IAI IA-101-X-MW Operation Manual Download

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13. How to Reset an

Absolute Encoder

348

9) When finishing the process, click “×” on the upper right side of the Push stopper position acquisition

window. Once the window is closed, the parameters start to be written automatically to the flash

ROM, and controller is rebooted by the software reset.

10) Once the controller reboot is finished, conduct the push type absolute reset on the axis with the push

stopper position acquisition.

Summary of Contents for IA-101-X-MW

Page 1: ...1 PC Software for X SEL IA 101 X MW IA 101 X MW JS IA 101 XA MW IA 101 X USBS IA 101 X USBMW IA 101 TT USB Operation Manual 22th Edition IAI Corporation...

Page 2: ......

Page 3: ...handling this product can reference it quickly when necessary Important This operation manual is written specifically for the product The product cannot be operated in any way unless expressly specif...

Page 4: ......

Page 5: ...tware for USB Connection of XSEL RA SA RAX SAX RAXD SAXD 33 1 3 4 How to change the USB COM port 40 1 4 Connection to Controller 42 1 5 Starting the Software Online Connection 57 1 6 Operation System...

Page 6: ...learing Position Data 152 8 Parameter Edit Window 154 8 1 Explanation of the Parameter Edit Window 154 8 2 Saving Parameter Data and Closing the Edit Window 156 8 3 Transferring a Parameter File 159 8...

Page 7: ...t Operation 313 13 8 2 Procedure for Stopper Pressing Position Acquirement Operation 329 14 Supplemental Information on Controller Menu Items 349 14 1 Software Reset 349 14 2 Reset Error 349 14 3 Driv...

Page 8: ......

Page 9: ...0 00 00 XSEL RA SA x6pg x6pa x6pt x6pm x6sm x6gd x6bk V13 00 00 00 XSEL RAX SAX s6spg s6spa s6spt s6spm s6ssm s6scd s6sgd s6sbk V13 00 00 00 XSEL RAXD SAXD s6dpg s6dpa s6dpt s6dpm s6dsm s6dcd s6dgd s6...

Page 10: ...indows 95 Windows 98 Windows NT Windows Me and Windows 2000 Installing V7 07 12 00 Compatible V7 07 12 00 applicable for IA Super SEL Controller E Type G Type and DS Controller is also stored in the C...

Page 11: ...3 4 Click TOOL 5 The PC SOFT V6 0 0 0 folder containing the V6 0 0 0 installer will appear Click PC SOFT V6 0 0 0 folder 6 Click the ENGLISH folder...

Page 12: ...PC Interface Software The PC Interface Software for X SEL installation screen will appear Install the software based on the step 3 and thereafter described in 1 3 1 How to Install the PC Interface So...

Page 13: ...ple computers The user should not be allowed to have himself or a third party performs modification reverse engineering disassembly decompile translation or adaptation entirely or partially in this So...

Page 14: ...er that Windows is not included with the software Port used Type Operable Windows RS 232C IA 101 X MW JS IA 101 X MW IA 101 XA MW Windows 7 1 Windows 8 8 1 2 or Windows 10 3 USB IA 101 X USBS IA 101 X...

Page 15: ...cal manner under the International Standards ISO IEC The safety standards that apply to industrial robots are as follows Type C standards individual safety standards ISO10218 Manipulating industrial r...

Page 16: ...mmediate stopping of operation Article 150 3 Sign etc saying WORK IN PROGRESS Article 150 3 Provision of special education Article 36 No 31 During teaching etc Not cut off Checkup etc before commencem...

Page 17: ...axis are within 300 mm Among the products featured in our catalogs the following models are classified as industrial robots 1 Single axis ROBO Cylinders RCS2 RCS2CR SS8 RCS3 RCS3CR RCS3P RCS3PCR whose...

Page 18: ...when the power is turned OFF and may cause an accident such as an injury or damage on the work piece 2 Transportation When carrying a heavy object do the work with two or more persons or utilize equi...

Page 19: ...the cable length Failure to do so may cause the product to malfunction or cause fire 3 Grounding The grounding operation should be performed to prevent an electric shock or electrostatic charge enhan...

Page 20: ...r hand or damage the work parts with the actuator dropped by gravity Safety protection fence In the case that there is no safety protection fence the movable range should be indicated 6 Trial Operatio...

Page 21: ...t in a damage to the product 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 The sli...

Page 22: ...product is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in d...

Page 23: ...cable IA 101 X MW RS232C cable CB ST E1MW050 EB 1 cable Connection Configuration Compatible controller XSEL P PX R RX RXD RA RAX RAXD PX Compatible controller SSEL ASEL PSEL MSEL RS232C cable CB ST E1...

Page 24: ...nal Connection Cable IA 101 TTA USB USB cable CB SEL USB 030 1 piece Dummy Plug DP 2 1 unit Connection Configuration Dummy plug Compatible controller DP 2 TTA and TT USB cable CB SEL USB030 Type Exter...

Page 25: ...board compatible with a PC compatible with supported OS Windows Memory Capacity of memory necessary to run a supported OS Windows Display XGA and above Pointing device Mouse or a compatible driver Sto...

Page 26: ...ed data selection screen Fig 1 1 will be displayed Click the data to install Fig 1 1 Installed Data Selection Screen The displayed screen may vary depending on the version data in the CD or other fact...

Page 27: ...nstallation screen Fig 1 3 for PC interface software for X SEL Click Next Fig 1 3 Installation Screen 4 The Customer Information registration screen Fig 1 4 will be displayed Enter your information an...

Page 28: ...software for X SEL Fig 1 5 Normally you can install it to the displayed folder After specifying it click Next Fig 1 5 Specification of Destination Folder 6 The wizard is ready to begin installation C...

Page 29: ...ion 8 Once the installation program is completed the items of IAI X_SEL and PC Interface software will be displayed in this order from Program P in the Start menu Selecting these items will start this...

Page 30: ...lled data selection screen Fig 1 9 will be displayed Click USB Conversion Adapter Fig 1 9 Installed Data Selection Screen The displayed screen may vary depending on the version data in the CD or other...

Page 31: ...een Fig 1 13 will be displayed Fig 1 13 Complete Screen 6 Once the complete screen Fig 1 13 has been displayed click OK The complete screen Fig 1 13 will disappear Then click Cancel on the screen to s...

Page 32: ...connected to each PC and use the USB Conversion Adapter Driver Software to let the hardware found Follow the procedures from 9 to 19 for all the controllers to be connected The COM port will be made...

Page 33: ...h Click Browse and find and select C IAI USB Fig 1 16 Search and Installation Options Selection Screen 12 The installation of the IAI USB Composite Device driver will begin The wizard will prompt you...

Page 34: ...tion of the driver is completed Click Finish Fig 1 18 IAI USB Composite Device Installation Finish Screen 14 Subsequently the Welcome to the Found New Hardware Wizard screen will open Select the check...

Page 35: ...owse and find and select C IAI USB Click Next Fig 1 20 Search and Installation Options Selection Screen 16 The installation of the IAI USB to UART Bridge Controller driver will begin The wizard will p...

Page 36: ...the Windows taskbar Settings and then Control Panel to open Control Panel Double click System to open System Properties Click the Hardware tab in System Properties to open it Click Device Manager in H...

Page 37: ...of USB conversion adapter 3 A screen to confirm whether or not an older version is installed appears If an older version is not installed click Yes If an older version is installed click No When the i...

Page 38: ...ge Controller Driver Installer screen The drivers were successfully installed on this computer Click Finish Fig 1 27 IAI Corporation USB to UART Bridge Controller Driver Installer Confirmation Screen...

Page 39: ...to UART Bridge Controller and click Update Driver Software Fig 1 28 Device Manager Screen 10 The Update Driver Software screen appears On the Update Driver Software screen click the Browse my compute...

Page 40: ...IAI USBv4 Vista 8 Click Next Fig 1 30 Update Driver Software Screen 12 The driver software update completion screen IAI USB to UART Bridge Controller appears Click Close on the Update Driver Software...

Page 41: ...r in an emergency case In case you cannot prepare a switch use IA 101 X USBMW equipped with a stop switch It is not necessary to have work processes from 1 to 5 for Windows 10 Go on to Step 6 1 Insert...

Page 42: ...ears during the process Continue operation in the steps shown in the figure The contents of the display may differ depending on the OS Fig 1 34 Install Start Screen for Windows 7 8 Fig 1 35 Install St...

Page 43: ...efore You Begin 35 Fig 1 36 Install Start Screen for Windows XP 5 After the install the following window will open Click Finish Fig 1 37 Devece Driver Install Wizard Complete Screen Click Continue Any...

Page 44: ...or PC environment Continue operation in the steps shown in the figure a For Windows 7 Although the following operation is not mandatory without doing the operation installation requires longer time b...

Page 45: ...Before You Begin 37 c For Windows XP Fig 1 40 Found New Hardware Wizard Fig 1 41 Hardware Installation Screen 1 Select Install the software automatically Recommended 2 Click Next Click Continue Anywa...

Page 46: ...ll complete The contents of the display may differ depending on the OS Click Close or Complete Fig 1 42 Driver Software Installation Complete Screen For Windows 7 Fig 1 43 Installation Complete Screen...

Page 47: ...ed The way to change the COM port refer to 1 3 4 How to Change COM Port of IAI USB in XSEL PC Software Instruction Manual The name of the COM port is differ from the one on USB converter adapter Fig 1...

Page 48: ...creen Click and open Hardware above the System icon Click and open Device Manager inside the Hardware folder Double click and extend Port COM and LPT inside the Device Manager folder 2 Double click IA...

Page 49: ...be set Click OK Fig 1 47 COM Port Option Screen 5 COM Port Option screen will be disappeared COM port number will be changed by clicking OK on the Property screen Fig 1 33 6 To confirm that the COM po...

Page 50: ...1 Before You Begin 42 1 4 Connection to Controller Fig 1 48 X SEL K J Type Controller...

Page 51: ...ector switch of the X SEL P teaching pendant to the right Warning The internal components of the controller may burn if the following cable is used to connect XSEL Q to a computer PC software IA 101 X...

Page 52: ...1 Before You Begin 44 Figure shows example of TT Fig 1 50 Table Top Actuator TT TTA...

Page 53: ...1 Before You Begin 45 Fig 1 51 X SEL KX JX Type Controller...

Page 54: ...teaching pendant to the right Warning The internal components of the controller may burn if the following cable is used to connect XSEL QX to a computer PC software IA 101 X MW Accessory cable CB ST E...

Page 55: ...cable is used to connect XSEL S to a computer PC software IA 101 X MW Accessory cable CB ST E1MW050 black Even though the PC software can be used make sure to use the cable CB ST A2MW050 gray CO NT R...

Page 56: ...ing cable is used to connect XSEL SX to a computer PC software IA 101 X MW Accessory cable CB ST E1MW050 black Even though the PC software can be used make sure to use the cable CB ST A2MW050 gray Eme...

Page 57: ...ollowing cable is used to connect XSEL SXD to a computer PC software IA 101 X MW Accessory cable CB ST E1MW050 black Even though the PC software can be used make sure to use the cable CB ST A2MW050 gr...

Page 58: ...en having an actuator operated by USB connection so that you can stop the actuator in an emergency case In case you cannot prepare a switch use IA 101 X USBMW equipped with a stop switch Warning The i...

Page 59: ...ake sure to prepare the stop switch in your reach when having an actuator operated by USB connection so that you can stop the actuator in an emergency case In case you cannot prepare a switch use IA 1...

Page 60: ...sure to prepare the stop switch in your reach when having an actuator operated by USB connection so that you can stop the actuator in an emergency case In case you cannot prepare a switch use IA 101...

Page 61: ...1 Before You Begin 53 Emergency Stop Switch Enable Switch Conversion Cable USB Cable Mode Switch Panel Unit 1 axis 2 axis Fig 1 59 SSEL Type Controller...

Page 62: ...1 Before You Begin 54 Fig 1 60 ASEL Type Controller USB Cable...

Page 63: ...1 Before You Begin 55 Fig 1 61 PSEL Type Controller USB Cable...

Page 64: ...ontroller Actuator IXP Actuator RCP Series Power supply Single phase AC100 230V Absolute Battery BOX Contact for Cutoff Note 1 when supplying cutting off power source externally Host Device Note 1 PIO...

Page 65: ...ammed velocity commands the safety velocity mode must be disabled Refer to 3 3 Explanation of the Toolbar for how to enable disable the safety velocity mode 2 Turn on the power to the controller and P...

Page 66: ...Setup Online screen Fig 15 2 or Environment Setup Offline screen Fig 15 1 The screen in Fig 1 64 will be displayed at the next startup time to remove the check For the Environment Setup Online screen...

Page 67: ...er or not the servo is in use MANU mode Servo not in use Before the OPEN command After the OPEN command TP port connection Connected to the PC software Forcibly switched to SEL program connection mess...

Page 68: ...immediately at hand prepared Only when Yes is selected in the safety circuit confirmation window there is a stop switch such operations as actuator operation by the XSEL PC software and SEL program ex...

Page 69: ...ion window for safety circuit will not show up again when the controller is connected Operation will be made with the setting of the previous connection If it is required to show the safety circuit co...

Page 70: ...indow and a check mark was put on Don t show this window from next time on a warning message shown in the figure below will be displayed when a controller is connected Fig 1 69 Warning Message When Op...

Page 71: ...s illustrated below and the data will be cleared once the controller power is turned off or the controller is reset To save important data always write it in the flash memory 2 1 Factory Setting When...

Page 72: ...X controller with gateway function Other parameter No 20 2 Backup battery installed Encoder parameters are stored in the EEPROM of the actuator s encoder not in the controller s EEPROM Therefore encod...

Page 73: ...parameters X SEL J K JX KX TT I O slot card power supply card parameters X SEL P Q PX QX SSEL ASEL PSEL Content 3 Flags variables strings and error lists 2 2 When a Backup Battery Is Not Used Table T...

Page 74: ...ams parameters and symbols are loaded from the flash memory after a restart Unless written to the flash memory edited programs parameters and symbols will return to the original data once the controll...

Page 75: ...ave card parameters encoder parameters etc Transfer after reset Write to flash memory Main CPU flash memory Main CPU RAM memory Slave card memory Slave card parameters fixed portions of driver paramet...

Page 76: ...rameters etc Slave card parameters fixed portions of driver parameters power supply parameters Cannot be changed Slave card memory Slave card memory Retention memory Position control axis in standard...

Page 77: ...r at reset Main CPU retaining memory Position No 1 to 10000 SEL global data Flags variables and strings Error list Maintenance information Program parameter Other than driver card parameter Symbol pos...

Page 78: ...param eter Sy m bol Pos ition N o 10 001 to 30 000 P C s oftw are T P D riv er c ard param eter T rans fer T rans fer D river C PU retaining m em ory Main CPU battery less backupmemory Pos ition N o 1...

Page 79: ...ler a parameter file that has been read from the controller after the controller was started without the actuator connected will write invalid encoder parameters to the encoder s EEPROM This applies w...

Page 80: ...QX controllers w gateway function compatible with increased memory The Number of Parameters X SEL P Q incompatible with increased memory X SEL PX QX incompatible with increased memory X SEL P Q PX QX...

Page 81: ...started the main window in Fig 3 1 will open showing the menu items with icons on the tool bar in the case of the X SEL J K or TT controller The tree view appearing on the left side of the window can...

Page 82: ...from the menu bar and then selecting Tree View T Initial window Main menu Fig 3 2 Online Screen X SEL P Q R S and RA SA Controllers 3 X SEL JX KX controller When this software has been started the mai...

Page 83: ...X QX RX SX RXD SXD RAX SAX RAXD SAXD and MSEL PCX PGX Controllers 5 SSEL controller in the program mode When this software has been started the main window in Fig 3 5 will open showing the menu items...

Page 84: ...electing Tree View T Initial window Main menu However program edit or symbol edit using the menu or tool bar will become unavailable Icons will also become faint colored Two or more programs start pro...

Page 85: ...ee view appearing on the left side of the window can be displayed by clicking View V from the menu bar and then selecting Tree View T Initial window Main menu 3 1 2 Offline Screen When this software h...

Page 86: ...axis position data X SEL P Q PX QX PC software V7 2 0 0 or later and R S RX SX RXD SXD controllers with gateway function In the case of the X SEL P Q PX QX PC software V7 2 0 0 or later and R S RX SX...

Page 87: ...ontroller settings will return to the default values shown below Upper margin 0 mm Left margin 10 mm Font MS Gothic Style Standard Size 10 Specify the top margin area for printing in mm Specify the le...

Page 88: ...ter 7 Most Recently Opened Files D Selecting this menu item will display a list of files most recently loaded to the software where you can select and load desired files 8 Exit X Close the application...

Page 89: ...m Data Edit Window RC axis Position Data Edit Window When this operation is performed the warning screen in Fig 3 14 will be displayed Clicking Yes will cancel the operation executed immediately befor...

Page 90: ...ntly running being performed 5 Position O This menu lets you operate position data Available only in the online mode Refer to 6 Position Data Edit Window 1 Edit E Load position data from the controlle...

Page 91: ...u operate symbol data Available only in the online mode Refer to 9 Symbol Edit Window 1 Edit E Load symbol data from the controller for editing 2 Clear All C Clear all symbol data 8 Coordinate System...

Page 92: ...local integers variables local real variables local string real numbers and local flags for each program number can be shown 14 Detailed Error Information E Open the detailed error information monito...

Page 93: ...oller Can transfer global flags global integer variables global real variables and global strings to the controller 6 All Data Backup X Save to File S Save all program and position data in the control...

Page 94: ...ollected in the positioner mode cannot be transferred to the controller in the program mode If any different file is transferred the following message will be displayed Fig 3 19 Message PC Interface S...

Page 95: ...ay a screen to ask if the position of No 4001 or later should be erased Clicking Yes will clear all the programs of No 65 or later and positions of No 4001 or later Clicking No will not clear them Fig...

Page 96: ...the software is reset after changing the following parameter and writing to the flash ROM UBM Data Composition Change Error 6A1 will be displayed I O parameter No 502 The largest axis No for RC gatew...

Page 97: ...ormation Acquire maintenance information system data in the positioner mode This item is displayed for SSEL ASEL and PSEL controllers 9 Write to Flash ROM W Clear the data areas in the flash ROM and t...

Page 98: ...L controllers Note If 6BD Position data configuration change error 6BF Position data sum check error or 69E Position data management domain sum check error occurs use this command to initialize the po...

Page 99: ...ones at the time of shipment This item is not displayed normally It is a function which will become available by inputting a password Refer to 8 5 How to Initialize X SEL R S RX SX RXD SXD RA SA RAX...

Page 100: ...positioner mode of SSEL ASEL and PSEL controllers This information is provided for the manufacturer This item is displayed for SSEL ASEL and PSEL controllers 11 Tool T This menu lets you specify sett...

Page 101: ...RXD SXD RAX SAX RAXD SAXD MSEL PCX PGX V12 03 00 00 or later when work and tool coordinate systems are valid in TTA and MSEL PC PG Monitor Input Port Same as clicking Monitor M and then selecting Inpu...

Page 102: ...start prohibition MANU Prohibit the simultaneous starting of multiple programs in the manual mode Two or more programs start permission MANU Permit the simultaneous starting of multiple programs in t...

Page 103: ...ed parameter category to open the corresponding edit window Symbol edit items Double click a desired symbol category to open the corresponding edit window 3 4 Tree View You can display various data ed...

Page 104: ...Q RX SX RXD SXD RAX SAX RAXD SAXD and MSEL PCX PGX controllers Parameter edit items Double click a desired parameter category to open the corresponding edit window Symbol edit items Double click a des...

Page 105: ...input condition Cnd Enter a desired input condition Cmnd Enter a desired SEL command Double clicking this field or pressing the F1 key will open the SEL Command Explanation window Fig 4 6 This window...

Page 106: ...n the operand to input the axis pattern the operand input values in binary system do not apply B at the top to input with the binary numbers Binary numbers are treated as an integer with no signal e g...

Page 107: ...it E from the menu bar and then selecting Paste P The step data saved on the clipboard will be inserted into the cursor line Insert 1 Line I Insert one line at the cursor line Delete Selected Lines D...

Page 108: ...edit screen to the controller Saving data on the edit screen to a file Closing of the edit screen When this operation is performed the warning screen in Fig 4 5 will be displayed Clicking Yes will ca...

Page 109: ...ining the following items Input I Input the command in the cursor line to the step data into the cursor line in the program edit window Font F You can set a desired font for displaying the SEL command...

Page 110: ...ve created as well as operands used in the program d Print Clicking this button will print the program e Run Clicking this button will run the program If the program has not yet been saved after editi...

Page 111: ...ror is found the error list will be displayed Check Program button Fig 4 9 Error List The error list has the Step No Column and Message fields Double clicking an error line will move the cursor to the...

Page 112: ...pe fields will show Unknown d Program No Use Condition Program No e Tag No Use Condition Tag No Tag number in use Declaration Jump f Subroutine No Use Condition Subroutine No Declaration Call g Positi...

Page 113: ...am No 65 or later Select the Program File Format 2 extended format to save PC interface software version 7 2 0 0 or later Fig 4 11 Save File Select Screen 2 Transferring to the controller the program...

Page 114: ...0 or later Fig 4 15 Confirmation Fig 4 16 Confirmation X SEL P Q R S RX SX RXD SXD X SEL PX QX RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Program etc to write to the flash...

Page 115: ...n dialog box with the message Save edited data in the Controller Fig 4 17 Confirmation Yes Y The edited data will be transferred to the controller 3 Writing to the flash ROM No N The software will clo...

Page 116: ...en of Open File select a program created offline and open it 2 If a controller is connected Controller Transfer button gets activated once the program is opened Press Controller Transfer button The pr...

Page 117: ...tion Press Write Fig 4 20 Program No Select 5 A confirmation screen stating Write Flash ROM will appear Press Yes Fig 4 21 Confirmation Screen 6 The program will be transferred to the controller Also...

Page 118: ...ram No selection window will be displayed Select a desired program No to read and click the Read button If you want to transfer all programs to the controller select Load All Program If you want to se...

Page 119: ...le symbols in the symbol edit window and then transfer the definitions to the controller before transferring the all programs file again 3 If the all programs file contains any error the error window...

Page 120: ...all programs The number of possible transferred step depends on the number of remaining step in the controller to transfer Fig 4 26 Warning Screen If the programs are transferred separately select a p...

Page 121: ...e reset is executed e Run Clicking this button will run the program f Run 1 Step The program will run one step every time this button is clicked g Pause Clicking this button will pause the program cur...

Page 122: ...Select Program S Edit E and Program Number Select window appears Select a program to operate and click Read Program Edit window appears Column T marked in red box which is for the setup of measurement...

Page 123: ...tablished in the steps of only input extension stays it will not be subject to measurement 1 Measurement Start Point and End Point Setup 1 Right click on Column T blank cell of the start step of the a...

Page 124: ...blank cell of the step that you would like to measure S Measurement start point will be displayed Fig 4 32 Measurement start point Setup 2 Secondly right click on the point that S is being displayed...

Page 125: ...section setting is not activated Right click on a blank cell and S will be shown and the measurement area section setting gets activated Right click on the cell of E and E will be erased If S is displ...

Page 126: ...surement result will be displayed The time to be shown should be from 0 000sec to 86399 999sec one day Once the first measurement is completed and the step with S being shown has been executed measure...

Page 127: ...case of a program being stopped by breakpoint pause the stop duration should be included to the cycle time In case the steps with S and E displayed are set to the input extension status cycle time wil...

Page 128: ...S from the menu bar and then select Copy Move C 2 The program copy move window will open Fig 5 1 Program Copy Move Double click the source program you want to copy or move Click the destination progr...

Page 129: ...R S RX SX X SEL PX QX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Program etc to write to the flash ROM Click Yes Y The memory data will be written to the flash ROM...

Page 130: ...ndow will open Fig 5 6 Program Clear Click the program you want to clear You can select multiple programs by dragging the mouse or pressing the Ctrl key and key simultaneously Next click Clear This op...

Page 131: ...firmation X SEL P Q R S RX SX X SEL PX QX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Program etc to write to the flash ROM Click Yes Y The memory data will be writt...

Page 132: ...and tool coordinate system features are valid in TTA and MSEL PC PG a window to select the work coordinate system or the tool coordinate system opens like the SCARA axes The following position output...

Page 133: ...axis 7 Setting functions SCARA axis 8 Movement selection 5 Setting functions Orthogonal axis 4 1 Position data 6 Axis specific buttons SCARA axis 8 Movement selection 3 Common buttons 7 Setting functi...

Page 134: ...tion data is displayed in the position edit data Fig 6 10 Position Data XSEL RA SA Fig 6 11 Position Data XSEL RX SX RAX SAX 10 Position output operation data 1 Position data 2 Common buttons 6 Axis s...

Page 135: ...ng 7 Setting functions SCARA axis Orthogonal axis setting 4 Axis specific buttons Orthogonal axis 5 Setting functions Orthogonal axis 8 Movement setting 9 Axis specific button setting function movemen...

Page 136: ...g 6 16 Position Data XSEL RAXD SAXD Version V13 02 00 00 and later 1 Position data 2 Common buttons 6 Axis specific buttons SCARA axis 8 Movement setting 9 Axis specific button setting function moveme...

Page 137: ...is displayed in the position edit data Fig 6 18 Position Data XSEL RAXD SAXD 2 Common buttons 4 Axis specific buttons Orthogonal axis 5 Setting functions Orthogonal axis 1 Position data Data in the c...

Page 138: ...licable position number Pressing the F11 key on the symbol edit window will return the input focus to the applicable position data in the edit window You can press the F11 key to return the input focu...

Page 139: ...rent arm system cannot be moved Servo operation SEL command that uses the position data Note When editing each arm system can be specified by entering the first letter of the pattern to be specified E...

Page 140: ...to 32 single byte characters 16 double byte characters Comment can be entered for position Nos 1 to 10000 Comment cannot be entered for No 10001 and subsequent positions Supported by V9 00 00 00 or la...

Page 141: ...Format 1 normal format Save them by Position File Format 2 extended format Transfer to Controller Clicking this button will transfer the position data to the controller Refresh Position Data After a...

Page 142: ...gonal axes can be selected simultaneously for simultaneous jog movement SCARA axes of X SEL PX QX RX SX and RAX SAX This button enables jog movement when only one axis is specified as the one to be op...

Page 143: ...taneously In the case of the X SEL RXD SXD and RAXD SAXD controller axes of two SCARA robots cannot be moved continuously If any of the applicable position data has been changed transfer the latest po...

Page 144: ...position Watch the actuator movement during operation Clicking this button will move the selected axis to the position specified by the data in the position number corresponding to the cursor positio...

Page 145: ...sed to jog those axes that have not yet completed homing However coordinate values have no meaning for these axes so pay due attention to avoid contact with the stroke end If a value 0 001 to 1 is ent...

Page 146: ...he axis servo is ON Clicking this button will move the selected axis to the position specified by the data in the position number corresponding to the cursor position if the axis servo is ON The butto...

Page 147: ...ction Move Vel Acc Dcl Set the moving speed that applies when the MV button is clicked Movement occurs in the form of PTP operation Each percentage setting indicates a percentage with respect to a cor...

Page 148: ...inate system can be changed by clicking the button XY work coordinate system Can be offset using Work Coordinate System Selection No XY tool coordinate system Each axis system Fig 6 40 Selection of Jo...

Page 149: ...ing functions and movement selections only for SCARA axes Axis 5 to Axis 8 or orthogonal axes Axis 5 to Axis 8 This item is displayed only when the X SEL PX QX RX SX RXD SXD RAX SAX and RAXD SAXD cont...

Page 150: ...ing movement to the applicable position OutNo Set the output ports and flags applicable for operation OutPara1 Set the parameters defined for each output function OutPara2 One shot pulse will be outpu...

Page 151: ...t ports of the pick place axis on CT4 that opens closes with the turn ON open OFF close of the virtual output port No 7305 Fig 6 46 User Specified Output Port Display 1 User Indicated Output Port Disp...

Page 152: ...GX Fig 6 47 File Save Select Screen 2 Transferring to the controller the position data you are editing Click the Transfer to Controller button in the position edit window The position data you are edi...

Page 153: ...error is found in the position data to be transferred the position data will not be transferred If the position data to be transferred only generates a warning the warning screen appears Fig 6 50 War...

Page 154: ...creased memory with gateway function or R S RX SX RXD SXD RA SA RAX SAX and RAXD SAXD the following screens will be displayed PC interface software version 7 2 0 0 or later Fig 6 53 Confirmation Fig 6...

Page 155: ...n dialog box with the message Save edited data in the Controller Fig 6 55 Confirmation Yes Y The edited data will be transferred to the controller 3 Writing to the flash ROM No N The software will clo...

Page 156: ...reen of Open File select a position created offline and open it 2 If a controller is connected Controller Transfer button gets activated once the position is opened Press Controller Transfer button Th...

Page 157: ...sitions to be performed Press OK Fig 6 58 Position No Select 5 A confirmation screen stating Write Flash ROM will appear Press Yes Fig 6 59 Confirmation Screen 6 The position will be transferred to th...

Page 158: ...copied to the positions specified in Destination to Copy Move Moving position data Click Move The positions specified in Source to Copy Move will move to the positions specified in Destination to Copy...

Page 159: ...tion X SEL P Q R S RX SX X SEL PX QX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Position etc to write to the flash ROM Click Yes The memory data will be written to...

Page 160: ...osition Data In Clear Scope specify the Top No and Last No of the position range you want to clear Then click Clear Clicking Cancel will cancel the operation 3 Writing to the flash ROM When the clear...

Page 161: ...software version 7 2 0 0 or later Fig 7 9 Confirmation Fig 7 10 Confirmation X SEL P Q R S RX SX X SEL PX QX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Position et...

Page 162: ...he parameter data to the controller Print Clicking this button will print the parameter data Click this button and you can conduct Easy Parameter Setup V12 02 00 00 or later The above window shows I O...

Page 163: ...taneously can cancel the operations However the cancel function will become disabled when any of the following operations is performed Transfer of data on the edit screen to the controller Saving data...

Page 164: ...ave the parameter data you are editing to the controller s memory Click the Transfer to Controller button in the parameter edit window The number of the parameters has been increased for the X SEL P Q...

Page 165: ...5 Confirmation Fig 8 6 Confirmation X SEL P Q R S RX SX X SEL PX QX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Parameter etc to write to the flash ROM Click Yes The...

Page 166: ...e the parameter edit window will display the following confirmation dialog box with the message Save edited data in the Controller Fig 8 8 Confirmation Yes The edited data will be transferred to the c...

Page 167: ...arameter in the controller for X SEL P Q PX QX R S RX SX and RXD SXD with gateway function 6A1 UBS data composition change error will occur when software reset is executed after transferring the param...

Page 168: ...ansfer to Controller button in the parameter edit window 3 The Select Parameter Category window Fig 8 10 will be displayed In the case of X SEL JX KX the screen not showing Actuator specific parameter...

Page 169: ...elect Parameter Category Window SSEL ASEL PSEL This window is supported by PC software version 3 0 1 0 or later 1 Transfer parameters list The parameters to be transferred to the controller are displa...

Page 170: ...responding to the axes under Transfer to you want to transfer the parameters to They are arranged in the order of axis 1 axis 2 and the like on the controller side from the top Do not select the check...

Page 171: ...troller basic unit type dependent parameters transferred will not transfer the applicable parameters Normally select Controller basic unit dependent parameters not transferred Select Controller basic...

Page 172: ...Setup of I O communication IAI protocol B TCP communication and program message communication by Ethernet can be conducted Vision System Setup of Vision System I F feature can be conducted Establish...

Page 173: ...Easy Parameter Setup Supported Feature List RS 232C Fieldbus Ethernet Vision System Extension SIO X SEL J K X SEL JX KX X SEL P Q X SEL PX QX X SEL R S Note 1 Note 2 X SEL RX SX Note 1 Note 2 X SEL R...

Page 174: ...rameters saved in the PC offline and clicking Easy Parameter Setup Transmit to Controller Button in the setup window changes to Reflect to Edit Parameter Window Button Click Reflect to Edit Parameter...

Page 175: ...or later to a PC that NET Framework 4 0 Full or 4 5 is not installed installation window for NET Framework 4 0 Full will appear Click Install button to install NET Framework 4 0 Full PC software for X...

Page 176: ...Framework 1 0 before installing NET Framework 4 0 Full If it is necessary to use NET Framework 1 0 after NET Framework 4 0 Full is already installed have the following process 1 Uninstall NET Framewo...

Page 177: ...It cannot be use for MSEL PCX PGX PC PG and TTA with current encoder resolution 1 Right click a blank space in the tool bar refer to Fig 8 21 while pressing the Ctrl button The Input Password will be...

Page 178: ...og in Fig 8 24 If you have no problem click Yes Fig 8 24 Warning Dialog 4 After completion of rewriting write the parameters to the flash ROM Note Encoder parameters are not initialized Because of thi...

Page 179: ...in the same controllers and files of the same activated axis pattern at the same time 8 6 1 How to Compare Parameters Choose either to open parameter files by selecting File F Open O or to select Par...

Page 180: ...parable data Make sure that the file of the same controller type and same effective axis pattern or the same controller type and same effective axis pattern as the data in the controller are open when...

Page 181: ...lue the scroll of the grid gets synchronized to the move The form that the button is not pressed also moves Tab movement also synchronizes SyncScroll Invalid When it is displayed in black each form sc...

Page 182: ...wo or more local values that are each used in a different program 5 Definition of the same symbol for two or more flag numbers input ports output ports and or input output ports is prohibited The same...

Page 183: ...l File Format 1 normal format Save them by the Symbol File Format 2 extended format Transfer to Controller Clicking this button will transfer the parameter data to the controller Print Clicking this b...

Page 184: ...ter Fig 9 2 Symbol Edit Window Fig 9 3 Program Edit Window In the coordinate system definition data edit window clicking Edit E from the menu bar and then selecting Undo U can cancel up to the most re...

Page 185: ...numbers apply B at the top of the value When using the hexadecimal numbers apply H at the top of the value Eight digits can be input at maximum for binary and hexadecimal numbers In the operand to in...

Page 186: ...n 7 2 0 0 or later Fig 9 6 File Save Select Screen 2 Transferring to the controller the symbol data you are editing You can save the symbol data you are editing to the controller s memory Click the Tr...

Page 187: ...on 7 2 0 0 or later Fig 9 9 Confirmation Fig 9 10 Confirmation X SEL P Q R S RX SX X SEL PX QX RXD SXD RA SA RAX SAX RAXD SAXD SSEL ASEL PSEL Click and select a desired item Symbols etc to write to th...

Page 188: ...ing confirmation dialog box with the message Save edited data in the Controller Fig 9 11 Confirmation Yes The edited data will be transferred to the controller No The software will close the symbol ed...

Page 189: ...9 Symbol Edit Window 181...

Page 190: ...ernatively pressing the Ctrl key and Z key simultaneously can cancel the operations However the cancel function will become disabled when any of the following operations is performed Transfer of data...

Page 191: ...s Y mm Enter the offset data for the Y axis Z mm Enter the offset data for the Z axis R deg Enter the offset data for the R axis C Simple Interference Check Zone Zone No Indicate the zone No Coordinat...

Page 192: ...respect to the base coordinate system Note that work coordinate system No 0 is reserved in the system as the base coordinates work coordinate system offsets are 0 Xofwn X work coordinate offset Yofwn...

Page 193: ...rdinate system No 1 as Xofw1 150 Yofw1 200 Zofw1 0 and Rofw1 30 Set the offsets for work coordinate system No 2 as Xofw2 400 Yofw2 100 Zofw2 25 and Rofw2 20 Shown below is the work coordinate system d...

Page 194: ...led 1 When performing PTP positioning to position No 5 and No 6 in work coordinate system No 1 Fig 10 5 Position Data Screen Work Coordinate System No 1 Setting Sample program SLWK 1 Select work coord...

Page 195: ...Screen Work Coordinate System No 2 Setting Sample program SLWK 2 Select work coordinate system No 2 SLTL 0 Select tool coordinate system No 0 PTPR Specify right arm as the PTP target arm MOVP 5 Move...

Page 196: ...dinates provided as a combination of three dimensional orthogonal coordinates and rotation axis coordinates are defined by the dimensions offsets of the tool hand etc installed on the tool installatio...

Page 197: ...system No 1 as illustrated below Set the offsets for tool coordinate system No 1 as Xoft1 45 Yoft1 35 Zoft1 10 and Roft1 45 Shown below is the tool coordinate system definition data edit screen when...

Page 198: ...forming PTP positioning of the tool end in tool coordinate system No 1 to position No 5 and No 6 in work coordinate system No 1 Fig 10 9 Tool Coordinate System Offset Setting Screen Fig 10 10 Work Coo...

Page 199: ...Fig 10 13 Work Coordinate System Offset Setting Screen Fig 10 14 Position Data Screen Work Coordinate System No 2 and Tool Coordinate System No 1 Setting Sample program SLWK 2 Select work coordinate s...

Page 200: ...operation The actual motion differs between high speed operation actual operating condition and low speed operation Provide a sufficient margin to prevent interference During high speed operation the...

Page 201: ...s 425 mm or more 3 Set simple interference check zone No 3 as an area where Xb is 400 mm or less and Zb is 130 mm or more Simple interference check zone No 2 Simple interference check zone No 3 Simple...

Page 202: ...desired output number to be output when the axis enters the check zone In the case of the X SEL RX SX RXD SXD RAX SAX RAXD SAXD controller an expansion output port number can also be entered Error Typ...

Page 203: ...and port No 313 turns ON when entry into simple interference check zone No 3 is detected If physical output numbers and global flag numbers are duplicated chattering will occur and the result will bec...

Page 204: ...ype of coordinate system data you wish to delete Next click the OK button A warning message will be displayed to confirm if you really want to delete the data Click the OK button The data will be tran...

Page 205: ...nfirmation X SEL PX QX Click Yes The memory data will be written to the flash ROM Click No The memory data will not be written to the flash ROM Perform a reset reconnect the power or reset the softwar...

Page 206: ...e system definition data is explained below 1 Click the button in the menu if the coordinate system data definition edit window 2 Select whether to print all types or the coordinate system data being...

Page 207: ...tep operation by a breakpoint by the pause button by the SSPG command etc W Waiting in response to the TIMW WTxx WZxx WRIT or READ command waiting for a servo command to be completed etc PC software v...

Page 208: ...The figure on the left side shows up for some features When the super high impellent actuator is operated by the SSEL controller the belt breaking detection sensor can be monitored in Axis Status mon...

Page 209: ...n for those other than TTA SSEL ASEL PSEL and MSEL Fig 11 7 Input Output Ports The 1 0 ON OFF of output ports and virtual output ports can be switched by double clicking the applicable port or pressin...

Page 210: ...s The display on the right will be shown when a tick mark is put in the Symbol box and the display on the left will be shown when a tick mark is removed Note A48 Virtual Input Output Port Operation Er...

Page 211: ...esponding to the cursor position The controller will always recognize the specified port as OFF 3 CLR Clicking this button will clear the debug filter currently set for the input port corresponding to...

Page 212: ...F Changing the controller mode MANUAL or AUTO will not clear debug filters Accordingly changing the controller mode back to MANUAL from AUTO will make effective again the debug filters that were set i...

Page 213: ...nge the characters in global strings or assign characters to global strings The 1 0 ON OFF of global flags can be switched by double clicking the applicable global flag or pressing the Ctrl key and sp...

Page 214: ...am No from the Selectable Program No and click on it The background color of the Selectable Program No turns into blue Click on The data will be displayed in the Selectable Program No 2 Selection of C...

Page 215: ...first time one on top of another Fig 11 17 Local Data Display Window display at first time Drag one by one from the top to bottom and show all in the screen Fig 11 18 Local Data Display Window Number...

Page 216: ...setting the Error Number Select will display the Detailed Error Information screen Fig 11 19 Error Number Select Screen When errors occur error codes messages and other information will be displayed S...

Page 217: ...function is used Note If date time data is lost the following error occurs In this case the date time data becomes 2000 01 01 00 00 00 Fig 11 22 Error Display Note Refer to 14 4 Setting Time for how t...

Page 218: ...is section This screen is displayed on the X SEL R S RX SX RXD SXD RA SA RAX SAX RAXD SAXD controller TTA and MSEL controller Fig 11 24 Maintenance Information Total movement count Indicates the accum...

Page 219: ...transfer to the controller is complete the confirmation message Write Flash ROM appears Fig 11 25 Confirmation Click to select the items parameters etc you want to write to the flash ROM Yes Y Write t...

Page 220: ...ed Fig 11 27 Menu Bar Fig 11 28 Input Password Screen 2 Enter a password 5119 in the displayed Input Password screen Clear Pairing ID button will show up in the bottom of Maintenance Information scree...

Page 221: ...SEL PX QX RX SX RXD SXD RAX SAX RAXD SAXD the operation amount velocity instruction and feedback pulse all of such as position deviation of SCARA axes cannot be monitored Save the data in a file CSV f...

Page 222: ...ual position version 7 06 03 00 or later The following display is also available in XSEL P Q and XSEL R S XSEL RA SA Feedback current Feedback current on motor XSEL P Q is version 8 01 00 00 or later...

Page 223: ...f SSEL ASEL and PSEL Sampling Cycle when Buffered The period of sampling cycle for one sample should be the value set in Other Parameter No 51 Monitoring Data Buffering Cycle The value can be changed...

Page 224: ...ration and deceleration Speed Command Real command pulses sent from the controllers to the actuators Feedback Pulses Positional pulses feedback pulses transmitted from the actuator encoder Position De...

Page 225: ...SXD XSEL RA SA RAX SAX RAXD SAXD TTA MSEL PC PG PCX PGX To display set Bit 8 to 1 in Other Parameter No 47 Other Setting Bit Pattern 2 Set up 1 hexadecimal number is bits 7 to 0 of the setting value I...

Page 226: ...RA SA RAX SAX RAXD SAXD TTA and MSEL PCX PGX only FLG Global flag local flag not acceptable Port No Input a port number of I O to monitor 3 Select PC Monitor Output tab in Servo Monitor Screen 4 Selec...

Page 227: ...interval set in Polling Interval Composing Velocity Set display on off of composing velocity of the monitoring applicable axis Dedicated for when buffering Movement Average Frequency Set the movement...

Page 228: ...in the output multiplying factor setting in the data type select Fig 11 34 Adjust the vertical axis position in port off level in the offset setting in the data type select Fig 11 34 The graph displa...

Page 229: ...tion and Display of Current Value of Each Axis in Monitoring are added in V13 00 00 00 and later Fig 11 40 Servo Monitor Screen V13 00 00 00 or later 1 Click on Display Content Detail button and the d...

Page 230: ...s in monitoring gets displayed Fig 11 42 Current Value Display Current values will be updated only when non buffering monitor is under execution Rated Current Ratio is displayed only for the models av...

Page 231: ...ay Function Setting 223 12 RC Gateway Function Setting Operational manual for RC gateway function is in a separate volume Operational manual Catalogue number X SEL controller P Q PX QX RC gateway func...

Page 232: ...3 1 Warning For the controllers other than SSEL and ASEL Controllers that satisfy the following conditions conduct operation of 3 to 6 and 11 to 13 Condition Main Application SSEL V0 57 or ealier ASEL...

Page 233: ...error If this error occurs close the PC tool reconnect the controller power and then repeat from step 2 If the encoder battery is normal the error will no longer occur after the power is reconnected a...

Page 234: ...n Parameter and click Yes to start writing After it is finished conduct a software riset Writing to the flash ROM can be conducted at once after the absolute reset are completed on each axis Fig 13 7...

Page 235: ...re V13 00 00 00 or later In the absolute type it is necessary to conduct the absolute reset after motor replacement or when an absolute error Error No B0E or 4A9 occurred 1 Make sure to have a backup...

Page 236: ...ndow will show up Select the tab for the axis that requires the absolute reset Fig 13 12 Absolute Reset Window 5 Click on Start button and a warning window shows up Release the emergency stop check th...

Page 237: ...screen switches to the confirmation window asking Write Flash ROM Put a check mark on Parameter and click Yes to start writing After it is finished conduct a software riset Writing to the flash ROM ca...

Page 238: ...EMG switch before performing work The absolute reset adjustment jig is always required to perform an absolute reset for the rotation axis and vertical axis but not always required for arm 1 and arm 2...

Page 239: ...X SX RAX SAX select Abs Reset Y Scara Axis In the case of XSEL RXD SXD RAXD SAXD select Abs Reset Y Fig 13 16 Opening Operation of Abs Encoder Reset Window 2 The Abs Encoder Reset window will open One...

Page 240: ...oder 232 13 3 3 Absolute Reset Procedure for Arm 1 or 2 1 Click the Encoder Rotation Data Reset1 button Fig 13 18 Encoder Rotation Data Reset1 Operation 2 Click the Reset Controller Error button Fig 1...

Page 241: ...the Servo ON button Fig 13 20 Servo ON Operation 4 Jog the arm to near the reference position see reference position drawing in step 7 and click the Jog end button Fig 13 21 Jog Operation 5 Click the...

Page 242: ...Remove the setscrews and remove the cover before setting the jigs It is recommended that an adjustment jig is used to perform an absolute reset With arm 1 or 2 however rotation data can be reset as lo...

Page 243: ...00 350 Reference Position Note When performing an absolute reset for arm 1 of IX NNN2515 rotate arm 2 slightly then set with an adjustment jig pin to set it Always press the EMERGENCY STOP switch befo...

Page 244: ...so may cause the actuator to malfunction and result in a serious accident Warning Fig 13 26 Arm Length 120 2 Reference Position 2 When an absolute reset is performed for arm 2 arm length 120 Fig 13 2...

Page 245: ...13 How to Reset an Absolute Encoder 237 8 Click the OK button Fig 13 27 Confirmation Operation 9 Click the Encoder Rotation Data Reset2 button Fig 13 28 Encoder Rotation Data Reset2 Operation...

Page 246: ...t without writing to the flash ROM The status will be the same as the one in which the home position automatic update is not performed Always click the OK button after removing the jig and releasing t...

Page 247: ...3 4 Absolute Reset Procedure for Rotation Axis Vertical Axis 1 Click the Encoder Rotation Data Reset1 button Fig 13 30 Encoder Rotation Data Reset1 Operation 2 Click the Reset Controller Error button...

Page 248: ...ck the Temp Standard posture standby button Please note that the vertical axis returns to its home position Fig 13 33 Temp Standard Posture Standby Operation 5 Jog the rotation axis to the reference p...

Page 249: ...setting the plate and pin of the adjustment jig as illustrated below Set the jig after confirming that the EMERGENCY STOP switch is pressed Set the jig using the positioning mark as a guide The top f...

Page 250: ...242 Bottom view Fig 13 37 Arm Length 250 300 350 Reference Position Always press the EMERGENCY STOP switch before setting an adjustment jig Failure to do so may cause the actuator to malfunction and r...

Page 251: ...13 How to Reset an Absolute Encoder 243 Fig 13 38 Arm Length 120 Reference Position...

Page 252: ...gth 150 180 Reference Position Always press the EMERGENCY STOP switch before setting an adjustment jig Failure to do so may cause the actuator to malfunction and result in a serious accident Pay atten...

Page 253: ...13 How to Reset an Absolute Encoder 245 9 Click the OK button Fig 13 40 Confirmation Operation 10 Click the Encoder Rotation Data Reset2 button Fig 13 41 Encoder Rotation Data Reset2 Operation...

Page 254: ...lute Encoder 246 11 Click the Home pos automatic update button Fig 13 42 Home Pos Automatic Update Operation 12 Remove the adjustment jig 13 Release the EMERGENCY STOP switch 14 Click the OK Fig 13 43...

Page 255: ...ON button Fig 13 44 Confirmation Operation 16 Click the Standard posture standby button Please note that the vertical axis returns to its home position Fig 13 45 Standard Posture Standby Operation 17...

Page 256: ...utton Fig 13 47 Encoder Rotation Data Reset3 Operation 19 Click the Home pos automatic update button and then click in the top right hand corner to exit the Abs Encoder Reset window Be sure to perform...

Page 257: ...ecute it after it comes to a circumstance that requires the absolute reset Have it done while the normal operation can be performed Refer to 13 3 2 How to Acquire the Stopper Interfering Point When th...

Page 258: ...Press the Save As button in the Edit Parameter window to store the parameters in the file Fig 13 49 Edit Parameter Window 2 Select Controller Abs Encoder Reset Push type absolute reset from the menu...

Page 259: ...xes at Once To have the push stopper type absolute reset for all the axes at once follow the steps shown below 1 Select All axes Fig 13 52 Push Type Absolute Reset Window 2 Click Encoder Rotation Data...

Page 260: ...OK button Fig 13 54 Confirmation Window 4 By referring to the displayed movement direction for each axis adjust the axes to the initial posture The posture differs depending on the movement direction...

Page 261: ...ion of coordinate Arm 2 Positive direction of coordinate Fig 13 56 Initial Posture For the position put it apart from the stopper position for 10deg or more Setting it too close to the stopper Error N...

Page 262: ...ing Window 7 Once the push type absolute reset for all the axes is finished the Information window will appear Click OK button Fig 13 59 Information Window 8 Close the Push stopper position acquisitio...

Page 263: ...te Reset on Each Axis One by One To have the push stopper type absolute reset for each axis one by one follow the steps shown below Fig 13 60 Push Type Absolute Reset Window 1 1 st Arm and 2nd Arm 1 S...

Page 264: ...ergency stop condition After the work is finished click on the OK button Fig 13 62 Confirmation Window 4 By referring to the displayed movement direction for each axis adjust the axes to the initial p...

Page 265: ...er to 13 3 2 How to Acquire the Stopper Interfering Point Arm 2 Negative direction of coordinate Arm 1 Positive direction of coordinate Arm 1 Negative direction of coordinate Arm 2 Positive direction...

Page 266: ...push type absolute reset the Information window will appear Click OK button Fig 13 67 Information Window 8 If it is necessary to have the push type absolute reset for another axis move on to the axis...

Page 267: ...pe Absolute Reset Window 2 Click Encoder Rotation Data Reset Reset Controller Error Step 1 4 Fig 13 69 Encoder Rotation Data Reset Reset Controller Error 3 In case there is a concern that a load may i...

Page 268: ...he OK button after the work is finished Fig 13 71 Confirmation Window Initial posture Vertical Axis For the position put it apart from the coordinate 0mm upward end for 10mm or more Setting it at 10mm...

Page 269: ...ete the information window will appear Click OK button Fig 13 74 Information Window 8 When finishing the process click on the upper right side of the window Once the window is closed the parameters st...

Page 270: ...movement direction of the initial posture set at the delivery due to such as interference with peripheral devices change the setting to the initial posture of the left arm system stopper pressing dir...

Page 271: ...ng them Select Parameter Edit from PC Software Menu to show the Edit Parameter window Press the Save As button in the Edit Parameter window to store the parameters in the file Fig 13 77 Edit Parameter...

Page 272: ...264 4 A Confirmation window shows up Click Yes Fig 13 80 Confirmation Window If conducting on all the axes at once have the process of 1 When not all the axes but having one or some of the 4 axes to...

Page 273: ...teps shown below 1 Select All axes in the Push stopper position acquisition window Fig 13 81 Push Stopper Position Acquisition Window 2 In case there is a concern that a load may interfere with surrou...

Page 274: ...coordinate Arm 1 Negative direction of coordinate Arm 2 Positive direction of coordinate Fig 13 84 Initial Posture For the position put it apart from the stopper position for 10deg or more Setting it...

Page 275: ...us direction Once the selection is made click on the OK button At this time the direction of movement from the current position of the initial posture to Arm 1 1st arm and Arm 2 2nd arm is automatical...

Page 276: ...3 88 Information Window 8 Close the Push stopper position acquisition window by clicking on the upper right side of the window Once the window is closed the parameters start to be written automaticall...

Page 277: ...ct Individual axis in the Push stopper position acquisition window and set Axis to Arm 1 or Arm 2 Fig 13 89 Push Stopper Position Acquisition Window 2 In case there is a concern that a load may interf...

Page 278: ...system or the right arm system It is set to right arm system when the unit is shipped out Arm 2 Negative direction of coordinate Arm 1 Positive direction of coordinate Arm 1 Negative direction of coo...

Page 279: ...Process to acquire the push stopper position will start Fig 13 95 Warning Window 7 Once the push stopper position acquisition is complete the Information window will appear Click OK button Fig 13 96...

Page 280: ...window and set Axis to Vert Axis Rot Axis Fig 13 97 Push Stopper Position Acquisition Window 2 In case there is a concern that a load may interfere with surroundings at the absolute reset detach the...

Page 281: ...tical Axis For the position put it apart from the coordinate 0mm upward end for 10mm or more Setting it at 10mm or less Error No B0D Push Stopper Operation Start Position Error may occur at operation...

Page 282: ...nformation window will appear Click OK button Fig 13 103 Information Window 8 When finishing the process click on the upper right side of the window Once the window is closed the parameters start to b...

Page 283: ...solute reset is not conducted after the motor is replaced and robot is dismantled There may be a case that the indicated coordinates for positioning point cannot be achieved before and after the absol...

Page 284: ...Check the content and click OK Fig 13 106 4 Calibration Home Abs Encoder Reset appears Select the tab for the axis that requires the absolute reset C0onduct absolute reset to all the axes Note An arr...

Page 285: ...return posture and not to have interference to peripheral equipment The home return operation is to be conducted with the revolution limiting stopper when revolution limitation is to be performed Refe...

Page 286: ...for the datum position of the J1 axis and J2 axis Also change JOG Vel and Inc Distance if necessary Click OK once the arm gets near the datum position Click OK when moving the arm new the datum posit...

Page 287: ...ion adjustment tool 4 being inserted click OK in Emergency stop Positioning pin insertion window Fig 13 111 9 Remove the home position adjustment tool 4 and release the emergency stop Click OK in Posi...

Page 288: ...ure to secure enough area for home return posture and not to have interference to peripheral equipment In case there is any interference to peripheral equipment during the home return operation the ho...

Page 289: ...Yes There is no movement on the R axis by home return Fig 13 114 12 JOG Basic Position window appears Press and buttons to move the arm to a place near the datum position Refer to Step 13 for the dat...

Page 290: ...nt tool 3 D cut surface on the R axis tip and the D cut surface on the hole for insertion of the home position adjustment tool 3 face in the same direction Caution The datum position of the R axis is...

Page 291: ...release window Fig 13 118 16 Once Calibration Home Abs Encoder Reset window is closed the screen switches to Write Flash ROM confirmation window Put a check mark on Parameter and click Yes and then c...

Page 292: ...C software You also need a special jig to perform an absolute reset Versions supporting absolute reset on ZR unit V7 4 0 0 or later Absolute reset adjustment jig Model number JG ZRS for ZRS JG ZRM for...

Page 293: ...spline adjustment window from the PC software Fig 13 121 Absolute Reset Window Launching Operation 2 The ball screw spline adjustment window starts When a Lnr Axis No linear movement axis number is se...

Page 294: ...cludes items that require robot operation confirm the range of operation of the actuator absence of obstructions etc to make sure the robot can be operated 1 Select a Lnr Axis No linear movement axis...

Page 295: ...Encoder 287 3 When the dialog box appears click the Yes button Fig 13 125 Encoder Multi Rotation Data Reset 1 Operation 4 When the dialog box appears click the Yes button Fig 13 126 Encoder Multi Rota...

Page 296: ...3 How to Reset an Absolute Encoder 288 5 Click the Reset Controller Error button Fig 13 127 Controller Error Reset Operation 6 Click the Servo ON Lnr Axis Rot Axis button Fig 13 128 Servo ON Operation...

Page 297: ...p down axis will have a home return operation Fig 13 129 Tentative Reference Posture Operation 8 Jog the rotational movement axis R axis to the reference posture position refer to the illustration of...

Page 298: ...290 9 Click the Servo OFF Lnr Axis Rot Axis button Fig 13 131 Servo OFF Operation 10 Press the emergency stop switch emergency stop button on the PC cable 11 Release the brake Release the brake using...

Page 299: ...jig is vertical to the ball screw spline and that the D cut surface and surface a are firmly in contact Applicable screw Hexagonal socket head setscrew M5 Tightening torque 20 N cm reference 5 Insert...

Page 300: ...ute Encoder 292 12 Click the OK button Fig 13 132 Adjustment Jig Installation Confirmation Screen Operation 13 Click the Encoder Rotation Data Reset 2 Rot Axis button Fig 13 133 Encoder Multi Rotation...

Page 301: ...ncoder 293 14 When the dialog box appears click the Yes button Fig 13 134 Encoder Multi Rotation Data Reset 2 Operation 15 When the dialog box appears click the Yes button Fig 13 135 Encoder Multi Rot...

Page 302: ...utton Fig 13 136 Home Position Automatic Update Operation 17 Remove the adjustment tool 18 Lock the brake on the front panel of the controller 19 Cancel the emergency stop by releasing the emergency s...

Page 303: ...Lnr Axis Rot Axis button Fig 13 138 Servo ON Operation 22 Click the Standard Posture standby Lnr Axis Rot Axis 0 button Note Up down axis starts home return operation after the rotary axis finishes mo...

Page 304: ...t an Absolute Encoder 296 23 Click the Servo OFF Lnr Axis Rot Axis button Fig 13 140 Servo OFF Operation 24 Click the Encoder Rotation Data 3 Lnr Axis button Fig 13 141 Encoder Multi Rotation Data Res...

Page 305: ...k the Yes button Fig 13 142 Encoder Multi Rotation Data Reset 3 Operation 26 Click the Home pos automatic update Indispensability Lnr Axis button and then click in the top right hand corner of the win...

Page 306: ...spline adjustment window following the ball screw spline adjustment opens the following screen Click the Yes button Fig 13 144 Confirmation 28 When all data has been written to the flash ROM the foll...

Page 307: ...screw spline adjustment on ZR unit V7 4 0 0 or later Absolute reset adjustment jig Model number JG ZRS for ZRS JG ZRM for ZRM Fig 13 146 Connect the cables for the robot controller and teaching pendan...

Page 308: ...from the PC software Fig 13 147 Ball screw Spline Adjustment Window Launching Operation 2 The ball screw spline adjustment window starts When a Lnr Axis No llinear movement axis number is selected Ro...

Page 309: ...rocedure includes items that require robot operation confirm the range of operation of the actuator absence of obstructions etc to make sure the robot can be operated 1 Select a Lnr Axis No llinear mo...

Page 310: ...02 3 Click the Servo ON Lnr Axis Rot Axis button Fig 13 151 Servo ON Operation 4 Click the Temp Standard posture standby Lnr Axis button Note Up down axis will have a home return operation Fig 13 152...

Page 311: ...Note Rotary axis starts home return operation Fig 13 153 Home Return Operation 6 Jog the rotational movement axis to the reference posture position refer to the illustration of reference posture and t...

Page 312: ...r 304 7 Click the Servo OFF Lnr Axis Rot Axis button Fig 13 155 Servo OFF Operation 8 Press the emergency stop switch emergency stop button on the PC cable 9 Release the brake Release the brake using...

Page 313: ...jig is vertical to the ball screw spline and that the D cut surface and surface a are firmly in contact Applicable screw Hexagonal socket head setscrew M5 Tightening torque 20 N cm reference 5 Insert...

Page 314: ...on Screen Operation 11 Click the Home pos automatic update Indispensability Rot Axis button Fig 13 157 Home Position Automatic Update Operation 12 Remove the adjustment tool 13 Lock the brake on the f...

Page 315: ...13 158 Adjustment Jig Removal Confirmation Operation 16 Closing the ball screw spline adjustment window following the ball screw spline adjustment opens the following screen Click the Yes button Fig...

Page 316: ...6 10 11 12 21 38 42 43 44 46 47 50 51 66 67 68 Driver parameter No 26 Please follow the instructions below to perform Absolute Reset by using PC Software for X SEL 13 7 1 Instructions of Absolute Res...

Page 317: ...ABS unit encoder error 2 following error message will appear on screen Fig 13 162 ABS Unit Encoder Error Message 5 Current Error status can be checked by selecting Monitor M Error detail information E...

Page 318: ...ct Controller Absolute reset from Menu 7 Warning window will appear on screen Click OK button Fig 13 164 Warning 8 Abs Encoder Reset window will appear on screen Click here to select axis to perform A...

Page 319: ...arning After finished processing Absolute reset completion confirmation red arrow will be back to normal display as same as 8 If there is another axis to perform absolute reset select axis of symmetry...

Page 320: ...g movement with the initial posture at the delivery from the factory due to such reasons as interference to the peripheral equipment There was a change in the stopper position due to such reasons as a...

Page 321: ...elect Parameter Edit from PC Software Menu to show the Edit Parameter window Press the Save As button in the Edit Parameter window to store the parameters in the file Fig 13 169 Edit Parameter Window...

Page 322: ...for all the axes at once follow the steps shown below 1 Select All axes The screenshot shows the screen for the four axis type Some contents should not be displayed in the three axis type Fig 13 172 P...

Page 323: ...e spline shaft and affix it to Jig B with screws The position where Jig A is attached on the ball screw becomes the home position of the R axis Pay attention to the orientation of the flat surface on...

Page 324: ...3 175 Confirmation Window For 3 Axis Type Fig 13 176 Confirmation Window 4 By referring to the displayed movement direction for each axis adjust the axes to the initial posture The posture differs dep...

Page 325: ...Stopper Pressing Position Acquirement Operation Fig 13 179 Initial Posture For the position put it apart from the stopper position for 10deg or more Setting it too close to the stopper Error No B0D St...

Page 326: ...ration Fig 13 180 Initial Posture Rotation Axis For 4 Axis Type Only For the position put it apart from the stopper position for 10deg or more Setting it too close to the stopper Error No B0D Stopper...

Page 327: ...work is finished Fig 13 185 Jig Removing Window 8 For the four axis type a warning window will be displayed Click Yes The stopper pressing system absolute reset operation will be resumed Fig 13 186 Wa...

Page 328: ...2 The screenshot shows the screen for the four axis type Some contents should not be displayed in the three axis type Fig 13 188 Push Type Absolute Reset Window 2 Click Encoder Rotation Data Reset Res...

Page 329: ...o the initial posture The posture differs depending on the movement direction Click on Display the explanation of initial posture to check the explanations Make sure to work on with the emergency stop...

Page 330: ...Stopper Pressing Position Acquirement Operation Fig 13 192 Initial Posture For the position put it apart from the stopper position for 10deg or more Setting it too close to the stopper Error No B0D S...

Page 331: ...ce the push type absolute reset the Information window will appear Click OK button Fig 13 195 Information Window 8 If it is necessary to have the push type absolute reset for another axis move on to t...

Page 332: ...Rot Axis for the four axis type and Vert Axis for the three axis type The screenshot shows the screen for the four axis type Some contents should not be displayed in the three axis type Fig 13 196 Pus...

Page 333: ...e spline shaft and affix it to Jig B with screws The position where Jig A is attached on the ball screw becomes the home position of the R axis Pay attention to the orientation of the flat surface on...

Page 334: ...Axis Type Fig 13 200 Confirmation Window 4 By referring to the displayed movement direction for each axis adjust the axes to the initial posture The posture differs depending on the movement direction...

Page 335: ...operation Fig 13 203 Initial Posture Rotation Axis For 4 Axis Type Only For the position put it apart from the stopper position for 10deg or more Setting it too close to the stopper Error No B0D Stopp...

Page 336: ...e sure the work is conducted with the emergency stop activated Click on the OK button after the work is finished Fig 13 208 Jig Removing Window 8 Once the push type absolute reset for the axis is comp...

Page 337: ...hat the absolute reset cannot be performed with the stopper pressing movement direction of the initial posture set at the delivery due to such as interference with peripheral devices change the settin...

Page 338: ...eter window Press the Save As button in the Edit Parameter window to store the parameters in the file Fig 13 212 Edit Parameter Window 2 Select Controller Abs Encoder Reset Scara Q Push stopper positi...

Page 339: ...the push stopper position for all the axes at once follow the steps shown below 1 Select All axes in the Push stopper position acquisition window The screenshot shows the screen for the four axis typ...

Page 340: ...e spline shaft and affix it to Jig B with screws The position where Jig A is attached on the ball screw becomes the home position of the R axis Pay attention to the orientation of the flat surface on...

Page 341: ...click on the OK button For 4 Axis Type Fig 13 218 Confirmation Window For 3 Axis Type Fig 13 219 Confirmation Window 3 Adjust each axis to the initial posture The posture differs depending on the mov...

Page 342: ...or more Setting it too close to the stopper Error No B0D Stopper Pressing Operation Start Position Error may occur at operation Arm 2 Negative Direction of Coordinate Arm 2 Positive Direction of Coor...

Page 343: ...per Pressing Operation Start Position Error may occur at operation Fig 13 222 Initial Posture Rotation axis For 4 Axis Type Only For the position put it apart from the stopper position for 10deg or mo...

Page 344: ...nce the selection is made click on the OK button At this time the moving directions of Arm 1 1st Arm and Arm 2 2nd Arm should be automatically selected from the current position in the initial posture...

Page 345: ...At this time make sure the work is conducted with the emergency stop activated Click on the OK button after the work is finished Fig 13 229 Jig Removing Window 8 For the four axis type a warning wind...

Page 346: ...by clicking on the upper right side of the window Once the window is closed the parameters start to be written automatically to the flash ROM and controller is rebooted by the software reset 11 Once t...

Page 347: ...232 Push Stopper Position Acquisition Window 2 In case there is a concern that a load may interfere with surroundings at the absolute reset detach the load At this time make sure the work is conducted...

Page 348: ...or more Setting it too close to the stopper Error No B0D Stopper Pressing Operation Start Position Error may occur at operation Initial posture of left arm system Arm 1 Movement in Positive Side of Co...

Page 349: ...t position of the initial posture is automatically selected Once the selection is made click on the OK button Fig 13 236 Confirmation Window 5 Click Execution button Fig 13 237 Execution Window 6 A Wa...

Page 350: ...ing the process click on the upper right side of the Push stopper position acquisition window Once the window is closed the parameters start to be written automatically to the flash ROM and controller...

Page 351: ...Select Individual axis in the Push stopper position acquisition window and set Axis to Vert Axis Rot Axis The screenshot shows the screen for the four axis type Some contents should not be displayed...

Page 352: ...e spline shaft and affix it to Jig B with screws The position where Jig A is attached on the ball screw becomes the home position of the R axis Pay attention to the orientation of the flat surface on...

Page 353: ...itial posture The posture differs depending on the movement direction Click on Display the explanation of initial posture to check the explanations Make to work on with the emergency stop activated wh...

Page 354: ...rror may occur at operation Fig 13 246 Initial Posture 4 Select the movement method Make to select Motor drive on the selection of Motor drive Hand It is not necessary to change the direction to move...

Page 355: ...ig 13 251 Warning Window 7 For the four axis type press Execute and proceed to Removing and then take off the rotary axis pressing absolute reset jig At this time make sure the work is conducted with...

Page 356: ...stopper position acquisition window Once the window is closed the parameters start to be written automatically to the flash ROM and controller is rebooted by the software reset 10 Once the controller...

Page 357: ...t is not yet written to the flash ROM will be lost after this operation Click Controller C from the menu bar and then select Software Reset R 14 2 Reset Error Selecting this menu item will reset messa...

Page 358: ...during automatic operation recovery after release stop operation pause release When you set other parameter No 10 to 2 emergency stop recovery according to type continuous operation recovery during a...

Page 359: ...ring automatic operation recovery after release of emergency stop operation pause release When you set other parameter No 11 to 2 Deadman SW Enable SW recovery according to type continuous operation r...

Page 360: ...shown Show controller time The time date time currently set in the controller is shown Setting button Set the time date time shown on the screen to the controller 14 5 SEL Global Data Backup 1 Saving...

Page 361: ...nd then click Transmit to Controller L The SEL global data backup screen Transmit to Controller will be displayed If an error occurs focus will move to the Detailed Error Information tag to display th...

Page 362: ...f control constant tables for the encoder and motor can be checked Select Controller C from the menu tool bar and then click Control constant table management information Z Supported by X SEL P Q PX Q...

Page 363: ...ports and others Select Positioner Mode O from the Controller pop up menu and then click Execute E Pressing the EMERGENCY STOP button or Stop in the screen of Fig 14 6 will stop the positioner mode S...

Page 364: ...ers After the dialog indicating Getting Pos mode data has been displayed select the Pos mode sys1 data for PSEL and click the Save S button The system data can be saved This function is used when maki...

Page 365: ...d This information is intended for manufacturers 1 Mng Info Tab Mode Display a specified positioner mode Management Info 1 2 Display the management information of system data 2 Detail tab Display the...

Page 366: ...ay feature SSEL Controller TTA MSEL PC PG and PCX PGX controllers File Save Format Selection window will appear after clicking Save As button Fig 14 11 File Save Select Screen Note For XSEL P Q PX QX...

Page 367: ...axes is four and two columns when the number of activated axes is eight for XSEL RXD SXD and RAXD SAXD Controllers 2 These should be displayed when the output operation feature is valid in TTA MSEL an...

Page 368: ...Files and all the xls files should appear Fig 14 13 Open File Dialog The controller selection window will show up once a Excel 97 2003 Workbook xls file with the correct position data file format is s...

Page 369: ...ata on the Excel sheet Refer to 14 10 1 Position Data Format for the title line 14 10 4 Caution 1 Do not attempt to input any information except for those described in the position data format to the...

Page 370: ...symbols will be shown in the variable window I O window flag monitor window and position data edit window Position data editing is permitted for four axes in the case of X SEL J K controllers and six...

Page 371: ...patible with increased memory Choose the format type When saving programs or position data either saving by the normal format Format 1 or saving with the extended format Format 2 can be chosen in the...

Page 372: ...data can be edited is shown after Permit editing of position data for all axes Fig 15 5 Environment Setup Screen V9 00 00 00 or later Note In the case of the X SEL R S RX SX RXD SXD RA SA RAX SAX RAXD...

Page 373: ...ition Data window Also paste is operated in Edit Program window it can be chosen from overwriting and inserting Fig 15 6 Environment Setup Window V12 02 00 00 or later Put a checkmark to enable cut co...

Page 374: ...after power reconnection or software reset since system specific settings are lost immediately after parameter initialization Under such conditions all parameters cannot be transferred to the control...

Page 375: ...e effective axis patterns of the controller and the parameter file to transfer mismatch the parameter file cannot be transferred A warning dialog in Fig 16 2 will be displayed during file transfer Fig...

Page 376: ...0 or later X SEL P Q R S RX SX RXD SXD RA SA RAX SAX RAXD SAXD compatible with increased memory X SEL PX QX compatible with increased memory Fig 16 4 Flash ROM Write Confirmation Dialog The number of...

Page 377: ...ansfer of Actuator Non specific Parameters First open a parameter file for recovery Clicking the transfer to the controller button will display the Select Parameter Category form Fig 16 6 Parameter Fi...

Page 378: ...de in Basic Setting Select I O System Device in addition when controller is XSEL RA SA RAX SAX or RAXD SAXD After completing the above settings click the OK button Parameter transfer will start Fig 16...

Page 379: ...selected parameters under Select parameter transfer options After completing the above settings click the OK button Fig 16 8 Transfer of Actuator Specific Parameters Once the OK button has been clicke...

Page 380: ...Reset all the programs except for the I O processing program at action abort time Errors other than axis related errors become reset factors only in an error occurring moment Yes Errors interfering w...

Page 381: ...it window first 987 Cannot initialize memory being edited on line Memory initialization was performed while the program symbol position data online edit window was open Close the applicable online edi...

Page 382: ...9A5 Extension motion control board position data file transfer prohibited while being edited on line The extension motion control board position data file cannot be transferred during the on line edi...

Page 383: ...ring prohibited in operating mode An operation to clear the error list was performed in operating mode Check the type of manual operation or other parameter No 21 and the type of manual operation with...

Page 384: ...rohibited during online edit SEL program symbol position data initialization was performed while the program symbol position data online edit window was open Close the applicable online edit window fi...

Page 385: ...et Receive Timeout Error PC Communication error Check the HUB cable connection short noise etc ECE Disconnection Error PC Communication error Check the HUB cable connection short noise etc ECF Socket...

Page 386: ...16 Appendix 378...

Page 387: ...of Caution Operating environment Windows Vista and Windows 7 were added 32 35 The installation procedure for Windows 7 or Windows Vista was added to the USB conversion adapter driver installation pro...

Page 388: ...n Page 68 126 136 140 Contents added for Easy Parameter Setup 286 Explanation made for additional functions of environment setting window The 17B edition Page 181 182 Correction made Actual command pu...

Page 389: ...o 2 for IXP SCARA April 2017 The 21th edition Page 6 17 Windows 10 added Windows XP Vista deleted Page 33 39 Contents added to be applicable for Windows 10 Page 57 Connection window deleted for V7 2 0...

Page 390: ...21E edition Page 15 to 16 43 to 52 Change made to Cable Type CB ST A1MW050 EB CB ST A2MW050 EB The 21E edition Page 58 94 TTA deleted The 22th edition Page 127 Position data added for IXA SCARA Robot...

Page 391: ......

Page 392: ...89524 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 825 PhairojKijja Tower 12th Floor Bangna Trad RD Bangna...

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