Device |
Bit Address |
Word Address |
Double Word
Address |
32 bits |
Remarks |
Input Port |
IP000 - IP299 |
IP000 - IP272 |
------ |
|
 *1
|
Output Port |
OP300 - OP599 |
OP300 - OP572 |
------ |
|
Flag |
FG000.600 - FG000.899
FG001.900 - FG128.999 |
FG000.600 - FG000.872
FG001.900 - FG128.980 |
------ |
*2 |
Point Data Total Count |
------ |
PDT0 |
------ |
------ |
*1 |
Integer |
------ |
------ |
INT000.0200 - INT000.1299
INT001.0001 - INT128.1099 |
|
*3 |
Real |
------ |
------ |
RL000.0300 - RL000.1399
RL001.0100 - RL128.1199 |
*4 *33 |
String |
------ |
STR000.300 - STR000.998
STR001.001 - STR128.299 |
------ |
 *5
|
Axis Status |
------ |
AXST00 - AXST47 |
------ |
*1 *6 |
Scara Axis Status |
------ |
SAXS000 - SAXS3FF |
------ |
*1 *7 |
Version |
------ |
VR000 - VR3FF |
------ |
*1 *8 |
Error Detail 0 |
------ |
------ |
ER00000000 - ER0FFFFFFF |
*1 *9 |
Error Detail 1 |
------ |
------ |
ER10000000 - ER1FFFFFFF |
*1 *9 |
Error Detail 2 |
------ |
------ |
ER20000000 - ER2FFFFFFF |
*1 *9 |
Error Detail 3 |
------ |
------ |
ER30000000 - ER3FFFFFFF |
*1 *9 |
Error Detail 4 |
------ |
------ |
ER40000000 - ER4FFFFFFF |
*1 *9 |
Error Detail 5 |
------ |
------ |
ER50000000 - ER5FFFFFFF |
*1 *9 |
Error Detail 6 |
------ |
------ |
ER60000000 - ER6FFFFFFF |
*1 *9 |
Error Detail 7 |
------ |
------ |
ER70000000 - ER7FFFFFFF |
*1 *9 |
Program Status |
------ |
PGST000 - PGST511 |
------ |
*1 *10 |
System Status |
------ |
SYST0 - SYST6 |
------ |
*1 *11 |
Program Control |
------ |
PRG000 - PRG128 |
------ |
*12 *13 |
Alarm Reset |
------ |
AR0 |
------ |
------ |
*12 |
Software Reset |
------ |
SR0 |
------ |
*12 *14 |
Drive-Source Recovery |
------ |
DSR0 |
------ |
*12 |
Operation-Pause Reset |
------ |
OPR0 |
------ |
*12 |
Point Data Clear |
PCLR001 - PCLRFA0
PCLR0001 - PCLR4E20 |
PCLR001 - PCLRF91
PCLR0001 - PCLR4E11 |
------ |
|
*12 *15 |
Absolute Coordinate Movement |
------ |
------ |
ACM0 - ACMC |
*16 |
Relative Coordinate Movement |
------ |
------ |
RCM0 - RCMC |
*17 |
Jogging/Inching Movement |
------ |
------ |
JIM0 - JIM6 |
*18 |
Point Number Movement |
------ |
PNM0 - PNM5 |
------ |
*19 |
Point Data |
------ |
------ |
PD00 - PD9E |
*20 |
Servo |
------ |
SV0 - SV2 |
------ |
*21 |
Return to Origin |
------ |
RO0 - RO3 |
------ |
*22 |
Operation Stop/Cancel |
------ |
OSC0 - OSC2 |
------ |
*23 |
Coordinate Affiliate Data |
------ |
------ |
CD0000 - CD1FFF |
*1 *24 |
Simple Interference Check Zone Data |
------ |
------ |
SD010 - SDFFF |
*1 *25 |
Scara Absolute Coordinate Movement |
------ |
------ |
SACM0 - SACMD |
*26 |
Scara Relative Coordinate Movement |
------ |
------ |
SRCM0 - SRCMD |
*27 |
Scara Point Number Movement |
------ |
SPNM0 - SPNM6 |
------ |
*28 |
Feedback Current*29 |
------ |
FC0 - FCA |
------ |
*1 *30 |
Task Status |
------ |
TAST00 - TAST80 |
------ |
*1 *31 |
Flash ROM |
------ |
FR0 |
------ |
*12 *32 |
*1 Write disable
*2 The flag device descriptions
are shown below.
Address Configuration |
|
Description |
|
(1) |
Program number:
Global area (000)
Local area (001 to 128) |
(2) |
Flag number:
Global area (600 to 899)
Local area (900 to 999) |
*3 The integer valuables
device descriptions are shown below.
Address Configuration |
|
Description |
|
(1) |
Program number:
Global area (000)
Local area (001 to 128) |
(2) |
Variable number:
Global area (0200 to 0299,1200 to
1299)
Local area (0001 to 0099,1001 to
1099) |
*4 The real valuables
device descriptions are shown below.
Address Configuration |
|
Description |
|
(1) |
Program number:
Global area (000)
Local area (001 to 128) |
(2) |
Variable number:
Global area (0300 to 0399,1300 to
1399)
Local area (0100 to 0199,1100 to
1199) |
*5 The string valuables
device descriptions are shown below.
Address Configuration |
|
Description |
|
(1) |
Program number:
Global area (000)
Local area (001 to 128) |
(2) |
Variable number:
Global area (300 to 998 (only even))
Local area (001 to 299 (only odd)) |
*6 The axis status device
descriptions are shown below.
Address Configuration |
|
Description |
|
(1) |
Obtained data:
AXST00 to AXST05: Single-axis status
00: Axis status
Bit 7 (Reserved for system use)
Bit 6 (Reserved for system use)
Bit 5 (Push error detection): 0 =
Not detected / 1 = Detected
Bit 4 (Operation command successful
completion): 0 = Not yet complete / 1 = Completed successfully
* Can be used only for completion
check after an operation command.
Bit 3 (Servo): 0 = OFF / 1 = ON
Bit 1-2 (Origin return): 0 = Not
yet performed / 1 = Returning to origin / 2 = Completed
Bit 0 (Servo axis in use): 0 = Not
in use / 1 = In use (moving, etc.)
* "Servo axis in use" indicates
that a given task has the right to use the applicable axis.
Therefore, this bit will turn ON
in the following conditions:
- When an operation command involving
axis movement is in progress (including when an axis is moving)
- Servo is starting up from an OFF
state
- Servo is shutting down from an
ON state (excluding emergency stop)
- Operation axis is paused
01: Axis sensor input status
Bit 3 (Reserved for system use)
Bit 2 (Origin sensor): 0 = OFF /
1 = ON
Bit 1 (Overrun sensor): 0 = OFF /
1 = ON
Bit 0 (Creep sensor): 0 = OFF / 1
= ON
02: Axis error code
03: Encoder status
Bit 7 (Battery alarm (BA))
Bit 6 (Battery error (BE))
Bit 5 (Multi-rotation error (ME))
Bit 4 (Reserved for system use)
Bit 3 (Counter overflow (OF))
Bit 2 (Count error (CE))
Bit 1 (Full absolute status (FS))
Bit 0 (Overspeed (OS))
04: Current position (L) unit (0.001mm)
Indicates the lower 16 bits of the
current position in Hex.
05: Current position (H) unit (0.001mm)
Indicates the upper 16 bits of the
current position in Hex.
AXST06 to AXST11: Double axes status
...
AXST42 to AXST47: Eight axes status |
*7 The Scara axis status
device descriptions are shown below.
Address Configuration |
|
Description |
|
(1) |
Unit type (0 to F)
Bit 3 (Reserved for system use) Fixed
to 0
Bit 2 (Reserved for system use) Fixed
to 0
Bit 0-1 (Scara axis current position
type): 0 = Base coordinate system / 1 = Selected work coordinate
system / 2 = Reserved for system use / 3 = Each axis system |
(2) |
Obtained data:
00: Work coordinate system selection
number
01: Tool coordinate system selection
number
02: Common axis status
Bit 7 (Reserved for system use)
Bit 6 (Reserved for system use)
Bit 5 (Reserved for system use)
Bit 4 (Reserved for system use)
Bit 2-3 (Scara axis current position
coordinate system type): 0 = Base coordinate system / 1 = Selected
work coordinate system / 2 = Reserved for system use / 3 = Each
axis system
Bit 0-1: (Scara axis current arm
system): 0 = Right arm system / 1 = Left arm system / 2 = Indeterminable
/ 3 = Reserved for system use
03: Axis pattern
04 to 09: Single-axis status
04: Axis status
Bit 7 (Reserved for system use)
Bit 6 (Reserved for system use)
Bit 5 (Push error detection): 0 =
Not detected / 1 = Detected
Bit 4 (Operation command successful
completion): 0 = Not yet complete / 1 = Completed successfully
* Can be used only for completion
check after an operation command.
(For positioning that includes any
of the X, Y and R axes, be sure to check completion for all of
the X, Y and R axes.)
Bit 3 (Servo): 0 = OFF / 1 = ON
Bit 1-2 (Origin return): 0 = Not
yet performed / 1 = Returning to origin / 2 = Completed
Bit 0 (Servo axis in use): 0 = Not
in use / 1 = In use (moving, etc.)
* "Servo axis in use" indicates
that a given task has the right to use the applicable axis.
Therefore, this bit will turn ON
in the following conditions:
- When an operation command involving
axis movement is in progress
(including when an axis is moving)
- Servo is starting up from an OFF
state
- Servo is shutting down from an
ON state (excluding emergency stop)
- Operation axis is paused
05: Axis sensor input status
Bit 3 (Reserved for system use)
Bit 2 (Origin sensor): 0 = OFF /
1 = ON
Bit 1 (Overrun sensor): 0 = OFF /
1 = ON
Bit 0 (Creep sensor): 0 = OFF / 1
= ON
06: Axis error code
07: Encoder status
Bit 7 (Battery alarm (BA))
Bit 6 (Battery error (BE))
Bit 5 (Multi-rotation error (ME))
Bit 4 (Reserved for system use)
Bit 3 (Counter overflow (OF))
Bit 2 (Count error (CE))
Bit 1 (Full absolute status (FS))
Bit 0 (Overspeed (OS))
08: Current position (L) unit (0.001mm
or 0.001deg)
Indicates the lower 16 bits of the
current position in Hex.
09: Current position (H) unit (0.001mm
or 0.001deg)
Indicates the upper 16 bits of the
current position in Hex.
0A to 0F: Double axes status
...
2E to 33: Eight axes status
34 to FF: Reserved for system use |
*8 The version device
descriptions are shown below.
Address Configuration |
|
Description |
 |
(1) |
Unit type (0 to 3)
0= Main CPU application/1 = Main
CPU core / 2= Driver CPU / 3 = Mount SIO |
(2) |
Device number (0 to F)
0: Axis #1
1: Axis #2
2: Axis #3
3: Axis #4
4: Axis #5
5: Axis #6
* Fixed to 0 for all Unit types except
2 |
(3) |
Obtained data:
0: Model code
1: Unit code
2: Version number
3: Time (year)
4: Time (month)
5: Time (day)
6: Time (hour)
7: Time (min)
8: Time (sec)
9 to F: Reserved for system use |
*9 The device descriptions
of error detail 0 through error detail 7 are shown below.
Address Configuration |
|
Description |
 |
(1) |
Type 1
0 = System error /1 = Axis-specific
error / 2 = Program-specific error / 3 = Error in error list record
/ 4 or later = Reserved for system use |
(2) |
Type 2 (0 to FF)
System error: 0 = Critical level
error / 1 = Latest error
Axis-specific error: Axis number
Program-specific error: Program number
Error in error list record: Record
number (1 to ) |
(3) |
Reserved for system use |
(4) |
Obtained data:
00: Error number
01: Detail information 1
Other than system-down level error:
Program number
(Error source is indicated if the
step number is not 0.)
System-down level error: System down
type
02: Detail information 2
Other than system-down level error:
Step number (Error source)
System-down level error: System down
error code
03: Detail information 3
Other than system-down level error:
Axis number
System-down level error: System down
information 1
04: Detail information 4
Other than system-down level error:
Point number
(Negative value at interpolation
point)
System-down level error: System down
information 2
05: Detail information 5
06: Detail information 6
07: Detail information 7
08: Detail information 8
09: Message bytes
0A: Message 1 (4 bytes)
10: Message 2 (4 bytes)
...
49: Message 64 (4 bytes)
50 to FF: Reserved for system use |
*10 The program status
device descriptions are shown below.
Address Configuration |
|
Description |
|
(1) |
Obtained data:
000 to 003: Program number 1 status
000: Status
Bit 3 (Reserved for system use)
Bit 2 (Reserved for system use)
Bit 1 (Reserved for system use)
Bit 0 (Start): 0 = Not started /
1 = Started
001: Execution program step number
002: Program-dependent error code
003: Error occurrence step number
004 to 007: Program number 2 status
...
508 to 511: Program number 128 status |
*11 The system status
device descriptions are shown below.
Address Configuration |
|
Description |
|
(1) |
Obtained data:
0: System mode
0 = Indeterminable / 1 = AUTO mode
/ 2 = MANUAL mode / 3 = Slave update mode / 4 = Core update mode
1 Critical level system error number
2: Latest system error number
3: System status byte 1
Bit 7 (Reserved for system use)
Bit 6 (Battery voltage error status)
: 0 = No error / 1 = Error
Bit 5 (Battery voltage low warning
status): 0 = No low / 1 = Low
Bit 4 (Power error status): 0 = Normal
/ 1 = Error
Bit 3 (Emergency stop switch status):
0 = No emergency stop / 1 = Emergency stop
Bit 2 (Safety gate status): 0 = CLOSE
/ 1 = OPEN
* X-SEL (P/Q Series) (Multi axes/Scara)/SSEL/ASEL/PSEL:
Enable switch
(Deadman switch / Enable switch)
status is indicated.
Bit 1 (TP enable switch status):
0 = ON / 1 = OFF
* X-SEL (P/Q Series) (Multi axes/Scara)/SSEL/ASEL/PSEL:
This bit is disabled (fixed to 0).
Bit 0 (Operation mode switch status):
0 = AUTO / 1 = MANUAL
4: System status byte 2
Bit 7 (Reserved for system use)
Bit 6 (Reserved for system use)
Bit 5 (Program run status): 0 = Not
run / 1 = Running
Bit 4 (Restart wait status): 0 =
Not waiting / 1 = Waiting
Bit 3 (I/O interlock status): 0 =
No interlock / 1 = Interlock
Bit 2 (Servo interlock status): 0
= No interlock / 1 = Interlock
Bit 1 (Slave parameter writing status):
0 = Not writing / 1 = Writing
Bit 0 (Application data flash ROM
write status): 0 = Not writing/erasing / 1 = Writing/erasing
* When the core program is in operation
(Application update mode), only Bit 0 is enabled.
Data for System mode, Critical level
system error number, Latest system error number, System status
byte 1, System status byte 3 and System status byte 4 is disabled.
5: System status byte 3
Bit 7 (Reserved for system use)
Bit 6 (Reserved for system use)
Bit 5 (Reserved for system use)
Bit 4 (Operation mode): 0 = Program
mode / 1 = Position mode
Bit 3 (Reserved for system use)
Bit 2 (System ready status): 0 =
Not ready / 1 = Ready
Bit 1 (System operation status):
0 = Not operating in AUTO mode / 1 = Operating in AUTO mode
Bit 0 (Drive-source cutoff status):
0 = Not cut off / 1 = Cut off
6: System status byte 4
Reserved for system use |
*12 Read disable
*13 The program control
device sends different commands depending to write data.
Other write data than the following is processed
as Private Error (0x80) inside the Display.
Write Data 0: Program Execution Command(0x253)
Write Data 1: Program Exit Command(0x254)
Write Data 2: Program Pause Command(0x255)
Write Data 3: Program 1 Step Execution Command(0x256)
Write Data 4: Program Restart Command(0x257)
For the word addresses from PRG001 to PRG128,
the above-shown commands are sent to the program numbers from 1 to 128,
respectively.
For PRG000, commands are sent to all the
running program numbers. However, "Program Execution Command"
and "Program 1 Step Execution Command" cannot be used for PRG000.
*14 In the event of SR
(Software Reset), displays no response error after no communication for
20 seconds, and restarts communication.
*15 Specifies the word
address only for the value of which the last one digit is 1.
*16 The absolute coordinate
movement device descriptions are shown below.
Address Configuration |
|
Description |
|
(1) |
Obtained data:
0: Command trigger
1 =Write / 4 =Clear
1: Axis pattern
2: Acceleration unit (0.01G)
The parameter value becomes enabled
when it is zero.
3: Deceleration unit (0.01G)
The parameter value becomes enabled
when it is zero.
4: Speed unit (mm/sec)
The parameter value becomes enabled
when it is zero.
(Safety limit is applied depending
on the mode.)
5 to C: Absolute coordinate data
unit (0.001mm) |
*17 The relative coordinate
movement device descriptions are shown below.
Address Configuration |
|
Description |
|
(1) |
Obtained data:
0: Command trigger
1 =Write / 4 =Clear
1: Axis pattern
2: Acceleration unit (0.01G)
The parameter value becomes enabled
when it is zero.
3: Deceleration unit (0.01G)
The parameter value becomes enabled
when it is zero.
4: Speed unit (mm/sec)
The parameter value becomes enabled
when it is zero.
(Safety limit is applied depending
on the mode.)
5 to C: Relative coordinate data
unit (0.001mm) |
*18 The jogging/inching
movement device descriptions are shown below.
Address Configuration |
|
Description |
|
(1) |
Obtained data:
0: Command trigger
1 =Write / 4 =Clear
1: Axis pattern
Only single Scara axis can be specified
for the Scara type
(Multipule axes can be specified).
For the Scara type, a jogging/inching
command can be issued only when none of the servo axes are operating.
X-SEL-PX/QX Series: The Scara and
translation axes cannot be specified simultaneously.
2: Acceleration unit (0.01G [for
each axis, in %])
The parameter value becomes enabled
when it is zero.
3: Deceleration unit (0.01G [for
each axis, in %])
The parameter value becomes enabled
when it is zero.
4: Speed unit (mm/sec [for each axis,
in %])
The parameter value becomes enabled
when it is zero.
(Safety limit is applied depending
on the mode.)
5: Inching distance unit (0.001mm
[for each axis, in 0.001deg])
Specify with the absolute value.
Distance is not specified if it is zero (=jogging).
6: Operation type
Bit 3 (Reserved for system use) Fixed
to 0
Bit 1-2 (Jogging/inching coordinate
system (Scara only)): 0 = Base coordinate system / 1 = Selected
work coordinate system / 2 = Selected tool coordinate system /
3 = Each axis system
Bit 0 (Jogging/inching direction):
0 = Negative direction on coordinate axis / 1 = Positive direction
on coordinate axis |
*19 The point number movement
device descriptions are shown below.
Address Configuration |
|
Description |
|
(1) |
Obtained data:
0: Command trigger
1 =Write / 4 =Clear
1: Axis pattern
2: Acceleration unit (0.01G)
The applicable setting value in the
position data becomes enabled when the acceleration setting is
zero.
If both above setting values are
zero, the parameter setting value is enabled.
3: Deceleration unit (0.01G)
The applicable setting value in the
position data becomes enabled when the deceleration setting is
zero.
If both above setting values are
zero, the parameter setting value is enabled.
4: Speed unit (mm/sec)
The applicable setting value in the
position data becomes enabled when the speed setting is zero.
If both above setting values are
zero, the parameter setting is enabled.
(Safety limit is applied depending
on the mode.)
5: Point number |
*20 The point data device
descriptions are shown below.
Address Configuration |
|
Description |
|
(1) |
Obtained data:
00: Command trigger
1 =Write / 2 =Read / 4 =Clear
01: Starting point number
02: Number of point data
03 to 0F: Point data 1
03: Point number
04: Axis pattern
05: Acceleration unit (0.01G)
06: Deceleration unit (0.01G)
07: Speed unit (mm/sec)
08 to 0F: Position data unit (0.001
mm)
08: 1st axis position data
...
0F: 8th axis position data
10 to 1C: Point data 2
...
92 to 9E: Point data 12 |
*21 The servo device descriptions
are shown below.
Address Configuration |
|
Description |
|
(1) |
Obtained data:
0: Command trigger
1 =Write / 4 =Clear
1: Axis pattern
2: Operation type
Bit 3 (Reserved for system use) Fixed
to 0
Bit 2 (Reserved for system use) Fixed
to 0
Bit 1 (Reserved for system use) Fixed
to 0
Bit 0 (Servo ON/OFF): 0 = OFF / 1
= ON |
*22 The return to origin
device descriptions are shown below.
Address Configuration |
|
Description |
|
(1) |
Obtained data:
0: Command trigger
1 =Write / 4 =Clear
1: Axis pattern
X-SEL-PX/QX Series: Specify the translation
axis only.
2: End search speed unit (mm/sec)
The parameter value becomes enabled
when it is zero.
3: Creap speed unit (mm/sec)
The parameter value becomes enabled
when it is zero. |
*23 The operation stop/cancel
device descriptions are shown below.
Address Configuration |
|
Description |
|
(1) |
Obtained data:
0: Command trigger
1 =Write / 4 =Clear
1: Stop axis pattern
* Including servo command cancellation
while interlock is pending.
2: Appended command byte
Bit 7 (Reserved for system use) Fixed
to 0
Bit 6 (Reserved for system use) Fixed
to 0
Bit 5 (Reserved for system use) Fixed
to 0
Bit 4 (Reserved for system use) Fixed
to 0
Bit 3 (Reserved for system use) Fixed
to 0
Bit 2 (Reserved for system use) Fixed
to 0
Bit 1 (Reserved for system use) Fixed
to 0
Bit 0 (Specification of output cancellation
while interlock is pending (OUT port)
(when all operations are paused))
:0 = Not canceled / 1 = Canceled tentatively |
*24 The coordinate affiliate
data device descriptions are shown below.
Address Configuration |
|
Description |
 |
(1) |
Type 1 (0 to 1)
0 = Work coordinate system definition
data / 1 = Tool coordinate system definition data |
(2) |
Coordinate system definition data number (00
to FF)
Work/tool coordinate system definition
data number (0 to ) |
(3) |
Obtained data:
0: X axis coordinate offset
1: Y axis coordinate offset
2: Z axis coordinate offset
3: R axis coordinate offset
4 to F: Reserved for system use |
*25 The device descriptions
of simple interference check zone data are shown below.
Address Configuration |
|
Description |
 |
(1) |
Definition data number (1 to FF) |
(2) |
Obtained data:
0: Effective axis pattern
1 to 4: Simple interference check
zone definition coordinate 1 unit
(0.001 mm (R axis: 0.001 deg))
1: X-axis definition coordinate
2: Y-axis definition coordinate
3: Z-axis definition coordinate
4: R-axis definition coordinate
5 to 8: Simple interference check
zone definition coordinate 2 unit
(0.001 mm (R axis: 0.001 deg))
9: Physical output port number or
global flag number for output upon entry
A: Entry error type specification
0 = No error handling / 1 = Message-level
error / 2 = Operation-cancellation level error
B to F: Reserved for system use |
*26 The device descriptions
of Scara absolute coordinate movement are shown below.
Address Configuration |
|
Description |
 |
(1) |
Obtained data:
0: Command trigger
1 =Write / 4 =Clear
1: Axis pattern
X-SEL-PX/QX Series: The Scara and
translation axes cannot be specified simultaneously (the translation
axis can be specified).
2: Acceleration unit (% or 0.01G)
The parameter value becomes enabled
when it is zero.
* Unit: Movement control = PTP: [%]
/ Movement control = CP: [0.01G]
3: Deceleration unit (% or 0.01G)
The parameter value becomes enabled
when it is zero.
* Unit: Movement control = PTP: [%]
/ Movement control = CP: [0.01G]
4: Speed unit (% or mm/sec)
The parameter value becomes enabled
when it is zero.
(Safety limit is applied depending
on the mode.)
* Unit: Movement control = PTP: [%]
/ Movement control = CP: [mm/sec]
5: Positioning operation type (No Scara axis disabled)
Bit 7 (Reserved for system use) Fixed
to 0
Bit 6 (Reserved for system use) Fixed
to 0
Bit 5 (Reserved for system use) Fixed
to 0
Bit 3-4 (PTP target arm system specification
type (Always move current arm system if CP))
: 0 = Current arm system (Movement
of opposite arm system prohibited if unfeasible)
/ 1 = Current arm system (Movement
of opposite arm system permitted if unfeasible)
/ 2 = Right arm system (Movement
of opposite arm system prohibited if unfeasible)
/ 3 = Left arm system (Movement of
opposite arm system prohibited if unfeasible)
Bit 1-2 (Movement coordinate system):
0 = Reserved for system use / 1 = Selected work coordinate system
/ 2= Reserved for system use / 3
= Reserved for system use
Bit 0 (Movement control): 0 = PTP
/ 1 = CP
6 to D: Absolute coordinate data
unit (0.001mm) |
*27 The device descriptions
of Scara relative coordinate movement are shown below.
Address Configuration |
|
Description |
|
(1) |
Obtained data:
0: Command trigger
1 =Write / 4 =Clear
1: Axis pattern
X-SEL-PX/QX Series: The Scara and
translation axes cannot be specified simultaneously (the translation
axis can be specified).
2: Acceleration unit (% or 0.01G)
The parameter value becomes enabled
when it is zero.
* Unit: Movement control = PTP: [%]
/ Movement control = CP: [0.01G]
3: Deceleration unit (% or 0.01G)
The parameter value becomes enabled
when it is zero.
* Unit: Movement control = PTP: [%]
/ Movement control = CP: [0.01G]
4: Speed unit (% or mm/sec)
The parameter value becomes enabled
when it is zero. (Safety limit is applied depending on the mode.)
* Unit: Movement control = PTP: [%]
/ Movement control = CP: [mm/sec]
5: Positioning operation type (No
Scara axis disabled)
Bit 7 (Reserved for system use) Fixed
to 0
Bit 6 (Reserved for system use) Fixed
to 0
Bit 5 (Reserved for system use) Fixed
to 0
Bit 3-4 (PTP target arm system specification
type (Always move current arm system if CP))
: 0 = Current arm system (Movement
of opposite arm system prohibited if unfeasible)
/ 1 = Current arm system (Movement
of opposite arm system permitted if unfeasible)
/ 2 = Right arm system (Movement
of opposite arm system prohibited if unfeasible)
/ 3 = Left arm system (Movement of
opposite arm system prohibited if unfeasible)
Bit 1-2 (Movement coordinate system):
0 = Reserved for system use / 1 = Selected work coordinate system
/ 2= Reserved for system use / 3
= Reserved for system use
Bit 0 (Movement control): 0 = PTP
/ 1 = CP
6 to D: Relative coordinate data
unit (0.001mm) |
*28 The device descriptions
of Scara point number movement are shown below.
Address Configuration |
|
Description |
|
(1) |
Obtained data:
0: Command trigger
1 =Write / 4 =Clear
1: Axis pattern
Used under an AND conditions with
the axis pattern of the point number
X-SEL-PX/QX Series: The Scara and
translation axes cannot be specified simultaneously
(the translation axis can be specified).
2: Acceleration unit (% or 0.01G)
The applicable setting value in the
position data becomes enabled when the acceleration setting is
zero.
If both above setting values are
zero, the parameter setting is enabled.
* Unit: Movement control = PTP: [%]
/ Movement control = CP: [0.01G]
3: Deceleration unit (% or 0.01G)
The applicable setting value in the
position data becomes enabled when the deceleration setting is
zero.
If both above setting values are
zero, the parameter setting is enabled.
* Unit: Movement control = PTP: [%]
/ Movement control = CP: [0.01G]
4: Speed unit (% or mm/sec)
The applicable setting value in the
position data becomes enabled when the speed setting is zero.
If both above setting values are
zero, the parameter setting is enabled.
(Safety limit is applied depending
on the mode.)
* Unit: Movement control = PTP: [%]
/ Movement control = CP: [mm/sec]
5: Positioning operation type (No
Scara axis disabled)
Bit 7 (Reserved for system use) Fixed
to 0
Bit 6 (Reserved for system use) Fixed
to 0
Bit 5 (Reserved for system use) Fixed
to 0
Bit 3-4 (PTP target arm system specification
type (Always move current arm system if CP))
: 0 = Current arm system (Movement
of opposite arm system prohibited if unfeasible)
/ 1 = Current arm system (Movement
of opposite arm system permitted if unfeasible)
/ 2 = Right arm system (Movement
of opposite arm system prohibited if unfeasible)
/ 3 = Left arm system (Movement of
opposite arm system profibited if unfeasible)
Bit 1-2 (Movement coordinate system):
0 = Reserved for system use / 1 = Selected work coordinate system
/ 2= Reserved for system use / 3
= Reserved for system use
Bit 0 (Movement control): 0 = PTP
/ 1 = CP
6: Point number |
*29 External Devices
that support Feedback Current are shown below:
X-SEL-P/Q Controller (Main Application Ver.0.40
or later)
X-SEL-PX/QX Controller (Main Application
Ver.0.17 or later), Axis 5 and 6 of Direct Movement Axis
SSEL Controller (Main Application Ver.0.08
or later)
ASEL Controller (Main Application Ver.0.06
or later)
PSEL Controller (Main Application Ver.0.06
or later)
*30 The device descriptions
of Feedback current are shown below. You can calculate the amount of feedback
current with the following formula.
[Amount of feedback current] = [Rated current
of axis] x [Value of FC device] / 4096
Address Configuration |
|
Description |
|
(1) |
Obtained data:
0: Axis pattern
1: System TICK (L)
2: System TICK (H)
3: Axis-1 Feedback current (Unit:
Rated current ratio 1/4096)
4: Axis-2 Feedback current (Unit:
Rated current ratio 1/4096)
5: Axis-3 Feedback current (Unit:
Rated current ratio 1/4096)
6: Axis-4 Feedback current (Unit:
Rated current ratio 1/4096)
7: Axis-5 Feedback current (Unit:
Rated current ratio 1/4096)
8: Axis-6 Feedback current (Unit:
Rated current ratio 1/4096)
9: Axis-7 Feedback current (Unit:
Rated current ratio 1/4096)
A: Axis-8 Feedback current (Unit:
Rated current ratio 1/4096) |
*31 The device descriptions
of Task status are shown below
Address Configuration |
|
Description |
|
(1) |
Obtained data:
00: Executed task count
(01 to 05: Single-task status)
01: Task status byte
Bit 7 (Reserved for system use)
Bit 6 (CANC input status)
Bit 5 (HOLD input status)
Bit 4 (WAIT progress)
Bit 3 (Stopping executed)
Bit 0-2 (Reserved for system use)
02: Reserved for system use
03: Executed No.
04: Executed step No.
05: Error generation step No.
...
(76 to 80: 16-task status)
76: Task status byte
Bit 7 (Reserved for system use)
Bit 6 (CANC input status)
Bit 5 (HOLD input status)
Bit 4 (WAIT progress)
Bit 3 (Stopping executed)
Bit 0-2 (Reserved for system use)
77: Reserved for system use
78: Executed No.
79: Executed step No.
80: Error generation step No. |
*32 The device descriptions
of Flash ROM are shown below
When "0" is written for an address,
the External Device processes
Bit0 to Bit3 as "1" (Specified). Be sure to write "0"
for an address in the case of Flash ROM8Mbit version. It takes 30 seconds
(Max.) in the writing of Flash ROM. Do not turn off the power of the External Device during
the writing. The Display
does not communicate with the External Device
that is in the writing process.
The unit code value of the VR device is "70H"
in the model of the Flash ROM8Mbit version.
Address Configuration |
|
Description |
|
(1) |
0: Data type
Bit 3 (Parameter) : 0 = Not specified
/ 1= Specified
Bit 2 (Point-data, Coordinate system
definition data (Scara only)): : 0 = Not specified / 1= Specified
Bit 1 (Symbol-definition table) :
0 = Not specified / 1= Specified
Bit 0 (SEL language program) : 0
= Not specified / 1= Specified |
*33 64-bit Float data
on the External Device,
but Display
handles it as 32-bit Float data.