable get tangled or kinked in a cable track or flexible tube. When bundling the cable,
keep a certain degree of flexibility (so that the cable will not become too taut when bent).
8. Do not cause the cables to occupy more than 9. Do not lay signal lines together with circuit lines
60% of the space in the cable track. that create a strong electric field.
Cable track
Power line
Cable Duct
Signal lines (flat cable)
10. Always use a robot cable if the cable is likely to flex significantly.
[Standard structure of cable]

The standard structure of Signal line (copper + tin)
cable will vary depending on Cover
the manufacturer and type of Absorbing material (When the cable is
Shield bent, this material is crushed by the
cable.
surrounding signal lines to maintain
Protective layer the shape of the signal lines.)
Need for Robot Cables

A cable connected to a moving part of an actuator system will inevitably receive repeated bending loads at
the base of the cable. As a result, the cores in the cable may break over time. To minimize the risk of
cable breakage, we strongly recommend that a robot cable offering significantly higher flexibility be used
in this type of application.
Caution in Handling
1. Action to Be Taken in Case of Emergency
If this product is found to be in a dangerous condition, immediately turn off all power switches of the
main unit and connected equipment or immediately disconnect all power cables from the outlets.
(“Dangerous condition” refers to a situation where the product is generating abnormal heat or smoke or
has ignited and a fire or danger to human health is anticipated.)
CE Marking
If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.
[Applicable Units]
XSEL-KE
Table of Contents
Table of Contents
Introduction ..........................................................................................................1
Part 1 Installation .........................................................................................2

Chapter 1 Safety Precautions .................................................................................................... 2
Chapter 2 Warranty ................................................................................................................... 3
Chapter 3 Installation Environment and Noise Measures.......................................................... 5
Chapter 4 Name and Function of Each Part .............................................................................. 9
1. Front View of Controller .......................................................................................... 9
2. Explanation of Codes Displayed on the Panel Window ........................................ 19
Chapter 5 Specifications .......................................................................................................... 21
1. Controller Specifications........................................................................................ 21
2. External I/O Specifications .................................................................................... 23
3. Power-Source Capacity and Heat Output of the Controller .................................. 27
4. External Dimensions ............................................................................................. 29
Chapter 6 System Setup.......................................................................................................... 32
1. Connection Method of Controller and Actuator (Standard Specification) .............. 32
2. I/O Connection Diagram........................................................................................ 34
3. I/O Flat Cable ........................................................................................................ 36
Chapter 7 How to Perform An Absolute Encoder Reset .......................................................... 37
Chapter 8 Maintenance ........................................................................................................... 42
Part 2 Operation.........................................................................................51
Chapter 1 Operation ................................................................................................................ 51
1. Starting a Program by Auto-Start via Parameter Setting ....................................... 52
2. Starting via External Signal Selection ................................................................... 53
3. Drive-Source Recovery Request and Operation-Pause Reset Request............... 55
Part 3 Controller Data Structure.................................................................56

Chapter 1 How to Save Data ................................................................................................... 57
1. Factory Settings: When the System-Memory Backup Battery is Used ................. 57
2. When the System-Memory Backup Battery is Not Used....................................... 58
3. Points to Note........................................................................................................ 59
Chapter 2 X-SEL Language Data ............................................................................................ 60
1. Values and Symbols Used in SEL Language........................................................ 60
2. Position Part.......................................................................................................... 73
3. Command Part ...................................................................................................... 74
Table of Contents
Part 4 Commands ......................................................................................76

Chapter 1 List of SEL Language Command Codes................................................................. 76
Chapter 2 Explanation of Commands ...................................................................................... 86
1. Commands............................................................................................................ 86
Chapter 3 Key Characteristics of Actuator Control Commands and Points to Note .............. 235
1. Continuous Movement Commands
[PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC, CIRS, ARCS] ................ 235
2. PATH/PSPL Commands...................................................................................... 237
3. CIR/ARC Commands .......................................................................................... 237
4. CIR2/ARC2/ARCD/ARCC Commands................................................................ 237
Chapter 4 Palletizing Function ............................................................................................... 238
1. How to Use.......................................................................................................... 238
2. Palletizing Setting................................................................................................ 238
3. Palletizing Calculation ......................................................................................... 244
4. Palletizing Movement .......................................................................................... 245
5. Program Examples.............................................................................................. 247
Chapter 5 Pseudo-Ladder Task ............................................................................................. 255
1. Basic Frame ........................................................................................................ 255
2. Ladder Statement Field ....................................................................................... 256
3. Points to Note...................................................................................................... 256
4. Program Example ............................................................................................... 257
Chapter 6 Application Program Examples ............................................................................. 258
1. Operation by Jog Command [Doll-Picking Game Machine]................................ 258
2. Operation by Point Movement Command [Riveting System] .............................. 261
3. Palletizing Operation [Palletizing System]........................................................... 264
Part 5 Multi-Tasking .................................................................................267

Chapter 1 Real-Time Multi-Tasking........................................................................................ 267
1. SEL Language .................................................................................................... 267
2. Multi-Tasking ....................................................................................................... 268
3. Difference from a Sequencer .............................................................................. 269
4. Release of Emergency Stop................................................................................ 270
5. Program Switching .............................................................................................. 271
Chapter 2 Example of Building a System .............................................................................. 272
1. Equipment ........................................................................................................... 272
2. Operation ............................................................................................................ 272
3. Overview of the Screw-Tightening System ......................................................... 273
4. Hardware............................................................................................................. 274
5. Software .............................................................................................................. 276
Table of Contents
Appendix ............................................................................................................................... 278
Actuator Specification List .................................................................................................... 278

Programming Method ........................................................................................................... 283
Expansion I/O Board (Optional)............................................................................................ 311
Expanded SIO Specification (Optional) ................................................................................ 312
Number of Regenerative Resistance Units (REU-1) to Be Connected................................. 318
Combination Table of X-SEL Linear/Rotary Control Parameters .......................................... 319
Synchro Function.................................................................................................................. 320
Absolute Reset of A Synchro Controller................................................................................ 321
1. Synchro Axes ............................................................................................................ 321
2. Position Adjustment of Synchro-Axis Sliders ........................................................... 322
3. Special Absolute-Reset Procedure........................................................................... 322
4. Standard Absolute-Reset Procedure ........................................................................ 325
5. Notes on Use of the Synchro Function .................................................................... 326
List of Parameters................................................................................................................. 327
1. I/O Parameters...................................................................................................... 328
2. Parameters Common to All Axes .......................................................................... 339
3. Axis-Specific Parameters ...................................................................................... 342
4. Driver Card Parameters ........................................................................................ 347
5. Encoder Parameters ............................................................................................. 352
6. I/O-Slot Card Parameters...................................................................................... 353
7. Other Parameters.................................................................................................. 354
8. Manual Operation Types ....................................................................................... 359
9. Use Examples of Key Parameters ........................................................................ 360
10. Servo Gain Adjustment ......................................................................................... 366
Error Level Control................................................................................................................ 369
Panel Window Messages ..................................................................................................... 371
Error List .......................................................................................................................... 371
Troubleshooting of X-SEL Controller .................................................................................... 402
Trouble Report Sheet ........................................................................................................... 406
Introduction
Introduction
The controller models covered by this operation manual are as follows.
Model number Specification
X-SEL-J Compact type
X-SEL-J Purpose type
X-SEL-KE CE-compliant
For details on models, refer to the table below.
Model number
Model number example
[1] [2] [3] [4] (First axis) [4] (Second axis) [4] (Third axis) [5] [6] [7] [8]
Model number table

[1] [2] [3] [4] Details of axes 1 to 4 [5] [6] Expansion I/O slot [7] [8]
Series Controller Number Standard I/O flat Power-
of axes Motor Encoder Brake Creep Home Synchronization I/O supply
name type sensor specification Slot 2 Slot 3 Slot 4 cable
wattage type sensor (Slot 1) voltage
(LS) length
E E E
(Not used) (Not used) (Not used)
C C C
(CC-Link (CC-Link (CC-Link
N1
20 (Expansion PIO, connection connection connection
16/16 board)
16/16 board) 16/16 board)
(20W) 32 input/16 output
NPN board) N1 N1
30D N1
(Expansion PIO, (Expansion PIO, (Expansion PIO,
(30W for DS) N3 32 input/16 32 input/16 32 input/16
output
30R (Expansion PIO, output output
NPN board) NPN board)
48 input/48 output NPN board)
(30W for RS)
NPN board)
60 N2 N2
(Expansion PIO,
N2
(Expansion PIO,
(Expansion PIO,
1 (60W) P1 16 input/32 16 input/32 16 input/32
(Expansion PIO, output output output
(1 axis) 100 32 input/16 output NPN board) NPN board) NPN board)
J
(100W) Blank
PNP board)
N3 N3
N3 2: 2 m
(Compact type) 2 150 Blank (Without P3 (Expansion PIO, (Expansion PIO, (Expansion PIO,
Blank Blank synchronization) (Expansion PIO, 18 input/18 18 input/18 18 input/18 (Standard)
XSEL (2 axis) (150W) I (Without (Without creep (Without origin output output output
(Incremental) sensor) 48 input/48 output NPN board) NPN board)
K 200 brake) sensor) M PNP board)
NPN board)
3: 3 m 1: Single-phase 100 V
(General- (200W) A C (Master axis P1 P1 P1
purpose type) 3 (Absolute)
B
(With creep
L specification) DV (Expansion PIO, (Expansion PIO, (Expansion PIO,
2: Single-phase 200 V
300 (With brake) (With origin 32 input/16 5: 5 m
(3 axis) sensor) sensor) (DeviceNet 32 input/16 32 input/16
output output
(300W) S 256/256 board) output
KE PNP board) PNP board) PNP board)
(Slave axis 0: None
(CE-compliant) 4 400 specification) CC P2 P2
P2
(4 axis) (400W) CC-Link (Expansion PIO, (Expansion PIO, (Expansion PIO,
16 input/32
256/256 board) 16 input/32 16 input/32
600 output output output
PNP board) PNP board)
(600W) PR PNP board)
ProfiBus P3
750 256/256 board P3 P3
(Multi-point I/O (Multi-point I/O
(Multi-point I/O
(750W) PNP 48/48) PNP 48/48) PNP 48/48)
ET
(Ethernet data SA SA SA
communication (Expansion (Expansion (Expansion
SIO type A) SIO type A) SIO type A)
board)
SB SB SB
(Expansion (Expansion (Expansion
SIO type B) SIO type B) SIO type B)
SC SC SC
(Expansion (Expansion (Expansion
SIO type C) SIO type C) SIO type C)
The X-SEL Controller is available with one to four axes. As with the conventional SEL Controller, it can be connected and
used with various actuators. When connecting actuators, always use dedicated cables.
After turning OFFthe main power, be sure to wait for at least 5 seconds before turning it ON.
Any shorter interval may generate “E88: Power system error (Other).”
Do not plug in/out the connectors while the power is still supplied to the controller. Doing so may result in malfunction.
Notes on installing the absolute-data backup battery (absolute specification)

Follow the steps below to install the battery in order to initialize the battery circuit and thereby prevent the battery from
being consumed early:
(1) Connect the encoder cable.
(2) Turn on the power.
(3) Install the absolute-data backup battery.
Be sure to perform the above operation after the encoder cable is disconnected for relocation, etc.
Read the operation manual for each actuator. If you have purchased our optional PC software and/or teaching pendant,
read the respective operation manuals, as well.
1
Part 1 Installation
Part 1 Installation
Caution
Chapter 1 Safety Precautions
The X-SEL Controller can be combined with a maximum of four actuators of different types, and is able to
provide integrated control over the entire system including peripherals. In other words, the X-SEL
Controller has the ability to control systems of all sizes ranging from a small system to a large factory
automation system. In general, however, the occurrence rate of accidents due to wrong operation or
carelessness will rise as the system becomes larger and more complex. Please give due consideration to
safety measures.
This system product was developed as a drive unit for an automated machine, etc., and as such the
maximum torque and speed are limited to levels acceptable for an automatically driven machine. However,
strict observance of the following items is requested to prevent unforeseen danger. Also read the
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1. Do not handle this product in manners not specified in this manual. If you have any question regarding
the content of this manual, please contact IAI.
2. Always use the specified, genuine IAI cables for wiring between the controller and the actuator.
3. Do not enter the operation area of the machine while the machine is operating or ready to operate (the
controller power is on). If the machine is used in a place accessible to other people, provide an
appropriate safety measure such as enclosing the machine with a cage.
4. When assembling/adjusting or maintaining/inspecting the machine, always turn off the controller power
at the source beforehand. The operator should display in a conspicuous place a plate or other sign
saying that operation is in progress and that the power should not be turned on. The operator should
keep the entire power cable beside him or her to prevent another person from inadvertently plugging in
the cable.
5. When two or more operators are to work together, set call-out signals to ensure safety of all personnel
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RUPDQXDOO\²PXVWDOZD\VVD\ZKDWKHRUVKHLVJRLQJWRGRRXWORXGDQGFRQILUPWKHUHVSRQVHVIURP
the others first before actually performing the operation.
2
Part 1 Installation
Chapter 2 Warranty
1. Warranty Period
One of the following periods, whichever is shorter:
18 months after shipment from our company
12 months after delivery to the specified location
2. Scope of Warranty
Our products are covered by warranty when all of the following conditions are met. Faulty products covered
by warranty will be replaced or repaired free of charge:
(1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
(2) The breakdown or problem in question occurred during the warranty period.
(3) The breakdown or problem in question occurred while the product was in use for an appropriate purpose
under the conditions and environment of use specified in the operation manual and catalog.
(4) The breakdown or problem in question was caused by a specification defect or problem, or by the poor
quality of our product.
Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:
[1] Anything other than our product
[2] Modification or repair performed by a party other than us (unless we have approved such modification
or repair)
[3] Anything that could not be easily predicted with the level of science and technology available at the
time of shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
[5] Natural fading of paint or other symptoms of aging
[6] Wear, depletion or other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or maintenance
Note that the warranty only covers our product as delivered and that any secondary loss arising from a
breakdown of our product is excluded from the scope of warranty.
3. Honoring Warranty
As a rule, the product must be brought to us for repair under warranty.
3
Part 1 Installation
4. Limited Liability
(1) We shall assume no liability for any special damage, consequential loss or passive loss such as a loss
of expected profit arising from or in connection with our product.
(2) We shall not be liable for any program or control method created by the customer to operate our product
or for the result of such program or control method.
5. Applications
(1) If our product is combined with another product or any system, device, etc., used by the customer,
the customer must first check the applicable standards, regulations and/or rules. The customer is also
responsible for confirming that such combination with our product conforms to the applicable
standards, etc. In such a case we will not be
liable for the conformance of our product with the
applicable standards, etc.
(2) Our product is for general industrial use. It is not intended or designed for the applications specified
below, which require a high level of safety. Accordingly, as a rule our product cannot be used in these
applications. Contact us if you must use our product for any of these applications:
[1] Medical equipment pertaining to maintenance or management of human life or health
[2] A mechanism or mechanical equipment intended to move or transport people (such as a
vehicle, railway facility or aviation facility)
[3] Important safety parts of mechanical equipment (such as safety devices)
[4] Equipment used to handle cultural assets, art or other irreplaceable items
(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that
differs from what is specified in the catalog or operation manual.
6. Other Items Excluded from Warranty

The price of the product delivered to you does not include expenses associated with programming, the
dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during
the warranty period:
[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance and inspection
[3] Technical guidance and education on operating/wiring methods, etc.
[4] Technical guidance and education on programming and other items related to programs
4
Part 1 Installation
Chapter 3 Installation Environment and Noise Measures
1. Installation Environment
(1) When installing and wiring the controller, do not block the ventilation holes provided for cooling.
(Insufficient ventilation will not only prevent the product from functioning fully, but it may also result in
failure.)
(2) Prevent foreign matter from entering the controller through the ventilation holes. Since the controller is
not designed as dustproof or waterproof (oilproof), avoid using it in a dusty place or place subject to
oil mist or splashed cutting fluid.
(3) Do not expose the controller to direct sunlight or radiant heat from a high heat source such as a heat-
treating furnace.
(4) Use the controller in a non-condensing environment free from corrosive or inflammable gases.
(5) Use the controller in an environment where it will not receive external vibration or impact.
(6) Prevent electrical noise from entering the controller or its cables.
Environmental Condition of Controller

Item Specification
Surrounding air temperature range 0qC ~ 40qC
24-VDC fan x 2 (compact 1-axis type)
24-VDC fan x 3 (compact 2 axis type)
Forced air-cooling 24-VDC fan x 5 (compact 4 axis type)
24-VDC fan x 5 (general-purpose 2-axis type)
24-VDC fan x 6 (general-purpose 4-axis type)
Surrounding humidity range 30% ~ 85%
Storage temperature range -10qC ~ 65qC
Dust protection structure IP10
Power-source voltage 100 to 115/200 to 230 VAC, single-phase
Operating power-source voltage r10%
Rated operating power-source
50 Hz/60 Hz
frequency
2. Heat Radiation and Installation

Design the control panel size, controller layout and cooling method so that the surrounding air
temperature around the controller will be kept at or below 40°C.
Install the controller vertically on a wall, as illustrated below. The controller will be cooled by forced
ventilation (exhaust air will be discharged from the top). Be sure to install the controller in the
aforementioned direction and provide a minimum clearance of 150 mm above and 150 mm below the
controller.
If multiple controllers are to be installed side by side, providing additional suction fans on top of the
controllers will help maintain a uniform surrounding air temperature.
Provide a minimum clearance of 150 mm between the front side of the controller and a wall
(enclosure).
5
Part 1 Installation
Airflow direction
Fan 150 mm min.
150 mm min.
CODE CODE
PG1 P G3 P G1 P G3
POWE R M4 M3 M2 M1 POWE R M4 M3 M2 M1
B K1 B K3 B K1 B K3
I/02 I/01 I/02 I/01
LS4 LS 3 LS2 L S1 LS4 L S3 LS2 L S1

PG2 PG4 P G2 P G4
RB RB
B K2 B K4 B K2 B K4
TP TP
150 mm min.
Airflow
If multiple controllers are to be connected on top of one another, prevent the controller above from
taking in the exhaust air from the controller below.
3. Power Source
Provide a single-phase power source of (i) 100 to 115 or (ii) 200 to 230 VAC.
4. Noise Measures and Grounding

(1) Wiring and power source
PE on the power terminal block is used for protective grounding. Provide Class D grounding from this
terminal.
Use a grounding cable with a wire size of 1.0 mm2 (#AWG17) or more, which should not be smaller
than the AC power cable.
To prevent noise generated in the controller from propagating to other equipment via the power line,
install an AC line noise filter.
Noise 1 N
100/200-VAC power source filter
2 L
Class D grounding
(protective grounding)
3 PE
Install the noise filter near the power connector on the X-SEL Controller.
6
Part 1 Installation
* Notes on wiring method

Use twisted cables for the AC power cable and 24-VDC external power cable. Wire the controller
cables separately from lines creating a strong electric field such as power circuit lines (by not bundling
them together or placing in the same cable duct).
If you wish to extend the motor cable or encoder cable beyond the length of each supplied cable,
SOHDVHFRQWDFW,$,¶V7HFKQLFDO6HUYLFH6HFWLRQRU6DOHV(QJLQHHULQJ6HFWLRQ
(2) Noise-elimination grounding
ACIN
N &RQQHFWWKH)*WHUPLQDO
AC power source with the metal enclosure
L using a cable of a
3( maximum allowable size
RYHUWKHVKRUWHVWGLVWDQFH
Class D grounding
Metal enclosure
3URYLGHGHGLFDWHGJURXQGLQJIRUWKH)*DQG3(
;6(/ Other ;6(/ Other

equipment equipment
Controller Controller
'RQRWFRQQHFWDVDERYH
(3) Noise sources and noise elimination
7KHUHDUHPDQ\QRLVHVRXUFHVEXWVROHQRLGYDOYHV, magnet switches and relays are of particular
concern when building a system. Noise from these parts can be eliminated using the measures
specified below:
D $&VROHQRLGYDOYHPDJQHWVZLWFKUHOD\
Measure --- Install a surge killer in parallel with the coil.
6XUJHNLOOHU
m Point
:LUHIURPHDFKFRLORYHUWKHVKRUWHVWGLVWDQFH
Installing a surge killer on the terminal block, etc.,
ZLOOEHOHVVHIIHFWLYHEHFDXVH of a longer distance
from the coil.
7
Part 1 Installation
b. DC solenoid valve, magnet switch, relay
Measure --- Install a diode in parallel with the coil. Determine the diode capacity in accordance with
the load capacity.
In a DC circuit, connecting a diode in reversed polarity will

damage the diode, internal parts of the controller and DC
power supply. Exercise due caution.
Diode
The above noise elimination measures are particularly important when a 24-VDC relay is driven
directly by a controller output and there is also a 100-VAC solenoid valve, etc.
Reference Circuit Diagram
Controller
+24 V
OUT CR 100 VAC
CR
0V
COM
SOL Surge absorber
0V
Solenoid valve
8
Part 1 Installation
Chapter 4 Name and Function of Each Part
1. Front View of Controller
Type K (General-purpose type) 4-axis
(5) (6) (11) (12) (13) (14)
PG1 PG3 CODE

(15)
CONTROLLER M4 M3 M2 M1
RB
MODE
BK1 BK3
I/O1 I/O2 I/O3 I/O4

TP (16)
LS4 LS3 LS2 LS1
PG2 PG4
(7) (17)
POWER
FUSE
BK2 BK4
HOST
(1) (2) (4) (8) (9) (10) (18) (19)
Type J (Compact type)1-axis
(6) (9)(11) (14)
CODE
PG
POWER M
(4) (12)
BK
I/O
(20)
(5) LS
(21)
RB
(7) (15)
(16)
(1) (8) (10)(18)
9
Part 1 Installation
Type J (Compact type) 4-axis
(6) (11) (14)
CODE
PG1 PG3
POWER M4 M3 M2 M1
(4)
(12)
BK1 BK3
I/02 I/01
(7) (20)
(5) LS4 LS3 LS2 LS1
PG2 PG4
(21)
RB
(15)
BK2 BK4
(16)
TP
(1) (8) (9) (10) (19) (18)
Type KE (CE-compliant) 4-axis

(5) (6) (11) (12) (13) (14)
PG1 PG3
(15)
M4 M3 M2 M1 CODE
RB
MODE
BK1 BK3
I/O1 I/O2 I/O3 I/O4

TP
(16)
LS4 LS3 LS2 LS1
PG2 PG4
POWER
(7) (17)
BK2 BK4
HOST
(3)
(1) (4) (8) (9) (10) (18) (19)
(1) FG terminal This terminal is used to ground FG on the enclosure. With a general-purpose
type, the enclosure is connected to PE in the AC input part inside the controller.
With a compact type, FG and PE are not connected inside the controller. Be
sure to ground the FG terminal.
FG Terminal Specifications
Item Overview
M4 3-point SEMS screw, 5 mm
Cable size 2.0 ~ 5.5 mm2
Grounding method Class D grounding
10
Part 1 Installation
(2) Fuse holder This half-cut fuse holder is used to protect overcurrent in the AC input
(general-purpose type only) part. It prevents inflow of abnormal current generated by ground fault, etc.,
and uses a slow-blow fuse specified by IAI.
Overview of Fuse Holder Specifications
Item Description
Holder F-22001-A1 by Sato Parts
Fuse type TWO 250V20A by Fuji Terminal *
Melting
Slow-blow
characteristics
* With a compact type, the fuse holder is mounted on the board. Type: FGMT5
AC250V10A by Fuji Terminal
(3) Circuit Protector This is a surge protector for the overcurrent protection of XSEL-KE AC input.
It prevents inflow of abnormal current generated by ground fault.
Overview of Circuit Protector Specifications

Item Overview
Circuit Protector SER-F-11-62-10A-BWT by Sanken-Airpax
(4) AC input connector 100/200-VAC, single-phase input connector.

Type K Type J
(General-purpose Type) (Compact Type) AC Power Connector Specifications
Item Overview
Connector name POWER
Connector GMSTB2.5/3-STF-7.62 by Phoenix Contact
3-pin, 2-piece connector
Supported cable size 1.25 ~ 2.5 mm2 (AWG12 ~ 16)
Connected to AC power source
Terminal symbol N AC power input, N side
L AC power input, L side
PE (Protective grounding line)
(5) External regenerative This connector is used to connect a regenerative resistance unit that may
unit connector be required when the controller is used in a high-speed/high-load
environment, etc., and the built-in regenerative resistance capacity is not
sufficient. Whether or not an external regenerative resistance is necessary
will be determined by the specific application such as axis configuration.
External Regenerative Unit Connector Specifications
Item Overview
Connector name RB
Connector GIC2.5/3-STF-7.62 by Phoenix Contact
Cable size 1.0 mm2 (AWG17 or equivalent), included in the
external regenerative box
Connected to External regenerative box
Terminal symbol Grounding terminal
RB– Regenerative resistance –
Regenerative resistance +
RB+
(Motor-driving DC voltage)
An insufficient regenerative resistance capacity will cause “E65, F63: Regenerative

resistance temperature error.” An insufficient regenerative resistance capacity is
also suspected when “E88: Power system error (Other)” occurs.
11
Part 1 Installation
(6)
(5) Motor connector This connector is used to drive the motor inside the actuator.
Overview of Motor Connector Specifications

Item Description
Connector name M
Connector GIC2.5/4-STF-7.62 by Phoenix Contact
Cable Dedicated motor cable
Connected to Actuator
Terminal symbol PE (Protective grounding line)
U Motor-driving phase U
V Motor-driving phase V
W Motor-driving phase W
(6) Axis-sensor connector

(7) This connector is used to connect axis sensors such as LS, CREEP and
OT.
Axis-Sensor Connector Specifications

Item Description
Connector name LS
Connector MC1.5/6-ST-3.5 by Phoenix Contact
Cable Dedicated LS cable
Terminal symbol 24-V power source for
24VOUT
driving contacts
0V 24-V ground
LS LS-contact input
CREEP CREEP-contact input
OT OT-contact input
RSV Preliminary-contact input
(8)
(7) Absolute-data backup When an absolute encoder is used, this battery unit will be used to back
battery up the encoder data. Nothing is connected here for a non-absolute axis.
Model number: IA-XAB-BT
Battery Capacity: 1000 mAh

Current consumption
Operating 3 PA
Power is off 100 PA
Absolute-Battery Connector Specifications

Item Description
Connector name BAT
Connector 3-pin connector
03JQ-ST by Nichiatu
Connected to Absolute-data battery unit by IAI
12
Part 1 Installation
(8) Brake switch

(9) This alternate switch with lock is used to release the axis brake. To
operate the switch, pull it toward you and tilt.
Tilting the switch upward (RLS side) will release the brake forcibly, while
tilting it downward (NOM) will enable an automatic brake control by the
controller.
(9) Axis-driver
(10) Axis-driverstatus
statusLEDs
LEDs These LEDs monitor the operating status of the driver CPU that controls
the motor drive. The following three LEDs are provided.
Name Color Meaning when lit
The driver is detecting an error.
This LED blinks when the current limiter setting
ALM Orange is exceeded. However, a blinking ALM LED
does not indicate a problem, unless an error is
present.
SVON Green The servo is on and the motor is being driven.
The voltage of the absolute-data backup
BAT ALM Orange
battery is low.
(10) Encoder connector

(11) 7KLVSLQ'VXEFRQQHFWRULVXVHGWRFRQQHFWWKHDFWXDWRU¶VHQFRGHU
Encoder Connector Specifications
Item Description
Connector name PG
Connector High-density D-sub, 15-pin (female)
Maximum connection 10 m
distance
Interface standard Conforming to RS422
(Built-in encoder unit inside the actuator)
Connection cable Dedicated PG cable
Terminal Signal
Pin No. Description
assignments name
Phase-A differential + input
1 A+
(Phase U+)
3KDVH$GLIIHUHQWLDO±LQSXW
$±
3KDVH8±
Phase-B differential + input
3 B+
(Phase V+)
3KDVH%GLIIHUHQWLDO±LQSXW
%±
3KDVH9±
Phase-Z differential + input
5 Z+
(Phase W+)
3KDVH=GLIIHUHQWLDO±LQSXW
=±
3KDVH:±
Send/receive line+
7 SRD+ (Pulse/magnetic-pole
switching+)
6HQGUHFHLYHOLQH±3XOVH
65'±
PDJQHWLFSROHVZLWFKLQJ±
9 BATT Backup-battery power supply
10 BATTGND Battery ground
11 VCC Encoder power source
12 GND GND
%.±
Brake output
14 BK+
15 FG Not used
13
Part 1 Installation
(12) System I/O connector This connector is used to connect an emergency-stop switch, ENABLE
contact, ready relay, etc.
MC1.5/6-ST-3.5 by Phoenix Contact; 6-pin, 2-piece

Connector
connector
+24-V power output for emergency
+24V OUT
stop
EMG IN Emergency-stop input
Terminal assignments +24V OUT +24-V power output for safety gate
ENB IN Safety-gate input

RDY OUT
Ready-status output contact
RDY OUT
Current flowing between the emergency-stop contacts:
J type 30 mA 10%
K type 43 mA 10%
Between +24V OUT and EMG IN: Operation is permitted when a contact-
B emergency stop input is received or the line between the two
connectors is shorted. If the line becomes open, an emergency stop will
be actuated and the drive source will be cut off.
Between +24V OUT and ENB IN: Operation is permitted when a contact-
B safety gate input is received or the line between the two connectors is
shorted. If the line becomes open, the drive source will be cut off.
Between RDY OUTs: Contact-A is output under the conditions below.
SYSRDY is output (software = PIO trigger program can be run) and hardware is
normal (emergency stop is not being actuated and hardware error is not being
detected).
The lines between +24V OUT and EMG IN and between +24V OUT and
ENB IN have been shorted by cables before the shipment.
(13) I/O24V power connector This connector is used to externally supply I/O power to the isolated part
(general-purpose type when DI and DOs are mounted in the I/O connectors explained in (18)
only) and (19). 24 V must be supplied externally.
Supported cable size0.75 ~ 1.25 mm2 (AWG16)
MC1.5/2-ST-3.5 by Phoenix Contact; 2-pin, 2-piece
Connector
connector
24V IN +24-V power input for I/Os
Terminal assignments
0V I/O GND
With a compact type, power is supplied externally to pin Nos. 1 and 50 of
the I/O connector in (18).
(14) Panel window This window consists of a 4-digit, 7-segment LED display and five LED
lamps that indicate the status of the equipment.
For the information shown on the display, refer to 2, “Explanation of
Codes Displayed on the Panel Window” or the “Error Code Table.”
Meanings of Five LEDs
Name Status when the LED is lit
RDY CPU ready (program can be run)
ALM CPU alarm (system-down level error), CPU hardware error
Emergency stop has been actuated, CPU hardware error,
EMG
power-system hardware error
PSE Power-system hardware error
CLK System clock error
14
Part 1 Installation
(14) Mode switch

(15) This alternate switch with lock is used to command a controller operation
mode. To operate the switch, pull it toward you and tilt.
Tilting the switch upward will select MANU (manual mode), while tilting it
downward will select AUTO (auto mode). Teaching can be performed only
in the MANU mode, but auto program start is not enabled in the MANU
mode. (Refer to the types of manual operations explained on p.353.)
(16)
(15) Teaching-pendant When an optional teaching pendant or PC is connected, this D-sub, 25-
connector pin connector will be used to input program and position data in the
MANU mode.
Interface Specifications of Teaching Serial Interface
Item Description
Connector name TP
Connector DSUB-25 XM3B-2542-502L (Omron)
Communication
RS232C-compliant, start-stop synchronous method
method
Baud rate 38.4 kbps max.; half-duplex communication
Maximum connection
10 m (38.4 kbps)
distance
Interface standard RS232C
Connected to X-SEL teaching pendant
Interface Specifications of Teaching Serial Interface
Item No. Direction Signal name Description
Terminal 1 FG Frame ground
assignments 2 Out TXD Transmitted data
3 In RXD Received data
4 Out RTS Request to send
5 In CTS Clear to send
6 Out DSR Equipment ready
7 SG Signal ground
8
9 In Connection prohibited
10 In Connection prohibited
11
12 Out EMGOUT Emergency stop
13 In EMGIN
14
15 Out Connection prohibited
Power output
18 Out VCC (5-V power source for
teaching pendant)
19 In ENBTBX Enable input
20 In DTR Terminal ready
21
22
23 Out EMGS Emergency-stop status
24
25 SG Signal ground
15
Part 1 Installation
(17) PC connector This D-sub, 9-pin connector is used to perform serial communication
(general-purpose type (RS232C) with the host equipment when AUTO is selected as the
only) operation mode.
* (16) and (17) cannot be used simultaneously.
RS232 Host Connector Specifications
This connector is used to establish a serial connection with a PC or PLC to enable
controller control.
Item Description
Connector name HOST
Connector D-sub, 9-pin (DTE); XM2C-0942-502L by Omron
Maximum 10 m (38.4 kbps)
connection
distance
Interface standard RS232C
Connected to AT-compatible PC, etc. (half-duplex communication)
Connection cable Dedicated cable
Terminal Pin No. I/O Signal name Description
assignments 1 NC
2 In RD Received data (RXD)
3 Out SD Transmitted data (TXD)
4 In DR Data set ready (DSR)
5 In SG Signal ground
6 Out ER Equipment ready (DTR)
7 Out RS Request to send (RTS)
8 In CS Clear to send (CTS)
9 NC Not used
A dedicated cable must be used if an AT-compatible PC is to be

connected.
The PC connector (D-sub, 9-pin) (17) will become available for use by the
user only when the teaching-pendant connector (D-sub, 25-pin) (16) is not
in use.
The PC connector (D-sub, 9-pin) (17) and teaching-pendant connector (D-

sub, 25-pin) (16) cannot be used simultaneously. Setting the mode switch
(15) to MANU will select the teaching-pendant connector (16), while
setting it to AUTO will select the PC connector (17).
(18) Standard I/O connector This connector consists of a 50-pin flat connector and comprises 32-
input/16-output DIOs.
Overview of Standard I/O Interface Specifications
Item Description
Connector name I/O
Connector Flat connector, 50-pin
With a general-purpose type, power is supplied from the
I/O24V power connector (13).
Power supply
With a compact type, power is supplied from connector
pin Nos. 1 and 50.
32 points (including general-purpose and dedicated
Input
inputs)
16 points (including general-purpose and dedicated
Output
outputs)
Connected to External PLC, sensor, etc.
16
Part 1 Installation
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Pin No. Category Port No. Function Cable color
1 - General-purpose: NC, Compact: +24-V input Brown-1
2 000 Program start Red-1
3 001 General-purpose input Orange-1
The functions are at the time of
4 002 General-purpose input Yellow-1
shipment. The functions
assigned to port Nos. 000 to 5 003 General-purpose input Green-1
015, 300 to 308 and 313 can be 6 004 General-purpose input Blue-1
changed via I/O parameters. 7 005 General-purpose input Purple-1
(Refer to Nos. 30 to 54 and No. 8 006 General-purpose input Gray-1
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16 014 General-purpose input Blue-2
17 Input 015 General-purpose input Purple-2
18 016 General-purpose input Gray-2
19 017 General-purpose input :KLWH
20 018 General-purpose input %ODFN
21 019 General-purpose input Brown-3
22 020 General-purpose input Red-3
24 022 General-purpose input Yellow-3
25 023 General-purpose input Green-3
26 024 General-purpose input Blue-3
27 025 General-purpose input Purple-3
28 026 General-purpose input Gray-3
29 027 General-purpose input :KLWH
30 028 General-purpose input %ODFN
31 029 General-purpose input Brown-4
32 030 General-purpose input Red-4
34 300 Alarm output Yellow-4
35 301 Ready output Green-4
36 302 Emergency-stop output Blue-4
37 303 General-purpose output Purple-4
38 304 General-purpose output Gray-4
39 305 General-purpose output :KLWH
40 306 General-purpose output %ODFN
41 307 General-purpose output Brown-5
42 Output 308 General-purpose output Red-5
43 309 General-purpose output Orange-5
44 310 General-purpose output Yellow-5
45 311 General-purpose output Green-5
46 312 General-purpose output Blue-5
47 313 General-purpose output Purple-5
48 314 General-purpose output Gray-5
49 315 General-purpose output :KLWH
50 - General-purpose: NC, CoPSDFW9 %ODFN
17
Part 1 Installation
(18) Expansion I/O connectors

(19) These connectors are used to install I/O expansion boards.
I/O expansion boards are optional with a general-purpose type.
With compact 3/4-axis types, only one expansion board can be
installed. Note) The connector pins are similar to those of the
standard I/O connector.
24 VDC must be input to pin Nos. 1 and 50.
I/O expansion boards cannot be used with compact 1/2-axis types.
(19) System-operation setting

(20) These switches are used to set the system operation mode. Normally
switches (compact type only) all switches should be set to OFF.
(21)
(20) Boot-target specification This switch is used to select the device that will be updated when the
switch (compact type only) system implements program update. Normally this switch should be
VHWWR³´
18
Part 1 Installation
2. Explanation of Codes Displayed on the Panel Window

2.1 Application
Display Priority (*1) Description
AC power is cut off (including momentary power failure or drop in
1
power-source voltage).
1 System-down level error
2 Writing data to the flash ROM.
3 Emergency stop is being actuated (except during the update mode).
4 Safety gate is open (except during the update mode).
5 Cold-start level error
5 Operation-cancellation level error

Waiting for a drive-source cutoff reset input (except during the
6
update mode).
Operation is in pause (waiting for restart) (except during the update
6
mode).
7 All servo axes are interlocked (except during the update mode).
8 Message level error
9 Core update mode
9 Core update is in progress.
9 Core update has completed.
9 Slave update mode
9 Slave update is in progress.
9 Slave update has completed.

5XQQLQJDSURJUDPODVWVWDUWHGSURJUDP³1R´LQGLFDWHVSURJUDP
9
number.
9 Initialization sequence number
9 Debug mode
9 Ready status (auto mode)
9 Ready status (manual mode)
10 Deadman switch OFF (manual mode)

(*1) The priority increases as the number decreases.
19
Part 1 Installation
2.2 Core
Display Priority (*1) Description
AC power is cut off (including momentary power failure or drop in
1
power-source voltage).
2 Application update mode
2 Application update is in progress.
2 Application update has completed.
2 Hardware test mode process
2 Clearing the application flash ROM.
2 Application flash ROM has been cleared.
2 Jump to the application
2 Core flash-ROM check process
2 Application flash-ROM check process
2 SDRAM check process

(*1) The priority increases as the number decreases.
20
Part 1 Installation
Chapter 5 Specifications
1. Controller Specifications
(1) Type J (Compact type)
Type Type J (Compact type)
Number of controlled axes 1 axis 2 axes 3 axes 4 axes
Total output when maximum Power-source voltage 100 V: 400 W
number of axes are connected Power-source voltage 200 V: 800 W
Power-source voltage Single-phase, 100 to 115/200 to 230 VAC (factory setting)
Operating power-source
r10%
voltage range
Power-source frequency 50 Hz/60 Hz
10 M: min. (measured at 500 VDC between the power terminal and I/O
Isolation resistance
terminals and between the external terminals (together) and case)
Withstand voltage 1500 VAC for 1 minute (Note)
Surrounding air temperature
0qC to 40qC
range
Surrounding humidity range 30% to 85%
Storage temperature range -10qC to 65qC
Axis control method AC full digital servo
Incremental encoder
Position detection methods
Multiple rotation data backup absolute encoder
For backup of absolute data: IA-XAB-BT by IAI
Batteries
For backup of system memory: CR2032
Speed setting 1 mm/sec to 2000 mm/sec
Acceleration/deceleration
0.01 G to 1 G
setting
Programming language Super SEL language
Program steps 6000 steps (total)
Number of positions 3000 positions (total)
Number of programs 64 programs
Multi-tasking 16 programs
Storage device Flash ROM + SRAM battery backup
Data input methods Teaching pendant or PC software
Standard inputs 32 points (total of dedicated inputs + general-purpose inputs)
Standard outputs 16 points (total of dedicated outputs + general-purpose outputs)
Expanded inputs/outputs Not supported Only one board can be installed.
Serial communication For connection of teaching pendant or PC
Other inputs/output Emergency-stop input, safety-gate input, system ready output
Motor overcurrent, overload, motor-driver temperature check, overload
Protective functions
check, encoder-open detection, soft limit over, system error, battery error
Drive-source cutoff method Semiconductor
Regenerative resistance Built-in (1 k:, 20 W); external regenerative resistance supported
Accessory I/O flat cable
Optional parts and Teaching pendant, PC software, absolute-data backup battery unit, I/O
components shield cable, I/O expansion board (for 3/4-axis types only)
Note: The withstand voltage of the actuator motor is 1000 V for 1 minute.
When performing a withstand voltage test with the controller and actuator connected, make sure the test voltage and
duration will not exceed 1000 V and 1 minute, respectively.
21
Part 1 Installation
(2) Type K (General-purpose type), Type KE (CE-compliant)

Type Type K (General-purpose type)
Number of controlled axes 1 axis 2 axes 3 axes 4 axes
Total output when maximum Power-source voltage 100 V: 800 W
number of axes are connected Power-source voltage 200 V: 1600 W
Power-source voltage Single-phase, 100 to 115/200 to 230 VAC (factory setting)
Operating power-source
r10%
voltage range
Power-source frequency 50 Hz/60 Hz
10 M: min. (measured at 500 VDC between the power terminal and I/O
Isolation resistance
terminals and between the external terminals (together) and case)
Withstand voltage 1500 VAC for 1 minute (Note)
Surrounding air temperature
0qC to 40qC
range
Surrounding humidity range 30% to 85%
Storage temperature range -10qC to 65qC
Axis control method AC full digital servo
17-bit incremental encoder (wire-saving type)
Position detection methods 17-bit rotation data backup absolute encoder (wire-saving type)
(Both have a control resolution of 14 bits)
For backup of absolute data: IA-XAB-BT by IAI
Batteries
For backup of system memory: CR2032
Speed setting 1 mm/sec to 2000 mm/sec
Acceleration/deceleration
0.01 G to 1 G
setting
Programming language Super SEL language
Program steps 6000 steps (total)
Number of positions 3000 positions (total)
Number of programs 64 programs
Multi-tasking 16 programs
Storage device Flash ROM + SRAM battery backup
Data input methods Teaching pendant or PC software
Standard inputs 32 points (total of dedicated inputs + general-purpose inputs)
Standard outputs 16 points (total of dedicated outputs + general-purpose outputs)
Expanded inputs/outputs 48 points per unit (a maximum of 3 units can be added)
Serial communication For connection of teaching pendant or PC
Other inputs/output Emergency-stop input, safety-gate input, system ready output
Motor overcurrent, overload, motor-driver temperature check, overload
Protective functions
check, encoder-open detection, soft limit over, system error, battery error
Drive-source cutoff method Relay
Regenerative resistance Built-in (220 :, 80 W); external regenerative resistance supported
Accessory I/O flat cable
Optional parts and Teaching pendant, PC software, absolute-data backup battery unit, I/O
components shield cable, I/O expansion board
Note: The withstand voltage of the actuator motor is 1000 V for 1 minute.
When performing a withstand voltage test with the controller and actuator connected, make sure the test voltage and
duration will not exceed 1000 V and 1 minute, respectively.
22
Part 1 Installation
2. External I/O Specifications

2.1 NPN Specification
(1) Input part
External Input Specifications (NPN Specification)
Item Specification
Input voltage 24 VDC r10%
Input current 7 mA per circuit
ON voltage --- 16.0 VDC min.
ON/OFF voltage
OFF voltage --- 5.0 VDC max.
Isolation method Photocoupler isolation
(1) No-voltage contact (minimum load of approx. 5 VDC/1 mA)
(2) Photoelectric/proximity sensor (NPN type)
External devices
(3) Sequencer transistor output (open-collector type)
(4) Sequencer contact output (minimum load of approx. 5 VDC/1 mA)
[Input circuit] P24*

Internal circuit
+ External power
560 : supply 24 VDC 10%
-
3.3 K:
Input terminal
* General purpose Compact

I/O24V connector
P24 I/O interface pin No. 1
24V IN
Caution
If a non-contact circuit is connected externally, malfunction may result from leakage
current. Use a circuit in which leakage current in a switch-off state does not exceed
1 mA.
;6(/FRQWUROOHU¶VLQSXWVLJQDO
ON duration OFF duration
At the default settings, the system recognizes the ON/OFF durations of input signals if they
are approx. 4 msec or longer. The ON/OFF duration settings can also be changed using I/O
parameter No. 20 (input filtering frequency).
23
Part 1 Installation
(2) Output part
External Output Specifications (NPN Specification)
Item Specification
Load voltage 24 VDC
Maximum load current100 mA per point, 400 mA per 8 ports Note) TD62084 (or equivalent)
Leakage current 0.1 mA max. per point
(1) Miniature relay
External devices
(2) Sequencer input unit
Note) 400 mA is the maximum total load current of every eight ports from output port No. 300. (The
maximum total load current of output port No. 300 + n to No. 300 + n + 7 is 400 mA, where n is 0
or a multiple of 8.)
[Output circuit]
P24*
Internal circuit
Surge absorber
D
10 : Load
Output terminal
+
External power supply
- 24 VDC r 10%
N*

I/O24V connector
24V IN
I/O24V connector
N I/O interface pin No. 50
0V
Caution
In the event that the load is short-circuited or current exceeding the maximum load
current is input, the overcurrent protection circuit will be actuated to cut off the circuit.
However, give due consideration to the circuit connection layout to prevent short-circuit
or overcurrent.
24
Part 1 Installation
2.2 PNP Specification
(1) Input part
External Input Specifications (PNP Specification)
Item Specification
Input voltage 24 VDC r10%
Input current 7 mA per circuit
ON voltage --- 8 VDC max.
ON/OFF voltage
OFF voltage --- 19 VDC min.
(1) No-voltage contact (minimum load of approx. 5 VDC/1 mA)
(2) Photoelectric/proximity sensor (PNP type)
External devices
(3) Sequencer transistor output (open-collector type)
(4) Sequencer contact output (minimum load of approx. 5 VDC/1 mA)
[Input circuit]
Input terminal
Internal circuit
+ External power
560 : supply 24 VDC 10%
-
3.3 K:
N*

I/O24V connector
0V
Caution
If a non-contact circuit is connected externally, malfunction may result from leakage

current. Use a circuit in which leakage current in a switch-off state does not exceed 1
mA.
;6(/FRQWUROOHU¶VLQSXWVLJQDO
ON duration OFF duration
At the default settings, the system recognizes the ON/OFF durations of input signals if they
are approx. 4 msec or longer. The ON/OFF duration settings can also be changed using I/O
parameter No. 20 (input filtering frequency).
25
Part 1 Installation
(2) Output part
External Output Specifications (PNP Specification)
Item Specification
Load voltage
24 VDC
Maximum load current
100 mA per point, 400 mA per 8 ports Note) TD62784 (or equivalent)
Leakage current
0.1 mA max. per point
Isolation method
Photocoupler isolation
(1) Miniature relay
External devices
(2) Sequencer input unit
Note) 400 mA is the maximum total load current of every eight ports from output port No. 300. (The
maximum total load current of output port No. 300 + n to No. 300 + n + 7 is 400 mA, where n is 0
or a multiple of 8.)
[Output circuit]
P24
Internal circuit
Surge absorber
10 :
Output terminal
+
External power supply
Load 24 VDC 10%
-

I/O24V connector
24V IN
I/O24V connector
0V
Caution
In the event that the load is short-circuited or a current exceeding the maximum load
current is input, the overcurrent protection circuit will be actuated to cut off the circuit.
However, give due consideration to the circuit connection layout to prevent short-circuit
or overcurrent.
26
Part 1 Installation
3. Power-Source Capacity and Heat Output of the Controller

The power-source capacity and heat output of the controller can be obtained using the formulas
below:
Power-source capacity [VA] = {Motor drive power [W] + Control power-source capacity
[W]} y Power factor [0.6]
Heat output [W] = Total sum of output stage losses [W] + Control power-source capacity [W]
Motor Drive Power and Output Stage Loss

Actuator motor wattage Motor drive power [W] Output stage loss [W]
20 W 15.6 1.58
30 W 27.6 2.07
60 W 83.0 3.93
100 W 140.1 6.12
150 W 196.9 8.30
200 W 252.6 9.12
400 W 477.5 19.76
600 W 698.2 27.20
750 W 912.8 29.77
The control power-source capacity varies as follows, depending on the numbers of controller axes and
brake axes.
Control Power-Source Capacity

No BK BK X 1 BK X 2 BK X 3 BK X 4
1-axis controller [W] 17.5 27.3
2-axis controller [W] 23.4 33.2 42.9
3-axis controller [W] 29.3 39.1 48.8 58.6
4-axis controller [W] 35.3 45.0 54.8 64.5 74.3
(In the above table, the number of controller axes indicates the number of axes connectable to the controller. It is not
the number of axes actually connected.)
27
Part 1 Installation
T Calculation example)
A 3-axis controller with a brake, equipped with a 200-W actuator for axis 1, 200-W actuator for axis 2
and 100-W actuator for axis 3
Power-source capacity
The motor drive power is 252.6 W for axes 1 and 2 and 140.1 W for axis 3.
The control power-source capacity is calculatedDV:IRU³D[LVFRQWUROOHUEUDNH[´
# 1141 [VA]

The power-source capacity is 1141 [VA].
Heat output
The output stage loss is 9.12 W for axes 1 and 2 and 6.12 W for axis 3.
The control power-source capacity is calculatedDV:IRU³D[LVFRQWUROOHUEUDNH[´
(9.12 + 9.12 + 6.12) + 39.1 # 63 [W]

The heat output is 63 [W].
28
Part 1 Installation
4. External Dimensions
Type J (Compact type) 1-axis (159.4)
2 - 5
19.7 120 19.7 125.3
PG
POWER M
186
180
195
LS
RB
5
Type J (Compact type) 2-axis
(191.8)
35.9 2 - 5
120 35.9 125.3
PG1
M2 M1
186
180
195
LS2 LS1
PG2
TP
29
Part 1 Installation
Type J (Compact type) 4-axis (The external dimensions of 3-axis type and 4-axis type are the same.)
(296.9)
35.9 112.5 112.5 35.9 3 - 5 125.3
CODE
PG1 PG3
POWER M4 M3 M2 M1
BK1 BK3
I/02 I/01
186
180
LS4 LS3 LS2 LS1
195
PG2 PG4
RB
BK2 BK4
TP
30
Part 1 Installation
2-axisKE
Type K (General-purpose type) Type (The external dimensions of 1-axis type and 2-axis type are the
(CE-compliant)
same.)(The external dimensions of 1-axis type and 2-axis type are the same.)
2-axis
369.4
34.7 150 3 - 5
150 34.7
125.3
PG1 CODE
M2 M1
RB
MODE
BK1
TP
186
180
LS2 LS1
195
PG2
POWER
FUSE
BK2
HOST
(Note) The front panel in the diagram is that of XSEL-K. 5

Type K (General-purpose type) Type
4-axisKE (CE-compliant)
(The external dimensions of 3-axis type and 4-axis type are the
same.)(The external dimensions of 3-axis type and 4-axis type are the same.)
4-axis
454.5
3 - 5
77.2 150 150 77.2 125.3
PG1 PG3 CODE

M4 M3 M2 M1
RB
MODE
BK1 BK3
TP
I/O1 I/O2 I/O3 I/O4
186
180
195
LS4 LS3 LS2 LS1

PG2 PG4
POWER
FUSE
BK2 BK4
HOST
(Note) The front panel in the diagram is that of XSEL-K. 5
31
Part 1 Installation
Chapter 6 System Setup
A connection example of a 2-axis controller is given below:
1. Connection Method of Controller and Actuator (Standard Specification)
Note: When installing multiple axes to the controller, be sure to connect the actuator cables to the
right connectors. Check the type of the actuator connected to each connector. If the cables
and connectors are not connected properly, motor/board damage or malfunction may result.
In the case of an absolute specification, perform an absolute reset after the connection (refer to
Chapter 7).
Axis 1
Axis 2
Teaching
pendant
AC power
source
Class D grounding
(protective grounding) PC
Host system (PLC)
32
Part 1 Installation
(1) Connect to the controller the motor cable, encoder cable and LS cable (optional) from the actuator.
Before turning on the power, be sure to check each actuator is connected to the right connector on the
controller.
(2) Connect the teaching-pendant cable to the teaching-pendant connector. After the connection, set the
mode switch to MANU (by tilting the switch upward).
(If the mode switch is set to AUTO, the teaching pendant will not operate and RS-232 communication
will not establish after the power is turned on.)
(3) Connect the power cable to the controller.
7KHSDQHOZLQGRZZLOOGLVSOD\WKHFRGH³UG\´WRLQGLFDWHWKDWWKHSUHSDUDWLRQLVFRPSOHWH
,I³(U*´LVGLVSOD\HG(0(5*(1&<6723VLJQDOLVEHLQJLQSXW5HVHWWKHHPHUJHQF\VWRS
,QWKHFDVHRIDQDEVROXWHVSHFLILFDWLRQ³(&$´ZLOOEHGLVSOD\HG5HIHUWR&KDSWHU³+RZWR3HUIRUP
$Q$EVROXWH(QFRGHU5HVHW´LQ3DUW
This completes the preparation.
x 7KH9287DQG(0*,1WHUPLQDOVRQWKHV\VWHP IO connector are connection terminals for the
emergency stop switch. When the line between the two terminals becomes open, an emergency stop
will be actuated and the drive source will be cut off.
x 7KH9287DQG(1%,1WHUPLQDOVRQWKHV\VWHPIO connector are enable terminals. Operation is
permitted when the line between the two terminals is shorted. If the line becomes open, the drive
source will be cut off.
x 7KH5'<287WHUPLQDORQWKHV\VWHP,2FRQQHFWRULVDUHOD\FRQWDFWWHUPLQDOWRVKRUWWKHDSSOLFDEOH
line in the ready mode. (Refer to P. 14.)
7KHOLQHVEHWZHHQ9287DQG(0*,1DQGEHWZHHQ9287DQG(1%,1KDYHEHHQVKRUWHG
before the shipment.
33
Part 1 Installation
2. I/O Connection Diagram

(1) NPN specification (Note)
0
1 - General-purpose: NC, Compact: +24-V input brown-1
2 000 Program start red-1
3 001 General-purpose input orange-1
4 002 General-purpose input yellow-1
5 003 General-purpose input green-1
6 004 General-purpose input blue-1
7 005 General-purpose input purple-1
8 006 General-purpose input gray-1
9 007 Program specification (PRG No. 1) white-1
10 008 Program specification (PRG No. 2) black-1
11 009 Program specification (PRG No. 4) brown-2
12 010 Program specification (PRG No. 8) red-2
13 011 Program specification (PRG No. 10) orange-2
14 012 Program specification (PRG No. 20) yellow-2
15 013 Program specification (PRG No. 40) green-2
17 Input 015 General-purpose input purple-2
19 017 General-purpose input white-2
20 018 General-purpose input black-2
21 019 General-purpose input brown-3
22 020 General-purpose input red-3
34 300 Alarm output yellow-4
35 301 Ready output green-4
36 302 Emergency-stop output blue-4
37 303 General-purpose output purple-4
38 304 General-purpose output gray-4
39 305 General-purpose output white-4
40 306 General-purpose output black-4
41 307 General-purpose output brown-5
42 Output 308 General-purpose output red-5
43 309 General-purpose output orange-5
44 310 General-purpose output yellow-5
45 311 General-purpose output green-5
46 312 General-purpose output blue-5
50 - General-purpose: NC, Compact: 0 V black-5

With a general-purpose (K) type, pin Nos. 1 and 50 are not connected. (Note)
With a compact (J) type, +24 V is connected to pin No. 1, while 0 V is connected to pin No. 50.
34
Part 1 Installation
(2) PNP specification (Note)
1 - General-purpose: NC, Compact: +24-V input brown-1
2 000 Program start red-1
9 007 Program specification (PRG No. 1) white-1
10 008 Program specification (PRG No. 2) black-1
11 009 Program specification (PRG No. 4) brown-2
12 010 Program specification (PRG No. 8) red-2
13 011 Program specification (PRG No. 10) orange-2
14 012 Program specification (PRG No. 20) yellow-2
15 013 Program specification (PRG No. 40) green-2
17 Input 015 General-purpose input purple-2
34 300 Alarm output yellow-4
35 301 Ready output green-4
36 302 Emergency-stop output blue-4
40 306 General-purpose output black-4
41 307 General-purpose output brown-5
42 Output 308 General-purpose output red-5
43 309 General-purpose output orange-5
44 310 General-purpose output yellow-5
45 311 General-purpose output green-5
46 312 General-purpose output blue-5
50 - General-purpose: NC, Compact: 0 V black-5

With a general-purpose (K) type, pin Nos. 1 and 50 are not connected.
With a compact (J) type, +24 V is connected to pin No. 1, while 0 V is connected to pin No. 50. (Note)
35
Part 1 Installation
3. I/O Flat Cable
Flat cable: KFX-50 (S) (Color) (Kaneko Cord)

2 1
Connector not attached
50 49
Flat cable (50 cores)
Socket (with strain relief): XG4M-5030-T (Omron)
No. Color No. Color No. Color No. Color No. Color
1 Brown-1 11 Brown-2 21 Brown-3 31 Brown-4 41 Brown-5
2 Red-1 12 Red-2 22 Red-3 32 Red-4 42 Red-5
3 Orange-1 13 Orange-2 23 Orange-3 33 Orange-4 43 Orange-5
4 Yellow-1 14 Yellow-2 24 Yellow-3 34 Yellow-4 44 Yellow-5
5 Green-1 15 Green-2 25 Green-3 35 Green-4 45 Green-5
6 Blue-1 16 Blue-2 26 Blue-3 36 Blue-4 46 Blue-5
7 Purple-1 17 Purple-2 27 Purple-3 37 Purple-4 47 Purple-5
8 Gray-1 18 Gray-2 28 Gray-3 38 Gray-4 48 Gray-5
9 White-1 19 White-2 29 White-3 39 White-4 49 White-5
10 Black-1 20 Black-2 30 Black-3 40 Black-4 50 Black-5
36
Part 1 Installation
Chapter 7 How to Perform An Absolute Encoder Reset

When the absolute-encoder battery voltage of the X-SEL Controller is abnormal or when the battery or
encoder cable is disconnected, an encoder battery error will occur and an absolute encoder reset must be
performed.
This chapter explains how to perform an absolute encoder reset using the PC software. For the absolute-
encoder reset method using the teaching pendant, refer to the operation manual for the teaching pendant.
,QWKHFDVHRIDV\QFKURFRQWUROOHUUHIHUWR³‫ ۔‬$EVROXWH5HVHWRI$6\QFKUR&RQWUROOHU´LQ$SSHQGL[
1. Preparation
(1) PC
$3&LQZKLFK,$,¶V;6(/3&VRIWZare (X_SEL.exe) has been installed
(2) Connection cable (the cable supplied with the PC software)

RS232C cross cable (PC-end: female 9-pin, Controller-end: male 25-pin), or USB conversion
connector + USB cable
(3) All adjustments other than the absolute reset must have been completed.
2. Procedure
(1) Turn off the X-SEL Controller power. Turn on the PC power and wait for the operating system to
be started.
(2) Connect the 9-pin, D-sub connector on one end of the connection cable, or the USB cable, to
the communication port on the PC, and connect the 25-pin, D-sub connector on the other end to
the 25-pin communication port on the controller.
(3) Turn on the controller power. If an encoder battery error is present but no other adjustments are
SHQGLQJWKHVHJPHQW/('GLVSOD\ZLOOVKRZ³(&$´RU³(&$´LQGLFDWLQJWKDWWKHFRQWUROOHU
has detected an encoder battery error.
(4) Start the X-SEL PC software (X_SEL.exe) on the PC. The following explains the operation
steps in the X-SEL PC software.
(5) When the [Connection Confirmation] dialog box is displayed, select the port name you are using
on the PC. Click the [OK] button.
(The software will automatically detect the baud rate.)
37
Part 1 Installation
(6) The X-SEL PC software window will be displayed. Clicking the [OK] button will clear the error
message.
(7) From the [Monitor (M)] menu, select [Detailed Error Information (E)] to check the current error
status. In the case of an encoder battery error, the following will be displayed (when axis 4 is
using an absolute encoder). After checking the error status, close the [Detailed Error
Information] window.
38
Part 1 Installation
(8) From the [Controller (C)] menu, select [Absolute Reset (A)].
(9) When a [Warning] dialog box is displayed, click the [OK] button.
(10) The [Abs. Encoder Reset] dialog box will be displayed.

Click here to select the axis you wish to perform an absolute reset for.
(11) Clicking the [Encoder Rotation Data Reset 1] button will display a [Warning] dialog box. Click the
[Yes] button.
39
Part 1 Installation
(12) Another [Warning] dialog box will be displayed. Click the [Yes] button.
:KHQWKHSURFHVVLQJRI³HQFRGHUURWDWLRQGDWDUHVHW´LVFRPSOHWHWKHUHGDUURZZLOOPRYHWR
WKHQH[WLWHP3UHVVWKHIROORZLQJSURFHVVLQJEXWWRQVRQHE\RQHWKHUHGDUURZZLOOPRYHWRWKH
QH[WLWHPZKHQHDFKSURFHVVLVFRPSOHWHG
1. Reset Controller Error
6HUYR21
5HWXUQLQJ+RPH
6HUYR2))
1RWH,IWKH3&VRIWZDUHYHUVLRQLVRUODWHUDQGWKHGULYHU&38YHUVLRQLVRU
later, encoder rotation data reset 2 will beSHUIRUPHGZKLOHWKHVHUYRSRZHULVRQ
7KHUHIRUHWKHVHUYRRIIVWHSZLOOEHVNLSSHG
5. Encoder Rotation Data Reset 2
1RWH :LWKHDUO\SURGXFWV³(UURU1R',30HUURU´PD\RFFXUIROORZLQJDFRQWUROOHUHUURU
reset. If this error occurs, exit the PC tool and reconnect the controller power, and then
UHSHDWIURPVWHS$VORQJDVWKHHQFRGHUEDWWHU\LVQRUPDOWKHHUURUZLOOQRORQJHU
RFFXUZKHQWKHFRQWUROOHULVUHVWDUWHGDQGWKHFRQWUROOHU¶VVHJPHQW/('GLVSOD\ZLOO
VKRZ³UG\´RU³$UG\´1RWHWKDWWKHD[LVKRPHKDVQRWEHHQDGMXVWHG\HW
When the processing of encoder roWDWLRQGDWDUHVHWLVFRPSOHWH, the red arrow will return to
WKHSRVLWLRQLQ,I\RXDUHSHUIRUPLQJDQDEVRlute encoder reset for another axis, select the
WDUJHWD[LVDQGSHUIRUPWKHVWHSVDIWHU
To close the [Abs. Encoder Reset] dialog box, click the [Close] button.
1RWH ,I\RXPXVWSHUIRUPDQDEVROXWHHQFRGHUUHVHWIRUPXOWLSOHD[HVDOZD\VSHUIRUPVWHSV
(10) through (13) for all axes before peUIRUPLQJWKHVRIWZDUHUHVHWLQVWHS
)URPWKH>&RQWUROOHU&@Penu, select [Software Reset (R)].
40
Part 1 Installation
(15) When the [Confirmation] dialog box is displayed, click the [Yes] button and restart the controller.
(16) If no other error is presHQWWKHFRQWUROOHU¶VVHJPHQW/('GLVSOD\ZLOOVKRZ³UG\´
7KLVFRPSOHWHVWKHDEVROXWHHQFRGHUUHVHW
7RUHGRWKHDEVROXWHHQFRGHUUHVHWH[LWWKH;6(/3&VRIWZDUHDQGUHSHDWWKHSURFHGXUHIURP
the beginning.
41
Part 1 Installation
Chapter 8 Maintenance
x Routine maintenance and inspection are necessary so that the system will operate properly at all
time. Be sure to turn off the power before performing maintenance or inspection.
x The standard inspection interval is six months to one year. If the environment warrants, however, the
interval should be shortened.
(1) Inspection points

x Check to see if the supply voltage to the controller is inside the specified range.
x Inspect the ventilation holes in the controller and remove dirt, dust and other foreign attachments, if
any.
x Inspect the controller cables (controller o actuator) and check for any loose screws or cable
disconnection.
x Check the controller mounting screws, etc., for looseness.
x Inspect each cable (axis link cable, general-purpose I/O cable, system I/O cable, power cable) for
loose connection, disconnection, play, etc.
(2) Spare consumable parts

Without spare parts, a failed controller cannot be repaired even when the problem is identified quickly.
We recommend that you keep the following consumable parts as spares:
Consumable parts
x Cables
x System-memory backup battery: CR2032 (Note)
x Absolute-data backup battery: IA-XAB-BT by IAI
*: The actual battery life will vary depending on the use condition.
Use condition
Temperature: 40qC Temperature: 40qC
Time power is Time power is
supplied: 0% supplied: 50%
CR2032 (Note) 1.5 years 3 years
IA-XAB-BT by IAI 1 year 2 years
(Note ): CR2032 is a standardized product and can be used with products by any manufacture.
x Fuses
Memory backup
The X-SEL Controller saves program, position and parameter data to its flash memory (when written to
the flash memory). The data saved by the battery are positions, SEL global data and error lists. (Refer
WR&KDSWHU³+RZWR6DYH'DWD´RI3DUW
When the battery voltage drops, an applicable error code will be displayed on the panel window.
Error Codes Indicating Low Battery Voltage
System-memory backup battery (CR2032) A01 or A02

Absolute-data backup battery (IA-XAB-BT) A03 or A23
In the case of a low battery voltage of the absolute-GDWDEDFNXSEDWWHU\WKHD[LVGULYHUVWDWXV/('ZLOO

also illuminate.
42
Part 1 Installation
(3) Replacement procedure for system-memory backup battery (CR2032) (general-purpose type)
Backing up the system memory

,I³2WKHUSDUDPHWHU1R%DFNXSEDWWHU\LQVWDOODWLRQIXQFWLRQW\SH´LVVHWWR³´LQVWDOOHGWKH
following SRAM data in the X-SEL Controller will be backed up by the system-memory backup battery
on the panel board:
x Position data
x 6(/JOREDOGDWDIODJVLQWHJHUUHDOYDULDEOHVVWULQJYDULDEOHV
x Error lists
Be sure to follow the procedure below when UHSODFLQJWKHV\VWHPPHPRU\EDFNXSEDWWHU\
1RWH ,IWKHV\VWHPPHPRU\EDFNXSEDWWHU\LVUHPRYHGZKLOH³2WKHUSDUDPHWHU1R%DFNXS
EDWWHU\LQVWDOODWLRQIXQFWLRQW\SH´LVVHWWR³´LQVWDOOHGWKHDERYHGDWDVWRUHGLQWKH65$0ZLOO
EHORVW
%HIRUHUHPRYLQJWKHEDWWHU\VDYH\RXUSRVLWLRQGDWDWRDILOHXVLQJWKH3&VRIWZDUHVRWKDWWKH
position data can be restored in case the datDVWRUHGLQWKH65$0LVDFFLGHQWDOO\ORVW
)RUWKHPHWKRGWRVDYHSRVLWLRQGDWDWRDILOHUHIHUWR³3RVLWLRQ'DWD(GLW:LQGRZ´LQWKH;
6(/3&6RIWZDUH2SHUDWLRQ0DQXDO
[Replacement procedure for system-memory backup battery]
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IXQFWLRQW\SH´7KLVZLOOEHXVHGZKHQUHYHUWLQJWhe parameter to its original setting following the
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>@ ,IWKH3&VRIWZDUHLVLQVWDOOHGLQ\RXU3&VDYHWKHSRVLWLRQGDWDWRDILOHXVLQJWKH3&VRIWZDUH
7KHGDWDZLOOEHXVHGDVDEDFNXSLQFDVHWKH65$0GDWDVDYHGWRWKHIODVK520IDLOV
)RUWKHPHWKRGWRVDYHSRVLWLRQGDWDWRDILOHUHIHUWR³3RVLWLRQ'DWD(GLW:LQGRZ´LQWKH;6(/
3&6RIWZDUH2SHUDWLRQ0DQXDO
>@ &KDQJH³2WKHUSDUDPHWHU1R%DFNXSEDWWHU\LQVWDOODWLRQIXQFWLRQW\SH´WR³´DQGWUDQVIHUWKH
VHWWLQJWRWKHFRQWUROOHUDQGWKHQSHUIRUPDIODVK520ZULWH7KHSRVLWLRQGDWDZLOOEHVDYHGWR
WKHIODVK520
&RQILUPWKDWWKHIODVK520ZULWLQJSURFHVVKDVFRPSOHWHG
)RUWKHPHWKRGWRHGLWSDUDPHWHUVUHIHUWR³3DUDPHWHU(GLW:LQGRZ´LQWKH;6(/3&
6RIWZDUH2SHUDWLRQ0DQXDO
>@ 3HUIRUPDVRIWZDUHUHVHWWRUHVWDUWWKHFRQWUROOHU7KH6(/JOREDOGDWDDQGHUURUOLVWVZLOOEH

VDYHGWRWKHVSHFLDODUHDLQWKHIODVK520
>@ :KHQWKHFRQWUROOHUKDVEHHQUHVWDUWHGWXUQRIIWKHSRZHU
2QFHWKHFRQWUROOHUKDVEHHQUHVWDUWHGEHVXre to keep the power on until the initialization
VHTXHQFHQXPEHULVQRORQJHUGLVSOD\HGRQWKHSDQHOZLQGRZZKLOH³,Q;;´LVGLVSOD\HG
IROORZLQJ³´;;LQGLFDWHVDQXPEHU
43
Part 1 Installation
[7] Replace the system-memory backup battery. The battery is mounted on the panel board and can
be removed using two small screwdrivers or the like. When removing the current battery and
installing a new one, pay due attention to the following points (SRAM data will be deleted if steps 1
through 6 are not performed properly):
Ɣ Do not damage the board patterns.

Ɣ Do not short the circuits.
Ɣ Connect the battery in the correct polarities.
Battery Replacement Procedure
1) Remove the 7-segment LED panel from the

controller. Slide the panel upward and pull it toward
you to remove.
2) As shown at left, remove the battery from the

holder using two screwdrivers, and then install a
new battery in the holder.
To remove the battery, slightly lift the top side
(open side) first and then push out the bottom side
(closed side).
3) Install the panel in the original position.
[8] When the replacement of system-memory backup battery is complete, confirm that the battery is
installed securely and then turn on the controller power.
>@ 5HYHUW³2WKHUSDUDPHWHU1R%DFNXSEDWWHU\LQVWDOODWLRQIXQFWLRQW\SH´WRWKHYDOXHUHFRUGHG
LQVWHSWUDQVIHUWKHVHWWLQJWRWKHFRQWUROOHUDQGWKHQSHUIRUPDIODVK520ZULWH
&RQILUPWKDWWKHIODVK520ZUiting process has completed.
>@3HUIRUPDVRIWZDUHUHVHWUHVWDUWWKHFRQWUROOHU
[11] When the controller has been restarted, confirm that the SRAM data have been restored.
44
Part 1 Installation
(4) Replacement procedure for system-memory backup battery (CR2032) (compact type)
[Absolute specification]
In the case of a compact controller of absolute specification, an absolute reset must be performed after
replacing the system-memory backup battery. (Since all cables and absolute-data backup battery are
disconnected from the controller during the replacement procedure, the absolute data will be deleted.)
[Memory backup]
,I³2WKHUSDUDPHWHU1R%DFNXSEDWWHU\LQVWDOODWLRQIXQFWLRQW\SH´LVVHWWR³´LQVWDOOHGWKH
following SRAM data in the X-SEL Controller will be backed up by the system-memory backup battery
on the main CPU board:
x Position data
x SEL global data (flags, integer/real variables, string variables)
x Error lists
%HVXUHWRIROORZWKHSURFHGXUHEHORZZKHQreplacing the system-memory backup battery.

1RWH ,IWKHV\VWHPPHPRU\EDFNXSEDWWHU\LVUHPRYHGZKLOH³2WKHUSDUDPHWHU1R%DFNXS
EDWWHU\LQVWDOODWLRQIXQFWLRQW\SH´LVVHWWR³´(installed), the above data stored in the SRAM will
be lost.
%HIRUHUHPRYLQJWKHEDWWHU\VDYH\RXUSRVLWLRQGDWDWRDILOHXVLQJWKH3&VRIWZDUHVRWKDWWKH
position data can be restored in case the data stored in the SRAM is accidentally lost.
)RUWKHPHWKRGWRVDYHSRVLWLRQGDWDWRDILOHUHIHUWR³3RVLWLRQ'DWD(GLW:LQGRZ´LQWKH;
6(/3&6RIWZDUH2SHUDWLRQ0DQXDO
[Replacement procedure for system-memory backup battery]
[1] Turn on the controller power.

>@ 5HFRUGZULWHGRZQWKHFXUUHQWVHWWLQJRI³2WKHUSDUDPHWHU1R%DFNXSEDWWHU\LQVWDOODWLRQ
IXQFWLRQW\SH´7KLVZLOOEHXVHGZKHQUHYHUWLQJWhe parameter to its original setting following the
replacement of system-memory backup battery.)
[3] If the PC software is installed in your PC, save the position data to a file using the PC software.
7KHGDWDZLOOEHXVHGDVDEDFNXSLQFDVHWKH65$0GDWDVDYHGWRWKHIODVK520IDLOV
For the method to save position data to a file, refer WR³3RVLWLRQ'DWD(GLW:LQGRZ´LQWKH;6(/
3&6RIWZDUH2SHUDWLRQ0DQXDO
>@ &KDQJH³2WKHUSDUDPHWHU1R%DFNXSEDWWHU\LQVWDOODWLRQIXQFWLRQW\SH´WR³´DQGWUDQVIHUWKH
setting to the controller, and then perform a flasK520ZULWH7KHSRVLWLRQGDWDZLOOEHVDYHGWR
WKHIODVK520
)RUWKHPHWKRGWRHGLWSDUDPHWHUVUHIHUWR³3DUDPHWHU(GLW:LQGRZ´LQWKH;6(/3&
6RIWZDUH2SHUDWLRQ0DQXDO
[5] Perform a software reset to restart the controller. (The SEL global data and error lists will be saved
WRWKHVSHFLDODUHDLQWKHIODVK520
>@ :KHQWKHFRQWUROOHUKDVEHHQUHVWDUWHGWXUQRIIWKHSRZHU
2QFHWKHFRQWUROOHUKDVEHHQUHVWDUWHGEHVXre to keep the power on until the initialization
VHTXHQFHQXPEHULVQRORQJHUGLVSOD\HGRQWKHSDQHOZLQGRZZKLOH³,Q;;´LVGLVSOD\HG
IROORZLQJ³´;;LQGLFDWHVDQXPEHU
>@ 5HSODFHWKHV\VWHPPHPRU\EDFNXSEDWWHU\:KHQ removing the current battery and installing a
new one, pay due attention to the following points (SRAM data will be deleted if steps [1] through
[6] are not performed properly):
x'RQRWGDPDJHWKHERDUGSDWWHUQV
x'RQRWVKRUWWKHFLUFXLWV
x Connect the battery in the correct polarities.
45
Part 1 Installation
[Battery replacement method]

1) Disconnect all cables from the controller.
In the case of an absolute specification, remove the absolute-data backup battery.
2) Remove the screws shown by arrows that

are mounting the front panel. (1/2-axis
controllers have four screws, while 3/4-axis
controllers have six screws.)
Segment board 3) Remove the front panel.
Main board
4) Remove the screws mounting the segment

board.
46
Part 1 Installation
5) As shown at left, use small screwdrivers to

remove the segment board. The segment
board is joined to connectors at three
locations. Disconnect one by one the
locations joined to connectors and remove
the segment board.
Locations
joined to
connectors
6) Remove the screws mounting the main CPU

board.
7) As shown at left, use small screwdrivers to

remove the main CPU board. (The main CPU
board is sandwiched between the enclosure
guides.)
8) Replace the battery located in the position

Battery shown by an arrow in the figure at left.
47
Part 1 Installation
As shown at left, use small screwdrivers to

remove the battery from the holder and then
install a new battery in the holder.
To remove the battery, slightly lift the top side
(open side) first and then push out the bottom
side (closed side).
[8] When the replacement of system-memory backup battery is complete, confirm that the battery is
installed securely. (Pay attention to the polarities of the battery.)
[9] Install the main CPU board, segment board and front panel in the reverse steps.
Before inserting the main CPU board and segment board, adjust the connector positions, insert
each board roughly, and then push it all the way in.
[10] Connect the controller and the actuator using the cables. Connect the power cable and turn on
the controller power.
>@ 5HYHUW³2WKHUSDUDPHWHU1R%DFNXSEDWWHU\LQVWDOODWLRQIXQFWLRQW\SH´WRWKHYDOXHUHFRUGHG
LQVWHSWUDQVIHUWKHVHWWLQJWRWKHFRQWUROOHUDQGWKHQSHUIRUPDIODVK520ZULWH
>@ 3HUIRUPDVRIWZDUHUHVHWDQGUHVWDUWWKHFRQWUROOHU
[13] When the controller has been restarted, FRQILUPWKDWWKH65$0GDWDKDYHEHHQUHVWRUHG
48
Part 1 Installation
(5) Reset procedure following a battery-voltage low warning

When a voltage low warning for absolute-encoder battery (error code: A03 or A23) is issued or the
battery has been replaced without any warning present, an encoder error reset and software reset
must be performed. You need not repeat certain steps in the absolute-encoder reset procedure, such
as the processing of returning home.
Keep the main power to the controller on until the following procedure is complete:
[1] Start the PC software online.
[2] Turn off the servo power (on the position edit window, etc.).
[3] Replace the battery (IA-XAB-BT by IAI).
If the voltage of the absolute-data backup battery has dropped, replace the entire battery unit.
As shown at left, use a hex wrench to

remove the bolt that is mounting the
battery unit onto the front panel. Pull
out the battery unit toward you, and
install a new battery unit.
[4] From the [Controller (C)] menu on the PC software screen, select [Absolute Reset (A)].
[5] When a [Warning] dialog box is displayed, click the [OK] button.
Warning
49
Part 1 Installation
6. The [Abs. Encoder Reset] dialog box will be displayed.
7. For Axis No., select the number of the

axis for which you have just replaced
the battery.
Note) Do not click the [Encoder
Rotation Data Reset 1]
button.
8. Click the [Reset Encoder Error] button.
9. Close the dialog box.
Abs. Encoder Reset
10. From the [Controller (C)] menu on the PC software screen, select [Software Reset (R)], and restart
the controller.
Confirmation
This completes the reset procedure following a battery-voltage low warning.
50
Part 2 Operation
INTELLIGENT ACTUATOR
Part 2 Operation
Chapter 1 Operation
How to Start a Program
With the X-SEL Controller, the stored programs can be started (run) using four methods. Of these
methods, two are mainly used to debug programs or perform trial operations, while the remaining two are
used in general applications on site.
7KHIRUPHUWZRPHWKRGVDUH³VWDUWLQJIURPWKHWHDFKLQJSHQGDQW´DQG³VWDUWLQJIURPWKH3&VRIWZDUH´
These methods provide simple means of checking the opeUDWLRQ)RUGHWDLOVRQ³VWDUWLQJIURPWKHWHDFKLQJ

SHQGDQWÚHDGWKHRSHUDWLRQPDQXDOIRUWKHRSWLRQDOWHDFKLQJSHQGDQW)RU³VWDUWLQJIURPWKH3&
VRIWZDUHÚHDGWKHDSSOLFDEOHH[SODQDWLRQLQWKHPDQXDOVXSSOLHGZLWKWKH3&VRIWZDUH
7KHODWWHUWZRPHWKRGVDUH³VWDUWLQJDXWRPDWLFDOO\YLDSDUDPHWHUVHWWLQJ´DQG³VWDUWLQJYLDH[WHUQDOVLJQDO
VHOHFWLRQ´7KLVFKDSWHURQO\H[SODLQVWKHPHWKRGVIRU³VWDUWLQJDXWRPDWLFDOO\YLDSDUDPHWHUVHWWLQJ´DQG
³VWDUWLQJYLDH[WHUQDOVLJQDOVHOHFWLRQ´
Starting via
Teaching pendant H[WHUQDOVLJQDO
selection
X-SEL
Controller
Start
Start
Start
Starting
PC software automatically via
parameter setting
51
Part 2 Operation
1. Starting a Program by Auto-Start via Parameter Setting

I/O parameter No. 33 (input function selection 003) = 1 (default factory setting)
This parameter is set using the teaching pendant or PC software.
Set an auto-start program number Set the number of the program you wish to start
automatically in other parameter No. 1 (auto-start
program number).
Set the controller mode to AUTO.
Reset the controller Reconnect the power, and the controller will be reset.
Once the controller is reset in the above step, the

Automatically starting the program program of the set number will start automatically.
*
Caution
[Note on starting a program by auto-start]
The automatic operation will begin immediately after the controller is reset, so the user may be surprised
by unexpected movements of the equipment, particularly those caused by a sudden activation of the servo
actuator. To ensure safety, always provide an interlocking function, such as allowing the program
execution to proceed only after receiving a confirmation signal at the beginning of the program.
If you wish to start multiple programs at the sameWLPHZULWHPXOWLSOH³(;3*´FRPPDQGVDWWKHEHJLQQLQJ

of the main program to start the remaining programs. Provide safety measures for each program to be
started.
:KHQ,2SDUDPHWHU1RLVVHWWR³´
The program of the selected number will start automatically at the ON edge of input signal received by
input port No. 3.
The program will be terminated at the OFF edge.
52
Part 2 Operation
2. Starting via External Signal Selection
Select a desired program number externally and then input a start signal.
(1) Flow chart
Controller External device
Power ON Power ON
Ready output
When the READY signal turns ON,
READY signal ON READY signal the RDY lamp (green) on the
confirmed?
controller front panel will illuminate.
Various I/O
processing
Program number
input
Program number
Program number
specification
Input a desired program number as
confirmed?
a BCD code from the external
device.
External start input
Start signal Start signal ON Input a start signal from the
confirmed?
external device.
When the program is run, the

Program run
Emergency-stop number of the started program will
switch ON?
be shown in the CODE display
area of the controller front panel.
Emergency-stop input
If an emergency-stop signal was
Emergency-stop Emergency-stop
signal confirmed? signal ON
input from the external device or a
controller error occurred, the
controller will turn off the servo
power. (The RDY lamp will turn
Controller off.)
error?
Servo OFF
Alarm output
ALARM signal
ALARM signal ON confirmed?
ALARM
processing
53
Part 2 Operation
(2) Timing chart

T1: Duration after the ready output turns ON until input of
[1] Program start external start signal is permitted
Ready output T1 = 10 msec min.
Program 1 Program 2
Program number T2: Duration after the program number is input until input
input of external start signal is permitted
T2 = 50 msec min.
External start
input
T3: Input duration of external start signal
T3 = 100 msec min.
[2] Auto program start

T1: Time after the ready output turns ON until input
Ready output function 003 can be input
T1 = 10 msec min.
Input of input
function 003 * Auto program start:
Set the program you want to start automatically in
Auto program 2WKHUSDUDPHWHU1R³$XWRVWDUWSURJUDPQXPEHU´
start
[3] Software reset signal T1: Time after the ready output turns ON until input
:KHQ,2SDUDPHWHU1RLVVHWWR³´ function 001 can be input
Ready output T1 = 10 msec min.
Input of input T2: Time until the software reset signal functions
function 001 T2 = 1 sec .
Program T3: Time after the software reset signal is reset until the
starting ready signal is output
[4] Servo ON signal

T1: Time after the ready output turns ON until input
Ready output function 002 can be input
T1 = 10 msec min.
Input of input
function 002 T2: Interval after the servo turns OFF until it turns ON
again
Servo ON T2 = 1.5 sec min.
[5] When the recovery type after emergency stop or enabling

RSHUDWLRQLVVHWWR³2SHUDWLRQFRQWLQXHG´
6HW,2SDUDPHWHU1RWR³´RSHUDWLRQSDXVHUHVHWVLJQDO
6HW,2SDUDPHWHU1RWR³´GULYHVRXUFHFXWRIIUHVHWLQSXW
Program T1: Time after the emergency stop input is reset until the
starting GULYHVRXUFHFXWRIIUHVHWVLJQDOFDQEHLQSXW
T1 = 2 msec min.
Emergency
stop T2: 7LPHGXULQJZKLFKWKHGULYHVRXUFHFXWRIIUHVHW
'ULYHVRXUFH signal is input
cutoff reset T1 = 10 sec min.
Pause reset T3: Time during which the pause reset signal is input
T1 = 10 sec min.
54
Part 2 Operation
3. Drive-Source Recovery Request and Operation-Pause Reset Request

(1) Drive-source recovery request
1. How to request a drive-source recovery
A drive-source recovery request can be issued using one of the following methods:
x6HW,2SDUDPHWHU1RWR³´,QSXWVHOHFWLRn function 014 = Drive-source cutoff reset input),
then input the ON edge to input port No. 14.
x Select [Drive-Source Recovery Request (P)] from the [Controller (C)] menu on the PC software
screen.
x Select Ctl (controller operation) and RPwr (drive-source recovery request) on the mode selection
screen of the teaching pendant.
2. Case where a drive-source request is required

A drive-source recovery request is required in the following case:
x A drive-source cutoff factor occurred ZKHQ,2SDUDPHWHU1RZDVVHWWR³ó Recovery after
the cutoff factor is removed.
(2) Operation-pause reset request

1. How to request an operation-pause reset
An operation-pause reset request can be issued using one of the following methods:
x6HW,2SDUDPHWHU1RWR³´,QSXWVHOHFWion function 005 = Operation-pause reset signal),
then input the ON edge to input port No. 5.
x Select [Operation-Pause Reset Request (L)] from the [Controller (C)] menu on the PC software
screen.
x Select Ctl (controller operation) and RAct (operation-pause reset request) on the mode selection
screen of the teaching pendant.
2. Cases where an operation-pause reset request is required

An operation-pause reset request is required in any of the following cases:
x The automatic operation was stopped using the deadman switch when other parameter No. 9
ZDVVHWWR³´'HDGPDQVZLWFKUHFRYHU\W\SH= Continued operation) (only during automatic
operation) o Recovery (reset of operation pause) after the stop is reset.
x An emergency stop was actuated during automatic operation when other parameter No. 10 was
VHWWR³´(PHUJHQF\VWRSUHFRYHU\W\SH &RQWLQXHGRSHUDWLRQRQO\GXULQJDXWRPDWLF
operation) o Recovery (reset of operation pause) after the emergency stop is reset.
x The safety gate was opened during automatic operation when other parameter No. 11 was set to
³´6DIHW\JDWHRSHQUHFRYHU\W\SH &RQWLQXHGoperation) (only during automatic operation) o
Recovery (reset of operation pause) after the safety gate is closed.
x An OFF-level input signal was received by input port No. 6 when I/O parameter No. 36 was set
WR´´,QSXWVHOHFWLRQIXQFWLRQ 2SHUDWLRQSDXVHVLJQDOo Recovery (reset of operation
pause) after an ON-level input signal is received by input port No. 6.
* If the case in 2 of (1) and any of the cases in 2 of (2) are present at the same time, a drive-source
recovery request must be issued first, followed by an operation-pause reset request.
55
Part 3 Controller Data Structure

The controller data consists of parameters as well as position data and application programs used to
implement SEL language.
X-SEL Controller Data Structure
Driver Driver Driver Driver Main

1 2 3 4
Communication
SEL language
Parameters
Position Application
data programs
Parameters Parameters Parameters Parameters
The user must create position data and application programs. The parameters are predefined, but their
VHWWLQJVFDQEHFKDQJHGLQDFFRUGDQFHZLWKWKHXVHU¶VV\VWHP
5HIHUWR$SSHQGL[³/LVWRI3DUDPHWHUVÍRUGHWDLOVRQWKHSDUDPHWHUV
56
Chapter 1 How to Save Data

Since the X-SEL Controller uses flash memory, some data are saved by battery backup while others are
saved in the flash memory.
When data is transferred from the PC software or teaching pendant to the controller, the data is only
written to the temporary memory and will be erased once the controller is powered down or reset.
For important data, always write to the flash memory so that they will not be lost.
1. Factory Settings: When the System-Memory Backup Battery is Used

(Other parameter No. 20 = 2 (System-memory backup battery installed))
Data will be retained while
Data edited on the PC Data will be retained even after the
the power is on and
or teaching pendant power is turned off
cleared upon reset
Programs, Write to flash memory

parameters Temporary Flash
(content 1), Transfer memory memory
symbols
Read for reset
Slave cards, Transfer

parameters Temporary EEPROM
Transfer
(content 2) memory
Read for reset
Transfer
*Encoder Temporary *Encoder
parameters Transfer memory EEPROM
Read for reset
Battery Flash
Positions Transfer backup Write to flash
memory memory
memory
SEL global Battery

data (content Transfer backup
3), error lists memory
* The encoder parameters are stored in the EEPROM of tKHDFWXDWRU¶VHQFRGHULWVHOIQRWLQWKHFRQWUROOHU

The encoder parameters will be read to the controller when the power is turned on or upon software
reset.
57
Since the programs, parameters and symbols are read from the flash memory at restart, the data in the
temporary memory will remain the same as the original data before edit unless the edited data are written
to the flash memory.
The controller always operates in accordance with the data in the temporary memory (inside the dotted
line) (excluding the parameters).
Content 1: Parameters other than content 2 and encoder parameters

Content 2: Parameters of driver card, I/O slot card (power system card)
Content 3: Flags, variables, strings
2. When the System-Memory Backup Battery is Not Used

Other parameter No. 20 = 0 (System-memory backup battery not installed)
Data will be retained while
Data edited on the PC Data will be retained even after
the power is on and
or teaching pendant the power is turned off
cleared upon reset
Programs, Write to flash memory

parameters
Temporary Flash
(content 1), Transfer memory memory
symbols,
positions Read for reset
Transfer
Slave cards, Temporary
parameters Transfer EEPROM
memory
(content 2)
Read for reset
Transfer
*Encoder Temporary *Encoder
parameters Transfer memory EEPROM
Read for reset
SEL global Temporary

data (content Transfer memory
3), error lists
Since the programs, parameters, symbols and positions are read from the flash memory at restart, the
data in the temporary memory will remain the same as the original data before edit unless the edited data
are written to the flash memory.
The controller always operates in accordance with the data in the temporary memory (inside the dotted
line) (excluding the parameters).
Note: SEL global data cannot be retained if the backup battery is not installed.
58
3. Points to Note
Point to note when transferring data and writing to the flash memory
Never turn off the main power while data is being transferred or written to the flash
memory. The data will be lost and the controller operation may be disabled.
Point to note when saving parameters to a file

The encoder parameters are stored in the EEPROM ofWKHDFWXDWRU¶VHQFRGHULWVHOIXQOLNHRWKHU
parameters, they are not stored in the EEPROM of the controller). The encoder parameters will be
UHDGIURPWKHHQFRGHU¶V((3520WRWKHFRQWURller when the power is turned on or upon software
reset.
Therefore, if the parameterVDUHVDYHGWRDILOHDIWHUWXUQLQJRQWKHFRQWUROOHURUUHVWDUWLQJLWYLDD

VRIWZDUHUHVHWZLWKRXWDQDFWXDWRUHQFRGHUFRQQHFted, the encoder parameters saved to the file
will become invalid.
Point to note when transferring a parameter file to the controller

When a parameter file is transferred to the controller, the encoder parameters will be transferred to
WKH((3520RIWKHHQFRGHUH[FOXGLQJmanufacturing/function information).
Therefore, if the parameter file transferred to the controller has been read from a controller that was
started without an actuator connected, invalid enFRGHUSDUDPHWHUVZLOOEHZULWWHQWRWKHHQFRGHU¶V
((3520SURYLGHGWKDWDQDFWXDWRULV connected to the controller to which the file was transferred).
When saving the parameters to a file, do so with an actuator connected to the controller.
59
Chapter 2 X-SEL Language Data

1. Values and Symbols Used in SEL Language
1-1 List of Values and Symbols Used
The various functions required in a program are represented by values and symbols.
Function Global range Local range Remarks
Varies depending on the
Input port 000 ~ 299 (300)
function.
Output port 300 ~ 599 (300)
function.
Flag 600 ~ 899 (300) 900 ~ 999 (100)
200 ~ 299 (100) 1 ~ 99 (99) 99 is used for IN, INB,
Variable (integer)
1200 ~ 1299 (100) 1001 ~ 1099 (99) OUT, OUTB, etc.
300 ~ 399 (100) 100 ~ 199 (100) 199 is used for PPUT,
Variable (real)
1300 ~ 1399 (100) 1100 ~ 1199 (99) PGET, PARG, etc.
String 300 ~ 999 (700) 1 ~ 299 (299)
Application version 0.92 or
1 ~ 99 (99)
earlier
Tag number
Application version 0.93 or
1 ~ 256 (256)
later
Subroutine number 1 ~ 99 (99)
Zone number 1 ~ 4 (4)
Pallet number 1 ~ 10 (10)
Axis number 1 ~ 4 (4)
function.
Axis pattern 0 ~ 1111
Position number 1 ~ 3000 (3000)
Program number 1 ~ 64 (64)
Step number 1 ~ 6000 (6000)
Task level NORMAL/HIGH (2)
1 ~ 1 (1) (Also used for
SIO channel number
TP/PC)
Wait timer 1
16 (Number of timers that
1-shot pulse timer can be operated
simultaneously)
Ladder timer Local flag (100)
Virtual input port (SEL
system o SEL user 7000 ~ 7299 (300)
program)
Virtual output port (SEL user
7300 ~ 7599 (300)
program o SEL system)
Number of symbol definitions 1000
Number of times symbol can
5000 (including literals)
be used in commands
Used in common from any Referenced separately in
program. each program.
Cleared when the program
is started.
x Variables 99 and 199 are special variables this system uses in operations.
Caution Avoid using these two variables for general purposes.
x The values in the table represent ranges that can be processed by software.
Items that require physical devices, such as I/O ports and functions relating
to axis number and SIO, will be determined by possible combinations and
models of commercial boards, etc., available for each device application.
60
z The variables and flags in the global range will be retained even after the controller power is turned off.
:KHQRWKHUSDUDPHWHU1RLVVHWWR³´5HIHUWR&KDSWHU³+RZWR6DYH'DWD´RI3DUW
z The variables and flags in the local range will be cleared when the program is started.
z Ranges of values that can be used in SEL language

,QWHJHUVDQGUHDOQXPEHUVFDQEHXVHG+RZHYHU pay due attention to the following limitations:
1XPHULFGDWD
The X-SEL Controller can handle values of maximum eight digits including a sign and a decimal point.
Integer: -9,999,999 to 99,999,999
Real number: Maximum eight digits including a sign and decimal point, regardless of the size of value
([DPSOH
If a floating point is used in operations, the number of valid digits will be limited to seven. Also note
that operations using a floating point are subject to error.
3RVLWLRQGDWD
The input range of position data consists of four integer digits and three decimal digits.
±WR
7KHPD[LPXPYDOXHYDULHVGHSHQGLQJRQWKHDFWXDWRUPRGHO
,ISRVLWLRQGDWDDUHXVHGLQLQWHUQDORSHUDWLRQVDVQXPHULFGDWDUHSHDWHGPXOWLSOLFDWLRQVDQGGLYLVLRQV
the precision of the last digit may decrease.
Consider the above limitations fully when using values. Particularly when the CPEQ command is used
in a comparison operation using real numbers, a match will rarely result. In this case, the CPLE or
CPGE command that looks at the magnitude relationship of two terms must be used.
1.2 I/O Ports

,QSXWports
Used as input ports for limit switches, sensor switches, etc.
Input number assignment
WRVWDQGDUG
2XWSXWSRUWV
Used as various output ports.
Output number assignment
WRVWDQGDUG
61
1.3 Virtual I/O Ports

(1) Virtual input ports
Port No. Function
7000 Always OFF
7001 Always ON
7002 Voltage low warning for system-memory backup battery
7003 Abnormal voltage of system-memory backup battery
7004 (For future expansion = Use strictly prohibited)
7006 Top-level system error = Message level error is present
7007 Top-level system error = Operation-cancellation level error is present
7008 Top-level system error = Cold-start level error is present
7010 Drive-source cutoff factor is present (including when waiting for cutoff reset input)
Latch signal indicating that all-operation-cancellation factor is present (latch signal for
7011
recognizing 1-shot cancellation factor; latch is cancelled by 7300-ON)
All-operation-pause factor is present (including when waiting for restart switch signal) (Valid
7012
only during automatic operation recognition)
All-servo-axis-interlock factor is present (all-operation-pause factor + interlock input-port
7013
factor)
Voltage low warning for axis-1 absolute-data backup battery (main application version 0.28 or
7015
later)
Abnormal voltage of axis-1 absolute-data backup battery (latched until power-on reset or
7016
software reset) (main application version 0.28 or later)
7017
later)
7018
7019
later)
7020
7021
later)
7022
7023 ~ 7030 For future expansion = Use strictly prohibited
Reading SIO CH1 (standard SIO) (reception ready) (*OFF if used for PC/TP connection)
7031
(main application versions 0.41 or later)
7032 Reading SIO CH2 (expanded SIO) (reception ready) (main application versions 0.41 or later)
7038 ~ 7040 (For future expansion = Use strictly prohibited)
7071 In AUTO mode (main application version 0.87 or later)
7072 During automatic operation (main application version 0.87 or later)
7101 Running program No. 01 (including during pause)
~ ~
7164 Running program No. 64 (including during pause)
62
(2) Virtual output ports

Port No. Function
Latch cancellation output for a latch signal indicating that all-operation-cancellation factor
7300 is present (7011) (latch is cancelled only when operation-cancellation factor is no longer
present) (7300 will be turned OFF following an attempt to cancel latch.)
63
1.4 Flags
Contrary to its coPPRQPHDQLQJWKHWHUP³IODJ´DVXVHGLQSURJUDPPLQJPHDQV³PHPRU\´)ODJV
DUHXVHGWRVHWRUUHVHWGDWD7KH\FRUUHVSRQGWR³DX[LOLDU\UHOD\V´LQDVHTXHQFHU
)ODJVDUHGLYLGHGLQWRJOREDOIODJV1RVWR) that can be used in all programs, and local

IODJV1RVWRWKDWFDQEHXVHGRQO\LQHDFKSURJUDP
*OREDOIODJVZLOOEHUHWDLQHGEDFNHGXSE\EDWWHU\HYHQDIWHUWKHSRZHULVWXUQHGRII
/RFDOIODJVZLOOEHFOHDUHGZKHQWKHSRZHULVWXUQHGRII
)ODJQXPEHU a &DQEHXVHGLQDOOSURJUDPV ³*OREDOIODJV´

)ODJQXPEHU a 8VHGRQO\LQHDFKSURJUDP ³/RFDOIODJV´
Program 1 Program n
%721 :721
7XUQRQIODJ :DLWIRUIODJWRWXUQ21
/LNHWKLVJOREDOIODJVFDQEH
XVHGWRH[FKDQJHVLJQDOV
%721 %721
$OWKRXJKWKHQXPEHULVWKH
VDPHWKHVHDUHORFDOIODJVDQG
FDQH[LVWRQO\LQWKHLU
respective programs.)
64
1.5 Variables
(1) Meaning of variable
³9DULDEOH´LVDWHFKQLFDOWHUPXVHGLQVRIWZDUHSURJUDPPLQJ6LPSO\SXWLWPHDQV³DER[LQ
ZKLFKDYDOXHLVSXW´9DULDEOHVFDQEHXVHGLQPDQ\ZD\VVXFKDVSXWWLQJLQRUWDNLQJRXWD
YDOXHDQGSHUIRUPLQJDGGLWLRQRUVXEWUDFWLRQ
$YDULDEOHFDQEHXVHGLQPDQ\ZD\VVXFKDV
3XWWLQJLQDYDOXH
7DNLQJRXWDYDOXHRU
$GGLQJDYDOXH
Variable
ER[
&RPPDQG 2SHUDQG 2SHUDQG

ADD 1 1
,IWKLVFRPPDQGLVDSSOLHGWRYDULDEOHER[ZKLFKDOUHDG\FRQWDLQVWKHQZLOOEHDGGHGWR
WKHFXUUHQWYDOXHDQGZLOOUHVXOW
LVDGGHG
Variable
ER[
$OUHDG\FRQWDLQV
65
(2) Types of variables

Variables are classified into two types, as follows:
1. Integer variables
These variables cannot handle decimal places.
[Example] 1234
Integer variable box
Variable
box 1
1 2 3 4
200 ~ 299
Integer variable number &DQEHXVHGLQDOOSURJUDPV ³*OREDOLQWHJHUYDULDEOHV´
1200 ~ 1299
1 ~ 99
Integer variable number 8VHGRQO\LQHDFKSURJUDP ³/RFDOLQWHJHUYDULDEOHV´
1001 ~ 1099
Integer 99 is a special register this system uses in integer

Caution
RSHUDWLRQV$Q\YDOXHLQWKHUDQJHIURP±WR
99,999,999 can be input in programs.
2. Real variables
Actual values. These variables can handle decimal places.
[Example] 1234.567
(Decimal point)
Real variable box
Variable
box 1
1234.567
300 ~ 399
Real variable number &DQEHXVHGLQDOOSURJUDPV ³*OREDOUHDOYDULDEOHV´
1300 ~ 1399
100 ~ 199
Real variable number 8VHGRQO\LQHDFKSURJUDP ³/RFDOUHDOYDULDEOHV´
1100 ~ 1199
Caution Real number 199 is a special register this system uses in real-
number operations. Any value inWKHUDQJHIURP±WR
999,999.9 (eight digits including a sign) can be input in
programs.
66
9DULDEOHVZLWK³ ´DVWHULVNLQGLUHFWVSHFLILFDWLRQ

$Q³ ´DVWHULVNLVXVHGWRVSHFLI\DYDULDEOH
,QWKHIROORZLQJH[DPSOHWKHFRQWHQWRIYDULDEOHER[ZLOOEHSXWLQYDULDEOHER[,IYDULDEOH
ER[FRQWDLQV³´WKHQ³´ZLOOEHSXWLQYDULDEOHER[

/(7

Put in.
Variable
ER[


/(7
Variable
ER[
Variable

ER[

7KHDERYHXVHRIYDULDEOHVLVFDOOHG³LQGLUHFWVSHFLILFDWLRQ´
$Q³ ´LVDOVRXVHGZKHQLQGLUHFWO\VSHFLI\LQJDV\PEROYDULDEOHUHIHUWR³6\PEROV´

/(7 $%& 3XWLQYDULDEOH$%&
/(7 %&' 3XWLQYDULDEOH%&'
$'' $%& %&' $GGWKHFRQWHQWRIYDULDEOH%&'RUWRYDULDEOH$%&
7KHFRQWHQWRIYDULDEOH$%&EHFRPHV
67
1.6 Tags
7KHWHUP³WDJ´PHDQV³KHDGLQJ´
7DJVDUHXVHGLQWKHVDPHZD\\RXDWWDFKODEHOVWRWKHSDJHVLQDERRN\RXZDQWWRUHIHUHQFH
IUHTXHQWO\
$WDJLVDGHVWLQDWLRQVSHFLILHGLQDMXPSFRPPDQG³*272´
Tag
&RPPDQG 2SHUDQG1
7DJQXPEHU ,QWHJHUEHWZHHQDQG$SSOLFDWLRQYHUVLRQRUHDUOLHU
TAG
,QWHJHUEHWZHHQDDQG$SSOLFDWLRQYHUVLRQRUODWHU
7KH\DUHXVHGRQO\LQHDFKSURJUDP
TAG 1
GOTO 1
68
1.7 Subroutines
By taking out the parts of a program that are used UHSHDWHGO\DQGUHJLVWHULQJWKHPDV³VXEURXWLQHV´
the same processing can be performed with fewer steps. (A maximum of 15 nests are
accommodated.)
They are used only in each program.
Command Operand 1
EXSR Subroutine number (Integer between 1 and 99; variable is also supported)
Subroutine execution command
Command Operand 1
BGSR Subroutine number (Integer between 1 and 99)
Subroutine start declaration
Command Operand 1
EDSR
Subroutine end declaration
EXSR 1
Subroutines are called.

EXSR 1
EXSR 1
BGSR 1
Subroutines
EDSR
69
1.8 Symbols
In the X-SEL Controller, values such as variable numbers and flag numbers can be handled as
symbols. For the method to edit symbols, refer to³(GLWLQJ6\PEROV´LQWKHRSHUDWLRQPDQXDOIRU;
6(/WHDFKLQJSHQGDQWRU³6\PERO(GLW:LQGRZ´LQWKHRSHUDWLRQPDQXDOIRU;6(/3&VRIWZDUH
6XSSRUWHGV\PEROV
7KHIROORZLQJLWHPVFDQEHH[SUHVVHGXVLQJV\PEROV
Variable number, flag number, tag number, subroutinHQXPEHUSURJUDPQXPEHUSRVLWLRQQXPEHU
LQSXWSRUWQXPEHURXWSXWSRUWQXPEHUD[LVQXPEHUFRQVWDQW
'HVFULSWLRQUXOHVRIV\PEROV
$PD[LPXPRIQLQHVLQJOHE\WHDOSKDQXPHULFFKDUDFWHUVRUXQGHUVFRUHVWDUWLQJZLWKDQDOSKDEHW
1RWH7KHOHQJWKRIDFKDUDFWHUVWULQJOLWHUDOmust not exceed eight single-byte characters.)
,IWKH3&VRIWZDUHYHUVLRQLVRUODWHURUWKHWHDFKLQJSHQGDQWYHUVLRQLVRUODWHU
an underscore can be used as the first character in a symbol.
,IWKH3&VRIWZDUHYHUVLRQLVRUODWHU single-byte ASCII code characters from 21h to
(KOLPLWHGWRWKRVHWKDWFDQEHLQSXWvia keyboard) can be used as the second and
subsequent characters.
([HUFLVHFDXWLRQWKDWWKHVDPH$6&,,FRGHPD\EHH[SUHVVHGGLIIHUHQWO\EHWZHHQWKH3&
VRIWZDUHDQGWKHWHDFKLQJSHQGDQWEHFDXVHRIWKHGLIIHUHQWIRQWVXVHGE\WKHWZR7KHVDPH
DSSOLHVWRFKDUDFWHUVWULQJOLWHUDOV
&K 3&VRIWZDUH%DFNVODVK?RYHUVHDVVSHFLILFDWLRQVHWF
7HDFKLQJSHQGDQW<HQPDUN
(K 3&VRIWZDUHa
7HDFKLQJSHQGDQW5LJKWDUURZo
2. Symbols of the same name must not be defiQHGZLWKLQHDFKIXQFWLRQ7KHVDPHORFDOV\PERO
FDQEHXVHGLQGLIIHUHQWSURJUDPV
3. Symbols of the same name must not be defLQHGZLWKLQWKHIODJQXPEHULQSXWSRUWQXPEHURU
RXWSXWSRUWQXPEHUJURXS7KHVDPHORFDOV\PEROFDQEHXVHGLQGLIIHUHQWSURJUDPV
6\PEROVRIWKHVDPHQDPHPXVWQRWEHGHILQHGZLWKLQWKHLQWHJHUYDULDEOHQXPEHURUUHDO
YDULDEOHQXPEHUJURXS7KHVDPHORFDOV\PEROFDQEHXVHGLQGLIIHUHQWSURJUDPV
6\PEROVRIWKHVDPHQDPHPXVWQRWEHGHILQHGZLWKLQWKHLQWHJHUFRQVWDQWRUUHDOFRQVWDQW
JURXS
1XPEHURIV\PEROVWKDWFDQEHGHILQHG0D[LPXP
1XPEHURIWLPHVV\PEROVFDQEHXVHGLQDOO6(/SURJUDPV0D[LPXPWLPHVLQFOXGLQJ
character-string literals
,IV\PEROLVXVHGLQDOORIWKHLQSXWFRQGLWLRQRSHUDQGRSHUDQGDQGRXWSXWILHOGVLWLVGHHPHG
WKDWV\PEROLVXVHGIRXUWLPHVLQRQHVWHS
1.9 Character-String Literals

Character-string literals are used in certain striQJRSHUDWLRQFRPPDQGVDQGFRQVLVWRIWKHSRUWLRQ
HQFORVHGE\VLQJOHTXRWDWLRQPDUNVµµ(maximum eight single-byte characters).
:LWKWKH3&VRIWZDUHVLQJOHE\WH$6&,,FRGHFKDUDFters from 20h to 7Eh (limited to those that can
EHLQSXWYLDNH\ERDUGFDQEHXVHGLQVLGHWKHVLQJOHTXRWDWLRQPDUNV:LWKWKHWHDFKLQJSHQGDQW
VLQJOHE\WHDOSKDQXPHULFFKDUDFWHUVDQd single-byte underscores can be used.
70
1.10 Axis Specification

Axes can be specified based on axis number or axis pattern.
(1) Axis numbers and how axes are stated

Each of multiple axes is stated as follows:
Axis number How axis is stated

1 Axis 1
2 Axis 2
3 Axis 3
4 Axis 4
The axis numbers stated above can also be expressed using symbols.
Use axis number if you wish to specify only one of multiple axes.
x Commands that use axis specification based on axis number
BASE, PPUT, PGET, AXST, PASE, PCHZ, ACHZ, PARG
71
(2) Axis pattern

Whether or not each axis will be usHGLVLQGLFDWHGE\³´RU³´
(Upper) (Lower)
$[LVQXPEHU $[LV $[LV $[LV $[LV

8VHG
1RWXVHG
>([DPSOH@ :KHQD[HVDQGDUHXVHG
Axis 2
7KHWZRVLQIURQWDUHQRWQHFHVVDU\:LWKWKHVUHPRYHGWKHH[SUHVVLRQUHDGV³´
$[LV
>([DPSOH@ :KHQD[HVDQGDUHXVHG
Axis 4
,QWKLVFDVHWKHVDUHQHHGHGWRLQGLFDWHWKHSRVLWLRQRID[LV
$[LV
,QGLUHFWVSHFLILFDWLRQRID[LVSDWWHUQLQDYDULDEOH
7KHD[LVSDWWHUQLVFRQVLGHUHGDELQDU\YDOXHDQGDFRQYHUWHGGHFLPDOYDOXHLVDVVLJQHGWRDYDULDEOH
>([DPSOH@ 7RSHUIRUPKRPHUHWXUQIRUD[LVRQO\\RXFDQVSHFLI\DVIROORZVEDVHGRQD[LVSDWWHUQ
+20(
,QLQGLUHFWVSHFLILFDWLRQELQDU\LVH[SUHVVHGDVGHFLPDOVRWKHVDPHRSHUDWLRQFDQEH

VSHFLILHGDVIROORZV
LET 6 4
HOME *6
,I\RXPXVWVHOHFWDQGVSHFLI\PXOWLSOHD[HVDWWKHVDPHWLPHXVHD[LVSDWWHUQ
x&RPPDQGVWKDWXVHD[LVVSHFLIication based on axis pattern
2)67*536921692)+20(-):1-):)-%:1-%:)6723376735('
&+9/3%1':=1$:=12:=)$:=)2
72
X-SEL language consists of a position part (position data = coordinates, etc.) and a command part
(application program).
2. Position Part
As position data, coordinates, speeds, accelerations and decelerations are set and stored.
*2
Standard *2
*1, 2 0.3 G Standard
r 2000000.000 mm 1 ~ 2000/mmsec 0.3 G
Position No. Axis 1 Axis 2 Axis 3 Axis 4 Speed Acceleration Deceleration

1
2
3
2998
2999
3000
*1 Varies depending on the actuator model.

*2 If speed, acceleration or deceleration is set in the position data, the setting will be given priority
over the corresponding data set in the application program. Leave the position data fields empty if
you wish to enable the corresponding data in the application program.
The speed and acceleration values become effective according to the priorities specified below.
Priority Speed Acceleration (deceleration)
1 Value of the position data set in operand 1 Value of the position data set in operand 1
2 Value set in the VEL command Value set in the ACC (DCL) command
$OOD[LVSDUDPHWHU1R³'HIDXOW
DFFHOHUDWLRQ´
3
$OOD[LVSDUDPHWHU1R³'HIDXOW
GHFHOHUDWLRQ´
Values pertaining to a rotating axis are processed in degrees instead of millimeters.
If axis-specific parameter No. 1 (axis operation type)LVVHWWR³ÚRWDWLRQDOPRYHPHQWD[LVDQJOH

control)) for a given axis, all millimeter values pertaining to that axis (including parameters, etc.) will be
processed in degrees.
If the gear ratio parameters (axis-specific parameter Nos. 50 and 51) are set correctly, the angles (deg)
will represent those of the body of rotation at the end.
Example) Distance 1 mm o 1 deg

Speed 1 mm/sec o 1 deg/sec
2 2
Acceleration/deceleration 1 G = 9807 mm/sec o 9807 deg/sec
73
3. Command Part
The primary feature of SEL language is its very simple command structure. Since the structure is
simple, there is no need for a compiler (to translate into computer language) and high-speed
operation is possible via an interpreter (the program runs as commands are translated).
3.1 SEL language Structure

The table below shows the structure of one command step.
Command, declaration
Extension condition Input condition Output
(AND, OR) (I/O, flag) Command, (Output port, flag)
Operand 1 Operand 2
declaration
Using a ladder diagram, this is

expressed as follows:
Command Operand 1 Operand 2 Output
(1) The condition before tKHFRPPDQGLVHTXLYDOHQWWR³,)a7+(1«´LQ%$6,&
,)a7+(1 ELSE
To the next step

1. If the input condition is satisfied, the command will be executed. If there is an output specification, the
specified output port will be turned ON. If the input condition is not satisfied, the program will proceed
to the next step regardless of the command that IROORZVHJ:721:72)2EYLRXVO\QRWKLQJZLOO
happen at the output port, but caution must be exercised.
2. If no condition is set, the command will be executed unconditionally.
7RXVHWKHFRQGLWLRQLQUHYHUVHORJLFVRFDOOHG³FRQWDFWEORJLF´ DGG1127WRWKH
condition.
4. The input condition supports input port, output port and flag.
5. The operand 1, operand 2 and output fields can be specified indirectly.
(2) The output field, which follows the command, operand 1 and operand 2 fields, will specify the following
action:
,QWKHFDVHRIDFRQWUROFRPPDQGUHODWLQJWRDFWXDWRURSHUDWLRQHWFWKHRXWSXWZLOOWXUQ2))WKH
moment the execution of command is started, and turn ON when the execution is completed. In the
case of a calculation operation command, etc., the output will turn ON if the result corresponds to a
FHUWDLQYDOXHDQGWXUQ2))LIQRW
2. The output field supports output port and flag.
74
3.2 Extension Condition

Conditions can be combined in a complex manner.
(SEL language)
AND extension (Ladder diagram)
Command
Extension Input
Condition AND Operand Operand
Output
condition condition
1 Command
1 2
Condition 1
A Condition 2
Condition
2 AND Operand Operand
A Condition 3 Command
1 2
Condition
3
OR extension
Command
Extension Input
Output
Condition condition condition Operand Operand
Command
1 1 2
Condition 1
OR
Operand Operand
O Condition 2 Command
1 2
Condition
2
AND extension and OR extension
Command
Extension Input
Condition Output
AND condition condition
Command
Operand Operand
1 1 2
Condition 1
A Condition 2
Condition Operand Operand
2 O Condition 3 Command
1 2
OR
Condition
3
75
Part 4 Commands
Part 4 Commands
Chapter 1 List of SEL Language Command Codes
1. By Function
Variables can be specified indirectly in the operand 1, operand 2 and output fields.
Symbols can be input in the condition, operand 1, operand 2 and output fields.
The input items in ( ) under operand 1 and operand 2 are optional.
2QFHDQ³DFWXDWRUFRQWUROGHFODUDWLRQ´FRPPDQGLVH[HFXWHGLQDSURJUDPWKHFRPPDQGZLOOUHPDLQYDOLG
DVORQJDVWKHSURJUDPLVUXQQLQJ7RFKDQJHWKHYDOues (in operand 1, operand 2, etc.) already set by the
³DFWXDWRUFRQWUROGHFODUDWLRQ´FRPPDQGWKHQHFHVVDU\ parts of the program must be set again. In other
ZRUGVWKHYDOXHVVHWE\WKHODVWH[HFXWHGFRPPDQGZLOOSUHYDLO
7KHRXWSXWILHOGZLOOEHWXUQHG2))ZKHQWKHFRPPDQGLVH[HFXWHG2QFHWKHH[HFution is completed, the
output field may be turned ON depending on the operation type condition in the output field. (The output
ILHOGZLOOUHPDLQ2))LIWKHFRQGLWLRQLVQRWVDWLVILHG
1RWH ,IWKHPDLQDSSOLFDWLRQYHUVLRQLVRUODWHUWKHRXWSXWILHOGRIDFRPSDULVRQFRPPDQG&3;;&3(4&31(&3*7
&3*(&3/7DQG&3/(ZLOOQRWEHWXUQHG2))ZKHQWKHFRPPDQGLVH[HFXWHG
Operation type in the output field

&&&RPPDQGZDVH[HFXWHGVXFFHVVIXOO\ (42SHUDQG 2SHUDQG1(2SHUDQGz Operand 2,
ZR: Operation result is zero, PE: Operation is complete, *72SHUDQG!2SHUDQG*(2SHUDQGt Operand 2,
CP: Command part has passed, TU: Time up LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2
Category Condition Command Operand 1 Operand 2 Output Function Page
2SWLRQDO /(7 $VVLJQPHQWYDULDEOH $VVLJQHGYDOXH ZR Assign 86
Copy-destination
Variable Optional TRAN &RS\VRXUFHYDULDEOH =5 &RS\
YDULDEOH
assignment
Start-of-clear
Optional CLR (QGRIFOHDUYDULDEOH =5 &OHDUYDULDEOH
YDULDEOH
2SWLRQDO $'' $XJHQGYDULDEOH $GGHQG ZR Add 88
2SWLRQDO 68% 0LQXHQGYDULDEOH 6XEWUDKHQG =5 6XEWUDFW 88
Arithmetic 2SWLRQDO 08/7 0XOWLSOLFDQGYDULDEOH 0XOWLSOLHU ZR Multiply 89
operation 2SWLRQDO ',9 'LYLGHQGYDULDEOH 'LYLVRU =5 'LYLGH
Remainder
Optional MOD 'LYLVRU =5 &DOFXODWHUHPDLQGHU
DVVLJQPHQWYDULDEOH
Sine assignment
Optional SIN Operand [radian] ZR Sine 91
YDULDEOH
Cosine assignment
Optional COS Operand [radian] ZR Cosine 91
YDULDEOH
Tangent assignment
Function Optional TAN Operand [radian] ZR Tangent 92
YDULDEOH
operation
,QYHUVHWDQJHQW
Optional ATN assignment 2SHUDQG =5 ,QYHUVHWDQJHQW
operation
Root assignment
2SWLRQDO 645 2SHUDQG =5 5RRW
YDULDEOH
AND operand
Optional AND Operand ZR Logical AND 94
YDULDEOH
Logical
2SWLRQDO 25 25RSHUDQGYDULDEOH 2SHUDQG ZR Logical OR 95
operation
([FOXVLYH25
Optional EOR 2SHUDQG =5 /RJLFDOH[FOXVLYH25
RSHUDQGYDULDEOH
(41(*7
&RPSDULVRQ 2SWLRQDO &3;; &RPSDULVRQYDULDEOH &RPSDULVRQYDOXH *(/7/(
Compare 97
Optional TIMW Wait time (sec) Prohibited TU Wait 98
Optional TIMC Program number PrRKLELWHG &3 &DQFHOZDLWLQJ
Timer
Time assignment
2SWLRQDO *770 3URKLELWHG &3 *HWWLPH
YDULDEOH
2SWLRQDO %7;; 6WDUWRXWSXWIODJ (QGRXWSXWIODJ &3 2XWSXWIODJ>212)17@
Optional BTPN Output port, flag TiPHUVHWWLQJ &3 2XWSXW21SXOVH
Optional BTPF Output port, flag TiPHUVHWWLQJ &3 2XWSXW2))SXOVH
2SWLRQDO :7;; ,2IODJ (Wait time) TU :DLWIRU,2IODJ>212)@
,2IODJ 2SWLRQDO ,1 +HDG,2IODJ (QG,2IODJ && ,QSXWELQDU\ELWVPD[
operation 2SWLRQDO ,1% +HDG,2IODJ &RQYHUVLRQGLJLWV && ,QSXW%&'GLJLWVPD[
2SWLRQDO 287 +HDGRXWSXWIODJ (QG,2IODJ && 2XWSXWELQDU\ELWVPD[
2SWLRQDO 287% +HDGRXWSXWIODJ &RQYHUVLRQGLJLWV && 2XWSXW%&'GLJLWVPD[
6HW,1%287%
Optional FMIO Format type Prohibited CP
command format
76
Part 4 Commands

CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2
Jump-destination tag
Optional GOTO Prohibited CP Jump 112
number
Prohibited TAG Declaration tag number Prohibited CP Declare jump destination 112
Program Execution subroutine
control Optional EXSR Prohibited CP Execute subroutine 113
number
Declaration subroutine
Prohibited BGSR Prohibited CP Start subroutine 113
number
Prohibited EDSR Prohibited Prohibited CP End subroutine 114
Optional EXIT Prohibited Prohibited CP End program 115
Execution program (Execution program
Optional EXPG CC Start program 116
number number)
Task
management Optional ABPG Stop program number (Stop program number) CC Stop other program 117
Optional SSPG Pause program number (Pause program number) CC Pause program 118
Resumption program (Resumption program
Optional RSPG CC Resume program 119
number number)
Optional PGET Axis number Position number CC Assign position to variable 199 120
Optional PPUT Axis number Position number CP Assign value of variable 199 121
Optional PCLR Start position number End position number CP Clear position data 122
Copy-destination Copy-source position
Optional PCPY CP Copy position data 123
position number number
Save-destination position
Optional PRED Read axis pattern CP Read current axis position 124
number
Read current axis position (1
Optional PRDQ Axis number Variable number CP 125
axis direct)
Confirmation axis Confirmation position
Optional PTST CC Confirm position data 126
pattern number
Position Assignment-destination
operation Optional PVEL Speed [mm/sec] CP Assign position speed 127
position number
Assignment-destination
Optional PACC Acceleration [G] CP Assign position acceleration 128
position number
Assignment-destination
Optional PDCL Deceleration [G] CP Assign position deceleration 129
position number
Axis-pattern assignment
Optional PAXS Position number CP Read axis pattern 130
variable number
Size assignment
Optional PSIZ CP Confirm position size 131
variable number
Optional GVEL Variable number Position number CP Get speed data 132
Optional GACC Variable number Position number CP Get acceleration data 133
Optional GDCL Variable number Position number CP Get deceleration data 134
Optional VEL Speed [mm/sec] Prohibited CP Set speed 135
Optional OVRD Speed ratio [%] Prohibited CP Set speed coefficient 136
Optional ACC Acceleration [G] Prohibited CP Set acceleration 137
Optional DCL Deceleration [G] Prohibited CP Set deceleration 138
Optional SCRV Ratio [%] Prohibited CP Set sigmoid motion ratio 139
Optional OFST Setting axis pattern Offset value [mm] CP Set offset 140
Optional DEG Division angle [deg] Prohibited CP Set division angle 141
Optional BASE Reference axis number Prohibited CP Set reference axis 142
Actuator
control Optional GRP Valid axis pattern Prohibited CP Set group axes 143
declaration Optional HOLD (Input port to pause) (HOLD type) CP Declare port to pause 144
Optional NBND Axis pattern Near band CP Set near band 145
Optional CANC (Input port to abort) (CANC type) CP Declare port to abort 146
Optional VLMX Prohibited Prohibited CP Specify VLMX speed 147
Optional DIS Distance Prohibited CP Set spline division distance 148
Optional POTP 0 or 1 Prohibited CP Set PATH output type 149
Set PUSH command distance,
Optional PAPR Distance Speed CP 150
speed
Optional QRTN 0 or 1 Prohibited CP Set quick-return mode 151
77
Part 4 Commands

Optional SVXX Operation axis pattern Prohibited PE Servo [ON, OF] 155
Optional HOME Home-return axis pattern Prohibited PE Return to home 156
Optional MOVP Destination position number Prohibited PE Move to specified position 157
Move to specified position via
Optional MOVL Destination position number Prohibited PE 158
interpolation
Optional MVPI Travel position number Prohibited PE Move to relative position 159
Move to relative position via
Optional MVLI Travel position number Prohibited PE 160
interpolation
Optional PATH Start position number End position number PE Move along path 161
Optional JXWX Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF] 162
Optional STOP Axis stop pattern Prohibited CP Decelerate and stop axis 163
Optional PSPL Start position number End position number PE Move along spline 164
Optional PUSH Target position number Prohibited PE Move by push motion 165
Passing position 2 Move along circle 2 (arc
Optional CIR2 Passing position 1 number PE 167
number interpolation)
Move along arc 2 (arc
Optional ARC2 Passing position number End position number PE 168
interpolation)
Passing position 2 Move three-dimensionally along
Optional CIRS Passing position 1 number PE 169
Actuator number circle
control Passing position Move three-dimensionally along
Optional ARCS Passing position number PE 170
command number arc
Optional CHVL Axis pattern Speed CP Change speed 171
Move along arc via specification
Optional ARCD End position number Center angle [deg] PE 172
of end position and center angle
Move along arc via specification
Optional ARCC Center position number Center angle [deg] PE of center position and center 173
angle
Optional PBND Axis pattern Distance CP Set positioning band 174
Wait for end of operation of
Optional PEND Prohibited Prohibited PE 175
axes used by current program
Passing position 2 Move along circle (CIR2 is
Optional CIR Passing position 1 number PE 176
number recommended)
Move along arc (ARC2 is
Optional ARC Passing position number End position number PE 177
recommended)
Refer to the page on palletizing for commands relating to arch motion.
Optional ARCH Position number Position number PE Arch motion 230
Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 220
Optional ATRG Position number Position number CP Set arch trigger 221
Optional AEXT (Position number) Prohibited CP Set arch-motion composition 222
Optional OFAZ Offset value Prohibited CP Set arch-motion Z-axis offset 222
Compare [EQ, NE, GT, GE, LT,
Optional IFXX Comparison variable Comparison value CP 178
LE]
Column number,
Optional ISXX Column number CP Compare strings 179
Structural character literal
IF Declare execution destination
Prohibited ELSE Prohibited Prohibited CP when IF command condition is 180
not satisfied
Prohibited EDIF Prohibited Prohibited CP Declare end of IF 180
Optional DWXX Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE] 181
Structural Optional LEAV Prohibited Prohibited CP Pull out from DO 181
DO Optional ITER Prohibited Prohibited CP Repeat DO 182
Prohibited EDDO Prohibited Prohibited CP Declare end of DO 182
Optional SLCT Prohibited Prohibited CP Declare start of multi-branching 183
Branch value [EQ, NE, GT, GE,
Prohibited WHXX Comparison variable Comparison value CP 184
LT, LE]
Multi- Column number, Branch character string [EQ,
Prohibited WSXX Column number CP 185
branching character literal NE]
Declare branching destination
Prohibited OTHE Prohibited Prohibited CP 186
when condition is not satisfied
Prohibited EDSL Prohibited Prohibited CP Declare end of SLCT 186
78
Part 4 Commands


System Optional AXST Variable number Axis number CP Get axis status 187
information Optional PGST Variable number Program number CP Get program status 188
acquisition Optional SYST Variable number Prohibited CP Get system status 189
Optional WZNA Zone number Axis pattern CP Wait for zone ON, with AND 190
Optional WZNO Zone number Axis pattern CP Wait for zone ON, with OR 191
Zone
Optional WZFA Zone number Axis pattern CP Wait for zone OFF, with AND 192
Optional WZFO Zone number Axis pattern CP Wait for zone OFF, with OR 193
Optional OPEN Channel number Prohibited CP Open channel 194
Optional CLOS Channel number Prohibited CP Close channel 194
Communica Optional READ Channel number Column number CC Read from channel 195
tion Optional TMRD Timer setting Prohibited CP Set READ timeout value 196
Optional WRIT Channel number Column number CP Output to channel 197
Optional SCHA Character code Prohibited CP Set end character 198
Column number,
Optional SCPY Column number CC Copy character string 199
character literal
Column number,
Optional SCMP Column number EQ Compare character strings 200
character literal
Column number,
Optional SGET Variable number CP Get character 201
character literal
Optional SPUT Column number Data CP Set character 202
1201 Convert character string;
Optional STR Column number Data CC 203
199 decimal
Convert character string;
Optional STRH Column number Data CC 204
hexadecimal
Column number, Convert character string data;
Optional VAL Variable number CC 205
character literal decimal
Column number, Convert character string data;
Optional VALH Variable number CC 206
character literal hexadecimal
Optional SLEN Character string length Prohibited CP Set length 207
79
Part 4 Commands


Declare start of palletizing
Optional BGPA Palletizing number Prohibited CP 208
setting
Declare end of palletizing
Prohibited EDPA Prohibited Prohibited CP 208
setting
Optional PAPI Count Count CP Set palletizing counts 209
Optional PAPN Pattern number Prohibited CP Set palletizing pattern 209
Optional PASE Axis number Axis number CP Set palletizing axes 210
Optional PAPT Pitch Pitch CP Set palletizing pitches 210
Optional PAST (Position number) Prohibited CP Set palletizing reference point 211
(Palletizing position Set 3 palletizing points for
Optional PAPS Position number CP 212
setting type) teaching
Optional PSLI Offset amount (Count) CP Set zigzag 216
Optional PCHZ (Axis number) Prohibited CP Set palletizing Z-axis 217
Optional PTRG Position number Position number CP Set palletizing arch triggers 218
Optional PEXT (Position number) Prohibited CP Set palletizing composition 219
Optional OFPZ Offset amount Prohibited CP Set palletizing Z-axis offset 219
Palletizing- Optional ACHZ Axis number Prohibited CP Declare arch-motion Z-axis 220
related Optional ATRG Position number Position number CP Set arch triggers 221
Optional AEXT (Position number) Prohibited CP Set arch-motion composition 222
Optional OFAZ Offset amount Prohibited CP Set arch-motion Z-axis offset 222
Optional PTNG Palletizing number Variable number CP Get palletizing position number 223
Increment palletizing position
Optional PINC Palletizing number Prohibited CC 223
number by 1
Decrement palletizing position
Optional PDEC Palletizing number Prohibited CC 224
number by 1
Set palletizing position number
Optional PSET Palletizing number Data CC 224
directly
Optional PARG Palletizing number Axis number CP Get palletizing angle 225
Optional PAPG Palletizing number Position number CP Get palletizing calculation data 225
Move to palletizing points via
Optional PMVP Palletizing number (Position number) PE 226
PTP
Optional PMVL Palletizing number (Position number) PE 227
interpolation
Optional PACH Palletizing number Position number PE Palletizing-point arch motion 228
Optional ARCH Position number Position number PE Arch motion 230
Extension conditions LD (LOAD), A (AND), O (OR), AB (AND BLOCK) and OB (OR BLOCK) are supported.
Optional CHPR 0 or 1 Prohibited CP Change task level 232
Specify processing to be
Building of Prohibited TPCD 0 or 1 Prohibited CP performed when input condition 232
pseudo- is not specified
ladder task Prohibited TSLP Time Prohibited CP Task sleep 233
See
Optional OUTR Output, flag number Prohibited CP Output relay for ladder
256
See
Optional TIMR Local flag number Timer setting CP Timer relay for ladder
256
80
Part 4 Commands
1. Alphabetical Order
CC: Command was executed successfully, EQ: Operand 1 = Operand 2, NE: Operand 1 z Operand 2,
ZR: Operation result is zero, PE: Operation is complete, GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2,
CP: Command part has passed, TU: Time up LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2
Command Page Condition Operand 1 Operand 2 Output Function
A
ABPG 117 Optional Stop program number (Stop program number) CC Stop other program
ACC 137 Optional Acceleration Prohibited CP Set acceleration
ACHZ 220 Optional Axis number Prohibited CP Declare arch-motion Z-axis
ADD 88 Optional Augend variable Addend ZR Add
AEXT 222 Optional (Position number) Prohibited CR Set arch-motion composition
AND 94 Optional AND operand variable Operand ZR Logical AND
ARC 177 Optional Passing position number End position number PE Move along arc
ARC2 168 Optional Passing position number End position number PE Move along arc 2
Center position number Move along arc via specification of
ARCC 173 Optional Center angle PE
center position and center angle
End position number Move along arc via specification of
ARCD 172 Optional Center angle PE
end position and center angle
ARCH 230 Optional Position number Position number PE Arch motion
ARCS 170 Optional Passing position number Passing position number PE Move four-dimensionally along arc
Inverse-tangent assignment Inverse tangent
ATN 92 Optional Operand ZR
variable
ATRG 221 Optional Position number Position number CP Set arch triggers
AXST 187 Optional Variable number Axis number CP Get axis status
B
BASE 142 Optional Reference axis number Prohibited CP Set reference axis
BGPA 208 Optional Palletizing number Prohibited CP Declare start of palletizing setting
Declaration subroutine Start subroutine
BGSR 113 Prohibited Prohibited CP
number
BTPF 103 Optional Output port, flag Timer setting CP Output OFF pulse
BTPN 102 Optional Output port, flag Timer setting CP Output ON pulse
BTXX 101 Optional Start output, flag (End output, flag) CP Output, flag [ON, OF, NT]
C
CANC 145 Optional (Input port to abort) (CANC type) CP Declare port to abort
CHPR 232 Optional 0 or 1 Prohibited CP Change task level
CHVL 171 Optional Axis pattern Speed CP Change speed
CIR 176 Optional Passing position 1 number Passing position 2 number PE Move along circle
CIR2 167 Optional Passing position 1 number Passing position 2 number PE Move along circle 2
CIRS 169 Optional Passing position 1 number Passing position 2 number PE Move three-dimensionally along circle
CLOS 194 Optional Channel number Prohibited CP Close channel
CLR 87 Optional Start-of-clear variable End-of-clear variable ZR Clear variable
COS 91 Optional Cosine assignment variable Operand ZR Cosine
Comparison variable EQ NE GT Compare
CPXX 97 Optional Comparison value GE LT LE
D
DCL 138 Optional Deceleration Prohibited CP Set deceleration
DEG 141 Optional Division angle Prohibited CP Set division angle
DIS 147 Optional Distance Prohibited CP Set spline division distance
DIV 89 Optional Dividend variable Divisor ZR Divide
DWXX 181 Optional Comparison variable Comparison value CP Loop [EQ, NE, GT, GE, LT, LE]
81
Part 4 Commands

E
EDDO 182 Prohibited Prohibited Prohibited CP Declare end of DO
EDIF 180 Prohibited Prohibited Prohibited CP Declare end of IF
EDPA 208 Prohibited Prohibited Prohibited CP Declare end of palletizing setting
EDSL 186 Prohibited Prohibited Prohibited CP Declare end of SLCT
EDSR 114 Prohibited Prohibited Prohibited CP End subroutine
Declare execution destination when
ELSE 180 Prohibited Prohibited Prohibited CP
IF command condition is not satisfied
Exclusive-OR operand Logical exclusive-OR
EOR 96 Optional Operand ZR
variable
EXIT 115 Optional Prohibited Prohibited CP End program
Execution program number (Execution program Start program
EXPG 116 Optional CC
number)
Execution subroutine Execute subroutine
EXSR 113 Optional Prohibited CP
number
F
Format type
FMIO 109 Optional Prohibited CP Set IN (B)/OUT (B) command format
G
GACC 133 Optional Variable number Position number CP Get acceleration data
GDCL 134 Optional Variable number Position number CP Get deceleration data
Jump destination tag Jump
GOTO 112 Optional Prohibited CP
number
GRP 143 Optional Valid axis pattern Prohibited CP Set group axis
GTTM 100 Optional Time assignment variable Prohibited CP Get time
GVEL 132 Optional Variable number Position number CP Get speed data
H
HOLD 144 Optional (Input port to pause) (HOLD type) CP Declare port to pause
HOME 156 Optional Home-return axis pattern Prohibited PE Return to home
I
IFXX 178 Optional Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE]
INB 106 Optional Head I/O, flag Conversion digits CC Input BCD (8 digits max.)
IN 105 Optional Head I/O, flag End I/O, flag CC Input binary (32 bits max.)
Column number, character Compare strings
ISXX 179 Optional Column number CP
literal
ITER 182 Optional Prohibited Prohibited CP Repeat DO
JXWX 162 Optional Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF]
L
LEAV 181 Optional Prohibited Prohibited CP Pull out from DO
LET 86 Optional Assignment variable Assigned value ZR Assign
M
Remainder assignment Calculate remainder
MOD 90 Optional Divisor ZR
variable
Destination position number Move to specified position via
MOVL 158 Optional Prohibited PE
interpolation
MOVP 157 Optional Destination position number Prohibited PE Move to specified position
MULT 89 Optional Multiplicand Multiplier ZR Multiply
Travel position number Move to relative position via
MVLI 160 Optional Prohibited PE
interpolation
MVPI 159 Optional Travel position number Prohibited PE Move to relative position
82
Part 4 Commands

O
OFAZ 222 Optional Offset amount Prohibited CP Set arch motion Z-axis offset
OFPZ 219 Optional Offset amount Prohibited CP Set palletizing Z-axis offset
OFST 140 Optional Setting axis pattern Offset value CP Set offset
OPEN 194 Optional Channel number Prohibited CP Open channel
OR 95 Optional OR operand variable Operand ZR Logical OR
Declare branching destination when
OTHE 186 Prohibited Prohibited Prohibited CP
condition is not satisfied
OUT 107 Optional Head output, flag End I/O, flag CC Output binary (32 bits max.)
OUTB 108 Optional Head output, flag Conversion digits CC Output BCD (8 digits max.)
OUTR 256 Optional Output, flag number Prohibited CP Output relay for ladder
OVRD 136 Optional Speed ratio Prohibited CP Set speed ratio
P
Acceleration Assignment-destination Assign position acceleration
PACC 128 Optional CP
position number
PACH 228 Optional Palletizing number Position number PE Palletizing-point arch motion
PAPG 225 Optional Palletizing number Position number CP Get palletizing calculation data
PAPI 209 Optional Count Count CP Set palletizing counts
PAPN 209 Optional Pattern number Prohibited CP Set palletizing pattern
PAPR 149 Optional Distance Speed CP Set PUSH command distance, speed
Position number (Palletizing position setting Set 3 palletizing points for teaching
PAPS 212 Optional CP
type)
PAPT 210 Optional Pitch Pitch CP Set palletizing pitches
PARG 225 Optional Palletizing number Axis number CP Get palletizing angle
PASE 210 Optional Axis number Axis number CP Set palletizing axes
PAST 211 Optional (Position number) Prohibited CP Set palletizing reference point
PATH 161 Optional Start position number End position number PE Move along path
Axis-pattern assignment Read axis pattern
PAXS 130 Optional Position number CP
variable number
PBND 174 Optional Axis pattern Distance CP Set positioning band
PCHZ 217 Optional (Axis number) Prohibited CP Set palletizing Z-axis
PCLR 122 Optional Start position number End position number CP Clear position data
Copy-destination position Copy-source position Copy position data
PCPY 123 Optional CP
number number
Deceleration Assignment-destination Assign position deceleration
PDCL 129 Optional CP
position number
Prohibited Decrement palletizing position
PDEC 224 Optional Palletizing number CC
number by 1
PEXT 219 Optional Position number Prohibited CP Set palletizing composition
PGET 120 Optional Axis number Position number CC Assign position to variable 199
PAST 188 Optional Variable number Program number CP Get program status
Increment palletizing position number
PINC 223 Optional Palletizing number Prohibited CC
by 1
PMVL 227 Optional Palletizing number (Position number) PE
interpolation
PMVP 226 Optional Palletizing number (Position number) PE Move to palletizing points via PTP
POTP 148 Optional 0 or 1 Prohibited CP Set PATH output type
PPUT 121 Optional Axis number Position number CP Assign value of variable 199
Read current axis position (1 axis
PRDQ 125 Optional Axis number Variable number CP
direct)
Save-destination position Read current axis position
PRED 124 Optional Read axis pattern CP
number
Data Set palletizing position number
PSET 224 Optional Palletizing number CC
directly
Size assignment variable Confirm position size
PSIZ 131 Optional CP
number
PSLI 216 Optional Offset amount (Count) CP Set zigzag
PSPL 160 Optional Start position number End position number PE Move along spline
PTNG 223 Optional Palletizing number Variable number CP Get palletizing position number
83
Part 4 Commands

P
PTRG 218 Optional Position number Position number CP Set palletizing arch triggers
Confirmation axis pattern Confirmation position Confirm position data
PTST 126 Optional XP
number
PUSH 165 Optional Target position number Prohibited PE Move by push motion
Speed Assignment-destination Assign position speed
PVEL 127 Optional CP
position number
Q
0 or 1
QRTN 150 Optional Prohibited CP Set quick-return mode
R
READ 195 Optional Channel number Column number CC Read from channel
Resumption program (Resumption program Resume program
RSPG 119 Optional CC
number number)
S
SCHA 198 Optional Character code Prohibited CP Set send/receive end character
Column number, character Compare character strings
SCMP 200 Optional Column number EQ
literal
Column number, character Copy character string
SCPY 199 Optional Column number CC
literal
SCRV 139 Optional Ratio Prohibited CP Set sigmoid motion ratio
Variable number Column number, character Get character
SGET 201 Optional CP
literal
SIN 91 Optional Sine assignment variable Operand ZR Sine
SLCT 183 Optional Prohibited Prohibited CP Declare start of multi-branching
SLEN 207 Optional Character string length Prohibited CP Set length
SPUT 202 Optional Column number Data CP Set character
SQR 93 Optional Root assignment variable Operand ZR Root
SSPG 118 Optional Pause program number (Pause program number) CC Pause program
STOP 163 Optional Axis stop pattern Prohibited CP Decelerate and stop axis
STR 203 Optional Column number Data CC Convert character string; decimal
Convert character string;
STRH 204 Optional Column number Data CC
hexadecimal
SUB 88 Optional Minuend variable Subtrahend ZR Subtract
SVXX 155 Optional Operation axis pattern Prohibited PE Servo [ON, OF]
SYST 189 Optional Variable number Prohibited CP Get system status
84
Part 4 Commands

T
TAG 112 Prohibited Declaration tag number Prohibited CP Jump destination
Tangent assignment Tangent
TAN 92 Optional Operand ZR
variable
TIMC 99 Optional Program number Prohibited CP Cancel waiting
TIMR 98 Optional Local flag number Timer setting CP Timer relay for ladder
TIMW 98 Optional Wait time Prohibited TU Wait
TMRD 196 Optional Timer setting Prohibited CP Set READ timeout value
0 or 1 Prohibited Specify processing to be performed
TPCD 232 Prohibited CP
when input condition is not specified
TRAN 86 Optional Copy-destination variable Copy-source variable ZR Copy
TSLP 233 Prohibited Time Prohibited CP Task sleep
V205
Column number, character Convert character string data;
VAL206 205 Optional Variable number CC
literal decimal
Variable number Column number, character Convert character string data;
VALH135 206 Optional CC
literal hexadecimal
VEL145 135 Optional Speed Prohibited CP Set speed
VLMX 145 Optional Prohibited Prohibited CP Specify VLMX speed
W
Comparison variable Branch value [EQ, NE, GT, GE, LT,
WHXX 184 Prohibited Comparison value CP
LE]
WRIT 197 Optional Channel number Column number CC Output to channel
Column number Column number, character Branch character string [EQ, NE]
WSXX 185 Prohibited CP
literal
WTXX 104 Optional I/O, flag (Wait time) TU Wait for I/O, flag [ON, OF]
WZFA 192 Optional Zone number Axis pattern CP Wait for zone OFF, with AND
WZFO 193 Optional Zone number Axis pattern CP Wait for zone OFF, with OR
WZNA 190 Optional Zone number Axis pattern CP Wait for zone ON, with AND
WZNO 191 Optional Zone number Axis pattern CP Wait for zone ON, with OR
85
Part 4 Commands
Chapter 2 Explanation of Commands
1. Commands
1.1 Variable Assignment
z LET (Assign)
Command,
(LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag)
declaration
Variable
Optional Optional LET Data ZR
number
[Function] Assign the value specified in operand 2 to the variable specified in operand 1.
The output will turn ON when 0 is assigned to the variable specified in operand 1.
[Example 1] LET 1 10 Assign 10 to variable 1.

LET 3 10 Assign 10 to variable 3.
LET *1 *3 Assign the content of variable 3 (10) to the
variable of the content of variable 1 (variable 2).
z TRAN (Copy)
Command,
declaration
Variable Variable
Optional Optional TRAN ZR
number number
[Function] Assign the content of the variable specified in operand 2 to the variable specified in
operand 1.
[Example 1] TRAN 1 2 Assign the content of variable 2 to variable 1.
LET 1 *2 A LET command of the same effect as the above

operation

TRAN *1 *3 Assign the content of variable 3 (which is variable
4, or 10) to the variable of the content of variable 1
(variable 2).
The variables change as follows:
1 2 3 4 1 2 3 4
2 3 4 10 o 2 10 4 10
86
Part 4 Commands
z CLR (Clear variable)

F condition (LD, A, Input condition Output
Command,
O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag)
declaration
Variable Variable
Optional Optional CLR ZR
number number
[Function] Clear the variables from the one specified in operand 1 through the other specified in
operand 2.
The contents of the variables that have been cleared become 0.
[Example 1] CLR 1 5 Clear variables 1 through 5.

CLR *1 *2 Clear the variables from the content of variable 1
(variable 10) through the content of variable 2
(variable 20).
87
Part 4 Commands
1.2 Arithmetic Operation
z ADD (Add)
Command,
declaration
Variable
Optional Optional ADD Data ZR
number
[Function] Add the content of the variable specified in operand 1 and the value specified in operand
2, and assign the result to the variable specified in operand 1.
The output will turn ON when the operation result becomes 0.

ADD 1 2 Add 2 to the content of variable 1 (3).
5 (3+2=5) will be stored in variable 1.

ADD *1 *3 Add the content of variable 3 (2) to the content of
variable 1 (variable 2).
5 (3+2=5) will be stored in variable 2.
z SUB (Subtract)
Command,
declaration
Variable
Optional Optional SUB Data ZR
number
[Function] Subtract the value specified in operand 2 from the content of the variable specified in
operand 1, and assign the result to the variable specified in operand 1.

SUB 1 2 Subtract 2 from the content of variable 1 (3).
± ZLOOEHVWRUHGLQYDULDEOH

SUB *1 *3 Subtract the content of variable 3 (2) from the
content of variable 1 (variable 2).
± ZLOOEHVWRUHGLQYDULDEOH
88
Part 4 Commands
z MULT (Multiply)
Command,
declaration
Variable
Optional Optional MULT Data ZR
number
[Function] Multiply the content of the variable specified in operand 1 by the value specified in
operand 2, and assign the result to the variable specified in operand 1.

MULT 1 2 Multiply the content of variable 1 (3) by 2.
6 (3x2=6) will be stored in variable 1.

MULT *1 *3 Multiply the content of variable 1 (variable 2) by
the content of variable 3 (2).
6 (3x2=6) will be stored in variable 2.
z DIV (Divide)
Command,
declaration
Variable
Optional Optional DIV Data ZR
number
[Function] Divide the content of the variable specified in operand 1 by the value specified in operand
2, and assign the result to the variable specified in operand 1.
(Note) If the variable specified in operand 1 is an integer variable, any decimal places will be
rounded off.

DIV 1 2 Divide the content of variable 1 (6) by 2.
3 (6y2=3) will be stored in variable 1.

DIV *1 *3 Divide the content of variable 1 (variable 2) by the
content of variable 3 (2).
3 (6y2=3) will be stored in variable 2.
89
Part 4 Commands
z MOD (Remainder of division)

Command,
declaration
Variable
Optional Optional MOD Data ZR
number
[Function] Assign, to the variable specified in 1, the remainder obtained by dividing the content of
the variable specified in operand 1 by the value specified in operand 2.
(Note) A MOD command is used with integer variables.

MOD 1 3 Obtain the remainder of dividing the content of
variable 1 (7) by 3.
1 (7y3=2 with a remainder of 1) will be assigned to
variable 1.

MOD *1 *3 Obtain the remainder of dividing the content of
variable 1 (variable 2) by the content of variable 3
(3).
1 (7y3=2 with a remainder of 1) will be assigned to
variable 2.
90
Part 4 Commands
1.3 Function Operation
z SIN (Sine operation)

Command,
declaration
Variable
Optional Optional SIN Data ZR
number
[Function] Assign the sine of the data specified in operand 2 to the variable specified in operand 1.
The setting in operand 1 must be a real variable in a range of 100 to 199, 1100 to 1199, 300
to 399 or 1300 to 1399.
The unit of data in operand 2 is radian.
(Note 1) Radian = Angle x S y 180
[Example 1] SIN 100 0.523599 Assign the sine of 0.523599 (0.5) to variable 100.

LET 101 30 30 x S y 180 (radian)
MULT 101 3.141592 (30q will be converted to radian and assigned to
DIV 101 180 variable 101.)
SIN *1 *101 Assign the sine of the content of variable 101 (0.5) to
the content of variable 1 (variable 100).
z COS (Cosine operation)

Command,
declaration
Variable
Optional Optional COS Data ZR
number
[Function] Assign the cosine of the data specified in operand 2 to the variable specified in operand 1.
to 399 or 1300 to 1399.
[Example 1] COS 100 1.047197 Assign the cosine of 1.047197 (0.5) to variable 100.

LET 101 60 60 x S y 180 (radian)
COS *1 *101 Assign the cosine of the content of variable 101 (0.5)
to the content of variable 1 (variable 100).
91
Part 4 Commands
z TAN (Tangent operation)

Command,
declaration
Variable
Optional Optional TAN Data ZR
number
[Function] Assign the tangent of the data specified in operand 2 to the variable specified in operand 1.
to 399 or 1300 to 1399.
[Example 1] TAN 100 0.785398 Assign the tangent of 0.785398 (1) to variable 100.

LET 101 45 45 x S y 180 (radian)
TAN *1 *101 Assign the tangent of the content of variable 101 (1)
to the content of variable 1 (variable 100).
z ATN (Inverse-tangent operation)

Command,
declaration
Variable
Optional Optional ATN Data ZR
number
[Function] Assign the inverse tangent of the data specified in operand 2 to the variable specified in
operand 1.
to 399 or 1300 to 1399.
The unit of inverse tangent is radian.
[Example 1] ATN 100 1 Assign the inverse tangent of 1 (0.785398) to

variable 100.

ATN *1 *101 Assign the inverse tangent of the content of variable
101 (0.785398) to the content of variable 1 (variable
100).
92
Part 4 Commands
z SQR (Root operation)

Command,
declaration
Variable
Optional Optional SQR Data ZR
number
[Function] Assign the root of the data specified in operand 2 to the variable specified in operand 1.
[Example 1] SQR 1 4 Assign the root of 4 (2) to variable 1.

SQR *1 *2 Assign the root of the content of variable 2 (4) to the
93
Part 4 Commands
1.4 Logical Operation
z AND (Logical AND)

Command,
declaration
Variable
Optional Optional AND Data ZR
number
[Function] Assign the logical AND operation result of the content of the variable specified in operand 1
and the value specified in operand 2, to the variable specified in operand 1.

AND 1 170 Assign the logical AND operation result (136) of the
content of variable 1 (204) and 170, to variable 1.

AND *1 *3 Assign the logical AND operation result (136) of the
content of variable 1 (which is variable 2, or 204) and
the content of variable 3 (170), to the content of
Decimal Binary
204 11001100
AND 170 AND 10101010
136 10001000
94
Part 4 Commands
z OR (Logical OR)
Command,
declaration
Variable
Optional Optional OR Data ZR
number
[Function] Assign the logical OR operation result of the content of the variable specified in operand 1
and the value specified in operand 2, to the variable specified in operand 1.

OR 1 170 Assign the logical OR operation result (238) of the
content of variable 1 (204) and 170, to variable 1.

OR *1 *3 Assign the logical OR operation result (238) of the
content of variable 1 (which is variable 2, or 204) and
the content of variable 3 (170), to the content of
Decimal Binary
204 11001100
OR 170 OR 10101010
238 11101110
95
Part 4 Commands
z EOR (Logical exclusive-OR)

Command,
declaration
Variable
Optional Optional EOR Data ZR
number
[Function] Assign the logical exclusive-OR operation result of the content of the variable specified in
operand 1 and the value specified in operand 2, to the variable specified in operand 1.

EOR 1 170 Assign the logical exclusive-OR operation result
(102) of the content of variable 1 (204) and 170, to
variable 1.

EOR *1 *3 Assign the logical exclusive-OR operation result
(102) of the content of variable 1 (which is variable 2,
or 204) and the content of variable 3 (170), to the
Decimal Binary
204 11001100
EOR 170 EOR 10101010
102 01100110
96
Part 4 Commands
1.5 Comparison Operation
z CPXX (Compare)
Command,
declaration
EQ NE
Variable
Optional Optional CPXX Data GT GE
number LT LE
[Function] The output will be turned ON if the comparison result of the content of the variable specified
in operand 1 and the value specified in operand 2 satisfies the condition.
The value in the variable does not change.
The output will be turned OFF if the condition is not satisfied.
(Note) If the main application version is 0.32 or earlier, the output will be turned OFF when the
command is executed.
If the main application version is 0.33 or later, the output will not be turned OFF when the
command is executed.
CPXX
EQ Operand 1 = Operand 2
NE Operand 1 z Operand 2
GT Operand 1 > Operand 2
GE Operand 1 t Operand 2
LT Operand 1 < Operand 2
LE Operand 1 d Operand 2

CPEQ 1 10 600 Turn ON flag 600 if the content of variable 1
is 10.
600 ADD 2 1 Add 1 to variable 2 if flag 600 is ON.

CPEQ *1 *3 310 Turn ON output 310 if the content of variable
1 (variable 2) is equal to the content of
variable 3.
97
Part 4 Commands
1.6 Timer
z TIMW (Timer)
Command,
declaration
Optional Optional TIMW Time Prohibited TU
[Function] Stop the program and wait for the time specified in operand 1.
The setting range is 0.01 to 99, and the unit is second.
The output will turn ON when the specified time has elapsed and the program proceeds to
the next step.
[Example 1] TIMW 1.5 Wait for 1.5 seconds.

TIMW *1 Wait for the content of variable 1 (10 seconds).
[Example 3]
MOVP 1
Move to position No. 1, wait for 2 seconds, and move
TIMW 2
to position No. 2.
MOVP 2

98
Part 4 Commands
z TIMC (Cancel timer)

Command,
declaration
Program
Optional Optional TIMC Prohibited CP
number
[Function] Cancel a timer in other program running in parallel.
(Note) Timers in TIMW, WTON, WTOF and READ commands can be cancelled. In the case of
WTON, WTOF and READ commands, even if timeout is not specified it is assumed that an
unlimited timer has been specified and the wait time will be cancelled.
[Example 1] TIMC 10 Cancel the wait time in program 10.

TIMC *1 Cancel the wait time in the content of variable 1
(program 10).
[Example 3] Program 1 Program 10
: :
: WTON 8 20 Program 10 waits for input 8 for 20 seconds.
: (Wait for input 8)
TIMC 10 (Wait for input 8) Cancel the wait time in program 10.
: :
(Note) The steps shown in the above example represent those executed simultaneously in different
programs.
99
Part 4 Commands
z GTTM (Get time)

Command,
declaration
Variable
Optional Optional GTTM Prohibited CP
number
[Function] Read system time to the variable specified in operand 1. The time is specified in units of 10
milliseconds.
The time obtained here has no base number. Therefore, this command is called twice and
the difference will be used to calculate the elapsed time.
[Example 1] GTTM 1 Read the reference time to variable 1.

ADD 1 500 Set the ending time to 5 seconds later.
GTTM 2 Read the current system time to variable 2.
DWLE 2 *1 Proceed to the step next to EDDO when 5 seconds elapsed.
: The above process will be repeated for 5 seconds.
:
GTTM 2 Read the current system time to variable 2.
EDDO

GTTM *1 Store the current system time in the content of variable 1
(variable 5).
[Example 3] GTTM 200

~
GTTM 201
SUB 201 *200 Store the tact time in this section in variable 201.
100
Part 4 Commands
1.7 I/O, Flag Operation
z BTXX (Output port, flag operation)

Command,
declaration
(Output,
Optional Optional BTXX Output, flag CP
flag)
[Function] Reverse the ON/OFF status of the output ports or flags from the one specified in operand 1
through the other specified in operand 2.
BTXX
ON Switch the status to ON.
OF Switch the status to OFF.
NT Reverse the status.
[Example 1] BTON 300 Turn ON output port 300.
[Example 2] BTOF 300 307 Turn OFF output ports 300 through 307.

BTNT *1 Reverse the content of variable 1 (flag 600).

BTON *1 *2 Turn ON the flags from the content of variable 1 (flag
600) through the content of variable 2 (flag 607).
101
Part 4 Commands
z BTPN (Output ON pulse)

Command,
declaration
Output Timer
Optional Optional BTPN CP
port, flag setting
[Function] Turn ON the specified output port or flag for the specified time.
When this command is executed, the output port or flag specified in operand 1 will be turned
ON and then the program will proceed to the next step. The output port or flag will be turned
OFF automatically upon elapse of the timer setting specified in operand 2.
The timer is set in a range from 0.01 to 99.00 seconds (including up to two decimal places).
Timer setting (seconds)
ON
OFF
The output port or flag turns ON here, after

which the program will proceed to the next step.
(Note 1) If this command is executed with respect to an output port or flag already ON, the output
port or flag will be turned OFF upon elapse of the timer setting.
(Note 2) If the program ends after the command has been executed but before the timer is up, the
output port or flag will not be turned OFF.
(Note 3) This command will not be cancelled by a TIMC command.
(Note 4) A maximum of 16 timers, including BTPN and BTPF, can be operated simultaneously in a
single program. (There is no limitation as to how many times these timers can be used in a
single program.)
[Example] BTPN 300 1 Turn ON output port 300 for 1 second.

BTPN 600 10 Turn ON flag 600 for 10 seconds.
102
Part 4 Commands
z BTPF (Output OFF pulse)

Command,
declaration
Output Timer
Optional Optional BTPF CP
port, flag setting
[Function] Turn OFF the specified output port or flag for the specified time.
When this command is executed, the output port or flag specified in operand 1 will be turned
OFF and then the program will proceed to the next step. The output port or flag will be
turned ON automatically upon elapse of the timer setting specified in operand 2.
The timer is set in a range from 0.01 to 99.00 seconds (including up to two decimal places).
Timer setting (seconds)
ON
OFF
The output port or flag turns OFF here, after

which the program will proceed to the next step.
(Note 1) If this command is executed with respect to an output port or flag already OFF, the output
port or flag will be turned ON upon elapse of the timer setting.
(Note 2) If the program ends after the command has been executed but before the timer is up, the
output port or flag will not be turned ON.
(Note 3) This command will not be cancelled by a TIMC command.
(Note 4) A maximum of 16 timers, including BTPN and BTPF, can be operated simultaneously in a
single program. (There is no limitation as to how many times these timers can be used in a
single program.)
[Example] BTPF 300 1 Turn OFF output port 300 for 1 second.
BTPF 600 10 Turn OFF flag 600 for 10 seconds.
103
Part 4 Commands
z WTXX (Wait for I/O port, flag)

Command,
declaration
Optional Optional WTXX I/O, flag (Time) TU
[Function] Wait for the I/O port or flag specified in operand 1 to turn ON/OFF.
The program can be aborted after the specified time by setting the time in operand 2.
The setting range is 0.01 to 99 seconds.
The output will turn ON upon elapse of the specified time (only when operand 2 is specified).
Note) A local flag cannot be entered in operand 1.
WTXX
ON Wait for the applicable I/O port or flag to turn ON.
OF Wait for the applicable I/O port or flag to turn OFF.
[Example 1] WTON 15 Wait for input port 15 to turn ON.
[Example 2] WTOF 308 10 Wait for 10 seconds for output port 308 to turn OFF.

WTON *1 Wait for the content of variable 1 (flag 600) to turn ON.

WTOF *1 *2 Wait for the content of variable 2 (5 seconds) for the
content of variable 1 (input port 8) to turn OFF.
104
Part 4 Commands
z IN (Read I/O, flag as binary)

Command,
declaration
Optional Optional IN I/O, flag I/O, flag CC
[Function] Read the I/O ports or flags from the one specified in operand 1 through the other specified in
operand 2, to variable 99 as a binary.
27 26 25 24 23 22 21 20 Binary
15 14 13 12 11 10 9 8 Input port number
ON OFF OFF OFF OFF ON OFF ON
1 0 0 0 0 1 0 1 Binary
7 2 0
2 + 0 + 0 + 0 + 0 + 2 + 0 + 2
128 + 0 + 0 + 0 + 0 + 4 + 0 + 1 = 133
133 Variable 99
(Note 1) A maximum of 32 bits can be input.
(Note 2) When 32 bits have been input and the most significant bit is ON, the value read to variable
99 will be treated as a negative value.
(Note 3) The read data format can be changed using a FMIO command (refer to the section on FMIO
command). (This function is available only in main application version 0.56 or later.)
[Example 1] IN 8 15 Read input ports 8 through 15, to variable 99 as a

binary.

IN *1 *2 Read the input ports from the content of variable 1
(input port 8) through the content of variable 2 (input
port 15), to variable 99 as a binary.
105
Part 4 Commands
z INB (Read I/O, flag as BCD)

Command,
declaration
Optional Optional INB I/O, flag BCD digits CC
[Function] Read the I/O ports or flags from the one specified in operand 1 for the number of digits
specified in operand 2, to variable 99 as a BCD.
Upper digit Lower digit
15 14 13 12 11 10 9 8 Input port number

8 5
85 Variable 99
(Note 1) A maximum of eight digits (32 bits) can be input.
(Note 2) The number of I/O ports and flags that can be used is 4 x n (digits).
(Note 3) The read data format can be changed using a FMIO command (refer to the section on FMIO
[Example 1] INB 8 2 Read input ports 8 through 15, to variable 99 as a

BCD.

INB *1 *2 Read the input ports from the content of variable 1
(input port 8) for the content of variable 2 (two digits)
(until input port 15), to variable 99 as a BCD.
106
Part 4 Commands
z OUT (Write output, flag as binary)

Command,
declaration
Optional Optional OUT Output, flag Output, flag CC
[Function] Write the value in variable 99 to the output ports or flags from the one specified in operand 1
through the other specified in operand 2.
133 Variable 99
Upper Lower
1 0 0 0 0 1 0 1 Binary
307 306 305 304 303 302 301 300 Output port number
(Note 1) A maximum of 32 bits can be output.
(Note 2) The write data format can be changed using a FMIO command (refer to the section on FMIO
[Example 1] OUT 300 307 Write the value in variable 99 to output ports 300
through 307 as a binary.

OUT *1 *2 Write the value in variable 99 to the output ports from
the content of variable 1 (output port 300) through the
content of variable 2 (output port 307) as a binary.
107
Part 4 Commands
z OUTB (Write output, flag as BCD)

Command,
declaration
Optional Optional OUTB Output, flag BCD digits CC
[Function] Write the value in variable 99 to the output ports or flags from the one specified in operand 1
for the number of digits specified in operand 2 as a BCD.
85 Variable 99
307 306 305 304 303 302 301 300 Output port number
(Note 1) A maximum of eight digits (32 bits) can be output.
(Note 2) The number of output ports and flags that can be used is 4 x n (digits).
(Note 3) The write data format can be changed using a FMIO command (refer to the section on FMIO
[Example 1] OUTB 300 2 Write the value in variable 99 to the output ports from
300 for two digits (until output port 307) as a BCD.

OUTB *1 *2 Write the value in variable 99 to the output ports from
the content of variable 1 (output port 300) for the
content of variable 2 (two digits) (until output port 307)
as a BCD.
108
Part 4 Commands
z FMIO (Set IN, INB, OUT, OUTB command format)

Command,
declaration
Format
Optional Optional FMIO Prohibited CP
type
[Function] Set the data format for reading or writing I/O ports and flags with an IN, INB, OUT or OUTB
command.
(1) Operand 1 = 0 (Default status when a FMIO command has not been executed)
Data is read or written without being reversed.
(I/O, flag number upper) (I/O, flag number lower)

01234567h 01h 23h 45h 67h 0000 0001 0010 0011 0100 0101 0110 0111
Variable 99 Temporary data I/O port, flag status (0 = OFF, 1 = ON)
OUT(B) command
IN(B) command
(2) Operand 1 = 1
Data is read or written after its upper eight bits and lower eight bits are reversed every
16 bits.

01234567h 23h 01h 67h 45h 0010 0011 0000 0001 0110 0111 0100 0101
Variable 99 I/O port, flag status (0 = OFF, 1 = ON)
Temporary data
OUT(B) command
IN(B) command
(3) Operand 1 = 2
Data is read or written after its upper 16 bits and lower 16 bits are reversed every 32
bits.

01234567h 45h 67h 01h 23h 0100 0101 0110 0111 0000 0001 0010 0011
Temporary data
OUT(B) command
IN(B) command
109
Part 4 Commands
(4) Operand 1 = 3
Data is read or written after its upper 16 bits and lower 16 bits are reversed every 32
bits and its upper eight bits and lower eight bits are reversed every 16 bits.

01234567h 67h 45h 23h 01h 0110 0111 0100 0101 0010 0011 0000 0001
Temporary data
OUT(B) command
IN(B) command
(Note) FMIO command is supported in main application version 0.56 or later, PC software
version 2.0.45 or later and teaching pendant version 1.13 or later.
[Example 1] Variable 99 = 00123456h (Decimal: 1193046, BCD: 123456)
OUT(B) command
00123456h Variable 99 1193046 (IN/OUT command)
IN(B) command 123456 (INB/OUTB command)
OUT(B) command IN(B) command

FMIO = 0 00h 12h 34h 56h 0000 0000 0001 0010 0011 0100 0101 0110
FMIO = 1 12h 00h 56h 34h 0001 0010 0000 0000 0101 0110 0011 0100
FMIO = 2 34h 56h 00h 12h 0011 0100 0101 0110 0000 0000 0001 0010
FMIO = 3 56h 34h 12h 00h 0101 0110 0011 0100 0001 0010 0000 0000
Temporary data OUT(B) command I/O port, flag status (0 = OFF, 1 = ON)
IN(B) command
110
Part 4 Commands
OUT(B) command

FMIO = 0 00h 00h 12h 34h 0000 0000 0000 0000 0001 0010 0011 0100
FMIO = 1 00h 00h 34h 12h 0000 0000 0000 0000 0011 0100 0001 0010
FMIO = 2 12h 34h 00h 00h 0001 0010 0011 0100 0000 0000 0000 0000
FMIO = 3 34h 12h 00h 00h 0011 0100 0001 0010 0000 0000 0000 0000
Temporary data OUT(B) command I/O port, flag status (0 = OFF, 1 = ON)
IN(B) command
OUT(B) command

FMIO = 0 00h 00h 00h 12h 0000 0000 0000 0000 0000 0000 0001 0010
FMIO = 1 00h 00h 12h 00h 0000 0000 0000 0000 0001 0010 0000 0000
FMIO = 2 00h 12h 00h 00h 0000 0000 0001 0010 0000 0000 0000 0000
FMIO = 3 12h 00h 00h 00h 0001 0010 0000 0000 0000 0000 0000 0000
Temporary data I/O port, flag status (0 = OFF, 1 = ON)
OUT(B) command
IN(B) command
111
Part 4 Commands
1.8 Program Control
z GOTO (Jump)
Command,
declaration
Tag
Optional Optional GOTO Prohibited CP
number
[Function] Jump to the position of the tag number specified in operand 1.
(Note) A GOTO command is valid only within the same program.
[Example 1] TAG 1 Set a tag.

:
:
GOTO 1 Jump to tag 1.
Using a GOTO command to branch out of or into any of the syntaxes listed below is prohibited.
Since the maximum number of nests is defined for each conditional branching command or subroutine call,
a nest will be infinitely repeated if an EDXX is not passed, and a nest overflow error will generate. In the
case of palletizing setting, an error will generate if the second BGPA is declared after the first BGPA
declaration without passing an EDPA.
(1) IFXX or ISXX and EDIF syntax
(2) DWXX and EDDO syntax
(3) SLCT and EDSL syntax
(4) BGSR and EDSR syntax
(5) BGPA and EDPA syntax
z TAG (Declare tag)

Command,
declaration
Tag
Prohibited Prohibited TAG Prohibited CP
number
[Function] Set the tag number specified in operand 1.
[Example 1] Refer to the section on GOTO command.
112
Part 4 Commands
z EXSR (Execute subroutine)

Command,
declaration
Subroutine
Optional Optional EXSR Prohibited CP
number
[Function] Execute the subroutine specified in operand 1.

A maximum of 15 nested subroutine calls are supported.
(Note) This command is valid only for subroutines within the same program.
[Example 1] EXSR 1 Execute subroutine 1.

:
:
EXIT
BGSR 1 Start subroutine 1.
:
:
:
EDSR End subroutine 1.

EXSR *1 Execute the content of variable 1 (subroutine 10).
z BGSR (Start subroutine)

Command,
declaration
Subroutine
Prohibited Prohibited BGSR Prohibited CP
number
[Function] Declare the start of the subroutine specified in operand 1.
[Example 1] Refer to the section on EXSR command.
(Note) Using a GOTO command to branch out of or into a BGSR-EDSR syntax is prohibited.
113
Part 4 Commands
z EDSR (End subroutine)

Command,
declaration
Prohibited Prohibited EDSR Prohibited Prohibited CP
[Function] Declare the end of a subroutine.

This command is always required at the end of a subroutine.
Thereafter, the program will proceed to the step next to the EXSR that has been called.
[Example 1] Refer to the section on EXSR command.
114
Part 4 Commands
1.9 Task Management
z EXIT (End program)

Command,
declaration
Optional Optional EXIT Prohibited Prohibited CP
[Function] End the program.

If the last step has been reached without encountering any EXIT command, the program will
return to the beginning.
(Note) Status at program end x Output ports Retained

x Local flags Cleared
x Local variables Cleared
x Current values Retained
x Global flags Retained
x Global variables Retained
[Example 1] :
:
EXIT End the program.
115
Part 4 Commands
z EXPG (Start other program)

Command,
declaration
(Program
Program
Optional Optional EXPG number CC
number
(Note))
[Function] Start the programs from the one specified in operand 1 through the other specified in operand
2, and run them in parallel. Specification in operand 1 only is allowed.
(Note) Main application version 0.20 or earlier only allows specification of one program in operand 1.
[Example 1] EXPG 10 12 Start program Nos. 10, 11 and 12.
Error-generation/output-operation conditions (Main application version 0.21 or later)

When one EXPG program is specified (only operand 1 is specified)
No program number error *1
Status of the Program already registered Program number
specified program Program not yet error *1
Program not registered
Program running
running
A57 C03 C2C
Error ³0XOWLSOHSURJUDP None ³1RQUHJLVWHUHGSURJUDP ³3URJUDPQXPEHU
VWDUWHUURU´ VSHFLILFDWLRQHUURU´ HUURU´
Output operation ON ON OFF OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 1 --- Program number error indicates specification of a number smaller than 1 or exceeding 64.
When multiple EXPG programs are specified (both operands 1 and 2 are specified)
Registered program exists inside the
Status of the specified range *3 Program
None of programs inside
specified program Running program None of programs the specified range are number error *1
inside the
exists inside the registered
specified range
specified range
are running
A57 C03 C2C
Error ³0XOWLSOHSURJUDP None ³1RQUHJLVWHUHGSURJUDP ³3URJUDP
VWDUWHUURU´ VSHFLILFDWLRQHUURU´ QXPEHUHUURU´
Output operation ON ON OFF OFF
* 3 --- In this case, non-registered programs inside the specified range are not treated as a target of operation. This
will not affect error generation or output operation.
116
Part 4 Commands
z ABPG (Abort other program)

Command,
declaration
Program (Program
Optional Optional ABPG CC
number number (Note 3))
[Function] Forcibly end the programs from the one specified in operand 1 to the other specified in
operand 2. Specification in operand 1 only is allowed.
(Note 1) If an ABPG command is issued while a movement command is being executed, the axes will
immediately decelerate and stop.
(Note 2) Not only the operation but also the execution of the step itself will be terminated.
(Note 3) Main application version 0.20 or earlier only allows specification of one program in operand 1.
[Example 1] ABPG 10 12 End program Nos. 10, 11 and 12.

When one ABPG program is specified (only operand 1 is specified)
Status of the Program already registered Program number error
specified program Program not yet *1
Program not registered
Program running
running
C2C
Error None None None
³3URJUDPQXPEHUHUURU´
Output operation ON (OFF *2) ON ON OFF
* 2 --- If an own task (own program) is specified in an ABPG command, the own task will be terminated and then
deleted. The output will turn OFF.
When multiple ABPG programs are specified (both operands 1 and 2 are specified)
Status of the specified range *4 Program
None of programs inside
inside the
exists inside the registered
specified range
specified range
are running
C2C
Error None None None ³3URJUDP
QXPEHUHUURU´
Output operation ON (OFF *5) ON ON OFF
* 5 --- If an own task (own program) is included in the specified range, the own task will be terminated, upon which
the processing of the ABPG command will end. Since the own task will be deleted, the result of ending the
processing of specified programs will become indeterminable. Exercise caution. The output will always turn
OFF regardless of the result.
117
Part 4 Commands
z SSPG (Pause program)

Command,
declaration
Program (Program
Optional Optional SSPG CC
number number (Note 3))
[Function] Pause the program from the one specified in operand 1 through the other specified in
operand 2, at the current step. Specification in operand 1 only is allowed.
(Note 1) Pausing a program will also pause the operation the program has been executing.
(Note 2) Not only the operation but also the execution of the step itself will be paused.
[Example 1] SSPG 10 12 Pause program Nos. 10, 11 and 12 at the current step.
Program No. 10 Program No. 11 Program No. 12
SSPG
Currently executed step

When one SSPG program is specified (only operand 1 is specified)
Program not yet
specified program Program not error *1
Program running registered
running
C03 C2C
Error None None ³1RQUHJLVWHUHGSURJUDP ³3URJUDPQXPEHU
VSHFLILFDWLRQHUURU´ HUURU´
Output operation ON OFF OFF OFF
When multiple SSPG programs are specified (both operands 1 and 2 are specified)
Status of the specified range *3 None of programs inside Program
exists inside the inside the specified registered
specified range *4 range are running
C03 C2C
Error None None ³1RQUHJLVWHUHGSURJUDP ³3URJUDP
VSHFLILFDWLRQHUURU´ QXPEHUHUURU´
* 3 --- In this case, non-registered programs inside the specified range are not treated as a target of operation with
EXPG, ABPG, SSPG and PSPG commands. This will not affect error generation or output operation.
* 4 --- In this case, programs not running (but already registered) inside the specified range are not treated as a
target of operation with SSPG and RSPG commands. This will not affect error generation or output operation.
118
Part 4 Commands
z RSPG (Resume program)

Command,
declaration
(Program
Program
Optional Optional RSPG number CC
number
(Note 2))
[Function] Resume the programs from the one specified in operand 1 through the other specified in
operand 2. Specification in operand 1 only is allowed.
(Note 1) Resuming a program will also resume the operation the program had been executing before
the pause.
[Example 1] RSPG 10 12 Resume program Nos. 10, 11 and 12 from the paused step.
Program No. 10 Program No. 11 Program No. 12
SSPG
Currently paused step
RSPG

When one RSPG program is specified (only operand 1 is specified)
Program not yet
specified program Program not error *1
Program running registered
running
C03 C2C
Error None None ³1RQUHJLVWHUHGSURJUDP ³3URJUDPQXPEHU
VSHFLILFDWLRQHUURU´ HUURU´
When multiple RSPG programs are specified (both operands 1 and 2 are specified)
Status of the specified range *3 None of programs inside Program
exists inside the inside the specified registered
specified range *4 range are running
C03 C2C
Error None None ³1RQUHJLVWHUHGSURJUDP ³3URJUDP
VSHFLILFDWLRQHUURU´ QXPEHUHUURU´
* 4 --- In this case, programs not running (but already registered) inside the specified range are not treated as a
target of operation with SSPG and RSPG commands. This will not affect error generation or output operation.
119
Part 4 Commands
1.10 Position Operation
z PGET (Read position data)

Command,
declaration
Axis Position
Optional Optional PGET CC
number number
[Function] Read to variable 199 the data of the axis number specified in operand 1 in the position data
specified in operand 2.
Data will not be stored in variable 199 (this command will not be executed) if the data being
read is XXX.XX.
[Example 1] PGET 2 3 Read to variable 199 the data of axis 2 at position 3.

PGET *1 *2 Read to variable 199 the data of the content of variable 1
(axis 2) at the content of variable 2 (position 3).
120
Part 4 Commands
z PPUT (Write position data)

Command,
declaration
Axis Position
Optional Optional PPUT CP
number number
[Function] Write the value in variable 199 to the axis number specified in operand 1 in the position data

2 3 Write the content of variable 199 (150) to axis 2 at position
PPUT
3.

LET 2 3 Assign 3 to variable 2
PPUT *1 *2 Write the content of variable 199 (150) to the content of
variable 1 (axis 2) at the content of variable 2 (position 3).
121
Part 4 Commands
z PCLR (Clear position data)

Command,
declaration
Position Position
Optional Optional PCLR CP
number number
[Function] Clear the position data from the one specified in operand 1 through the other specified in
operand 2.
The cleared data will be expressed as XX.XXX (not 0.000).
[Example 1] PCLR 10 20 Clear the data from position Nos. 10 through 20.

PCLR *1 *2 Clear the data of the content of variable 1 (position 10)
through the content of variable 2 (position 20).
122
Part 4 Commands
z PCPY (Copy position data)

Command,
declaration
Position Position
Optional Optional PCPY CP
number number
[Function] Copy the position data specified in operand 2 to the position number specified in operand 1.
[Example 1] PCPY 20 10 Copy the data of position No. 10 to position No. 20.

PCPY *1 *2 Copy the data of the content of variable 2 (position 10) to the
content of variable 1 (position 20).
123
Part 4 Commands
z PRED (Read current position)

Command,
declaration
Axis Position
Optional Optional PRED CP
pattern number
[Function] Read the current position of the axis specified in operand 1 to the position specified in
operand 2.
[Example 1] PRED 11 10 Read the current positions of axes 1 and 2 to position No.
10.
[Example 2] The axis pattern can be specified indirectly using a variable.

When the command in [Example 1] is rephrased based on indirect specification using
a variable:
11 (binary) o 3 (decimal)
PRED *1 *10

PRED 11 *1 Read the current positions of axes 1 and 2 to the content of
variable 1 (position 10).
124
Part 4 Commands
z PRDQ (Read current axis position (1 axis direct))

Command,
declaration
Axis Variable
Optional Optional PRDQ CP
number number
This command is supported by the controllers whose main application version is 0.33 or later. PRDQ
commands can be input using the PC software of version 1.1.0.5 or later or teaching pendant of version
1.05 or later.
[Function] Read the current position of the axis number specified in operand 1 to the variable specified
in operand 2.
The current position can be obtained more quickly than when a PRED command is used.
The current position of a synchronized slave axis can also be read.
[Example] PRDQ 2 100 Read the current position of axis 2 to variable 100.
125
Part 4 Commands
z PTST (Check position data)

Command,
declaration
Axis Position
Optional Optional PTST CC
pattern number
[Function] Check if valid data is contained in the axis pattern specified in operand 1 at the position
number specified in operand 2.
The output will turn ON when all of the data specified by the axis pattern is invalid (XX.XXX).
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>([DPSOH@ 3767 7XUQ21RXWSXWLIWKHUHDUHQRYDOLGYDOXHVRID[HV

DQGDWSRVLWLRQ
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follows:

When the command in [Example 1] is rephrased based on indirect specification using a
variable:
11 (binary) oGHFLPDO
/(7 $VVLJQWRYDULDEOH
3767
>([DPSOH@ /(7 $VVLJQWRYDULDEOH

3767 7XUQ21IODJLIWKHUHDUHQRYDOLGYDOXHVLQWKHGDWD
of axes 1 and 2 at the content of variable 1 (position
11).
)ODJZLOOWXUQ21LIWKHSRVLWLRQGDWDLVJLYHQDV
follows:
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;;;;;;; ;;; ;;;; ;;;;
;;;;;;; ;;;;;;; ;;; ;;;; ;;;;
126
Part 4 Commands
z PVEL (Assign speed data)

Command,
declaration
Position
Optional Optional PVEL Speed CP
number
[Function] Write the speed specified in operand 1 to the position number specified in operand 2.
(Note) If a negative value is written with a PVEL command, an alarm will generate when that position
is specified in a movement operation, etc. Exercise caution.
[Example 1] PVEL 100 10 Write speed 100 mm/s to position No. 10.
PVEL *1 *2 Write the content of variable 1 (speed 100 mm/s) to the
127
Part 4 Commands
z PACC (Assign acceleration data)

Command,
declaration
Position
Optional Optional PACC Acceleration CP
number
[Function] Write the acceleration specified in operand 1 to the position number specified in operand 2.
(Note) Range check is not performed for a PACC command. Be careful not to exceed the limit set for
each actuator.
[Example 1] PACC 0.3 10 Write acceleration 0.3 G to position No. 10.

[Example 2] LET 100 0.3 Assign 0.3 to variable 100.
PACC *100 *2 Write the content of variable 100 (acceleration 0.3 G) to the
128
Part 4 Commands
z PDCL (Assign deceleration data)

Command,
declaration
Position
Optional Optional PDCL Deceleration CP
number
[Function] Assign the deceleration data specified in operand 1 to the deceleration item in the position
data specified in operand 2.
The deceleration is set in G and may include up to two decimal places.
[Example 1] PDCL 0.3 3 Assign 0.3 to the deceleration data at position No. 3.
129
Part 4 Commands
z PAXS (Read axis pattern)

Command,
declaration
Variable Position
Optional Optional PAXS CP
number number
[Function] Store the axis pattern at the position specified in operand 2 to the variable specified in
operand 1.
[Example 1] PAXS 1 99 Read the axis pattern at position 99 to variable 1.

If the position is given as folloZV³ÉLQDU\ZLOOEHUHDG
to variable 1.

PAXS *1 *2 Read the axis pattern at the content of variable 2 (position
101) to the content of variable 1 (variable 3).
If the point is given as follows³ÉLQDU\ZLOOEHVWRUHG
in variable 3.
The table below shows different positions and corresponding values stored in a variable.
Axis 1 Axis 2
98 XX.XXX XX.XXX 00=0+0=0
99 100.XXX XX.XXX 01=0+1=1
100 XX.XXX 150.000 10=2+0=2
101 100.000 50.000 11=2+1=3
130
Part 4 Commands
z PSIZ (Check position data size)

Command,
declaration
Variable
Optional Optional PSIZ Prohibited CP
number
[Function] Set an appropriate value in the variable specified in operand 1 in accordance with the
parameter setting.
x :KHQ³2WKHUSDUDPHWHU1R36,=IXQFWLRQW\SH´
The maximum number of position data that can be stored in the controller will be set.
(Regardless of whether the data are used or not.)
x :KHQ³2WKHUSDUDPHWHU1R36,=IXQFWLRQW\SH´
The number of point data used will be set.
[Example] PSIZ 1
:KHQ³2WKHUSDUDPHWHU1R36,=IXQFWLRQW\SH´
The maximum number of position data that can be stored in variable 1 will be set.
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7KHQXPEHURISRLQWGDWDFXUUHQWO\XVHGZLOOEHVHWLQYDULDEOH
131
Part 4 Commands
z GVEL (Get speed data)

Command,
declaration
Variable Position
Optional Optional GVEL CP
number number
[Function] Obtain speed data from the speed item in the position data specified in operand 2, and set
the value in the variable specified in operand 1.
[Example] GVEL 100 10 Set the speed data at position No. 10 in variable 100.
Position No. Axis 1 Axis 2 Axis 3 Vel Acc Dcl

1 XXX.XXX XXX.XXX XXX.XXX XXX X.XX X.XX
x
x
x
x
10 50.000 100.000 150.000 200 0.30 0.30
x
x
If the position data is set as above when the command is executed, 200 will be set in variable 100.
132
Part 4 Commands
z GACC (Get acceleration data)

Command,
declaration
Variable Position
Optional Optional GACC CP
number number
[Function] Obtain acceleration data from the acceleration item in the position data specified in operand
2, and set the value in the variable specified in operand 1.
[Example 1] GACC 100 10 Set the acceleration data at position No. 10 in variable 100.

x
x
x
x
10 50.000 100.000 150.000 200 0.30 0.30
x
x
If the position data is set as above when the command is executed, 0.3 will be set in variable 100.
133
Part 4 Commands
z GDCL (Get deceleration data)

Command,
declaration
Variable Position
Optional Optional GDCL CP
number number
[Function] Obtain deceleration data from the deceleration item in the position data specified in operand
2, and set the value in the variable specified in operand 1.
[Example] GDCL 100 10 Set the deceleration data at position No. 10 in variable 100.

x
x
x
x
10 50.000 100.000 150.000 200 0.30 0.30
x
x
If the position data is set as above when the command is executed, 0.3 will be set in variable 100.
134
Part 4 Commands
1.11 Actuator Control Declaration
z VEL (Set speed)

Command,
declaration
Optional Optional VEL Speed Prohibited CP
[Function] Set the actuator travel speed in the value specified in operand 1.
The unit is mm/s.
The maximum speed will vary depending on the model of the actuator connected. Set a
speed not exceeding the applicable maximum speed.
(Note 1) Decimal places cannot be used. An error will generate

(Note 2) The minimum speed is 1 mm/s.
[Example 1] VEL 100 Set the speed to 100 mm/s.

MOVP 1 Move to point 1 at 100 mm/s.

MOVP 2 Move to point 2 at 500 mm/s.

VEL *1 Set the speed to the content of variable 1 (300 mm/s).
135
Part 4 Commands
z OVRD (Override)
Command,
declaration
Optional Optional OVRD Speed ratio Prohibited CP
[Function] Reduce the speed in accordance with the ratio specified in operand 1 (speed coefficient
setting). The speed ratio is set in a range from 1 to 100%.
A speed command specifying a speed below 1 mm/sec can be generated using OVRD.
Command limit speed for smooth operation: 1 pulse/msec
Command limit speed that can be generated: 1 pulse/256 msec
(Smoothness of actual operation cannot be guaranteed. Movement must be checked on the
actual machine.)
1 pulse: Lead [mm] / 16384 --- Standard product with a gear ratio of 1:1
(The speed set in a PAPR command (push-motion approach speed) will be clamped by the
minimum speed of 1 mm/sec.)

OVRD 50 Reduce the speed to 50%.
As a result, the actual speed will become 50 mm/s.
136
Part 4 Commands
z ACC (Set acceleration)

Command,
declaration
Optional Optional ACC Acceleration Prohibited CP
[Function] Set the travel acceleration of the actuator.

The maximum acceleration will vary depending on the load and model of the actuator
connected.
The acceleration is set in G and may include up to two decimal places.
(Note) If the position data contains no acceleration AND acceleration is not set by an ACC
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'HIDXOWDFFHOHUDWLRQ´
[Example 1] ACC 0.3 Set the acceleration to 0.3 G.
(Note) Setting an acceleration exceeding the specified range for the actuator may generate an error.
It may also result in a failure or shorter product life.
137
Part 4 Commands
z DCL (Set deceleration)

Command,
declaration
Optional Optional DCL Deceleration Prohibited CP
[Function] Set the travel deceleration of the actuator.

The maximum deceleration will vary depending on the load and model of the actuator
connected.
The deceleration is set in G and may include up to two decimal places.
(Note) If the position data contains no deceleration AND deceleration is not set by a DCL command,
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GHFHOHUDWLRQ´
A DCL command cannot be used with CIR and ARC commands.
[Example] DCL 0.3 Set the deceleration to 0.3 G.
(Note) Setting a deceleration exceeding the specified range for the actuator may generate an error.
It may also result in a failure or shorter product life.
138
Part 4 Commands
z SCRV (Set sigmoid motion ratio)

Command,
declaration
Optional Optional SCRV Ratio Prohibited CP
[Function] Set the ratio of sigmoid motion control of the actuator in the value specified in operand 1.
The ratio is set as an integer in a range from 0 to 50 (%).
b
X 100 (%)
a
If the ratio is not set using this command or 0% is set, a trapezoid motion will be
implemented.
A SCRV command can be used with the following commands: MOVP, MOVL, MVPI, MVLI,
JBWF, JBWN, JFWF, JFWN
Speed
b
a
Time
[Example 1] SCRV 30 Set the sigmoid motion ratio to 30%.
139
Part 4 Commands
z OFST (Set offset)

Command,
declaration
Axis Offset
Optional Optional OFST CP
pattern value
[Function] Reset the target value by adding the offset value specified in operand 2 to the original target
value when performing the actuator movement specified in operand 1.
The offset is set in mm, and the effective resolution is 0.001 mm.
A negative offset may be specified as long as the operation range is not exceeded.
An OFST command is processed with respect to soft axes before a BASE shift.
(Note) An OFST command cannot be used outside the applicable program. To use OFST in multiple
programs, the command must be executed in each program.
An OFST command cannot be used with MVPI and MVLI commands.
[Example 1] OFST 1100 50 Add 50 mm to the specified positions of axes 3 and 4.

:
OFST 1100 0 Return the offsets of axes 3 and 4 to 0.

a variable:
OFST *1 50
:
OFST *1 0

OFST 1010 *1 Add the content of variable 1 (100 mm) to the specified
positions of axes 2 and 4.
140
Part 4 Commands
z DEG (Set arc angle)

Command,
declaration
Optional Optional DEG Angle Prohibited CP
[Function] Set a division angle for the interpolation implemented by a CIR (move along circle) or ARC
(move along arc) command.
When CIR or ARC is executed, a circle will be divided by the angle set here to calculate the
passing points.
The angle is set in a range from 0 to 120 degrees.
,IWKHDQJOHLVVHWWR³´DQDSSURSULDWHGLYLVLon angle will be calculated automatically so that
the actuator will operate at the set speed (maximum 180 degrees).
The angle is set in degrees and may include up to one decimal place.
(Note) If a CIR or ARC command is executed without setting an angle with this command, the
GHIDXOWYDOXHUHJLVWHUHGLQ³$OOD[LVSDUDPHWHU1R'HIDXOWGLYLVLRQDQJOH´ZLOOEHXVHG
[Example] DEG 10 Set the division angle to 10 degrees.
141
Part 4 Commands
z BASE (Specify axis base)

Command,
declaration
Axis
Optional Optional BASE Prohibited CP
number
[Function] Count the axes sequentially based on the axis number specified in operand 1 being the first
axis.
A BASE command can be used with PRED, PRDQ, AXST, actuator-control, ARCH, PACH,
PMVP, PMVL and zone commands. Note that each zone range is assigned to the actuator
via parameter.
[Example 1] HOME 1 Axis 1 returns to the home.

BASE 2 Axis 2 is considered the first axis.
HOME 1 Axis 2 returns to the home.
Hereafter, axes 2 to 4 will operate based on the specifications for axes 1 to 3 (axis number,
axis pattern, position data, etc.).

BASE *1 The content of variable 1 (axis 3) will be considered as the
first axis.
Hereafter, axes 3 and 4 will operate based on the specifications for axes 1 and 2.
142
Part 4 Commands
z GRP (Set group axes)

Command,
declaration
Axis
Optional Optional GRP Prohibited CP
pattern
[Function] Allow only the position data of the axis pattern specified in operand 1 to become valid.
The program assumes that there are no data for other axes not specified.
When multiple programs are run simultaneously, assigning axes will allow the same position
data to be used effectively among the programs.
A GRP command can be used with operand axis-pattern specification commands excluding
an OFST command, as well as with servo operation commands using position data.
A GRP command is processed with respect to soft axes before a BASE shift.
[Example 1] GRP 1100 Data of axes 3 and 4 become valid.

CIR2 1 2 Axis-pattern error will not generate even if data is set for axis
1 or 2.

a variable:
GRP *1
CIR2 1 2
143
Part 4 Commands
z HOLD (Hold: Declare axis port to pause)

Command,
declaration
(Input port, (HOLD
Optional Optional HOLD CP
global flag) type)
[Function] Declare an input port or global flag to pause while a servo command is being executed.
When operation is performed on the input port or global flag specified in operand 1, the
current servo processing will pause. (If the axes are moving, they will decelerate to a stop.)
If nothing is specified in operand 1, the current pause declaration will become invalid.
If the main application version is 0.26 or later, a HOLD type can be specified in operand 2.
[HOLD type]
0 = Contact a (Deceleration stop)
1 = Contact b (Deceleration stop)
2 = Contact b (Deceleration stop o Servo OFF (The drive source will not be cut off))
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If nothing is specified in operand 2, the current HOLD type will be used.
Using other task to issue a servo ON command to any axis currently stopped via a HOLD
VHUYR2))ZLOOJHQHUDWHDQ³(UURU1R&$[LVGXSOLFDWLRQHUURU´,IWKHVHUYRRIWKDWD[LV
was ON prior to the HOLD stop, the system will automatically turn on the servo when the
HOLD is cancelled. Therefore, do not issue a servo ON command to any axis currently
stopped via a HOLD servo OFF.
If any axis currently stopped via a HOLD servo OFF is moved by external force, etc., from the
stopped position, and when the servo of that axis was ON prior to the HOLD stop, the axis
will move to the original stopped position when the HOLD is cancelled before resuming
operation.
If the main application version is 0.25 or earlier, specification of operand 2 is prohibited.

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(Note 1) The input port or global flag specified by a HOLD declaration will only pause the axes used in
the task (program) in which the HOLD is declared. The declaration will not be valid on axes
used in different tasks (programs).
(Note 2) An input port or global flag to pause is valid for all active servo commands other than a SVOF
command. (A deceleration stop will also be triggered in JXWX and PATH operations.)
(Note 3) Following a pause of home return, the operation will resume from the beginning of the home-
return sequence.
[Example] HOLD 15 0 The axes will decelerate to a stop when input port 15 turns
ON.
V
Input port 15 ON Movement is complete.
Remaining operation
T
HOLD
Input port 15 OFF
144
Part 4 Commands
z NBND (Set near band) <Near BaND>

Command,
declaration
Optional Optional NBND Axis pattern Near band CP
[Function] Set in operand 2 the near band (mm) from the target position based on the axis pattern
specified in operand 1. This command is effective only for a MOVP, MOVL or PATH
command in quick return mode 2 (return after near detection & target position addition mode)
or quick return mode 3 (return after near detection & target position change mode). A different
value can be set for each axis.
(Note 1) When no near band is set with a NBND command, the default value of 0 applies.
(Note 2) In the case of a series of PATH commands to perform continuous movement involving
multiple positions, the near band is effective only after the movement to the last position
according to the last command has started and also after the position movement immediately
before it has completed. Accordingly, a dead band is created at the connection (joint)
between the position movement according to the last PATH command and the position
movement immediately before it.
(Note 3) Once set, the dead band will remain effective even after the program ends. If you want to
build a system using the NBND command, therefore, expressly specify a near band with a
NBND command before operation is started in every program. When you assume that the
near band will be reset to the original value after the end of operation in other program, an
unexpected near band may be applied if the program is aborted due to an error, etc., in which
case unforeseen problems may occur.
(Note 4) Be sure to refer to the pages explaining the QRTN and PEND commands, as well.
(Note 5) Software versions supporting NBND
Controller main application: Version 1.04 or later (excluding the flash ROM 8-Mbit
version)
PC software: Version 7.2.3.0 or later
Teaching pendant: IA-T-X (D) version 1.44 or later (scheduled to be released in
early December 2007)
SEL-T (D) version 1.02 or later (scheduled to be released in
early December 2007)
[Example 1] NBND 11 50 Set the near band for axes 1 and 2 to 50 mm after this
command.
[Example 2] You can specify a desired axis pattern indirectly using a variable. [Example 1] can be
rephrased as followed based on indirect specification using a variable:
LET 1 3 Assign 3 to variable 1
NBND *1 50 Set the near band for axes 1 and 2 to 50 mm after this
command.
145
Part 4 Commands
z CANC (Cancel: Declare axis port to abort)

Command,
declaration
(Input port, (CANC
Optional Optional CANC CP
global flag) type)
[Function] Declare an input port or global flag to abort while a servo command is being executed.
When operation is performed on the input port or global flag specified in operand 1, the
current servo processing will be aborted. (If the axes are moving, they will decelerate to a
stop before the processing is aborted.)
If nothing is specified in operand 1, the current abort declaration will become invalid.
If the main application version is 0.26 or later, a CANC type can be specified in operand 2.
[CANC type]
0 = Contact a (Deceleration stop)
1 = Contact b (Deceleration stop)
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If nothing is specified in operand 2, the current CANC type will be used.
If the main application version is 0.25 or earlier, specification of operand 2 is prohibited.

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(Note 1) The input port or global flag specified by a CANC command will only abort the axes used in
the task (program) in which the CANC is declared. The declaration will not be valid on axes
used in different tasks (programs).
(Note 2) An input port or global flag to pause is valid for all active servo commands other than a SVOF
command. (A deceleration stop will also be triggered in JXWX and PATH operations.)
[Example] CANC 14 0 The axes will decelerate to a stop when input port 14 turns
ON.
V
Input port 14 ON
Not executed.
Remaining operation
T
Movement is complete.
146
Part 4 Commands
z VLMX (Specify VLMX speed)

Command,
declaration
Optional Optional VLMX Prohibited Prohibited CP
[Function] Set the actuator travel speed to the VLMX speed (normally maximum speed).
Executing a VLMX command will set the value regiVWHUHGLQ³$[LVVSHFLILFSDUDPHWHU1R
9/0;VSHHG´DVWKHWUDYHOVSHHG
1RWH ,IWKH9/0;VSHHGLVVSHFLILHGLQDFRQWinuous position travel command (PATH, PSPL), the

target speed to each position will become a composite VLMX speed not exceeding the
PD[LPXPVSHHGRIHDFKD[LVVHWLQ³$[LVVSHFLILFSDUDPHWHU1R0D[LPXPRSHUDWLQJ
VSHHGRIHDFKD[LV´7RPDNHWKHWDUJHWVpeed constant, a desired speed must be expressly
specified using a VEL command.
[Example] VEL 1000

MOVP 1 The speed becomes 1000 mm/sec in this section.
MOVP 2
VLMX
MOVP 3 The speed becomes VLMX mm/sec in this section.
MOVP 4
147
Part 4 Commands
z DIS (Set division distance at spline movement)

Command,
declaration
Optional Optional DIS Distance Prohibited CP
[Function] Set a division distance for the interpolation implemented by a PSPL (move along spline)
command.
When a PSPL command is executed, a passing point will be calculated at each distance set
here and the calculated passing points will be used as interpolation points.
,IWKHGLVWDQFHLVVHWWR³´DQDSSURSULDWHGLYLsion distance will be calculated automatically so
that the actuator will operate at the set speed
The distance is input in mm.
Interpolation points
Division distance
(Note) If a PSPL command is executed without setting a distance with a DIS command, the default
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>([DPSOH@ ',6 6HWWKHGLYLVLRQGLVWDQFHWRPP

9(/ 6HWWKHVSHHGWRPPV
363/ 0RYHFRQWLQXRXVO\IURPSRVLWLRQ1RVWRDORQJD
spline interpolation curve.
148
Part 4 Commands
z POTP (Set PATH output type)

Command,
declaration
Optional Optional POTP 0 or 1 Prohibited CP
[Function] Set the output type in the output field to be used when a PATH or PSPL command is
executed.
When a PATH or PSPL command is executed, the output will operate as follows in
accordance with the setting of the POTP command.
(1) POTP [Operand 1] = 0 (ON upon completion of operation)

The output port or flag will turn ON upon completion of operation.
(2) POTP [Operand 1] = 1 (Increment and output on approaching each position; ON upon
completion of operation for the last position)
During PATH or PSPL operation, the output port number or flag number specified in the
output field will be incremented and turned ON when each specified position approaches.
At the last position, however, the output will turn ON upon completion of operation. This
setting provides a rough guide for output in sequence control.
1RWH 7KHGHIDXOWYDOXHRI3273EHIRUHLWLVVHWLV³´
(Note 2) If POTP = 1 and there is no valid data at the specified position, the output number will be
incremented but the output will not turn ON. (The output number will be incremented
regardless of the size of position numbers specified in operands 1 and 2 in a PATH or PSPL
command.)
[Example] VEL 100 Set the speed to 100 mm/sec.

POTP 1
PATH 1 5 300 Turn ON output port Nos. 300 through 304 sequentially
each time a specified position approaches during a
pass movement from position Nos. 1 through 5, starting
from the first position.
No. 3 No. 5
Position No. 1 Turn ON output port 302.
Turn ON output port 300.
Position origin No. 4

No. 2 Turn ON output port 303.
149
Part 4 Commands
z PAPR (Set push-motion approach distance, speed)

Command,
declaration
Optional Optional PAPR Distance Speed CP
[Function] Set the operation to be performed when a PUSH command is executed.

Set the distance (push-motion approach distance) over which push-motion approach
operation (torque-limiting operation) will be performed in operand 1 (in mm), and set the
speed (push-motion approach speed) at which push-motion approach operation (torque-
limiting operation) will be performed in operand 2 (in mm/sec).
The push-motion approach distance specified in operand 1 may contain up to three decimal
places, while the speed specified in operand 2 cannot contain any decimal place.
Y-axis
Push-motion approach distance
Position origin
Target position
X-axis
Start position of push-motion approach operation

(torque-limiting operation)
[Example] PAPR 100 30 Set the push-motion approach distance in a PUSH

command to 100 mm and the push-motion approach speed
to 30 mm/sec.
MOVP 2 Move to position No. 2.
PUSH 10 Perform push-motion operation from position Nos. 2 to 10.
(Note) The push-motion approach speed in an OVRD command will be clamped by the minimum speed
of 1 mm/sec. (Correct push-motion operation is not guaranteed at the minimum speed.
Operation at slow push-motion approach must be checked on the actual machine by considering
the effects of mechanical characteristics, etc.)
150
Part 4 Commands
z QRTN (Set quick-return mode) <Quick ReturN>

Command,
declaration
Quick return
Optional Optional QRTN Prohibited CP
mode number
[Function] Set a quick return mode.

[1] Quick return mode 0 (Normal mode = Quick return mode is cancelled)
x In the case of execution of a SEL movement command, the positioning is deemed complete
when all command pulses have been output and the positioning band has been reached,
upon which the actuator returns from the completed command and executes the SEL
command in the next step.
x If this command is used to set quick return mode 0 while quick return movement is being
performed in quick return mode 1, 2 or 3, the actuator waits for completion of output of all
command pulses within the duration of this command, and then switches to quick return
mode 0 (normal mode).
[2] Quick return mode 1 (Position complete after deceleration & return mode)
x In the case of execution of a SEL movement command, the positioning is deemed complete
when the positioning band is reached after the start of a normal deceleration command
(excluding an emergency deceleration due to a stop command, etc.), upon which the
actuator returns from the completed command (via quick return) and executes the SEL
command in the next step.
Set this mode if you want to perform other processing during deceleration by combining a
PBND command.
* If you are considering using quick return mode 1 for the first time, use quick return mode 2 or
3 (extended version of quick return mode 1) explained below.
* This command is ineffective for HOME, PUSH, CIR2, ARC2, ARCC and ARCD commands.
* When the actuator returns from the completed command (via quick return) during normal
deceleration in quick return mode 1, the next movement command will be started after all
command pulses of the previous movement command have been output. Accordingly,
measuring the effect of quick return mode 1 in simple back-and-forth movements, etc., finds
that the tact time actually increases by the number of completion checks performed. Use this
mode only if your purpose is to shorten the tact time by performing other processing during
deceleration.
* An attempt to switch to quick return mode 2 or 3 directly from quick return mode 1 will
JHQHUDWHDQ³(UURU1R%4XLFNUHWXUQPRGHHUURU´
Feedback In the quick-return mode 1, the

Command pulses set positioning band is valid
pulses through this area.
[3] Quick return mode 2 (Return after near detection & target position addition mode)
x In the case of execution of a MOVP, MOVL or PATH (last position movement) command, a
near detection is made when the near band set by a NBND command is reached during
steady-state positioning of all used axes according to the aforementioned command (or
when the positioning band is reached after all command pulses have been output), upon
which the actuator returns from the completed command (via quick return) and executes the
SEL command in the next step.
Set this mode if you want to perform other processing during positioning by combining
NBND/PEND commands or add a target position or continue with the operation.
151
Part 4 Commands
x If a MOVP, MOVL or PATH command is executed again during the quick return
movement in quick return mode 2, a target position will be added and operation will be
continued.
[Example]
:
QRTN 2 Set quick return mode 2.
NBND 11 50 Set the near band for axes 1 to 2 to 50 mm.
MOVL 1 600 Move to position 1 (axes 1/2).
(The program proceeds to the next step approx. 50
mm before each axis reaches the target.)
WTON 610 Wait for permission to move to position 2 (610).
MOVL 2 601 Move to position 2 (axis 3).
PEND 602 Wait for the operation of all used axes to end.
QRTN 0 Set quick return mode 0.
Near detection approx. 50
mm before each axis
reaches the target o Next
Start point Position No. 1
Path when global flag 610 turns
ON after position 1 is reached
Output 600: Turns ON Output 601: Turns ON

near the target position. near the target position.
Output 602: Turns ON

Path when global flag 610 turns
when the positioning
ON before position 1 is reached completes successfully.
Position No. 2
* This command is ineffective other than for MOVP, MOVL and PATH commands.
(If this command is used with a CIR2, ARC2, ARCC, ARCD, CIRS, ARCS, CIR, ARC,
PSPL, MVPI or MVLI command, an unexpected path may be followed unless the start
point is accurately understood, in which case a dangerous condition will result. If an
attempt is made to use this command with any of the aforementioned commands,
WKHUHIRUHDQ³(UURU1R%4XLFNUHWXUQPRGHHUURU´ZLOOJHQHUDWHWKHFRPPDQG
cannot be executed).)
* When setting a near band using a NBND command, an allowance must be considered
for the processing time in the steps after the quick return following the near detection
(the specific processing time varies depending on the types of command used, number
of steps, etc.) (= the near band function is not designed for precise processing).
* Behavior at the connection between movement commands when a target position is
added (when the new movement command can be processed in time)
If either the previous movement command (quick return) or new movement command
is MOVP, movement to the target position of the new movement command starts
simultaneously upon start of deceleration of the slowest axis in the previous movement
command.
If neither of the commands is MOVP (such as when MOVL and/or PATH commands
are combined), the operation at the connection between commands is the same as
when normal PATH commands, etc., are connected.
* In quick return mode 2, the output of a MOVP, MOVL or PATH command turns ON
near the target position (regardless of the value set by a NBND command) (this does
not indicate completion of operation). Check if the operation has completed
(positioning has successfully completed) using the output of a PEND command.
152
Part 4 Commands
* The following tasks apply to all used axes in the case of a MOVP command operation
in quick return mode 2 (they apply to all used axes even when specified for an
individual axis or axes):
All stop processing including processing due to a STOP command
Speed change with a CHVL command
* An attempt to switch to quick return mode 1 directly from quick return mode 2 will
* Software versions supporting quick return mode 2
&RQWUROOHUPDLQDSSOLFDWLRQ 9HUVLRQRU later (excluding the flash ROM 8-Mbit
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reached during steady-state positioning of all used axes according to the
aforementioned command (or when the positioning band is reached after all command
SXOVHVKDYHEHHQRXWSXWXSRQZKLFKWKHDFWXDWRUUHWXUQVIURPWKHFRPSOHWHG
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Set this mode if you want to perform other processing during positioning by combining
1%1'3(1'FRPPDQGVRUFKDQJHWKHWDUJHWSRVLWLRQZLWKRXWVWRSSLQJ
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actuator stopping (the actuator will start decelerating to a stop to cancel the movement
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mm before each axis reaches
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153
Part 4 Commands
* This command is ineffective other than for MOVP, MOVL and PATH commands.
(If this command is used with a CIR2, ARC2, ARCC, ARCD, CIRS, ARCS, CIR, ARC,
PSPL, MVPI or MVLI command, an unexpected path may be followed unless the start
point is accurately understood, in which case a dangerous condition will result. If an
attempt is made to use this command with any of the aforementioned commands,
WKHUHIRUHDQ³(UURU1R%4XLFNUHWXUQPRGHHUURU´ZLOOJHQHUDWHWKHFRPPDQG
cannot be executed).)
:KHQVHWWLQJDQHDUEDQGXVLQJD1%1'FRPPDQGDQDOORZDQFHPXVWEHFRQVLGHUHG
IRUWKHSURFHVVLQJWLPHLQWKHVWHSVDIWHUWKHTXLFNUHWXUQIROORZLQJWKHQHDUGHWHFWLRQ
(the specific processing time varies depending on the types of command used, number
of steps, etc.) (= the near band function is not designed for precise processing).
%HKDYLRUDWWKHFRQQHFWLRQEHWZHHQPRYHPent commands when a target position is
changed
Movement to the target position of the new command starts almost simultaneously
upon start of forced deceleration to cancel the previous movement command.
,QTXLFNUHWXUQPRGHWKHRXWSXWRID0293029/RU3$7+FRPPDQGWXUQV21
near the target position (regardless of tKHYDOXHVHWE\D1%1'FRPPDQGWKLVGRHV
not indicate completion of operation). &KHFNLIWKHRSHUDWLRQKDVFRPSOHWHG
(positioning has successfully completed)XVLQJWKHRXWSXWRID3(1'FRPPDQG
However, the output of the target position that was changed before the start of normal
deceleration (during acceleration or movement at constant speed) (= cancelled by
forced deceleration to a stop), and S motion at forced deceleration to change the target
position, are disabled.
7KHIROORZLQJWDVNVDSSO\WRDOOXVHGD[HVLQWKHFDVHRID0293FRPPDQGRSHUDWLRQ
LQTXLFNUHWXUQPRGHWKH\DSSO\WRDOOXVHGD[HVHYHQZKHQVSHFLILHGIRUDQ
individual axis or axes):
All stop processing including processing due to a STOP command
Speed change with a CHVL command
* An attempt to switch to quiFNUHWXUQPRGHGLUHFWO\IURPTXLFNUHWXUQPRGHZLOO
6RIWZDUHYHUVLRQVVXSSRUWLQJTXLFNUHWXUQPRGH
Controller main application: Version 1.04 or later (excluding the flash ROM 8-
Mbit version)
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Teaching pendant: IA-T-X (D) version 1.44 or later (scheduled to be
released in early December 2007)
6(/7'YHUVLRQRUODWHUVFKHGXOHGWREH
released in early December 2007).
1RWH ,QWKHFDVHRITXLFNUHWXUQIURPD6(/PRYHPHQWFRPPDQGWKHFXUUHQWSURJUDPGRHVQRW
release the right to use the applicable axes after the axes have returned from the command.
$FFRUGLQJO\DQDWWHPSWWRXVHWKHVHD[HVIURPRWKHUSURJUDPZLOOJHQHUDWHDQ³(UURU1R
&$[LVGXSOLFDWLRQHUURU´7RUHOHDVHWKHULJKWWRXVHWKHDSSOLFDEOHD[HVVHWTXLFNUHWXUQ
PRGHQRUPDOPRGH TXLFNUHWXUQPRGHLVFDQFHOOHG
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1%1'FRPPDQGDQGSRVLWLRQLQJEDQGVHWE\D3%1'FRPPDQGZLOOQRWEHFDQFHOOHG
1RWH $IWHUWKHHQGRIRYHUODSSHGSURFHVVLQJDWWKHWLPLQJVZKHUHTXLFNUHWXUQZDVUHTXLUHGEH
VXUHWRUHWXUQWKHTXLFNUHWXUQPRGHWRQRUPDOPRGH TXLFNUHWXUQPRGHLVFDQFHOOHG
1RWH %HVXUHWRUHIHUWRWKHSDJHVH[SODLQLQJWKH1%1'DQG3(1'FRPPDQGVDVZHOO
154
Part 4 Commands
1.12 Actuator Control Command
z SVXX (Turn ON/OFF servo)

Command,
declaration
Axis
Optional Optional SVXX Prohibited PE
pattern
[Function] Turn ON/OFF the servos of the axes specified by the axis pattern in operand 1.
SVXX
ON Turn ON the servo.
OF Turn OFF the servo.
[Example 1] SVON 1100 Turn ON the servos of axes 3 and 4. Nothing will occur if the
axis servos are already ON.

a variable:
SVON *1
155
Part 4 Commands
z HOME (Return to home)

Command,
declaration
Axis
Optional Optional HOME Prohibited PE
pattern
[Function] Perform home return of the axes specified by the axis pattern in operand 1.
The servo of each home-return axis will turn ON automatically.
The output will turn OFF at the start of home return, and turn ON when the home return is
completed.
(Note) Following a pause of home return, the operation will resume from the beginning of the home-
return sequence.
Home-return operation of an absolute-encoder axis is a movement to a rotation data reset
position, and may not be a movement to the preset home coordinates (including 0). Use a
MOVP command instead of a HOME command, if you wish to perform home return for the
SXUSRVHRIWXUQLQJ21RXWSXWZKHQ³,2SDUDPHWHU1R2XWSXWIXQFWLRQVHOHFWLRQ´
LVVHWWR³´2XWSXWLIDOOYDOLGD[HVDUHDWWKHKRPH RU³´2XWSXWLIDOOYDOLGD[HVDUHDW
the preset home coordinates).
If the operation is stopped or cancelled while a HOME command is being executed for an
absolute-encoder axis in a mode other than the absolute reset mode provided by the PC
VRIWZDUHRUWHDFKLQJSHQGDQWDQ³DFWXDOSRVLWLRQVRIWOLPLWHUURU´PD\JHQHUDWHGHSHQGLQJRQ
the position. It is not recommended to perform home return other than for the purpose of
adjusting an absolute-encoder axis.
[Example 1] HOME 1100 Axes 3 and 4 return to the home.

a variable:
HOME *1
156
Part 4 Commands
z MOVP (Move PTP by specifying position data)

Command,
declaration
Position
Optional Optional MOVP Prohibited PE
number
[Function] Move the actuator to the position corresponding to the position number specified in operand
1, without interpolation (PTP VWDQGVIRU³3RLQWWR3RLQW´
The output will turn OFF at the start of axis movement, and turn ON when the movement is
FRPSOHWH
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0293 0RYHWKHD[HVWRWKHSRVLWLRQFRUUHVSRQGLQJWRSRVLWLRQ1R


MOVP *1 Move the axes to the position corresponding to the content
RIYDULDEOHSRVLWLRQ1RRU
1R ;D[LV <D[LV 6SHHG $FFHOHUDWLRQ 'HFHOHUDWLRQ

;;; ;;;; ;;;;
;;; ;;;; ;;;;
Travel path from the home to the position FRUUHVSRQGLQJWRSRVLWLRQ1R
<D[LV
2QO\WKH<D[LVFRPSOHWHV Each axis moves at

PRYHPHQW WKHVSHFLILHGVSHHG
100 mm
;D[LV
Home 0 100 mm 200 mm
157
Part 4 Commands
z MOVL (Move by specifying position data)

Command,
declaration
Position
Optional Optional MOVL Prohibited PE
number
[Function] Move the actuator to the position corresponding to the position number specified in operand
1, with interpolation.
complete.
[Example 1] VEL 100 Set the speed to 100 mm/sec.

MOVL 1 Move the axes to the position corresponding to position No.
1 (200, 100), with interpolation.
[Example2] VEL 100 Set the speed to 100 mm/sec.

MOVL *1 Move the axes to the position corresponding to the content
of variable 1 (position No. 2, or (100, 100)), with
interpolation.
No. X-axis Y-axis Speed Acceleration Deceleration

1 200.000 100.000 XXX XXXX XXXX
2 100.000 100.000 XXX XXXX XXXX
Travel path from the home to the position corresponding to position No. 1 (200, 100)
Y-axis
The X and Y-axes complete The end of the axis moves at 100 mm/s.
movement simultaneously.
100 mm
X-axis
Home 0 100 mm 200 mm
158
Part 4 Commands
z MVPI (Move via incremental PTP)

Command,
declaration
Position
Optional Optional MVPI Prohibited PE
number
[Function] Move the actuator, without interpolation, from the current position by the travel distance
corresponding to the position number specified in operand 1.
complete.
Movement may not occur if the specified travel distance is below the resolution (1 pulse):

MVPI 1 If the current position is (50, 50) and position No. 1 is set to
(150, 100), the axes will move 150 in the X direction and 100
in the Y direction (200, 150) from the current position.

MVPI *1 Move from the current position by the travel distance
corresponding to the content of variable 1 (position No. 2, or
(100, 100)).

1 150.000 100.000 XXX XXXX XXXX
2 100.000 100.000 XXX XXXX XXXX
Travel path from (50, 50) by the travel distance corresponding to position No. 1 (150, 100)
Y-axis Only the Y-axis completes

movement.
150 mm
Each axis moves at 100 mm/s.
50 mm
X-axis
Home 0 50 mm 200 mm
159
Part 4 Commands
z MVLI (Move via incremental interpolation)

Command,
declaration
Position
Optional Optional MVLI Prohibited PE
number
[Function] Move the actuator, with interpolation, from the current position by the travel distance
corresponding to the position number specified in operand 1.
complete.
Movement may not occur if the specified travel distance is below the resolution (1 pulse):

MVLI 1 If the current position is (50, 50) and position No. 1 is set to
(150, 100), the axes will move 150 in the X direction and 100
in the Y direction (200, 150) from the current position, with
interpolation.

MVLI *1 Move from the current position by the travel distance
corresponding to the content of variable 1 (position No. 2, or
(100, 100)).

1 200.000 100.000 XXX XXXX XXXX
2 100.000 100.000 XXX XXXX XXXX
Travel path from (50, 50) by the travel distance corresponding to position No. 1 (150, 100)
Y-axis The X and Y-axes complete

movement simultaneously.
150 mm
The end of the axis moves at 100

mm/s.
50 mm
X-axis
Home 0 50 mm 200 mm
160
Part 4 Commands
z PATH (Move along path)

Command,
declaration
Start End
Optional Optional PATH position position PE
number number
[Function] Move continuously from the position specified in operand 1 to the position specified in
operand 2.
The output type in the output field can be set using an actuator-declaration command POTP.
Increasing the acceleration will make the passing points closer to the specified positions.
If invalid data is set for any position number between the start and end position numbers, that
position number will be skipped during continuous movement.
Start position
Position origin
End position
(Note 1) Multi-dimensional movement can be performed using a PATH command.

In this case, input in operand 1 the point number of the next target, instead of the predicted
current position upon execution of the applicable command.
(Inputting a point number corresponding to the predicted current position will trigger
movement to the same point during continuous movement, thereby causing the speed to
drop.)

PATH 100 120 Move continuously from position Nos. 100 to 120.

PATH *1 *2 Move continuously along the positions from the content of
variable 1 (position No. 50) to the content of variable 2
(position No. 100).
(Note2) Continuous movement is possible even when all positions are not continuous.
As shown in the example, specify the position number corresponding to a discontinuous
position for both the start position number and end position number in the PATH command. In
this example, position No. 6 is discontinuous.
[Example] The actuator moves continuously in the sequence of
position Nos. 1 o 2 o 3 o 4 o 6 o 9 o 10.
PATH 1 4
PATH 6 6 (Discontinuous position)
PATH 9 10
161
Part 4 Commands
z JXWX (Jog)
Command,
declaration
Input,
Axis
Optional Optional JXWX output, flag PE
pattern
number
[Function] The axes in the axis pattern specified in operand 1 will move forward or backward while the
input or output port or flag specified in operand 2 is ON or OFF.
JBWF Move backward while the specified port is OFF.
JBWN Move backward while the specified port is ON.
JFWF Move forward while the specified port is OFF.
JFWN Move forward while the specified port is ON.
(Note 1) This command is also valid on an axis not yet completing home return. In this case, the
PD[LPXPVSHHGZLOOEHOLPLWHGE\³$OOD[LVparameter No. 15, Maximum jog speed before
KRPHUHWXUQ´6LQFHFRRUGLQDWHYDOXHVGRQRWPHDQDQ\WKLQJEHIRUHKRPHUHWXUQSD\GXH
attention to prevent contact with the stroke ends.
(Note 2) If an axis moving in accordance with JXWXKDVLWV³$[LVVSHFLILFSDUDPHWHU1R$[LV

RSHUDWLRQW\SH´VHWWR³´/LQHDUPRYHPHQWD[LV$1'³$[LVVSHFLILFSDUDPHWHU1R
/LQHDUPRYHPHQWPRGHVHOHFWLRQ´WR³´,QILQLWHstroke mode*), the axis will operate based on
DQLQILQLWHVWURNH5HIHUWR³&RPELQDWLRQ7DEOHRI;6(//LQHDU5RWDU\&RQWURO3DUDPHWHUV´LQ
Appendix.
When infinite stroke is enabled, the currHQWSRVLWLRQZLOOF\FOHEHWZHHQDSSUR[±PDQG
P
Any positioning command other than the above to a position exceeding a coordinate range
IURPDSSUR[±WRZLOOJHQHUDWHDQ³(UURU1R&%(7DUJHWGDWDERXQGDU\RYHU
HUURU´
Executing any positioning command other than the above outside a coordinate range from
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HUURU´
(These errors generate because the user cannot recognize the operating direction reliably
around the boundary. The current value may need to be reset using a HOME command, in
FRQMXQFWLRQZLWK³$[LVVSHFLILHGSDUDPHWHU1R+RPHUHWXUQPHWKRGÉHLQJVHWWR³´
&XUUHQWSRVLWLRQKRPH
When infinite stroke is enabled, be sure to perform a timeout check using other task or an
external system.
The infinite-stroke mode can be specified only for an incremental-encoder axis.

Be sure to contact IAI’s Sales Engineering if you wish to use the infinite-stroke mode.

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DYDULDEOHELQDU\o 12 (decimal)
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162
Part 4 Commands
z STOP (Stop movement)

Command,
declaration
Axis
Optional Optional STOP Prohibited CP
pattern
[Function] Decelerate and stop the axes specified by the axis pattern in operand 1.
(Note 1) A STOP command can be used with all active servo commands other than a SVOF
command.
(Note 2) A STOP command only issues a deceleration-stop command (operation stop) to a specified
axis pattern and does not wait for stopping to complete. Issuing other servo commands to a
decelerating axis will either become invalid orJHQHUDWHDQ³D[LVGXSOLFDWLRQHUURU´HWF
Set a timer, etc., in the program so that the next servo command will be issued after a
sufficient deceleration-stop processing time elapses.
Even when a STOP command is to be issued to an axis currently stopped, provide a
minimum interval of 0.1 second before the next servo command is issued.
[Example 1] STOP 1100 Decelerate and stop axes 3 and 4.

a variable:
STOP *1
163
Part 4 Commands
z PSPL (Move along spline)

Command,
declaration
Start End
Optional Optional PSPL position position PE
number number
[Function] Continuously move from the specified start position to end position via interpolation along a
spline-interpolation curve.
The output type in the output field can be set using an actuator-declaration command POTP.
If invalid data is set for any position number between the start and end position numbers, that
position number will be skipped during continuous movement.
Start position
Position origin
End position
(The above diagram is only an example.)
(Note) If the acceleration and deceleration are different between points, the speeds will not be
connected smoothly.
In this case, input in operand 1 the point number of the next target, instead of the predicted
current position upon execution of the applicable command.
(Inputting a point number corresponding to the predicted current position will trigger
movement to the same point during continuous movement, thereby causing the speed to
drop.)

PSPL 100 120 Continuously move from position Nos. 100 to 120 along a
spline-interpolation curve.
164
Part 4 Commands
z PUSH (Move by push motion)

Command,
declaration
Target
Optional Optional PUSH position Prohibited PE
number
[Function] Perform push-motion operation until the target position specified in operand 1 is reached.
The axes move in a normal mode from the position origin to the push-motion approach start
position as determined by a PAPR command, after which push-motion approach operation
(toque-limiting operation) will be performed. The speed of push-motion approach operation
(toque-limiting operation) is determined by the push-motion approach speed specified by a
PAPR command. If the output field is specified, the output will turn ON when a contact is
confirmed, and turn OFF when a missed contact is detected.
Y-axis
Push-motion approach distance
Position origin
Target position
X-axis
Start position of push-motion approach operation

(torque-limiting operation)
7KHSXVKIRUFHFDQEHDGMXVWHGXVLQJ³'ULYHUFDUGSDUDPHWHU1R3XVKWRUTXHOLPLWDW
SRVLWLRQLQJ´GHIDXOWYDOXH
(Note 1) A PUSH command only moves a single axis. If PXOWLSOHD[HVDUHVSHFLILHGDQ³(UURU1R&

Multiple push-axes specificDWLRQHUURU´ZLOOJHQHUDWH
(Note 2) A push-motion approach speed exceeding the maximum speed permitted by the system will
be clamped at the maximum speed. (The maximum system speed is not the maximum
practical speed. Determine a practical speed by considering the impact upon contact, etc.)
1RWH 3XVKPRWLRQRSHUDWLRQFDQQRWbe performed with a synchro controller.
165
Part 4 Commands
[Example] PAPR 100 20

MOVP 2
PUSH 10
Set the push-motion approach distance to 100 mm and push-motion approach speed to 20
mm/sec.
Move from the current position to position No. 2.
Perform push-motion movement from position Nos. 2 to 10.
The diagram below describes a push-motion movement based on the position data shown in
the table below:
2 50.000 100.000 XXX.XXX XXX X.XX X.XX
x
x
x
x
10 200.000 200 0.30 0.30
x
x
Move at 200 mm/sec.
Perform push-motion approach operation

Axis 2 (speed: 20 mm/sec).
Position No. 10
Position No. 2
Axis 1
50 100 200
166
Part 4 Commands
z CIR2 (Move along circle 2 (arc interpolation))

Command,
declaration
Passing Passing
Optional Optional CIR2 position 1 position 2 PE
number number
[Function] Move along a circle originating from the current position and passing positions 1 and 2, via
arc interpolation.
The rotating direction of the circle is determined by the given position data.
The diagram below describes a CW (clockwise) movement. Reversing passing positions 1
and 2 will change the direction of movement to CCW (counterclockwise).
The speed and acceleration will take valid values based on the following priorities:
Setting in the position data
1 Setting in the position data specified in operand 1
specified in operand 1
2 Setting by VEL command Setting by ACC (DCL) command
Default acceleration in all-axis parameter No. 11
3
(Default deceleration in all-axis parameter No. 12)
,IVSHHGLVQRWVHWD³&VSHHGVSHFLILFDWLRQHUURU´ZLOOJHQHUDWH
,IDFFHOHUDWLRQGHFHOHUDWLRQLVQRWYDOLGD³&DFFHOHUDWLRQGHFHOHUDWLRQVSHFLILFDWLRQHUURU´
will generate.
Passing position 1
Axis 2
Position origin Passing position 2
Axis 1
(Note1) This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically
prior to axis 1 in accordance with the position data.)
(Note2) If the interval between the position origin and passing position 1, or between passing position
DQGSDVVLQJSRVLWLRQLVVPDOODQGWKHORFXVLVQHDUDVRIWOLPLW³(UURU1R&7DUJHW
ORFXVVRIWOLPLWRYHUHUURU´PD\JHQHUDWH,Ithis error generates, make correction by
increasing the interval between the two adjacent positions as much as possible, setting the
locus slightly inward of the soft limit boundary, etc.

CIR2 100 101 Move along a circle (circular interpolation) passing position
Nos. 100 and 101.
Axis 2 Position No. 100
Position origin Position No. 101

Axis 1
167
Part 4 Commands
z ARC2 (Move along circle 2 (arc interpolation))

Command,
declaration
Passing End
Optional Optional ARC2 position position PE
number number
[Function] Move along an arc originating from the current position, passing the specified position and
terminating at the end position, via arc interpolation.
3
will generate.
Passing position
Axis 2
Position origin End position
Axis 1
(Note2) If the interval between the position origin and end position 1, or between passing position 1
and passing position 2, is small and the locus is QHDUDVRIWOLPLW³(UURU1R&7DUJHWORFXV
VRIWOLPLWRYHUHUURU´PD\JHQHUDWH,IWKLVHUURUgenerates, make correction by increasing the
interval between the two adjacent positions as much as possible, setting the locus slightly
inward of the soft limit boundary, etc.

ARC2 100 101 Move along an arc (circular interpolation) from the current
position to position No. 101 by passing position No. 100.
Position No. 100
Axis 2
Position No. 101

Position origin
Axis 1
168
Part 4 Commands
z CIRS (Move three-dimensionally along circle)

Command,
declaration
Passing Passing
Optional Optional CIRS position 1 position 2 PE
number number
This command is supported by the controllers whose main application version is 0.33 or later. The
command can be input using the PC software of version 1.1.0.5 or later or teaching pendant of version
1.05 or later.
[Function] Move along a circle (three-dimensional movement) originating from the current position and
passing positions 1 and 2 sequentially.
The rotating direction of the circle is determined by the given position data.
The movement in the diagram below will be performed in the reverse direction if passing
positions 1 and 2 are reversed.
Axis 3
Passing position 2
Passing position 1
Axis 2
Position origin
Axis 1
Priority Speed Acceleration Deceleration
Setting in the position data Setting in the position data Same as the valid
1
specified in operand 1 specified in operand 1 acceleration value
2 Setting by VEL command Setting by ACC command
Default acceleration in all-
3
axis parameter No. 11
will generate.
(Note 1) This command is valid on arbitrary planes in a three-dimensional space. (Axis 2 (if there are
only two valid axes) or axis 3 may be selected automatically prior to axis 1 in accordance with
the position data.)
(Note 2) The locus tends to shift inward as the speed increases. Minor adjustment, such as setting the
position data slightly outward, may be required.
(Note 3) If the circle diameter is small with respect to the set speed, the speed may be limited.
(Increasing the acceleration/deceleration will reduce the speed limitation, but they must not
exceed the range permitted by the actuator.)
(Note 4) If the interval between the position origin and passing position 1, or between passing position
(Note 5) For the axis set in the position data, set the same axis between passing positions 1 and 2.
169
Part 4 Commands
z ARCS (Move three-dimensionally along arc)

Command,
declaration
Passing
End position
Optional Optional ARCS position PE
number
number
This command is supported by the controllers whose main application version is 0.33 or later. The
command can be input using the PC software of version 1.1.0.5 or later or teaching pendant of version
1.05 or later.
[Function] Move along an arc (three-dimensional movement) originating from the current position,
passing the specified position and terminating at the end position.
Axis 3
Passing position End position

Axis 2
Position origin
Axis 1
Priority Speed Acceleration Deceleration
Setting in the position data Setting in the position data Same as the valid
1
specified in operand 1 specified in operand 1 acceleration value
2 Setting by VEL command Setting by ACC command
Default acceleration in all-
3
axis parameter No. 11
will generate.
(Note 1) This command is valid on arbitrary planes in a three-dimensional space. (Axis 2 (if there are
only two valid axes) or axis 3 may be selected automatically prior to axis 1 in accordance with
the position data.)
(Note 2) The locus tends to shift inward as the speed increases. Minor adjustment, such as setting the
position data slightly outward, may be required.
(Note 3) If the arc diameter is small with respect to the set speed, the speed may be limited.
(Increasing the acceleration/deceleration will reduce the speed limitation, but they must not
exceed the range permitted by the actuator.)
(Note 4) If the interval between the position origin and end position 1, or between passing position 1
(Note 5) For the axis set in the position data, set the same axis between passing position and end
position
170
Part 4 Commands
z CHVL (Change speed)

Command,
declaration
Optional Optional CHVL Axis pattern Speed CP
[Function] Change the speed of the axes operating in other task.

When a CHVL command is executed, the speed of the axes specified in operand 1 will change to
the value specified in operand 2.
(Note 1) This command is not valid on an axis operated by a CIR, ARC, PSPL, PUSH, ARCH, PACH, CIRS
or ARCS command.
(Note 2) Executing a CHVL command for an axis operating in sigmoid motion (SCRV command) will
JHQHUDWHDQ³(UURU1R&&6SHHGFKDQJHFRQGLWLRQHUURU´
1RWH 7KLVLVDWHPSRUDU\VSHHGFKDQJHFRPPDQGLVVXHGIURPRWKHUWDVNWRWKHDFWLYHSDFNHWSRLQW,W
is not affected by the data declared by VEL.
Program 1 Program 2
VEL 300
x If CHVL is executed in program 1 while MOVP 2
x is executed in program 2, the travel speed of
MOVP 1 MOVP 2 will become 100 mm/sec.
CHVL 111 100 MOVP 2 The speeds of other move commands will
MOVP 3 remain 300 mm/sec.
x
x
The axis pattern can be specified indirectly using a variable.

When program 1 is rephrased based on indirect specification using a variable:
CHVL *1 100
(Note 4) Since this command is valid only for the packet that is active at the time of execution of the
command for an axis subject to continuous motion in a PATH command, etc., caution must be
H[HUFLVHGDJDLQVWWKHWLPLQJVKLIW7KHSDFNHWKDQGOLQJZLOOEHSXWRQKROGGXULQJVSHHGFKDQJH
processing, so caution must also be exercised against the locus shift.
Program 1 Program 2
x VEL 300
x x
x x No. 1 No. 3 No. 5
CHVL 111 100 PATH 1 5
x
x VEL 100
x
No. 2 No. 4
If CHVL is executed in program 1 while PATH is executed in program 2, or specifically during the
PATH movement from point No. 2 to point No. 3, the speed specified by CHVL (100 mm/sec in the
above example) will become valid only during the PATH movement to point No. 3. Other travel
speeds will remain at the speed specified by VEL (300 mm/sec in the above example).
(Note 5) Override of the CHVL call task will be applied, so caution must be exercised.
(Note 6) The maximum speed of the specified axis completing home return will be clamped by the minimum
YDOXHVHWLQ³$[LVVSHFLILFSDUDPHWHU1R0D[LPXPRSHUDWLQJVSHHGRIHDFKD[LV´RU³$[LV
VSHFLILFSDUDPHWHU1R0D[LPXPVSHHGOLPLWHGE\PD[LPXPPRWRUVSHHG´ZLWKUHVSHFWWRWKH
specified axis and related interpolation axes currently operating. To prevent the maximum speed
from being limited due to the effect of other axis whose maximum speed is lower than the speed
specified in the CHVL command, issue a CHVL command in multiple steps corresponding to the
respective axes having different maximum speeds. In particular, specification of a CHVL command
in a separate step is recommended for a rotating axis.
[Example] CHVL 1111 500 CHVL 111 500
CHVL 1000 500
171
Part 4 Commands
z ARCD (Move along arc via specification of end position and center angle (arc interpolation))
Command,
declaration
End
Center
Optional Optional ARCD position PE
angle
number
[Function] Move along an arc originating from the current position and terminating at the end position,
via arc interpolation.
Specify the end position of movement in operand 1, and the center angle formed by the
SRVLWLRQRULJLQDQGHQGSRVLWLRQLQRSHUDQG7KHFHQWHUDQJOHLVVHWLQDUDQJHIURP±
WR±RUIURPWR$SRVLWLYHYDOXHLQGLFDWHV&&:
FRXQWHUFORFNZLVHPRYHPHQWZKLOHDQHJDWLYHYDOXHLQGLFDWHV&:FORFNZLVHPRYHPHQW
(Note) The rotating direction of the actual operation locus may vary depending on how the axes are
installed and combined, etc. Be sure to perform test operation to confirm the rotating
direction.
The center angle is set in degrees and may include up to three decimal places.
3
will generate.
End position Position origin
Center angle
(Note2) If the center angle is small and the locus is QHDUDVRIWOLPLW³(UURU1R&7DUJHWORFXVVRIW
OLPLWRYHUHUURU´PD\JHQHUDWH,IWKLVHUURUJHQerates, make correction by setting the locus
slightly inward of the soft limit boundary, etc. For your information, the larger the center angle,
the smaller the locus error becomes.

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IRUDFHQWHUDQJOHRIGHJUHHV&&:GLUHFWLRQ
172
Part 4 Commands
z ARCC (Move along arc via specification of center position and center angle (arc interpolation))
Command,
declaration
Center
Center
Optional Optional ARCC position PE
angle
number
[Function] Move along an arc originating from the current position by keeping a specified radius from the
center position, via arc interpolation.
Specify the center position in operand 1, and the center angle formed by the position origin
DQGHQGSRVLWLRQLQRSHUDQG7KHFHQWHUDQJOHLVVHWLQDUDQJHIURP±WRGHJUHHV
UHYROXWLRQV$SRVLWLYHYDOXHLQGLFDWHV&&:FRXQWHUFORFNZLVHGLUHFWLRQPRYHPHQW
ZKLOHDQHJDWLYHYDOXHLQGLFDWHV&:FORFNZLVHGLUHFWLRQPRYHPHQWVHWWLQJXQLWGHJUHH
(Note) The rotating direction of the actual operDWLRQORFXVPD\YDU\GHSHQGLQJRQKRZWKHD[HVDUH
installed and combined, etc. Be sure to perform test operation to confirm the rotating
direction.
The center angle is set in degrees and may include up to three decimal places.
7KHVSHHGDQGDFFHOHUDWLRQZLOOWDNHYDOLGYDOXHVEDVHGRQWKHIROORZLQJSULRULWLHV
'HIDXOWDFFHOHUDWLRQLQDOOD[LVSDUDPHWHU1R
3
'HIDXOWGHFHOHUDWLRQLQDOOD[LVSDUDPHWHU1R
ZLOOJHQHUDWH
Position origin
Center angle
Center position
SULRUWRD[LVLQDFFRUGDQFHZLWKWKHSRVLWLRQGDWD
(Note2) If the center angle is small and the locus is QHDUDVRIWOLPLW³(UURU1R&7DUJHWORFXVVRIW
OLPLWRYHUHUURU´PD\JHQHUDWH,IWKLVHUURUJHQerates, make correction by setting the locus
VOLJKWO\LQZDUGRIWKHVRIWOLPLWERXQGDU\HWF)RUyour information, the larger the center angle,
the smaller the locus error becomes.

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RIGHJUHHVDURXQGSRVLWLRQ1REHLQJWKHFHQWHU
&&:GLUHFWLRQ
173
Part 4 Commands
z PBND (Set positioning band)

Command,
declaration
Axis
Optional Optional PBND Distance CP
pattern
[Function] Set the position complete band for the axes in the axis pattern specified in operand 1. The
distance in operand 2 is set in mm.
As a rule, positioning is deemed complete when all command pulses have been output and
the current position is inside the positioning band. Therefore, this command is effective if you
wish to reduce the tact time by shortening the approximate positioning settling time. (Normally
a setting of approx. 3 to 5 mm will have effect, but the effect must be confirmed on the actual
machine.)
(This command can be combined with a QRTN command for special purposes. Refer to the
section on QRTN command for details.)
Feedback pulses
V
Command If the set positioning band exceeds this
pulses DUHDWKHVHWWOLQJWLPHZLOOEHFRPH³´
Settling time
1RWH ,ISRVLWLRQLQJEDQGLVQRWVHWZLWKD3%1'FRPPDQGWKHYDOXHVHWLQ³$[LVVSHFLILFSDUDPHWHU
1R3RVLWLRQLQJEDQG´ZLOOEHXVHG
(Note 2) If the positioning band is changed, the new setting will remain valid even after the program
ends. Therefore, to build a system using PBND commands, a positioning band must be
expressly specified with a PBND command before operation of each program. An assumption
that the positioning band will be reset to the original value when the operation ends in other
program may lead to an unexpected problem, because the positioning band will become
different from what is anticipated in case the applicable program is aborted due to error, etc.
1RWH 7KHYDOXHVHWLQ³$[LVVSHFLILFSDUDPHWHU1R3RVLWLRQLQJEDQG´ZLOOQRWEHZULWWHQE\D
PBND command.
[Example 1] PBND 11 5 Set the positioning band for axes 1 and 2 to 5 mm after this
command.

a variable:
PBND *1 5
174
Part 4 Commands
z PEND (Wait for end of operation of axes used by current program) <Positioning END>
Command,
declaration
Optional Optional PEND Prohibited Prohibited PE
[Function] Wait for the end of operation of axes used by the current program when a PEND command is
executed.
The output turns ON only when a MOVP, MOVL or PATH command operation has completed
successfully (positioning has completed successfully) in quick return mode 2 (return after
near detection & target position addition mode) or quick return mode 3 (return after near
detection & target position change mode). (The output does not turn ON after other servo
command has been executed.)
(Note 1) To check if the operation has completed successfully (positioning has completed
successfully), be sure to execute a PEND command before cancelling the quick return mode.
(Note 2) Be sure to refer to the pages explaining the QRTN and NBND commands, as well.
(Note 3) Software versions supporting PEND
Controller main application: Version 1.04 or later (excluding the flash ROM 8-Mbit
version)
PC software: Version 7.2.3.0 or later
Teaching pendant: IA-T-X (D) version 1.44 or later (scheduled to be released
in early December 2007)
SEL-T (D) version 1.02 or later (scheduled to be released
in early December 2007).
175
Part 4 Commands
z CIR (Move along circle)

Command,
declaration
Passing Passing
Optional Optional CIR position 1 position 2 PE
number number
[Function] Move along a circle originating from the current position and passing the positions specified in
operands 1 and 2.
Therefore, reversing the settings of operands 1 and 2 will implement a circular movement in
the reverse direction.
The output will turn OFF at the start of circular movement, and turn ON when the movement
is complete.
Difference from CIR2:
CIR processing resembles moving along a polygon with a PATH command, while CIR2
actually performs arc interpolation.
Select an applicable command by considering the characteristics of each command.
(Normally CIR2 is used.)
1RWH ,IWKHGLYLVLRQDQJOHLVVHWWR³´ZLWKD'(*FRPPDQGGLYLVLRQDQJOHLVFDOFXODWHG

automatically based on priority speed setting), the speed set in the data at passing position 1
or speed set by a VEL command will be used (former is given priority). The speed set in the
data at passing position 2 will have no meaning.
(Note 2) If the division angle is set to a value RWKHUWKDQ³´ZLWKD'(*FRPPDQGQRUPDOGLYLVLRQ
angle), the speed specified in the target position data will be used. (The speed set by a VEL
command will become valid if position data is not specified.)
In the case of circular movement, the axes will return from passing position 2 to the start
position at the speed declared by a VEL command. Therefore, a VEL command must always
be used with a CIR command.
(Note 3) The acceleration is selected in the order of the acceleration in the data at passing position 1,
IROORZHGE\WKHYDOXHLQ³$OOD[LVSDUDPHWHU1R'HIDXOWDFFHOHUDWLRQ´
The deceleration will become the same value as the valid acceleration selected above.
Therefore, the deceleration in the data at passing position 1 and the acceleration/deceleration
in the data at passing position 2 will not have any meaning.
(Note 4) This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically
(Note 5) If the interval between the position origin and passing position 1, or between passing position

&,5 0RYHDORQJDFLUFOHIURPWKHFXUUHQWSRVLWLRQE\SDVVLQJ
SRVLWLRQVDQGVHTXHQWLDOO\

CIR *1 *2 Move along a circle from the current position by passing the
contents of variables 1 and 2 (positions 5 and 6)
VHTXHQWLDOO\
176
Part 4 Commands
z ARC (Move along arc)

Command,
declaration
Passing End
Optional Optional ARC position position PE
number number
[Function] Move along an arc from the current position to the position specified in operand 2, by passing
the position specified in operand 1.
The output will turn OFF at the start of arc movement, and turn ON when the movement is
complete.
Difference from ARC2:
ARC processing resembles moving along a polygon with a PATH command, while ARC2
actually performs arc interpolation.
Select an applicable command by considering the characteristics of each command.
(Normally ARC2 is used.)
1RWH ,IWKHGLYLVLRQDQJOHLVVHWWR³´ZLWKD'(*FRPPDQGGLYLVLRQDQJOHLVFDOFXODWHG

automatically based on priority speed setting), the speed set in the data at passing position 1
or speed set by a VEL command will be used (former is given priority). The speed set in the
data at passing position 2 will have no meaning.
(Note 2) If the division angle is set to a value RWKHUWKDQ³´ZLWKD'(*FRPPDQGQRUPDOGLYLVLRQ
angle), the speed specified in the target position data will be used. (The speed set by a VEL
command will become valid if position data is not specified.)
(Note 3) The acceleration is selected in the order of the acceleration in the data at passing position 1,
IROORZHGE\WKHYDOXHLQ³$OOD[LVSDUDPHWHU1R'HIDXOWDFFHOHUDWLRQ´
The deceleration will become the same value as the valid acceleration selected above.
Therefore, the deceleration in the data at passing position 1 and the acceleration/deceleration
in the data at passing position 2 will not have any meaning.
(Note 4) This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically
prior to axis 1 in accordance with the position data.).
(Note5) If the interval between the position origin and end position 1, or between passing position 1

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E\SDVVLQJSRVLWLRQ

ARC *1 *2 Move along an arc from the current position to the content of
variable 2 (position 6) by passing the content of variable 1
(position 5).
177
Part 4 Commands
1.13 Structural IF
z IFXX (Structural IF)

Command,
declaration
Variable
Optional Optional IFXX Data CP
number
[Function] Compare the content of the variable specified in operand 1 with the value specified in
operand 2, and proceed to the next step if the condition is satisfied.
If the condition is not satisfied, the program will proceed to the step next to the corresponding
ELSE command, if any, or to the step next to the corresponding EDIF command.
If the input condition is not satisfied and the IFXX command is not executed, the program will
proceed to the step next to the corresponding EDIF.
A maximum of 15 nests are supported when ISXX and DWXX are combined.
IFXX
[Example 1] 600 IFEQ 1 1 Select an axis.

IFGE 2 0 Select a moving direction.
JFWN 01 5 Move axis 1 forward.
ELSE
JBWN 01 5 Move axis 1 backward.
EDIF
ELSE
IFLT 2 0 Select a moving direction.
JBWN 10 5 Move axis 2 backward.
ELSE
JFWN 10 5 Move axis 2 forward.
EDIF
EDIF
-RJE\VHOHFWLQJD[LVD[LVE\YDULDEOHDQGIRUZDUGEDFNZDUG±E\
variable 2.
Nothing will happen if flag 600 is OFF, in which case the program will proceed to
the step next to the last EDIF.
(Note) Using a GOTO command to branch out of or into an IFXX-EDIF syntax is prohibited.
178
Part 4 Commands
z ISXX (Compare strings)

Command,
declaration
Column
Column number,
Optional Optional ISXX CP
number character
literal
[Function] Compare the character strings in the columns specified in operands 1 and 2, and proceed to
the next step if the condition is satisfied.
If the condition is not satisfied, the program will proceed to the step next to the corresponding
ELSE command, if any, or to the step next to the corresponding EDIF command.
Comparison will be performed for the length set by a SLEN command.
If a character literal is specified in operand 2, comparison will be performed for the entire
length of the literal.
If the input condition is not satisfied and the ISXX command is not executed, the program will
proceed to the step next to the EDIF.
A maximum of 15 nests are supported when IFXX and DWXX are combined.
ISXX
>([DPSOH@ 6&3< µ*2)'¶0RYH

forward)
6&3< µ*2%.¶0RYH
backward)
LET 1 5
LET 2 14
SLEN 4 Set the number of comparing characters to 4.
,6(4 µ$;6¶$[LV 6HOHFWDQD[LV
,6(4 6HOHFWDPRYLQJGLUHFWLRQ
-):1 0RYHD[LVIRUZDUG
ELSE
-%:1 0RYHD[LVEDFNZDUG
EDIF
ELSE
,61( 6HOHFWDPRYLQJGLUHFWLRQ
-):1 0RYHD[LVEDFNZDUG
ELSE
-%:1 0RYHD[LVIRUZDUG
EDIF
EDIF
Jog by selecting axis 1/axis 2 by columns 1 to 4 and forward/backward by
columns 5 to 8.
Nothing will happen if flag 600 is OFF, in which case the program will proceed to
the step next to the last EDIF.
If columns 1 to 8 contain the followingGDWDD[LVZLOOEHPRYHGIRUZDUG
12 34 56 78
$ ;6 *2 )'
1RWH 8VLQJD*272FRPPDQGWREUDQFKRXWRIor into an ISXX-EDIF syntax is prohibited.
179
Part 4 Commands
z ELSE (Else)
Command,
declaration
Prohibited Prohibited ELSE Prohibited Prohibited CP
[Function] An ELSE command is used arbitrarily in conjunction with an IFXX or ISXX command to
declare the command part to be executed when the condition is not satisfied.
[Example 1] Refer to the sections on IFXX and ISXX.
z EDIF (End IFXX)

Command,
declaration
Prohibited Prohibited EDIF Prohibited Prohibited CP
[Function] Declare the end of an IFXX or ISXX command.
[Example 1] Refer to the sections on IFXX and ISXX.
180
Part 4 Commands
1.14 Structural DO
z DWXX (DO WHILE)

Command,
declaration
Variable
Optional Optional DWXX Data CP
number
[Function] Compare the content of the variable specified in operand 1 with the value specified in
operand 2, and execute the subsequent commands up to EDDO while the condition is
satisfied.
The program will proceed to the step next to the corresponding EDDO if the condition is no
longer satisfied.
A LEAV command can be used to forcibly end a loop.
If the input condition is not satisfied and the DWXX command is not executed, the program
will proceed to the step next to the corresponding EDDO.
A maximum of 15 nests are supported when IFXX and ISXX are combined.
DWXX
[Example 1] 008 DWEQ 1 0 Repeat the command up to an EDDO command while

YDULDEOHFRQWDLQV³´
:
:
EDDO
If DWXX is specified at the start and input 8 is OFF, nothing will occur and the program
will proceed to the step next to EDDO.
(Note) Using a GOTO command to branch out of or into a DWXX-EDDO syntax is prohibited.
z LEAV (Pull out of DO WHILE)

Command,
declaration
Optional Optional LEAV Prohibited Prohibited CP
[Function] Pull out of a DOXX loop and proceed to the step next to EDDO.
[Example 1] DWEQ 1 0 Repeat the commands up to an EDDO command while

YDULDEOHFRQWDLQVµ´
:
600 LEAV Forcibly end the loop if flag 600 is ON and proceed to
the step next to an EDDO command.
:
EDDO
181
Part 4 Commands
z ITER (Repeat)
Command,
declaration
Optional Optional ITER Prohibited Prohibited CP
[Function] Forcibly switch the control to EDDO while in a DOXX loop.
[Example 1] DWEQ 1 0 Repeat the commands up to an EDDO command while

YDULDEOHFRQWDLQV³´
:
600 ITER Forcibly switch the control to an EDDO command and
: perform end judgment, if flag 600 is ON.
EDDO
z EDDO (End DO WHILE)

Command,
declaration
Prohibited Prohibited EDDO Prohibited Prohibited CP
[Function] Declare the end of a loop that began with DWXX.

If the DWXX condition is not satisfied, the program will proceed to the step next to this
command.
[Example 1] Refer to the section on DWXX.
182
Part 4 Commands
1.15 Multi-Branching
z SLCT (Start selected group)

Command,
declaration
Optional Optional SLCT Prohibited Prohibited CP
[Function] Branch to the step next to any WHXX or WSXX command that exists before an EDSL
command and whose condition is satisfied, or to the step next to an OTHE command if none
of the conditions are satisfied.
A SLCT command must be followed by a WHXX, WSXX or EDSL command.
A maximum of 15 nests are supported.
(Note) Using a GOTO command to branch out of or into a SLCT-EDSL syntax is prohibited.
>([DPSOH@ 6&3< µ5LJKW¶ $VVLJQµULJKW¶WRFROXPQVDQG

:
600 SLCT Jump to a WXXX whose condition is satisfied.
:6(4 µ5LJKW¶ ,IµULJKW¶LVVWRUHGLQFROXPQVDQGWKLVFRPPDQGZLOO
: be executed.
:6(4 µ/HIW¶ ,IµOHIW¶LVVWRUHGWKLVFRPPDQGZLOOEHH[HFXWHG
:
OTHE If the content of columns 1 and 2 is neither of the above,
: this command will be executed.
EDSL If flag 600 is OFF, the processing will move here upon
execution of any of the conditions.
183
Part 4 Commands
z WHXX (Select if true; variable)

Command,
declaration
Variable
Prohibited Prohibited WHXX Data CP
number
[Function] This command is used between SLCT and EDSL commands to execute the subsequent
commands up to the next WXXX command or an OTHE or EDSL command when the
comparison result of the content of the variable specified in operand 1 with the value
specified in operand 2 satisfies the condition.
WHXX

:
SLCT Execute multi-branching.
WHEQ 1 10 (1) will be executed if the content of variable 1 is 10.
: Since variable 1 contains 20, however, the next
(1) condition will be referenced.
:
WHGT 1 *2 This command will be executed if the content of variable
1 is greater than the content of variable 2.
Since variable 1 (= 20) > variable 2 (=10), (2) will be
executed.
:
(2)
:
OTHE This command will be executed if none of the conditions
are satisfied. In this example, since (2) was executed,
(3) will not be executed.
:
(3)
:
EDSL The processing will move here if any of the conditions
: was satisfied and the applicable command executed. In
(4) this example, (2) and (4) will be executed.
:
* If multiple conditions are likely to be satisfied, remember that the first WXXX will become valid and any
subsequent commands will not be executed. Therefore, state from the command with the most difficult
condition or highest priority.
184
Part 4 Commands
z WSXX (Select if true; character)

Command,
declaration
Column
Column number,
Prohibited Prohibited WSXX CP
number character
literal
[Function] This command is used between SLCT and EDSL commands to execute the subsequent
commands up to the next WXXX command or an OTHE or EDSL command when the
comparison result of the character strings in the columns specified in operands 1 and 2
satisfies the condition.
WSXX
[Example 1] SLEN 3 Set the number of comparing characters to 3.

6&3< µ$%&¶ $VVLJQµ$%&¶WRFROXPQ
:
SLCT Execute multi-branching.
:6(4 µ;<=¶ ZLOOEHH[HFXWHGLIFROXPQVWRFRQWDLQµ;<=¶
6LQFHFROXPQVWRFRQWDLQµ$%&¶KRZHYHUWKLV
:
command will not be executed.
(1)
:
WSEQ 2 *1 (2) will be executed if the content of the number of
characters specified by SLEN after column 2 is the
: same as the content of the column specified in variable
1.
(2)
:
OTHE This command will be executed if none of the conditions
are satisfied. In this example, since (2) was executed,
:
(3) will not be executed.
(3)
:
EDSL The processing will move here if any of the conditions
: was satisfied and the applicable command executed. In
(4) this example, (2) and (4) will be executed.
:
* If multiple conditions are likely to be satisfied, remember that the first WXXX will become valid and any
subsequent commands will not be executed. Therefore, state from the command with the most difficult
condition or highest priority.
185
Part 4 Commands
z OTHE (Select other)

Command,
declaration
Prohibited Prohibited OTHE Prohibited Prohibited CP
[Function] This command is used between SLCT and EDSL commands to declare the command to be
executed when none of the conditions are satisfied.
[Example 1] Refer to the sections on SLCT, WHXX and WSXX.
z EDSL (End selected group)

Command,
declaration
Prohibited Prohibited EDSL Prohibited Prohibited CP
[Function] Declare the end of a SLCT command.
[Example 1] Refer to the sections on SLCT, WHXX and WSXX.
186
Part 4 Commands
1.16 System Information Acquisition
z AXST (Get axis status)

Command,
declaration
Variable Axis
Optional Optional AXST CP
number number
[Function] Store in the variable specified in operand 1 the status (axis error number) of the axis
1RWH ,IWKHREWDLQHGUHVXOWLV³´ it means no axis error is present.

(Note 2) Since the error lists are written in hexadecimals, they must be converted to decimals.
[Example] AXST 1 2 Read the error number for axis 2 to variable 1.
If 3188 (decimal) is stored in variable 1 after the execution of this command:
3188 y 16 = 199 ,,,4

199 y 16 = 12 (= C) ,,,7
2
3188 = 12 (= C) X 16 + 7 X 16 + 4
= C74 (HEX) (Hexadecimal number)
7KHUHIRUHDQ³(UURU1R&$FWXDOSRVLWLRQVRIWOLPLWRYHUHUURU´LVSUHVHQW
187
Part 4 Commands
z PGST (Get program status)

Command,
declaration
Variable Program
Optional Optional PGST CP
number number
[Function] Store in the variable specified in operand 1 the status (program error number) of the program
1RWH ,IWKHREWDLQHGUHVXOWLV³ít means no program error is present.

(Note 2) Although the error lists are written in hexadecimals, the status to be stored (program error
number) is a decimal. Therefore, the decimal program error numbers must be converted to
hexadecimals.
[Example] PGST 1 2 Read the error number for program No. 2 to

variable 1.
188
Part 4 Commands
z SYST (Get system status)

Command,
declaration
Variable
Optional Optional SYST Prohibited CP
number
[Function] Store the system status (top-priority system error number) in the variable specified in
operand 1.
1RWH ,IWKHREWDLQHGUHVXOWLV³´LWPHDQVQRV\VWHPHUURULVSUHVHQW
(Note 2) Since the error lists are written in hexadecimals, they must be converted to decimals.
(Note 3) Relationship of error statuses
System errors Program errors
Axis errors
Other errors
* An axis error that generates during operation with a program command will be
registered both as a program error and an axis error.
[Example] SYST 1 Read the system error number to variable 1.
189
Part 4 Commands
1.17 Zone
z WZNA (Wait for zone ON, with AND)

Command,
declaration
Zone Axis
Optional Optional WZNA CP
number pattern
[Function] Wait for the zone status of all axes (AND) specified by the axis pattern in operand 2 to
become ON (inside zone) with respect to the zone specified in operand 1.
(Note 1) The zone status of axes not yet completing home return will remain OFF (outside zone).
(Note 2) A maximum of four areas can be set as zoQHVIRUHDFKD[LV³$[LVVSHFLILFSDUDPHWHU1RV
WR´
1RWH =RQHRXWSXWFDQEHVSHFLILHGXVLQJ³$[LVVSHFLILFSDUDPHWHU1RVDQG´
irrespective of this command.
[Example 1] WZNA 1 11 If the parameters are set as follows, the program

will wait until the zone status of axes 1 and 2
becomes ON (inside the shaded area shown in the
diagram below).

a variable:
WZNA 1 *5
Axis 1 Axis 2
³$[LVVSHFLILFSDUDPHWHU1R=RQHPD[´ 300000 200000
(Value is set in units of 0.001 mm)
³$[LVVSHFLILFSDUDPHWHU1R=RQHPLQ´ 150000 100000
The program will proceed to the next step if both axes

Axis 2 1 and 2 are inside the shaded area.
200
100
Axis 1
150 300
190
Part 4 Commands
z WZNO (Wait for zone ON, with OR)

Command,
declaration
Zone Axis
Optional Optional WZNO CP
number pattern
[Function] Wait for the zone status of any of the axes (OR) specified by the axis pattern in operand 2 to
become ON (inside zone) with respect to the zone specified in operand 1.
WR´
[Example 1] WZNO 1 11 If the parameters are set as follows, the program

will wait until the zone status of axes 1 or 2
becomes ON (inside the shaded area shown in the
diagram below).

a variable:
WZNO 1 *5
Axis 1 Axis 2

1 and 2 are inside the shaded area.
Axis 2
200
100
Axis 1
150 300
191
Part 4 Commands
z WZFA (Wait for zone OFF, with AND)

Command,
declaration
Zone Axis
Optional Optional WZFA CP
number pattern
[Function] Wait for the zone status of all axes (AND) specified by the axis pattern in operand 2 to
become OFF (outside zone) with respect to the zone specified in operand 1.
WR´
[Example] WZFA 1 11 If the parameters are set as follows, the program

will wait until the zone status of axes 1 and 2
becomes OFF (inside the shaded area shown in
the diagram below)

a variable:
WZFA 1 *5
Axis 1 Axis 2

200
100
Axis 1
150 300
192
Part 4 Commands
z WZFO (Wait for zone OFF, with OR)

Command,
declaration
Zone Axis
Optional Optional WZFO CP
number pattern
[Function] Wait for the zone status of any of the axes (OR) specified by the axis pattern in operand 2 to
become OFF (outside zone) with respect to the zone specified in operand 1.
WR´
[Example 1] WZFO 1 11 If the parameters are set as follows, the program

will wait until the zone status of axes 1 or 2
becomes OFF (inside the shaded area shown in
the diagram below).

a variable:
WZFO 1 *5
Axis 1 Axis 2

200
100
Axis 1
150 300
193
Part 4 Commands
1.18 Communication
z OPEN (Open channel)

Command,
declaration
Channel
Optional Optional OPEN Prohibited CP
number
[Function] Open the channel specified in operand 1.

The specified channel will be enabled to send/receive hereafter.
Prior to executing this command, a SCHA command must be used to set an end character.
[Example] SCHA 10
OPEN 1
Specify 10 (= LF) as the end character.
Open channel 1.
1RWH ,I³23(1´LVH[HFXWHGWKHteaching-pendant connector (D-sub,

25-pin) will be disconnected. (This is because channel 1 is shared
by the teaching pendant/PC software.)
z CLOS (Close channel)

Command,
declaration
Channel
Optional Optional CLOS Prohibited CP
number
[Function] Close the channel specified in operand 1.

The specified channel will be disabled to send/receive hereafter.
[Example] CLOS 1
Close channel 1.
LET 1 2
CLOS *1
Assign 2 to variable 1.
Close the content of variable 1 (channel 2).
194
Part 4 Commands
z READ (Read)
Command,
declaration
Channel Column
Optional Optional READ CC
number number
[Function] Read a character string from the channel specified in operand 1 to the column specified in operand 2.
Read will end when the character specified by a SCHA command is received.
Either a local or global column may be specified.
A return code will be stored in a local variable (factory setting: variable 99) immediately after this command is executed. You can
check if the command has been executed successfully by checking this return code. If necessary, specify each processing to be
performed when the command fails.
,IWKHPDLQDSSOLFDWLRQYHUVLRQLVRUODWHUVSHFLI\LQJ³LQRSHUDQGZLOOH[HFXWHDGXPP\UHDGFOHDUWKHUHFHLYHEXIIer and
disable receive) (return code: successful completion). The toolYHUVLRQVWKDWVXSSRUW³´LQSXWLQRSHUDQGDUHVKRZQEHORZ(ven if
³´FDQQRWEHLQSXWIURPDWRROLQGLUHFWVSHFLILFDWLRQLVDYDLODEOH
x PC software version 1.1.1.0 or later
x Teaching-pendant application version 1.06 or later
(Note) Dummy read cannot be specified (= operand 2 cannot be VHWWR³ÍRUFKDQQHO1RVWR(WKHUQHWRSWLRQ
[Example] SCHA 10 Set LF (= 10) as the end character.

OPEN 1 Open channel 1.
READ 1 2 Read a character string from channel 1 to column 2 until LF is received.
TRAN 1 99 Assign the return code (variable 99) to variable 1.
CLOS 1 Close the channel.
SLCT The program branches to the processing corresponding to each return
code.
(Note) Branching out of or into a SLCT ~ EDSL statement using a
GOTO command is prohibited.
WHEQ 1 0 If the content of variable 1 is³´H[HFXWHGVXFFHVVIXOO\>@ZLOOEH
executed. Specify in [1] the processing to be performed when the
command has been executed successfully.

[1]

WHEQ 1 1 If the content of variable 1 is³´WLPHRXW>@ZLOOEHH[HFXWHG,I
necessary, specify in [2] the processing to be performed in this
condition.

[2]

WHEQ 1 2 ,IWKHFRQWHQWRIYDULDEOHLV³´WLPHUFDQFHOOHG>@ZLOOEHH[HFXWHG,I
QHFHVVDU\VSHFLI\LQ>@WKHSURFHVVLQJWREHSHUIRUPHGLQWKLV
condition.

>@

OTHE ,IWKHFRQWHQWRIYDULDEOHLVQRW³´³´RU³´>@ZLOOEHH[HFXWHG,I
necessary, specify in [4] the error handling to be performed in this
condition.

[4]

EDSL If any of the above conditions is satisfied and the applicable command is
executed, the processing will move here.

(snip)

x Return code of the READ command

The return code is stored in a local variable. If the main application version is 0.21 or later, variable number can be set by ³2WKHUSDUDPHWHU
1R´7KHGHIDXOWYDULDEOHQXPEHULV
The variable number is fixed to 99 in main application version 0.20 and earlier.
0: READ completed successfully (Receive complete) 6: READ task ended (program end request, etc.) (Receive disabled)
1: READ timeout (the timeout value is set by a TMRD (Cannot be recognized by SEL commands)
command) (Continue to receive) 7: READ SCIF receive error due to other factor (Receive disabled)
2: READ cancelled due to timer (the waiting status was 8: READ expanded-SIO overrun error (Receive disabled)
cancelled by a TIMC command) (Continue to receive) 9: READ expanded-SIO parity error (Receive disabled)
5($'6&,)RYHUUXQHrror (Receive disabled) 10: READ expanded-SIO framing error (Receive disabled)
4: READ SCIF receive error (framing error or parity error) 11: READ expanded-SIO buffer overflow error (Receive disabled)
(Receive disabled) 12: READ expanded-SIO receive error due to other factor (Receive
5: READ factor error (program abort error) (Receive disabled)
disabled)
(Cannot be recognized by SEL commands)
195
Part 4 Commands
z TMRD (Set READ timeout value)

Command,
declaration
Timer
Optional Optional TMRD Prohibited CP
setting
[Function] Set the timeout to be applied to a READ command.

The timer setting specified in operand 1 will set the maximum time the program will wait for the
character string read to end when a READ command is executed.
If the end character could not be read before the timer is up during the execution of the READ
command, a timeout will occur and the program will move to the next step.
(Whether or not a timeout has occurred can be checked from the return code that will be stored in a
local variable immediately after the READ command is executed.)
If necessary, specify the processing to be performed when a timeout occurs.)
6HWWLQJWKHWLPHUWR³´ZLOODOORZWKH5($'FRPPDQGto wait infinitely, without timeout, until the end
character is read.
7KHWLPHUVHWWLQJLVLQSXWLQVHFRQGVVHWWLQJUDQJHWRVHFRQGVLQFOXGLQJXSWRWZRGHFLPDO
places.
1RWH 705'LVVHWWR³´LQWKHGHIDXOWFondition before TMRD setting is performed.
[Example] 6&+$ 6HW/) DVWKHHQGFKDUDFWHU

705' 6HWWKH5($'WLPHRXWYDOXHWRVHFRQGV
OPEN 1 2 Open channel 1.
READ 1 99 Read the character string from channel 1 to column 2 until LF is read.
TRAN 1 Assign the return code to variable 1.
SLCT The program branches to the processing corresponding to each return
code.
(Note) Branching out of or into a SLCT ~ EDSL statement using a
GOTO command is prohibited.
,IWKHFRQWHQWRIYDULDEOHLV³´(executed successfully), [1] will
be executed. Specify in [1] the processing to be performed
when the command has been executed successfully.
WHEQ 1 If the content of variable 1 is³´H[HFXWHGVXFFHVVIXOO\>@ZLOOEH
executed. Specify in [1] the processing to be performed when the
command has been executed successfully.

[1]

WHEQ 1 1 If the content of variable 1 is³´WLPHRXW>@ZLOOEHH[HFXWHG,I
condition.

[2]

WHEQ 1 2 ,IWKHFRQWHQWRIYDULDEOHLV³´WLPHUFDQFHOOHG>@ZLOOEHH[HFXWHG,I
condition.

[3]

OTHE ,IWKHFRQWHQWRIYDULDEOHLVQRW³´³´RU³´>@ZLOOEHH[HFXWHG,I
necessary, specify in [4] the error handling to be performed in this
condition.

[4]

EDSL If any of the above conditions is satisfied and the applicable command is
executed, the processing will move here.
Read completes successfulO\ZLWKLQVHFRQGVo9DULDEOH1R

Timeout occurs o Variable No. 1 = 1
* The return code of READ command may not be limLWHGWRRU7KHYDULDEOHWRVWRUHWKH

UHWXUQFRGHFDQEHVHWLQ³2WKHUSDUDPHWHU1R´VXSSRUWHGE\PDLQDSSOLFDWLRQYHUVLRQ
RUODWHU5HIHUWRWKHH[SODnation of READ command for details.
196
Part 4 Commands
z WRIT (Write)
Command,
declaration
Channel Column
Optional Optional WRIT CP
number number
[Function] Write the character string in the column specified in operand 2 to the channel specified in
operand 1.
The operation will end when the character specified by a SCHA command is written.
Either a local or global column can be specified.
[Example] SCHA 10 Set LF (= 10) as the end character.

OPEN 1 Open channel 1.
WRIT 1 2 Write the character string in column 2 to channel 1
until LF is written.
(Note 1) If the main application version is 0.41 orODWHUWKH³)RUFLEO\HQDEOHUHFHLYHLPPHGLDWHO\

EHIRUHVHQGÍXQFWLRQLVDYDLODEOHZKHQH[SDQGed SIOs (channel 2 and onward; optional) are
used via RS232C or RS422 (this function can be cancelled via parameter). If this function is
used, the X-SEL can receive a response from the other side without delay after a send.
(Note 2) If expanded SIOs (channel 2 and onward; optional) are used via RS232C or RS422, once
OPEN is executed those tasks other than the open ones can also be used to execute WRIT
(send). Therefore, the X-SEL can receive a response from the other side without delay after
a send, by executing READ with an open task and then WRIT with other task.
(Note 3) If expanded SIOs (channel 2 and onward; optional) are used via RS485, or when standard
SIOs (channel 1; also used by the teaching SHQGDQWDUHXVHGWKH³)RUFLEO\HQDEOHUHFHLYH
LPPHGLDWHO\EHIRUHVHQGÍXQFWLRQLVDYDLODEOHHowever, using this function will generate a
delay time (the function can be cancelled via parameter). A minimum delay of 3 msec is
required after the X-SEL executes a send before it receives a response from the other side.
197
Part 4 Commands
z SCHA (Set end character)

Command,
declaration
Character
Optional Optional SCHA Prohibited CP
code
[Function] Set the end character to be used by a READ or WRIT command.

Any character from 0 to 255 (character code used in BASIC, etc.) can be specified.
[Example] Refer to the sections on READ and WRIT commands.
198
Part 4 Commands
1.19 String Operation
z SCPY (Copy character string)

Command,
declaration
Column
Column
Optional Optional SCPY number, CC
number
character literal
[Function] Copy the character string in the column specified in operand 2 to the column specified in
operand 1.
Copy will be performed for the length set by a SLEN command.
If a character literal is specified in operand 2, copy will be performed for the entire length of
the literal.
>([DPSOH@ 6&3< µ$%&¶ &RS\µ$%&¶WRFROXPQ
SLEN 10 Set the copying length to 10 bytes.

SCPY 100 200 Copy 10 bytes from column 200 to column 100.
199
Part 4 Commands
z SCMP (Compare character strings)

Command,
declaration
Column
Column
Optional Optional SCMP number, EQ
number
character literal
[Function] Compare the column specified in operand 1 with the column specified in operand 2.
>([DPSOH@ 6&03 µ$%&¶ )ODJZLOOWXUQ21LIFROXPQVWRFRQWDLQµ$%&¶
SLEN 5 Set the comparing length to five bytes.

6&03 7XUQ21IODJLIILYHE\WHVIURPFROXPQVDQG
match.
200
Part 4 Commands
z SGET (Get character)

Command,
declaration
Column
Variable
Optional Optional SGET number, CP
number
character literal
[Function] Assign one character from the column specified in operand 2 to the variable specified in
operand 1.
If a character-string literal is specified in operand 2, the first character will be assigned.
[Example] SGET 1 100

Assign one byte from column 100 to variable 1.

6&3< µ$¶ &RS\µ$¶WRFROXPQ
6*(7 $VVLJQµ$¶IURPWKHFRQWHQWRIYDULDEOHFROXPQWRWKH
201
Part 4 Commands
z SPUT (Set character)

Command,
declaration
Column
Optional Optional SPUT Data CP
number
[Function] Set the data specified in operand 2 in the column specified in operand 1.
[Example] SPUT 5 10 Set 10 (LF) in column 5.

6387 6HWWKHFRQWHQWRIYDULDEOHµ¶LQWKHFRQWHQWRI
variable 1 (column 100).
202
Part 4 Commands
z STR (Convert character string; decimal)

Command,
declaration
Column
Optional Optional STR Data CC
number
[Function] Copy to the column specified in operand 1 a decimal character string converted from the data
The data will be adjusted to the length set by a SLEN command.
If the data exceeds the specified length, it will be cut off at the length set by a SLEN
command.
If the entire data has been converted within the length set by a SLEN command, the output
will turn ON.
(Note) If the data specified in operand 2 is a 10-digit integer including eight or more valid digits,
conversion of the values in the eighth and subsequent digits will not be guaranteed (the
values through the seventh digits will be converted properly.)
[Example] SLEN 5.3 Set a length consisting of five integer digits and three
decimal digits.
STR 1 123 The following values will be set in columns 1 to 9:
1 2 3 4 5 6 7 8 9
1 2 3 . 0 0 0

LET 102 987.6543 Assign 987.6543 to variable 102.
SLEN 2.3 Set a length consisting of two integer digits and three
decimal digits.
STR *1 *102 The following values will be set in columns 10 to 15:
10 11 12 13 14 15
8 7 . 6 5 4
Since the data is greater than the length, the value

REWDLQHGE\URXQGLQJRIILQWKH¶VSODFHRULVVHW
in the integer part, while the value obtained by rounding 3
in the fourth decimal place, or 654, is set in the decimal
fraction part.
203
Part 4 Commands
z STRH (Convert character string; hexadecimal)

Command,
declaration
Column
Optional Optional STRH Data CC
number
[Function] Copy to the column specified in operand 1 a hexadecimal character string converted from the
data specified in operand 2.
Only the integer part will be adjusted to the length set by a SLEN command.
If the data exceeds the specified length, it will be cut off at the length set by a SLEN
command.
If the entire data has been converted within the length set by a SLEN command, the output
will turn ON.
(Note) If the data specified in operand 2 is a negative value, eight columns will be required to covert
the entire data.
[Example] SLEN 5 Set a format consisting of five integer digits.

STRH 1 255 The following values will be set in columns 1 to 5:
1 2 3 4 5
E F

LET 102 987.6543 Assign 987.6543 to variable 102.
SLEN 2.3 Set a length consisting of two integer digits and three
decimal digits.
STRH *1 *102 The following values will be set in columns 10 and 11:
10 11
D B
³´LQWKH6/(1FRPPDQGDQG³´LQYDULDEOH
which are the decimal part, will be ignored.
The integer part is expressHGDVµ'%¶LQKH[DGHFLPDO
Since the length is two digiWVKRZHYHU³´LQWKHWKLUG
digit will be cut off.
204
Part 4 Commands
z VAL (Convert character string data; decimal)

Command,
declaration
Column
Variable
Optional Optional VAL number, CC
number
character literal
[Function] Convert the decimal data in the column specified in operand 2 to a binary and assign the
result to the variable specified in operand 1.
Conversion will be performed for the length set by a SLEN command.
If a character-string literal is specified in operand 2, conversion will be performed for the
entire length of the literal.
(Note) Keep the converting length to 18 characters or less.
>([DPSOH@ 6&3< µ¶ 6HWµ¶LQFROXPQ

SLEN 4 Set the converting length to four bytes.
9$/ $VVLJQZKLFKLVDELQDU\FRQYHUWHGIURPµ¶LQ
column 10, to variable 1.

6&3< µ¶ &RS\µ¶WRFROXPQ
6&3< µ¶ &RS\µ¶WRFROXPQ
SLEN 8 Set the converting length to eight bytes.
9$/ $VVLJQZKLFKLVDELQDU\FRQYHUWHGIURP
µ¶LQWKHFRQWHQWRIYDULDEOHFROXPQWRWKH
205
Part 4 Commands
z VALH (Convert character string data; hexadecimal)

Command,
declaration
Column
Variable
Optional Optional VALH number, CC
number
character literal
[Function] Convert the hexadecimal data in the column specified in operand 2 to a binary and assign the
result to the variable specified in operand 1.
Conversion will be performed for the length set by a SLEN command.
Only the integer part will be converted, with the decimal part being ignored.
If a character-string literal is specified in operand 2, conversion will be performed for the
entire length of the literal.
(Note) Keep the converting length to 8 characters or less.
>([DPSOH@ 6&3< µ¶ 6HWµ¶LQFROXPQ

VALH 1 10 Assign 4660, which is a binary converted from hexadecimal
µ¶LQFROXPQWRYDULDEOH

6&3< µ$%&'¶ &RS\µ$%&'¶WRFROXPQ
9$/+ $VVLJQZKLFKLVDELQDU\FRQYHUWHGIURP
KH[DGHFLPDOµ$%&'¶LQWKHFRQWHQWRIYDULDEOHFROXPQ
20) to the content of variable 1 (variable 100).
206
Part 4 Commands
z SLEN (Set length)

Command,
declaration
Character
Optional Optional SLEN string Prohibited CP
length
[Function] Set the length to be processed by a string command.
This must always be set before using the following commands:
SCMP Decimal part is invalid.

SCPY Decimal part is invalid.
ISXX Decimal part is invalid.
WSXX Decimal part is invalid.
STRH Decimal part is invalid.
VAL,
Decimal part is invalid.
VALH
STR Decimal part is valid.
[Example] Refer to the examples of the above commands:
207
Part 4 Commands
1.20 Palletizing-Related
z BGPA (Declare start of palletizing setting)

Command,
declaration
Palletizing
Optional Optional BGPA Prohibited CP
number
Declare the start of a palletizing setting.

Once this command is executed, palletizing setting for the palletizing number specified in operand 1 will
be enabled.
(In the case of an ACHZ, AEXT, OFAZ or ATRG command, setting is enabled without declaring BGPA.)
The input range of palletizing number is from 1 to 10.
When the palletizing setting is complete, execute EDPA.
Nested BGPAs are not supported. To declare start of another palletizing setting, execute an EDPA
command and then execute a BGPA command again.
If the output field is specified, the output will turn ON after this command is executed.
Palletizing numbers are in the local range. Therefore, a given palletizing setting is valid only within the
program in which it is set.
(Note) Using a GOTO command to branch out of or into a BGPA-EDPA syntax is prohibited.
z EDPA (Declare end of palletizing setting)

Command,
declaration
Prohibited Prohibited EDPA Prohibited Prohibited CP
Declare the end of a palletizing setting.

If a palletizing-setting command (excluding BGPA, ACHZ, ATRG, AEXT and OFAZ) is executed before
another BGPA is declared following an execution of this command (= while palletizing setting is not
enabled), an error will generate.
208
Part 4 Commands
z PAPI (Set palletizing counts)

Command,
declaration
Optional Optional PAPI Count Count CP
Set counts in the palletizing-axis directions.

The count specified in operand 1 will apply to the preferential-axis (PX-axis) direction, while the count
specified in operand 2 will apply to the PY-axis direction.
If this command is executed before BGPA is declared (= while palletizing setting is not enabled), an error
will generate.
z PAPN (Set palletizing pattern)

Command,
declaration
Pattern
Optional Optional PAPN Prohibited CP
number
Set a palletizing pattern.

The palletizing pattern specified in operand 1 will be set (1 = Pattern 1, 2 = Pattern 2).
If this command is not declared, pattern 1 will be used.
will generate.
209
Part 4 Commands
z PASE (Declare palletizing axes)

Command,
declaration
Axis Axis
Optional Optional PASE CP
number number
Set the two axes to be used in palletizing (PX and PY-axes).

The axis specified in operand 1 will be set as the preferential axis (PX-axis).
The axis specified in operand 2 will be set as the PY-axis.
This command is used in conjunction with PAPT and PAST.
It cannot be used together with a 3-point teaching (PAPS) command. Whichever is set later will be given
priority.
It is recommended to use a 3-point teaching (PAPS) command if the palletizing requires high precision.
will generate.
z PAPT (Set palletizing pitches)

Command,
declaration
Optional Optional PAPT Pitch Pitch CP
Set palletizing pitches.

The value specified in operand 1 will be set as the pitch for the preferential axis (PX-axis), while the
value specified in operand 2 will be set as the pitch for the PY-axis.
This command is used in conjunction with PASE and PAST.
will generate.
210
Part 4 Commands
z PAST (Set palletizing reference point)

Command,
declaration
(Position
Optional Optional PAST Prohibited CP
number)
Set the reference point used in palletizing.

If a value is set in operand 1, that position number specified in operand 1 will be used to store the
reference point data.
If no value is set in operand 1, the position-number setting for storing reference point data will become
invalid.
This command is used in conjunction with PASE and PAPT.
If this command is not set, coordinates (0, 0) are used as the reference point. If this command is set, the
set coordinates are used as the reference point in calculating the position coordinates of palletizing
points.
Coordinates in both the PX and PY-axis directions must always be set as the reference-point
coordinates. If a palletizing movement command such as PMVP or PMVL is executed, however,
specification of palletizing Z-axis (PZ-axis) coordinate is optional. If a Z-axis coordinate is specified,
movement in the PZ-axis direction will become enabled. Even if PZ-axis coordinate is not specified,
RSHUDWLRQZLOOVWLOOEHSHUIRUPHG²MXVWWKDWWKHSRVLWLRQZLOOQRWPRYHLQWKH3=D[LVGLUHFWLRQ1RWH
however, that an error will generate in the following cases:
If this command and PZ-axis are set but the PX, PY and PZ-axes are not set as valid axes in the
reference point data, an error will generate when position coordinates are calculated. If the palletizing Z-
axis is not set and the PX and PY-axes are not set as valid axes in the reference point data, an error will
DOVRJHQHUDWHZKHQSRVLWLRQFRRUGLQDWHVDUHFDOFXODWHG³:KHQSRVLWLRQFRRUGLQDWHVDUHFDOFXODWHG´
means when PAPG (get palletizing calculation data) or any palletizing movement command such as
PMVP, PMVL or PACH is executed.
will generate.
If the output field is specified, the output wLOOWXUQ21DIWHUWKLVFRPPDQGLVH[HFXWHG
211
Part 4 Commands
z PAPS (Set palletizing points) For 3-point teaching

Command,
declaration
Position
Optional Optional PAPS Prohibited CP
number
Set palletizing positions using 3-point teaching.
In main application version 0.93 or later, palletizing position setting by 4-point teaching is supported.
To be specific, the pallet surface can be set as a quadrangle other than square, rectangle and
parallelogram.
Note) 4-point teaching is not supported by the flash ROM 8-Mbit version.
In operand 1, specify the position number to be used as the start point, which is needed to set palletizing
positions by 3-point teaching. If n is set as the position number of the start point, the position data at the
end point in PX-axis direction will be stored in position No. n+1, and the position data at the end point in
PY-axis direction will be set in position No. n+2.
In the case of 4-point teaching, the position data at the end point must also be stored in position No. n+3.
In main application version 0.93 or later, specify the palletizing position setting type in operand 2.
Note) If operand 2 is specified in the flash ROM 0ELWYHUVLRQ³&6(/XQVXSSRUWHGIXQFWLRQ
HUURU´ZLOOJHQHUDWH
[Palletizing position setting type]

,IRSHUDQGLV³´RUQRWVSHFLILHGSRLQWWHDFKLQJZLOOEHDSSOLHGWRWKHSRVLWLRQVHWWLQJ
As shown in Fig. 1(a), arrange the palletizing positions on the quadrangular pallet surface
determined by three points including the start point, end point in PX-axis direction and end point
in PY-axis direction.
,I³´VVSHFLILHGLQRSHUDQGSRLQWWHDFKLQJQRQ-planar type) will be applied to the position setting.

As shown in Fig. 1(b), arrange the palletizing positions on the quadrangular pallet surface
determined by four points including the start point, end point in PX-axis direction, end point in PY-
axis direction and end point. Note that whether the shape is planar or not depends on the point
data at the end point.
Fig. 1 shows the arrangement of palletizing positions.

End point
End point in
PX-axis direction End point in
PX-axis direction
Priority axis
Priority axis
(PX-axis)
(PX-axis)
Start point Start point

PY-axis
PY-axis End point in
PY-axis direction
End point in
PY-axis direction
(a) 3-point teaching (b) 4-point teaching
Fig. 1 Arrangement of Palletizing Positions
212
Part 4 Commands
x When setting palletizing positions by 4-point teaching, it is recommended that the non-planar type
specification be used if you know all four points are on a plane and if palletizing precision is required.
,I³´LVVSHFLILHGLQRSHUDQGSRLQWWHDFKLQJSlanar type) will be applied to the position setting.

)LJD
The plane is determined by three points including the start point, end point in PX-axis direction
DQGHQGSRLQWLQ3<D[LVGLUHFWLRQ0RYHWKHHQGSRLQWLQSDUDOOHOLQWKH3=GLUHFWLRQYHUWLFDO
direction) and use the intersecting point with the aforementioned plane as the end point of non-
planar palletizing.
The palletizing positions are arranged to the pallet surface of the quadrate shape which is
determined by these four points.
End point
i+2-axis
Move in parallel in the
End point in PZ-axis direction.
PX-axis direction
End point based on planar type specification
If the planar type is specified, palletizing positions

are arranged on the plane determined by three
points other than the end point.
End point in
Start point PY-axis direction
i-axis
)LJ±D
Take note, however, that if the three points other than the end point meet the conditions shown in
Table 1, the moving direction of the end point will vary. This occurs when the plane determined
by three points other than the end point is vertical to the ground, because in this case moving the
HQGSRLQWLQSDUDOOHOLQWKH3=GLUHFWLRQYHUWLFDOGLUHFWLRQZLOOQRWILQGDQLQWHUVHFWLQJSRLQWZLWK
the aforementioned plane.
Table 1 Moving Direction of End Point Based on Planar Type Specification
Condition Moving direction of end point

The point data of the i-axis component is the same
at all three points other than the end point. Move in parallel in the i-axis direction.
5HIHUWR)LJE
All point data other than the PZ-axis component is
the same between the start point and end point in
3;D[LVGLUHFWLRQ5HIHUWR)LJF
Move in parallel in the direction of either of the two
the same between the start point and end point in
axes other than the PZ-axis, whichever has the
3;D[LVGLUHFWLRQ5HIHUWR)LJF
smaller axis number.
the same between the end point in PX-axis direction
DQGHQGSRLQWLQ3<D[LVGLUHFWLRQ5HIHUWR)LJ
F
* i indicates the axis number of either of the two axes
other than the PZ-axis.
213
Part 4 Commands
(QGSRLQW 0RYHLQSDUDOOHOLQWKH
i+2-axis i-axis direction.
(QGSRLQWLQ
PY-axis direction (QG point based on planar type specification
i+1-axis
(QGSRLQWLQ
PX-axis direction
The end point moves in parallel in the i-axis direction and

palletizing positions are arranged on the plane determined by
three points other than the end point.
Start point
i-axis
)LJ±E
When the point data of the i-axis component is the same at all three points other than the end point
(QGSRLQW 0RYHLQSDUDOOHOLQWKH
i-axis direction.
i+2-axis
(QGSRLQWLQ (QG point based on planar type specification
PY-axis direction
i+1-axis
(QGSRLQWLQ
PX-axis direction
Start point :KHQWKH3=D[LVFRPSRQHQWLVWKHLD[LVWKHUHPDLQLQJWZRD[HVDUHWKH

LD[LVDQGLD[LVRIZKLFKWKHLD[LVKDVWKHVPDOOHVWD[LVQXPEHU
$FFRUGLQJO\WKHHQGSRLQWPRYHVLQSDUDOOHOLQWKHLD[LVGLUHFWLRQDQG
palletizing positions are arranged on the plane determined by three points
i-axis other than the end point.
)LJ±F
When all point data other than the PZ-axis componeQWLVWKHVDPHEHWZHHQWZRRIWKHWKUHHSRLQWV
RWKHUWKDQWKHHQGSRLQW,QWKHDERYHILJXUHDOOSRLQWGDWDRWKHUWKDQWKH3=D[LVFRPSRQHQWLVWKH
VDPHEHWZHHQWKHVWDUWSRLQWDQGHQGSRLQWLQ3<D[LVGLUHFWLRQ
x If the valid axis pattern for 3-point or 4-point WHDFKLQJSRLQWGDWDGRHVQRWPDWFK³&%0LVPDWFKHG

YDOLGD[HVDQGSDOOHWL]LQJSRLQWWHDFKLQJGDWD´ZLOOJHQHUDWH1RWHKRZHYHUWKDWLIWKLVFRPPDQGLV
H[HFXWHGDIWHUVSHFLI\LQJWKHD[HVWREHXVHGZLth a GRP command, only the data of the specified
D[HVDPRQJDOOYDOLGD[HVIRUWKHSRLQWGDWDZLOOEHXVHGDVWKHSDOOHWL]LQJSRLQWGDWD1RWKLQJZLOO
RFFXUHYHQZKHQ*53LVH[HFXWHGWKHUHDIWHUEDVHGRQGLIIHUHQWVHWWLQJV
x ,IWKH3=D[LVLVDOUHDG\GHFODUHGWKHUHPXVWEHWZo valid axes other than the PZ-axis. If a PZ-axis is
QRWGHFODUHG\HWWKHUHPXVWEHWZRRUWKUHHYDOLGD[HV,IWKHUHDUHQRWHQRXJKYDOLGD[HV³&$(
Insufficient valid axes for palletiziQJSRLQWWHDFKLQJGDWD´ZLOOJHQHUDWH,IWKHUHDUHWRRPDQ\YDOLG
D[HV³&$)([FHVVLYHYDOLGD[HVIRUSDOOHWL]LQJSRLQWWHDFKLQJGDWD´ZLOOJHQHUDWH,IWKHSODQDUW\SH
is specified but the PZ-axis is not declared yet, set WZRYDOLGD[HV,IWKHUHDUHPRUHRUOHVVWKDQWZR
YDOLGD[HV³&%$UFKPRWLRQ=D[LVnon-declaration erroU´ZLOOJHQHUDWH
214
Part 4 Commands
x This command cannot be combined with PASE (set palletizing axes). If the two commands are
combined, the command that was set later will take precedence (this command functions as PASE,
PAPT or PAST on its own).
x If this command is executed before BGPA is declareG ZKLOHSDOOHWL]LQJVHWWLQJLVQRWHQDEOHG³&%
BGPA not declared at palleti]LQJVHWWLQJ´ZLOOJHQHUDWH
x If the output field is specified, the output will turn ON after this command is executed.
215
Part 4 Commands
z PSLI (Set zigzag)

Command,
declaration
Offset
Optional Optional PSLI (Count) CP
amount
Set a zigzag palletizing.

The value specified in operand 1 will be set as the offset amount for even-numbered rows.
The count specified in operand 2 will be set as the count for even-numbered rows.
5HIHUWR³3DOOHWL]LQJ6HWWLQJ´±³=LJ]DJVHWWLQJ´XQGHU+RZWR8VH
If operand 2 is not specified, the count for even-numbered rows will become the same as the count for
odd-numbered rows.
If a setting is performed by 3-point teaching with PAPS (set palletizing points), the PX and PY-axes need
not be parallel with the physical axes. In this case, the offset will apply in parallel with the PX-axis. If the
offset is a positive value, the absolute value of offset will be applied toward the end-point direction of the
PX-axis. If the offset is a negative value, the absolute value will be applied toward the start-point
direction.
If this command is executed before a BGPA is declared (= while palletizing setting is not enabled), an
error will generate.
216
Part 4 Commands
z PCHZ (Declare palletizing Z-axis) Only when there are at least three axes.
Command,
declaration
(Axis
Optional Optional PCHZ Prohibited CP
number)
Specify the axis number representing the palletizing Z direction.

The axis number specified in operand 1 will be set as the axis number representing the palletizing Z
direction.
If operand 1 is not specified, the specification of palletizing Z-axis that was already declared will become
invalid.
217
Part 4 Commands
z PTRG (Set palletizing arch triggers)

Command,
declaration
Position Position
Optional Optional PTRG CP
number number
Set the arch triggers to be used for arch motion along the palletizing points.
(This setting becomes valid when a PACH command is executed.)
Set the palletizing Z-axis (PZ-axis) position data in the point data specified in operand 1 as the palletizing
start-point arch trigger, and set the PZ-axis position data in the point data specified in operand 2 as the
palletizing end-point arch trigger.
Palletizing start-point arch trigger Palletizing end-point arch trigger

Position No. 11 Position No. 13
Start point End point
PTRG 11 13
5HIHUWR³3DOOHWL]LQJ6HWWLQJ´±³3DOOHWL]LQJDUFKWULJJHUV´XQGHU+RZWR8VH
As for the point data, the PZ-axis data specified by a PCHZ command must be valid.
For an arch-motion operation along the palletizing points, set it so that a horizontal movement will begin
when the start-point arch trigger is reached during ascent from the start point, and that the end-point arch
trigger will be reached after a horizontal movement is completed during descent.
218
Part 4 Commands
z PEXT (Set palletizing composition)

Command,
declaration
(Position
Optional Optional PEXT Prohibited CP
number)
Set palletizing composition.

The position number specified in operand 1 will be set for use in composition.
When a palletizing movement command is executed, the data of any valid axes other than the PX, PY
(and PZ)-axes in the specified point data will comprise the end-point coordinates of the composite axis.
If operand 1 is not specified, the position number for composition setting that was already declared will
become invalid.
z OFPZ (Set palletizing Z-axis offset)

Command,
declaration
Offset
Optional Optional OFPZ Prohibited CP
value
Set the offset in the palletizing Z-axis direction.

The value specified in operand 1 will be set as the offset in the palletizing Z-axis direction.
The offset amount is set in mm and the effective resolution is 0.001 mm.
A negative value can also be specified as the offset, as long as the operation range will not be exceeded.
This offset is valid only at the end point of PACH (palletizing-point arch motion) operation.
219
Part 4 Commands
z ACHZ (Declare arch-motion Z-axis)

Command,
declaration
Axis
Optional Optional ACHZ Prohibited CP
number
Specify the axis number representing the arch-motion Z direction.

The axis number specified in operand 1 will be set as the axis number representing the arch-motion Z
direction.
220
Part 4 Commands
z ATRG (Set arch triggers)

Command,
declaration
Position Position
Optional Optional ATRG CP
number number
Set the arch triggers used for arch motion.

(This setting becomes valid when an ARCH command is executed.)
Set the arch-motion Z-axis position data in the point data specified in operand 1 as the start-point arch
trigger, and set the arch-motion Z-axis position data in the point data specified in operand 2 as the end-
point arch trigger.
Start-point arch trigger End-point arch trigger

ATRG 13 11
5HIHUWR³3DOOHWL]LQJ6HWWLQJ´±³$UFKWULJJHUV´XQGHU³+RZWR8VH´
)RUDQDUFKPRWLRQRSHUDWLRQVHWLWVRWKDWDKRUL]RQWDOPRYHPHQWZLOOEHJLQZKHQWKHVWDUWSRLQWDUFK
trigger is reached during ascent from the start point, and that the end-point arch trigger will be reached
DIWHUDKRUL]RQWDOPRYHPHQWLVFRPSOHWHGGXULQJGHVFHQW
221
Part 4 Commands
z AEXT (Set arch-motion composition)

Command,
declaration
(Position
Optional Optional AEXT Prohibited CP
number)
Set arch-motion composition.

The position number specified in operand 1 will be set for use in composition.
When an arch motion is executed, the data of valid axes in the point data specified in this command,
except for the data of valid axes in the arch-motion end-point data as well as the arch-motion Z-axis data,
will comprise the end-point coordinates of the composite axis.
If operand 1 is not specified, the position number for composition setting that was already declared will
become invalid.
z OFAZ (Set arch-motion Z-axis offset)

Command,
declaration
Offset
Optional Optional OFAZ Prohibited CP
value
Set the offset in the arch-motion Z-axis direction.

The value specified in operand 1 will be set as the offset in the arch-motion Z-axis direction.
The offset amount is set in mm and the effective resolution is 0.001 mm.
A negative value can also be specified as the offset, as long as the operation range will not be exceeded.
This offset is valid only at the end point of ARCH (arch motion) operation.
222
Part 4 Commands
1.21 Palletizing Calculation Command
z PTNG (Get palletizing position number)

Command,
declaration
Palletizing Variable
Optional Optional PTNG CP
number number
Assign the palletizing position number for the palletizing number specified in operand 1 to the variable
z PINC (Increment palletizing position number by 1)

Command,
declaration
Palletizing
Optional Optional PINC Prohibited CC
number
Increment by 1 the palletizing position number for the palletizing number specified in operand 1.
If the incremented value is considered normal as a palletizing position number calculated under the
current palletizing setting, the value will be updated. If not, the value will not be updated.
If the output field is specified, the output will turn ON when the value was successfully incremented, and
turn OFF if the increment failed.
223
Part 4 Commands
z PDEC (Decrement palletizing position number by 1)

Command,
declaration
Palletizing
Optional Optional PDEC Prohibited CC
number
Decrement by 1 the palletizing position number for the palletizing number specified in operand 1.
If the decremented value is considered normal as a palletizing position calculated under the current
palletizing setting, the value will be updated. If not, the value will not be updated.
If the output field is specified, the output will turn ON when the value was successfully decremented, and
turn OFF if the decrement failed.
z PSET (Set palletizing position number directly)

Command,
declaration
Palletizing
Optional Optional PSET Data CC
number
Set the value specified in operand 2 as the palletizing position number for the palletizing number
If the specified value is considered normal as a palletizing position calculated under the current
palletizing setting, the value will be set. If not, the value will not be set.
If the output field is specified, the output will turn ON when the palletizing position number was
successfully updated, and turn OFF if the update failed.
224
Part 4 Commands
z PARG (Get palletizing angle)

Command,
declaration
Palletizing Axis
Optional Optional PARG CP
number number
Obtain the palletizing angle.

Calculate the palletizing angle (degrees) from the physical axis specified in operand 2 for the palletizing
number specified in operand 1, and store the result in variable 199.
This command need not be executed, if not necessary.

If this command is executed after PAPS (set 3 palletizing points for teaching) is executed, the angle
formed by the preferential axis and the specified physical axis will be calculated automatically. If this
command is executed before PAPS is executed, or after both PAPS and PASE are executed in this
order, an error will generate.
The axes to be used can be specified with a GRP command before PAPS is executed (refer to the
detailed explanation of PAPS). If the valid axis pattern of the 3-point teaching data does not match, an
HUURU³&%0LVPDWFKHGYDOLGD[HVDQGSDOOHWL]LQJSRLQWWHDFKLQJGDWD´ZLOOJHQHUDWH
If the number of valid point-data axes (the number of valid axes excluding the PZ-axis, if a palletizing Z-
axis (PZ-axis) has already been declarHGLVOHVVWKDQWZRDQHUURU³&$(,QVXIILFLHQWYDOLGD[HVIRU
SDOOHWL]LQJSRLQWWHDFKLQJGDWD´ZLOOJHQHUDWH,IWKHnumber of valid point-data axes is more than two,
DQHUURU³&%3;3<D[HVLQGHWHUPLQDEOHZKHQREWDLQLQJSDOOHWL]LQJDQJOH´ZLOOJHQHUDWH
If the axis number specified in operand 2 is neither of the two valid axes in the point data excluding the
3=D[LVDQHUURU³&%$5HIHUHQFHD[LVDQG3;3<D[HVPLVPDWFKZKHQREWDLQLQJSDOOHWL]LQJDQJOH´ZLOO
generate.
If the reference point among the three teaching points LVWKHVDPHDVWKHSRLQWGDWDDWWKH3;D[LVHQG
SRLQWRWKHUWKDQWKH3=D[LVFRPSRQHQWDQHUURU³5HIHUHQFHSRLQWDQG3;D[LVHQGSRLQWLGHQWLFDOZKHQ
REWDLQLQJSDOOHWL]LQJDQJOH´ZLOOJHQHUDWHDQGDQJOHFDOFXODWLRQZLOOEHGLVDEOHG
The actual operating direction may have been reversed depending on the mechanism of the rotating axis
DQGWKHVHWWLQJRID[LVVSHFLILFSDUDPHWHU1R³2SHUDWLQJGLUHFWLRQUHYHUVLQJVHOHFWLRQ´7RXVHWKH
value obtained by this command, be sure to confirm the actual operating direction.
z PAPG (Get palletizing calculation data)

Command,
declaration
Palletizing Position
Optional Optional PAPG CP
number number
Store the position coordinate data of the palletizing points for the palletizing number specified in operand
1, in the position number specified in operand 2.
225
Part 4 Commands
1.22 Palletizing Movement Command
z PMVP (Move to palletizing points via PTP)

Command,
declaration
Palletizing (Position
Optional Optional PMVP PE
number number)
Move to the calculated palletizing points via PTP.

The axes will move to the palletizing points specified in operand 1, via PTP.
If the palletizing points are valid only for the PX/PY-axes (when palletizing Z-axis (PZ-axis) is not
specified, etc.), movement in directions other than the PX/PY-axis directions will not be performed. If the
PZ-axis coordinates of the palletizing points are also valid, movement in the PZ-axis direction will also be
performed.
However, if a position number is specified in operand 2, the PZ-direction position will move to the height
of the specified position number by ignoring the palletizing calculation (only when three or more axes are
available).
Any data other than PZ-axis data contained in the position number specified in operand 2 will be ignored.
Absence of Z-axis data will be handled as an error.
If palletizing composition is set, any axes other than the PX, PY (and PZ)-axes will also be operated if
data is available for such axes.
Executing this command will not increment the palletizing position number by 1.
Before specifying operand 2, a palletizing Z-axis must have been declared (PCHZ) in the palletizing
setting.
If palletizing Z-axis has not been declared, an error will generate.
226
Part 4 Commands
z PMVL (Move to palletizing points via interpolation)

Command,
declaration
Palletizing (Position
Optional Optional PMVL PE
number number)
Move to the calculated palletizing points via interpolation.

The axes will move to the palletizing points specified in operand 1, via interpolation.
If the palletizing points are valid only for the PX/PY-axes (when palletizing Z-axis (PZ-axis) is not
specified, etc.), movement in directions other than the PX/PY-axis directions will not be performed. If the
PZ-axis coordinates of the palletizing points are also valid, movement in the PZ-axis direction will also be
performed.
However, if a position number is specified in operand 2, the PZ-direction position will move to the height
of the specified position number by ignoring the palletizing calculation (only when three or more axes are
available).
Any data other than PZ-axis data contained in the position number specified in operand 2 will be ignored.
Absence of Z-axis data will be handled as an error.
If palletizing composition is set, any axes other than the PX, PY (and PZ)-axes will also be operated if
data is available for such axes.
Executing this command will not increment the palletizing position number by 1.
Before specifying operand 2, a palletizing Z-axis must have been declared (PCHZ) in the palletizing
setting.
If palletizing Z-axis has not been declared, an error will generate.
227
Part 4 Commands
z PACH (Palletizing-point arch motion)

Command,
declaration
Palletizing Position
Optional Optional PACH PE
number number
Perform arch motion from the current point and move to the palletizing points.
x Move to the palletizing points specified in operand 1, via arch motion.
x Movements in the PX/PY-axis directions will begin after rising from the current point to the palletizing
start-point arch trigger. After the Z point specified in operand 2 (as the highest point) is passed and
movements in the PX/PY-axis directions are complete, the axes will pass near the palletizing end-point
arch trigger and reach the calculated palletizing point.
x Palletizing arch triggers must have been set using a PTRG command.
Highest point of palletizing arch motion

* Position No. 12 *
Palletizing start-point arch trigger Palletizing end-point arch trigger

Position No. 11 * * Position No. 13

Palletizing No. 1
PCHZ 3
PTRG 11 13
PACH 1 12
* When the operation is resumed after a pause, depending on the position where the operation is
resumed the locus may follow the lines (dotted lines) indicated by asterisks in the diagram for the
composite section from ascent to horizontal movement or from horizontal movement to descent. Be
careful not to cause interference.
228
Part 4 Commands
x The PZ-axis coordinate of the end point will become the PZ-axis component of the position coordinates
of the palletizing point, if any, plus the palletizing Z-axis offset. If there is no PZ component, the PZ-axis
coordinate of the end point will become the PZ-axis coordinate of the start point plus the palletizing Z-
axis offset. (Normally the offset is added to all palletizing positions, such as the arch triggers and Z
point.)
x An error will generate if the palletizing start-point arch trigger is set below the start point or the
palletizing end-point arch trigger is set below the HQGSRLQW1RWH8SGRZQKDVQRWKLQJWRGRZLWK±
on the coordinate system.)
x The PZ-axis up direction refers to the direction toward the Z point from the start point (the down
direction refers to the opposite direction), and has nothing to do with the size of coordinate value.
Therefore, be sure to confirm the actual operating direction when using this command.
x The PZ-axis will come down after a rise-process command value is output. Therefore, the operation
may follow the locus shown below depending on the settings of palletizing arch-trigger points and Z
point:
Z point
Palletizing start-point
arch-trigger point
Palletizing start-point
arch-trigger point
Start point End point Start point End point
Fig. 5
In this case, change the palletizing arch triggers and Z point to increase the operation efficiency.
x If palletizing composition is set, axes other than the PX, PY and PZ-axes will also be operated if data is
available for such axes. However, the composite axis will start/end operation at positions above the
arch triggers.
x Executing this command will not increment the palletizing position number by 1.
229
Part 4 Commands
z ARCH (Arch motion)

Command,
declaration
Position Position
Optional Optional ARCH PE
number number
Perform arch motion from the current point and move to the specified points.
x Move to the points specified in operand 1, via arch motion.
x Movements in directions other than the arch-motion Z-axis direction will begin after rising from the
current point to the start-point arch trigger. After the Z point specified in operand 2 (as the highest
point) is passed and movements in directions other than the arch-motion Z-axis direction are complete,
the axes will pass near the end-point arch trigger and reach the specified point.
x Palletizing arch triggers must be set using an ATRG command.
Highest point of arch motion

Position No. 12
* *


Position No. 10
ACHZ 3
ATRG 13 11
ARCH 10 12
* When the operation is resumed after a pause, depending on the position where the operation is
resumed the locus may follow the lines (dotted lines) indicated by asterisks in the diagram for the
composite section from ascent to horizontal movement or from horizontal movement to descent. Be
careful not to cause interference.
x The arch-motion Z-axis coordinate of the end point will become the arch-motion Z-axis component of
the point data specified in operand 1, if any, plus the arch-motion Z-axis offset. If there is no arch-
motion Z component, the arch-motion Z-axis coordinate of the end point will become the arch-motion
Z-axis coordinate of the start point plus the arch-motion Z-axis offset. (Normally the offset is added to
all arch-motion positions, such as the arch triggers and Z point.)
x An error will generate if the start-point arch trigger is set below the start point or the end-point arch
trigger is set below the end point. (Note: Up/dowQKDVQRWKLQJWRGRZLWK±RQWKHFRRUGLQDWH
system.)
x The arch-motion Z-axis up direction refers to the direction toward the Z point from the start point (the
down direction refers to the opposite direction), and has nothing to do with the size of coordinate value.
Therefore, be sure to confirm the actual operating direction when using this command.
230
Part 4 Commands
x The arch-motion Z-axis will come down after a rise-process command value is output. Therefore, the
operation may follow the locus in Fig. 5 given in the aforementioned explanation of PACH command,
depending on the settings of arch-trigger points and Z point. In this case, change the arch triggers and
Z point to increase the operation efficiency.
x As for the arch-trigger end-point data, if there is any valid axis data other than the data of the arch-
motion Z-axis, then operation will be started/ended foUWKHDSSOLFDEOHD[HVLQWKHVDPHPDQQHU²EXW
above the arch triggers.
x If arch-trigger composition is set, any valid axes other than those set in the end-point data or the arch-
motion Z-axis will also be operated as long as data is available for such axes. In this case, operation of
the applicable axes will also be started/ended above the arch triggers.
231
Part 4 Commands
1.23 Building of Pseudo-Ladder Task
z CHPR (Change task level)

Command,
declaration
Optional Optional CHPR 0 or 1 Prohibited CP
>)XQFWLRQ@ 6SHFLI\³´8VHU+,*+if you wish the target task to be processed before other tasks.
This command can also be used with non-ladder tasks.
7DVNOHYHOFKDQJH8VHU1250$/8VHU+,*+LVQRWDUHTXLUHGFRPSRQHQWEXW
VSHFLI\LQJ8VHU+,*+ZLOOUHTXLUHD76/3FRPPDnd explained below. (Without TSLP, tasks of
WKH8VHU1250$/OHYHOwill not be processed.)
z TPCD (Specify processing to be performed when input condition is not specified)

Command,
declaration
Prohibited Prohibited TPCD 0 or 1 Prohibited CP
[Function] Specify the processing to be performed when input condition is not specified.
(0: Execute, 1: Follow the input condition in the last executed step)
,QDODGGHUWDVNDOZD\VLQSXW³´)ROORZWKHinput condition in the last executed step) in
operand 1.
,QDQRQODGGHUWDVNDOZD\VLQSXW³´([HFXWH7KHGHIDXOWYDOXHLV³´
232
Part 4 Commands
z TSLP (Task sleep)

Command,
declaration
Prohibited Prohibited TSLP Time Prohibited CP
[Function] Set the time during which the applicable task will sleep, in order to distribute the processing
time to other tasks.
If the task level is set to User HIGH, this command must always be specified.
The applicable task will sleep during the set time.
The time in operand 1 is set in msec.
An appropriate time setting must be examined on the actual system. (Normally approx. 1 to 3
is set.)
(If the ladder statement becomes long, state this command multiple times between steps, as
necessary.)
This command can also be used with non-ladder tasks.
233
Part 4 Commands
234
Part 4 Commands
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]
[1] By running a program with continuous movement commands input in a series of continuous
program steps, you can allow the actuators to perform operations continuously without stopping
between steps. P3 P9
P8 P10
P2 P4
PATH 1 5
ARC2 6 7 P11
PATH 8 12
P5 P7
P1
P6 P12
[2] Continuous movement is possible even when all positions are not continuous.
Specify the position number corresponding to a discontinuous position for both the start position
number and end position number in the PATH command. In this example, position No. 6 is
passing point.
The actuator moves continuously in the sequence of position Nos. 1 Æ 2 Æ 3 Æ 4 Æ 6 Æ 9 Æ 10.

PATH 1 4
PATH 6 6 (Discontinuous position)
PATH 9 10
[3] Continuous movement will not be achieved if an input condition is specified for any continuous
movement command. P3 P9
P8 P10
P2 P4
PATH 1 5
20 ARC2 6 7
P11
PATH 8 12
P5 P7
P1 P12
P6
Stops momentarily.
[4] The output field of each command will turn ON as the end position of that command approaches.
Only with the last command in a series of continuous movement commands, the output will turn
ON upon completion of operation (if there is no input condition).
P10
P2 P21 P22
P3 P11
P1 P23
(Position 1)
235
Part 4 Commands
[Example 1] (POTP = 1)
Output field Timing
POTP 1
308 Turn ON as P1 approaches.
PATH 1 3 308 311 Turn ON as P11 approaches.
ARC2 10 11 311 312 Turn ON as P21 approaches.
314 Turn ON when P23 operation is complete.
Output field Timing

[Example 2] (POTP = 0) 308 Turn ON as P3 approaches.
ARC2 10 11 311 312 Turn ON when P23 operation is complete.
PATH 21 23 312
[Example 3] If an input condition is specified, the output will turn ON upon completion of operation in the step before the one
in which the input condition is specified.
Output field Timing

POTP 1 308 Turn ON as P1 approaches.
310 Turn ON when P3 operation is complete.
20 ARC2 10 11 311 313 Turn ON as P22 approaches.
PATH 21 23 312 314 Turn ON when P23 operation is complete.
[5] When executing continuous movement commands sequentially, the controller is calculating
approx. 100 positions ahead. This is why the steps are displayed continuously on the PC
screen or teaching-pendant screen, regardless of the actual operation. The last step in the
continuous operation section executed by continuous movement commands will wait for the
applicable operation to complete.
Actuator operation
PATH 1 5
ARC 6 7
PATH 8 12 Step displayed on the PC software or teaching pendant
BTON 310
[6] Do not allow the output fields to duplicate in the continuous operation section executed by
continuous movement commands.
Duplicating output fields in the continuous operation section will not achieve the expected result.
The output field will turn OFF at the start of processing of each command.
POTP 1 Do not let outputs 305 through 308 to duplicate, as in the example
shown at left.
PATH 1 5 305
Continuous operation section executed by continuous movement
commands
PATH 11 15 304
The final output status of duplicate 305 through 308 is indeterminable, because it is affected by
the positioning calculation time and the relationship of durations of actual operations.
236
Part 4 Commands
2. PATH/PSPL Commands
When executing a PATH or PSPL command, pay attention to the locus because it will change if the
acceleration/deceleration is different between points.
The locus can be fine-tuned by changing the acceleration/deceleration, but different
acceleration/deceleration settings between points will prevent smooth transition of speeds when
moving from one position to another.
If there is a large difference in deceleration/acceleration between points and the positioning distance is
small, the speed may drop. Exercise caution.
3. CIR/ARC Commands
The processing by a CIR or ARC command resembles moving along a polygon with a PATH
command.
A small division angle may cause the speed to drop.
CIR2, ARC2, ARCD and ARCC commands actually perform arc interpolation.
Division angle set by a

DEG command
CIR CIR2
4. CIR2/ARC2/ARCD/ARCC Commands
With a CIR2, ARC2, ARCD or ARCC command, the speed can be changed (only in the arc
interpolation section) by inputting a speed for the point specified in operand 1. These commands are
effective when you must lower the speed partially because the radius is small and the arc locus
cannot be maintained inside the allowable range.
3
237
Part 4 Commands
Chapter 4 Palletizing Function

The SEL language used by the X-SEL Controller provides palletizing commands that support palletizing
operation. These commands allow simple specification of various palletizing settings and enable arch
motion ideal for palletizing.
1. How to Use
Use palletizing commands in the following steps:
(1) Palletizing setting
Set palletizing positions, arch motion, etc., using palletizing setting commands.
(2) Palletizing calculation
Specify palletizing positions using palletizing calculation commands.
(3) Palletizing movement
Execute motion using palletizing movement commands.
2. Palletizing Setting
Use the palletizing setting commands to set items necessary for palletizing operation. The setting
items include the following:
(1) Palletizing number setting --- Command: BGPA
At the beginning of a palletizing setting, determine a palletizing number using a BGPA command
to declare the start of palletizing setting.
At the end, declare the end of palletizing setting using an EDPA command.
BGPA 1 Declare the start of setting for palletizing No. 1.
Set palletizing in these steps.
EDPA Declare the end of palletizing setting at the end.
A maximum of 10 sets (palletizing Nos. 1 to 10) of palletizing setting can be specified for each
program.
238
Part 4 Commands
(2) Palletizing pattern --- Command: PAPN

Select a pattern indicating the palletizing order.
The two patterns illustrated below are available.
7KHHQFLUFOHGQXPEHUVLQGLFDWHWKHRUGHURISDOOHWL]LQJDQGDUHFDOOHG³SDOOHWL]LQJSRVLWLRQ
QXPEHUV´
Pattern 1 Pattern 2
Preferential Preferential
D[LV3; D[LV3;
D[LV 3<D[LV D[LV 3<D[LV
Start point Start point
Fig. 1
PAPN 2 When pattern 2 is selected

(Setting is not necessary if pattern 1 is selected.)
The row from 1 to 3 to be placed first is called WKH³SUHIHUHQWLDOD[LV3;D[LV´ZKLOHWKHRWKHU

GLUHFWLRQFRPSULVLQJWKHSDOOHWL]LQJSODQHLVFDOOHGWKH³3<D[LV´
(3) Palletizing counts --- Command: PAPI

Set the palletizing counts.
3$3, &RXQWIRUSUHIHUHQWLDOD[LV3;D[LV&RXQWIRU3<D[LV
(4) Palletizing position setting

Palletizing position setting is performed mainly byPHWKRG$RU%DVH[SODLQHGEHORZ6HWWKH
palletizing positions for each palletizing setting based on method A or B.
Setting method Commands

3-point teaching method
A Set three position-data points specifying the palletizing PAPS
positions.
Method to set palletizing positions in parallel with the actuators
3$6(3$67
B 6HWIURPWKHSDOOHWL]LQJD[HVSDOOHWL]LQJUHIHUHQFHSRLQWDQG
PAPT
palletizing pitches.
239
Part 4 Commands
A. 3-point teaching method

To set the palletizing positions by 3-point teaching, store desired positions in position data fields as
three continuous position data and then specify the first position number using a PAPS command.
This method allows you to set the PX-axis and PY-axis as three-dimensional axes not parallel with
the actuators and not crossing with each other.
In the example shown below, position data c, e and l are stored in three continuous position data
fields.
When three points are taught from position No. 11

Position No. 11 c: Start point (First palletizing position)
Position No. 12 e: Palletizing position corresponding to the end point in the PX-axis direction
Position No. 13 l: Palletizing position corresponding to the end point in the PY-axis direction
The encircled numbers indicate palletizing position numbers (palletizing order).
Use a PAPS command to specify the position number corresponding to the start point.
Preferential
axis (PX-
axis)
Start point (PY-axis)
Fig. 1
PAPS 11
The pitches are calculated automatically from the count set for each axis.
In 3-point teaching, you can specify position data for two axes or three axes. If data are specified for
three axes, the palletizing plane will become a three-dimensional plane.
240
Part 4 Commands
B. Method to set palletizing positions in parallel with the actuators
Palletizing reference point: Store the position data of the start point (palletizing position No. 1) in a
position data field and specify the applicable position number using a
PAST command, as shown below.
Palletizing pitches: Use a PAPT command to specify the pitches in the PX-axis and PY-axis
directions.
Palletizing axes: Use a PASE command to specify the two axes, one representing the PX-axis
direction and the other representing the PY-axis direction, to be used in palletizing.
(An actuator axis number parallel with the preferential axis (PX-axis) and another perpendicular to
the preferential axis)
PX-axis direction pitch

Axis 2
45
Teach position data No. 100.
30
PY-axis direction pitch
Axis 1
PAST 100 Teach position data No. 100 as the start point.
PAPT 45 30 The PX-axis direction pitch is 45 mm and the PY-axis direction
pitch is 30 mm.
PASE 2 1 Set axis 2 as the preferential axis (PX-axis) and axis 1 as the
axis perpendicular to the preferential axis.
(Note) When the above palletizing axes, palletizing pitches and palletizing reference point
are used, the PX-axis and PY-axis must be parallel with the actuators and crossing
with each other.
Select either method A or B for each palletizing setting.
241
Part 4 Commands
(5) Zigzag setting --- Command: PSLI

Use a PSLI command to set a zigzag layout as shown below.
Zigzag offset: Offset amount in the preferential-axis direction, which will be applied when even-
numbered rows are placed.
³(YHQQXPEHUHGURZVÚHIHUWRWKHURZV occurring at the even numbers based on
the row placed first representing the first row.
Zigzag count: Number in the even-numbered rows. Two in the diagram below.
Preferential Offset
D[LV3; 35
axis)
Odd-numbered (YHQQXPEHUHG
row row (PY-axis)
PSLI 35 2
(6) Arch-motion setting

(a) Arch-motion Z-axis number --- Command: ACHZ
(b) Arch-motion Z-axis offset --- Command: OFAZ
(c) Arch-motion composLWLRQ&RPPDQG$(;7
Composition data refers to position data of any additional axis you wish to use in arch-motion
operation, other than the valid HQGSRLQWD[HVRUDUFKPRWLRQ=D[LV([DPSOHVLQFOXGH
rotation angle.
Note that operation of the composite axis will start and end above the arch triggers.
In an arch-motion composition setting command, specify a position number storing arch-
motion composition data.
(d) Arch triggers --- Command: ATRG
The arch-trigger settings used for arch motion include the items specified below.
In an arch-trigger setting command, specify position numbers storing arch-trigger coordinate
data.
(d-1) Start-point arch trigger
Specify when to start moving in other axis direction after the start of arch motion from
the start point, as an arch-motion Z-direction coordinate position reached.
Start-point arch trigger = Z1
G (QGSRLQWDUFKWULJJHU
Specify when to end moving in other axis direction during downward arch motion, as an
arch-motion Z-direction coordinate position reached.
(QGSRLQWDUFKWULJJHU =
+LJKHVWSRLQW;<=
;<= ;<=
6WDUWSRLQW;<= (QGSRLQW;<=
242
Part 4 Commands
(7) Palletizing arch-motion setting

(a) Palletizing Z-direction axis number --- Command: PCHZ
(b) Palletizing Z-axis offset --- Command: OFPZ
(c) Palletizing composition --- Command: PEXT
Composition data refers to position data of any additional axis you wish to use with palletizing
movement commands, other than the PX, PY (and PZ)-axes. Examples include rotation angle.
Note that operation of the composite axis will start and end above the palletizing arch triggers.
In a palletizing-composition setting command, specify a position number storing palletizing
composition data.
(d) Palletizing arch triggers --- Command: PTRG

If the end point is a palletizing point, a palletizing arch trigger must be set just like an arch
trigger.
In a palletizing arch-trigger setting command, specify position numbers storing palletizing
arch-trigger coordinate data.
(d-1) Palletizing start-point arch trigger
(d-2) Palletizing end-point arch trigger
243
Part 4 Commands
3. Palletizing Calculation
The items that can be operated or obtained using palletizing calculation commands are shown below:
(1) Palletizing position number Commands --- PSET, PINC, PDEC, PTNG
Number showing the ordinal number of a palletizing point.
(In Fig. 1 given in the explanation of palletizing pattern, the encircled numbers are palletizing
position numbers.)
Always set this command before executing a palletizing movement command (excluding ARCH)
--- PSET
For example, executing a palletizing movement command by setting 1 as the palletizing position
number will move the axes to the start point. Executing a palletizing movement command by
setting 2 as the palletizing position number will move the axes to the point immediately next to the
start point in the PX-axis direction.
(2) Palletizing angle Command --- PARG

Angle formed by the physical axis and the palletizing preferential axis (PX-axis) (T in the figure
below).
T indicates an angle calculated by ignoring the coordinate in the palletizing Z-axis direction.
In the figure below, T will become a negative value if axis 1 is used as the reference for angle
calculation.
Palletizing container
PY-axis
Physical-axis
direction (axis 2) PX-axis
±T direction
T
+T direction
Physical-axis
direction (axis 1)
Fig. 4
If the composite axis is a rotating axis, obtaining the palletizing angle and adding it to the composite-
axis operation as an offset will allow correction of the composite axis against positional shift of the
palletizing container.
:LWK;6(/FRPPDQGVH[HFXWLQJD³JHWSDOOHWL]LQJDQJOH´FRPPDQGIROORZLQJDSDOOHWL]LQJVHWWLQJYLD
3-point teaching will automatically obtain the palletizing angle.
If the setting by 3-point teaching was done three-dimensionally, a palletizing Z-axis must be specified.
(3) Palletizing calculation data Command --- PAPG

When a palletizing position number is set, this data refers to the position coordinate data of the
palletizing point corresponding to that palletizing position number.
Note that this position coordinate data does not reflect normal offset or palletizing Z-axis offset.
244
Part 4 Commands
4. Palletizing Movement
Palletizing movement commands include those used to move to a palletizing point and one used to
move to an end point specified by position data.
(1) Movement commands to palletizing point --- PMVP, PMVL, PACH

Position coordinates of a two-dimensionally or three-dimensionally placed palletizing point are
calculated and movement is performed using the calculated point as the end point. (The axes will
move to the palletizing point of the palletizing position number specified in the executed
command.)
Two actuator axes will be required to comprise a two-dimensional plane. If a vertical axis (PZ-
axis) is required, another axis must be set.
PMVP: Move from the current position to a palletizing point via PTP.
PMVL: Move from the current position to a palletizing point via interpolation.
PACH: Move from the current position to a palletizing point via arch motion.
Palletizing arch motion must be set in a palletizing setting.

Position No. 12


Palletizing No. 1
PCHZ 3
PTRG 11 13
PACH 1 12
245
Part 4 Commands
(2) Movement comment based on end point specified by point data --- ARCH
Perform arch motion using an end point specified by position data.
In the case of a linear movement in parallel with an actuator, operation can be performed only with
two axes including the applicable axis and the PZ-axis.
Arch motion must be set.

* Position No. 12 *


Position No. 10
ACHZ 3
ATRG 13 11
ARCH 10 12
246
Part 4 Commands
5. Program Examples
(1) Simple program example (two-axis specification) using PAPS (set by 3-point teaching)
The example below specifies movement only and does not cover picking operation.
Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment

1 BGPA 1 Start setting palletizing No. 1.
2 PAPI 3 4 Palletizing counts: 3 x 4
3 PAPS 2 Set by 3-point teaching.
4 EDPA End setting palletizing No. 1.
5
6 VEL 200 Speed: 200 mm/sec
7 MOVL 1 Move to picking position.
8 PSET 1 Set palletizing position number to 1.
9 TAG 1 1
Move to palletizing position via
10 PMVL 1
interpolation.
Move to picking position via
11 MOVL 1
interpolation.
12 PINC 1 600
number by 1.
Beginning of loop if PINC is
13 600 GOTO 1
successful.
14 EXIT End
No. Axis 1 Axis 2 Vel Acc Dcl Remarks

1 10.000 10.000 Picking position
2 70.000 70.000 Reference-point position data
3 148.000 71.000 PX-axis end-point position data
4 69.000 143.000 PY-axis end-point position data
PY-axis end-point coordinates

Position No. 4
(69, 143)
Reference point PX-axis end-point coordinates

Picking position (70, 70) (148, 71)
z Position No. 1
247
Part 4 Commands
(2) Simple program example (two-axis specification) using PAPS, PAPT and PAST

3 PASE 1 2 PX-axis = Axis 1, PY-axis = Axis 2
4 PAPT 40 25 Pitch: X = 40, Y = 25
5 PAST 2 Position No. 2 as reference point
6 EDPA End setting palletizing No. 1.
7
9 MOVL 1 Move to picking position.
10 PSET 1 1 Set palletizing position number to 1.
11 TAG 1
Move to palletizing position via
12 PMVL 1
interpolation.
Move to picking position via
13 MOVL 1
interpolation.
14 PINC 1 600
number by 1.
Beginning of loop if PINC is
15 600 GOTO 1
successful.
16 EXIT End
No. Axis 1 Axis 2 Vel Acc Dcl Remarks

1 10.000 10.000 Picking position
2 70.000 70.000 Reference-point position data
PY-axis
25
(PX-axis)
Reference point 40
Position No. 2
(70, 70) PX-axis direction pitch: 40
PY-axis direction pitch: 25
Picking position
z Position No. 1
The PX-axis and PY-axis are parallel with axis 1 and axis 2, respectively.
248
Part 4 Commands
(3) Simple program example using PAPS (set by 3-point teaching)


2
4 PAPN 1 Palletizing pattern 1
5 PAPS 1 Set by 3-point teaching.
6 Use position No. 1 data.
7 PSLI 20 4 Zigzag offset = 20 mm
8 PCHZ 3 Palletizing Z-axis = Axis 3
9 PTRG 4 4 Set palletizing arch triggers.
11 OFPZ 100 PZ-axis offset = 100 mm
12 PEXT 6 Set palletizing composition.
14 EDPA
15
16 PARG 1 1 Get palletizing angle.
17 Stored in variable 199.
18 PPUT 4 6 Store angle data of variable
19 199 in axis 4 at position No. 6.
20 *///////////////////////////////////////////////////////////
21
22 ATRG 4 4 Set arch triggers.
24 ACHZ 3 Set arch-motion Z-axis.
25
26 ACC 0.3 Acceleration
27 DCL 0.3 Deceleration
28 VLMX
29
Set palletizing position
30 PSET 1 1
number to 1.
249
Part 4 Commands

31 MOVP 8 Move to picking position.
32
33 TAG 1 Beginning of loop processing
34 PACH 1 9 Palletizing arch motion
Z point specified by Position
35
No. 9
36 ARCH 8 9 Arch motion
Z point specified by Position
37
No. 9
38 PINC 1 600
number by 1.
Go to beginning of loop if
39 600 GOTO 1
PINC is successful.
40
41 EXIT End of task
42
43
44
45
No. Axis 1 Axis 2 Axis 3 Axis 4 Remarks

1 100.000 100.000 100.000 *.*** Reference point data
2 260.000 105.000 100.000 *.*** PX-axis end-point data
3 95.000 280.000 100.000 *.*** PY-axis end-point data
4 *.*** *.*** 50.000 *.*** Arch-trigger point data
5 *.*** *.*** *.*** *.*** (Not used)
Palletizing-composition point
6 *.*** *.*** *.*** -1.79
data
7 *.*** *.*** *.*** *.*** (Not used)
8 0.000 0.000 100.000 0.000 Picking-position point data
9 *.*** *.*** 0.000 *.*** Z point data
10
250
Part 4 Commands
Schematic diagram of placement-point positions based on the above program
Axis-1 direction End-point coordinates of preferential axis (PX-axis): Position No. 2 (260, 105, 100)
14 23 32
5
27
T
4 13 22 31
17 26
3 12 21 30
PX-axis
7 16 25
2
11
6 15 24
Axis-2 direction
20 1
10

PY-axis
Reference point: Position No. 1

End-point coordinates of PY-axis: Position No. 3
(100, 100, 100)

x The number shown at the top right of each circle indicates a palletizing position number.
x Count in PX-axis direction = 5, Count in PY-axis direction = 7
x Zigzag offset: 20
x Zigzag count: 4
x Pallet shift angle T±q
251
Part 4 Commands
(4) Simple program example using PASE, PAPT and PAST


2
4 PAPN 1 Palletizing pattern 1
5 PASE 1 2 PX-axis = Axis 1, PY-axis = Axis 2
6 PAPT 40 30 Pitch (X = 40 mm, Y = 30 mm)
7 PAST 1 Set reference point data.
9 PSLI 20 4 Zigzag offset = 20 mm
10 Zigzag count = 4
11 PCHZ 3 Palletizing Z-axis = Axis 3
12 PTRG 4 4 Set palletizing arch triggers.
14 OFPZ 100 PZ-axis offset = 100 mm
15
16 EDPA
17
18 */////////////////////////////////////////////////////
19 ATRG 4 4 Set arch triggers.
21 ACHZ 3 Set arch-motion Z-axis.
22
23 ACC 0.3 Acceleration
24 DCL 0.3 Deceleration
25 VLMX
26
27 PSET 1 1 Set palletizing position number.
28 MOVP 8 Move to picking position.
29 */////////////////////////////////////////////////////
30
252
Part 4 Commands

31 TAG 1 Beginning of loop processing
32 PACH 1 9 Palletizing arch motion
33 Z point specified by Position No. 9
34 ARCH 8 9 Arch motion
35 Z point specified by Position No. 9
36 PINC 1 600
number by 1.
Go to beginning of loop if PINC is
37 600 GOTO 1
successful.
38
39 EXIT End of task
40
No. Axis 1 Axis 2 Axis 3 Axis 4 Remarks

1 100.000 100.000 100.000 *.*** Reference point data
2 *.*** *.*** *.*** *.*** (Not used)
3 *.*** *.*** *.*** *.*** (Not used)
4 *.*** *.*** 50.000 *.*** Arch-trigger point data
5 *.*** *.*** *.*** *.*** (Not used)
6 *.*** *.*** *.*** *.*** (Not used)
7 *.*** *.*** *.*** *.*** (Not used)
8 0.000 0.000 100.000 0.000 Picking-position point data
9 *.*** *.*** 0.000 *.*** Z point data
10
253
Part 4 Commands
Schematic diagram of placement-point positions based on the above program
Axis-1 direction
PX-axis
14 23 32
5
9 18 27
4 13 22 31
8 17 26
3 12 21 30
7 16 25
2 11 20 29
6 15 24
40
20 28
1 10 19
PY-axis
Reference point
(X, Y, Z) 30
= (100, 100, 100) Axis-2 direction
x The number shown at the top right of each circle indicates a palletizing position number.
x Count in PX-axis direction = 5, Count in PY-axis direction = 7
x Pitch in PX-axis direction: 40
x Pitch in PY-axis direction: 30
x Zigzag offset: 20
x Zigzag count: 4
254
Part 4 Commands
Chapter 5 Pseudo-Ladder Task

With the X-SEL Controller, a pseudo-ladder task function can be used depending on the command and
extension condition.
The input format is shown below. Note that this function must be used by expert engineers with a full
knowledge of PLC software design.
1. Basic Frame
Extension condition N Input condition Command Operand 1 Operand 2 Output
E N Cnd Cmnd Pst
LD 7001 CHPR 1
TPCD 1
TAG 1
l l l l
l l l l
Ladder
l l l l statement
l l l l field
l l l l
l l l l
LED 7001 TSLP 1 ~ 100

l l l l
l l l l
l l l l Ladder
statement
l l l l field
l l l l
l l l l
LD 7001 TSLP 1 ~ 100

LD 7001 GOTO 1
LD 7001 EXIT
* 9LUWXDOLQSXW³1RUPDOO\21´FRQWDFW
255
Part 4 Commands
2. Ladder Statement Field

(1) Extension conditions
LD LOAD
A AND
O OR
AB AND BLOCK
OB OR BLOCK
All of the above extension conditions can be used in non-ladder tasks.
(2) Ladder commands

OUTR Ladder output relay (Operand 1 = Output, flag number)
TIMR Ladder timer relay (Operand 1 = Local flag number, Operand 2 =
Timer setting (sec))
3. Points to Note
x This system only processes software ladders using an interpreter. Therefore, the processing time is
much longer than that of a dedicated commercial sequencer.
(This system is not suitable for large-scale ladder processing.)
x If an extension condition is not specified for steps in which an input condition is specified, the steps
will be treated as LD (LOAD).
x$OZD\VVSHFLI\D³QRUPDOO\21´FRQWDFWIRUWKRVHVWeps that must be processed without fail, such as
CHPR, TSLP and GOTO. (LD 7001)
9LUWXDOLQSXW³1RUPDOO\21´FRQWDFW
x The following circuit cannot be expressed. Create an equivalent circuit.
OUTR301
1 2
OUTR302
3
Cannot be expressed.
256
Part 4 Commands
4. Program Example
OUTR314
8 9 11 12
10 13 14 TIMR900
15
0.5 SEC
Extension condition N Input condition Command Operand 1 Operand 2 Output

E N Cnd Cmnd Pst
LD 7001 CHPR 1
TPCD 1
TAG 1
LD 8
A N 9
O 10
LD N 11
A 12
LD 13
A N 14
OB
AB OUTR 314
A 15 TIMR 900 0.5
LD 7001 TSLP 3
LD 7001 GOTO 1
LD 7001 EXIT
257
Part 4 Commands
Chapter 6 Application Program Examples
1. Operation by Jog Command [Doll-Picking Game Machine]

(1) Overview of the system
This system is a doll-picking game machine consisting of axis-1 and axis-2 actuators. Pushbutton
switches corresponding to the two axes are provided on an external operation switch box, and
these switches are used to move the actuators to a desired position to grab and pick up dolls
inside the case.
Axis 1
Axis 2
Hand
Load
Hand control unit
Axis-1 movement
pushbutton switch Axis-2 movement pushbutton switch
258
Part 4 Commands
(2) Explanation of the operation
1. Wait for the axis-1 movement pushbutton switch to turn ON.

2. The X-axis moves while the pushbutton switch is ON, and stops when the switch turns OFF.
3. Wait for the axis-2 movement pushbutton switch to turn ON.
4. The Y-axis moves while the pushbutton switch is ON, and stops when the switch turns OFF.
5. Output a start command to the hand control unit.
6. Wait for an operation completion input from the hand control unit.
7. Move to the home after the input is received.
The above operation will be repeated. The operation position, external I/O assignments and
operation flow chart of this operation are shown below:
Operation Position Operation Flow Chart

Start
Hand control unit
Operation home Axis 1 N
switch ON
Axis 1 Y
Axis 1 operates in forward
direction
Axis 1 N
Arbitrary distance switch OFF
Y
Arbitrary
distance Axis 1 stops
Axis
Axis 2 N
2 switch ON
Y
Axis 2 operates in forward
direction
Axis 2 N
switch OFF
Y
I/O Assignments
Axis 2 stops
Category I/O No. Signal name Specification

Hand-control-unit start
Axis-1 movement command ON
16 Pushbutton switch
command
Axis-2 movement N
Input 17 Pushbutton switch Complete
command
X-SEL
Hand operation Y
18 External control unit
completion Hand-control-unit start
command OFF
Hand start
Output 309 24 VDC
command Move to home position
* Flag is not used.
259
Part 4 Commands
(3) X-SEL Controller application program

Axes 1 and 2 return to home
1 HOME 11
(servo ON).
2 VEL 400 Set speed to 400 mm/s.
3 TAG 1
Wait for input from axis-1
4 WTON 16
movement switch.
Move forward while axis-1
5 JFWN 1 16
movement switch is ON.
Wait for input from axis-2
6 WTON 17
movement switch.
Move forward while axis-2
7 JFWN 10 17
movement switch is ON.
Start command for external
8 BTON 309
control unit turns ON.
Wait for external control unit
9 WTON 18
to complete operation.
Start command for external
10 BTOF 309
control unit turns OFF.
Axes 1 and 2 move backward
11 JBWF 11 18
while 18 is ON.
12 GOTO 1 Jump to TAG1.
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
260
Part 4 Commands
2. Operation by Point Movement Command [Riveting System]

This system is a riveting system consisting of an XY-table operated by axis-1 and axis-2 actuators
and a riveter. By setting a load on the XY-table at the operation home position and turning on the
start switch, rivets will be driven at the three points specified on the load.
Riveter
Axis 2 Load
XY-table
Axis 1
Operation box Body frame
261
Part 4 Commands
1. The XY-table moves to the operation home position and waits.

2. The operator sets a load on the XY-table and turns on the start switch.
3. The XY-table moves to riveting position No. 1 on the load and a riveting command is output to
the riveter.
4. When the riveter completes the riveting operation and a completion signal is input, the table
will move to riveting position No. 2 and then No. 3, in the same manner.
5. When all three points have been riveted, the table will return to the operation home position.
Start
XY-table
Move to position No. 1
P4 Load counter = 2
P1 Work part
(Operation
home)
N
Start
Y
Move to riveting position

P3 P2
Riveting command ON
Riveter position
Riveting N
complete
Riveting command OFF
Load counter + 1
I/O Assignments
N Operation
Category I/O No. Signal name Specification complete
16 Start command Pushbutton switch Y
Input Riveting
17 Contact signal
X-SEL
completion
Riveting
Output 309 24 VDC
command
* Flag is used from 600.
262
Part 4 Commands

XY-table returns to home
1 HOME 11
(servo ON).
3 TAG 1
4 MOVL 1 Move to position No. 1.
5 LET 1 2 Set 2 in load counter.
6 BTOF 600 Clear completion flag.
7 WTON 16 Wait for start command.
8 TAG 2
9 MOVL *1 Move to load counter position.
10 BTON 309 Riveting command turns ON.
11 WTON 17 Wait for riveting to complete.
12 BTOF 309 Riveting command turns OFF.
13 ADD 1 1 Increment load counter by 1.
Turns ON flag if operation is
14 CPEQ 1 5 600
complete.
Jump to TAG2 if not
15 N 600 GOTO 2
complete.
16 GOTO 1 Jump to TAG1 if complete.
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
263
Part 4 Commands
3. Palletizing Operation [Palletizing System]

This system is a palletizing system consisting of axis-1 and axis-2 actuators and a Z-axis air
cylinder. It clamps a load at the load feed point and transfers it onto a pallet, and repeats this
operation in a sequence.
(Operation is implemented by an offset command without using a palletizing function.)
Axis 2
Air cylinder
Axis 1
Air chuck
Pallet
Operation box
264
Part 4 Commands
1. Move to the standby point and wait for a start input.

2. Move to the load feed point after a start input is received.
3. The Z-axis comes down and the air chuck clamps the load.
4. The Z-axis rises and moves to above the pallet.
5. The Z-axis comes down and releases the load.
6. The Z-axis rises and moves to above the load feed point.
7. When the pallet becomes full, a pallet-completion indicator signal is output. The axes move to
P18 and then wait for restart.
Start Chuck subroutine
Axis n n n n
1 Clear variable Cylinder down
n n n n
n n n n Move to position No. 18 N

Lower limit
P1 Y
Wait for
input of 18 Reverse chuck output
P18 P17
Move to position No. 17 N
Timer
Axis 2 Y (0.5s)
Call chuck subroutine
Cylinder up
Move to position No. 1

I/O Assignments N
Upper limit
I/O Y
Category Signal name Specification
No. Increment axis-1 offset by End of subroutine
Z-axis cylinder Proximity 20 mm
16
upper limit SW
Z-axis cylinder Proximity Variable
Input 17 300 = 80
lower limit SW N
Pushbutton Y
18 Start
X-SEL
switch Clear variable 300

Z-axis cylinder
309 24 VDC
SV Increment axis-2 offset by
30 mm
Output 310 Z-axis chuck SV 24 VDC
Pallet-completion
311 24 VDC Variable
indicator 301 = 120 N
* Flag is used from 600. Y
Completion signal ON
Pallet specifications
Axis-1 direction: 20-mm pitch
Axis-2 direction: 30-mm pitch
265
Part 4 Commands

1 HOME 11 Axes 1 and 2 return to home.
3 ACC 0.2 Acceleration/deceleration: 0.2 G
4 TAG 1
5 LET 300 0 Clear variable.
6 LET 301 0 Clear variable.
7 OFST 11 0 Clear offset value.
9 WTON 18 Wait for start input.
10 BTOF 311 Output 311 turns OFF.
11 TAG 2
12 OFST 11 0 Clear offset value.
14 EXSR 1 Call chuck subroutine (chuck).
Offset axis 1 by value in
15 OFST 1 *300
variable 300.
Offset axis 2 by value in
16 OFST 10 *301
variable 301.
Move to position No. 1 + offset
17 MOVL 1
value.
18 EXSR 1
(unchuck).
19 ADD 300 20 Add 20 to variable 300.
Turn ON flag 600 if variable 300
20 CPEQ 300 80 600
= 80.
Jump to TAG2 if flag 600 is
21 N 600 GOTO 2
OFF.
22 LET 300 0 Clear variable 300.
23 ADD 301 30 Add 30 to variable 301.
Turn ON flag 601 if variable 301
24 CPEQ 301 120 601
= 120.
Jump to TAG2 if flag 601 is
25 N 601 GOTO 2
OFF.
26 BTON 311 Output 311 turns ON.
27 GOTO 1 Jump to TAG1.
28 BGSR 1 Start chuck subroutine.
29 BTON 309 Z-axis cylinder down
30 WTON 17 Wait for lower-limit input.
31 BTNT 310 Reverse air-chuck output.
32 TIMW 0.5 Timer: 0.5 second
33 BTOF 309 Z-axis cylinder up
34 WTON 16 Wait for upper-limit input.
35 EDSR End of chuck subroutine
36
37
38
39
266
Part 5 Multi-Tasking
Chapter 1 Real-Time Multi-Tasking
1. SEL Language
The X-SEL Controller allows integrated control of actuators and peripherals with a single controller
using its 32-bit RISC CPU and high-speed real-time operating system. There is no need to learn
various languages for different units, such as robot language for robots and sequencer language for
peripherals. Since SEL language is the only language used, an efficient system can be designed.
The current version of SEL language represents a pioneering evolution of the widely proven
programming language, evidenced by higher-performance features and advanced functions. The
latest version is also easier to use compared with the conventional SEL language.
General system
Ladder diagram
Robot Peripheral
control unit equipment,
control unit,
sequencer
Robot
Conveyor
Robot language Interlocking wiring
IfxxxThenxxxElsexxx
MOVP P10
DOUT (307) = IB
Wiring is also simpler.

X-SEL system
X-SEL
Controller
SEL language
N600 MOVL10 307
267
2. Multi-Tasking
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268
3. Difference from a Sequencer

The parallel processing method has evolved from the traditional method of using a sequence control
circuit consisting of relays to a more recent one using a sequencer equipped with a microcomputer.
Since a microcomputer basically allows one process for each clock, a sequence control circuit with a
microcomputer must scan the entire program to achieve apparent parallel processing. For this reason,
a scan time is required, which adds to overhead (dead time).
The microcomputer scans the enter program and outputs only where the condition is satisfied.
On the other hand, a system consisting of a microcomputer and a real-time operating system no
longer uses parallel processing scan (by always scanning the entire program), but adopts an event-
driven method instead (whereby the system operates only when an event occurs, such as upon
receipt of an input signal). Since no extra scan is necessary, the system can operate at high speed. In
addition, each program to be processed in parallel is programmed in steps, so the program is easy to
understand and maintain.
Real-time OS
Program 1 Program 2 Program n
Programmed
in steps
The programmer need not worry about running all programs in parallel, which is controlled by the real-
time operating system.
269
4. Release of Emergency Stop

Default factory settings of parameters
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Emergency-stop input 0
FRQWDFWE
Emergency stop 12
UHOHDVHG"
YES
5HDG\RXWSXW 0
Alarm 12
UHVHW"
Emergency-stop output 0
YES
7HDFKLQJSHQGDQWUHVWDUW
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outpXW21" input
YES
3URJUDPQXPEHURXWSXW ([WHUQDOVWDUWLQSXW 0
([WHUQDOVWDUWLQSXW General-purpose output 0
7KHVHOHFWHGSURJUDPLVH[HFXWHGIURPVWHS
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270
5. Program Switching
Various methods are available to switch between programs, depending on the purpose of programs.
The representative methods are explained below.
External start
Program switching
Program Single-tasking EXIT command
Multi-tasking EXPG command
First, the program switching methods are largely divided into switching by external start and switching
by application program.
(1) External start method 5HIHUWR&KDSWHU³2SHUDWLRQ´6WDUWLQJYLD([WHUQDO

6LJQDO6HOHFWLRQLQ3DUW³2SHUDWLRQ´
(2) Program method

{ Single-tasking
Executing an EXIT command (end program) at the end of each program will end the program and
cause the system to return to the condition immediately after the power is turned on. However,
since the home position is retained, another program can be started by an external start input with
the corresponding program number specified.
{ Multi-tasking
Creating a management program and executing EXPG commands (start other program) will allow
a series of programs to be run in parallel.
271
Chapter 2 Example of Building a System

How to build hardware and software is explained in details by using a screw-tightening robot as an
example.
1. Equipment
Screw-tightening machine (for Z-axis)
$FWXDWRUVIRUD[HVDQG ,$,¶V:VHUYRPRWRUZLWKPPVWURNH[
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2. Operation
7LJKWHQVL[VFUHZVDWPPSLWFKHVRQD[HVDQG Coordinates
1. The actuators move to a screw-tightening position.
2. The Z-axis air cylinder of the screw-tightening

machine comes down.

3. The screw-tightening machine starts operating.
4. When the screw tightening is complete, the Z-axis Axis 2 1 2 3
air cylinder rises.
5. The actuators move to the next position.

(2) The parts feeder operates in parallel with the above Axis 1
operation.
1. The parts feeder starts when screws are short.
2. The parts feeder stops when the screws are fully loaded.
272
3. Overview of the Screw-Tightening System

This system consists of axis-1 and axis-2 actuators, Z-axis cylinder, screw-tightening device and parts
feeder, and tightens the screws fed by the parts feeder at the specified positions on the load.
Axis 2
Z-axis cylinder
Screw-tightening device
Parts feeder
Axis 1
Work part
Operation box
273
4. Hardware
(1) I/O assignments I/O connector (50-pin)
1 *HQHUDOSXUSRVH1&&RPSDFW9LQSXW %URZQ±
2 000 Program start 5HG±
3 001 General-purpose input 2UDQJH±
4 002 General-purpose input <HOORZ±
5 003 General-purpose input *UHHQ±
6 004 General-purpose input %OXH±
7 005 General-purpose input 3XUSOH±
8 006 General-purpose input *UD\±
9 007 Program specification (PRG No. 1) :KLWH±
10 008 Program specification (PRG No. 2) %ODFN±
11 009 Program specification (PRG No. 4) %URZQ±
12 010 Program specification (PRG No. 8) 5HG±
13 011 Program specification (PRG No. 10) 2UDQJH±
14 012 Program specification (PRG No. 20) <HOORZ±
15 013 Program specification (PRG No. 40) *UHHQ±
17 Input 015 General-purpose input 3XUSOH±
18 016 Screw tightening start *UD\±
19 017 Screw tightening end :KLWH±
20 018 Z-axis air-cylinder upper limit %ODFN±
21 019 Parts-feeder screws full %URZQ±
22 020 Screw tightening complete 5HG±
23 021 General-purpose input 2UDQJH±
24 022 General-purpose input <HOORZ±
25 023 General-purpose input *UHHQ±
27 025 General-purpose input 3XUSOH±
28 026 General-purpose input *UD\±
29 027 General-purpose input :KLWH±
30 028 General-purpose input %ODFN±
31 029 General-purpose input %URZQ±
32 030 General-purpose input 5HG±
33 *HQHUDOSXUSRVHLQSXW 2UDQJH±
34 300 Alarm output <HOORZ±
35 301 Ready output *UHHQ±
36 302 Emergency-stop output %OXH±
37 303 General-purpose output 3XUSOH±
38 304 General-purpose output *UD\±
39 305 General-purpose output :KLWH±
40 306 General-purpose output %ODFN±
41 307 General-purpose output %URZQ±
42 Output 308 General-purpose output 5HG±
43 309 Z-axis air cylinder down 2UDQJH±
44 310 Screw tightening start <HOORZ±
45 311 Parts feeder start *UHHQ±
46 312 General-purpose output %OXH±
47 313 General-purpose output 3XUSOH±
48 314 General-purpose output *UD\±
49 315 General-purpose output :KLWH±
50 *HQHUDOSXUSRVH1&&RPSDFW9 %ODFN±
274
(2) Layout diagram

Pin No. Category Port No. Function (Note)
1 - General-purpose: NC, Compact: +24-V input
2 000 Program start
3 001 General-purpose input
9 007 Program specification (PRG No. 1)
Digital switch
17 Input 015 General-purpose input
18 016 Screw tightening start Screw tightening start
19 017 Screw tightening end Screw tightening end
20 018 Z-axis air-cylinder upper limit Z-axis air-cylinder upper limit

21 019 Parts-feeder screws full Parts-feeder screws full
22 020 Screw tightening complete Screw
tightening
23 021 General-purpose input complete
Screw-tightening machine
27 025 General-purpose input CR1 CR2
28 026 General-purpose input 100 VAC
29 027 General-purpose input SV1 M

32 030 General-purpose input Z-axis down Parts feeder

34 300 Alarm output
35 301 Ready output
36 302 Emergency-stop output
37 303 General-purpose output
42 Output 308 General-purpose output CR1
43 309 Z-axis air cylinder down Z-axis air cylinder down
44 310 Screw tightening start Screw
tightening
Screw-tightening machine
45 311 Parts feeder start CR2 start
Parts feeder start

50 - General-purpose: NC, Compact: 0 V
(Note) 0V +24V
Pin Nos. 1 and 50 are not connected on a general-purpose type.
Pin No. 1 is connected to +24 V and No. 50 to 0 V on a compact type.
275
5. Software
(1) Control flow chart
Main program: Sub program:

Screw-tightening Parts feeder
machine
Program 1 Program 2
Start program 2 Screws short
Align origin Parts feeder ON
Start screw tightening (pushbutton) Screws fully loaded
Move Parts feeder OFF
Z-axis air cylinder 5 seconds on timer

down
Start screw tightening
Screw tightening
complete
Z-axis air cylinder up
6 screws
NO tightened?
YES
Screw
tightening
NO complete?
YES
Stop program 2
Stop parts feeder
End
276
(2) Main program

Screw-tightening program No. 1
Application program
Extension Input Output
Command
condition condition condition
Comment Comment
Operand Operand Output
AND, OR I/O, flag Command
1 2 port, flag
1 EXPG 2 Start program 2.
2 HOME 11 Align home.
4 ACC 0.3 Acceleration: 0.3 G
5 TAG 1 Jump destination at restart
Screw-tightening start
6 WTON 16
pushbutton
7 LET 1 1 Set screw counter.
Jump destination after tightening
8 TAG 2
one screw
9 MOVL *1 Move.
10 BTON 309 Z-axis air cylinder down
11 BTON 310 Start screw tightening.
12 WTON 20 Screw tightening complete.
Cylinder up, screw tightening
13 BTOF 309 310
stopped.
Check Z-axis air cylinder top
14 WTON 18
position.
15 ADD 1 1 Increment screw counter by 1.
Compare after tightening six
16 CPEQ 1 7 900
screws.
Go to next screw-tightening
17 N900 GOTO 2
cycle after tightening one screw.
18 N17 GOTO 1 Restart screw tightening.
19 ABPG 2 Stop program 2.
20 BTOF 311 Stop parts feeder.
21 EXIT End of program 1
Position program
No. X Y
1 30 30
2 60 30
3 90 30
4 30 60
5 60 60
6 90 60
(3) Sub program

Parts feeder program No. 2
Application program
Extension Input Output
Command
condition condition condition
Comment Comment
Operand Operand Output
AND, OR I/O, flag Command
1 2 port, flag
1 TAG 1 Jump destination for repeating
2 WTOF 19 Screws short.
3 BTON 311 Start parts feeder.
4 WTON 19 Screws fully loaded.
5 BTOF 311 Stop parts feeder.
6 TIMW 5 5 seconds on restart timer
7 GOTO 1 Repeat.
277
Appendix
Appendix
Actuator Specification List
Loading capacity Rated acceleration
(Note 2)
Stroke (mm) and maximum speed (mm/sec) (Note 1)
Model number Horizontal Vertical Horizontal Vertical
RCS2 (slider type)
RCS2 (rod type)
RCS2 (arm/flat type)
(Note 1) The value in each band indicates the maximum speed at each applicable stroke.
(Note 2) The loading capacity represents the value when the actuator is operated at the rated acceleration.
278
Appendix

Stroke (mm) and maximum speed (mm/sec) (Note 1) (Note 2)
Horizontal Vertical Horizontal
Model number Vertical
(rotary type)
RCS2
RCS2CR (slider type)
RCS2W (dust-
proof/splash-
proof type)
279
Appendix

(Note 2)
Model number Horizont
l
Vertical Horizontal Vertical
RCS (slider type)
RCS (rod type)
RCS (flat type)
280
Appendix

(Note 2)
Horizontal
Model number Vertical Horizontal Vertical
281
Appendix

Stroke (mm) and maximum speed (mm/sec) (Note 1) (Note 2)
Model number Horizontal Vertical Horizontal Vertical
282
Appendix
~ Programming Method
1. Position Table
Position Table
The X-SEL controllers of J/K types let you register up to 3,000 positions. Register positions using the PC
software or teaching pendant.
(Example of 3-axis system)
No. : When this number is specified in the program, the actuator will move to the corresponding
position registered.
Axis1 - 3 : For each position number, enter the position you want to move each axis to.
Vel : Set a desired speed. The speed set here takes precedence over the speed specified in the
program. In other words, when the axis moves to the applicable position number it will move
at the speed set here.
Acc : Set a desired acceleration. The acceleration set here takes precedence over the
acceleration specified in the program or set by a parameter.
Dcl : Set a desired deceleration. The deceleration set here takes precedence over the
deceleration specified in the program or set by a parameter.
283
Appendix
2. Program Format
Program Edit Screen (PC Software)
With the X-SEL controllers, you can create a program consisting of up to 6,000 steps.
Edit a program using the PC software or teaching pendant.
No. : The step number is indicated.

B : Set a break point. (Breakpoint setting is enabled in the online edit mode.)
8VHWKHPRXVHWRFOLFNWKH³%´FROXPQLQWhe line where you want to set a breakpoint.
2QFHDEUHDNSRLQWLVVHW³%´ZLOOEHVKRZQLQWKHDSSOLFDEOHOLQH
* Breakpoint --- Set a breakpoint in each step where you want to pause the program
when the program is run by the PC software.
E : Enter a desired expansion condition (A, O, LD, AB, OB).
1 6SHFLI\³1´LQGLFDWLQJQHJDWLRQRIWKHLQSXWFRQGLWLRQ
Cnd : Enter a desired input condition.
Cmnd : Enter a desired SEL command.
Operand 1 : Enter operand 1.
Operand 2 : Enter operand 2.
Pst : Enter (operand 3) in the output field.
Comment : Enter a command (consisting of up to 18 single-byte characters), if necessary.
284
Appendix
3. Positioning to Five Positions

Description
After returning to home, the actuator moves to positions 1 to 5 at a speed of 100 mm/sec. Axis 1 is used.
Flowchart
Start x The return-to-origin operation and speed must be set in order to

operate the actuator.
x When a move command is specified, the actuator will move to the
Return to origin coordinates of the specified position data.
x Return-to-origin operation (HOME command) is not required if the
actuator is of absolute specification.
Set speed
Move to P1
Move to P2
Move to P3
Move to P4
Move to P5
End of program
Application program Position data
285
Appendix
4. How to Use TAG and GOTO

Description
If you want to repeat the same operations in the program or jump to a given step conditionally, use GOTO
and TAG commands. TAG may be specified in a step before or after a GOTO command.
Example of Use 1
Repeat the same operations.

Repeat.
Repeat the same operations.
Example of Use 2
Operations to be repeated
Jump
Operations to be ignored
286
Appendix
5. Moving Back and Forth between Two Points

Description
The actuator moves back and forth repeatedly between two points.
Flowchart
Start
x The actuator moves back and forth between P1 and P2 infinitely.

Return to origin x Axis 1 is used.
x (QWHU³7$*´LQWKHILUVWVWHSWREHUHSHDWHGDQG³*272´LQWKHODVW
step to be repeated.
Move to P1
Move to P2
287
Appendix
6. Path Operation
Description
The actuator moves continuously along four arbitrary points without

stopping (PATH movement).
The actuator operates along the locus shown to the right, without
stopping at P2 and P3.
Unlike when moved by MOVP or MOVL, the actuator does not adjust its
position toward the specified position at P2 and P3, and thus the moving
tact time can be reduced.
While the actuator is stopped at P1, execute the following command:
PATH 2 4
The actuator will move from P1 to P4 by passing near P2 and P3. (You
can adjust the passing points closer to the specified positions by
increasing the acceleration.)
The same operation can be achieved by entering the following

commands successively:
PATH 2 3
PATH 3 4
The actuator will move in the same manner as when the following
command is executed:
PATH 2 4
While the actuator is stopped at P4, executed the following command:

PATH 4 1
The actuator will operate in the reverse direction
(P4 o P3 o P2 o P1).
Continuous movement is possible even when all positions are not

continuous.
Specify No. 6, which is a discontinuous position, for both the start
position number and end position number in the PATH command, as
follows:
PATH 1 4
PATH 6 6 (discontinuous position)
PATH 9 10
The actuator will move continuously in the sequence of
P1 o P2 o P3 o P4 o P6 o P9 o P10.
288
Appendix
7. Output Control during Path Movement

Description
In a coating application, etc., output control may be required while the actuator is moving. With the X-SEL
controllers, a signal can be output while the actuator is moving by a PATH command.
How to Use
Before a PATH command, declare a POTP command to output a signal during movement.
If a desired output or global flag is specified in the output field of the PATH command, the output or flag
specified in the output field will turn ON when the actuator approaches the position specified in the PATH
command via path movement.
Example of Use 1
The actuator moves from P1 to P5 without stopping

based on the position layout shown to the right, and turns
ON output port 310 upon approaching P2.
m A declaration command to output a signal during path

movement.
m 310 is turned ON at the position P2 specified in this step.
Outputs and flags can only be turned ON. Once the path operation has completed, turn OFF the
applicable output/flag in the program (using a BTOF command).
Example of Use 2
Outputs 310 to 313 can be turned ON sequentially at the respective points of P2 to P5.
m A declaration command to output a signal during path

movement.
m Outputs 310 to 313 are turned ON sequentially at the
respective positions of P2 to P5 specified in this step.
289
Appendix
8. Circle, Arc Operation

Description
The actuator operates two-dimensionally along a circle or arc.
How to Use
To specify a circle, specify three passing points. To specify an arc, specify three points including the start
point, passing point and end point.
Example of Use 1
Circle
x 6SHFLI\³&,5´ZKLOHWKHDFWXDWRULVVWRSSHGDW3DIWHUFRPSOHWLQJ
its movement.
x :KHQ³&,5´LVVSHFLILHGDVshown to the left, the actuator will
move along the circle in the clockwise direction.
x To cause the actuator to move in the counterclockwise direction,

VSHFLI\³&,5´
Example of Use 2
Arc
x 6SHFLI\³$5&´ZKLOHWKHDFWXDWRULVVWRSSHGDW3DIWHU
completing its movement.
Reference
Some circle/arc commands can also be executed three-dimensionally (among three actuator axes), in
addition to two-dimensionally (between two actuator axes).
CIRS ----- Move three-dimensionally along circle

ARCS ----- Move three dimensionally along arc
290
Appendix
9. Return-to-Home Completion Output

Description
A signal can be output to confirm completion of return-to-home operation (incremental specification).

With the X-SEL controllers, you can output a return-to-home complete signal by setting an applicable I/O
parameter. The following explains the method to output a return-to-home complete signal in a program
using a general-purpose output.
Once turned ON, general-purpose outputs will remain ON even after the program ends or other program is
started. (General-purpose outputs will turn OFF under certain conditions such as actuation of an
emergency stop. You can also retain general-purpose outputs using I/O parameters (I/O parameter Nos.
70, 71)).
Example of Use
a. Output a return-to-home complete signal.
Perform return-to-origin operation.

A general-purpose signal is output (optional).
b. Use a return-to-origin complete signal to prevent another return-to-origin operation

if it has been completed once.
Perform return-to-origin operation if output
LV2))
A return-to-origin complete signal is output.
c. Use the output field instead of a BTON command.
The processing is the same as that

effected by the above two steps.
Reference
,I,2SDUDPHWHU1RLVVHWWR³´RXWSXWSRUW1RFDQEHXVHGWRRXWSXWDUHWXUQWRKRPHFRPSOHWH
signal (dedicated output).
291
Appendix
10. Axis Movement and Completion Output by Input Waiting

Description
How to cause the actuator to wait for input and output a processing complete signal.
Flowchart
Start Example of Use
The actuator waits until input port 10 turns ON, and then moves to P1.
The actuator waits until input port 11 turns ON, and then moves to P2.
Input 10
The movement complete signal output at P1 is 310, while the movement
complete signal output at P2 is 311.
Move to P1
Output 310
turns ON
Input 11
Output 310
turns OFF
Move to P2
Output 311
turns ON
End of program
Application program
292
Appendix
11. Change of Moving Speed
Description
Change the moving speed.
How to Use
With the X-SEL controllers, speeds can be set in one of the following two methods:
a: Use the VEL command in the application program.
b: Use the speed setting in the position data table.
Example of Use
Moving speeds in the above program
Position at 100 mm --- Move at 100 mm/sec

As shown above, even when a speed is specified in the application program the setting in the position
data table, if specified, will take precedence. In general, speeds are set using VEL in the application
program.
Point Data VEL Table and PATH Command
You can change the speed without stopping the actuator by using a PATH with the position data VEL
table. (Refer to the next page.)
293
Appendix
12. Speed Change during Operation

Description
Use a PATH command to change the speed during movement.

This is effective in a dispensing application where the dispensing amount changes in the middle.
Example of Use
The actuator moves along a straight line without stopping at a speed of 50 mm/sec in section a, 20
mm/sec in section b, and 50 mm/sec in section c (PATH operation).
Dispensing width
Section a Section b Section c
Position data
Application program
³3$7+´LVWKHRQO\PRYLQJFRPPDQG
Reference
You can also use a CHVL (change speed) command to change the speed from other program (multi-
tasking mode).
294
Appendix
13. Local/Global Variables and Flags

Description
Internal variables and flags used in SEL language are divided into local and global types.
Data areas used commonly by all programs are called global areas, while data areas used individually by
each program are called local areas. Global areas must be used if you want to coordinate the timings of
multiple programs in the multi-tasking mode or allow these programs to cross-reference the values of their
variables.
Example of Use
Program handshake
Program A Program B
By using global flags as shown above, you can caXVHSURJUDP$WRH[HFXWH³029/´FDXVHSURJUDP%

WRH[HFXWH³029/´DIWHUFRPSOHWLRQRIWKHSUior movement, and then cause program A to execute
³029/´DIWHUFRPSOHWLRQRIWKHSULRUPRYHPHQWWKXVHIIHFWLYHO\LPSOHPHQWLQJKDQGVKDNHVEHWZHHQWKH
two programs.
Backup Battery
All X-SEL controllers have a built-in battery to retain the variables and flags used in the program. With
both variables and flags, only those stored in global areas will be retained after the controller power is cut
off. Variables and flags stored in local areas will be clHDUHGWR³ÍRUYDULDEOHVDQG³2))ÍRUIODJVZKHQ
a new program is started.
295
Appendix
14. How to Use Subroutines

Description
If the same processing is performed multiple times in one program, the applicable steps are grouped and
called together. This group of steps is called a subroutine. Subroutines are used to shorten program steps
and make programs easier to read. Up to 99 subroutines can be used in one program. Subroutine calls
can be nested by up to 15 times.
How to Use
Use the following commands to declare/call subroutines:

EXSR Call subroutine
BGSR Declare start of subroutine (declare start of group of steps)
EDSR Declare end of subroutine (declare end of group of steps)
Example of Use
Subroutine
Consolidate the same tasks into

one location.
Note
Jumping out of a subroutine to a TAG outside the subroutine using a GOTO command is prohibited.
296
Appendix
15. Pausing of Operation

Description
Use the declaration command HOLD to pause the moving axis via an external input.
How to Use
When a HOLD command is declared in the program, the moving axis can be interrupted and paused
(decelerated to a stop). While the HOLD signal is input, the axes moving under all move commands in the
same program are paused (decelerated to a stop).
Example of Use
Hold 20 Declaration to pause the axis when general-purpose input 20 is input
Input port 20 ON Input port 20 OFF Axis stopped

Speed
Remaining
operation
Time
Application
Not only an input port, but also a global flag can be specified for operand 1 in the HOLD command.
By using a global flag, you can also pause the moving axis from other program.
If operand 2 is used, you can select desired input signal and stop patterns.
0 = Contact a (Deceleration to stop) Same as when operand 2 is not specified

1 = Contact b (Deceleration to stop)
2 = Contact b (Deceleration to stop, followed by servo OFF Drive power not turned OFF)
Note
If the actuator is paused while returning to its home, when the operation is resumed the actuator will
perform the return-to-home sequence from the beginning.
297
Appendix
16. Aborting of Operation 1 (CANC)

Description
Use the declaration command CANC to decelerate the moving axis to a stop and cancel the remaining
operation.
How to Use
While the CANC signal is input, the axes moving under all move commands in the same program are
aborted.
Example of Use
CANC command
CANC 20 When input port 20 turns ON, the move command is aborted (declaration).

MOVP 1
MOVP 2

WTON 21

* Declare this command before the applicable move command.

* While the CANC signal is input, all operation commands are cancelled sequentially and non-operation
commands (I/O processing, calculation processing, etc.) are executed sequentially.
Input port 20 ON
Speed o
This operation is cancelled.
Remaining
operation
Time o
Note
Since the current step in the program can no longer be identified, it is recommended that an input wait
step be created using a WTON command.
Application
When operand 2 is used with a CANC command, you can select a desired input signal pattern.
0 = Contact a (Deceleration to stop) Same as when operand 2 is not specified

1 = Contact b (Deceleration to stop)
298
Appendix
17. Aborting of Operation 2 (STOP)

Description
Decelerate the moving axis to a stop and cancel the remaining operation (STOP).
How to Use
Use a STOP command from other program to abort the operation (multi-tasking mode).
You can specify multiple axes to be aborted using an axis pattern.
Input port 20 ON
This operation is cancelled.

Speed o
Remaining
operation
Time o
Example of Use 1
STOP command
Main program Abort control program
EXPG n Start of abort program WTON 20 Wait for abort input.
STOP 11 Abort axes 1 and 2.
MOVL 1
MOVL 2

,I³6723´LVH[HFXWHGZKLOH³029/´LVEHLQJH[HFXWHG³029/´ZLOOEHFDQFHOOHGDQGWKH
RSHUDWLRQZLOOFRQWLQXHIURP³029/´
Example of Use 2
Main program Abort control program

EXPG n Start of abort program WTON 20 Wait for abort input.
STOP 10 Abort axis 2.
MOVL 1
MOVL 2

,I³6723´LVH[HFXWHGZKLOH³0293´LVEHLng executed, only the operation of axis 2 under
³0293´ZLOOEHFDQFHOOHG%RWKD[HVDQGZLOORSHUDWHIURP³0293´
Note
All axes currently performing CP operation (interpolation operation) via MOVL, etc., will be cancelled
regardless of the axis pattern specified in the STOP command.
299
Appendix
18. Movement by Position Number Specification

Description
Move the actuator by receiving a position number by external BCD code input.
Example of Use
Use an INB command to receive a position number from an input port as a BCD code. The position
number to be specified can have up to three digits.
Flow chart
Input assignment Output
Start Port Description 303 Movement complete
1 Start input
15 Position specification 1
Initial setting 16 Position specification 2
Start input 19 Position specification 10
Read BCD 23 Position specification 100
Movement complete 25 Position specification 400
signal turns OFF 26 Position specification 800
Move to specified
position number
Movement
complete
Application program
300
Appendix
19. Movement by External Position Data Input

Description
Move the actuator by receiving an absolute value of target position data from the host.
Example of Use
Use an INB command to receive position data from an input port as a BCD.
The BCD value to be received has four digits including one decimal digit. Axis 1 is moved.
([DPSOH,IWKH%&'LV³´WKHD[LVZLOOPRYHWRWKHSRVLWLRQDWPP
)ORZFKDUW
Start
Input assignment Output
Port Description 303 Movement complete
Initial setting 1 Start input
15 0.1 mm
PP
Start input PP
18 0.8 mm
19 1 mm
PP
Read BCD
PP
PP
Movement complete PP
signal turns OFF PP
PP
Move to specified PP
position PP
PP
Movement PP
complete 30 800 mm
Application program
301
Appendix
20. Movement by External Position Data Input

Description
Read the current actuator coordinates in real time and output the corresponding BCD data from an output
port.
Example of Use
Use a PRDQ command to receive the current coordinate position of axis 1.

Output the current coordinate data of axis 1 as a BCD every 0.2 second.
The output range is 0.00 to 999.99 mm.
BCD output assignment

Output port No. Description Output port No. Description
324 0.01 336 10
325 0.02 337 20
326 0.04 338 40
327 0.08 339 80
328 0.1 340 100
329 0.2 341 200
330 0.4 342 400
331 0.8 343 800
332 1
333 2
334 4
335 8 Unit: mm
Application program
* Use a PRDQ command to write the current position coordinates into variable 101.
6LQFHWKHYDOXHUHDGLQWRWKHYDULDEOHLVLQWKHIRUPDWRI³;;;;;;´WKHGLJLWVQRWXVHGLQ%&'RXWSXW
are moved to after the decimal point.
,QWKLVH[DPSOHWKHWKLUGGHFLPDOSRLQWRUODWHULVQRWUHTXLUHGVRWKHYDOXHLVPXOWLSOLHGE\WRREWDLQ
GDWDLQWKHIRUPDWRI³;;;;;;
1H[WWKHYDOXHLVFRSLHGWRGHGLFDWHGYDULDEOHXVHGIRU%&'RXWSXW
$WWKLVWLPHWKHGHFLPDOGLJLWLVGLVFDUGHG
The copied value is then output to an external device via an OUTB command.
This program is used as a subprogram in the multi-tasking mode.
302
Appendix
21. Conditional Jump

Description
Select the destination of jump via GOTO by using the status of an external input, output or internal flag as
a condition.
The program waits for multiple inputs and performs a different processing depending on the received input.
Example of Use 1
,ILQSXWLV21WKHSURJUDPMXPSVWR³7$*Íf input 10 is OFF, the program performs the next

processing.
If input 10 is ON,
Input 10
H[HFXWH³*272´
Processing a
Processing a
TAG 1 Processing b
* If input 10 is ON, processing a is skipped and

processing b is performed.
If input 10 is OFF, processing a is performed and then
processing b is performed.
Example of Use 2
The program waits for input at two input ports of 10 and 11 and if an input is received by 10, processing a
will be performed. If an input is received by 11, processing b will be performed.
Input 10
Input 11
Processing a
Processing a
Processing b No input.
Processing b Input 10 is ON.
Input 11 is ON.
If inputs 10 and 11 are both ON, processing a is performed.
303
Appendix
22. Waiting for Multiple Inputs

Description
The program waits for several different inputs and proceeds with an applicable processing when one of
them is received.
Point
With a WTON command, processing will not proceed unless one of the specified inputs is received, which
means that the program cannot wait for multiple inputs.
Example of Use
The program monitors inputs 10 and 11 and if either one receives an input (OR condition), proceeds to the
next step.
Program a Program b
Input 10
Input 20
Next processing
Next processing
Next processing
* Both programs a and b perform the same processing.
As shown in the sample, you can cause the program to wait for input without using a WTON command.
This way, cases where multiple input conditions must be combined can also be supported.
304
Appendix
23. How to Use Offset

Description
If you want to move (offset) all teaching points by several millimeters to absorb a position deviation
resulting from the actuator installation, etc., you can specify an offset amount for position data using an
OFST command. You can also use an OFST command to perform pitch feed operation. (Refer to 25,
³2SHUDWLRQE\&RQVWDQW3LWFK)HHG´
Origin
Note
Once an offset has been set, the offset will apply to all subsequent move commands. To cancel the offset
SURFHVVLQJVHW³´PPE\H[HFXWLQJDQRIIVHWFRPPDnd again. The offset processing is not reflected in
other programs (even in the multi-tasking mode). If an offset must be applied to all programs, you must set
the offset in each program separately.
305
Appendix
24. Execution of Specific Operation n Times

Description
Execute a specific operation n times.
Example of Use
The actuator moves back and forth 10 times between P1 and P2, after which the program ends.
A CPEQ command is used to compare the number of times the operation was actually repeated, against
10. It is assumed that return-to-home operation has completed.
Application program
Reference
You can also perform the same operation using a DWEQ command.
306
Appendix
25. Operation by Constant Pitch Feed

Description
Feed the actuator by a constant pitch n times from a given reference point.
The pitch and number of feeds are specified beforehand using variables.
Flow chart Example of Use
Start Use an OFST command to perform pitch feed.

A counter variable is used to count the number of times the actuator was
Initial setting fed.
The X-axis is fed in the positive direction.
Start input
Points
Move The OFST command is reflected in move commands.
Executing an OFST command alone will not move the axis.
Increment pitch
variable
Offset
processing Pitch (mm)
Increment
counter (Number of feeds n)
Specified count
Reference point
reached?
End of program
Application program
Reference
You can also perform pitch

feed using MVPI and MVLI
commands.
307
Appendix
26. Jogging
Description
The slider moves forward or backward while the input is ON or OFF.

You can also use an output or global flag instead of an input.
If the specified input does not meet the condition when the command is executed, nothing will happen and
the program will move to the next step.
Once the soft limit is reached, the slider will stop and the command in the next step will be executed,
regardless of the input status.
How to Use
x Explanation of commands
JFWN 1 20 Axis 1 moves forward while input 20 is ON.
JFWF 1 21 Axis 1 moves forward while input 21 is OFF.
JBWN 10 22 Axis 2 moves backward while input 22 is ON.
JBWF 10 23 Axis 2 moves backward while input 23 is OFF.
Example of Use 1
x Stop the axis movement when a sensor input is received.
Stops upon detecting a load after

downward movement
VEL 50 Specify low speed
JFWF 1 20 Move until a sensor input (20) is received.
Sensor detection line EXIT End the program.
Load
Example of Use 2
x Jog the actuators as you normally do from a teaching pendant (two axes are operated).
Application program
Note
HOLF, STOP and CANC

commands are enabled
during jogging also.
308
Appendix
27. Program Switching

Description
Use EXPG/ABPG commands to switch programs from within a program.
Example of Use 1
When the processing by program 1 has completed, program 2 is started and program 2 ends.
Program 1 Program 2

EXPG 2
EXIT
Example of Use 2
Start a program externally and end other program.
Program 1 Program 2
ABPG 2 ABPG 1

If program 2 is started while program 1 is operating, program 1 will be aborted.

If program 1 is started while program 2 is operating, program 2 will be aborted.
Application
By specifying a program number in operand 2, you can simultaneously start (EXPG) or end (ABPG) the
programs corresponding to the program number specified in operand 1 through the number specified in
operand 2.
Note
‫ ە‬All X-SEL controllers support multi-tasking. By starting other programs while a given program is
running, you can start a total of up to 16 programs. If more programs must be used, switch programs to
end unnecessary programs.
‫ ە‬If you end a program with an ABPG command and any move command is currently being executed in
the applicable program, the applicable axis or axes decelerate to a stop immediately.
309
Appendix
28. Aborting of Program

Description
Abort a program currently running.

Execute an ABPG command (stop other program) from other program in the multi-tasking mode.
Note
* If any move command is currently being executed in the aborted program, the applicable axis or axes
decelerate to a stop immediately.
Example of Use
Main program (Prg. 1) Abort control program (Prg.n)

EXPG n Start an abort control program. WTON 20 Wait for abort control
WTON 10 ABPG 1 Abort program 1.
MOVP 1 EXIT End of program
BTON 303

* If ABPG is executed while any axis is moving under a MOVP command, the axis decelerates to a stop
immediately and the program ends.
310
Appendix
Expansion I/O Board (Optional)

Only one optional board can be installed on compact 3/4-axis types. (Compact 1/2-axis types do not
support expansion board.)
Type: IA-103-X-32 Type: IA-103-X-16
Pin No. Category Port No. Function Pin No. Port No. Function
General-purpose: NC, General-purpose: NC,
1 - 1 -
Compact: +24-V input Compact: +24-V input
2 32 General-purpose input 2 32 General-purpose input
Input
Input
18 48 General-purpose input 18 316 General-purpose output
34 316 General-purpose output 34 Output 332 General-purpose output
35 317 General-purpose output 35 333 General-purpose output
42 Output 324 General-purpose output 42 340 General-purpose output
General-purpose: NC, General-purpose: NC,
50 - 50 -
Compact: 0 V Compact: 0 V
Note) Port numbers indicate ports on an I/O1 (I/O2) expansion board.
311
Appendix
Expanded SIO Specification (Optional)

Type IA-105X-MW-A (for RS232 connection)
IA-105X-MW-B (for RS422 connection)
IA-105X-MW-C (for RS485 connection)
(1) Specification
An SIO expansion board is a D-sub, 15-pin interface used for both RS232 and RS422 connection.
The terminal assignments allow selection of RS232, RS422 or RS485 in accordance with the
wiring. (The controller is shipped with a joint cable appropriate for the selected communication
method.)
Specifications
Item Description
Connector D-sub, 15-pin (male D-sub connector)
Connector name CN3 connector
Maximum baud rate 115.2K
Maximum connection
10M (RS232) / 600M (RS422) 38.4K (RS232C), 115.2K (RS422)
distance
Interface standards RS232 / RS422 / RS485
Communication method Start-stop synchronous full/half-duplex communication
Character length 7/8 bits
Start bit 1 bit
Stop bit 1/2 bits
Parity None, even, odd
Connection cable Special 15-pin cable
1 Out SD (TXD) Transmitted data
2 In RD (RXD) Received data
3 Out RS (RTS) Request to send
4 In CS (CTS) Clear to send
5 Out DR (DTR) Equipment ready
6 In ER (DSR) Data set ready
7 SG Signal ground
Terminal assignments 8 N.C. Not used
9 N.C. Not used
10 N.C. Not used
11 In RDA (RXD +) Received data
,Q 5'%5;'± Received data
13 In TRM Termination connection
2XW 6'%7;'± Transmitted data
15 Out SDA (TXD +) Transmitted data
312
Appendix
(2) Parameter setting

The channel numbers and specifications of the expanded SIOs are set as follows prior to shipment
using parameters:
Channel 6
Channel 4
M4 M3
RB
M2 M1
PG1 PG3 CODE
Specifications
Baud rate: 38.4 kbps
MODE
BK1 BK3 Data length: 8
TP
I/O1 I/O2 I/O3 I/O4
Stop bit length: 1
LS4 LS3 LS2 LS1
PG2 PG4 Parity type: None
Channel 2
POWER Communication mode: RS232
FUSE
BK2 BK4
Channel 3
HOST
Channel 5
Channel 7
Channel numbers are determined by the corresponding parameter numbers set.

Channel 2 o I/O parameter No. 100 Channel 3 o I/O parameter No. 102
1. Parameter content
([DPSOH :KHQµ¶LVVHWLQ,2SDUDPHWHU1R
The specification of channel 2 is shown below (the boxed portions indicate the current
settings):
Baud rate: 0: 9.6 kbps, 1: 19.2 kbps, 2: 38.4 kbps, 3: 57.6 kbps, 4: 76.8 kbps, 5: 115.2 kbps
Data length: 7, 8
Stop bit length: 1, 2
Parity type: 0:None, 1: Odd, 2: Even
Communication mode: 0: RS232, 1: RS422, 2: RS485
Half-duplex receive operation type 0: Enable receive after send
(valid only when RS485 is selected) 1: Do not enable receive after send
Channel assignment on board: 1: D-sub upper, 2: D-sub lower (See the figure below)
Expansion I/O slot assignment: 3rd from next to standard I/O (See the figure below)
2 8 10 00 13 I/O1 I/O2 I/O3 I/O4
D-sub upper
D-sub lower
From the slot next to the standard I/O slot: 1st 2nd 3rd
313
Appendix
(3) Joint cable
1. For RS232C connection

Type: CB-ST-232J001
100 mm
Controller end PC end
Wiring diagram
XM2D-1501 XM2A-0901
Wire type Color Signal No. No. Signal Color Wire type
Orange/black dot SD 1 3 SD Orange/black dot
Orange/black dot RD 2 2 RD Orange/black dot
Light gray/black dot RS 3 7 RS Light gray/black dot
Light gray/red dot CS 4 8 CS Light gray/red dot AWG24 x 7
White/black dot ER 5 4 ER White/black dot cores
AWG24 x 7 White/red dot DR 6 6 DR White/red dot
cores Yellow/black dot 7 5
SG SG Yellow/black dot
8 1
9 9
10
11
12
* The user must provide
13 connection cables with
14 external equipment.
15
2. For RS422/RS485 connection
Type: CB-ST-422J010
1 m (1000 mm)
Controller end 50 mm
Orange/black dot
Orange/red dot
White/black dot
Light gray/black dot
Connector not Light gray/red dot
Wiring diagram attached
XM2D-1501
Wire type Color Signal No.
1
2
3
4
5
AWG24 x 7 6
cores 7
8
9
10
Orange/black dot RD + 11
Orange/red dot RD - 12
White/black dot TRM 13 * Connect to a terminal
Light gray/black dot SD - 14
Light gray/red dot SD + 15
block, etc.
* Termination: The user must terminate the RS422/RS485 transmission lines.
314
Appendix
(4) Wiring
1. RS232C wiring
D-sub, 9-pin D-sub, 9-pin
SD 1 3 SD 3 3 SD
RD 2 2 RD 2 2 RD
RS 3 7 RS 7 7 RS
Control
CS 4 8 CS 8 8 CS
circuit
ER 5 4 ER 4 4 ER
DR 6 6 DR 6 6 DR
SG 7 5 SG 5 5 SG
SIO expansion board Or
Supplied joint cable SD 3 3 SD

CB-ST-232J001
RD 2 2 RD
RS 7 7 RS
CS 8 8 CS
ER 4 4 ER
DR 6 6 DR
SG 5 5 SG
Provided by the user
Flow control (software flow, hardware flow) is not provided. If the other side does not use flow
control, commercial RS232C cross cables can be used.
315
Appendix
2. RS422 wiring
Connect (13) TRM with

Terminal RD+ only at the
block termination point.
RD+ 11 RD + SD +
RD- 12 RD - SD -
Control TRM 13
120 :
circuit
SD+ 15 SD + RD +
SD- 14 SD - RD -
SIO expansion board

Supplied joint cable
CB-ST-422J010
1-to-N multi-drop
Slave Master
RD + SD +
RD - SD -
Termination
SD + RD +
SD - RD -
Slave Slave
RD + RD +
RD - RD -
SD + SD +
SD - SD -
316
Appendix
3. RS485 wiring
Connect (13) TRM with

Terminal RD+ and SD+ only at
D-sub, 15-pin block the termination point.
RD + 11 RD + SRD +
RD - 12 RD - SRD -
Control TRM 13
120 :
circuit
SD + 15 SD +
SD - 14 SD -
SIO expansion board

Supplied joint cable
CB-ST-422J010
N-to-N multi-drop
SD +
SRD + SRD +
SD -
Termination
RD +
SRD - SRD -
RD -
SRD + SRD +
SRD - SRD -
317
Appendix
Number of Regenerative Resistance Units (REU-1) to Be Connected

The regenerative energy produced in certain conditions such as when the actuator decelerates to a stop
or the vertically installed actuator moves downward is absorbed by the capacitor or resistor inside the
controller. If the produced regenerative energy is more than what can be handled internally, however, an
overvoltage error will occur and continuous operation becomes no longer possible.
In this case, you must take the following actions:
x Connect an external regenerative box or boxes. (ReferWR³5HIHUHQFHIRU1XPEHURI5HJHQHUDWLYH8QLWV
5(8WR%H&RQQHFWHGÉHORZ
x Increase the cycle time.
x Decrease the speed.
x Decrease the travel (when the actuator is installed vertically).
x Decrease the transferred mass.
x Do not perform synchronized operations (when multiple axes are connected).
If the actuator is installed horizontally, regenerative energy is produced when the actuator decelerates to a stop. If the actuator is
installed vertically, regenerative energy is produced primarily when the actuator moves downward. If two or more axes are
connected, therefore, you can reduce the regenerative energy by operating them in a manner preventing the aforementioned
operations to be performed at the same time.
Reference for Number of Regenerative Units (REU-1) to Be Connected

You need a regenerative resistance unit or units only when one or more actuators are used as vertical
axes (Z-axes).
[1] X-SEL-J type controller

Total wattage of vertical axes Reference number of units to be connected
0 ~ 1500 W Not required.
~ 200 W Not required.
~ 400 W 1 unit
~ 750 W 2 units
~ 800 W 2 units
[2] X-SEL-K type controller

Total wattage of vertical axes Reference number of units to be connected
0 ~ 400 W Not required.
~ 800 W 1 unit
~ 1200 W 2 units
~ 1600 W 2 to 5 units *1
*1 If the total wattage is 1,200 W or more, the number of regenerative resistance units to be connected
varies according to the use condition (operation duty). The higher the duty, the more regenerative
resistance units are required.
318
Combination Table of X-SEL Linear/Rotary Control Parameters
Permitted encoder
Axis-specific processing method
Axis-specific Axis-specific
parameter Axis-specific Axis-
Axis-specific parameter parameter Axis- Axis-specific
No. 67, Short- Expression Axis-specific Axis-specific parameter specific
parameter No. 68, Mode No. 66, Mode specific parameter
cut control of current parameter parameter No. 44, parameter
No. 1, Axis selection for selection for parameter No. 51, Gear Input unit
selection for position No. 7, Soft No. 8, Soft Length No. 50,
operation linear rotational Simulated No. 47, ratio
rotational ABS INC (approx.) limit + limit - measurement Gear ratio
type movement movement INC Screw lead denominator
movement correction numerator
axis axis
axis
0
Counter
(Normal { { { Valid Valid
range
mode) x Distance mm
0
(Linear x Speed mm/sec
Invalid Invalid Valid Valid Valid Valid

movement 1
axis) (Infinite- x Acceleration/
stroke mode) -10000 ~ deceleration G
Invalid Invalid
* Duty cycle x { { 9999.999
(Note) (Note)
timeout check (rotary)
must be
reviewed.
0
(Short-cut
control not
x Angle mm o deg
0 selected)
Counter
(Normal ³´PXVWEH { { { Valid Valid
range x Angular speed
mode) specified if
the normal mm/sec o
mode is deg/sec
selected.
x Angular
1 acceleration/dece
leration G
(Rotational 0
Invalid Invalid Invalid Valid Valid = 9807 mm/sec2
movement (Short-cut Counter
axis) control not { { { range o 9807 deg/sec2
selected) = 9807 x 2 S/360
Invalid rad/sec2
Invalid
1 (fixed to
(fixed to 0
(Index mode) 359.999 $³GHJÝDOXH
internally)
internally) indicates the
1 angle of the
(Short-cut 0 ~ 359.999 rotating body at
control x { { (rotary) the end.
selected)
1RWH $Q\SRVLWLRQLQJFRPPDQGRWKHUWKDQ³-;:;´H[FHHGLQJDFRRUGLQDWHUDQJHIURPDSSUR[±WRZLOOJHQHUDWHDQ³(UUor No. CBC,

7DUJHWGDWDERXQGDU\SXOORXWHUURU´
([HFXWLQJDQ\SRVLWLRQLQJFRPPDQGRWKHUWKDQ³-;:;´RXWVLGHDFRRUGLQDWHUDQJHIURPDSSUR[±WRZLOOJHQHUDWHDQ³(Uror No.
&&3RVLWLRQLQJERXQGDU\SXOORXWHUURU´
Appendix
319
Appendix
Synchro Function
1. Common Items (Applicable to both the absolute specification and incremental

specification)
Synchro axes consist of a master axis and a slave axis. The axis with the smaller axis number
becomes the master axis. A combination of master-axis and slave-axis numbers is set in axis-specific
parameter No. 65. The mating synchro axis is set for eaFKD[LV,IWKHD[LVLVQRWDV\QFKURD[LV³´LV
set.)
Example) 2-axis controller
Master axis (one with the smaller axis number) Slave axis
Axis number of mating axis

(The settings of other parameters vary partially between the absolute specification and the
incremental specification.)
Movement commands in the program are valid only for the master axis. The position data of the slave
axis will be ignored.
Only the master axis executes home return (including home return following an absolute reset).
Example)
HOME 1
(Do not perform home return on an absolute controller, except after an absolute reset.)
As a rule, the synchro function must be implemented by coupling the master-axis and slave-axis
sliders using a bracket, etc. Consider the relative positioning of the master-axis and slave-axis sliders
so that the slave slider will not contact the mechanical ends during home return or full-stroke
movement.
2. Incremental Specification
With the incremental specification, the relative positioning of the master-axis and slave-axis sliders
remains fixed while the power is on. (If the sliders were moved while the power was turned off,
synchro movement will begin from the positions after the movement.)
Absolute reset is not performed on an incremental controller. Home return must be executed at
software reset after the power is turned on.
3. Absolute Specification (When both the master axis and slave axis are of the
absolute specification)
An absolute reset is performed after the relative positioning of the master axis and slave axis is
determined. Even when the sliders were moved while the power was turned off, the positions will be
corrected automatically when a servo ON (SVON) command is executed. (The slave slider will move
to the displayed coordinate position of the master slider in a fine-drive mode.)
If your controller is of the absoOXWHVSHFLILFDWLRQUHIHUWR³$EVROXWH5HVHWRI$6\QFKUR&RQWUROOHU´

on the next page.
320
Appendix
Absolute Reset of A Synchro Controller

If you have specified the synchro specification at the time of order, the controller has been shipped with
their parameters set for the synchro specification.
To perform an absolute reset, however, the parameters must be changed.
The explanation given below is based on the operation in the PC software. Read the operation manual for
the PC software before performing an absolute reset.
1. Synchro Axes
Synchro axes consist of a master axis and a slave axis. The axis with the smaller axis number
becomes the master axis.
Program commands are valid only for the master axis (issuance of commands to the slave axis is
prohibited).
Absolute reset can be performed using the standard procedure or special procedure. Which
SURFHGXUHWRXVHLVGHWHUPLQHGE\WKHYDOXHVVHWIRUWKHPDVWHUD[LVDQGVODYHD[LVLQ³$[LVVSHFLILF
SDUDPHWHU1R(QFRGHU$%6,1&W\SH´
9DOXHVLQ³$[LVVSHFLILFSDUDPHWHU1R(QFRGHU$%6,1&W\SH´
Absolute reset method
Master axis Slave axis
1 1 Special procedure
1 0 Standard procedure
0 0
(If the master axis and slave axis are both set to³´LWPHDQVERWKD[HVDUHRIWKHLQFUHPHQWDO
specification.)
([DPSOH $EVROXWHUHVHWRIDD[LV controller using the special procedure

Master axis (one with the smaller axis number) Slave axis
([DPSOH $EVROXWHUHVHWRIDD[LV controller using the standard procedure
321
Appendix
2. Position Adjustment of Synchro-Axis Sliders

The positions of synchro-axis sliders are adjusted (physically adjusted for parallelism).
(1) With the axes and controller not connected by cables (main controller power is off), adjust the
relative positioning of the master axis and slave axis and couple the axes.
(2) If position adjustment cannot be performed with the axes and controller not connected by cables
(when a brake is equipped, etc.), follow the steps below:
1. Decouple the sliders and connect the axes and controller using cables.
2. Record the values currently set for the master D[LVDQGVODYHD[LVLQ³$[LVVSHFLILFSDUDPHWHU
1R0DWLQJV\QFKURD[LVQXPEHU´7KHVHYDOXHVZLOOEHXVHGWRUHYHUWWKHSDUDPHWHUVWR
the original settings in a subsequent process.)
(QWHU³ÍRUERWKWKHPDVWHUD[LVDQGVODYHD[LVLQ³$[LVVSHFLILFSDUDPHWHU1R0DWLQJ
V\QFKURD[LVQXPEHU´LQRUGHUWRWHPSRUDULO\ disable the synchro function. Then, select
[Transfer to Controller] o [Write to Flash ROM] o [Restart Controller] (software reset).
4. Perform an absolute reset separately for the master axis and slave axis, using the standard
procedure.
5. Adjust the relative slider positions via jog operation, etc., and couple the sliders.
6. To enable the synchro function again, enter the values of the master axis and slave axis
UHFRUGHGLQVWHSLQ³$[LVVSHFLILFSDUDPHWHU1R0DWLQJV\QFKURD[LVQXPEHU´7KHQ
select [Transfer to Controller] o [Write to Flash ROM] o [Restart Controller] (software reset).
3. Special Absolute-Reset Procedure

When the master axis = 1 and slave axis = 1 in ³$[LVVSHFLILFSDUDPHWHr No. 38, Encoder ABS/INC
W\SH´
(1) Record the value currently set for the slave axLVLQ³$[LVVSHFLILFSDUDPHWHU1R$%6V\QFKUR
VODYHD[LVFRRUGLQDWHLQLWLDOL]DWLRQFDQFHOODWLRQ´
(This value will be used to revert the parameter to the original setting in a subsequent
process.)
(QWHU³ÍRUWKHVODYHD[LVLQ³$[LVVSHFLILFparameter No. 83, ABS synchro slave-axis coordinate

LQLWLDOL]DWLRQFDQFHOODWLRQ´
Select [Transfer to Controller] o [Write to Flash ROM] o [Restart Controller] (software reset).
322
Appendix
(3) Perform an absolute reset using the special procedure (forced reset by ignoring the on-screen
instructions) as explained below:
3HUIRUP³(QFRGHU5RWDWLRQ'DWD5HVHWÍRUWKHVODYHD[LV
6HOHFWWKHD[LVQXPEHURIWKHVODYHD[LV
&OLFN>(QFRGHU5RWDWLRQ'DWD5HVHW@
A series of warning windows will be
displayed. Click [Yes] on all windows.
'RQRWFOLFN>5HVHW&RQWUROOHU(UURU@DQG
subsequent buttons.
3HUIRUP³(QFRGHU5RWDWLRQ'DWD5HVHW´WKURXJK³(QFRGHU5RWDWLRQ'DWD5HVHWÍRUWKH
master axis by following the on-screen instructions.
Select the axis number of the master axis.
&OLFN>(QFRGHU5RWDWLRQ'DWD5HVHW@
A series of warning windows will be
displayed. Click [Yes] on all windows.
Follow the on-screen instructions to

FRPSOHWH>5HVHW&RQWUROOHU(UURU@WKURXJK
>(QFRGHU5RWDWLRQ'DWD5HVHW@
3HUIRUPVWHS³(QFRGHU5RWDWLRQ'DWD5HVHWÍRUWKHVODYHD[LVDJDLQ
Perform the same operation in step 1 and then click [Close].
323
Appendix
(4) Enter the value of the slave axis recorded in LQ³$[LVVSHFLILFSDUDPHWHU1R$%6V\QFKUR

VODYHD[LVFRRUGLQDWHLQLWLDOL]DWLRQFDQFHOODWLRQ´
o6HOHFW>7UDQVIHUWR&RQWUROOHU@o>:ULWHWR)ODVK520@o>5HVWDUW&RQWUROOHU@VRIWZDUHUHVHW
6HWKRPHSUHVHWYDOXHVDQGDOLJQWKHPDVWHUD[LVDQGVODYHD[LVFRRUGLQDWHV
,IWKHFRQWUROOHU¶VVHJPHQW/('GLVSOD\VKRZV³UG\ÚHDGWKHFXUUHQWSRVLWLRQVRIWKHPDVWHU
D[LVDQGVODYHD[LVGLVSOD\HGRQWKHVFUHHQZLWKWKHVHUYRWXUQHGRII
,IDQ³(UURU1R&$FWXDOSRVLWLRQVRIWOLPLWRYHUHUURU´JHQHUDWHVUHVHWWKHHUURU2QFH³UG\´
LVGLVSOD\HG\RXFDQUHDGWKHFXUUHQWSRVLWLRQV
,IWKHVHUYRLVWXUQHGRQLQWKLVVWDJHDQ³(UURU1R'$'ULYHURYHUORDGHUURU´³(UURU1R
&%'HYLDWLRQRYHUIORZHUURU´³(UURU1R&$6WRSGHYLDWLRQRYHUIORZHUURU´RURWKHU
HUURUPD\JHQHUDWH
3HUIRUPWKHIROORZLQJFDOFXODWLRQ
6ODYHD[LVYDOXHLQ³$[LVVSHFLILFSDUDPHWHU1R+RPHSUHVHWYDOXH´>PP@
'LVSOD\HGFXUUHQWSRVLWLRQRIPDVWHUD[LV>PP@±'LVSOD\HGFXUUHQWSRVLWLRQRIVODYHD[LV
>PP@[
,QWKLVH[DPSOHWKHDERYHIRUPXODLVUHZULWWHQDVIROORZV
±;
324
Appendix
3. Enter the calculation result obtained in step 2 above in the slave-axis fiHOGRI³$[LVVSHFLILF
SDUDPHWHU1R+RPHSUHVHWYDOXH´
o Select [Transfer to Controller] o [Write to Flash ROM] o [Restart Controller] (software reset).
(6) Turn on the servo and check the operation in the jog mode (operate the master axis).
,IDQ³(UURU1R'$'ULYHURYHUORDGHUURU´³(UURU1R&%'HYLDWLRQRYHUIORZHUURU´³(UURU1R
&$6WRSGHYLDWLRQRYHUIORZHUURU´RURWKHU error generates, check the following items:
x If the current position of the master axis deviates significantly from that of the slave axis, the
setting in (5) may be incorrect.
x Check the following parameters to confirm that the required fields are properly filled or changed:
³$[LVVSHFLILFSDUDPHWHU1R0DWLQJV\QFKURD[LVQXPEHU´
³$[LVVSHFLILFSDUDPHWHU1R$%6V\QFKURVODYe-axis coordinate initLDOL]DWLRQFDQFHOODWLRQ´
x Check to see if the slider movements are restricted.
4. Standard Absolute-Reset Procedure

:KHQWKHPDVWHUD[LV DQGVODYHD[LV LQ³$[LVVSHFLILFSDUDPHWHU1R(QFRGHU$%6,1&
W\SH´
$IWHUFRPSOHWLQJ³3RVLWLRQ$GMXVWPHQWRI6\QFKUR$[LV6OLGHUV´SHUIRUPDQDEVROXWHUHVHWIRUWKH
master axis only. For the operation procedure, refer to the operation manual for the X-SEL Controller
or PC software.
Note) A synchro axis that has been reset by the standard procedure is unable to correct any
positional shift that may have occurred while the power was turned off, after the servo is turned
on.
325
Appendix
5. Notes on Use of the Synchro Function

x As a rule, the synchro function must be implemented by coupling the master-axis and slave-axis
sliders using a bracket, etc.
x If the current position of the master axis is not aligned with that of the slave axis when the servo is
turned on, correction will be made automatically via fine-pitch movement. (The slave-axis slider will
move to the displayed coordinate position of the master-axis slider in a fine-drive mode.)
x The function to detect any positional shift that occurred while the power was turned off and correct it
after the servo is turned on may not be available depending on the model.
(This function is enabled if the controller was orderHGDVDV\QFKURVSHFLILFDWLRQDQG³´LVVHWIRU
ERWKWKHPDVWHUD[LVDQGVODYHD[LVLQ³$[LVVSHFLILFSDUDPHWHU1R(QFRGHU$%6,1&W\SH´
x With a system subject to a relatively large positional shift while the servo power is turned off, after
turning on the servo obtain the current positions of the master axis and slave axis using a PRDQ
command (supported by main application version 0.35 or later), wait for the distance between the
current position of the slave axis and that of the master axis to be reduced to r0.3 mm or less, and
then issue operation commands. (See the reference program below.)
x Reference program
This program reads the current positions of the master axis and slave axis after the servo is turned
on, and turns ON global flag 600 when the distance between the two axes becomes 0.3 mm or less.
Operation commands are written so that they will be executed after 600 is turned ON.
6921 7XUQRQWKHVHUYRVRIWKHV\QFKURD[HV
BTOF 600 Turn OFF flag 600.
/(7 $VVLJQRUDQ\YDOXHODUJHUWKDQWRYDULDEOH
':*7 (QGWKHORRSZKHQWKHYDOXHLQYDULDEOHEHFRPHVRUOHVV
(= when the distance between the master axis and the slave axis
becomes 0.3 mm or less).
35'4 $VVLJQWKHFXUUHQWSRVLWLRQRIWKHPDVWHUD[LVWRYDULDEOH
35'4 $VVLJQWKHFXUUHQWSRVLWLRQRIWKHVODYHD[LVWRYDULDEOH
68% 6XEWUDFWWKHYDOXHLQYDULDEOHIURPWKHYDOXHLQYDULDEOH
,)/7 ,IWKHUHVXOWLVDQHJDWLYHYDOXH
08/7 0XOWLSO\WKHUHVXOWE\±WRFRQYHUWLWWRDSRVLWLYHYDOXH
EDIF
EDDO
BTON 600 Turn ON flag 600.
EXIT
326
Appendix
List of Parameters
If you have any question regarding changing the paraPHWHUVSOHDVHFRQWDFW,$,¶V6DOHV(QJLQHHULQJ
6HFWLRQ$IWHUFKDQJLQJDSDUDPHWHUUHFRUGWKHQHZDQGROGSDUDPHWHUVHWWLQJV
,I\RXKDYHSXUFKDVHGWKH3&VRIWZDUHZHUHFRPPHnd that you back up the parameters immediately

DIWHUWKHFRQWUROOHULVGHOLYHUHGDQGZKHQWKHV\VWHPLQFRUSRUDWLQJWKHFRQWUROOHULVVWDUWHG6LQFHD
number of customizing settings use parameters, you should back up the parameters regularly as you
EDFNXSWKHSURJUDPV
7RPDNHWKHQHZSDUDPHWHUVHIIHFWLYHZULWHWKHPWRWKHIODVK520DQGWKHQH[HFXWHDVRIWZDUHUHVHW
RUUHFRQQHFWWKHSRZHU
7KHOLVWVEHORZDUHH[DPSOHVRIGHIDXOWYDOXHVGLVSOD\HGRQWKH3&VRIWZDUH7KHGHIDXOWSDUDPHWHU
settings vary depending on the operatiQJFRQGLWLRQDQGDFWXDWRUVXVHG
7KHYDOXHVLQWKH³,QSXWUDQJH´FROXPQUHSUHVHQWLnput limitations on the teaching pendant or in PC

VRIWZDUH)RUWKHDFWXDOVHWWLQJVHQWHUWKHYDOXHVGHILQHGLQWKH³5HPDUNV´FROXPQ
9DOXHVRWKHUWKDQWKRVHGHILQHGLQWKH³5HPDUNV´FROXPQDUHIRUIXWXUHH[SDQVLRQHYHQZKHQWKH\DUH
LQVLGHWKHLQSXWUDQJH
7KHUHIRUHGRQRWHQWHUYDOXHVRWKHUWKDQWKRVHGHILQHGLQWKH³5HPDUNV´FROXPQ
327
Appendix
1. I/O Parameters
Default value Input
No. Parameter name Unit Remarks
(Reference) range
1 I/O port assignment 1 0 ~ 20 0: Fixed assignment
type 1: Automatic assignment (Priority: Slot 1 (standard I/O) ~ * Ports
are assigned only for the installed adjoining slots, starting from
slot 1 = For safety reasons)
2 Input port start 000 -1 ~ 599 0 + (Multiple of 8) (Invalid if a negative value is set)
number with fixed
standard I/O
assignments (I/O1)
3 Output port start 300 -1 ~ 599 300 + (Multiple of 8) (Invalid if a negative value is set)
number with fixed
standard I/O
assignments (I/O1)
4 Input port start -1 -1 ~ 599 0 + (Multiple of 8) (Invalid if a negative value is set) (Slot next to the
number with fixed standard I/O slot)
expanded I/O1
assignments (I/O2)
5 Output port start -1 -1 ~ 599 300 + (Multiple of 8) (Invalid if a negative value is set)
number with fixed
expanded I/O1
assignments (I/O2)
6 Input port start -1 -1 ~ 599 0 + (Multiple of 8) (Invalid if a negative value is set)
number with fixed
expanded I/O2
assignments (I/O3)
number with fixed
expanded I/O2
assignments (I/O3)
8 Input port start -1 -1 ~ 599 0 + (Multiple of 8) (Invalid if a negative value is set)
number with fixed
expanded I/O3
assignments (I/O4)
number with fixed
expanded I/O3
assignments (I/O4)
10 Standard I/O error 1 0~5 0: Do not monitor
monitor (I/O1) 1: Monitor
2: Monitor (Do not monitor errors relating to 24-V I/O power source)
(Main application version 0.55 or later)
3: Monitor (Monitor only errors relating to 24-V I/O power source)
* Some exceptions apply.
11 Expanded I/O1 error 1 0~5 0: Do not monitor
2: Monitor (Do not monitor errors relating to 24-V I/O power source)
3: Monitor (Monitor only errors relating to 24-V I/O power source)
(Slot next to the standard I/O slot) * Some exceptions apply.
328
Appendix
I/O Parameters
Default value
No. Parameter name Input range Unit Remarks
(Reference)
2: Monitor (Do not monitor errors relating to
24-V I/O power source)
3: Monitor (Monitor only errors relating to 24-V
I/O power source)
2: Monitor (Do not monitor errors relating to
24-V I/O power source)
3: Monitor (Monitor only errors relating to 24-V
I/O power source)
14 Number of ports 0 0 ~ 256 Refer to the operation manual for each
using network-I/F- network I/F card (CC-Link, DeviceNet, etc.).
card remote input
15 Number of ports 0 0 ~ 256 Refer to the operation manual for each
using network-I/F- network I/F card (CC-Link, DeviceNet, etc.).
card remote output
16 (For future expansion 0 0 ~ 256 Multiple of 8
= Change prohibited)
17 (For future expansion 0 0 ~ 256 Multiple of 8
= Change prohibited)
18~ (For expansion) 0
19
20 Input filtering periods 2 1~9 msec Input signal is recognized when the status is
held for twice the period set by this parameter.
21 Register input filtering 2 1~9 msec Input signal is recognized when the status is
periods held for twice the period set by this parameter.
22 Remote-I/O-card a PVHF 7LPHRXWFKHFNLVQRWSHUIRUPHGLI³´LVVHW
fieldbus ready
timeout value
23 Overcurrent/power- 0H 0H ~ Bits 0 to 3: For future expansion
supply error detection FFFFFFFFH Bits 4 to 7: Expanded I/O1 (I/O2) input
input specification for specification
multi-point DIO Bits 8 to 11: Expanded I/O2 (I/O3) input
external terminal specification
block Bits 12 to 15: Expanded I/O3 (I/O4) input
specification
(0: Do not use error detection input
1: Use error detection input = IN023 on card
2: Use error detection input = IN047 on card
3: Use error detection input = IN023/47 on card)
* Determine an appropriate setting after

checking the specification of the multi-point
DIO terminal block unit to be connected.
* The input port used for the error detection
input cannot be used as a general-purpose
input port.
* If the main application version is 0.82 or
HDUOLHUEHVXUHWRVSHFLI\³'RQRWXVH
HUURUGHWHFWLRQLQSXW´
329
Appendix
I/O Parameters
Parameter Default value
No. Input range Unit Remarks
name (Reference)
24 I/O setting 0 0H ~ Bits 0 to 3: RDY OUT function selection (System IO)
bit pattern 1 FFFFFFFFH (0: SYSRDY (Software = PIO trigger program
can be run) and hardware is normal (emergency
stop has not be actuated and hardware error is
not present)
1: Error of operation-cancellation level or higher
is not present
* This setting can be selected only when the
PDLQ&38ERDUG¶VKDUGZDUHYHUVLRQVDUH
MREV = 0/FREV = c or later.
2: Error of cold-start level or higher is not
present
* This setting can be selected only when the
PDLQ&38ERDUG¶VKDUGZDUHYHUVLRQVDUH
MREV = 0/FREV = c or later.)
Bits 4 to 7: RDY LED function selection
(0: Program can be run
1: Error of operation-cancellation level or higher
is not present
2: Error of cold-start level or higher is not
present)
25 I/O setting 0 0H ~ Bits 0 to 31: Reserved by the system.
bit pattern 2 FFFFFFFFH
26 I/O setting 0 0H ~ Bits 0 to 3: Function selection for uninstalled output port
bit pattern 3 FFFFFFFFH (0: No operation
1: Internal ON/OFF operation
* If physical output is not made to an external
device, the port operates in the same
manner as a normal output port.
* If the port is used as a substitute flag,
specify the port as a non-operation general-
output area using I/O parameter Nos. 70 to
73. Do not set any system function output
port number.)
27~ (For 0
29 expansion)
30 Input 1 0~5 0: General-purpose input
function 1: Program start signal (ON edge) (007 to 013: BCD-
selection specified program number)
000 2: Program start signal (ON edge) (007 to 013: Binary-
specified program number)
* If this parameter is used as a program start signal, turn
ON the signal for at least 100 msec so that the program
will start without fail.
function 1: Software reset signal (1 second ON)
selection * If continued operation is specified as the action upon
001 emergency stop, enable the software reset signal (to
provide a means of canceling the operation).
function 1: Servo ON
selection * ON edge: Equivalent to the all-valid-axis servo ON
002 command, OFF edge: Equivalent to the all-valid-axis
servo OFF command (A minimum interval of 1.5
seconds is required) (Must be executed in non-operating
condition)
330
Appendix
I/O Parameters
Parameter Default value Input
No. Unit Remarks
name (Reference) range
33 Input function 1 0~5 0: General-purpose input
selection 003 1: General-purpose input (Start the auto-start program upon
power-ON reset/software reset in the AUTO mode)
2: Auto-start program start signal (ON edge: Start, OFF edge:
Abort all operations/programs (excluding the I/O
processing program at operation/program abort)) * If this
parameter is used as an auto-start program start signal,
turn ON the signal for at least 100 msec so that the
program will start without fail.
selection 004 1: All servo axis soft interlock (OFF level) (Valid for all
commands other than the servo OFF command)
(Operation is held upon interlock actuation during
automatic operation; operation is terminated upon interlock
in non-AUTO mode)
35 Input function 0 0~5 0: General-purpose input, 1: Operation-pause reset signal
selection 005 (ON edge)
selection 006 1: Operation-pause reset signal (OFF level) (Valid only during
automatic operation)
* Cancel pause when an operation-pause reset signal is
received.
37 Input function 1 0~5 0: General-purpose input, 1: Program number specified for
selection 007 program start (least significant bit)
selection 008 program start
selection 013 1: Program number specified for program start
2: Error reset (ON edge)
44 Input function 0 0~5 0: General-purpose input (Cancel cutoff when the drive-
selection 014 source cutoff factor is removed)
1: Drive-source cutoff reset input (ON edge) (Valid when the
factor has been removed)
* Drive-source cutoff reset control is not available for axes
whose motor-drive power unit is not housed inside this
controller or whose drive-source cutoff circuit is not
controlled by this controller.
selection 015 1: Home return of all valid axes (ON edge) (Servo ON must
be executed first = I/O parameter No. 32, Axis-specific
parameter No. 13)
2: Home return of all valid incremental axes (ON edge) (Main
application version 0.16 or later) (Servo ON must be
executed first = I/O parameter No. 32, Axis-specific
parameter No. 13)
46 Output 2 0 ~ 20 0: General-purpose output
function 1: Output error of operation-cancellation level or higher (ON)
selection 300 2: Output error of operation-cancellation level or higher (OFF)
3: Output error of operation-cancellation level or higher +
emergency stop (ON)
4: Output error of operation-cancellation level or higher +
emergency stop (OFF)
331
Appendix
I/O Parameters
Default value Input
(Reference) range
47 Output function 3 0 ~ 20 0: General-purpose output
selection 301 1: READY output (PIO trigger program can be run)
2: READY output (PIO trigger program can be run and error
of operation-cancellation level or higher is not present)
3: READY output (PIO trigger program can be run and error
of cold-start level or higher is not present) (Main
application version 0.20 or later)
48 Output function 2 0 ~ 20 0: General-purpose output
selection 302 1: Emergency-stop output (ON)
2: Emergency-stop output (OFF)
49 Output function 0 0~5 0: General-purpose output
selection 303 1: AUTO mode output
2: Output during automatic operation (Other parameter No.
12)
selection 304 1: Output if all valid axes are at home (= 0)
2: Output if all valid axes completed home return
3: Output if all valid axes are at preset home coordinates (Main
* To move an absolute-encoder axis to coordinates 0 or the
preset home coordinates, use a MOVP command instead of a
HOME command.
selection 305 1: For future expansion
2: Output when axis-1 servo is ON (System monitor task output)
3: For future expansion
4: Brake unlocking output (Main application version 0.97 or later/F-
ROM 16-Mbit version only)
selection 309
selection 310
selection 311
332
Appendix
I/O Parameters
Default value
(Reference)
58 Output function selection 0 0~5 0: General-purpose output
312
313 1: System-memory backup battery voltage-low warning
level or lower
314 1: Absolute-data backup battery voltage-low warning
level or lower (OR check of all axes. Upon detection of
abnormal level, the output will be latched until a
power-ON reset or software reset is executed.) (Main
315
62 Physical input port number 0 0 ~ 299 Forcibly unlock the brake when the applicable port is ON
for axis-1 brake forced (be aware of a falling load).
release ,QYDOLGLI³´LVVHW,QYDOLGLILQSXWSRUW1RLV
specified) (Main application version 0.17 or later)
* The synchro slave axis will follow the synchro master
axis.
axis.
axis.
65 Physical input port 0 0 ~ 299 Forcibly unlock the brake when the applicable port is
number for axis-4 brake ON (be aware of a falling load).
forced release ,QYDOLGLI³´LVVHW,QYDOLGLILQSXWSRUW1RLV
* The synchro slave axis will follow the synchro
master axis.
69
70 Unaffected general- 0 0 ~ 599 * Important: Outputs in this area must be operated
purpose output area under the responsibility of user programs including
number (MIN) when all WKH³,2SURFHVVLQJSURJUam at operation/program
operations/programs are DERUW´2XWSXWVRXWVLGHWKLVDUHDZLOOEHIRUFLEO\
aborted WXUQHG2)),QYDOLGLI³´LVVHW
71 Unaffected general- 0 0 ~ 599
purpose output area
number (MAX) when all
operations/programs are
aborted
72 Unaffected general- 300 0 ~ 599 * Important: Outputs in this area must be operated
purpose output area (including recovery) under the responsibility of user
number (MIN) when all SURJUDPVLQFOXGLQJWKH³,2SURFHVVLQJSURJUDPDW
operations are paused DOORSHUDWLRQVSDXVH´2XWSXWVRXWVLGHWKLVDUHDZLOO
(servo-axis soft interlock + be forcibly turned OFF, reflecting/holding the
output-port soft interlock) results of operations performed while all operation
pause is effective (only during automatic operation).
,QYDOLGLI³´LVVHW
73 Unaffected general- 599 0 ~ 599
purpose output area
number (MAX) when all
operations are paused
(servo-axis soft interlock +
output-port soft interlock)
74 Number of TP user output 0 0~8 Referenced by TP. (InvalidLI³´LVVHW9DOLGZLWK73
ports used (hand, etc.) application version 1.05 or later)
75 TP user output port start a 5HIHUHQFHGE\739DOLGZLWK73DSSOLFDWLRQYHUVLRQ
number (hand, etc.) 1.05 or later)
333
Appendix
I/O Parameters
Default value
(Reference)
76 AUTO mode physical a ,QYDOLGLI³´LVVHW
output port number (Main application version 0.87 or later)
77 Input port number 0 0 ~ 299 * Important: Invalid once operation is started. (Invalid if
permitted to receive ³´LVVHW
PC/TP servo (Main application version 0.52 or later)
movement command
78 Axis pattern permitted 0 0B ~ (Main application version 0.52 or later)
to receive PC/TP 11111111B
servo movement
command for
79 Input port number for 0 0 ~ 299 System mode = MANU if specified DI = ON or
remote mode control $8720$186: 0$18,QYDOLGLI³´LVVHW
* Must be combined with specified hardware.
* Debug filter is invalid for the remote-mode control
input port (main application version 0.49 or later)
80 (PC/TP SIO usage) 1 1~1 Switching of DIP switches
81 (PC/TP SIO station 153 153 ~ 153 Fixed to 153 (99H).
code)
82 (PC/TP SIO 0
reservation)
83 (PC/TP SIO 0
reservation)
84 (PC/TP SIO 0
reservation)
85 (PC/TP SIO 0
reservation)
86 (PC/TP SIO 0
reservation)
87 (PC/TP SIO 0
reservation)
88 (PC/TP SIO 0
reservation)
89 (PC/TP SIO 0
reservation)
90 Usage of SIO channel 1 0 0~9 0: Open SEL program
opened to user 1: Open SEL program (Connect PC/TP when both devices
(AUTO mode) are closed = Used exclusively by the manufacturer)
2: IAI protocol B (Slave)
91 Station code of SIO 153 0 ~ 255 Valid only with IAI protocol.
channel 1 opened to
user
92 Baud rate type of SIO 0 0~2 0: 9.6 1: 19.2 2: 38.4 kbps
channel 1 opened to
user
93 Data length of SIO 8 7~8
channel 1 opened to
user
94 Stop bit length of SIO 1 1~2
channel 1 opened to
user
95 Parity type of SIO 0 0~2 0:
None
channel 1 opened to 1:
Odd
user 2:
Even
96 Receive operation type 0 0~1 0:
Forcibly enable receive after send
of SIO channel 1 1:
Do not forcibly enable receive at send (Main application
opened to user version 0.18 or later)
97 IAI-protocol minimum 0 0 ~ 999 msec Valid only with IAI protocol.
response delay for SIO (Main application version 0.26 or later)
channel 1 opened to
user
98~ Reservation of SIO 0
99 channel 1 opened to
user
PC: PC software
TP: Teaching pendant
334
Appendix
I/O Parameters
Default value
(Reference)
100 Attribute 1 of SIO 28100010H 0H ~ Bits 28 to 31: Baud rate type (0: 9.6, 1: 19.2, 2: 38.4, 3:
channel 2 opened to FFFFFFFFH 57.6, 4: 76.8, 5: 115.2 kbps)
user (expanded) Bits 24 to 27: Data length (7 or 8)
Bits 20 to 23: Stop bit length (1 or 2)
Bits 16 to 19: Parity type (0: None, 1: Odd, 2: Even)
Bits 12 to 15: Communication mode (0: RS232C, 1:
5656 2QO\³´FDQEH
selected for board channels other than Nos.
1 and 2
Bits 8 to 11: Receive operation type (0: RS485 =
Forcibly enable receive immediately after
send, RS232C/RS422 = Forcibly enable
receive immediately before send (Main
1: Do not forcibly enable receive at send)
Bits 4 to 7: Board channel assignment number (1: D-
sub upper, 2: D-sub lower, 3: Flat connector
upper, 4: Flat connector lower)
Bits 0 to 3: Expanded I/O slot assignment number
(Expanded I/O slots 1 to 3 from the slot
QH[WWRWKHVWDQGDUG,2,2VORW ³´
means no slots are used) (Main application
version 0.18 or later)
101 (Reservation of SIO 0 0H ~
channel 2 opened to
user (expanded))
102 Attribute 1 of SIO 28100020H 0H ~ (Same as with I/O parameter No. 100)
channel 3 opened to FFFFFFFFH
user (expanded)
channel 3 opened to
user (expanded))
user (expanded)
channel 4 opened to
user (expanded))
user (expanded)
channel 5 opened to
user (expanded))
user (expanded)
channel 6 opened to
user (expanded))
user (expanded)
channel 7 opened to
user (expanded))
112 SIO system use (SP8) 28100030H 0H ~ (Same as with I/O parameter No. 100)
FFFFFFFFH
113 SIO system reserve 0 0H ~
(SP8) FFFFFFFFH
114 SIO system use (SP9) 28100040H 0H ~ (Same as with I/O parameter No. 100)
FFFFFFFFH
335
Appendix
I/O Parameters
Default value
(Reference)
115 SIO system reserve 0 0H ~
(SP9) FFFFFFFFH
116~1 (For expansion) 0
19
120 Network attribute 1 1 0H ~ Bits 0 to 3: CC-Link remote register area
FFFFFFFFH H/L byte swap selection (0: Do not
swap, 1: Swap)
* The number of used ports and
number of occupied stations in I/O
parameter Nos. 14 and 15 must
match.
(Main application version 0.55 or
later)
121 Network attribute 2 0 0H ~
FFFFFFFFH
122 Network attribute 3 0 0H ~
FFFFFFFFH
123 Network attribute 4 0 0H ~ Bits 0 to 3: Ethernet TCP/IP message
FFFFFFFFH communication
Selection whether to permit 0.0.0.0
(IP address of connection destination
can be ignored) as IP address of
connection destination on server
(0: Do not permit
1: Permit (not recommended))
* Note: Number of clients that can
be connected simultaneously to
one server port channel = 1
124 Network attribute 5 0 0H ~ Ethernet TCP/IP message communication attribute
FFFFFFFFH Ethernet client/server type
(0: Not in use
1: Client (Automatic assignment of own port
number)
(2: Client (Specification of own port number)
o This setting is not recommended because
of device limitations, such as an error
generation when the port is opened for
approx. 10 minutes after disablement of
close response check due to a power failure
at the connection destination, etc.)
3: Server (Specification of own port number))
* Note: Number of clients that can be
connected simultaneously to one
server port channel = 1
Bits 0 to 3: IAI protocol B/TCP (MANU mode)
* PC software can be connected only in the case of
a client.
Bits 4 to 7: IAI protocol B/TCP (AUTO mode)
* PC software can be connected only in the case of
a client.
Bits 8 to 11: Channel 31 opened to user
* If the parameter settings for own port number,
client/server type, IP address of connection
destination and port number of connection
destination do not match completely between the
IAI protocol B/TCP MANU and AUTO modes, the
connection will be cut off when the MANU/AUTO
mode is switched.
PC: PC software
336
Appendix
I/O Parameters
Default value
(Reference)
125 Network attribute 6 1E32H 0H ~ Bits 0 to 7: Module-initialization check timer setting
FFFFFFFFH when Ethernet is used (100 msec)
Bits 8 to 15: Module-initialization check timer setting
when Ethernet is not used (100 msec)
Bits 16 to 23: Increment of³3&73UHFRQQHFWLRQGHOD\
DWVRIWZDUHUHVHW´ZKHQ(WKHUQHWLVXVHG
(sec)
126 Network attribute 7 7D007D0H 0H ~ (WKHUQHW7&3,3PHVVDJHFRPPXQLFDWLRQDWWULEXWH
FFFFFFFFH Bits 0 to 15: Min timeout value (msec)
Bits 16 to 31: Mout timeout value (msec)
127 Network attribute 8 5050214H 0H ~ (WKHUQHW7&3,3PHVVDJHFRPPXQLFDWLRQDWWULEXWH
FFFFFFFFH %LWVWR &211(&7B7,0(287
&KDQJHLVSURKLELWHG
6HWWLQJRI³´LV prohibited) (sec)
%LWVWR &RQQHFWLRQUHWU\LQWHUYDO
,$,SURWRFRO%7&3VHF
Bits 16 to 23: Send timeout value (sec)
Bits 24 to 31: IAI protocol B-SIO non-
communication check timer setting
(sec)
,$,SURWRFRO%7&3FRQQHFWLRQ
trigger)
128 Network attribute 9 0 0H ~ (WKHUQHW7&3,3PHVVDJHFRPPXQLFDWLRQDWWULEXWH
FFFFFFFFH Bits 0 to 15: SEL server open timeout value (sec)
1RWLPHRXWFKHFNZKHQ³´LVVHW
129 Network attribute 10 0 0H ~ Ethernet operation requirement
FFFFFFFFH %LWVWR 0RGEXV7&35HPRWH,2
(0: Not in use
8VH'LVDEOH(;&(37,21VWDWXV
8VH(QDEOH(;&(37,21VWDWXV
(upper two digits of error number))
* Refer to the explanation of error
levels in the operation manual and
perform processing appropriate for
each error level.
%LWVWR 7&3,3PHVVDJHFRPPXQLFDWLRQ
(0: Not in use, 1: Use)
Bits 8 to 31: Reserved (Operation requirement)
2ZQ0$&DGGUHVV+ + Reference 2QO\ORZHUWZRE\WHVDUHYDOLG
RQO\+(;
2ZQ0$&DGGUHVV/ + Reference
RQO\+(;
132 Own IP address (H) 192 1 ~ 255 6HWWLQJRI³´DQG³´LVSURKLELWHG
133 Own IP address (MH) 168 0 ~ 255
134 Own IP address (ML) 0 0 ~ 255
135 Own IP address (L) 1 1 ~ 254 6HWWLQJRI³´DQG³´LVSURKLELWHG
136 Subnet mask (H) 255 0 ~ 255
137 Subnet mask (MH) 255 0 ~ 255
138 Subnet mask (ML) 255 0 ~ 255
139 Subnet mask (L) 0 0 ~ 255
'HIDXOWJDWHZD\+ 0 0 ~ 255
'HIDXOWJDWHZD\0+ a
'HIDXOWJDWHZD\0/ a
'HIDXOWJDWHZD\/ 0 0 ~ 255
337
Appendix
I/O Parameters
Default value
(Reference)
144 IAI protocol B/TCP: Own 64511 1025 ~ 65535 * Important note: Always set a unique number for
port number (MANU each port number.
mode) (Duplication of port numbers is permitted only in
145 Channel 31 opened to 64512 1025 ~ 65535 the IAI protocol B/TCP MANU/AUTO modes.)
user (TCP/IP): Own port
number
146 Channel 32 opened to 64513 1025 ~ 65535
number
number
number
149 IAI protocol B/TCP: IP 192 0 ~ 255 6HWWLQJRI³´DQG³´LVSURKLELWHG
address of connection
destination (MANU
mode) (H)
150 IAI protocol B/TCP: IP 168 0 ~ 255
destination (MANU
mode) (MH)
destination (MANU
mode) (ML)
destination (MANU
mode) (L)
153 IAI protocol B/TCP: 64611 0 ~ 65535 ³´FDQEHVHWLQWKHFDVHRIDVHUYHU
Port number of 0 = Port number of connection destination
connection destination is ignored (only the IP address is
(MANU mode) checked)
³´FDQQRWEHVHWLQWKHFDVHRIDFOLHQW
destination (AUTO
mode) (H)
destination (AUTO
mode) (MH)
destination (AUTO
mode) (ML)
destination (AUTO
mode) (L)
158 IAI protocol B/TCP: 64611 0 ~ 65535 ³´FDQEHVHWLQWKHFDVHRIDVHUYHU
Port number of 0 = Port number of connection destination
connection destination is ignored (only the IP address is
(AUTO mode) checked)
³´FDQQRWEHVHWLQWKHFDVHRIDFOLHQW
159 IAI protocol B/TCP: 64516 1025 ~ 65535 * Important note: Always set a unique number
Own port number for each port number.
(AUTO mode) (Duplication of port numbers is permitted only
in the IAI protocol B/TCP MANU/AUTO
modes.)
160~ (For network 0
169 expansion)
200
338
Appendix
2. Parameters Common to All Axes

Default value
(Reference)
1 Effective axis pattern 0000B 00B ~
11111111B
2 Default override 100 1 ~ 100 Used if not specified in program. (Invalid for SIO operation)
3~8 (For expansion) 0
9 Deadman-switch 11111111B 00B ~ Not affected by a BASE command. (Always specify
enabling physical 11111111B 11111111 if all axes are used. If not, the servo may be
axis pattern turned off only for the specified axes without cutting off
the drive source (7-segment LED display does not
VKRZ³'6)´
* The drive-source cannot be cut off for axes whose
motor-drive power unit is not housed inside this
controller or whose drive-source cutoff circuit is not
controlled by this controller.
* If an optional (custom) specification is used, the
optional (custom) specification takes precedence
over the deadman switch enabling physical
axis/drive-source cutoff specification, servo OFF
specification, 7-segment display specification, etc.
10 (For expansion) 0
11 Default acceleration 30 1 ~ 200 0.01 G Used if not specified in position data, program or SIO
message, etc.
12 Default deceleration 30 1 ~ 200 0.01 G Used if not specified in position data, program or SIO
message, etc.
13 Default speed 30 1 ~ 250 mm/s Used if not specified in SIO message or position data,
when movement is to be continued, etc.
14 Valid selection when a ³'HFHOHUDWLRQ $FFHOHUDWLRQ´ZKHQWKHGHFHOHUDWLRQ
operation point data LQWKHRSHUDWLRQSRLQWGDWDLV³´
deceleration is 0 ³'HFHOHUDWLRQ ´Zhen the deceleration in the
RSHUDWLRQSRLQWGDWDLV³´
15 Maximum jog speed 30 1 ~ 250 mm/s
when home return is
incomplete
16~ (For expansion) 0 ~
19
20 Maximum operating 1 0~1 0: Check at input
speed check timing 1: Check at operation
,I³&KHFNDWRSHUDWLRQ´LVselected, the distribution
speed (CP) of specified speed or the specified
speed (PTP) will be compared against the
maximum operating speed of each axis and
clamped at the allowable speed. Accordingly, the
system can achieve its maximum performance in
accordance with the operation command.
However, complete check cannot be performed
at input (since the command/operation start
position is indeterminable). In the case of CP, the
distribution speed will vary depending on the
operation start position. Therefore, specifying CP
at an unspecified position (first point movement,
etc.) will cause the speed to fluctuate depending
on where the operation is started.
21 Maximum operating a PPV ,I³,QSXW´LVVHOHFWHGDVWKHPD[LPXPVSHHGFKHFN
speed for input value timing, this parameter will be used to check for input
check error.
22 Maximum 100 1 ~ 999 0.01 G
acceleration
23 Maximum 100 1 ~ 999 0.01 G
deceleration
24 Minimum emergency 30 1 ~ 300 0.01 G
deceleration
25 (Acceleration/deceler 30 1 ~ 300 0.01 G (Valid only with main application version 0.40 or earlier)
ation at home return
(old))
339
Appendix
Parameters Common to All Axes

Default value
(Reference)
26 Acceleration/deceleration 0 0~5 0: T system, 1: P, M system
specification type
27 Master axis type 0 0~5 0: T system, 1: P system
28 Selection of inching o jog 0 0~5 0: Execute auto-switching (Continuous
auto-switching prohibition button ON timer), 1: Prohibited
* Referenced by the PC
software/teaching pendant.
29 All-axis setting bit pattern 1 0 0H ~ Bits 0 to 3: Selection of use of last
FFFFFFFFH PC/TP inching distance (0:
Do not use, 1: Use)
* Referenced by the PC/TP
(Excluding ANSI-
compatible TP)
(PC software version
2.0.0.42 or later or TP
application version 1.09
or later).
Bits 4 to 7: Overrun (servo) error level
(0: Operation-cancellation
level, 1: Cold-start level, 2:
Operation-cancellation level
at reset, thereafter cold-
start level)
(Main application version
0.56 or later)
%LWVWR ³$FWXDOSRVLWLRQVRIWOLPLW
RYHUVHUYR´HUURUOHYHO
Operation-cancellation
level, 1: Cold-start level, 2:
at reset, thereafter cold-
start level)
(Main application version
0.56 or later)
Bits 12 to 15: Selection of prohibition of
servo operation commands
(servo ON, return to home,
jog, etc.) for ABS axis
before confirmation of
coordinates
(0: Do not prohibit, 1:
Prohibit)
(YHQZKHQ³´ 'RQRW
prohibit) is selected, servo
operation commands that
are conditional upon
confirmation of
coordinates (servo
operation commands
other than servo ON,
return to home and jog)
are still prohibited.
* The servo OFF operation
command is not
prohibited.
* Some servo operation
commands such as servo
ON, return to home and
jog are not prohibited in
the ABS reset mode or
when the HOME
340
Appendix
Default value
(Reference)
command option is
selected (other parameter
No. 30), so that a means
or position movement will
remain available after an
ABS reset.
(F-ROM 16-Mbit version only)
30 Default division angle 150 0 ~ 1200 0.1 ³´FDQEHLQSXWLQ3&VRIWZDUHYHUVLRQ
degree 1.1.1.0 or later or TP application version
1.06 or later)
'HIDXOWGLYLVLRQGLVWDQFH a PP ³´FDQEHLQSXWLQ3&VRIWZDUHYHUVLRQ
1.1.1.0 or later or TP application version
1.06 or later)
32 Arch-trigger start-point a &KHFNRSHUation amount and actual
check type SRVLWLRQ&KHck operation amount
only
33 Safety speed in manual 250 1 ~ 250 mm/s * This parameter is treated as a value
mode equivalent to or below the minimum
YDOXHVHWLQ³$[LVVSHFLILFSDUDPHWHU1R
9/0;VSHHGÍRUDOOYDOLGD[HVPDLQ
application version 0.78 or later).
50
3& 3&VRIWZDUH
341
Appendix
3. Axis-Specific Parameters
Default value
No Parameter name Input range Unit Remarks
(Reference)
1 Axis operation type 0 0~1 0: Linear movement axis, 1: Rotational
movement axis (Angle control)
5
6 Coordinate/physical- 1 0~1 0: Motor CCW o Positive direction on the
operation direction coordinate system
selection 1: Motor CCW o Negative direction on the
coordinate system
7 Soft limit + 50000 -99999999 ~ 0.001 mm Fixed to 359.999 degrees internally in the index
99999999 mode. Invalid in the infinite-stroke mode.
6RIWOLPLW± 0 -99999999 ~ 0.001 mm Fixed to 0 degree internally in the index mode.
99999999 Invalid in the infinite-stroke mode.
9 Soft-limit actual position 2000 0 ~ 9999 0.001 mm Actual position margin in the positioning
margin boundary critical zone in the infinite-stroke mode
10 Home-return method 0 0~5 0: Search phase Z after end search, 1: Current
position 0 home (This parameter can be
specified only with an incremental encoder.
Pay attention to contact.), 2: Current position =
Preset home (This parameter can be specified
only with an incremental encoder. Pay
attention to contact.) (Main application version
0.21 or later)
11 Home-return end-search 0 0~1 0: Negative end of the coordinate system
direction selection 1: Positive end of the coordinate system
12 Home preset value 0 -99999999 ~ (Refer to axis-specific parameter No. 76)
99999999 0.001 mm
13 SIO/PIO home-return order 0 0 ~ 16 Executed from the smallest one. (Home close to
Tip. I/O parameter No.45:1)
14 Home-sensor input polarity 0 0~2 0: Do not use, 1: Contact a, 2: Contact b
15 Overrun-sensor input 0 0~2 0: Do not use, 1: Contact a, 2: Contact b
polarity
16 Creep-sensor input polarity 0 0~2 0: Do not use, 1: Contact a, 2: Contact b
17 Initial home-sensor pull-out 10 1 ~ 100 mm/sec
speed at home return
18 Creep speed at home 100 1 ~ 500 mm/sec End search speed in the creep-sensor non-
return detection section, if a creep sensor is used
19 End search speed at home 20 1 ~ 100 mm/sec
return
20 Phase-Z search speed at 3 1 ~ 10 mm/sec Exercise caution, since limitations apply
home return depending on the read/encoder pulse count.
21 Offset travel distance at 1000 -99999999 ~ 0.001 mm Offset travel distance from the ideal phase-Z
home return 99999999 position (Positive value = Applied in the direction
of moving away from the end) (Refer to axis-
specific parameter No. 76)
22 Allowable value for error 500 0 ~ 99999999 0.001 mm Allowable value for error check on minimum
check at phase-Z position DOORZDEOHDFWXDOGLVWDQFHRI³(QGPHFKDQLFDORU
at home return /6±3KDVH=´LQWKHFDVHRIDURWDU\HQFRGHU
Z-phase search limit, when a linear encoder is
used.
23 Phase-Z count per encoder a 2QO\³´FDQEHVHWLQWKHFDVHRIDQDEVROXWH
revolution encoder.
Invalid, when a linear encoder is used.
24 Push stop check time at 700 1 ~ 5000 msec
home return
25 Push stop check time at 500 1 ~ 5000 msec
positioning
26 (Phase-Z evacuation 1000 0 ~ 99999 0.001 mm Evacuation distance from the actual phase-Z
distance at absolute home position (Positive value = Applied in the direction
return (old)) of moving away from the end) (Phase-shift
prevention margin) (Refer to axis-specific
parameter No. 76)
342
Appendix
Axis-Specific Parameters
Default value
(Reference)
27 Maximum motor speed 5000 Reference rpm, Rpm value in the case of a rotary encoder (Change
only mm/sec prohibited)
mm/sec, when a linear encoder is used (cannot be
changed).
28 Maximum operating speed 1000 1 ~ 9999 mm/s
of each axis
29 VLMX speed 1000 1 ~ 9999 mm/s During VLMX operation, the maximum operating
speed of each axis or VLMX speed, whichever is
lower, is used as the maximum speed of the
applicable axis.
30 Servo ON check time 150 0 ~ 5000 msec Brake equipped: Time after receiving a servo-ON
start response until start of brake unlocking
Brake not equipped: Time after receiving a servo
ON start response until transition to an operation-
enabled status
31 Offset travel speed at 3 1 ~ 500 mm/sec
home return
32 Actual distance between Z- -1 -1 ~ 99999 0.001 mm Absolute distance from the end (mechanical or LS).
phase and end Obtained automatically if the distance is a negative
value. When multiple actuators are combined, it is
recommended to write the flash ROM after
automatic acquisition. (Refer to axis-specific
parameter No. 76)
33 Ideal distance between Z- 0 0 ~ 99999 0.001 mm Absolute distance from the end (mechanical or LS).
phase and end (Refer to axis-specific parameter No. 76)
34 Brake equipment 0 0~2 0: Not equipped, 1: Equipped
specification 1: Equipped (system)
2: Equipped (user) (Main application version 0.97
or later/F-ROM 16-M bit version only)
35 Brake unlock check time 150 0 ~ 3000 msec Time after receiving a brake-unlock start response
until transition to an operation-enabled status
36 Brake lock check time 300 0 ~ 1000 msec Time after receiving a brake-lock start response
until start of servo OFF
37 Encoder linear/rotary type 0 0~1 0: Rotary encoder
1: Linear encoder
38 Encoder ABS/INC type 0 0~1 0: INC, 1: ABS
39 For future expansion 1 0~1
(Change prohibited)
40 For future expansion 0 0~1
(Change prohibited)
41 Pole sense speed 25 1 ~ 100 DRVVR
(For future expansion =
Change prohibited)
42 Encoder resolution 131072 0 ~ 99999999 Pulse/rev, Pulses (before division)/rev, in the case of a rotary
0.001 encoder
Pm/pulse 0.001 Pm/pulse, when a linear encoder is used
(before division).
43 Encoder division ratio 3 -7 ~ 7 PulsesDUHPXOWLSOLHGE\³Q´WKSRZHURI
44 Length measurement 0 -99999999 ~ 0.001 Valid only for linear movement axes. (Coordinates
correction 99999999 mm/1M other than the encoder reference Z point will
change proportionally.)
45 ~ (For expansion) 0
46
47 Screw lead 20000 1 ~ 99999999 0.001 mm Valid only for linear movement axes.
Invalid, when a linear encoder is used.
49
50 Gear ratio numerator 1 1 ~ 99999999 Invalid, when a linear encoder is used.
51 Gear ratio denominator 1 1 ~ 99999999 Invalid, when a linear encoder is used.
343
Appendix
Default value
(Reference)
53 Setting bit pattern 1 of 0 0H ~
each axis FFFFFFFFH
54 Travel distance for push 20 1 ~ 99999 0.001 mm
stop detection at home
return
55 Travel distance for push 30 1 ~ 99999 0.001 mm
stop detection at
positioning
56 Push-abort deviation ratio a 'HYLDWLRQLVFRPSDUHGDJDLQVW³6WHDG\VWDWH
at home return deviation of push speed + Push-speed pulse
VSHHG[$ERUWGHYLDWLRQUDWLR´
57 Push-abort deviation ratio a 'HYLDWLRQLVFRPSDUHGDJDLQVW³6WHDG\VWDWH
at positioning deviation of push speed + Push-speed pulse
VSHHG[$ERUWGHYLDWLRQUDWLR´
58 Positioning band 100 1 ~ 9999 0.001 mm
59 Allowable deviation error a 'HYLDWLRQLVFRPSDUHGDJDLQVW³6WHDG\VWDWH
ratio deviation of maximum operating speed of each
(Maximum speed pulse axis + Pulse speed of maximum operating speed
ratio) RIHDFKD[LV[$OORZDEOHGHYLDWLRQHUURUUDWLR´
60 Position gain 30 1 ~ 9999 /s
61 FF gain 0 0 ~ 500 %
6\QFKUR)%JDLQ 77 0 ~ 1000
6WRSVSHFLDORXWSXWUDQJH a 3XOVH ,QYDOLGLI³´LVVHW
64 Stop special output value 1 0 ~ 999 DRVVR
0DWLQJV\QFKURD[LV 0 0~8 Must be input for both axes. (Of the axis pair, the
number axis with the smaller axis number becomes the
PDVWHUD[LV%RWKD[HVPXVWKDYHWKHVDPH
resolution characteristics. Commands cannot be
LVVXHGWRWKHVODYHD[LV,QYDOLGLI³´LVVHW
66 Mode selection for 0 0~5 0: Normal, 1: Index mode
rotational movement axis
67 Short-cut control a 'RQRWVHOHFW6HOHFW9DOLGRQO\LQWKHLQGH[
selection for rotational mode AND when an incremental encoder is
movement axis used)
68 Mode selection for linear 0 0~5 0: Normal, 1: Infinite-stroke mode (Note:
movement axis 3RVLWLRQLQJERXQGDU\DSSOLHV7KLVVHWWLQJFDQ
EHVSHFLILHGRQO\ZKHQDQLQFUHPHQWDOHQFRGHU
is used.)
69 (For expansion) 0 ~
70 DRVVR value at 32767 Reference '5995 )RUDGMXVWPHQWE\WKHPDQXIDFWXUHU
maximum motor speed RQO\
71 DRVVR value at 3x 32767 Reference '5995 )RUDGMXVWPHQWE\WKHPDQXIDFWXUHU
motor torque RQO\
72 DRVVR + offset 1 Reference '5995 )RUDGMXVWPHQWE\WKHPDQXIDFWXUHU
RQO\
'5995±RIIVHW 0 Reference '5995 )RUDGMXVWPHQWE\WKHPDQXIDFWXUHU
RQO\
74 DRVVR MAX 32436 Reference '5995 )RUDGMXVWPHQWE\WKHPDQXIDFWXUHU
RQO\
75 DRVVR MIN -32435 Reference '5995 )RUDGMXVWPHQWE\WKHPDQXIDFWXUHU
RQO\
344
Appendix
Default value
(Reference)
76 Home-adjustment 1 Reference 0: Axis-specific parameter No. 21 = Phase-Z
parameter set selection only evacuation distance at incremental home
return. Axis-specific parameter No. 12 = Ideal
phase-Z position coordinate. (Units shipped
with application version 0.07 or later)
1: Axis-specific parameter No. 32 is automatically
loaded even when axis-specific parameter No.
33 = 0. When axis-specific parameter No. 33 =
LWLVVHWWR³DFWXDOGLVWDQFH´$[LVVSHFLILF
parameter No. 21 = Offset travel distance at
home return. Axis-specific parameter No. 12 =
Coordinates after offset travel at home return.
Axis-specific parameter No. 26 is invalid.
77 Synchro S pulse 3 0 ~ 99999 Pulse
78 Maximum takeoff 0 -3000 ~ 0.001 mm Maximum lift command amount before brake unlock
command amount 3000 (Input with sign)
(Suppression of momentary drop upon servo ON
when a heavy object is placed)
* Important: Input using the same sign as the rising
coordinate direction. (0.100 mm to 0.500 mm in
absolute value as a guideline)
* The servo-ON check time (axis-specific parameter
No. 30) must also be extended (approx. 1000 to
1500 msec) to provide a sufficient time for rise-
direction torque to follow. (Valid with main
application version 0.25 or later. With version 0.26
or later, this setting is valid only when a brake is
equipped.)
79 Actual takeoff check 5 0 ~ 3000 0.001 mm Absolute value input (Main application version 0.26
distance or later)
80 Maximum forced-feed a PP )RUUHGXFWLRQRIVHWWOLQJWLPH,QYDOLGUDQJHLI³´LV
range set) (Approx. 1.000 mm as a guideline)
(Available with main application version 0.28 or later)
81 Minimum forced-feed 200 0 ~ 9999 0.001 mm (Available with main application version 0.28 or later)
range
82 Medium forced-feed range 600 0 ~ 9999 0.001 mm (Available with main application version 0.28 or later)
83 Absolute synchro slave- 0 0~5 Valid only with a synchro slave axis. (Main
axis initialization application version 0.31 or later)
cancellation
84 Maximum synchronization 5 0 ~ 100 mm/sec Maximum travel speed for synchronization position
correction speed of correction of slave axis. Valid only with a synchro
synchro slave axis slave axis.
* Note: Not limited by the safety speed. (Main
85 Home-return acceleration/ 15 1 ~ 300 0.01 G (Main application version 0.41 or later)
deceleration
86 Zone 1 MAX 0 -99999999 0.001 mm Valid only when MAX > MIN. * Must be inside the
~ 99999999 range for at least 3 msec.
87 Zone 1 MIN 0 -99999999 0.001 mm Valid only when MAX > MIN. * Must be inside the
88 Zone 1 output number 0 0 ~ 899 Physical output port or global flag (Output is invalid if
³´LVLQSXWPXOWLSOHVSHFLILFDWLRQLVLQYDOLG³´FDQ
be input in PC software version 1.0.0.0 or later or TP
90 Zone 2 MIN 0 -99999999 0.001 mm Valid only when MAX > MIN. * Must be inside the
91 Zone 2 output number 0 0 ~ 899 Physical output port or global flag (Output is invalid if
³´LVLQSXWPXOWLSOHVSHFLILFDWLRQLVLQYDOLG³´FDQ
be input in PC software version 1.0.0.0 or later or TP
345
Appendix
Default value
(Reference)
93 Zone 3 MIN 0 -99999999 ~ 0.001 mm Valid only when MAX > MIN. * Must be inside the range for
99999999 at least 3 msec.
94 Zone 3 output a 3K\VLFDORXWSXWSRUWRUJOREDOIODJ2XWSXWLVLQYDOLGLI³´LV
number LQSXWPXOWLSOHVSHFLILFDWLRQLVLQYDOLG³´FDQEHLQSXWLQ
PC software version 1.0.0.0 or later or TP application
95 Zone 4 MAX 0 -99999999 ~ 0.001 mm Valid only when MAX > MIN. * Must be inside the range for
96 Zone 4 MIN 0 -99999999 ~ 0.001 mm Valid only when MAX > MIN. * Must be inside the range for
97 Zone 4 output 0 0 ~ 899 Physical output port or global flag (Output is invalid if
number ³´LVLQSXWPXOWLSOHVSHFLILFDWLRQLVLQYDOLG³´FDQEH
input in PC software version 1.0.0.0 or later or TP
~
118
119 FSG 0 0 ~ 100
120 FFF 10 0 ~ 100 * Change is prohibited unless instructed by the
manufacturer.
~
250
346
Appendix
4. Driver Card Parameters

Default value Input
(Reference) range
1 Type (upper) (Manufacturing Space Reference For adjustment by the manufacturer
information) only
2 Type (middle) (Manufacturing Space Reference For adjustment by the manufacturer
information) only
3 Type (lower) (Manufacturing Space Reference For adjustment by the manufacturer
information) only
4 Manufacturing data 4 Space Reference For adjustment by the manufacturer
(Manufacturing information) only
8 Board type (Function 30 Reference For adjustment by the manufacturer
information) only
9 Function information 01 (hard): 0000H Reference Encoder ID bit For adjustment by the manufacturer
Encoder support information only pattern
(upper word)
10 Function information 02 (hard): 0003H Reference Encoder ID bit For adjustment by the manufacturer
(lower word)
11 Function information 03 (hard): 0001H Reference For adjustment by the manufacturer
Hardware support information only
word 0
For future expansion only
15 Function information 07 (soft): 0000H Reference Motor ID bit For adjustment by the manufacturer
Motor support information only pattern
(upper word)
16 Function information 08 (soft): 003FH Reference Motor ID bit For adjustment by the manufacturer
Motor support information only pattern
(lower word)
17 Function information 09 (soft): 0000H Reference Encoder ID bit For adjustment by the manufacturer
(upper word)
18 Function information 10 (soft): 0003H Reference Encoder ID bit For adjustment by the manufacturer
(lower word)
19 Function information 11 (soft): 0000H Reference For adjustment by the manufacturer
Software support information only
word 0
(For future expansion = Change
prohibited)
Software version information only
System log control word only
23 Configuration information 01: 003CH Reference For adjustment by the manufacturer
Configured capacity (rated only
motor output)
24 Configuration information 02: 00C8H Reference For adjustment by the manufacturer
Configured voltage (motor only
voltage)
347
Appendix
Driver Card Parameters

Default value Input
(Reference) range
25 Configuration information 03: 0000H Reference Motor/encoder For adjustment by the manufacturer
Motor/encoder configuration only ID bit number
information
26 Configuration information 04: 0000H Reference For adjustment by the manufacturer
Encoder resolution (upper only
word)
Encoder resolution (lower word) only
Motor/encoder characteristics only
word
30 Configuration information 08: 2 1 ~ 30 m Be sure to change this parameter
Encoder cable length when retrofitting.
Control characteristics word only
32 Configuration information 10: 100 0 ~ 150 % When changing this parameter,
Push torque limit at home always check for phase-Z detection
return position shift due to change in the
elastic deformation amount of the
pushed mechanical end.
33 Configuration information 11: 70 0 ~ 70 %
Push torque limit at positioning
35 Configuration information 13: 0 Reference For adjustment by the manufacturer
Speed-command underrun only
count
38 Speed-loop gain (Parameter list 500 1 ~ 32767 Proportional gain
1)
39 Speed-loop integral constant 30 1 ~ 1000 Integral gain
(Parameter list 1)
40 Current-loop control range 4 0~4
number (Parameter list 1)
41 For future expansion 0H Reference For adjustment by the manufacturer
(Parameter list 1) only
42 Torque filter constant 0 0 ~ 2500
(Parameter list 1)
43 Rotor inertia ratio (Parameter 10 1 ~ 100
list 1)
(For future expansion = Change
prohibited)
348
Appendix

Default value
(Reference)
51 Reversing time (for encoder 0H Reference SEC For adjustment by the manufacturer
adjustment) only
52 Self-propelling speed (for 0H Reference rpm For adjustment by the manufacturer
encoder adjustment) only
53 Speed-loop gain (Parameter 500 1 ~ 26500 Proportional gain
list 2)
(Parameter list 2)
(Parameter list 2)
58 Rotor inertia ratio 10 1 ~ 100
(Parameter list 2)
Change prohibited)
66 Phase-U current sense 0 -256 ~ 256 Adjustment of offset for phase-U current
offset adjustment detection value
$Q\YDOXHEHWZHHQ±DQG±LV
WUHDWHGDV±$Q\YDOXHEHWZHHQDQG
32767 is treated as 256.)
(Driver version 0.30 or later)
67 Phase-W current sense 0 -256 ~ 256 Adjustment of offset for phase-W current
offset adjustment detection value
$Q\YDOXHEHWZHHQ±DQG±LV
WUHDWHGDV±$Q\YDOXHEHWZHHQDQG
32767 is treated as 256.)
(Driver version 0.30 or later)
list 3)
(Parameter list 3)
(Parameter list 3)
349
Appendix

Default value Input
(Reference) range
(Parameter list 3)
Change prohibited)
only
only
list 4)
84 Speed-loop integral 30 1 ~ 1000 Integral gain
constant (Parameter list 4)
(Parameter list 4)
(Parameter list 4)
Change prohibited)
only
only
350
Appendix

Default value Input
(Reference) range
For future expansion 0H Reference For adjustment by the manufacturer
98 (Query information) only
Phase-U current sense 0H Reference For adjustment by the manufacturer
108 adjustment value (Query only
information)
Phase-W current sense 0H Reference For adjustment by the manufacturer
109 adjustment value (Query only
information)
351
Appendix
5. Encoder Parameters
Default value
(Reference)
1 Type (upper) (Manufacturing Space Reference For adjustment by the manufacturer
information) only
2 Type (middle) (Manufacturing Space Reference For adjustment by the manufacturer
information) only
3 Type (lower) (Manufacturing Space Reference For adjustment by the manufacturer
information) only
8 Board type (Function information) 80 Reference For adjustment by the manufacturer
only
9 Function information 01: 003CH Reference W For adjustment by the manufacturer
Configured capacity (rated motor only
output)
10 Function information 02: 00C8H Reference V For adjustment by the manufacturer
Configured voltage (motor voltage) only
11 Function information 03: 0000H Reference Motor/ For adjustment by the manufacturer
Motor/encoder configuration only encoder ID bit
information number
12 Function information 04: Encoder 0002H Reference For adjustment by the manufacturer
resolution (upper word) only
13 Function information 05: Encoder 0000H Reference For adjustment by the manufacturer
resolution (lower word) only
14 Function information 06: 0004H Reference For adjustment by the manufacturer
Motor/encoder characteristics word only
15 Function information 07: 0000H Reference 0.1 N For adjustment by the manufacturer
Motor/encoder control word 1 (Also only (Kelvin =
applicable to nX-E) Temperature
scale)
Motor/encoder control word 2 (Also only
applicable to nX-E)
applicable to nX-E)
applicable to nX-E)
19 Function information 11: (For future 0000H Reference For adjustment by the manufacturer
expansion) only
expansion) only
expansion) only
expansion) only
23~ Card parameter (by board type) 0000H Reference For adjustment by the manufacturer
30 only
352
Appendix
6. I/O-Slot Card Parameters

Default value
(Reference)
1 Type (upper) Space Reference For adjustment by the manufacturer
(Manufacturing only
information)
2 Type (middle) Space Reference For adjustment by the manufacturer
(Manufacturing only
information)
3 Type (lower) Space Reference For adjustment by the manufacturer
(Manufacturing only
information)
(Manufacturing only
information)
(Manufacturing only
information)
(Manufacturing only
information)
(Manufacturing only
information)
8 Board type (Function 0 Reference For adjustment by the manufacturer
information) only
9 Function information 01 0000H Reference For adjustment by the manufacturer
(by board type) only
23~ Card parameter (by 0000H Reference For adjustment by the manufacturer
112 board type) only
353
Appendix
7. Other Parameters
Default value Input
(Reference) range
1 Auto-start program a ,QYDOLGLI³´LVVHW
number
2 I/O processing 0 0 ~ 64 The start trigger isGHWHUPLQHGIURPWKH³,2
program number at processing program start type at
operation/program RSHUDWLRQSURJUDPDERUW´1RWH7KLVSURJUDP
abort will be started before confirming an abort of
other programs.)
,QYDOLGLI³´LVVHW* If the setting is valid, the
number of user program tasks that can be
used will decrease by 1. Other programs
cannot be started from this program.
(Supported through main application version
33.)
3 I/O processing 0 0 ~ 64 This program will be started when an all-
program number at all operation-pause command is issued due to an
operation pause all-operation-pause factor. (Only when a
SURJUDPLVUXQQLQJ,QYDOLGLI³´LVVHW ,IWKH
setting is valid, the number of user program
tasks that can be used will decrease by 1.
4 Program abort type at a &DQFHORQO\WKHSURJUDPLQZKLFKDQHUURURI
error operation-cancellation level or higher has
generated. (If the error requires the drive
source to be cut off, all programs other than
WKH³,2SURFHVVLQJSURJUDPDW
RSHUDWLRQSURJUDPDERUW´ZLOOEHFDQFHOOHG
&DQFHODOOSURJUDPVRWKHUWKDQWKH³,2
processing program at operation/program
DERUW´ZKHQDQHUURURIRSHUDWLRQ
cancellation level or higher has generated.
5 I/O processing a :KHQDOORSHUDWLRQFDQFHOODWLRQIDFWRUKDV
program start type at generated (Only when a program is running)
operation/program :KHQDOORSHUDWLRQFDQFHOODWLRQIDFWRUKDV
abort generated (Always)
$OORSHUDWLRQFDQFHOODWLRQIDFWRU(UURURI
operation-cancellation level or higher
³2WKHUSDUDPHWHU1R ´LVFRQVLGHUHG
(Only when a program is running)
$OORSHUDWLRQFDQFHOODWLRQIDFWRU(UURURI
operation-cancellation level or higher
³2WKHUSDUDPHWHU1R ´LVFRQVLGHUHG
(Always)
3&73UHFRQQHFWLRQ 11000 1 ~ 99999 msec * The setting will become effective after the
delay at software FRQWUROOHU3&VRIWZDUHRU73LVVKXWGRZQ
reset and restarted. (Main application version 0.57
or later)
8
9 Deadman-switch a $ERUWRSHUDWLRQVSURJUDPV
recovery type 2SHUDWLRQFRQWLQXHG(Only during automatic
RSHUDWLRQ ,QWKH3&VRIWZDUHYHUVLRQLV
1.0.0.5 or later or TP application version is
1.01 or later, operation commands from the
3&VRIWZDUH73ZLOOEHDERUWHGRQWKH3&
software/TP side.)
3& 3&VRIWZDUH
73 7HDFKLQJSHQGDQW
354
Appendix
Other Parameters
Default value Input
(Reference) range
10 Emergency-stop 0 0~4 0: Abort operations/programs
recovery type 1: Recovery after reset
2: Operation continued (Only during automatic
operation. * If the PC software version is 1.0.0.5
or later or TP application version is 1.01 or later,
operation commands from the PC software/TP
will be aborted on the PC software/TP side.)
3: Abort operations/programs (Software reset when
the emergency stop is reset. The home-return
completion status of incremental-encoder axes
will be reset (EG approximation swap). Main
4: Abort operations/programs (Error reset (only with
an error of operation-cancellation level or lower)
and auto-start program start (only if AUTO mode
AND I/O parameter No. 33 = 1 AND I/O
parameter No. 44 z 1 AND all-operation-
cancellation factor is not present) when the
emergency stop is reset). There must be a
minimum interval of 1 second after an
emergency stop is actuated before it is reset.
The home-return completion status of
incremental-encoder axes will be retained. Main
application version 0.17 or later.)
11 Safety-gate open 0 0~2 0: Abort operations/programs
recovery type 1: Recovery after reset
2: Operation continued (Only during automatic
operation)
* If the PC software version is 1.0.0.5 or later or TP
application version is 1.01 or later, operation
commands from the PC software/TP will be
aborted on the PC software/TP side.
12 Automatic operation 0 0~3 0: Program is running AND all-operation-
recognition type cancellation factor is not present
1: [Program is running OR in AUTO mode] AND all-
operation-cancellation factor is not present
19
20 System-memory 2 0~2 0: Not installed (SEL global data/error lists cannot
backup battery be recovered from the flash ROM)
installation function 1: Not installed (SEL global data/error lists can be
type recovered from the flash ROM)
2: Installed
* When the power is turned on without battery
installed, point data can be copied from the flash
ROM.
8VHRIVHWWLQJ³´ZLOOEHSURKLELWHGIRUWKHWLPH
being due to limitations.
* When point data is lost due to a battery error, the
point data valid before the flash ROM was written
can be restored o,QSXW³´QRWLQVWDOOHGDQG
transfer the setting to the controller, and then
perform a software reset without writing the flash
ROM. The point data last written to the flash
ROM will be restored. Thereafter, reset this
parameter to the original value. (No remedy is
available for recovery of SEL global data/error
lists.)
PC: PC software
355
Appendix
Other Parameters
Default value
(Reference)
21 Manual mode type 0 0~5 0: Always enable edit and SIO/PIO start (Initial condition
after connection = With safety speed)
1: Select edit and start (with password) (EU, etc.)
2: Always enable edit and SIO/PIO start (Initial condition
after connection = Without safety speed (cancellation))
(PC software version 1.1.0.7 or later and TP application
* Referenced by the PC/TP.
22 Control use region 0 0 ~ 99 0: J, 1: E, 2: EU
23 PSIZ command 0 0~5 0: Maximum number of point data areas
function type 1: Number of point data used
24 Local variable 99 1 ~ 99 (Main application version 0.20 or later)
number for storing 1001 ~ 1099
SEL communication
command return
code
29
30 Option Password 00 0H 0H ~ HOME command option (Change prohibited)
FFFFFFFFH (Main application version 0.50 or later)
* Change is prohibited unless instructed by the
manufacturer.
31 Option Password 01 0H 0H ~ Reserved (Change prohibited)
FFFFFFFFH
32 Option Password 02 0H 0H ~ Reserved (Change prohibited)
FFFFFFFFH
33~ (For expansion) 0H 0H ~
35 FFFFFFFFH
36 PC/TP data protect 0H 0H ~ Bits 0 to 3: Protect type (0: Read/write, 1: Read only, 2:
setting (Program) FFFFFFFFH No read/write)
Bits 4 to 7: Protect release method (0: Special
operation)
Bits 8 to 11: Protect range PD[LPXPQXPEHU¶VSODFH
BCD)
Bits 12 to 15: Protect range PD[LPXPQXPEHU¶VSODFH
BCD)
Bits 16 to 19: Protect range PLQLPXPQXPEHU¶VSODFH
BCD)
BCD)
* Referenced by the PC/TP (PC software version 2.0.0.42
or later and TP application version 1.09 or later)
37 PC/TP data protect 0H 0H ~ Bits 0 to 3: Protect type (0: Read/write, 1: Read only, 2:
setting (Position) FFFFFFFFH No read/write)
Bits 4 to 7: Protect release method (0: Special
operation)
%LWVWR 3URWHFWUDQJHPD[LPXPQXPEHU¶V
place, BCD)
place, BCD)
place, BCD)
BCD)
%LWVWR 3URWHFWUDQJHPLQLPXPQXPEHU¶V
place, BCD)
%LWVWR 3URWHFWUDQJHPLQLPXPQXPEHU¶V
place, BCD)
7KHYDOXHLQWKH¶VSODFHLVFRQVLGHUHG³ÍRUERWKWKH
protect range maximum/minimum numbers.
* Referenced by the PC/TP (PC software version 2.0.0.42
or later and TP application version 1.09 or later)
PC: PC software
356
Appendix
Other Parameters
Default value
(Reference)
38 PC/TP data protect 0H 0H ~ Bits 0 to 3: Protect type (Parameter) (0: Read/write,
setting (Symbol, FFFFFFFFH 1: Read only, 2: No read/write)
parameter) Bits 4 to 7: Protect release method (Parameter) (0:
Special operation)
Bits 8 to 11: Protect type (Symbol) (0: Read/write, 1:
Read only, 2: No read/write)
Bits 12 to 15: Protect release method (Symbol) (0:
Special operation)
* Referenced by the PC/TP (PC software version
2.0.0.42 or later and TP application version 1.09 or
later)
39 (For future 0H 0H ~
expansion) FFFFFFFFH
40 EEPROM 3H Reference only For adjustment by the manufacture
information check
type
41 Hardware E0H Reference only For adjustment by the manufacture
information check
type
42 Hardware test type 7H Reference only For adjustment by the manufacture
43 Special monitor type 0H 0H ~ Change prohibited
FFFFFFFFH
45 Special start 0 0H ~ Bits 0 to 3: Enable start from PC/TP in AUTO mode

condition setting FFFFFFFFH = Used exclusively by the manufacturer
(0: Do not enable, 1: Enable) (Main
Bits 4 to 7: PIO program start (Input port 000)
Single start selection (0: Normal, 1:
Single start)
* When single start is selected, the next
PIO program start (input port 000) will
not be accepted as long as a program
with the same program number as the
one started by the last PIO program start
(input port 000) is running.
Bits 8 to 11: Permission of auto program start when
all-operation-cancellation factor is
present
(0: Do not permit, 1: Permit)
Bits 12 to 15: Permission of ON edge acceptance for
PIO program start (input port 000) when
all-operation-cancellation factor is
present
(0: Do not permit, 1: Permit)
* This parameter specifies an ON-edge
acceptance condition. If the starting
FRQGLWLRQLVQRWVDWLVILHGDQ³(UURU1R
A1E: Start condition non-satisfaction
HUURU´ZLOOJHQHUDWH
PC: PC software
357
Appendix
Other Parameters
Default value
(Reference)
46 Other setting bit 1 0H ~ Bits 0 to 3: Variable-value format type in response
pattern 1 FFFFFFFFH message to real-number/variable query
(0: Big endian with four upper/lower
binary-converted bytes reversed, 1: Big
endian)
Bits 4 to 7: Decimal-place rounding selection for real-
number o integer-variable assignment in
LET/TRAN commands (Main application
version 0.53 or later) (0: Do not round, 1:
Round)
Bits 8 to 11: For future expansion
* May be affected by hardware
compatibility.
* Change strictly prohibited unless
specified by the manufacturer.
Bits 12 to 15: Selection of processing to be performed
when subroutine first step input condition
is not specified when TPCD command = 1
(0: Do not execute, 1: Execute, 2: Error)
Bits 16 to 19: Selection of effective period for CHVL
command speed
(0: Effective only while the current main
packet is active,
1: Effective during continuous handling of
packets)
,I³´LVVHOHFWHGWKHVSHHGVSHFLILHGE\
the CHVL command will be retained
during the subsequent operations
executed by continuous movement
commands such as PATH (commands
that require input of continuous program
steps).
Also take note of the following
limitations:
x If the speed specified by the CHVL
command is greater than the actual
speed of the command operation
immediately before, the actual speed of
the last command operation will apply.
x If the CHVL command is executed
during a series of continuous movement
commands and the command execution
timing coincides with the connection of
a position movement packet, the current
speed may change to the specified
speed in two stages.
x The connection speed of each position
movement packet may increase in
proportion to the deceleration.
(Example: The packet connection speed
may increase by 9.8 mm/sec at a
deceleration of 1.0 G or by 4.9 mm/sec at
a deceleration of 0.5 G.)
For other items that require attention,
refer to Notes in the CHVL command
section of the operation manual.
50
358
Appendix
8. Manual Operation Types

The selectable operation types will vary dependiQJRQWKHVHWWLQJRIWKH³0DQXDORSHUDWLRQW\SH´
parameter (Other parameter No. 21).
(1) PC software
1. Setting = 0 (Always enable edit and SIO/PIO start)
Functions
Operation type Password Jog, move,
Safety SIO program PIO program
Edit continuous
speed start start
move
With safety speed Not required. { { { { {
Without safety
Not required. { { { {
speed
2. Setting = 1 (Select edit and start (with password))

Functions
Operation type Password Jog, move,
Safety SIO program PIO program
Edit continuous
speed start start
move
Edit and jog Not required. { { {
SIO start and jog
1817 (*1) { { {
(safety speed)
SIO start and jog 1818 (*1) { {
SIO/PIO start and
1819 (*1) { { {
jog
(*1) PC software version 0.0.6.0 or later ³´LQYHUVLRQVWKURXJK[
(2) Teaching pendant

1. Setting = 0 (Always enable edit and SIO/PIO start)
Functions
Safety-speed enable Jog, move,
Password SIO program PIO program
selection Edit Safety speed continuous
start start
move
Enable Not required. { { { { {
Disable Not required. { { { {
2. Setting = 1 (Select edit and start (with password))

Functions
Safety-speed enable Jog, move,
Password SIO program PIO program
selection Edit Safety speed continuous *2
start start
move
Enable Not required. { { { { (*3)
Disable 1818 (*1) { { { (*3)
Functions
PIO start
prohibition Password Jog, move, SIO PIO
Safety *2
selection Edit continuous program program
speed
move start start
Prohibit Not required. { (*4) { {
Enable 1819 (*1) { (*4) { { {
(*1) Teaching pendant application version 0.02 or later (not supported by version 0.01 or earlier)
(*2) PIO program start is enabled only in modes other than the edit mode.
,QDFFRUGDQFHZLWKWKH³3,2VWDUWSURKLELWLRQVHOHFWLRQ´VHWWLQJ
,QDFFRUGDQFHZLWKWKH³6DIHW\VSHHGHQDEOH´VHWWLQJ
359
9. Use Examples of Key Parameters
360
You can add functions to those available under the factory settings or set dedicated functions to I/O ports, by changing the parameter values.
Before changing a parameter, be sure to read the corresponding section in the List of Parameters.
Description Action Parameter setting Manipulation/operation
Want to prevent errors relating to the I/O-board error monitor can be disabled 6HW³´LQWKH,2SDUDPHWHU 6HW³´LQ,2SDUDPHWHU1RVDQG
standard I/O board and optional boards to prevent errors from occurring. corresponding to the I/O board whose to disable error monitor for the standard
(DeviceNet, CC-Link, etc.). error monitor you wish to disable. I/O (I/O1) and expanded I/O1 (I/O2)
(Want to perform trial operation when Standard I/O (I/O1): I/O parameter No. boards, respectively.
boards are not wired, etc.) 10 = 0 Note: To operate a disabled I/O board,
Expanded I/O1 (I/O2): I/O parameter be sure to revert the parameter setting
No. 11 = 0 WR³´
Expanded I/O2 (I/O3): I/O parameter
No. 12 = 0
Expanded I/O3 (I/O4): I/O parameter
No. 13 = 0
Want to execute restart (software Input port No. 1 can be set as a restart I/O parameter No. 31 = 1 Turning ON input port No. 1 for at least
reset) using an external input signal. input. 1 second will execute restart.
Want to execute servo ON using an Input port No. 2 can be set as a servo I/O parameter No. 32 = 1 Servo ON will be executed at the ON
external input signal. ON input. edge of input port No. 2. Servo OFF will
be executed at the OFF edge.
Want to execute auto program start Input port No. 3 can be set as an auto I/O parameter No. 33 = 2 The specified program will start at the
using an external input signal. program start input. ON edge of input port No.3. The
(Under the default setting, the specified program will be aborted at the OFF
program will restart upon power ON or edge.
restart (software reset) in the AUTO
mode.) (More steps will be required to
execute auto program start.)
Want to execute pause using an Input port No. 6 can be set as a pause I/O parameter No. 36 = 1 Turning OFF input port No. 6 will
external input signal. input. execute pause. Pause will be reset at
Input port No. 5 can be set as a pause I/O parameter No. 35 = 1 the ON edge of input port No. 5 after
reset input. turning ON input port No. 6.
(Input port No. 6 is always ON.)
Want to reset errors using an external Input port No. 13 can be set as an error I/O parameter No. 43 = 2 Errors will be reset at the ON edge of
input signal (errors of operation- reset input. input port No 13.
Appendix
cancellation level or lower).

Want to execute home return using Input port No. 15 can be used as an I/O parameter No. 45 = 1 Home return will be executed at the ON
an external input signal. home return input. edge of input port No. 15. (Servo ON
must be executed beforehand.)
Want to input program numbers from Program numbers can be input from I/O parameter No. 30 = 2
input ports in binary. (The default input port Nos. 7 to 13 in binary.
setting is BCD input.)
Want to check the level of the Error level can be checked from the I/O parameter No. 46 = 2 ON/OFF of output port Nos. 300 and 301
present error from an output port. ON/OFF combination of output port I/O parameter No. 47 = 3 and corresponding error levels
Want to check for emergency stop Nos. 300 and 301. I/O parameter No. 48 = 2
status from an output port. Emergency stop status can be (Parameter settings at shipment) 300 301
checked from ON/OFF of output port Message level or lower { {
No. 302. Operation-cancellation level z {
Cold-start level z z
{: ON z: OFF
Output port No. 302 being OFF indicates

an emergency stop status.
302
Emergency stop actuated z
Emergency stop not actuated {
Note) Parameter settings at shipment
Want to output signal during the Output port No. 303 can be set as an I/O parameter No. 49 = 1 Output port No. 303 will turn ON during
AUTO mode. AUTO mode output signal. the AUTO mode.
Want to output signal during Output port No. 303 can be set as an I/O parameter No. 49 = 2 Output port No. 303 will turn ON during
automatic operation. automatic operation output. automatic operation.
Recognition of automatic operation: x Recognize automatic operation if a x Other parameter No. 12 = 0
Recognition of automatic operation program is running (either in the Recognize automatic operation if a
can be changed using the setting of MANU or AUTO mode). program is running.
other parameter No. 12. x Recognize automatic operation if a x Other parameter No. 12 = 1
program is running OR in the Recognize automatic operation if a
AUTO mode (regardless of program is running OR in the
whether or not a program is AUTO mode.
running). x ³$OORSHUDWLRQFDQFHOODWLRQIDFWRULV
In either case, all-operation- QRWSUHVHQW´PHDQVHUURUVRI
cancellation factor must not be operation-cancellation level or
present. higher are not present AND
One of the conditions is recognized emergency-stop signal is not input
as automatic operation. AND safety-gate signal is not input
Appendix
AND deadman switch is ON
361
(teaching-pendant option).
Action Parameter setting Manipulation/operation
362
Description
Want to output signal when all valid Output port No. 304 can be set as a I/O parameter No. 50 = 1 Output port No. 304 will turn ON when
axes are at their home. signal indicating that all valid axes are all valid axes are at their home.
at their home.
Note: Do not use a HOME command
when the controller is of the absolute
specification.
Want to output signal when all valid Output port No. 304 can be set as a I/O parameter No. 50 = 2 Output port No. 304 will turn ON when
axes have completed home return. signal indicating that all valid axes have all valid axes have completed home
completed home return. return.
Want to output warning signal when the Output port No. 313 can be set as a I/O parameter No. 59 = 1 Output port No. 313 will turn ON when
system-memory backup battery voltage signal warning that the system-memory the system-memory backup battery
is low. backup battery voltage is low. voltage is low.
Want to output warning signal when the Output port No. 314 can be set as a I/O parameter No. 60 = 1 Output port No. 314 will turn ON when
absolute-encoder backup battery signal warning that the absolute- the absolute-encoder backup battery
voltage is low. encoder backup battery voltage is low. voltage is low. The output will remain
(This function is not supported on early ON until the power is reconnected or
units. The main application version controller is restarted.
must be 0.28 or later.)
Want to release brake using an A general-purpose input port can be set Set a desired input port number in the Brake will be forcibly released when the
external input signal. as a brake forced-release input I/O parameter corresponding to the applicable port turns ON.
(dedicated input). Set a desired input target axis number.
port number in the applicable Correspondence of brake-releasing
parameter. axis number and parameter number:
Axis 1: I/O parameter No. 62
Setting example) To set input port No. m Brake of axis 3 will be forcibly
12 as the brake forced-release input for released when input port No. 12 turns
axis 3, set as follows: ON.
I/O parameter No. 64 = 12
Want to retain output status while Minimum and maximum port numbers I/O parameter No. 70 = Output port m The status of output port Nos. 303
emergency-stop signal is input or the indicating the output ports you wish to number MIN through 315 will be retained while
safety gate is open. retain can be set. I/O parameter No. 71 = Output port emergency-stop signal is input or the
number MAX safety gate is open.
Setting example) To retain output ports

from port Nos. 303 through 315, set as
follows:
Appendix

Want to start programs while A PIO processing program to start can Other parameter No. 2 = PIO
emergency-stop signal is input or the be set. Set in the applicable processing program number
safety gate is open. parameters a desired PIO processing I/O parameter No. 70 = Output port
Programs to be started are I/O program as well as minimum and number MIN
processing or calculation programs that maximum port numbers indicating the I/O parameter No. 71 = Output port
do not command actuator operation output ports at which the program will number MAX
(PIO processing programs). be processed. Setting example) To start program No. m Program No. 5 will start while
5 that involves processing at output emergency-stop signal is input or the
port Nos. 303 through 315, set as safety gate is open. Output port Nos.
follows: 303 through 315 can be used for
Other parameter No. 2 = 5 processing.
Want to switch between AUTO and A general-purpose input port can be set I/O parameter No. 79 = Input port Set the mode switch to the AUTO side.
MANU modes using an input port. as a mode switching input (dedicated number The AUTO mode will be enabled when
input). Set a desired input port number the specified input port turns OFF, and
in I/O parameter No. 79. the MANU mode will be enabled when
the input port turns ON.
If the mode switch is set to the MANU

side, the MANU mode will be enabled
regardless of ON/OFF of this input port.
This function is available on controllers

shipped in or after 2003.
Want to automatically execute restart The emergency-stop recovery type can Other parameter No. 10 = 3 After the emergency-stop button is
(software reset) after the emergency EHVHWWR³$ERUWRSHUDWLRQVSURJUDPV I/O parameter No. 33 = 1 released, the system will automatically
stop is reset, and start the auto-start (Software reset when the emergency execute restart (software reset) and
program. VWRSLVUHVHW´ start the auto-start program.
Want to automatically execute error The emergency-stop recovery type can Other parameter No. 10 = 4 After the emergency-stop button is
reset after the emergency stop is reset, EHVHWWR³$ERUWRSHUDWLRQVSURJUDPV I/O parameter No. 33 = 1 released, the system will automatically
and start the auto-start program. (Error reset and auto program start I/O parameter No. 44 z 1 execute error reset and start the auto-
ZKHQWKHHPHUJHQF\VWRSLVUHVHW´ start program.
Appendix
363
Action Parameter setting Manipulation/operation
364
Description
Want to continue actuator operation The emergency-stop recovery type Other parameter No. 10 = 2 After the emergency-stop button is
after the emergency stop is reset FDQEHVHWWR³2SHUDWLRQFRQWLQXHG´ I/O parameter No. 35 = 1 (Input port released, actuator operation will
(want to resume actuator operation No. 5 is set as a pause reset input.) continue at the ON edge of input port
from the part stopped due to I/O parameter No. 31 = 1 (Input port No. 5.
emergency stop input). Programs No. 1 is set as a restart input. This is To discontinue the operation, turn ON
other than the one commanding to provide a means of canceling the input port No. 1 for at least 1 second
actuator operation remain running operation.) to execute restart, without executing
while emergency-stop signal is input. ON-edge input to input port No. 5.
(Programs not commanding actuator
operation remain running while
emergency-stop signal is input. The
program commanding actuator

operation will remain running until the
execution step reaches an operation
command.)
Do not want to use a system-memory The controller can be used without Other parameter No. 20 = 0 In this setting, SEL global data will be
backup battery. installing a system-memory backup cleared when the main power is
battery. turned off. In addition, even after
running a program that rewrites
position data, the previous position
data will be restored once the main
power is turned off or the application
is restarted (software reset). To retain
the new position data, the data must
be written to the flash ROM in the
MANU mode before turning off the
main power or restarting the
application.
%HVXUHWRUHIHUWR³:KHQWKH
system-memory backup battery is not
XVHG´LQ&KDSWHURI3DUW
Appendix
Want to output signal when the A desired actuator zone can be set for Setting example) Set the area illustrated For the output signal to be processed,
actuator enters a specified area each axis. A desired output port to turn below as zone 1: the axes must stay for at least 3 msec in
(zone). ON when the axis enters the zone can Axis 1: Output port No. 311 will turn ON the zone. Duplicate output port numbers
be set for each axis. A maximum of four when the axis enters the area cannot be specified.
zones can be set (zones 1 to 4). between 150 and 200 mm.
Max. value of zone 1: Axis 2: Output port No. 312 will turn ON
Axis-specific parameter No. 86 when the axis enters the area
Min. value of zone 1: between 75 and 125 mm.
Axis-specific parameter No. 87
Zone 1 output port number: Axis 2
Axis-specific parameter No. 88
125
Max. value of zone 2: m : Output port No. 311 turns
Axis-specific parameter No. 89 75 ON.

Min. value of zone 2: m : Output port No. 312 turns
Axis-specific parameter No. 90 ON.
Zone 2 output port number: Axis 1
Axis-specific parameter No. 91 0 150 200
Max. value of zone 3:

Axis-specific parameter No. 92 Axis 1 Axis 2
Min. value of zone 3: Axis-specific
Axis-specific parameter No. 93 parameter 200000 125000 *
Zone 3 output port number: No. 86
Axis-specific parameter No. 94 Axis-specific
parameter 150000 75000 *
Max. value of zone 4: No. 87
Axis-specific parameter No. 95 Axis-specific
Min. value of zone 4: parameter 311 312
Axis-specific parameter No. 96 No. 88
Zone 4 output port number: *: Max. and min. values are input in
Axis-specific parameter No. 97 units of 0.001 mm.
Appendix
365
Before changing a parameter, be sure to read the corresponding section in the List of Parameters.
Appendix
10.Servo Gain Adjustment

Since the servo has been adjusted at the factory in accordance with the standard specification of the actuator,
the servo gain need not be changed in normal conditions of use.
However, vibration or noise may occur depending on how the actuator is affixed, specific load condition, and so
on, and therefore the parameters relating to servo adjustment are disclosed to allow the customer to take quick
actions should adjustment become necessary.
Particularly with custom models (whose ball screw lead or stroke is longer than that of the standard model),
vibration/noise may occur due to external conditions.
In this case, the parameters shown below must be changed. Contact IAI for details.
‫ ە‬Position Gain
Axis-specific parameter No. Unit Input range Default (reference)
60 /sec 0 ~09999 30
This parameter determines the level of response with respect to a position control loop.
Increasing the setting improves compliance with the position command.
However, increasing the setting too much increases the tendency of the actuator to overshoot.
If the setting is low, compliance with the position command drops and the positioning time increases as a result.
Speed
Setting is high (overshoot)
Setting is low
Time
‫ ە‬Speed Loop Gain (Parameter List)

Driver guard parameter No. Unit Input range Default (reference)
38 - 1 ~ 32767 500
This parameter determines the level of response with respect to a speed control loop.
Increasing the setting improves compliance with the speed command (i.e., servo rigidity increases).
The greater the load inertia, the higher the setting should be.
However, increasing the setting too much increases the tendency of the actuator to overshoot or oscillate,
resulting in increased mechanical vibration.
Speed Setting is high (overshoot)
Setting is low
Time
366
Appendix
‫ ە‬Speed Loop Integral Time Constant (Parameter List 1)

39 - 1~1000 30
This parameter determines the level of response with respect to a speed control loop.
Increasing the setting results in lower response to the speed command and decreases the reactive force upon
load change. Compliance with the position command drops and the positioning time increases as a result.
However, decreasing the setting too much increases the tendency of the actuator to overshoot or oscillate,
resulting in increased mechanical vibration.
Speed
Setting is low (overshoot)
Setting is high
Time
‫ ە‬Current Loop Control Band Number

40 - 0 ~4 4
This parameter sets the control band for the PI current control system.
Normally the default setting need not be changed.
If this parameter is changed inadvertently, stability of the control system may be affected and a very dangerous
situation could occur.
This parameter is useful in certain situations. For example, changing the parameter will suppress resonance
noise should it generate. If you wish to change this parameter, consult IAI.
‫ ە‬Torque Filter Time Constant (Parameter List 1)

42 - 1~2500 0
This parameter determines the filter time constant applicable to the torque command.
If the mechanical resonance frequency is equal to or lower than the servo loop response frequency, the motor
will vibrate.
This mechanical resonance can be suppressed by increasing the setting of this parameter.
It should be noted, however, that increasing the setting too much may affect the stability of the control system.
367
Appendix
‫ ە‬FSG Gain
61 - 0 ~500 0
Set the amount of FF (feed-forward) gain of the position control system.

Setting this parameter increases the servo gain and improves the response of operation that uses a position
control loop.
Use this parameter to improve the response of a mechanical system whose rigidity is low or load inertia ratio is
high.
$VDURXJKJXLGHVHWDYDOXHEHWZHHQ³´DQG³´,Qcreasing the value set in this parameter reduces the
deviation and improves the response.
Take note, however, that setting an excessively large value may generate vibration or noise.
368
Error Level Control
System error Display (7- Error list Error LED Program run (Application only) Error reset
Error Error No.
assignment segment (Application output (MAIN (Application Remarks
level (HEX) Other parameter No. 4 = 0 Other parameter No. 4 = 1
source display, etc.) only) only) only)
MAIN application 800 ~ 88F
Special error level
MAIN core 890 ~ 8AF
provided for
{
level
maintenance
Secret
PC 8B0 ~ 8DF purposes
TP 8E0 ~ 8FF
MAIN application
MAIN core -
PC
PC (Update tool)
TP
MAIN application 200 ~ 24F
MAIN core -
PC 250 ~ 29F
U
PC (Update tool) 2A0 ~ 2CF (Battery and
TP 2D0 ~ 2FF fieldbus Status display,
{ Enabled.
MAIN application 900 ~ 93F errors will be input error, etc.
MAIN core 940 ~ 97F registered in
Message level
PC 980 ~ 9AF an error list.)
PC (Update tool) 9B0 ~ 9BF
TP 9C0 ~ 9FF
MAIN application A00 ~ A6F
MAIN core A70 ~ A9F
PC AA0 ~ ACF
TP AD0 ~ AFF
MAIN application The program in which the error
MAIN core - generated will be cancelled. Errors affecting
(Except for axis errors, a operation. The
PC All programs other than the
cancellation factor is present system will
³,2SURFHVVLQJSURJUDPDW
PC (Update tool) only for the moment the error attempt to reset
RSHUDWLRQSURJUDPDERUW´
TP occurs.) minor errors below
will be cancelled. (Except
{ { * However, in the case of an Enabled. this level using an
MAIN application 400 ~ 4CF for axis errors, a
error requiring servo OFF or auto-reset function
cancellation factor is
MAIN core - all-axis servo OFF, all via external active
present only for the
SURJUDPVRWKHUWKDQWKH³,2 command
PC 4D0 ~4DF moment the error occurs.)
processing program at 6,23,2
PC (Update tool) 4E0 ~4EF (application only).
RSHUDWLRQSURJUDPDERUW´ZLOO
TP 4F0 ~4FF be cancelled.
Appendix
369
System error Display (7- Error list Error LED Program run (Application only) Error reset
Error Error No.
assignment segment (Application output (MAIN (Application Remarks
370
level (HEX) Other parameter No. 4 = 0 Other parameter No. 4 = 1
source display, etc.) only) only) only)
MAIN application B00 ~ B9F The program in which the error
MAIN core BA0 ~ BBF generated will be cancelled. Errors affecting
- (Except for axis errors, a operation. The
All programs other than the
PC BC0 ~ BDF cancellation factor is present system will
³,2SURFHVVLQJSURJUDPDW
TP BE0 ~ BFF only for the moment the error attempt to reset
RSHUDWLRQSURJUDPDERUW´
MAIN application C00 ~ CCF occurs.) minor errors below
will be cancelled. (Except
MAIN core CD0 ~ CDF { { * However, in the case of an Enabled. this level using an
for axis errors, a
error requiring servo OFF or auto-reset function
cancellation factor is
all-axis servo OFF, all via external active
PC CE0 ~ CEF present only for the
SURJUDPVRWKHUWKDQWKH³,2 command
moment the error occurs.)
processing program at 6,23,2
TP CF0 ~ CFF (application only).
RSHUDWLRQSURJUDPDERUW´ZLOO
be cancelled.
MAIN application
MAIN core -
PC
PC (Update tool)
TP
MAIN application 600 ~ 6CF The program in which the error
MAIN core - generated will be cancelled.
PC 6D0 ~ 6DF * However, in the case of an The controller
PC (Update tool) 6E0 ~ 6EF error requiring drive-source All programs other than the power must be
TP 6F0 ~ 6FF { cutoff, servo OFF or all-axis ³,2SURFHVVLQJSURJUDPDW Not reconnected
{ {
MAIN application D00 ~ D8F (Core only) servo OFF (initialization error, RSHUDWLRQSURJUDPDERUW´ enabled. (MAIN only).
MAIN core D90 ~ DAF power error, etc.), all programs will be cancelled. (The CPU and OS
Cold-start level
PC DB0 ~ DCF RWKHUWKDQWKH³,2SURFHVVLQJ will run properly.)
PC (Update tool) DD0 ~ DDF SURJUDPDWRSHUDWLRQSURJUDP
TP DE0 ~ DFF DERUW´ZLOOEHFDQFHOOHG
MAIN application E00 ~ E8F
MAIN core E90 ~ EBF
PC (Update tool) EC0 ~ EDF

TP EE0 ~ EFF
MAIN application
MAIN core -
PC The controller
PC (Update tool) power must be
TP Not reconnected
{ { { All programs will be cancelled.
MAIN application FF0 ~ FBF enabled. (MAIN only).
MAIN core FC0 ~ FCF (The CPU and OS
will not run.)
System-down level
PC (Update tool) FD0 ~ FDF
TP FE0 ~ FEF
Note) Secret-level errors are not actual errors. Internal statuses are registered in an error list as secret-level errors, when deemed necessary, in order to facilitate error analysis.
PC: PC software TP: Teaching pendant
Appendix
Panel Window Messages (Other than Errors)
Error No. Error name Description, action, etc.
ACE AC power cut off. A momentary power failure has occurred or the voltage is low.
Or, check the power-supply voltage.
ErG Emergency stop actuated. (This is not an error.) An emergency stop signal has been input.
DSF Deadman switch OFF. (This is not an error.) The deadman switch in the teaching pendant is turned OFF.
0PG Safety gate open. (This is not an error.) The safety gate is open.
-rP Waiting for drive-source cutoff reset input. (This is not an The drive-source cutoff mode is reset at the ON edge of the signal
error.) received by input port No. 14. (Refer to I/O parameter No. 44.)
-rS Operation paused (waiting for restart). (This is not an error.) The operation will continue when the signal received by input port No. 5
turns ON. (Refer to I/O parameter No. 35.)
-lLC Servo interlock actuated for all axes. (This is not an error.) The operation will continue when the signal received by input port No. 4
turns ON. (Refer to I/O parameter No. 34.)
Error List (MAIN application) (In the panel window, thHWKUHHGLJLWVDIWHU³(´LQGLFDWHDQHUURUQXPEHU

207 Update file name error (IAI protocol) The name of the selected update program file is invalid in the update
mode. Select the correct file and repeat the update procedure from the
beginning.
20E Motorola S byte count error The update program file is invalid. Check the file.
20F Update target specification error (Received by the An update target specification command was received by the application
application) system. To update the application, restart the controller and repeat the
update procedure from the beginning.
Appendix
371
372
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Appendix
B94 Number of palletizing placement points calculation error The calculated value of number of palletizing placement points is abnormal.
Check the palletizing count setting and number of even rows in zigzag setting.
B95 Number of palletizing placement points coordinates A coordinate calculation error for palletizing placement points occurred. Check the
calculation error palletizing reference point, palletizing count setting and palletizing pitch.
C02 Executable program count over error Execution requests were received for programs exceeding the number that can be
executed simultaneously.
C03 Non-registered program specification error An unregistered program number between 1 and 64 was specified by a PIO or in
the program.
C04 Program entry point non-detection error A request was made to execute a program number for which no program steps
are registered.
C05 Program first-step BGSR error The program specified for execution starts with BGSR.
C06 Executable step non-detection error The program specified for execution does not contain executable program steps.
C07 Subroutine non-definition error The subroutine specified for call is not defined.
C08 Subroutine duplicate-definition error The same subroutine number is defined at multiple locations.
C0A Tag duplicate-definition error The same tag number is defined at multiple locations.
C0B Tag non-definition error The tag specified as the jump destination of a GOTO statement is not defined.
C0C DW/IF/IS/SL pair-end mismatch error The branching command syntax is invalid. Correspondence with the last
appearing branching command is invalid when EDIF, EDDO or EDSL is used.
Check the correspondence between IF/IS command and EDIF, DO command and
EDDO or SLCT command and EDSL.
C0D DW/IF/IS/SL no pair-end error EDIF, EDDO or EDSL is not found. Check the correspondence between IF/IS
command and EDIF, DO command and EDDO or SLCT command and EDSL.
C0E BGSR no pair-end error There is no EDSR for BGSR, or no BGSR for EDSR. Check the correspondence
between BGSR and EDSR.
C0F DO/IF/IS over-nesting error The number of nests in a DO or IF/IS command exceeds the limit value. Check for
excessive nesting or branching out of or into the syntax using a GOTO command.
C10 SLCT over-nesting error The number of nests in a SLCT command exceeds the limit value. Check for
excessive nesting or branching out of or into the syntax using a GOTO command.
C11 Subroutine over-nesting error The number of nests in a subroutine exceeds the limit value. Check for excessive
nesting or branching out of or into the syntax using a GOTO command.
C12 DO/IF/IS under-nesting error The EDIF or EDDO position is invalid. Check the correspondence between IF/IS
command and EDIF or DO command and EDDO, or branching out of or into the
syntax using a GOTO command.
C13 SLCT under-nesting error The EDSL position is invalid. Check the correspondence between SLCT and
EDSR, or branching out of or into the syntax using a GOTO command.
Appendix
381
382
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power OFF o21LQWHUYDOLVVKRUW$IWHUWKHSRZHUKDVEHHQWXUQHGRIIEH
VXUHWRZDLWIRUDWOHDVWVHFRQGVEHIRUHWXUQLQJLWEDFNRQ$EQRUPDO
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(& 3RLQWGDWDIODVK520VWDWXVHUURU 'DWDLVQRWZULWWHQWRWKHIODVK520FRUUHFWO\RUZULWWHQLQDQROG
Appendix
395
396
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520W\SHDFWXDOO\LQVWDOOHG&KHFNWKHFRPELQDWLRQRIVRIWZDUHDQG
KDUGZDUH
Appendix
Error List (MAIN core) (In the panel window, the WKUHHGLJLWVDIWHU³(´LQdicate an error number.)
A70 SCIF overrun error Communication error. Check for noise, connected equipment and
communication setting. (When updating the application, connect to a PC
DQGXVH,$,¶VXSGDWHWRRO
A71 SCIF framing error Communication error. Check for noise, shorted/disconnected
communication cable, connected equipment and communication setting.
:KHQXSGDWLQJWKHDSSOLFDWLRQFRQQHFWWRD3&DQGXVH,$,¶VXSGDWHWRRO
A72 SCIF parity error Communication error. Check for noise, shorted/disconnected
communication cable, connected equipment and communication setting.
A73 IAI protocol header error Communication protocol error. Check for noise and connected equipment.
A74 IAI protocol terminal ID error Communication protocol error. Check for noise and connected equipment.
A75 IAI protocol command ID error Communication protocol error. Check for noise and connected equipment.
A76 IAI protocol checksum error Communication protocol error. Check for noise and connected equipment.
A77 Motorola S record type error The update program file is invalid. Check the file.
A78 Motorola S checksum error The update program file is invalid. Check the file.
A79 Motorola S load address error The update program file is invalid. Check the file.
A7A Motorola S write address over error The update program file is invalid. Check the file.
A7B Flash timing limit over error (Write) Error writing the flash ROM (When updating)
A7C Flash timing limit over error (Erase) Error erasing the flash ROM (When updating)
A7D Flash verify error Error erasing/writing the flash ROM (When updating)
A7E Flash ACK timeout Error erasing/writing the flash ROM (When updating)
A7F Head sector number specification error Error erasing the flash ROM (When updating)
A80 Sector count specification error Error erasing the flash ROM (When updating)
A81 Write-destination offset address error (Odd-numbered The address written during flash ROM write (when updating) is invalid.
address) Check the update program file.
A82 Write-source data buffer address error (Odd-numbered Error writing the flash ROM (When updating)
address)
A83 Invalid code sector block ID error The flash ROM is new, or the program currently written to the flash ROM is
invalid because the last update was aborted. The ROM can be updated
without problem.
Appendix
A84 Code sector block ID erase count over The number of times the flash ROM was erased exceeded the allowable
397
count.
398
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Appendix
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Appendix
399
400
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Appendix
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Appendix
401
Appendix
Troubleshooting of X-SEL Controller

The X-SEL Controller has a panel window on its front face.
Error numbers will be displayed in this panel window.
:KHQWKHSRZHULVWXUQHGRQQRUPDOO\³UG\´RU³$UG\´ZLOOEHGLVSOD\HG³3´RURWKHUFRGHZLOOEH
displayed while a program is running.
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GRQRWEHJLQZLWK³(´
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After turning on the power rdy, Ardy
3URJUDPLVUXQQLQJ 33HWF
Error has generated ($'('HWF
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'HSHQGLQJRQWKHHUURUQXPEHULWPD\EHSRVVLEOHWRUHset the error after removing the cause of the error,

or the power must be reconnected to reset the error.
$OVRVRPHHUURUQXPEHUVDUHRXWSXWWRWKH/('GLsplay in the panel window, while others are not.
)RUGHWDLOVVHH³(UURU/HYHO&RQWURO´
402
Troubleshooting (Causes and Countermeasures for Key Errors)
Error No. Error name Cause Countermeasure
ACF AC power cutoff Momentary power failure has occurred or Check the power-source voltage.
the voltage has dropped. ,IWKHODVWGLJLWRIWKHFRQWUROOHU¶VPRGHOQXPEHULV³´
9LVLQSXWZKLOHWKHFRQWUROOHU¶VYROWDJH WKHSRZHUVSHFLILFDWLRQLV9,IWKHODVWGLJLWLV³´
specification is 200 V. the power specification is 200 V.
ErG Emergency stop Emergency-stop signal is input. Emergency-stop signal is input in the following
(This is not an error.) condition:
1. The emergency-stop button on the teaching
pendant is pressed.
2. The applicable input terminal in the system

connector is turned ON.
3. The port switch on the front panel is set to the
manual side.
(The teaching-pendant/PC-software connector is
not connected.)
4. The actuator is of sensor specification and the slider
is stopped on either end of the slider.
oPG Safety gate open The safety gate is open. Check the system connector wiring.
dSF Deadman switch OFF The switch is set to the manual side even Set the switch to the auto side when the teaching-
when the teaching-pendant connector or pendant connector or other connector is not connected.
other connector is not connected.
C9C Defective phase-Z position The phase-Z position is defective or the Check to see if foreign object has entered the actuator.
error reversing amount at home return is small. Check to see if the mounting bolts are contacting the
slider.
&KDQJHD[LVVSHFLILFSDUDPHWHU1RWR³´
Appendix
403
Troubleshooting (Causes and Countermeasures for Key Errors)
404
CA1 Abnormal absolute-data The PG cable was disconnected from the Connect the PG cable to the controller and execute an
backup battery voltage controller. absolute reset.
Absolute reset has not been executed after Replace the absolute-data backup battery and execute
the initial setup. an absolute reset.
The voltage of the absolute-data backup
battery has dropped.
CA5 Stop deviation overflow error Operation is mechanically disabled. Check to see if the actuator mounting bolts are
If there is no problem in the mechanical contacting inside the axes, or if the slider attachment is
function, the power stage board is faulty. contacting any surrounding mechanical parts.
Replace the board.

C6b Deviation overflow error Operation is mechanically disabled. Check to see if the actuator mounting bolts are
contacting inside the axes, or if the slider attachment is
contacting any surrounding mechanical parts.
d03 Faulty encoder or attachment The encoder is faulty or dust is attached. Remove the motor cover and apply cleaning air spray
of dust for OA equipment, etc., over the cord wheel.
If the problem persists, replace/readjust the encoder.
d06 Encoder received-data error The encoder cable is disconnected. Replace the encoder cable.
d10 IPM error The motor coil is damaged. Measure resistances among phases U/V/W. If the
resistance values are different, the coil has been
burned. Replace the motor.
If the resistance values are almost the same, the coil
has not been burned.
If the motor coil is not damaged, the power Replace the board.
stage board (to which the motor power
cable is connected) is faulty.
d19 Encoder receive timeout The encoder cable is disconnected. Replace the encoder cable.
error
Appendix
d18 Speed loop underrun error The driver CPU board was damaged due to Replace the board and implement noise measures.
noise in the encoder cable.
807 Shutdown relay ER status The transistor on the power-supply board Replace the board.
(to which the power cable is connected) is
damaged.
Appendix
405
Appendix
Trouble Report Sheet
Trouble Report Sheet Date:

Company name Department Reported by
TEL (Ext) FAX
IAI agent Purchase date
Serial number Manufacture date
[1] Number of axes axis(es) 1= 2=
Type 3= 4=
5= 6=
7= 8=
[2] Type of problem
1. Disabled operation 2. Position deviation 3. Runaway machine
4. Error Error code =
5. Other ( )
[3] Problem frequency and condition
Frequency =
Condition
[4] When did the problem occur?

1. Right after the system was set up
2. After operating for a while (Operating hours: year(s) and month(s))
[5] Operating direction
1. Horizontal 2. Horizontal + Vertical
[6] Load condition
1. Load transfer 2. Push-motion operation 3. Load: Approx. kg
4. Speed: Approx. mm/sec
[7] Special specification (option, etc.)
406
Appendix
Change History
Revision Date Description of Revision
November 2011 Twenty Third edition
“Before Use” added

“Sefety Precautions” changed to “Sefety Guide”
A page for CE Marking added
• Page 1 KE added to the models
• Page 3 Contents changed in Warranty
• Page 9 Front view added for KE Controller main unit
• Page 11 (3) Circuit Protector added
• Page 31 “(Note) The front panel in the diagram is that of XSEL-K.” added
407
Manual No.: ME0116-23A (November 2011)
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505

TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143
TEL (630) 467-9900 FAX (630) 467-9912
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany

TEL 06196-88950 FAX 06196-889524
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com
The information contained in this document is subject to change without notice for purposes of
product improvement.
Copyright © 2011. Nov. IAI Corporation. All rights reserved.
11.11.000

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X-SEL Controller

Safety Precautions for Our Products

Level Degree of Danger and Damage Symbol

This indicates an imminently hazardous situation which, if the

This indicates a potentially hazardous situation which, if the

This indicates a potentially hazardous situation which, if the

Ten Rules for Handling Cables (Must be Observed!)

6. Do not pinch, drop a heavy object onto or cut the

[Standard structure of cable]

Need for Robot Cables

Part 1 Installation .........................................................................................2

Part 3 Controller Data Structure.................................................................56

Part 4 Commands ......................................................................................76

Part 5 Multi-Tasking .................................................................................267

Appendix ............................................................................................................................... 278

Actuator Specification List .................................................................................................... 278

For details on models, refer to the table below.

Model number table

Notes on installing the absolute-data backup battery (absolute specification)

Chapter 1 Safety Precautions

6. Other Items Excluded from Warranty

Chapter 3 Installation Environment and Noise Measures

Environmental Condition of Controller

2. Heat Radiation and Installation

I/02 I/01 I/02 I/01

LS4 LS 3 LS2 L S1 LS4 L S3 LS2 L S1

4. Noise Measures and Grounding

* Notes on wiring method

(2) Noise-elimination grounding

;6(/ Other ;6(/ Other

Measure --- Install a surge killer in parallel with the coil.

b. DC solenoid valve, magnet switch, relay

In a DC circuit, connecting a diode in reversed polarity will

Reference Circuit Diagram

SOL Surge absorber

Chapter 4 Name and Function of Each Part

1. Front View of Controller

Type K (General-purpose type) 4-axis

(5) (6) (11) (12) (13) (14)

PG1 PG3 CODE

I/O1 I/O2 I/O3 I/O4

(1) (2) (4) (8) (9) (10) (18) (19)

Type J (Compact type)1-axis

(6) (9)(11) (14)

(1) (8) (10)(18)

Type J (Compact type) 4-axis

(6) (11) (14)

(1) (8) (9) (10) (19) (18)

Type KE (CE-compliant) 4-axis

I/O1 I/O2 I/O3 I/O4

(1) (4) (8) (9) (10) (18) (19)

Overview of Circuit Protector Specifications

(4) AC input connector 100/200-VAC, single-phase input connector.

An insufficient regenerative resistance capacity will cause “E65, F63: Regenerative

Overview of Motor Connector Specifications

(6) Axis-sensor connector

Axis-Sensor Connector Specifications

Battery Capacity: 1000 mAh

Absolute-Battery Connector Specifications

(8) Brake switch

(10) Encoder connector

MC1.5/6-ST-3.5 by Phoenix Contact; 6-pin, 2-piece

ENB IN Safety-gate input

;6(/ Other ;6(/ Other

# 1141 [VA]

35.9 112.5 112.5 35.9 3 - 5 125.3