IAI PSEL, ASEL First Step Manual

PSEL, ASEL

First Step Guide

Third Edition

Thank you for purchasing our product.

Make sure to read the Safety Guide and detailed Operation Manual (CD) included with

the product in addition to this First Step Guide to ensure correct use.

*Using or copying all or part of this Operation Manual without permission is prohibited.

Product Check

This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.

1. Parts (The option is excluded.)

No. Part Name Model

1 Controller

Refer to “How to read the model plate” and “How to
read the model of the controller”.

Accessories

2 I/O Flat cable CB-DS-PIO*** ***indicates the cable length.
3 Battery for saving Absolute Data

*1

AB-5

4 Control Power Unit•System I/O plug MC1.5/6-ST-3.5 (Maker: PHOENIX CONTACT)
5 Motor Power Plug MSTB2.5/2-STF-5.08 (Maker: PHOENIX CONTACT)
6 First Step Guide
7 Operation Manual (CD)
8 Safety Guide

*1 It is attached when the unit is absolute type.

2. Teaching Tool (Option)
The personal computer application software or teaching pendant is required for
the operations including program creation and setup such as position setting and
parameter setting with teaching. Use either of them.

No. Part Name Model

1

PC Software (with RS232C Cable + Emergency Stop Box + Connector
conversion adapter)

IA-101-X-MW-J

2

PC Software

(USB Cable with a dummy plug) IA-101-X-USB
3 Teaching pendant SEL-T
4 Teaching pendant (with deadman switch) SEL-TD
5 Wall Hanging Hook specially for SEL-T/TD HK-1
6 Strap specially for SEL-T/TD STR-1
7 Teaching pendant IA-T-X
8 Teaching pendant (with deadman switch) IA-T-XD
9 Panel Unit *2 PU-1

*2 It is the unit specially for “Status” indication.

3. Operation manuals related to this product, which are contained in the CD.

No. Name Manual No.

1 PSEL Controller Operation Manual ME0172
2 ASEL Controller Operation Manual ME0165
3 PC Software IA-101-X-MW/ IA-101-X-USBMW ME0154
4 Teaching pendant SEL-T/TD ME0183
5 Teaching pendant IA-T-X/XD ME0160
6 DeviceNet Operation Manual ME0124
7 CC-Link Operation Manual ME0123
8 PROFIBUS-DP Operation Manual ME0153

4. How to read the model plate

5. How to read the model of the controller

[PSEL]

[ASEL]

*1 : When the RCA-RA3C, -RA3D, -RA3R, -RGS3C, -RGS3D, -RGD3C, -RGD3D,

RCA2-SA4C or –TA5C is connected, the motor type should be 20S.

Basic Specifications

PSEL Specifications

Specification Item Single-Axis Type Double-Axis Type

Control Power Source Voltage 24VDC ± 10%
Motor Power Source Voltage 24VDC ± 10%

Control Power Capacity 1.2A

Actuator Rated Max

*2

Rated Max *2

20, 28P, 28SP Motor 0.4A 0.8A

Motor
Power
Capacity *1

35, 42, 56P Motor 1.2A

2.0A

2.4A

4.0A

Heating value 14.4W
Momentary Power
Interruption Tolerance

0.5msec

Insulation Resistance 500VDC 10MΩ or more
Insulation Strength 400VAC for 1min (Between all power terminals and FG)
Axis Control System AC Full –digital Servo
Position detection method Incremental Encoder
Battery for Backup For System Memory Backup : Manufactured by our company AB-5 (Option)
Program language Super SEL language
Max. Number of program steps

2000 steps
Max. Number of position 1500 positions
Max. Number of programs 64 programs

Max. Number of multitask programs

8 programs
Data storage device Flash ROM + SRAM battery backup (Option)
Data input method Teaching pendant or PC software
I/O Interface 24 Input Points

(Total of Dedicated Input Points + Universal Input Points)

8 Output Points

(Total of Dedicated Output Points + Universal Output Points)

PIO Interface Power Unit 24VDC ± 10 % (Externally supplied)

Teaching Port RS232C
(Special Protocol)

26-pin Half Pitch I/O Connector (TX20A Series for Connecting

1.27mm-pitch PCB Cable Pair Manufactured by JAE)
USB Teaching Port for
connecting the PC (Special
Protocol)

USB B Connector (XM7B-0442)
For connecting the PC

RS232C 15m or less Communication

cable length

USB 5m or less
System I/O Emergency-stop input, safety gate input
Protective functions Overvoltage, motor over current, motor overload, driver

temperature abnormality, and Encoder abnormality etc.

Drive-source cutoff method Internal Relay

Surrounding air
temperature

0 to +40°C

Surrounding
humidity

10% to 95%RH (non-condensing)

Surrounding
environment

There should not be any corrosive gas. In particular, there
should not be much dust accumulation.

Surrounding storage
temperature

-25 to 70 degrees (However, except for battery (option))

Surrounding storage
humidity

10% to 95%RH (non-condensing)

Vibration strength XYZ directions 10 to 57Hz Pulsating amplitude 0.035mm

(continuous)0.075mm (intermittent)
57 to 150Hz 4.9m/s

2

(continuous) 9.8m/s2 (intermittent)

Environ­ment

Impact 147mm/s2, 11ms Semi-sine wave pulse three times to each

of the directions X, Y and Z
Protection class IP20
Cooling method Natural air-cooling
Weight 440g
External dimensions (Refer to the Item for the External dimensions Dimension)

PSEL – C － 2 － 20PI － 20PIB － NP － 2 － 0

X Y Z [ [ \ ] ^

Model table

[ Details of axis 1 to axis 2

X

Series

Y

Controller

Type

Z

Number
of axes

Motor Angle

Valu e

Encoder type Brake

\

Standard

I/O

]

I/O Flat

cable
length

^

Power­supply
voltage

PSEL

C

(Standard

Type)

1

(1-axis)

2

(2-axis)

20P

(20 angles)

28P

(28 angles)

28SP

(For RCP2-

RA3C)

35P

(35 angles)

42P

(42 angles)

56P

(56 angles)

I

(Incremental)

Not Specified

(w/o brake)

B

(w/ brake)

NP

Standard

PIO
Input 24/
Output 8

NPN type

PN

Standard

PIO
Input 24/
Output 8

PNP type

2 : 2m

(standard)

3 : 3m

5 : 5m

0 :

None

0 : 24VDC

ASEL – C － 2 － 30A － 30AB － NP － 2 － 0

X Y Z [ [ \ ] ^

Model table

[ Details of axis 1 to axis 2

X

Series

Y

Controller

Type

Z

Number
of axes

Motor

Output

Encoder

type

Brake

Home

Sensor

High
Accel/
Decel

Type

Less

Power
consump­tion Type

\

Standard I/O

]

I/O Flat

cable
length

^

Power­supply
voltage

ASEL

C

(Standard

Type)

1

(1-axis)

2

(2-axis)

2

(2W)

5

(5W)

10

(10W)

20S

(20W

*1

)

20

(20W)

30

(30W)

I

(Incremental)

A

(Absolute)

Not

Specified

(w/o

brake)

B

(w/ brake)

Not

Specified

(w/o

home

sensor)

B

(Home

Sensor)

Not
Specified
(Standard

Type)

HA

(High

Accel/Decel

Type)

Not

Specif ied

(Standard

Type)

LA

(Less Power
consumption

Type)

NP

Standard

PIO
Input 24/
Output 8

NPN type

PN

Standard

PIO
Input 24/
Output 8

PNP type

2 : 2m

(standard)

3 : 3m

5 : 5m

0 :

None

0 : 24VDC

*1 Rush current of the control power when the

power is turned ON, is about 30.0A for 5msec
both for single axis type and double axis type.

*2 After the servo-motor is turned on, the

excitation detection operation is performed.
Excitation phase detection is performed after
power-on. In such a case, the current becomes
maximum (About 100msec).
However, after the motor driving power is
turned OFF, when the motor driving power is
turned ON again, about 6.0A of current passes
for single axis type and 12.0A of current for
double axis type. (for approx. 1 to 2msec)

As a +24VDC power
supply, select the power
supply of the “peak load
support” specification or
one with sufficient
capacity.

MODEL PSEL-C-2-42PI-42PI-NP-2-0

SERIAL No. 600117538

MADE IN JAPAN

Model

Serial number

ASEL Specifications

Specification Item Single-Axis Type Double-Axis Type

Control Power Source Voltage 24VDC ± 10%
Motor Power Source Voltage 24VDC ± 10%

Control Power Capacity 1.2A

Standard Type /
High Accel/Decel Type

Power consumption
Type

Standard Type /
High Accel/Decel Type

Power consumption
Type

Actuator

Rated Max

*2

Rated Max *3 Rated Max *2 Rated Max *3

SA4･SA5･RA4 (20W)
type

1.3A 4.4A 1.3A 2.5A 2.6A 8.8A 2.6A 5.0A

SA6･RA4 (30W) type

1.3A 4.0A 1.3A 2.2A 2.6A 8.0A 2.6A 4.4A

RA3 (20W) type

1.7A 5.1A 1.7A 3.4A 3.4A 10.2A 3.4A 6.8A

SA3(10W) type
SA5･TA6 (20W) type

1.3A 4.4A 1.3A 2.5A 2.6A 8.8A 2.6A 5.0A

RN3N･RP3N･GS3N･
GD3N･SD3N･TC3N･
TW3N･TF3N･TA4C･
TA4R(10W) type

1.3A 4.4A 2.6A 8.8A

SA6･TA7 (30W) type

1.3A 4.0A 1.3A 2.2A 2.6A 8.0A 2.6A 4.4A

RA4･TA5 (20W) type

1.7A 5.1A 1.7A 3.4A 3.4A 10.2A 3.4A 6.8A

RN4N･RP4N･GS4N･
GD4N･SD4N･TC4N･
TW4N･TF4N(20W)
type

1.7A 5.1A 3.4A 10.2A

RA1L, SA1L 0.8A 4.6A 1.6A 9.2A
RA2L, SA2L 1.0A 6.4A 2.0A 12.8A

Motor
Power
Capacity

*1

RA3L, SA3L 1.3A 6.4A 2.6A 12.8A

Heating value 14.4W
Momentary Power
Interruption Tolerance

0.5msec

Insulation Resistance 500VDC 10MΩ or more
Insulation Strength 500VAC for 1min (Between all power terminals and FG)
Axis Control System AC Full –digital Servo
Position detection method Incremental Encoder or Absolute Encoder

For Absolute Data Backup : Manufactured by our company AB-5 Battery for Backup

For System Memory Backup : Manufactured by our company AB-5 (Option)

Program language Super SEL language

Max. Number of program steps

2000 steps
Max. Number of position 1500 positions
Max. Number of programs 64 programs

Max. Number of multitask programs 8 programs

Data storage device Flash ROM + SRAM battery backup (Option)
Data input method Teaching pendant or PC software
I/O Interface 24 Input Points

(Total of Dedicated Input Points + Universal Input Points)

8 Output Points

(Total of Dedicated Output Points + Universal Output Points)

PIO Interface Power Unit 24VDC ± 10% (Externally supplied)

Teaching Port RS232C
(Special Protocol)

26-pin Half Pitch I/O Connector (TX20A Series for Connecting

1.27mm-pitch PCB Cable Pair Manufactured by JAE)

USB Teaching Port for connecting
the PC (Special Protocol)

USB B Connector (XM7B-0442)
For connecting the PC

RS232C 15m or less Communication

cable length

USB 5m or less
System I/O Emergency-stop input, safety gate input
Protective functions Overvoltage, motor over current, motor overload, driver

temperature abnormality, Encoder abnormality etc.

Drive-source cutoff method Internal Relay

Surrounding air temperature 0 to +40°C

Surrounding humidity 10% to 95%RH (non-condensing)

Surrounding
environment

There should not be any corrosive gas. In particular, there should
not be much dust accumulation.

Surrounding storage
temperature

-25 to 70 degrees (However, except for battery (option))

Surrounding storage
humidity

10% to 95%RH (non-condensing)

Vibration resistance XYZ directions 10 to 57Hz Pulsating amplitude 0.035mm

(continuous)0.075mm (intermittent)
57 to 150Hz 4.9m/s

2

(continuous) 9.8m/s2 (intermittent)

Environ

-ment

Impact 147mm/s

2

, 11ms Semi-sine wave pulse three times to each of the directions X, Y and Z

Protection class IP20
Cooling method Natural air-cooling
Weight 450g
External dimensions (Refer to the Item for the External dimensions Dimension)

External Dimensions

[PSEL]

* Same dimensions are applied to both the single axi s and double axis units.
* The above figure shows the condition where the system memory backup battery (option)

is attached.

[ASEL]

* Same dimensions are applied to both the single axi s and double axis units.
* The above figure shows the condition where the system memory backup battery (option)

and absolute data backup battery have been attached.

Installation Environment

Do not use this product in the following environment:

• Location where the surrounding air temperature exceeds the range of 0 to 40°C

• Location where condensation occurs due to abrupt temperature changes

• Location where relative humidity smaller than 30% or larger than 95 %RH

• Location exposed to corrosive gases or combustible gases

• Location exposed to significant amount of dust, salt or iron powder

• Location subject to direct vibration or impact

• Location exposed to direct sunlight

•

Location where the product may come in contact with water, oil or chemical droplets

When using the product in any of the locations specified below, provide a
sufficient shield.

• Location subject to electrostatic noise

• Location where high electrical or magnetic field is present

• Location with the mains or power lines passing nearby

Installation and Noise Elimination

1. Noise Elimination Grounding (Frame Ground)

2. Precautions Regarding Wiring Method

• Use a twisted cable for connection to power supply.

• Separate the I/O line, communication line and power or driving line to each other.

3. Noise Sources and Elimination

Carry out noise elimination measures for power devices on the
same power path and in the same equipment.
The following are examples of measures to eliminate noise
sources:
①AC solenoid valves, magnet switches and relays

[Measure]

Install a surge absorber parallel with the coil.

②DC solenoid valves, magnet switches and relays

[Measure]

Install a diode parallel with the coil. Use a

DC relay with a built-in diode.

4. Heat Radiation and Installation
Conduct design and manufacture in consideration of the control box size, controller layout
and cooling in such a way that the temperature around the controller will be 40°C or less.

The controller in the above figure is PSEL. ASEL works under the same
conditions for PSEL.

*1 Rush current of the control power when the power is

turned ON, is about 30.0A for 5msec both for single
axis type and double axis type.

*2 It is the maximum current in accelerating or

decelerating.

*3 The current reaches its maximum level when the

servo-motor exciting phase is detected which is to be
performed in the first servo-motor turning ON
processing after the power injection. (Normal: Approx.
1 to 2sec, Max.: 10sec

)

110

(26)

(17)

43

21.5

(52)

137

159

5

System Memory
Backup Battery

110

(26)

(52)

137

159

5

(20)

(17)

43

21.5

System Memory
Backup Battery

A

bsolute Data

Backup Battery

As a +24VDC power supply,
select the power supply of
the “peak load support”
specification or one with
sufficient capacity.

50mm or more

50mm or more

95mm

or more

Airflow

direction of the wind

30 30

Fan

R
C

R
C
A
2

R
C
L

Surge Absorber

+24V

+24V

0V

0V

Relay coil

R

C

+

-

Relay

coil

Controller

Other equipment

Controller

Other equipment Other equipment

Do not share the ground wire with or connect to
other equipment. Ground each controller.

Controller

Earth Terminal

Class D grounding

(

Formerly Class-III grounding: Grounding resistance at 100Ω or less)

Connect it using a stranded
copper wire 2.0mm

2

(AWG 16).

Attach the ground screw
terminal to the earth
ground.