IAI SSEL Operation Manual

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Page 1

Operation Manual Eighth Edition

SSEL Controller

Page 2

Please Read Before Use

Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others,

providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to

ensure safe use of the product. The CD that comes with the product contains operation manuals for IAI products. When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC.

After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary.

[Important]

 This Operation Manual is original.  The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI

shall assume no responsibility for the outcome of any operation not specified herein.

 Information contained in this Operation Manual is subject to change without notice for the purpose of

product improvement.

 If you have any question or comment regarding the content of this manual, please contact the IAI

sales office near you.

 Using or copying all or part of this Operation Manual without permission is prohibited.  The company names, names of products and trademarks of each company shown in the sentences

are registered trademarks.

Page 3

CAUTION

Operator Alarm on Low Battery Voltage

This controller can be equipped with the following optional backup batteries for retention of data in the event of power failure:

[1] System-memory backup battery (Optional)

For retention of position data, global variables/flags, error list, strings, etc.

[2] Absolute-data backup battery (absolute encoder specification)

For retention of encoder rotation data.

Since these batteries are not rechargeable, they will be eventually consumed. Unless the batteries are replaced in a timely manner, the voltage will drop to a level where the data can no longer be retained. If a power failure occurs in this condition, the data will be lost. (The life of each battery varies depending on the operating time.) Once the data is lost, the controller will not operate normally the next time the power is turned on, and recovery will take time.

To prevent this problem, this controller can output a low battery voltage alarm from its I/O port.

You can specify a desired output port to issue a voltage-low warning for the system-memory backup battery. Set “15” as the input function specification value in the I/O parameter corresponding to the output port number you want to specify. Setting example) To specify output port No. 306 to issue a voltage-low warning for the system-memory backup battery, set “15” in I/O parameter No. 52.

You can specify a desired output port to issue a voltage-low warning for the absolute-data backup battery. Set “16” as the input function specification value in the I/O parameter corresponding to the output port number you want to specify. Setting example) To specify output port No. 307 to issue a voltage-low warning for the absolute-data backup battery, set “16” in I/O parameter No. 53.

It is recommended that this function be utilized to prevent unnecessary problems resulting from low battery voltage (consumption of battery life). In particular, the person in charge of system design should utilize this function to provide a design means for issuing an operator alarm using an output signal from an I/O port, while the person in charge of electrical design should provide an electrical means for achieving the same effect. For the battery replacement procedure, refer to the applicable section in the operating manual.

It is recommended that you always backup the latest data to a PC in case of voltage drop in the system-memory battery or unexpected controller failure.

Page 4

CAUTION

Optional System-Memory Backup Battery

The SSEL controller can be used with the optional system-memory backup battery.

Caution: When installing the system-memory backup battery, “Other parameter No. 20” must be set to

“2.”

Installing the system-memory backup battery will add the following functions to the controller:

 Save SEL global data

Data of global variables, flags and strings will be retained even after the main power is turned off.

 Save RAM position data

Position data changed by SEL programs will be retained even after the main power is turned off.

 Save an error list

An error list containing up to 100 most recent errors will be retained even after the main power is turned off.

If you need any or all of the above functions, you must install the optional system-memory backup battery.

Using a Rotary Actuator under Rotation Specification

With a rotary actuator designated as a model supporting rotation specification, rotation operation or limit rotation operation can be set using parameters. For information on setting these parameters, refer to 2, “Utilization Examples of Axis-specific Parameters” in Appendix “Parameter Utilization.”

 Axis operation type, rotational axis mode  Perform rotation operation or short-cut control with a rotational axis

However, pay attention to the following point:

Rotation operation is not supported by rotational axes of absolute specification. This is because the infinite stroke mode, or short-cut control in the index mode, cannot be set for these axes.

Applicable models

Actuator

RS-30/60 RCS2-RT6/RT6R/RT7/RT7R

Page 5

CAUTION

Notes on Use of X-SEL PC Software

Versions Supporting SSEL Controllers

(with Increased Memory Size*1)

(*1: Positions and programs have increased to 20000 and 128, respectively, among others.)

SSEL controllers (with increased memory size) are supported by X-SEL PC software of version 7.0.6.0 or later. X-SEL PC software of versions order than 7.0.6.0 cannot be used with SSEL controllers. If you use PC software whose version is older than 7.0.6.0, “Error code 684: Expanded data access error” will occur.

* If the version of your X-SEL PC software is old (older than 7.0.6.0), contact your nearest IAI sales

office.

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Table of Contents

Safety Guide...........................................................................................................1

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

Chapter 1 Overview...................................................................................................................1

1. Introduction..................................................................................................................................1

2. Type.............................................................................................................................................1

3. SSEL Controller Functions ..........................................................................................................2

4. System Setup ..............................................................................................................................4

5. Warranty Period and Scope of Warranty.....................................................................................5

Chapter 2 Specifications............................................................................................................6

1. Controller Specifications..............................................................................................................6

2. Name and Function of Each Part ................................................................................................7

Chapter 3 Installation and Wiring.............................................................................................23

1. External Dimensions..................................................................................................................23

2. Installation Environment ............................................................................................................26

3. Heat Radiation and Installation..................................................................................................27

4. Noise Control Measures and Grounding...................................................................................28

5. Power-Supply Capacity and Heat Output..................................................................................31

6. Auxiliary Power Equipment........................................................................................................ 33

6.1 Example of Auxiliary Power Equipment Configuration.................................................... 33

7. Wiring......................................................................................................................................... 34

7.1 Connecting the Power Cables.........................................................................................34

7.2 Connecting the Actuator..................................................................................................35

7.3 Connecting the Emergency Stop Input, Enable Input and Brake Power Input...............36

7.4 Connecting the PIO Cable (I/O) ......................................................................................39

7.5 External I/O Specifications..............................................................................................44

7.6 Connecting Regenerative Resistance Units (RB)........................................................... 48

7.7 Connecting the Teaching Pendant/PC Software (TP) (Optional).................................... 50

7.8 Connecting the Panel Unit (Optional).............................................................................. 50

7.9 Installing the Absolute-Data Backup Battery (Optional).................................................. 56

7.10 Installing the System-Memory Backup Battery (Optional)...............................................57

Chapter 4 Operation ................................................................................................................58

1. Startup........................................................................................................................................58

1.1 Power ON Sequence....................................................................................................... 59

1.2 Power Cutoff Sequence ..................................................................................................59

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How to Perform Absolute Reset (Absolute Specification)..........................................................60

2.1 Preparation......................................................................................................................60

2.2 Procedure........................................................................................................................60

3. How to Start a Program............................................................................................................. 65

3.1 Starting a Program by Auto-Start via Parameter Setting.................................................66

3.2 Starting via External Signal Selection..............................................................................67

4. Drive-Source Recovery Request and Operation-Pause Reset Request................................... 69

5. Controller Data Structure...........................................................................................................70

5.1 How to Save Data............................................................................................................71

5.2 Points to Note..................................................................................................................73

Chapter 5 Maintenance............................................................................................................74

1. Inspection Points .......................................................................................................................74

2. Spare Consumable Parts...........................................................................................................74

3. Replacement Procedure for System-Memory Backup Battery (Optional)................................. 75

4. Replacement Procedure for Absolute-Data Backup Battery (Optional) .................................... 77

Part 2 Programs ..............................................................................................79

Chapter 1 SEL Language Data................................................................................................79

1. Values and Symbols Used in SEL Language............................................................................79

1.1 List of Values and Symbols Used....................................................................................79

1.2 I/O Ports ..........................................................................................................................80

1.3 Virtual I/O Ports............................................................................................................... 81

1.4 Flags................................................................................................................................83

1.5 Variables..........................................................................................................................84

1.6 Tags .................................................................................................................................87

1.7 Subroutines .....................................................................................................................88

1.8 Symbols........................................................................................................................ ...89

1.9 Character-String Literals..................................................................................................89

1.10 Axis Specification ............................................................................................................90

2. Position Part ..............................................................................................................................92

3. Command Part...........................................................................................................................93

3.1 SEL language Structure...................................................................................................93

3.2 Extension Condition ........................................................................................................94

Chapter 2 List of SEL Language Command Codes.................................................................95

1. By Function................................................................................................................................95

2. Alphabetical Order...................................................................................................................100

Chapter 3 Explanation of Commands....................................................................................105

1. Commands ..............................................................................................................................105

1.1 Variable Assignment...................................................................................................... 105

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Arithmetic Operation...................................................................................................... 108

1.2

1.3 Function Operation.........................................................................................................111

1.4 Logical Operation..........................................................................................................114

1.5 Comparison Operation.................................................................................................. 117

1.6 Timer.............................................................................................................................. 118

1.7 I/O, Flag Operation........................................................................................................121

1.8 Program Control............................................................................................................ 133

1.9 Task Management.........................................................................................................136

1.10 Position Operation.........................................................................................................141

1.11 Actuator Control Declaration......................................................................................... 156

1.12 Actuator Control Command...........................................................................................172

1.13 Structural IF...................................................................................................................195

1.14 Structural DO.................................................................................................................198

1.15 Multi-Branching..............................................................................................................200

1.16 System Information Acquisition.....................................................................................204

Table of Contents

1.17 Zone ..............................................................................................................................207

1.18 Communication.............................................................................................................. 211

1.19 String Operation.............................................................................................................218

1.20 Arch-Motion-Related .....................................................................................................227

1.21 Palletizing-Related ........................................................................................................232

1.22 Palletizing Calculation Command..................................................................................239

1.23 Palletizing Movement Command...................................................................................242

1.24 Building of Pseudo-Ladder Task.................................................................................... 244

1.25 Extended Command......................................................................................................246

Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note ..............249

1. Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC]..249

2. P ATH/PSPL Commands..........................................................................................................251

3. CIR/ARC Commands...............................................................................................................251

4. CIR2/ARC2/ARCD/ARCC Commands....................................................................................251

Chapter 5 Palletizing Function (2-axis Specification).............................................................252

1. How to Use..............................................................................................................................252

2. Palletizing Setting.................................................................................................................... 252

3. Palletizing Calculation..............................................................................................................257

4. Palletizing Movement...............................................................................................................258

5. Program Examples.................................................................................................................. 259

Chapter 6 Pseudo-Ladder Task .............................................................................................261

1. Basic Frame............................................................................................................................. 261

2. Ladder Statement Field............................................................................................................262

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Points to Note..........................................................................................................................262

4. Program Example....................................................................................................................263

Chapter 7 Application Program Examples.............................................................................264

1. Operation by Jog Command.................................................................................................... 264

2. Operation by Point Movement Command ...............................................................................267

Chapter 8 Real-Time Multi-Tasking ........................................................................................270

1. SEL Language.........................................................................................................................270

2. Multi-Tasking............................................................................................................................271

3. Difference from a Sequencer................................................................................................... 272

4. Release of Emergency Stop....................................................................................................273

5. Program Switching...................................................................................................................274

Chapter 9 Example of Building a System ..............................................................................275

1. Equipment................................................................................................................................ 275

2. Operation.................................................................................................................................275

3. Overview of the Screw-Tightening System..............................................................................276

4. Hardware .................................................................................................................................277

5. Software................................................................................................................................... 278

Chapter 10 Method of Building a System ................................................................................280

1. Position Table ..........................................................................................................................280

2. Programming Format............................................................................................................... 281

3. Positioning to Five Positions.................................................................................................... 282

4. How to Use TAG and GOTO ...................................................................................................283

5. Moving Back and Forth between T wo Points.......................................................................... 284

6. Path Operation.........................................................................................................................285

7. Output Control during Path Movement....................................................................................286

8. Circle/Arc Operation ................................................................................................................287

9. Home Return Completion Output............................................................................................288

10. Axis Movement by Input Waiting and Completion Output.......................................................289

11. Changing the Moving Speed ...................................................................................................290

12. Changing the Speed during Operation....................................................................................291

13. Local/Global Variables and Flags............................................................................................292

14. How to Use Subroutines..........................................................................................................293

15. Pausing the Operation.............................................................................................................294

16. Canceling the Operation 1 (CANC).........................................................................................295

17. Canceling the Operation 2 (STOP).......................................................................................... 296

18. Movement by Position Number Specification..........................................................................297

19. Movement by External Position Data Input .............................................................................298

20. Conditional Jump.....................................................................................................................299

21. Waiting Multiple Inputs.............................................................................................................300

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How to Use Offset....................................................................................................................301

22.

23. Executing an Operation N times..............................................................................................302

24. Constant-pitch Feed ................................................................................................................303

25. Jogging ....................................................................................................................................304

26. Switching Programs.................................................................................................................305

27. Aborting a Program..................................................................................................................306

Table of Contents

Part 3 Positioner Mode..................................................................................307

Chapter 1 Modes and Signal Assignments............................................................................307

1. Feature of Each Mode............................................................................................................. 307

2. Number of Positions Supported in Each Mode .......................................................................308

3. Quick Mode Function Reference Table ................................................................................... 308

4. Interface List of All PIO Patterns..............................................................................................309

Chapter 2 Standard Mode......................................................................................................310

1. I/O Interface List ......................................................................................................................310

2. Parameters..............................................................................................................................311

3. Details of Each Input Signal..................................................................................................... 311

4. Details of Each Output Signal..................................................................................................314

5. Timing Chart............................................................................................................................315

5.1 Recognition of I/O Signals.............................................................................................315

5.2 Home Return................................................................................................................. 316

5.3 Movements through Positions.......................................................................................317

Chapter 3 Product Switching Mode .......................................................................................319

1. I/O Interface List ......................................................................................................................319

2. Parameters..............................................................................................................................320

3. Details of Each Input Signal.....................................................................................................321

4. Details of Each Output Signal..................................................................................................324

5. Timing Chart............................................................................................................................325

5.1 Recognition of I/O Signals.............................................................................................325

5.2 Home Return................................................................................................................. 326

5.3 Movements through Positions.......................................................................................327

Chapter 4 2-axis Independent Mode......................................................................................329

1. I/O Interface List ......................................................................................................................329

2. Parameters..............................................................................................................................330

3. Details of Each Input Signal.....................................................................................................331

4. Details of Each Output Signal..................................................................................................334

5. Timing Chart............................................................................................................................335

5.1 Recognition of I/O Signals.............................................................................................335

5.2 Home Return................................................................................................................. 336

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Movements through Positions.......................................................................................337

5.3

Chapter 5 Teaching Mode......................................................................................................339

1. I/O Interface List ......................................................................................................................340

2. Parameters..............................................................................................................................341

3. Details of Each Input Signal.....................................................................................................341

4. Details of Each Output Signal..................................................................................................344

5. Timing Chart............................................................................................................................346

5.1 Recognition of I/O Signals.............................................................................................346

5.2 Home Return................................................................................................................. 347

5.3 Movements through Positions.......................................................................................348

5.4 Timings in the Teaching Mode.......................................................................................349

Chapter 6 DS-S-C1 Compatible Mode...................................................................................350

1. I/O Interface List ......................................................................................................................350

2. Parameters..............................................................................................................................351

3. Details of Each Input Signal.....................................................................................................351

4. Details of Each Output Signal..................................................................................................353

5. Timing Chart............................................................................................................................354

5.1 Recognition of I/O Signals.............................................................................................354

5.2 Home Return................................................................................................................. 355

5.3 Movements through Positions.......................................................................................356

Appendix 357

 Actuator Specification List .......................................................................................................357

 Battery Backup Function..........................................................................................................360

1. System-Memory Backup Battery.............................................................................................360

2. Absolute-Data Backup Battery for Absolute Encoder..............................................................362

 Synchro Function.....................................................................................................................364

1. Common Items

(Applicable to Both the Absolute Specification and Incremental Specification).......................364

2. Incremental Specification.........................................................................................................364

3. Absolute Specification

(When Both the Master Axis and Slave Axis are of Absolute Specification)............................364

 Absolute Reset for Synchro Specification................................................................................365

1. Synchro Axes...........................................................................................................................365

2. Position Alignment of Synchro-Axis Sliders.............................................................................366

3. Special Absolute Reset Procedure.......................................................................................... 366

4. Standard Absolute Reset Procedure .......................................................................................369

5. Notes on Use of Synchro Function..........................................................................................370

 Multi-slider Near-miss Detection (Collision Prevention) Function........................................... 371

 Parameter Ut ilization............................................................................................................... 373

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Utilization Examples of I/O Parameters...................................................................................374

2. Utilization Examples of Axis-specific Parameters....................................................................381

3. Parameter Utilization Examples (Reference)..........................................................................392

4. Servo Gain Adjustment............................................................................................................ 396

 List of Parameters....................................................................................................................398

1. I/O Parameters ........................................................................................................................399

1.1 I/O Parameters.............................................................................................................. 399

1.2 I/O Function Lists...........................................................................................................405

2. Parameters Common to All Axes.............................................................................................407

3. Axis-Specific Parameters.........................................................................................................409

4. Driver Parameters....................................................................................................................414

5. Encoder Parameters................................................................................................................417

6. I/O Devices..............................................................................................................................418

7. Other Parameters.................................................................................................................... 419

8. Manual Operation Types..........................................................................................................424

 Combination Table of SSEL Linear/Rotary Control Parameters..............................................425

 Error Level Control...................................................................................................................426

 Error List .................................................................................................................................428

 Troubleshooting of SSEL Controller........................................................................................463

Table of Contents

Trouble Report Sheet.................................................................................................................467

Change History...................................................................................................468

Page 13

Safety Guide

This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to read this section before using your product.

Regulations and Standards Governing Industrial Robots

Safety measures on mechanical devices are generally classified into four categori es un der the International Industrial Standard ISO/DIS 12100, “Safety of machinery,” as follows:

Safety measures Inherent safety design

Protective guards --- Safety fence, etc. Additional safety measures --- Emergency stop device, etc. Information on use --- Danger sign, warnings, operation manual

Based on this classification, various standards are established in a hierarchical 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 robots – Safety)

JIS B 8433 (Manipulating industrial robots – Safety)

Also, Japanese laws regulate the safety of industrial robots, as follows: Industrial Safety and Health Law Article 59

Workers engaged in dangerous or harmful operations must receive special education.

Ordinance on Industrial Safety and Health Article 36 --- Operations requiring special education

No. 31 (Teaching, etc.) --- Teaching and other similar work involving industrial robots (exceptions

apply)

No. 32 (Inspection, etc.) --- Inspection, repair, adjustment and similar work involving industrial robot s

(exceptions apply)

Article 150 --- Measures to be taken by the user of an industrial robot

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Requirements for Industrial Robots under Ordinance on Industrial Safety and

Health

Work area

movement

range

Inside

movement

range

Work

condition

During

automatic

operation

During

teaching, etc.

During

inspection,

etc.

Cutoff of drive source Measure Article

Signs for starting operation Article 104 Outside

Not cut off

Cut off (including

stopping of operation)

Not cut off

Cut off

Not cut off (when

inspection, etc., must

be performed during

operation)

Installation of railings, enclosures, etc. Sign, etc., indicating that work is in progress Preparation of work rules Article 150-3 Measures to enable immediate stopping of operation Sign, etc., indicating that work is in progress Provision of special education Article 36-31 Checkup, etc., before commencement of work To be performed after stopping the operation Sign, etc., indicating that work is in progress Preparation of work rules Article 150-5 Measures to enable immediate stopping of operation Sign, etc., indicating that work is in progress Provision of special education (excluding cleaning and lubrication)

Article 150-4 Article 150-3

Article 150-3 Article 150-3

Article 151 Article 150-5 Article 150-5

Article 150-5 Article 150-5 Article 36-32

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Applicable Modes of IAI’s Industrial Robot

Machines meeting the following conditions are not classified as industrial robots according to Notice of Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No. 340):

(1) Single-axis robo with a motor wattage of 80 W or less (2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating part, if

any, has the maximum movement range of within 300 mm

(3) Multi-joint robot whose movable radius and Z-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 whose stroke exceeds 300 mm

2. Single-axis robots The following models whose stroke exceeds 300 mm and whose motor capacity also exceeds 80 W: ISA/ISPA, ISDA/ISPDA, ISWA/ISPWA, IF, FS, NS

3. Linear servo actuators All models whose stroke exceeds 300 mm

4. Cartesian robos Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3

5. IX SCARA robots

All models whose arm length exceeds 300 mm (All models excluding IX-NNN1205/1505/1805/2515, NNW2515 and NNC1205/1505/1805/2515)

including the tip of the rotating part

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Notes on Safety of Our Products

Common items you should note when performing each task on any IAI robot are explained below.

No. Task Note

1 Model

selection

2 Transportation

3 Storage/

preservation

4 Installation/

startup

 This product is not planned or designed for uses requiring high degrees of safety.

Accordingly, it cannot be used to sustain or support life and must not be used in

the following applications: [1] Medical devices relating to maintenance, management, etc., of life or health [2] Mechanisms or mechanical devices (vehicles, railway facilities, aircraft facilities,

etc.) intended to move or transport people [3] Important safety parts in mechanical devices (safety devices, etc.)  Do not use this product in the following environments: [1] Place subject to flammable gases, ignitable objects, flammables, explosives, etc. [2] Place that may be exposed to radiation [3] Place where the surrounding air temperature or relative humidity exceeds the

specified range [4] Place subject to direct sunlight or radiated heat from large heat sources [5] Place subject to sudden temperature shift and condensation [6] Place subject to corrosive gases (sulfuric acid, hydrochloric acid, etc.) [7] Place subject to excessive dust, salt or iron powder [8] Place where the product receives direct vibration or impact  Do not use this product outside the specified ranges. Doing so may significantly

shorten the life of the product or result in product failure or facility stoppage.  When transporting the product, exercise due caution not to bump or drop the

product.

 Use appropriate means for transportation.  Do not step on the package.  Do not place on the package any heavy article that may deform the package.  When using a crane of 1 ton or more in capacity, make sure the crane operators

are qualified to operate cranes and perform slinging work.  When using a crane, etc., never hoist articles exceeding the rated load of the

crane, etc.  Use hoisting equipment suitable for the article to be hoisted. Calculate the load

needed to cut off the hoisting equipment and other loads incidental to equipment

operation by considering a safety factor. Also check the hoisting equipment for

damage.

 Do not climb onto the article while it is being hoisted.  Do not keep the article hoisted for an extended period of time.  Do not stand under the hoisted article.

 The storage/preservation environment should conform to the installation

environment. Among others, be careful not to cause condensation. (1) Installing the robot, controller, etc.

 Be sure to firmly secure and affix the product (including its work part).

If the product tips over, drops, malfunctions, etc., damage or injury may result.  Do not step on the product or place any article on top. The product may tip over

or the article may drop, resulting in injury, product damage, loss of/drop in

product performance, shorter life, etc.  If the product is used in any of the following places, provide sufficient shielding

measures: [1] Place subject to electrical noise [2] Place subject to a strong electric or magnetic field [3] Place where power lines or drive lines are wired nearby [4] Place subject to splashed water, oil or chemicals

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No. Task Note

4 Installation/

startup

(2) Wiring the cables  Use IAI’s genuine cables to connect the actuator and controller or connect a

teaching tool, etc.  Do not damage, forcibly bend, pull, loop round an object or pinch the cables or

place heavy articles on top. Current leak or poor electrical continuity may occur,

resulting in fire, electric shock or malfunction.

 Wire the product correctly after turning off the power.  When wiring a DC power supply (+24 V), pay attention to the positive and

negative polarities.

Connecting the wires in wrong polarities may result in fire, product failure or

malfunction.  Securely connect the cables and connectors so that they will not be disconnected

or come loose. Failing to do so may result in fire, electric shock or product

malfunction.  Do not cut and reconnect the cables of the product to extend or shorten the

cables. Doing so may result in fire or product malfunction. (3) Grounding

 Be sure to provide class D (former class 3) grounding for the controller.

Grounding is required to prevent electric shock and electro static charges,

improve noise resistance and suppress unnecessary electrom agnetic radiation. (4) Safety measures

 Implement safety measures (such as installing safety fences, etc.) to prevent

entry into the movement range of the robot when the product is moving or can be

moved. Contacting the moving robot may result in death or serious injury.  Be sure to provide an emergency stop circuit so that the product can be stopped

immediately in case of emergency during operation.  Implement safety measures so that the product cannot be started only by turning

on the power. If the product starts suddenly, injury or product damage may result.  Implement safety measures so that the product will not start upon cancellation of

an emergency stop or recovery of power following a power outage. Failure to do

so may result in injury, equipment damage, etc.  Put up a sign saying “WORK IN PROGRESS. DO NOT TURN ON POWER,” etc.,

during installation, adjustment, etc. If the power is accidently turned on, electric

shock or injury may result.  Implement measures to prevent the work part, etc., from dropping due to a power

outage or emergency stop.  Ensure safety by wearing protective gloves, protective goggles and/or safety

shoes, as necessary.  Do not insert fingers and objects into openings in the product. Doing so may

result in injury, electric shock, product damage, fire, etc.  When releasing the brake of the vertically installed actuator, be careful not to let

the actuator drop due to its dead weight, causing pinched hands or damaged

work part, etc.

5 Teaching

 Whenever possible, perform teaching from outside the safety fences. If teaching

must be performed inside the safety fences, prepare “work rules” and make sure

the operator understands the procedures thoroughly.  When working inside the safety fences, the operator should carry a handy

emergency stop switch so that the operation can be stopped any time when an

abnormality occurs.  When working inside the safety fences, appoint a safety watche r in addition to the

operator so that the operation can be stopped any time when an abnormality

occurs. The safety watcher must also make sure the switches are not operated

inadvertently by a third party.  Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.

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No. Task Note

5 Teaching  When releasing the brake of the vertically installed actuator, be careful not to let

the actuator drop due to its dead weight, causing pinched hands or damaged

load, etc. * Safety fences --- Indicate the movement range if safety fences are not provided.

6 Confirmation

operation

 After teaching or programming, carry out step-by-step confirmation operation

before switching to automatic operation.  When carrying out confirmation operation inside the safety fences, follow the

specified work procedure just like during teaching.  When confirming the program operation, use the safety speed. Failure to do so

may result in an unexpected movement due to programming errors, etc., causing

injury.  Do not touch the terminal blocks and various setting switches while the power is

supplied. Touching these parts may result in electric shock or malfunction.

7 Automatic

operation

 Before commencing automatic operation, make sure no one is inside the safety

fences.  Before commencing automatic operation, make sure all related peri pherals are

ready to operate in the auto mode and no abnormalities are displayed or

indicated.

 Be sure to start automatic operation from outside the safety fences.  If the product generated abnormal heat, smoke, odor or noise, stop the product

immediately and turn off the power switch. Failure to do so may result in fire or

product damage.  If a power outage occurred, turn off the power switch. Otherwise, the product may

move suddenly when the power is restored, resulting in injury or product damage.

8 Maintenance/

inspection

 Whenever possible, work from outside the safety fences. If work must be

performed inside the safety fences, prepare “work rules” and make sure the

operator understands the procedures thoroughly.

 When working inside the safety fences, turn off the power switch, as a rule.  When working inside the safety fences, the operator should carry a handy

emergency stop switch so that the operation can be stopped any time when an

abnormality occurs.  When working inside the safety fences, appoint a safety watche r in addition to the

operator so that the operation can be stopped any time when an abnormality

occurs. The safety watcher must also make sure the switches are not operated

inadvertently by a third party.

 Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.  Use appropriate grease for the guides and ball screws by chec king the operation

manual for each model.  Do not perform a withstand voltage test. Conducting this test may result in

product damage.  When releasing the brake of the vertically installed actuator, be careful not to let

the actuator drop due to its dead weight, causing pinched hands or damaged

work part, etc. * Safety fences --- Indicate the movement range if safety fences are not provided.

9 Modification  The customer must not modify or disassemble/assemble the product or use

maintenance parts not specified in the manual without first consulting IAI.  Any damage or loss resulting from the above actions will be excluded from the

scope of warranty.

10 Disposal  When the product becomes no longer usable or necessary, dispose of it properly

as an industrial waste.  When disposing of the product, do not throw it into fire. The product may explode

or generate toxic gases.

Pre-6

Page 19

Indication of Cautionary Information

The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and “Note,” as specified below.

Level Degree of danger/loss Symbol

Danger

Warning

Caution

Note

Failure to observe the instruction will result in an imminent danger leading to death or serious injury.

Failure to observe the instruction may result in death or serious injury.

Failure to observe the instruction may result in injury or property damage.

The user should take heed of this information to ensure the proper use of the product, although failure to do so will not result in injury.

Danger

Warning

Caution

Note

Pre-7

Page 20

CE Mark

1. EC Directives

The EC Directives are a new set of directives issued by the European Commission that are intended to prot ect the health and safety of users and consumers of products distributed within the EU (European Union) zone, while ensuring free movements of these products within the EU zone. Companies exporting to Europe or having a production facility in Europe must comply with the following directives in order to receive a CE Mark certification for their products.

The SSEL controller has been designed to conform to the low-voltage directives by itself. For the EMC directives, a connection/installation model (conditions) including the controller, actuator and perip herals is determined and conformance with the EMC directives and related standards is ensured based on this model.

2. Applicable Standards

<Low-voltage Directive>

EN50178 (Electronic equipment used in electrical installations)

EN55011 (Radio interference characteristics of industrial, scientific and medical equipment generating

radio frequency) EN61000-6-2 (Immunity in industrial environment) EN61000-4-2 (Immunity to electrostatic discharge) EN61000-4-3 (Immunity to electromagnetic field generated by irradiated radio frequency) EN61000-4-4 (Electrical first transient/burst immunity test) EN61000-4-5 (Surge immunity test) EN61000-4-6 (Immunity test against conductive interference induced by radio-frequency electromagnetic

field) EN61000-4-8 (Immunity test against power-frequency magnetic field) EN61000-4-11 (Immunity test against voltage dip, momentary power failure and voltage fluctuation)

Pre-8

Page 21

Service environment

Item Standard Remarks Overvoltage category II Pollution degree II Protection grade IP20 Protection class *1 I Altitude 2,000 m or less

*1) Protection class I equipment Equipment designed with additional safety measures, without relying solely on the basic insulation to provide

protection against electric shock; where, specifically the current-carrying parts that may come in contact with the user are connected to the protective grounding conductor in the fixed wiring cable of the facility so that they will not become live parts even when the basic insulation is damaged. In short, it is equipment that obligates the grounding connection.

Pre-9

Page 22

3. Peripheral Configurations

100-VAC or 200-VAC power supply bus

Control panel

Circuit

breaker

Earth leakage breaker

Clamp filters

Noise

filter

Brake

Controller

Surge

absorber

(1) Environment

Use your SSEL controller in an environment conforming to pollution degree 2 or 1 as specified in IEC 60664-1. Example) Install the controller in a control panel having a structure resistant to intrusion of water, oil,

carbon, dust, etc (IP54).

(2) Power Source

A) Use the controller in an environment conforming to overvoltage category II as specified in IEC 60664-

1. To meet this requirement, be sure to install a circuit breaker between the distribution board and the SSEL controller.

B) If the I/O power or electromagnetic brake power is supplied externally, use a 24-VDC power supply

bearing a CE mark whose inputs and outputs are protected by reinforced insulation (SELV).

Encoder cable

Motor cable

Encoder cable

Motor cable

24-VDC

power supply

Actuator

Pre-10

Page 23

(3) Installation

To prevent electric shock, be sure to connect the PE terminal of the SSEL controller and the protective ground (grounding plate) of the control panel.

(4) Earth Leakage Breaker

Install an earth leakage breaker (of type B* (RCD) on the primary side of the SSEL controller. * Note) Type A: AC or pulse can be detected/Type B: Both AC/DC can be detected.

(5) Noise filter

Install a noise filter in the AC power line. An appropriate noise filter to be installed varies depending on the input voltage specification.

Supplier: Densei-Lambda

100-VAC input

Model: MC1220

200-VAC input

Model: MC1210

Rated nameplate

(Unit: mm)

[Fig. 1] External View of Noise Filter

Pre-11

Page 24

(6) Clamp Filter A

Install the following clamp filter along the AC motor power cable and encoder cable. Supplier: TDK

Model: ZCAT3035-1330

Shape/Dimensions (mm)

(7) Surge Absorber

Install a surge absorber on the primary side of the noise filter to protect the equipment from surge noise that may generate due to lightning.

Supplier: Okaya Electric Industries Model: RAV-781BWZ-2A

Shape/Dimensions ZCAT Type

[Fig. 2] External View of Clamp Filter

A: 39  1 B: 34  1

C: 13  1 D: 30  1

[Fig. 3] External View of Surge Absorber

BWZ series

Pre-12

Page 25

(8) Cables

Take note that the cables are also subject to various limitations.

A) All cables connected to the SSEL controller, such as the motor cable and encoder cable must be kept

to a length below 30 m.

B) For the brake power cable, use a shielded, 2-core (1-pair) twisted paired cable of AWG16 to 24 in

wire size and connect the shield to ground on the 24-VDC power supply side.

Pre-13

Page 26

Page 27

(Pseudo Absolute)

Part 1 Installation

Chapter 1 Overview

1. Introduction

Thank you for purchasing the SSEL Controller. Please read this manual carefully, and handle the product with due care and operate it correctly.

Keep this manual in a safe place and reference relevant items when needed. When actually starting up your system or if you have encountered a problem, you should also refer to the

manuals for the teaching pendant, PC software and other components used with the system, in addition to this manual.

This manual does not cover all possible operations other than normal operation s, or unexpected events such as complex signal changes resulting from use of critical timings. Accordingly, you should consider items not specifically explained in this manual as “prohibited.”

* Utmost effort has been made to ensure precision and completeness of the information contained in this

manual. However, should you find any error in the manual or if you have any comment regarding its content, please contact IAI. Keep this manual in a convenient place so that you can quickly reference it whenever necessary.

2. Type

Refer to the following table for details on type specification.

Example of type specification

Type specification table

Series

Controller

type

(Standard

specification)

Number

of axes

(Axis 1)

(Axis 2)

Motor

output (W)

(30W for RS)

Encoder

type

(Incremental)

(Absolute)

Details of axis 1 to axis 2

Brake

Blank

(Without

brake)

(With brake)

(Without

(With creep)

Creep

Blank

creep)

Home

senso

Blank

(Without

home sensor)

(With home

sensor)

Synchro

specification

Blank

(No synchro

axis)

(Master axis

specification)

(Slave axis

specification)

Standard

I/O

Standard PIO

24 inputs/8

outputs

NPN

specification

Standard PIO

24 inputs/8

outputs

PNP

specification

I/O flat cable

length

2: 2 m

(Standard)

3: 3 m 5: 5 m

0: None

Powersource voltage

1: Single-

phase 100 V

2: Single-

phase 200 V

Page 28

Part 1 Installation

3. SSEL Controller Functions

The functions provided by the SSEL controller are structured in the following manner.

The SSEL controller has the “program mode” in which SEL programs are input to operate the actuator(s), and the “positioner mode” in which position numbers are specifie d from the host PLC to operate the actuator(s). The positioner mode provides five sub-modes to meet the needs of various applications. The program mode has been selected at the factory prior to the shipment of the controller (Other parameter No. 25 = 0).

Caution: Two modes cannot be selected at the same time.

SSEL

Program mode

Positioner mode

Standard mode

Product switching mode

2-axis independent mode

Teaching mode

DS-S-C1 compatible mode

Page 29

Part 1 Installation

This controller can be configured with one axis and two axes. Just like other conventional SEL controllers, this controller can be combined with various actuators. When connecting an actuator, be sure to use a dedicated cable.

 Turn on the I/O power and brake power (for the specification with brake) before or simultaneously with

the main power (control power + motor power).

 Take the control power and motor power from the same power supply and turn on both powers

simultaneously.

 Before performing a check or inserting/removing a connector, turn off the power and wait for at least 10

minutes. Even after the power is turned off, the internal circuits will continue to carry high voltages for a short period.

 About actuator duty

IAI recommends that our actuators be used at a duty of 50% or less as a guideline in view of the relationship of service life and precision:

Duty (%) =

Inactivity time Motion



Time onDecelerati / onAccelerati

X 100

 After turning off the control power, be sure to wait for at least 5 seconds before turning it back on.

If the control power is turned on too soon, “E6D: Drive-source cutoff relay error” may occur.

 Do not insert or remove connectors while the controller power is on. Doing so may cause malfunction.  Note on introducing a controller of absolute specification

The following steps must be taken to initialize the absolute-data backup battery circuit to prevent the battery from being consumed quickly. Perform the initialization by following these steps: [1] Before connecting the encoder cable, disconnect the absolute-data backup battery connector. [2] Connect the encoder cable. [3] Turn on the main power. [4] Connect the absolute-data backup battery. The above steps must always be performed after the encoder cable has been disconnected for any reason, such as to move the controller.

Read the operation manual for each actuator. If you have purchased our optional PC software and/or teaching pendant, read the respective operation manuals, as well.

* Utmost effort has been made to ensure that the information contained in this manual is true and

correct. However, should you find any error or if you have any comment regarding the content, please contact IAI.

Page 30

Part 1 Installation

4. System Setup

Teaching

pendant

Host system

Panel unit

* Note on connecting the encoder cable to a controller of absolute specifi cation

Follow the steps below when connecting the encoder cable to a controller of absolute specification. If the specified steps are not followed, the absolute-data backup battery may be consumed quickly. [1] Before connecting the encoder cable, disconnect the absolute-data backup battery connector. [2] Connect the encoder cable, and turn on the main power. [3] Connect the absolute-data backup battery connector. Once the connector has been plugged in,

the main power can be turned off. For the installation of the absolute-data backup battery, refer to 7.9, “Installing the Absolute-Data Backup Battery” in Chapter 3 in Section 1. If you have disconnected the encoder cable for any reason, such as to move the controller, also follow the same steps to connect the absolute-data backup battery connector.

Enable

switch

Emergency stop switch

24-VDC brake

power supply

Conversion cable

Auxiliary power

equipment

Regenerative

resistance unit

Grounded

Absolute-data

backup batteries

Axis 1

Axis 2

Page 31

Part 1 Installation

5. Warranty Period and Scope of Warranty

The SSEL Controller you have purchased passed our strict outgoing inspection. This unit is covered by the following warranty:

1. Warranty Period

The warranty period shall be either of the following periods, whichever ends first:

 18 months after shipment from our factory  12 months after delivery to a specified location

2. Scope of Warranty

Should the product fail during the above period under a proper use condition du e to a fault on the part of the manufacturer, IAI will repair the defect free of charge. However, the following cases are excluded from the scope of warranty:

 Discoloration of paint or other normal aging  Wear of consumable parts due to use  Subjective imperfection, such as noise not affecting mechanical function  Defect caused by inappropriate handling or use by the user  Defect caused by inappropriate or erroneous maintenance/inspection  Defect caused by use of a part other than IAI’s genuine part  Defect caused by unauthorized modification, etc., not approved by IAI or its agent  Defect due to an act of God, accident, fire, etc.

The warranty covers only the product as it is delivered. IAI shall not be liable for any loss arising in connection with the delivered product. The user must bring the defective product to our factory to receive a warranty repair.

3. Scope of Service

The price of the delivered product does not include costs incurred in association with program generation, dispatch of technician, etc. Therefore, a separate fee will be chargeable in the following cases even during the warranty period:

 Guidance on installation/adjustment and witnessing of test operation  Maintenance/inspection  Technical guidance and training on operation, wiring method, etc.  Technical guidance and training regarding programs, such as program generation  Other services and operations where IAI finds a need to charge a separate fee

Page 32

Part 1 Installation

Chapter 2 Specifications

1. Controller Specifications

Base specifications of this product

100-V input specification 200-V input specification Total output when maximum number of axes are connected Control power input Motor power input Power-supply frequency Resistance against momentary power failure Withstand voltage 1500 VAC for 1 minute *1 Insulation resistance Leak current Controller alone (no actuator connected): 1.0 mA max. Drive-source cutoff method Internal relay Emergency stop input Contact B input (Internal power-supply type) Emergency stop action Deceleration stop + Regenerative brake by timer Enable input Contact B input (Internal power-supply type)

Control method Position detection method Battery

Programming language Super SEL language Number of program steps

Number of positions Number of programs

Multi-tasking capability 8 programs Storage device Flash ROM Data input method Teaching pendant or PC software

Electromagnetic brake power Electromagnetic brake output

voltage PIO power input

Safety category Regenerative resistor 20 W, built-in (External resistance unit(s) can be connected.)

PIO inputs 24 points, NPN or PNP (Selectable as factory setting) PIO outputs 8 points, NPN or PNP (Selectable as factory setting) Air cooling method Forced air-cooling Weight 1380 g

External dimensions

Accessories

*1) The withstand voltage of the motor used in each actuator is 1,000 VAC for 1 minute. If withstand voltage test is performed with

the controller connected to an actuator, ensure that voltage exceeding 1,000 VAC will not be applied for more than 1 minute.

400 W 800 W Single-phase 100 to 115 VAC  10% Single-phase 200 to 230 VAC  10%

Single-phase 100 to 115 VAC  10% Single-phase 200 to 230 VAC  10% 50/60 Hz  5%

0.5 cycle (Not dependent on phase)

500 VDC, 100 M or more

AC full digital servo Incremental serial encoder Absolute serial encoder ABZ (UVW) parallel encoder Absolute-data backup battery/system-memory backup battery (Optional) Lithium battery: AB-5 by IAI, 3.6 V/2000 mAh

Controller with increased memory size 9999 steps (total) Controller without increased memory size 2000 steps (total) Controller with increased memory size 20000 positions (total) Controller without increased memory size 1500 positions (total) Controller with increased memory size 128 programs Controller without increased memory size 64 programs

24 VDC  10% 2 A peak (1 A peak/axis)

45 VDC (90 V at over-excitation) 24 VDC  10%

Category B (Built-in relay) * Safety category 1 can be met by connecting an external safety relay, etc.

100 (W) x 195 (H) x 126 (D); mounting pitch 186 mm

202.6 (H) if the absolute-data backup battery holder is installed. I/O flat cable Power connector EMG connector ENB/BK connector

Page 33

Part 1 Installation

2. Name and Function of Each Part

Front View

[1] LED indicators

[2] System I/O

connector

[3] TP connector

[4] MANU/AUTO switch

[5] USB connector

[6] PIO connector

[7] Panel unit

connector

*1 For the 1-axis specification, [12], [14] and [16] are not installed and the front panel is masked.

[8] Power connector

[9] Grounding screws

[10] Regenerative unit

connector

[11] Axis 1 motor

connector

[12] Axis 2 motor

connector

[13] Axis 1 brake-release

switch

[14] Axis 2 brake-release

switch

[15] Axis 1 encoder/

sensor connector

[16] Axis 2 encoder/

sensor connector

Page 34

Down View

[17] Axis 1 absolute-data

[18] Axis 2 absolute-data

[19] Axis 1/2 absolute-data

Top View

[20] System-memory backup

[21] System-memory backup

Part 1 Installation

backup battery connector

backup battery holder

battery holder

battery connector

Page 35

Part 1 Installation

[1] LED indicators: These indicators indicate the controller status.

Name Color Status when the LED is lit

PWR

Green

The controller has been started successfully and

is receiving power. RDY Green The controller is ready. ALM Orange An alarm is present

EMG Red An emergency stop is being actuated.

SV1 Green The servo for axis 1 is on. SV2 Green The servo for axis 2 is on.

[2] System I/O connector: This connector is used to connect the emergency stop input, enable

input and brake power input.

Item Specification Remarks Applicable connector Applicable cable size Terminal assignments

8-pin, 2-piece connector

0.2 ~ 1.25 mm

(AWG24-16)

Pin No.

Signal

name

1 S1 2 S2

FMC1.5/4-ST-3.5 x 2 by Phoenix Contact

Recommended stripped-wire length: 10 mm

Emergency-stop switch contact output for the TP connector Emergency-stop switch contact

output for the TP connector 3 EMG+ 24-V output for emergency stop 4 EMG- Emergency stop input 5 ENB+ Enable output 6 ENB- Enable input

7 BK+ 8 BK-

* The connector has the tabs cut off, and also bears the applicable signal

names to prevent erroneous insertion.

Positive side of the brake power

input

Negative side of the brake power

input

Page 36

[3] Teaching connector:

(TP)

The teaching interface connects IAI’s teaching pendant or a PC (PC software) to enable operation and setting of your equipment from the teaching pendant/PC. The interface is a RS232C system based on a 26-pin, half-pitch I/O connector. The signal level conforms to RS232C, and a desired baud rate (maximum 115.2 kbps) can be selected based on the program. This connector can be used only when the mode switch is set to “MANU.”

Interface Specifications of Teaching Serial Interface

Item Description Details

26-pin, half-pitch I/O connector

Mating connector

Connector name

Baud rate Up to 115.2 kbps Half-duplex communication speeds

Maximum wiring distance

Interface standard

Connected unit Dedicated

Connection cable

Power supply 5 VDC or

Protocol X-SEL teaching

Emergencystop control

Enabling control

[12] Mode switch

T.P. Teaching connector

10M At 38.4 kbps

RS232C

teaching pendant

Dedicated cable

24 VDC

protocol Series

emergency-stop relay drive (24 V)

Enable switch line (24 V)

AUTO/MANU switch

TX20A-26R-D2LT1-A1LHE (by JAE)Connector

TX20A-26PH1-D2P1-D1E (by JAE)

of up to 115.2 kbps are supported.

IAI’s standard IA-T-X (D) for X-SEL

A multi-fuse (MF-R090) is installed to protect each line against short current (the fuse will trip with currents of between 1.1 A and 2.2 A).

The connector supports the X-SEL teaching pendant interface protocol.

An emergency-stop relay drive line is provided in the interface connector. This line is connected in series with other emergency-stop contact.

A line for connecting an enable switch is provided as an operator interlock.

Whether or not the teaching pendant can be used is set with the AUTO/MANU selector mode switch. Handshake with the teaching pendant is permitted only in the MANU mode.

Part 1 Installation

Page 37

Teaching pendant & dedicated communication cable connector

Item Specification Remarks

Pin No. I/O Signal name 1 SG Signal ground 2 Out EMGS Emergency-stop status 3 Out VCC Power output (Standard IA-T-X/XD power supply (5 V)) 4 In DTR Data terminal ready (Shorted to DSR) 5 NC Not connected 6 NC Not connected 7 NC Not connected

8 Out RSVVCC

Power output (ANSI compliant IA-T-XA power supply (24 V))

9 In EMGIN Emergency-stop contact output, negative 10 Out RSVVCC

Power output (ANSI compliant IA-T-XA power supply (24 V))

11 NC Not connected

Terminal

assignments

12 Out EMGOUT2 Emergency-stop contact output, positive 13 Out RTS Request to send (Not used; fixed to 0 V)

14 In CTS

Clear to send (Not used / Used as the TP-connection

detection terminal) 15 Out TXD Transmitted data 16 In RXD Received data 17 Out DSR Data set ready (Shorted to DTR) 18 NC Not connected 19 NC Not connected 20 NC Not connected 21 NC Not connected 22 NC Not connected 23 In ENBTB Enable input 24 Out ENBVCC Enable drive power (24V) 25 NC Not connected (Reserved by ENBTBX2) 26 SG Signal ground

Part 1 Installation

Page 38

Part 1 Installation

[4] MANU/AUTO switch: This switch is used to specify the controller operation mode.

MANU AUTO

(left) (right)

Teaching pendant/PC software operation (when the TP connector

Possible Not possible is used) PC software operation (when the USB connector is used)

Possible

Note)

Not possible

Starting of an auto start program Not possible Possible Execution of positioner mode operation

Not possible Possible

Note) When this switch is set to the “MANU” side and the USB

connector is used, the servo cannot be turned on unless a dummy plug or teaching pendant is connected to the TP connector. When the USB connector is used, always keep a dummy plug or PC software cable connected to the TP plug while the controller is in use. (This is to cancel the disabled condition.) If a dummy plug is used, always operate the controller in a condition where the emergency stop switch is within an easy reach.

[5] USB connector: This connector is used to connect the PC software and the controller via

a USB cable. Connector: USB connector B (XM7B-0442) Connected to: USB cable

Note  When a USB port is used, all of the controllers to be connected must be linked one by one, with the

USB driver provided in the “X-SEL PC Software IA-101-X-USB” CD-ROM installed in PC. For the method to install the driver, refer to the operating manual for X-SEL PC software.

 When a USB port is used, a dummy plug must be plugged into the teaching connector [3].

Dummy plug model number: DP-3

[6] PIO connector: This 34-pin, flat DIO connector consists of 24 inputs and eight outputs.

Standard I/O Interface Specifications (key items)

Item Description Connector name I/O Applicable

connector Power supply

Inputs Outputs

Flat connector, 34 pins Power is supplied from connector pin Nos. 1 and

34. 24 points (including general-purpose inputs and dedicated inputs) 8 points (including general-purpose outputs and dedicated outputs)

Connected to External PLC, sensor, etc.

Page 39

I/O Interface List (Program mode)

Pin No. Category Port No. Function Cable color

1A - External po wer supply 24 V 1-Brown 1B 016 2A 017 2B 018 3A 019 3B 020 4A 021 4B 022 5A 023 5B 000 6A 001 6B 002 7A 003 7B 004

Input

8A 005 8B 006 9A 007

9B 008 10A 009 10B 010 11A 011 11B 012 12A 013 12B 014 13A

015 13B 300 14A 301 14B 302 15A 303 15B 304

Output

16A 305 16B 306 17A

307

Program specification (PRG No. 1) 1-Red Program specification (PRG No. 2) 1-Orange Program specification (PRG No. 4) 1-Yellow Program specification (PRG No. 8) 1-Green Program specification (PRG No. 10) 1-Blue Program specification (PRG No. 20) 1-Purple Program specification (PRG No. 40) 1-Gray Software reset (restart) 1-White Program start 1-Black General-purpose input 2-Brown General-purpose input 2-Red General-purpose input 2-Orange General-purpose input 2-Yellow General-purpose input 2-Green General-purpose input 2-Blue General-purpose input 2-Purple General-purpose input 2-Gray General-purpose input 2-White General-purpose input 2-Black General-purpose input 3-Brown General-purpose input 3-Red General-purpose input 3-Orange General-purpose input 3-Yellow General-purpose input 3-Green Alarm output 3-Blue Ready output 3- Purple General-purpose output 3-Gray General-purpose output 3-White General-purpose output 3-Black General-purpose output 4-Brown General-purpose output 4-Red General-purpose output 4-Orange

17B N External power supply 0 V 4-Yellow

The above functions reflect the factory settings for the program mode. These functions can be changed by changing the corresponding parameters.

Part 1 Installation

Page 40

Part 1 Installation

[11] Axis 1 motor connector: This connector is used to connect the motor drive-source cable for axis

1. Motor Connector Specifications

Item Description Details Applicable connector Connector name M1 ~ 2 Motor connector

Cable size

GIC2.5/4-STF-7.62

0.75 mm

(AWG18

or equivalent)

4-pin, 2-piece connector by Phoenix Contact

Comes with the actuator.

Connected unit Actuator Terminal assignments

1 PE Protective grounding wire 2 Out U Motor drive phase-U 3 Out V Motor drive phase-V 4 Out W Motor drive phase-W

[12] Axis 2 motor connector: This connector is used to connect the motor drive-source cable for axis

[13] Axis 1 brake-release switch: This switch is used to forcibly release the electromagnetic brake of the

actuator constituting axis 1.

RLS (left) NOM (right)

Name Description

RLS Supply the power to the brake and forcibly release the

xis 1 xis 2

NOM

brake. Turn the brake ON/OFF using an internal sequence. Normally this switch is set to the “NOM” side.

* A 24-VDC power must be connected to drive the motor.

[14] Axis 2 brake-release switch: This switch is used to forcibly release the electromagnetic brake of the

actuator constituting axis 2.

Page 41

[15] Axis 1 encoder/sensor

connector:

Part 1 Installation

This connector is used to connect the encoder/sensor cables for axis 1. It connects the encoder and sensors for actuator axis 1, such as LS, CREEP and OT. *: LS, CREEP and OT sensors are optional.

Encoder/Axis Sensor Connector Specifications

Item Description Details Applicable connector

Cable-end connector Connector name PG1 ~ 2

Half-pitch I/O connector, 26 pins

10226-52A2PL (Sumitomo 3M) 10126-3000VE (Sumitomo 3M) Encoder/axis sensor

connector Maximum connection

30 m

distance

Page 42

)

Encoder sensor cable Cable model: CB-X1-PA ***

Controller end

Plug connector:

Hood:

(Sumitomo 3M)

Wiring diagram

Wire Color Signal

(soldered)

Orange

Green

Purple

Gray Red

Black

Blue

Yellow

Connect the shield to the

Drain wire and braided shield wire

Signal Color Wire

Purple

Gray

Orange

Green

(pressure-

Red

welded

Black Drain

Blue

Yellow

ctuator end

Plug housing: Socket contact:

Retainer:

(JST)

(JST) X 9

(JST)

Part 1 Installation

Page 43

)

Cable model: CB-X1-PLA ***

Controller end

Plug connector: Hood:

(Sumitomo 3M)

Wiring diagram

Wire Color Signal

(soldered)

Connect the shield to the hood usin

White/Blue

White/Yellow

White/Red

White/Black

White/Purple

White/Gray

Orange

Green Purple

Gray

Red

Black

Blue

Yellow

a clamp.

Drain wire and braided shield wire

ctuator end

LS side

Signal Color Wire

White/Blue

White/Yellow

White/Red

(pressure-

White/Black

welded

White/Purple

White/Gray

Signal Color Wire

Purple

Gray

Orange

Green

(pressure-

Red

welded

Black

Ground

Blue

Yellow

Plug housing: Socket contact: Retainer:

(JST)

LS side

ctuator end

(JST) X 9

Part 1 Installation

Page 44

)

Cable model: CB-X2-PA ***

Controller end

Plug connector: Hood:

(Sumitomo 3M)

Wiring diagram

Wire Color Signal

(soldered)

Connect the shield to the hood usin

White/Blue

White/Yellow

White/Red

White/Black

White/Purple

White/Gray

Orange

Green Purple

Gray Red

Black

Blue

Yellow

a clamp.

Drain wire and braided shield wire

(Taiyo Electric Wire & Cable)

Signal Color Wire

White/Blue

White/Yellow

White/Red

White/Black

White/Purple

White/Gray

Orange

Green Purple

Yellow

Drain

Gray

Red

Black

Blue

Plug housing: Socket contact: Retainer:

(pressurewelded

(JST) X 2

ctuator

end

(JST)

(JST) X 15

Part 1 Installation

Page 45

)

Cable model: CB-X2-PLA ***

Controller end

Plug connector: Hood:

(Sumitomo 3M)

Wiring diagram

Wire Color Signal

(soldered)

Connect the shield to the hood

a clamp.

usin

White/Orange

White/Green Brown/Blue

Brown/Yellow

Brown/Red Brown/Black

White/Blue

White/Yellow

White/Red

White/Black

White/Purple

White/Gray

Orange

Green Purple

Gray

Red

Black

Blue

Yellow

Drain wire and braided shield wire

ctuator end

LS side

Signal Color Wire

White/Orange

White/Green

Brown/Blue

Brown/Yellow

Brown/Red

Brown/Black

Signal Color Wire

White/Blue

White/Yellow

White/Red

White/Black

White/Purple

White/Gray

Drain

Orange

Green Purple

Gray

Red

Black

Blue

Yellow

Plug housing: Socket contact: Retainer:

(pressurewelded

(JST) X 2

(JST)

LS side

ctuator

end

(JST) X 15

(JST) X 6

Part 1 Installation

Page 46

[16] Axis 2 encoder/sensor

connector:

[17] Axis 1 absolute-data backup

battery connector:

[18] Axis 2 absolute-data backup

battery connector:

Part 1 Installation

This connector is used to connect the encoder/sensor cables for axis 2.

This connector is used to connect the absolute-data backup battery for axis 1. (This connector is required only when the actuator is of absolute encoder specification.)

This connector is used to connect the absolute-data backup battery for axis 2. (This connector is required only when the actuator is of absolute encoder specification.)

Page 47

[19] Axis 1/2 absolute-data backup

battery holder:

[20] System-memory backup

battery holder (optional):

[21] System-memory backup

battery connector:

Part 1 Installation

This battery holder is used to install the absolute-data backup battery. (The holder is fitted onto the bottom face of the resin cover.)

This battery holder is used to install the system-memory backup battery. (The holder is fitted onto the top face of the resin cover.)

This connector is used to connect the system-memory backup battery.

Page 48

Chapter 3 Installation and Wiring

1. External Dimensions

1. 2-axis specification (The same external dimensions also apply to the 1-axis specification.)

Part 1 Installation

Page 49

2. 2-axis absolute specification (The same external dimensions also apply to the 1-axis specification.)

Part 1 Installation

Page 50

3. Specification with system-memory backup battery (optional)

Part 1 Installation

Page 51

Part 1 Installation

2. Installation Environment

(1) When installing and wiring the controller, do not block the ventilation holes provided for cooling. (Insufficient

ventilation will not only prevent the product from functioning fully, but it may also result in failure.)

(2) Prevent foreign matter from entering the controller through the ventilation holes. Since the controller is not

designed as dustproof or waterproof (oilproof), avoid using it in a dusty place or place subject to oil mist or splashed cutting fluid.

(3) Do not expose the controller to direct sunlight or radiant heat from a high heat source such as a heat-

treating furnace.

(4) Use the controller in a non-condensing environment free from corrosive or inflammable gases. (5) Use the controller in an environment where it will not receive external vibration or impact. (6) Prevent electrical noise from entering the controller or its cables.

Environmental Condition of Controller

Item Specification and description

Surrounding air temperature

range

Surrounding humidity range 10% ~ 95% (Non-condensing; conforming to JIS C3502 RH-2)

Storage temperature range

Maximum operating altitude 2000 m

Protection class IP20

Vibration

Impact 147 mm/s2, 11 ms, half-sine pulse, 3 times each in X, Y and Z directions

0 ~ 40C

-25C ~ 70C (Excluding the battery)

10  f < 57: 0.035 mm (continuous), 0.075 mm (intermittent) 57  f  150: 4.9 m/s

(continuous), 9.8 m/s2 (intermittent)

X, Y and Z directions

Page 52

Part 1 Installation

[7] Panel unit connector: This connector is used to connect the optional panel unit.

[8] Power connector: This connector is used to connect the 100/200-VAC single-phase input

power. The connector is divided into the control power input side and the motor power input side.

Item Specification Remarks Applicable connector

cable size

6-pin, 2-piece connector

Control power 0.75

(AWG18) Applicable

mm Motor power 2 mm

MSTB2.5/6-STF-5.0 by Phoenix Contact

Recommended stripped-wire length: 7 mm

(AWG14) Terminal assignments

Pin No.

Signal

name 1 L1 Motor power AC input 2 L2 Motor power AC input 3 L1C Control power AC input 4 L2C Control power AC input 5 NC Not connected 6 PE Grounding terminal

The signal names are indicated on the mating connector.

[9] Grounding screw: This screw is used for protective grounding. It is connected inside the

controller to the PE of the power connector. Use this terminal if protective grounding cannot be made with the two-piece connector in order to comply with the safety standards, etc.

Item Description Cable size 2.0 to 5.5 mm2 or larger Grounding method Class D grounding

[10] Regenerative unit connector: This connector is used to connect a regenerative resistance unit when

the built-in regenerative resistor does not provide sufficient capacity in high-acceleration/high-load operation, etc. Whether or not one or more external regenerative resistance units will be required depends on the conditions of the specific application such as the axis configuration.

Item Specification Remarks Applicable connector

3-pin, 2-piece connector

1-178128-3 (by AMP)

Connector name RB Applicable cable

size

1.0 mm2 (AWG17 or equivalent)

The cable comes with the external regenerative resistance unit.

Connected unit External regenerative resistance unit

RB+ Regenerative resistance +

Terminal symbol

RB- Regenerative resistance – PE Grounding terminal

Page 53

Part 1 Installation

3. Heat Radiation and Installation

Design the control panel size, controller layout and cooling method so that the surrounding air temperature around the controller will be kept at or below 40°C. Install the controller vertically on a wall, as shown below. This controller is cooled by forced ventilation (air blows out from the top). Accordingly, heed the aforementioned installation direction and provide a minimum clearance of 100 mm above and 50 mm below the controller. If multiple controllers are to be installed side by side, providing additional suction fans on top of the controllers will help maintain a uniform surrounding air temperature. Provide a minimum clearance of 150 mm between the front side of the controller and a wall (enclosu re).

Regenerative resistance boxes

If multiple controllers are to be connected on top of one another, prevent the controller above from taking in the exhaust air from the controller below. Provide a clearance of approx. 50 mm between the controller and the closest regenerative resistance box, and a clearance of approx. 10 mm between regenerative resistance boxes.

Airflow direction

Fan

100 mm min.

150 mm min.

Airflow

50 mm min.

Page 54

Part 1 Installation

4. Noise Control Measures and Grounding

(1) Wiring and power supply

The PE terminal on the power-supply terminal block is used for protective grounding. Provide class D grounding. The grounding wire should have a size of 1.0 mm power wiring.

Class D grounding

(protective grounding)

[1] Notes on wiring method

Do not twist the lines from the AC power supply and the 24-VDC external power supply. Wire the controller cables separately from lines creating a strong electric field such as power circuit lines (by not bundling them together or placing them in the same cable duct).

If you wish to extend the motor cable or encoder cable beyond the length of each supplied cable, please

contact IAI’s Technical Service Section or Sales Engineering Section.

(2) Grounding for noise elimination

Class D grounding

Provide dedicated grounding.

SSEL

controller

Other

equipment

(AWG17) or larger and at least a size for AC

Metal enclosure

equipment

SSEL

controller

Do not use this method.

Other

Page 55



Part 1 Installation

(3) Noise sources and noise elimination

There are many noise sources, but solenoid valves, magnet switches and relays are of particular concern when building a system. Noise from these parts can be eliminated using the measures specified below:

[1] AC solenoid valve, magnet switch, relay

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

Surge killer

Point

Wire from each coil over the shortest distance. Installing a surge killer on the terminal block, etc., will be less effective because of a longer distance from the coil.

[2] DC solenoid valve, magnet switch, relay

Measure --- Install a diode in parallel with the coil. Determine the diode capacity in accordance with the load

capacity.

In a DC circuit, connecting a diode in reversed polarity will damage the diode, internal parts of the controller and DC power supply. Exercise due caution.

Diode

The above noise elimination measures are particularly important when a 24-VDC relay is driven directly by a controller output and there is also a 100-VAC solenoid valve, etc.

Page 56

Reference Circuit Diagram

Controller

OUT

COM

+24 V

0 V

Part 1 Installation

100 VAC

Surge absorber

0 V

Solenoid valve

Page 57

Part 1 Installation

5. Power-Supply Capacity and Heat Output

The SSEL controller requires the following power supplies: A. Control power supply

Supplies power to the logic control part of the controller.

B. Motor power supply

Supplies power for driving the actuator.

C. PIO power

Supplies power to the PIO interface. 24 VDC should be supplied.

D. Brake power supply

24 VDC should be supplied when an actuator with brake is used.

The total power-supply capacity of the SSEL controller is the sum of capacities of the control power supply and motor power supply. The total heat output is also calculated as the sum of heat outputs from the motor power supply and control power supply. The capacity and heat output of the motor power supply vary depending on the motor output of the actuator connected.

(1) Capacity and heat output of the control power supply

The table below shows the maximum capacity and heat output of the control power supply. These values are not affected by the motor output.

(2) Capacity and heat output of the motor power supply

Control power-

supply capacity

[VA]

Heat output from

control power

supply [W]

The table below shows reference capacity and heat output of the motor power supply for one axis. With the 2-axis specification, find the capacities and heat outputs for the respective axes from the corresponding motor outputs and calculate the sums.

Actuator or

motor capacity [W]

Rated motor power-

supply capacity [VA]

Momentary maximum

motor power-supply

capacity [VA]

Heat output at rated

motor power supply

[W]

100 (linear actuator S6SS) 100 (linear actuator S8SS)

100 (linear actuator S8HS) 200 (linear actuator S10SS) 200 (linear actuator S10HS)

200 (linear actuator H8SS)

200 (linear actuator H8HS)

200 (linear actuator L15SS)

300 (linear actuator M19SS) 400 (linear actuator W21SS)

Page 58

Part 1 Installation

(3) Brake power supply

The table below shows the rated current and maximum instantaneous current of the brake power supply for one axis.

Power-supply voltage 24 Rated current [A] 0.5 Maximum instantaneous current [A] 1 Heat output at rated power output [W] 12 The brakes used by IAI’s actuators are of instantaneous over-excitation type, which means that a maximum current of 1 A flows per axis over a period of approx. 100 msec when the brake is released.

(4) Calculation example

Power-supply capacities when the output of axis 1 is 400 W and that of axis 2 is 200 W (200-V controller) The capacities and heat output of the motor power supply are calculated as follows: Rated motor power-supply capacity Maximum instantaneous motor power-supply capacity Heat output at rated power output

The capacities and heat output of the control power supply are added: Rated power-supply capacity Maximum instantaneous motor power-supply capacity Heat output at rated power output

* With a controller of 100-V input specification, axes with a total output of up to 400 W can be connected.

With a 200-V controller, axis with a total output of up to 800 W can be connected.

Page 59

Part 1 Installation

6. Auxiliary Power Equipment

6.1 Example of Auxiliary Power Equipment Configuration

AC power

supply

(Earth

leakage)

breaker

Surge

absorber

[1] Breaker

Install a circuit breaker on the AC power-supply line side (primary side) of the controller to prevent damage

caused by power switching or short-circuit current.Install an earth leakage breaker on the AC power-supply

line side (primary side) of the controller to cut off leak current should it generate. A single breaker may be used for both the motor power supply and control power supply. As a selection guideline, it is recommended that you select a breaker capable of accommodating three times the rated motor power-supply capacity by considering potential power-suppl y capacity requirements during acceleration/deceleration.

Rated breaker current > (Rated motor power-supply capacity [VA] x 3 + Control power-supply capacity [VA]) / Input voltage

Also, always use an earth leakage breaker of leak-current detection type specified for inverter, so that leak current from servos can also be cut off.

Noise filter

Control power input Motor power input

The motor power supply and control power supply have no built-in surge absorber for protecting the equipment from surge noise that may generate inside the controller in the event of lightening shock.

If you wish to enhance surge resistance, an external surge absorber must be inst alled. Recommended surge absorber

Manufacturer Okaya Electric Industries Model RAV-781BWZ-2A

The motor power supply has no built-in noise filter. Accordingly, always install a noise filter for the motor-

drive power supply externally to the controller. A single noise filter may be used for both the motor power supply and control power supply. Note) Always install a noise filter.

Recommended noise filter Manufacturer TDK Lambda

Model MC1210

Page 60

7. Wiring

7.1 Connecting the Power Cables

As shown to the left, insert the stripped end of each cable into the connector, and tighten the screws with a screwdriver. Recommended cable diameter Motor power (L1, L2): 2 mm (AWG14) Control power (L1C, L2C): 0.75 mm (AWG18) Recommended stripped-wire length: 7 mm

As shown to the left, tighten the screws to affix the connector.

Note) Always install a noise filter. Recommended noise filter

Controller power supply Manufacture and model name 100 VAC TDK Lambda MC1210 200 VAC TDK Lambda MC1210

Part 1 Installation

Page 61

7.2 Connecting the Actuator

7.2.1 Connecting the Motor Cable (MOT1, 2)

Connect the motor cable from the actuator to the applicable motor connector on the front face of the controller. Use a screwdriver to securely tighten the screws at the top and bottom of the connector.

7.2.2 Connecting the Encoder Cable (PG1, PG2)

Part 1 Installation

Connect the encoder cable from the actuator to the applicable encoder connector on the front face of the controller.

Caution: With the absolute specification,

disconnect the absolute-data backup battery connector before connecting the encoder cable. Connect the absolute-data backup battery connector after turning on the main power.

Page 62

7.3 Connecting the Emergency Stop Input, Enable Input and Brake Power Input (Wiring to the SIO Connector)

As shown to the left, insert the stripped end of each cable while pressing down the spring using a driver. Applicable cable size: 0.2 ~ 1.3 mm (AWG24 ~ 16) Recommended stripped-wire length: 10 mm

Emergency stop switch

Enable switch

24-V brake power supply (for the specification with brake)

Part 1 Installation

Page 63

7.3.1 Emergency Stop, Enable and Other Internal Circuits (Safety Category B)

UTO/MANU

switch

connector

Inside controller

AUTO/MANU

status detection

TP-connector

connection status

detection

AUTO: Closed MANU:

Open

EMG

switch

System I/O

connector

Connected:

Open

Not

connected:

Closed

ENB

switch

ENB input

detection

EMG input

detection

Status signal

Drive-source cutoff control

Command signal

Power

connector

Drive-source cutoff relay

Drive source

Part 1 Installation

Page 64

Part 1 Installation

7.3.2 Connection Example of External Drive-source Cutoff Circuit and Internal Circuits (Safety Category

A system meeting safety category 1 can be built by providing a drive-source cutoff circuit externally to the controller.

UTO/MANU

switch

connector

Inside controller

TP-connector

connection status

detection

AUTO/MANU

status detection

AUTO: Closed MANU:

Open

External 24 V+

EMG

switch

System I/O

connector

Connected:

Open

Not

connected:

Closed

External 24 V-

ENB

switch

ENB input

detection

EMG input

detection

Drive-source cutoff control

Status signal

Command signal

Power

connector

Drive-source cutoff relay

Drive source

Page 65

7.4 Connecting the PIO Cable (I/O)

I/O flat cable (supplied): Model CB-DS-PIO020

No. Color Wire No. Color Wire

1A Brown 1 9B Gray 2 1B Red 1 10A White 2 2A Orange 1 10B Black 2 2B Yellow 1 11A Brown-3 3A Green 1 11B Red 3 3B Blue 1 12A Orange 3 4A Purple 1 12B Yellow 3 4B Gray 1 13A Green 3 5A White 1 13B Blue 3 5B Black 1 14A Purple 3 6A Brown-2 14B Gray 3 6B Red 2 15A White 3 7A Orange 2 15B Black 3 7B Yellow 2 16A Brown-4 8A Green 2 16B Red 4 8B Blue 2 17A Orange 4 9A Purple 2

Flat cable,

pressure-

welded

Part 1 Installation

Connect the supplied flat cable. Connect the opposite end (open end without connector) of the cable to a desired peripheral (host PLC, etc.).

No connector

Flat cable (34 cores)

Flat cable,

pressure-

welded

17B Yellow 4

Page 66

7.4.1 I/O Connection Diagram

(1) NPN specification (Program mode)

Pin No.

10A 009 General-purpose input 10B 010 General-purpose input 11A 011 General-purpose input 11B 012 General-purpose input 12A 013 General-purpose input 12B 014 General-purpose input 13A

Category

1A P24 1B 016 Program specification (PRG No. 1) 2A 017 Program specification (PRG No. 2) 2B 018 Program specification (PRG No. 4) 3A 019 Program specification (PRG No. 8) 3B 020 Program specification (PRG No. 10) 4A 021 Program specification (PRG No. 20) 4B 022 Program specification (PRG No. 40) 5A 023 Software reset (restart) 5B 000 Program start 6A 001 General-purpose input 6B 002 General-purpose input 7A 003 General-purpose input 7B 004 General-purpose input 8A 005 General-purpose input 8B 006 General-purpose input 9A 007 General-purpose input 9B 008 General-purpose input

Input

Port No. Function

Pin No.

13B 300 Alarm output 14A 301 Ready output 14B 302 General-purpose output 15A 303 General-purpose output 15B 304 General-purpose output 16A 305 General-purpose output 16B 306 General-purpose output 17A 17B N External power supply 0 V

The above functions reflect the factory settings.

Category

Output

Port No. Function

307 General-purpose output

External power supply 24 V

015 General-purpose input

Part 1 Installation

Cable color

1 – Brown

1 – Red

1 – Orange

1 – Yellow 1 – Green

1 – Blue

1 – Purple

1 – Gray 1 – White 1 – Black

2 – Brown

2 – Red

2 – Orange

2 – Yellow 2 – Green

2 – Blue

2 – Purple

2 – Gray 2 – White 2 – Black

3 – Brown

3 – Red

3 – Orange

3 – Yellow 3 – Green

Cable color

3 – Blue

3 – Purple

3 – Gray 3 – White 3 – Black

4 – Brown

4 – Red

4 – Orange

4 – Yellow

Page 67

(2) PNP specification (Program mode)

Pin No.

10A 009 General-purpose input 10B 010 General-purpose input 11A 011 General-purpose input 11B 012 General-purpose input 12A 013 General-purpose input 12B 014 General-purpose input 13A

Category

Input

Port No. Function

Pin No.

The above functions reflect the factory settings.

Category

Output

Port No. Function

307 General-purpose output

External power supply 24 V

015 General-purpose input

Part 1 Installation

Cable color

1 – Brown

1 – Red

1 – Orange

1 – Yellow 1 – Green

1 – Blue

1 – Purple

1 – Gray 1 – White 1 – Black

2 – Brown

2 – Red

2 – Orange

2 – Yellow 2 – Green

2 – Blue

2 – Purple

2 – Gray 2 – White 2 – Black

3 – Brown

3 – Red

3 – Orange

3 – Yellow 3 – Green

Cable color

3 – Blue

3 – Purple

3 – Gray 3 – White 3 – Black

4 – Brown

4 – Red

4 – Orange

4 – Yellow

Page 68

(3) NPN specification (Standard positioner mode)

Pin No.

1A P24 24-V input 1B 16 Position input 10 Input 10 Position input 7 Axis 1 jog2A 17 Position input 11 Input 11 Position input 8 Axis 2 jog+ 2B 18 Position input 12 Input 12 Position input 9 Axis 2 jog3A 19 Position input 13 Input 13 Position input 10 Inching (0.01 mm) 3B 20 Position input 14 Input 14 Position input 11 Inching (0.1 mm) 4A 21 Position input 15 Input 15 Position input 12 Inching (0.5 mm) 4B 22 Position input 16 Input 16 Position input 13 Inching (1 mm) (*1) 5A 23 Error reset Error reset Error reset Error reset CPU reset 5B 0 Start Start Axis 1 start Start Start 6A 1 Home return Home return Home return Servo ON Pause 6B 2 Servo ON Servo ON Axis 1 servo ON *Pause Cancellation 7A 3 Push motion Push motion *Axis 1 pause Position input 1 7B 4 *Pause *Pause 8A 5 *Cancellation *Cancellation Axis 2 start Position input 3 8B 6 Interpolation Interpolation 9A 7 Position input 1 Input 1 Axis 2 servo ON Position input 5

9B 8 Position input 2 Input 2 *Axis 2 pause Position input 6 10A 9 Position input 3 Input 3 10B 10 Position input 4 Input 4 Position input 1 Position input 8 11A 11 Position input 5 Input 5 Position input 2 Position input 9 11B 12 Position input 6 Input 6 Position input 3 Position input 10 12A 13 Position input 7 Input 7 Position input 4 Position input 11 12B 14 Position input 8 Input 8 Position input 5 13A

Category

No.

13B 300 *Alarm *Alarm *Alarm *Alarm *Alarm 14A 301 Ready Ready Ready Ready Ready 14B 302 15A 303

Output

15B 304 Servo ON output Servo ON output Axis 1 servo ON Servo ON output 16A 305 16B 306 17A 17B N 0-V input

Port

Category

No.

Standard mode

Input

15 Position input 9 Input 9 Position input 6 Axis 1 jog+

Port

No.

Standard mode

Positioning complete Positioning complete Home return complete Home return complete

Push motion complete Push motion complete System battery error System battery error Absolute battery error Absolute battery error

307

Product switching

mode

(*1) The input must be turned OFF. Make sure the port is not connected.

Positioner mode

2-axis independent

*Axis 1 cancellation

Axis 2 home return

*Axis 2 cancellation

Positioner mode

2-axis independent

mode

Axis 1 positioning complete Axis 1 home return complete

Axis 2 positioning complete Axis 2 home return complete

Axis 2 servo ON

mode

Teaching mode

Position input 2

Position input 4

Position input 7

Teaching mode specification

Teaching mode

Positioning complete Positioning complete Home return complete

System battery error System battery error Absolute battery error Absolute battery error

DS-S-C1 compatible

*: Contact B (always ON)

DS-S-C1 compatible

mode

Position No. 1000 input Position No. 2000 input Position No. 4000 input Position No. 8000 input Position No. 10000 input Position No. 20000 input

Interpolation setting

Position No. 1 input Position No. 2 input Position No. 4 input Position No. 8 input Position No. 10 input Position No. 20 input Position No. 40 input Position No. 80 input Position No. 100 input Position No. 200 input Position No. 400 input Position No. 800 input

Cable

mode

color

3 – Blue

3 – Purple

3 – Gray

3 – White

3 – Black

4 – Brown

4 – Red

4 – Orange

4 – Yellow

Part 1 Installation

Cable

color

1 – Brown

1 – Red

1 – Orange

1 – Yellow

1 – Green

1 – Blue

1 – Purple

1 – Gray

1 – White

1 – Black

2 – Brown

2 – Red

2 – Orange

2 – Yellow

2 – Green

2 – Blue

2 – Purple

2 – Gray

2 – White

2 – Black

3 – Brown

3 – Red

3 – Orange

3 – Yellow

3 – Green

Page 69

(4) PNP specification (Standard positioner mode)

No.

Port

Category

No.

Standard mode

Input

15 Position input 9 Input 9 Position input 6 Axis 1 jog+

Product switching

mode

Pin No.

13B 300 *Alarm *Alarm *Alarm *Alarm *Alarm 14A 301 Ready Ready Ready Ready Ready 14B 302 15A 303 15B 304 Servo ON output Servo ON output Axis 1 servo ON Servo ON output 16A 305 16B 306 17A 17B N 0-V input

Port

Category

Output

No.

Standard mode

Positioning complete Positioning complete Home return complete Home return complete

Push motion complete Push motion complete System battery error System battery error Absolute battery error Absolute battery error

307

Product switching

mode

(*1) The input must be turned OFF. Make sure the port is not connected.

Positioner mode

2-axis independent

mode

*Axis 1 cancellation

Axis 2 home return

*Axis 2 cancellation

Positioner mode

2-axis independent

mode

Axis 1 positioning complete Axis 1 home return complete

Axis 2 positioning complete Axis 2 home return complete

Axis 2 servo ON

Teaching mode

Position input 2

Position input 4

Position input 7

Teaching mode specification

Teaching mode

Positioning complete Positioning complete Home return complete

System battery error System battery error Absolute battery error Absolute battery error

DS-S-C1 compatible

mode

Position No. 1000 input Position No. 2000 input Position No. 4000 input Position No. 8000 input Position No. 10000 input Position No. 20000 input

Interpolation setting

DS-S-C1 compatible

mode

*: Contact B (always ON)

Part 1 Installation

Cable

color

1 – Brown

1 – Red

1 – Orange

1 – Yellow

1 – Green

1 – Blue

1 – Purple

1 – Gray

1 – White

1 – Black

2 – Brown

2 – Red

2 – Orange

2 – Yellow

2 – Green

2 – Blue

2 – Purple

2 – Gray

2 – White

2 – Black

3 – Brown

3 – Red

3 – Orange

3 – Yellow

3 – Green

Cable

color

3 – Blue

3 – Purple

3 – Gray

3 – White

3 – Black

4 – Brown

4 – Red

4 – Orange

4 – Yellow

Page 70

7.5 External I/O Specifications

7.5.1 NPN Specification

(1) Input part

External Input Specifications (NPN Specification)

Item Specification Input voltage Input current 7 mA per circuit

ON/OFF voltage

Insulation method Photocoupler insulation

External devices

Internal circuit

24 VDC 10%

ON voltage --- 16.0 VDC min. OFF voltage --- 5.0 VDC max.

[1] No-voltage contact (minimum load of approx. 5 VDC/1 mA) [2] Photoelectric/proximity sensor (NPN type) [3] Sequencer transistor output (open-collector type) [4] Sequencer contact output (minimum load of approx. 5 VDC/1 mA)

[Input circuit]

560 

3.3 K

P24*

Input terminal

* P24: I/O interface pin No. 1

Part 1 Installation

External power supply 24 VDC 10%

Caution

If a non-contact circuit is connected externally, malfunction may result from leakage current. Use a circuit in which leakage current in a switch-off state does not exceed 1 mA.

 SSEL controller’s input signal

At the default settings, the system recognizes the ON/OFF durations of input signals if they are approx. 4 msec or longer. The ON/OFF duration setting values can also be changed using I/O parameter No. 20 (input filtering frequency).

ON duration

OFF duration

Page 71

(2) Output part

External Output Specifications (NPN Specification)

Item Specification Load voltage 24 VDC

Maximum load current 100 mA per point, 400 mA per 8 ports Note)

Leakage current 0.1 mA max. per point

Insulation method Photocoupler insulation

External devices

Note) 400 mA is the maximum total load current of output port Nos. 300 to 307.

[1] Miniature relay [2] Sequencer input unit

[Output circuit]

Internal circuit

10 

P24*

Surge absorber

Output terminal

* P24: I/O interface pin No. 1A * N: I/O interface pin No. 17B

Part 1 Installation

TD62084 (or equivalent)

Load

External power supply 24 VDC  10%

Caution

In the event that the load is short-circuited or current exceeding the maximum load current is input, the overcurrent protection circuit will be actuated to cut off the circuit. However, give due consideration to the circuit connection layout to prevent short-circuit or overcurrent.

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7.5.2 PNP Specification

(1) Input part

Item Specification Input voltage Input current 7 mA per circuit

ON/OFF voltage

Insulation method Photocoupler insulation

External devices

Internal circuit

Part 1 Installation

External Input Specifications (PNP Specification)

24 VDC 10%

ON voltage --- 8 VDC max. OFF voltage --- 19 VDC min.

[1] No-voltage contact (minimum load of approx. 5 VDC/1 mA) [2] Photoelectric/proximity sensor (PNP type) [3] Sequencer transistor output (open-collector type) [4] Sequencer contact output (minimum load of approx. 5 VDC/1 mA)

[Input circuit]

Input terminal

External power

560 

3.3 K

supply 24 VDC 10%

* N: I/O interface pin No. 17B

Caution

If a non-contact circuit is connected externally, malfunction may result from leakage current. Use a circuit in which leakage current in a switch-off state does not exceed 1 mA.

 SSEL controller’s input signal

ON duration

OFF duration

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(2) Output part

External Output Specifications (PNP Specification)

Item Specification Load voltage 24 VDC

Maximum load current 100 mA per point, 400 mA per 8 ports Note)

Leakage current 0.1 mA max. per point

Insulation method Photocoupler insulation

External devices

Note) 400 mA is the maximum total load current of output port Nos. 300 to 307.

[1] Miniature relay [2] Sequencer input unit

[Output circuit]

Internal circuit

10 

Output terminal

P24

Surge absorber

Load

* P24: I/O interface pin No. 1A * N: I/O interface pin No. 17B

Part 1 Installation

TD62784 (or equivalent)

External power supply 24 VDC 10%

Caution

In the event that the load is short-circuited or a current exceeding the maximum load current is input, the overcurrent protection circuit will be actuated to cut off the circuit. However, give due consideration to the circuit connection layout to prevent short-circuit or overcurrent.

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Part 1 Installation

7.6 Connecting Regenerative Resistance Units (RB)

Regenerative energy produced when the actuator decelerates to a stop or moves downward in a vertical installation is absorbed by means of the capacitor or resistor in the controller. If the produced regenerative energy cannot be fully absorbed internally, a “60C: Power-system overheat error” will generate. If this happens, connect one or more external regenerative resistance units. If your SSEL controller is used with a vertically installed actuator, connect an external regenerative resistance unit(s) as necessary.

7.6.1 Number of Units to Be Connected

Reference for required number of units

Total wattage of 2 motor axes Vertical installation ~ 200 W Not required ~ 600 W 1 ~ 800 W 2

* The above are reference numbers by assuming that each actuator is operated back and forth at 3,000

rpm, 0.3 G, rated load, 1,000-mm stroke and 50% duty.

* If the operation duty exceeds 50%, more regenerative resistance unit(s) may be required than as

specified in the above table. A maximum of four external regenerative resistance units can be connected. (Never connect any greater number of regenerative resistance units, as it may cause system breakdown.)

Number of regenerative resistance units to be connected

7.6.2 Connection Method

The figure below illustrates how one regenerative resistance unit, and two or more regenerative resistan ce units, can be connected. When one unit is connected, use the cable specified in [1] of 7.6.3 on the next page. If two or more units are connected, use the cable specified in [1] for connection between the controller and the first regenerative resistance unit, and the cable specified in [2] for connection between reg enerative resistance units.

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Part 1 Installation

7.6.3 Connection Cables

The cable used to connect a regenerative resistance unit to the SSEL controller is different from the standard regenerative resistance connection cable (the connector on the SSEL cable is not compatible with the connector on the standard cable). To connect a regenerative resistance unit to the SSEL controller, the cable specified in [1] below is required.

[1] SCON regenerative resistance connection cable (CB-SC-REU***)

Controller end

Receptacle housing Receptacle contact

Model number nameplate

Wiring diagram

Wire Color Signal Signal Color Wire

Light blue

Brown Green/

Yellow

External regenerative resistance unit end

Plug (Phoenix Contact)

Light blue

Brown Green/

Yellow

[2] Standard (X-SEL, E-CON) regenerative resistance connection cable (CB-ST-REU***)

Controller end

Plug (Phoenix Contact)

Model number nameplate

Wiring diagram

External regenerative resistance unit end

Plug (Phoenix Contact)

Wire Color Signal Signal Color Wire

Light blue

Brown Green/

Yellow

Light blue

Brown Green/

Yellow

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7.7 Connecting the Teaching Pendant/PC Software (TP) (Optional)

Connector conversion cable

The SSEL controller’s teaching connector is a small, halfpitch connector. If you are using a teaching pendant or PC software cable, connect the cable to a connector conversion cable, and then connect the conversion cable to the teaching connector on the controller.

7.8 Connecting the Panel Unit (Optional)

When the optional panel unit is connected, the controller status (program number of each active program, error codes, etc.) can be monitored.

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7.8.1 Explanation of Codes Displayed on the Panel Unit (Optional)

(1) Application

Display Priority (*1) Description

Part 1 Installation

AC power cut off (Momentary power failure or power-supply voltage drop may also be the cause.)

1 System-down level error 2 Writing data to the flash ROM. 3 Emergency stop is being actuated (except during the update mode). 4 Enable switch (deadman switch/safety gate) OFF (except in the update mode) 5 Cold-start level error 5 Cold-start level error 5 Operation-cancellation level error 5 Operation-cancellation level error 6 Waiting for a drive-source cutoff reset input (except during the update mode). 6 Operation is in pause (waiting for restart) (except during the update mode). 7 All servo axes are interlocked (except during the update mode). 8 Message level error 8 Message level error 9 Core update mode 9 Core update is in progress. 9 Core update has completed. 9 Slave update mode 9 Slave update is in progress. 9 Slave update has completed. 9 Running a program (last started program); “No.” indicates program number. 9 Initialization sequence number 9 Debug mode

(*1) The priority increases as the number decreases.

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Part 1 Installation

Display Priority (*1) Description

9 Ready status (auto mode) (Program mode) 9 Ready status (manual mode) (Program mode) 9 Operating in positioner mode; “No.” indicates positioner mode number. 9 Ready status (auto mode) (Positioner mode) 9 Ready status (manual mode) (Positioner mode)

(*1) The priority increases as the number decreases.

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(2) Core

Display Priority (*1) Description

Part 1 Installation

AC power cut off (Momentary power failure or power-supply voltage drop may also be the cause.)

1 Cold-start level error 1 Cold-start level error 1 Operation-cancellation level error 1 Operation-cancellation level error 2 Message level error 2 Message level error 2 Application update mode 2 Application update is in progress. 2 Application update has completed. 2 Hardware test mode process 2 Clearing the application flash ROM. 2 Application flash ROM has been cleared. 2 Jump to the application 2 Core flash-ROM check process 2 Application flash-ROM check process 2 SDRAM check process

(*1) The priority increases as the number decreases.

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

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7.8.2 Current Monitor and Variable Monitor

By setting other parameter Nos. 49 and 50 appropriately, the optional panel unit can be used to monitor either current levels or variables. (1) Current monitor Currents of up to four axes having continuous axis numbers can be monitored. Parameter settings Other parameter No. 49 = 1 Other parameter No. 50 = Smallest axis number among the axes to be monitored Example) If other parameter No. 49 is set to “1” and other parameter No. 50 to “1” for a 2-axis controller, the far-

right segment digit will show the current for axis 1.

Axis 2 Axis 1

When data is written to the flash ROM or a software reset (restart) is executed after the parameter values have been input, the panel window will show the motor current to rating ratio (%) by a segment pattern, instead of “ready status” or “program run number.” The segment display patterns and corresponding motor current to rating ratios (%) are shown below.

0 < Motor current to rating ratio (%)  25

100 < Motor current to rating ratio (%)  150

25 < Motor current to rating ratio (%)

150 < Motor current to rating ratio (%)  200

50 < Motor current to rating ratio (%)

200 < Motor current to rating ratio (%)

75 < Motor current to rating ratio (%)  100

Thick lines indicate illuminated segments.

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Part 1 Installation

(2) Variable monitor The contents of global integer variables can be displayed on the panel window. Positive integers of 1 to 999 can be displayed. Parameter settings Other parameter No. 49 = 2 Other parameter No. 50 = Variable number of the global integer variable to be monitored

When data is written to the flash ROM or a software reset (restart) is executed after the parameter values have been input, the panel window will show the content of the global integer variable, instead of “ready status” or “program run number.” The far-left segment digit should read “U.” Display example)

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7.9 Installing the Absolute-Data Backup Battery (Optional)

As shown to the left, install the supplied battery holder at the bottom of the controller.

Insert the battery into the holder.

Axis 1 connector Axis 2 connector

Connect the battery connector. Pay attention to the connector orientation. (The connector hook should face the right side.) Caution: If the main power cannot be turned on immediately

after the encoder cable has been connected, do not connect the battery connector.

Part 1 Installation

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7.10 Installing the System-Memory Backup Battery (Optional)

As shown to the left, install the supplied battery holder at the top of the controller.

Insert the battery into the holder.

Connect the battery connector. Pay attention to the connector orientation. (The hook of the connector should face right when viewed from the front side of the controller.)

Caution: If the system-memory backup battery is

used, “Other parameter No. 20” must be set to “2.”

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Part 1 Installation

Chapter 4 Operation

1. Startup

(1) Connect the motor cable and encoder cable to the controller. (2) Connect the PIO connector to the host PLC using the supplied flat cable. (3) Execute an emergency stop. (4) Connect the PC or teaching pendant.

Set the AUTO/MANU switch to the “MANU” side.

(5) Supply the 24-V PIO power through the flat cable. If the actuator is equipped with a brake, supply the 24-

V brake power to the SIO connector.

(6) Turn on the control power and motor power at the same time. (They should be taken from the same power

supply.)

(7) Reset the emergency stop.

 The EMG lamp turns off.  If the ALM lamp is lit, an error is present. Check the error list to identify the problem.

If the 24-V PIO power is not supplied, an “E69” error will generate. If your controller is of absolute specification, an “E914” or “CA2” error may generate during the startup, indicating that an absolute reset must be performed. Refer to “How to Perform Absolute Reset.” To check for errors, connect the teaching pendant, PC software or panel unit.

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Part 1 Installation

1.1 Power ON Sequence

 Although separate inputs are provided for the control power and motor power, they should be supplied from

the same power-supply terminal.

 Turn on the PIO power first. You can turn on the PIO power much earlier than the control power and motor

power, as long as it is turned on before the control power/motor power.

Taken from the same power supply.

The PIO power must be turned on before the control power, in order to perform checks during initialization and self-diagnosis and apply a hardware latch upon detection of an error.

Brake power must be supplied before the controller enters the normal operation mode.

Control power

Motor power Controller status

PIO power

Brake power

Must be turned on first, as a

rule.

Must be turned on simultaneously, as a rule.

Initialization/self-diagnosis

Normal operating condition

* If the PIO power is not turned on before the control power is turned on, an error will be detected.

1.2 Power Cutoff Sequence

 If the PIO power is turned off before the control power and motor power (before the power cutoff processing

is performed), a PIO power error may be logged internally by the controller.

 The PIO power can be turned off much later than the control power and motor power, as long as it is turned

off after the control power/motor power.

Control power

Motor power

Controller status

PIO power

If the PIO power is turned off during this period, an error may be logged internally by the controller.

Must be turned off simultaneously, as a rule.

0.5 to 1.5 AC cycles

After the power is cut off, the power cutoff processing will start within approx. 0.5 to 1.5 AC cycles.

Power cutoff processing

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Part 1 Installation

2. How to Perform Absolute Reset (Absolute Specification)

If the SSEL controller experiences any abnormal absolute-encoder battery voltage or the battery or encoder cable is disconnected, an encoder battery error will generate. In this case, you must perform an absolute reset. This chapter explains how to perform an absolute reset using the PC software. For the procedure to perform an absolute reset from the teaching pendant, refer to the operation manual for your teaching pendant. Refer to Appendix, “ Absolute Reset for Synchro Specification” for the procedure to perform an absolute reset on a synchro controller.

2.1 Preparation

(1) PC

PC in which IAI’s X-SEL PC software (X_SEL.exe) has been installed

(2) PC cable (supplied with the PC software)

RS232C cross cable (fitted with a female 9-pin connector on the PC end and a male 25-pin connector on the controller end) + Connector conversion cable Or, USB cable + dummy plug (optional)

(3) All adjustment items other than absolute reset must have been completed.

2.2 Procedure

(1) Turn off the SSEL controller power. Turn on the PC power and wait for the OS to start. (2) Connect the 9-pin, D-sub connector of the connection cable to the COM port on the PC, and connect the

25-pin, D-sub connector to the teaching connector on the cont roller. Alternatively, connect the PC and controller using a USB cable. If the USB port is used, you must connect a dummy plug to the teaching connector.

(3) Turn on the controller power. An encoder battery error will generate. If no other adjustment item is

outstanding, “ECA1” or “E914” should be displayed on the 7-segment LED. This indicates that the controller has detected the encoder battery error.

(4) Launch the X-SEL PC software (X_SEL.exe) on the PC. The following steps explain the operating

procedures in the X-SEL PC software.

(5) When the Connection Check dialog box appears, set the communication port you are using on your PC.

Click OK. (The baud rate need not be set. The software will automatically detect and set the baud rate.)

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(6) The main window of the X-SEL PC software opens.

Click OK to close the error message.

Part 1 Installation

(7) From the Monitor menu, select Error Detail to check the condition of the present error.

If the controller is experiencing an encoder battery error, the displayed window should look like the one shown below (an absolute encoder is used for axis 2 in this example). After checking the error detail, close the Error Detail window.

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(8) From the C

ontroller menu, select Absolute Reset.

(9) When the Warning dialog box appears, click OK.

Cancel

(10) The Absolute Reset dialog box appears.

Click here

to select the axis you want to perform an absolute reset for.

(11) Click Encoder Rotation Data Reset 1. When the Warning dialog box appears, click Y

Yes (Y)No (N)

Part 1 Installation

es.

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Part 1 Installation

(12) Another Warning dialog box is displayed. Click Y

es again.

Yes (Y)

No (N

)

(13) After the controller has finished processing encoder rotation data reset 1, the red arrow will move to the

next item. Click the following processing buttons in this order (the arrow will move to the next one after each processing is completed):

1. Controller Error Reset

2. Servo ON

3. Home Return

4. Servo OFF Encoder rotation data reset 2 is performed with the servo turned on. Accordingly, the Servo OFF step will be skipped.

5. Encoder Rotation Data Reset 2

After you have clicked Encoder Rotation Data Reset 2 and the processing is finished, the red arrow will return to the position shown in (10). To perform an absolute encoder reset for another axis, select the target axis and perform the steps from (10) again. To end the procedure, click Close to close the Absolute Reset dialog box. (Note) If you have encountered a situation where an absolute encoder reset is required for two or more

axes, be sure to repeat steps (10) to (13) for all applicable axes before performing the software reset in step (14) below.

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Part 1 Installation

(14) Whe n the Confirmation dialog box appears, click Y

es to restart the controller.

Yes (Y)

No (N

)

(Note) If you continue to operate the controller without resetting the software or reconnecting the power,

the following errors may generate: Error No. C70, ABS coordinate non-confirmation error Error No. C6F, Home-return incomplete error

(15) If an optional panel unit is conne cted and no other error is present, “rdy” (when the controller is in the

program mode) or “Pry” (in the positioner mode) should be displayed on the 7-seg LED.

(16) This completes the absolute reset.

To repeat the absolute reset, close the X-SEL PC software and perform the steps from the beginning.

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Part 1 Installation

3. How to Start a Program

With the SSEL Controller, the stored programs can be started (run) using four methods. Of these methods, two are mainly used to debug programs or perform trial operations, while the remaining two are used in general applications on site.

The former two methods are “starting from the teaching pendant” and “starting from the PC software.” These methods provide simple means of checking the operation. For details on “startin g from the teaching

pendant,” read the operation manual for the optional teaching pendant. For “starting from the PC software,” read the applicable explanation in the manual supplied with the PC software.

The latter two methods are “starting automatically via parameter setting” and “starting via external signal selection.” This chapter only explains the methods for “starting automatically via parameter setting” and “sta rting via external signal selection.”

Teaching pendant

PC software

Start Start

SSEL

Controller

Start

Starting

automatically via

parameter setting

Starting via

external signal

selection

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3.1 Starting a Program by Auto-Start via Parameter Setting

Other parameter No. 7 (Auto program start setting) = 1 (Standard factory setting)

This parameter is set using the teaching pendant or PC software.

Set an auto-start program number

Set the number of the program you wish to start automatically in other parameter No. 1 (auto-start program number). Set the controller mode to AUTO.

Reset the controller

Reconnect the power or execute a software reset, and the controller will be reset.

Automatically starting the program

Once the controller is reset in the above step, the program of the set number will start automatically. *

Part 1 Installation

Caution

[Note on starting a program by auto-start] The automatic operation will begin immediately after the controller is reset, so the user may be surprised by unexpected movements of the equipment, particularly those caused by a sudden activation of the servo a ctuator. To ensure safety, always provide an interlocking function, such as allowing the program execution to proceed only after receiving a confirmation signal at the beginning of the program.

If you wish to start multiple programs at the same time, write multiple “EXPG” commands at the beginning of the main program to start the remaining programs. Provide safety measures for each program to be started.

* If the following setting is performed, the program of the selected program number will start automatically at

the ON edge of the signal received by the selected input port. The program will be aborted at the OFF edge. You can set a desired input port for receiving the auto program start signal (dedicated function). Set the input function setting value “5” in the I/O parameter corresponding to the desired input port number (Nos. 30 through 45, 251 through 258). (Refer to “I/O Function Lists” and “I/O Parameters.”)

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Part 1 Installation

3.2 Starting via External Signal Selection

Select a desired program number externally and then input a start signal.

(1) Flow chart

Controller

Power ON

Ready

READY signal ON

Program number

confirmed?

Program number

input

External start input

Start signal confirmed?

Program run

Emergency-stop input

Emergency-stop

signal confirmed?

Controller

error?

Servo OFF

ALARM signal ON

Alarm output

Note: The maximum number of programs supported by a controller with increased memory size is 128. However, programs that

can be started by BCD code specification are from Nos. 1 to 79. To start Nos. 80 to 128 using BCD codes, use the auto program start function or program start command “EXPG.”

External device

Program number

Power ON

READY signal

confirmed?

Various I/O

processing

specification

Start signal ON

Emergency-stop

switch ON?

Emergency-stop

signal ON

ALARM signal

confirmed?

ALARM

processing

When the READY signal (Output port No.

301) turns ON, the RDY lamp (green) on the controller front panel will illuminate.

Input a desired program number as a BCD code from the external device (Input port Nos. 16 through 22).

Input a start signal (input port No. 0) from the external device.

If the optional panel unit is connected, the CODE display area indicates the program

number of each program that has been started.

If an emergency-stop signal was input from the external device or a controller error occurred, the controller will turn off the servo power. (The RDY lamp will turn off.)

*1 When I/O parameter 30 (input function

selection 000) is set to “2,” you can enter program numbers as binary codes. (The factory setting is “1” for BCD code specification.)

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Part 1 Installation

(2) Timing chart [1] Program start

Ready output

Program number input

External start input

Program 1

Program 2

T1: Duration after the ready output turns ON until input of

external start signal is permitted T1 = 10 msec min.

T2: Duration after the program number is input until input o

external start signal is permitted T2 = 50 msec min.

T3: Input duration of external start signal

T3 = 100 msec min.

[2] Program start by auto start

* Set input function specification value 5 (auto program start signal) for input port No. *.

Ready output

Auto program start signal input

Auto program start

T1: Time after the ready output turns ON before the auto

program start signal can be input to input port No. *. T1 = 10 msec min.

* Auto program start:

Set “0” in other parameter No. 7, “Auto program start setting.”

[3] Soft reset signal

* Set input function specification value 3 (soft reset signal) for input port No. *.

Ready output

Soft reset signal input

Program starting

T1: Time after the ready output turns ON until input

function specification value 3 (soft reset signal) can be input to input port No. *. T1 = 10 msec min.

T2: Time until the soft reset signal becomes effective.

T2 = 1 sec min.

T3: Time after the soft reset signal is reset until the ready

signal is output.

[4] Servo ON signal

* Set input function specification value 4 (servo ON signal) for input port No. *.

Ready output

Servo ON signal input

T1: Time after the ready output turns ON until input

function specification value 4 (servo ON signal) can be input to input port No. *. T1 = 10 msec min.

T2: Interval after the servo turns off until it turns on again.

T2 = 1.5 sec min.

Servo ON

[5] When the recovery type after emergency stop or enable operation is set to “Continued operation”

* Set “2” in other parameter No. 10, and set input function specification value 7 (operation-pause reset signal) for input port No. *. Set input function specification value 17 (drive-source cutoff reset input signal) for different input port No. *.

Program starting

Emergency stop

Drive-source cutoff reset

T1: Time after the emergency stop input is reset until the

drive-source cutoff reset signal can be input. T1 = 2 sec min.

T2: Drive-source cutoff reset input time

T2 = 10 msec min.

T3: Pause reset input time

T3 = 10 msec min.

Pause reset

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Part 1 Installation

4. Drive-Source Recovery Request and Operation-Pause Reset Request

(1) Drive-source recovery request

[1] Case where a drive-source request is required

A drive-source recovery request is required in the following case:  Specify a desired input port for receiving the drive-source cutoff reset input signal (dedicated

function). Occurrence of a drive-source cutoff factor  Recovery after the cutoff factor is removed.

[2] How to request a drive-source recovery

A drive-source recovery request can be issued using one of the following methods:  Set the input function specification value “17” in the I/O parameter corresponding to the desired

input port number (Nos. 30 through 45, 251 through 258). (Refer to “I/O Function Lists” and “I/O Parameters.”) Input the ON edge to the input port of the specified number.

 Select [Drive-Source Recovery Request (P)] from the [Controller (C)] menu on the PC software

screen.

 Select Ctl (controller operation) and RPwr (drive-source recovery request) on the mode selection

screen of the teaching pendant.

(2) Operation-pause reset request

[1] Cases where an operation-pause reset request is required

An operation-pause reset request is required in any of the following cases:  An emergency stop was actuated during automatic operation when other parameter No. 10 was set

to “2” (Emergency-stop recovery type = Continued operation) (only during autom atic operation)  Recovery (reset of operation pause) after the emergency stop is reset.

 The automatic operation was stopped using the deadman switch or enable switch when other

parameter No. 11 was set to “2” (Deadman/enable switch recovery type = Continued operation) (only during automatic operation)  Recovery (reset of operation pause) after the stop is reset.

 Specify a desired input port for receiving the operation-pause input signal (dedicated function). Set

the input function specification value “8” in the I/O parameter corresponding to the desired input port number (Nos. 30 through 45, 251 through 258). (Refer to “I/O Function Lists” and “I/O Parameters.”) OFF level signal input is received by the import port of the specified number during auto operation (operations pause)  Recovery after detection of ON signal level by the input port (operation pause is reset).

[2] How to request an operation-pause reset

An operation-pause reset request can be issued using one of the following methods:  Specify a desired input port for receiving the operation-pause input signal (dedicated function). Set

the input function specification value “7” in the I/O parameter corresponding to the desired input port number (Nos. 30 through 45, 251 through 258). (Refer to “I/O Function Lists” and “I/O Parameters.”) Input the ON edge to the input port of the specified number.

 Select [Operation-Pause Reset Request (L)] from the [Controller (C)] menu on the PC software

screen.

 Select Ctl (controller operation) and RAct (operation-pause reset request) on the mode selection

screen of the teaching pendant.

* If the case in [1] of (1) and any of the cases in [1] of (2) are present at the same time, a drive-source

recovery request must be issued first, followed by an operation-pause reset request.

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Part 1 Installation

5. Controller Data Structure

The controller data consists of parameters as well as position data and application programs used to implem ent SEL language.

SSEL Controller Data Structure

Driver 1 Driver 2

Communication

Parameters

The user must create position data and application programs. The parameters are predefined, but their settings can be changed in accordance with the user’s system. Refer to Appendix, “List of Parameters,” for details on the parameters.

Main

SEL language

Position

data

Application

programs

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Part 1 Installation

5.1 How to Save Data

The flow to save data in the SSEL controller is illustrated below. When data is transferred from the PC software or teaching pendant to the controller, the data is only written to the main CPU memory as shown in the diagram below and will be erased once the controller is powered down or reset. For important data, always write to the flash memory so that they will not be lost.

5.1.1 Factory Settings: When the System-Memory Backup Battery is Not Used

Other parameter No. 20 = 0 (System-memory backup battery not installed)

Data edited on the PC

or teaching pendant

Data will be retained while the power

is on and cleared upon reset

Data will be retained even after

the power is turned off

Main CPU memory

Main CPU flash memory

Transfer

Programs

Parameters

(other than slave card

parameters)

Symbols

Positions

Write to flash memory

Transfer upon reset

Write to flash memory

software,

PC TP

Transfer

Slave card parameters (variable portions of driver parameters)

Transfer upon reset

Slave card memory

Transfer upon reset

Transfer

Slave card parameters

(encoder parameters,

etc.)

Transfer

Transfer upon reset

Slave card

parameters

(fixed portions of

driver parameters)

(Cannot be changed) Slave card memory

SEL global data

(flags, variables, strings)

Error lists

Since the programs, parameters and symbols are read from the flash memory at restart, the data in the temporary memory will remain the same as the original data before edit unless the edited data are written to the flash memory. The controller always operates in accordance with the data in the main CPU memory (excluding the parameters).

Note: SEL global data cannot be retained if the backup battery is not installed.

SEL global data will be cleared once the control power is turned off or a software reset is executed. The error list will be cleared once the control power is turned off.

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5.1.2 When the System-Memory Backup Battery (Optional) is Used

Change the setting of other parameter No. 20 to 2 (System-memory backup battery installed).

Data edited on the PC

or teaching pendant

Data will be retained while the power

is on and cleared upon reset

Data will be retained even after

the power is turned off

Main CPU memory

Main CPU flash memory

Transfer

Programs

Parameters

(other than slave card

parameters)

Symbols

Write to flash memory

Transfer upon reset

software,

PC TP

Transfer

Slave card parameters (variable portions of driver parameters)

Write to flash memory

Transfer upon reset

Slave card memory

Transfer upon reset

Transfer

Slave card parameters

(encoder parameters,

etc.)

Transfer

Transfer upon reset

Slave card parameters

(fixed portions of

driver parameters)

(Cannot be changed)

Slave card memory

Write to flash memory

Battery backup memory

Transfer

Positions

SEL global data

(flags, variables, strings)

Error lists

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5.2 Points to Note

Point to note when transferring data and writing to the flash memory

Never turn off the main power while data is being transferred or written to the flash memory. The data will be lost and the controller operation may be disabled.

Point to note when saving parameters to a file

The encoder parameters are stored in the EEPROM of the actuator’s encoder itself (unlike other parameters, they are not stored in the EEPROM of the controller). The encoder parameters will be read from the encoder’s EEPROM to the controller when the power is turned on or upon software reset. Therefore, if the parameters are saved to a file after turning on the controller (or restarting it via a software reset) without an actuator (encoder) connected, the encoder parameters saved to the file will become invalid.

Point to note when transferring a parameter file to the controller

When a parameter file is transferred to the controller, the encoder parameters will be transferred to the EEPROM of the encoder (excluding manufacturing/function information). Therefore, if the parameter file transferred to the controller has been read from a controller that was started without an actuator connected, invalid encoder parameters will be written to the encoder’s EEPROM (provided that an actuator is connected to the controller to which the file was transferred). When saving the parameters to a file, do so with an actuator connected to the controller.

Part 1 Installation

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Part 1 Installation

Chapter 5 Maintenance

 Routine maintenance and inspection are necessary so that the system will operate properly at all times. Be

sure to turn off the power before performing maintenance or inspection.

 The standard inspection interval is six months to one year. If the environment warrants, however, the interval

should be shortened.

1. Inspection Points

 Check to see if the supply voltage to the controller is inside the specified range.  Inspect the ventilation holes in the controller and remove dirt, dust and other foreign attachments, if any.  Inspect the controller cables (controller  actuator) and check for any loose screws or cable

disconnection.

 Check the controller mounting screws, etc., for looseness.  Inspect each cable (axis link cable, general-purpose I/O cable, system I/O cable, power cable) for loose

connection, disconnection, play, etc.

2. Spare Consumable Parts

Without spare parts, a failed controller cannot be repaired even when the problem is identified quickly. We recommend that you keep the following consumable parts as spares:

Consumable parts

 Cables  System-memory backup battery (optional): AB-5 by IAI -- Must be replaced after approx. 5 years  Absolute-data backup battery (optional): AB-5 by IAI -- Must be replaced after approx. 2 years*

(Absolute specification)

*: The actual replacement timing will vary depending on the use condition. For details, refer to “

Battery Backup Function” in Appendix.

When the battery voltage drops, an applicable error code will be displayed on the panel window.

Error Codes Indicating Low Battery Voltage

System-memory backup battery A01 or A02 Absolute-data backup battery A23