IAI SSEL Controller Operation Manual

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Page 1

Operation Manual

SSEL Controlle

First Edition

Page 2

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 systemmemory battery or unexpected controller failure.

Page 3

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 50 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.

Page 4

Safety Precautions

Please read the information in “Safety Precautions” carefully before selecting a model and using the product. The precautions described below are designed to help you use the product safely and avoid bodily injury and/or property damage.

Directions are classified as “danger,” “warning,” “caution” and “note,” according to the degree of risk.

Danger

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

Warning Caution Note

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.

This product has been designed and manufactured as a component for use in general industrial machinery.

Devices must be selected and handled by a system designer, personnel in charge of the actual operation using the product or similar individual with sufficient knowledge and experience, who has read both the catalog and operation manual (particularly the “Safety Precautions” section). Mishandling of the product poses a risk. Please read the operation manuals for all devices, including the main unit and controller. It is the user’s responsibility to verify and determine the compatibility of this product with the user’s system, and to use them properly. After reading the catalog, operation manual and other materials, be sure to keep them in a convenient place easily accessible to the personnel using this product. When transferring or loaning this product to a third party, be sure to attach the catalog, operation manual and other materials in a conspicuous location on the product, so that the new owner or user can understand its safe and proper use. The danger, warning and caution directions in this “Safety Precautions” do not cover every possible case. Please read the catalog and operation manual for the given device, particularly for descriptions unique to it, to ensure its safe and proper handling.

Danger

[General]

z Do not use this product for the following applications:

1. Medical equipment used to maintain, control or otherwise affect human life or physical health

2. Mechanisms and machinery designed for the purpose of moving or transporting people

3. Important safety parts of machinery

This product has not been planned or designed for applications requiring high levels of safety. Use of this product in such applications may jeopardize the safety of human life. The warranty covers only the product as it is delivered.

Page 5

[Installation]

z Do not use this product in a place exposed to ignitable, inflammable or explosive substances. The

product may ignite, burn or explode.

z Avoid using the product in a place where the main unit or controller may come in contact with water or

oil droplets.

z Never cut and/or reconnect the cables supplied with the product for the purpose of extending or

shortening the cable length. Doing so may result in fire.

[Operation]

z If you are using a pace maker or other mechanical implant, do not come within one meter of the

product. The strong magnetic field generated by the product may cause the pace maker, etc., to malfunction.

z Do not pour water onto the product. Spraying water over the product, washing it with water or using it

in water may cause the product to malfunction, resulting in injury, electric shock, fire, etc.

[Maintenance, Inspection, Repair]

z Never modify the product. Unauthorized modification may cause the product to malfunction, resulting in

injury, electric shock, fire, etc.

z Do not disassemble and reassemble the components relating to the basic structure of the product or its

performance and function. Doing so may result in injury, electric shock, fire, etc.

Warning

[General]

z Do not use the product outside the specifications. Using the product outside the specifications may

cause it to fail, stop functioning or sustain damage. It may also significantly reduce the service life of the product. In particular, observe the maximum loading capacity and speed.

[Installation]

z If the machine will stop in the case of system problem such as emergency stop or power failure, design

a safety circuit or other device that will prevent equipment damage or injury.

z Be sure to provide Class D grounding for the controller and actuator (formerly Class 3 grounding:

Grounding resistance at 100 Ω or less). Leakage current may cause electric shock or malfunction.

z Before supplying power to and operating the product, always check the operation area of the

equipment to ensure safety. Supplying power to the product carelessly may cause electric shock or injury due to contact with the moving parts.

z Wire the product correctly by referring to the operation manual. Securely connect the cables and

connectors so that they will not be disconnected or come loose. Failure to do so may cause the product to malfunction or cause fire.

[Operation]

z Do not touch the terminal block or various switches while the power is supplied to the product. Failure

to observe this instruction may result in electric shock or malfunction.

z Before operating the moving parts of the product by hand (for the purpose of manual positioning, etc.),

confirm that the servo is turned off (using the teaching pendant). Failure to observe this instruction may result in injury.

z The cables supplied with the product are flexible, but they are not robot cables. Do not store the cables

in a movable cable duct (cable bearer, etc.) that bends more than the specified bending radius.

z Do not scratch the cables. Scratching, forcibly bending, pulling, winding, crushing with heavy object or

pinching a cable may cause it to leak current or lose continuity, resulting in fire, electric shock, malfunction, etc.

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z Turn off the power to the product in the event of power failure. Failure to do so may cause the product

to suddenly start moving when the power is restored, thus resulting in injury or product damage.

z If the product is generating heat, smoke or a strange smell, turn off the power immediately. Continuing

to use the product may result in product damage or fire.

z If any of the internal protective devices (alarms) of the product has actuated, turn off the power

immediately. Continuing to use the product may result in product damage or injury due to malfunction. Once the power supply is cut off, investigate and remove the cause and then turn on the power again.

z If the LEDs on the product do not illuminate after turning on the power, turn off the power immediately.

The protective device (fuse, etc.) on the live side may remain active. Request repair to the IAI sales office from which you purchased the product.

[Maintenance, Inspection, Repair]

z Before conducting maintenance/inspection, parts replacement or other operations on the product,

completely shut down the power supply. At this time, take the following measures:

1. Display a sign that reads, “WORK IN PROGRESS. DO NOT TURN ON POWER” at a conspicuous place, in order to prevent a person other than the operator from accidentally turning on the power while the operation is working.

2. When two or more operators are to perform maintenance/inspection together, always call out every time the power is turned on/off or an axis is moved in order to ensure safety.

[Disposal]

z Do not throw the product into fire. The product may burst or generate toxic gases.

Caution

[Installation]

z Do not use the product under direct sunlight (UV ray), in a place exposed to dust, salt or iron powder,

in a humid place, or in an atmosphere of organic solvent, phosphate-ester machine oil, sulfur dioxide gas, chlorine gas, acids, etc. The product may lose its function over a short period of time, or exhibit a sudden drop in performance or its service life may be significantly reduced.

z Do not use the product in an atmosphere of corrosive gases (sulfuric acid or hydrochloric acid),

inflammable gases or ignitable liquids. Rust may form and reduce the structural strength or the motor may ignite or explode.

z When using the product in any of the places specified below, provide a sufficient shield. Failure to do

so may result in malfunction:

1. Place where large current or high magnetic field is present

2. Place where welding or other operations are performed that cause arc discharge

3. Place subject to electrostatic noise

4. Place with potential exposure to radiation

z Install the main unit and controller in a place subject to as little dust as possible. Installing them in a

dusty place may result in malfunction.

z Do not install the product in a place subject to large vibration or impact (4.9 m/s2 or more). Doing so

may result in the malfunctioning of the product.

z Provide an emergency-stop device in a readily accessible position so the device can be actuated

immediately upon occurrence of a dangerous situation during operation. Lack of such device in an appropriate position may result in injury.

z Provide sufficient maintenance space when installing the product. Routine inspection and maintenance

cannot be performed without sufficient space, which will eventually cause the equipment to stop or the product to sustain damage.

z Do not hold the moving parts of the product or its cables during installation. It may result in injury. z Always use IAI’s genuine cables for connection between the controller and the actuator. Also use IAI’s

genuine products for the key component units such as the actuator, controller and teaching pendant.

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z Before installing or adjusting the product or performing other operations on the product, display a sign

that reads, “WORK IN PROGRESS. DO NOT TURN ON POWER.” If the power is turned on inadvertently, injury may result due to electric shock or sudden activation of an actuator.

[Operation]

z Turn on the power to individual equipment one by one, starting from the equipment at the highest level

in the system hierarchy. Failure to do so may cause the product to start suddenly, resulting in injury or product damage.

z Do not insert a finger or object in the openings in the product. It may cause fire, electric shock or injury. z Do not bring a floppy disk or other magnetic media within one meter of the product. The magnetic field

generated by the magnet may destroy the data in the floppy disk, etc.

[Maintenance, Inspection, Repair]

z When the power was turned off and the cover was opened to replace the battery, etc., do not touch the

condenser terminal in the product immediately after the power was turned off (within 30 seconds). Residual voltage may cause electric shock.

z Do not touch the terminals when performing an insulation resistance test. Electric shock may result.

(Do not perform any withstand voltage test, since the product uses DC voltage.)

Note

[General]

z If you are planning to use the product under a condition or environment not specified in the catalogs

and operation manual, or in an application requiring strict safety such as aircraft facility, combustion system, entertainment machine, safety device or other equipment having significant impact on human life or property, design operating ranges with sufficient margins from the ratings and de sign specifications or provide sufficient safety measures such as fail-safes. Whatever you do, always consult IAI’s sales representative.

[Installation]

z Do not place objects around the controller that will block airflows. Insufficient ventilation may damage

the controller.

z Do not configure a control circuit that will cause the load to drop in case of power failure. Configure a

control circuit that will prevent the table or load from dropping when the power to the machine is cut off or an emergency stop is actuated.

[Installation, Operation, Maintenance]

z When handling the product, wear protective gloves, protective goggles, safety shoes or other

necessary gear to ensure safety.

[Disposal]

z When the product becomes no longer usable or necessary, dispose of it properly as an industrial

waste.

Others

 IAI shall not be liable whatsoever for any loss or damage arising from a failure to observe the

items specified in “Safety Precautions.”

 If you have any question regarding the product, contact the IAI sales office near you. The

addresses and phone numbers of our sales offices are listed at the end of the catalog.

Page 8

Table of Contents

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

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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Table of Contents

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

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

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

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

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. S pare 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

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

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

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

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

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Table of Contents

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

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

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............................................................................................................ 132

1.9 Task Management......................................................................................................... 135

1.10 Position Operation......................................................................................................... 140

1.11 Actuator Control Declaration......................................................................................... 155

1.12 Actuator Control Command........................................................................................... 171

1.13 Structural IF................................................................................................................... 194

1.14 Structural DO................................................................................................................. 197

1.15 Multi-Branching ............................................................................................................. 199

1.16 System Information Acquisition..................................................................................... 203

1.17 Zone .............................................................................................................................. 206

1.18 Communication ............................................................................................................. 210

1.19 String Operation............................................................................................................ 217

1.20 Arch-Motion-Related ..................................................................................................... 226

1.21 Palletizing-Related ........................................................................................................231

1.22 Palletizing Calculation Command ................................................................................. 238

1.23 Palletizing Movement Command .................................................................................. 241

1.24 Building of Pseudo-Ladder Task ................................................................................... 243

1.25 Extended Command...................................................................................................... 245

Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note ..............248

1. Continuous Movement Commands......................................................................................... 248

2. PATH/PSPL Commands.......................................................................................................... 250

3. CIR/ARC Commands .............................................................................................................. 250

4. CIR2/ARC2/ARCD/ARCC Commands.................................................................................... 250

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Table of Contents

Chapter 5 Palletizing Function (2-axis Specification).............................................................251

1. How to Use.............................................................................................................................. 251

2. Palletizing Setting.................................................................................................................... 251

3. Palletizing Calculation .............................................................................................................256

4. Palletizing Movement ..............................................................................................................257

5. Program Examples.................................................................................................................. 258

Chapter 6 Pseudo-Ladder Task............................................................................................. 260

1. Basic Frame............................................................................................................................. 260

2. Ladder S tatement Field ........................................................................................................... 261

3. Points to Note.......................................................................................................................... 261

4. Program Example....................................................................................................................262

Chapter 7 Application Program Examples............................................................................. 263

1. Operation by Jog Command [Doll-Picking Game Machine].................................................... 263

2. Operation by Point Movement Command [Riveting System].................................................. 266

Chapter 8 Real-Time Multi-Tasking........................................................................................269

1. SEL Language......................................................................................................................... 269

2. Multi-Tasking............................................................................................................................ 270

3. Difference from a Sequencer................................................................................................... 271

4. Release of Emergency Stop.................................................................................................... 272

5. Program Switching .................................................................................................................. 273

Chapter 9 Example of Building a System..............................................................................274

1. Equipment................................................................................................................................274

2. Operation................................................................................................................................. 274

3. Overview of the Screw-Tightening System..............................................................................275

4. Hardware................................................................................................................................. 276

5. Software................................................................................................................................... 277

Chapter 10 Example of Building a System.............................................................................. 279

1. Position Table ..........................................................................................................................279

2. Programming Format............................................................................................................... 280

Positioning to Five Positions.................................................................................................... 281

4. How to Use TAG and GOTO ................................................................................................... 282

5. Moving Back and Forth between Two Points.......................................................................... 283

6. Path Operation ........................................................................................................................284

7. Output Control during Path Movement.................................................................................... 285

8. Circle/Arc Operation................................................................................................................ 286

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Table of Contents

9. Home Return Completion Output............................................................................................ 287

10. Axis Movement by Input Waiting and Completion Output....................................................... 288

11. Changing the Moving Speed................................................................................................... 289

12. Changing the Speed during Operation.................................................................................... 290

13. Local/Global Variables and Flags............................................................................................ 291

14. How to Use Subroutines.......................................................................................................... 292

15. Pausing the Operation............................................................................................................. 293

16. Canceling the Operation 1 (CANC)......................................................................................... 294

17. Canceling the Operation 2 (STOP).......................................................................................... 295

18. Movement by Position Number Specification.......................................................................... 296

19. Movement by External Position Data Input ............................................................................. 297

20. Conditional Jump..................................................................................................................... 298

21. Waiting Multiple Inputs............................................................................................................. 299

22. How to Use Offset ................................................................................................................... 300

23. Executing an Operation N times.............................................................................................. 301

24. Constant-pitch Feed ................................................................................................................302

25. Jogging ....................................................................................................................................303

26. Switching Programs................................................................................................................. 304

27. Aborting a Program ................................................................................................................. 305

Part 3 Positioner Mode......................................................................... 306

Chapter 1 Modes and Signal Assignments............................................................................ 306

1. Feature of Each Mode............................................................................................................. 306

2. Number of Positions Supported in Each Mode ....................................................................... 307

3. Quick Mode Function Reference Table ................................................................................... 307

4. Interface List of All PIO Patterns ............................................................................................. 308

Chapter 2 Standard Mode...................................................................................................... 309

1. I/O Interface List...................................................................................................................... 309

2. Parameters.............................................................................................................................. 310

3. Details of Each Input Signal.................................................................................................... 310

4. Details of Each Output Signal..................................................................................................313

5. Timing Chart............................................................................................................................ 314

5.1 Recognition of I/O Signals............................................................................................. 314

5.2 Home Return................................................................................................................. 315

5.3 Movements through Positions....................................................................................... 316

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Table of Contents

Chapter 3 Product Switching Mode....................................................................................... 318

1. I/O Interface List...................................................................................................................... 318

2. Parameters.............................................................................................................................. 319

3. Details of Each Input Signal.................................................................................................... 320

4. Details of Each Output Signal..................................................................................................323

5. Timing Chart............................................................................................................................ 324

5.1 Recognition of I/O Signals............................................................................................. 324

5.2 Home Return................................................................................................................. 325

5.3 Movements through Positions....................................................................................... 326

Chapter 4 2-axis Independent Mode ..................................................................................... 328

1. I/O Interface List...................................................................................................................... 328

2. Parameters.............................................................................................................................. 329

3. Details of Each Input Signal.................................................................................................... 330

4. Details of Each Output Signal..................................................................................................332

5. Timing Chart............................................................................................................................ 333

5.1 Recognition of I/O Signals............................................................................................. 333

5.2 Home Return................................................................................................................. 334

5.3 Movements through Positions....................................................................................... 335

Chapter 5 Teaching Mode...................................................................................................... 337

1. I/O Interface List...................................................................................................................... 338

2. Parameters.............................................................................................................................. 339

3. Details of Each Input Signal.................................................................................................... 339

4. Details of Each Output Signal..................................................................................................342

5. Timing Chart............................................................................................................................ 344

5.1 Recognition of I/O Signals............................................................................................. 344

5.2 Home Return................................................................................................................. 345

5.3 Movements through Positions....................................................................................... 346

5.4 Timings in the Teaching Mode....................................................................................... 347

Chapter 6 DS-S-C1 Compatible Mode .................................................................................. 348

1. I/O Interface List...................................................................................................................... 348

2. Parameters.............................................................................................................................. 349

3. Details of Each Input Signal.................................................................................................... 349

4. Details of Each Output Signal..................................................................................................351

5. Timing Chart............................................................................................................................ 352

5.1 Recognition of I/O Signals............................................................................................. 352

5.2 Home Return................................................................................................................. 353

5.3 Movements through Positions....................................................................................... 354

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Table of Contents

* Appendix................................................................................................355

Actuator Specification List......................................................................................................... 355

Battery Backup Function........................................................................................................... 359

1. System-Memory Backup Battery............................................................................................. 359

2. Absolute-Data Backup Battery for Absolute Encoder.............................................................. 361

Synchro Function ......................................................................................................................363

1. Common Items (Applicable to Both the Absolute Spe cificatio n and Incremental Specification)

................................................................................................................................................. 363

2. Incremental Specification......................................................................................................... 363

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

Specification)........................................................................................................................... 363

Absolute Reset for Synchro Specification................................................................................. 364

1. Synchro Axes........................................................................................................................... 364

2. Position Alignment of Synchro-Axis Sliders............................................................................. 365

3. S pecial Absolute Reset Procedure.......................................................................................... 365

4. S tandard Absolute Reset Procedure ....................................................................................... 368

5. Notes on Use of Synchro Function.......................................................................................... 369

Parameter Utilization................................................................................................................. 370

1. Utilization Examples of I/O Parameters................................................................................... 371

2. Utilization Examples of Axis-specific Parameters.................................................................... 378

3. Parameter Utilization Examples (Reference).......................................................................... 389

List of Parameters..................................................................................................................... 393

1. I/O Parameters........................................................................................................................ 394

2. Parameters Common to All Axes............................................................................................. 402

3. Axis-Specific Parameters.........................................................................................................404

4. Driver Parameters ................................................................................................................... 408

5. Encoder Parameters.................................................................................................................411

6. I/O Devices.............................................................................................................................. 412

7. Other Parameters.................................................................................................................... 413

8. Manual Operation T ypes......................................................................................................... 418

Combination Table of PSEL Linear/Rotary Control Parameters................................................419

Error Level Control.................................................................................................................... 420

Error List ..............................................................................................................................422

Troubleshooting of SSEL Controller..........................................................................................458

Trouble Report Sheet

.............................................................................................................463

Page 15

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 operations, or un expected 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 accuracy 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 16

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 specified 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 17

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 accuracy:

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 within 5 seconds, “E88, Power error (Other)” may generate.

• Do not insert or remove connectors while the controller power is on. Doing so may cause m alfunction.

• 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 18

Part 1 Installation

4. System Setup

Teaching

pendant

Host system

Panel unit

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

Follow the steps below when connecting the encoder cable to a controller of absolute specific ation. 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. 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

Grounded

Absolute-data

backup batteries

Axis 2

Regenerative

resistance unit

Axis 1

Page 19

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 due 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 20

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 AC full digital servo

Position detection method

Battery Programming language Super SEL language

Number of program steps 2000 steps (total) Number of positions 1500 positions (total) Number of programs 64 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 100 to 115 VAC ±

10% 50/60 Hz ± 5%

0.5 cycle (Not dependent on phase)

500 VDC, 100 MΩ or more

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

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

Single-phase 200 to 230 VAC ± 10%

Page 21

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 22

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 23

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 24

Part 1 Installation

[3] Teaching connector: 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 24

Protocol X-SEL teaching Emergency-

stop control

Enabling control

[12] Mode switch

T.P. Teaching connector

10M At 38.4 kbps

RS232C

teaching pendant

Dedicated cable

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. Take note that the teaching pendant always displays the monitor screen regardless of the AUTO/MANU setting.

Page 25

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 26

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

[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 27

I/O Interface List (Program mode)

Pin No. Category Port No. Function Cable color

1A - External power 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 28

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

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 connect or is used to con nect 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 29

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 30

[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 31

Part 1 Installation

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

Purple

Gray Orange Green

Red

Black

Drain

Blue Yellow

Orange

Green

Purple

Gray Red

Black

Blue

Yellow

Controller end

Plug connector: Hood:

(Sumitomo 3M)

ctuator end

Plug housing: Socket contact: Retainer:

(JST)

(JST) X 9

(JST)

Wiring diagram

Wire Color Signal

(soldered)

Connect the shield to the

Drain wire and braided shield wire

(pressurewelded)

Signal Color Wire

Page 32

Part 1 Installation

Cable model: CB-X1-PLA ***

White/Blue

White/Yellow

White/Red

White/Black

White/Purple

White/Gray

Orange

Green Purple

Gray Red

Black

Blue

Yellow

White/Blue

White/Yellow

White/Red

White/Black

White/Purple

White/Gray

Purple

Gray Orange Green

Red

Black

Drain

Blue Yellow

Controller end

Plug connector: Hood:

(Sumitomo 3M)

ctuator end

Plug housing: Socket contact: Retainer:

(JST) X 9

LS side

(JST) X 9

Plug housing: Socket contact:

Retainer:

(soldered)

Connect the shield to the hood usin

a clamp.

Drain wire and braided shield wire

(pressurewelded

)

Signal Color Wire

(pressurewelded

)

Wiring diagram

Wire Color Signal

(JST)

ctuator end

LS side

Page 33

Part 1 Installation

Cable model: CB-X2-PA ***

White/Blue

White/Yellow

White/Red

White/Black

White/Purple

White/Gray

Orange

Green Purple Gray

Red

Black

Blue

Yellow

White/Blue

White/Yellow

White/Red

White/Black

White/Purple

White/Gray

Drain

Orange

Green Purple

Gray

Red

Black

Blue

Yellow

Controller end

Plug connector: Hood:

(Sumitomo 3M)

ctuator

Plug housing: Socket contact: Retainer:

(JST) X 15

(Taiyo Electric Wire & Cable)

(soldered)

Connect the shield to the hood usin

a clamp.

Drain wire and braided shield wire

(pressurewelded

)

Signal Color Wire

Wiring diagram

Wire Color Signal

(JST) X 2

(JST)

Page 34

Part 1 Installation

Cable model: CB-X2-PLA ***

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

White/Orange

White/Green

Brown/Blue

Brown/Yellow

Brown/Red

Brown/Black

White/Blue

White/Yellow

White/Red

White/Black

White/Purple

White/Gray

Drain

Orange

Green Purple

Gray Red

Black

Blue

Yellow

Controller end

Plug connector: Hood:

(Sumitomo 3M)

ctuator

end

Plug housing: Socket contact: Retainer:

(JST) X 15

LS side

(JST) X 6

Plug housing: Socket contact: Retainer:

(soldered)

Connect the shield to the hood usin

a clamp.

Drain wire and braided shield wire

(pressurewelded

)

Signal Color Wire

(pressurewelded

)

Wiring diagram

Wire Color Signal

(JST)

ctuator end

LS side

(JST) X 2

(JST)

Page 35

[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 36

[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 37

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 38

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

Part 1 Installation

Page 39

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

Part 1 Installation

Page 40

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

Operating temperature range

Operating 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 41

Part 1 Installation

3. Heat Radiation and Installation

Design the control panel size, controller layout and cooling method so that the ambient 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 v entilation (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 ambient temperature. Provide a minimum clearance of 150 mm between the front side of the controller and a wall (enclosure).

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 re sistance 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 42

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 for AC 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

Metal enclosure

Other

equipment

SSEL

controller

Do not use this method.

Page 43

←

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 44

Reference Circuit Diagram

Controller

OUT

COM

+24 V

0 V

Part 1 Installation

100 VAC

Surge absorber

0 V

Solenoid valve

Page 45

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.

Motor output

Rated motor power-supply

capacity [VA]

Maximum instantaneous

motor power-supply

capacity [VA]

Heat output at rated power

output [W]

Page 46

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 47

Part 1 Installation

6. Auxiliary Power Equipment

6.1 Example of Auxiliary Power Equipment Configuration

AC power

supply

[1] Breaker

Install a circuit breaker or earth leakage breaker on the AC power-supply line side (primary side) of the controller to prevent damage caused by power switching or short-circuit current and also 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 accommod ating three times the rated motor power-supply capacity by considering potential power-supply 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.

[2] Surge absorber

The motor power supply and control power supply have no built-in surge absorber for p rotecting 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 installed.

Recommended surge absorber Manufacturer Okaya Electric Industries Model RAV-781BWZ-2A

[3] Noise filter

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 Densei-Lambda Model MC1210 (200-VAC specification), MC1220 (100-VAC specification)

(Earth

leakage)

breaker

Surge

absorber

Noise filter

Control power input

Motor power input

Page 48

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 Densei Lambda MC1220 200 VAC Densei Lambda MC1210

Part 1 Installation

Page 49

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 50

Part 1 Installation

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)

Page 51

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

Power

connector

Drive-source cutoff relay

Drive-source

cutoff control

Command signal

Drive source

Part 1 Installation

Page 52

Part 1 Installation

7.3.2 Connection Example of External Drive-source Cutoff Circuit and Internal Circuits (Safety Category 1)

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-

switch

ENB

ENB input

detection

EMG input

detection

Drive-source

cutoff control

Status signal

Command signal

Power

connector

Drive-source cutoff relay

Drive source

Page 53

7.4 Connecting the PIO Cable (I/O)

I/O flat cable (supplied): Model CB-DS-P10020

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 54

7.4.1 I/O Connection Diagram

(1) NPN specification (Program mode)

Pin No. Category Port No. Function Cable color

1A P24 External power supply 24 V 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 8A 005 8B 006 9A 007

9B 008 10A 009 10B 010 11A 011 11B 012 12A 013 12B 014 13A 13B 300 14A 301 14B 302 15A 303 15B 304 16A 305 16B 306 17A

17B N External power supply 0 V 4 – Yellow

Input

015

Output

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

1 – Brown

The above functions reflect the factory settings.

Part 1 Installation

Digital switch

Page 55

(2) PNP specification (Program mode)

Pin No. Category Port No. Function Cable color

1A P24 External power supply 24 V

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

8A 005

8B 006

9A 007

9B 008 10A 009 10B 010 11A 011 11B 012 12A 013 12B 014 13A 13B 300 14A 301 14B 302 15A 303 15B 304 16A 305 16B 306 17A

17B N External power supply 0 V 4 – Yellow

Input

015

Output

307

1 – Brown

The above functions reflect the factory settings.

Part 1 Installation

Digital switch

Page 56

(3) NPN specification (Standard positioner mode)

Pin No. Category Port No. Function Cable color

1A P24 External power supply 24 V

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

8A 005

8B 006

9A 007

9B 008 10A 009 10B 010 11A 011 11B 012 12A 013 12B 014 13A 13B 300 14A 301 14B 302 15A 303 15B 304 16A 305 16B 306 17A

17B N External power supply 0 V 4 – Yellow

Input

015

Output

307

Position input 10 1 – Red Position input 11 1 – Orange Position input 12 1 – Yellow Position input 13 1 – Green

- 1 – Blue

- 1 – Purple

- 1 – Gray Error reset 1 – White Start 1 – Black Home return 2 – Brown Servo ON 2 – Red Push motion 2 – Orange Pause 2 – Yellow Cancellation 2 – Green Interpolation 2 – Blue Position input 1 2 – Purple Position input 2 2 – Gray Position input 3 2 – White Position input 4 2 – Black Position input 5 3 – Brown Position input 6 3 – Red Position input 7 3 – Orange Position input 8 3 – Yellow Position input 9 3 – Green Alarm 3 – Blue Ready 3 – Purple Positioning complete 3 – Gray Home return complete 3 – White Servo ON output 3 – Black Push motion complete 4 – Brown System battery error 4 – Red Absolute battery error 4 – Orange

1 – Brown

Part 1 Installation

Page 57

(4) PNP specification (Standard positioner mode)

Pin No. Category Port No. Function Cable color

1A P24 External power supply 24 V

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

8A 005

8B 006

9A 007

9B 008 10A 009 10B 010 11A 011 11B 012 12A 013 12B 014 13A 13B 300 14A 301 14B 302 15A 303 15B 304 16A 305 16B 306 17A

17B N External power supply 0 V 4 – Yellow

Input

015

Output

307

Position input 10 1 – Red Position input 11 1 – Orange Position input 12 1 – Yellow Position input 13 1 – Green

- 1 – Blue

- 1 – Purple

1 – Brown

Part 1 Installation

Page 58

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 Ω

3.3 KΩ

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 settings can also be changed using I/O parameter No. 20 (input filtering frequency).

ON duration

OFF duration

Page 59

(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 Ω

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

P24*

Surge absorber

Output terminal

* 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.

Page 60

7.5.2 PNP Specification

(1) Input part

External Input Specifications (PNP Specification)

Item Specification

Input voltage

Input current 7 mA per circuit

ON/OFF voltage

Insulation method Photocoupler insulation

External devices

Internal circuit

Part 1 Installation

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 Ω

3.3 KΩ

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

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

ON duration

OFF duration

Page 61

(2) Output part

External Output Specifications

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 Ω

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

P24

Surge absorber

Output terminal

Load

* 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.

Page 62

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

Number of regenerative resistance units to be connected

~ 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.)

7.6.2 Connection Method

The figure below illustrates how one regenerative resistance unit, and two or more regenerative resistance 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 regenerative resistance units.

Page 63

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

Page 64

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

The SSEL controller’s teaching connector is a small, half-pitch 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.

Connector conversion cable

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.

Part 1 Installation

Page 65

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.

Page 67

(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.

Page 68

≤

Part 1 Installation

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 (%) ≤ 50

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)

Page 70

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

Page 71

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.”

Part 1 Installation

Page 72

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,” “ECA1” or “ECA2” 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

(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 on the PC cable to the communication port on the PC, and

connect the 25-pin D-sub connector to the teaching port on the controller.

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

outstanding, “ECA1,” “ECA2” 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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Part 1 Installation

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

Click OK to close the error message.

(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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Part 1 Installation

(8) From the Controller menu, select Absolute Reset. (9) When the Warning dialog box appears, click OK.

(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

es.

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Part 1 Installation

(12) Another Warning dialog box is displayed. Click Yes again.

(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 requi red 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) When the Confirmation dialog box appears, click Yes to restart the controller.

(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 connected 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 “starting fro m 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 “starting via external signal selection.”

Teaching pendant

SSEL

Controller

Start

PC software

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 actuator. To ensure safety, always provide an interlocking function, such as allowing the program execution to proceed only after receiving a confirmation signal at the beginning of the program.

If you wish to start multiple programs at the 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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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 output

READY signal ON

Program number

confirmed?

Program number

input

External start input

Start signal

confirmed?

Program run

Emergency-stop

signal confirmed?

Emergency-stop input

Controller

error?

Servo OFF

ALARM signal ON

Alarm output

External device

Power ON

READY signal

confirmed?

Various I/O processing

Program number

specification

Start signal ON

Emergency-stop

switch ON?

Emergency-stop

signal ON

ALARM signal

confirmed?

ALARM

processing

Part 1 Installation

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.)

Note) The assignments of

dedicated input/output port functions (such as RDY output start signal) reflect the factory settings.

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[2] Timing chart

Ready output

Program

number input

External start

input

Program 1

Program 2

Part 1 Installation

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 of external start signal is permitted

T2 = 50 msec min.

T3: Input duration of external start

signal

T3 = 100 msec min.

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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 durin g automatic 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 u sed to implement 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 m emory

Transfer upon reset

software,

Transfer

Slave card parameters (variable portions of driver card parameters)

Write to flash m emory

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 card

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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Part 1 Installation

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 Parameters

(other than slave card

parameters)

Symbols

Write to flash m emory

Transfer upon reset

software,

PC TP

Transfer

Slave card parameters (variable portions of driver card parameters)

Write to flash m emory

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 card

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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Part 1 Installation

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.

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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 re placed 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 A03 or A23

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Part 1 Installation

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

Backing up the system memory If the optional system-memory backup battery is installed in the SSEL controller and “Other parameter No.

20: Backup battery installation function type” is set to “2” (Installed), the following SRAM data will be retained even after the power is turned off:

• Position data

• SEL global data (flags, integer/real variables, string variables)

• Error list

If the system-memory backup battery is removed while “Other parameter No. 20, Backup battery installation function type” is set to “2” (Installed), the above SRAM data will be damaged. For this reason, always follow the procedure below when replacing the system-memory backup battery:

(1) Turn on the controller power. (2) Record (write down) the current setting of “Other parameter No. 20, Backup-battery installation

function type.” (This will be used when reverting the parameter to its original setting following the replacement of system-memory backup battery.)

(3) If the PC software is installed in your PC, save the position data to a file using the PC software. The

data will be used as a backup in case the SRAM data saved to the flash ROM fails.

(4) Change “Other parameter No. 20, Backup-battery installation function type” to “1” and transfer the

setting to the controller, and then perform a flash ROM write. (The point data will be saved to the flash ROM.)

* Confirm that the flash ROM writing process has completed.

(5) Perform a software reset to restart the controller. (The SEL global data and error lists will be saved to

the special area in the flash ROM.)

(6) When the controller has been restarted, turn off the power.

* Be sure to keep the power on from the start of controller restart until the RDY LED lamp on teh controller

illuminates.

(7) Replace the system-memory backup battery. (SRAM data will be destroyed if steps 1 through 6 are

not performed properly.)

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Part 1 Installation

Battery Replacement Procedure

[1] Remove the battery connector and pull out the

battery.

[2] Insert a new battery into the holder and plug in

the battery connector. The connector hook should face the right side.

(8) When the replacement of system-memory backup battery is complete, confirm that the battery is

installed securely and then turn on the controller power.

(9) Revert “Other parameter No. 20, Backup-battery installation function type” to the value recorded in

step 2, transfer the setting to the controller, and then perform a flash ROM write.

* Confirm that

the

flash ROM writing process has completed.

(10) Perform a software reset (restart the controller).

(Note) Commencing the operation without first executing a software reset or reconnecting the

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

(11) When the controller has been restarted, confirm that the SRAM data have been resto re d.

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Part 1 Installation

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

The replacement procedure is different depending on which error is present (No. A03, A23, CA1 or CA2).

• If no error is present, perform steps (1) to (6).

• If an absolute-data backup battery voltage-low warning (Error No. A03 or A23) has been issued,

perform steps (1) to (13).

• If an absolute-data backup battery voltage error (Error No. CA1, CA2 or 914) has been issued, perform steps (1) to (6) and then perform the procedure explained in “How to Perform Absolute Reset.”

Note: Among the steps explained below, complete (1) to (3) within 15 minutes. (1) Turn off the controller power. (Turn off both the control power and drive power.)

(2) Disconnect the battery connector and pull out the

battery.

(3) Set a new battery in the holder and plug in the

battery connector. The hook on the connector should face right.

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Part 1 Installation

(4) Turn on the controller power. (5) Set the absolute-data backup battery enable/disable switch to the top (ENB) position. (6) Turn off the controller power, and install the brake switch panel using screws. After the panel has

been installed, turn on the power.

(7) Start the PC software on a PC connected to the controller. From the C

bsolute Reset.

ontroller menu, select

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

Warning

(9) The Absolute Reset dialog box appears.

Absolute Reset

(10) Set the address number corresponding to

the axis whose battery has just been replaced. Note) Do not click Encoder Rotation Data

Reset 1.

(11) Click Encoder Error Reset. (12) Close the dialog box.

(13) In the PC software window, click the C

ontroller menu and then select Software Reset to restart the

controller.

Confirmation

(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

This completes the procedure to reset a battery voltage low alarm/error.

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Part 2 Programs

Chapter 1 SEL Language Data

1. Values and Symbols Used in SEL Language

1.1 List of Values and Symbols Used

The various functions required in a program are represented by values and symbols.

Function Global range Local range Remarks

Input port 000 ~ 299 (300)

Output port 300 ~ 599 (300)

Flag 600 ~ 899 (300) 900 ~ 999 (100)

Variable (integer)

Variable (real)

String 300 ~ 999 (700) 1 ~ 299 (299)

Tag number 1 ~ 256 (256)

Subroutine number 1 ~ 99 (99)

Zone number 1 ~ 4 (4)

Pallet number 1 ~ 10 (10)

Axis number 1 ~ 2 (2)

Axis pattern 0 ~ 11 Position number 1 ~ 1500 (1500) Program number 1 ~ 64 (64)

Step number 1 ~ 2000 (2000)

Task level NORMAL/HIGH (2)

SIO channel number

Wait timer 1 ~ 2 (2) 1

1-shot pulse timer

Ladder timer Local flag (100)

Virtual input port (SEL

system → SEL user

program)

Virtual output port (SEL user

program → SEL system)

Number of symbol definitions 500

Number of times symbol can

be used in commands

Caution

• Variables 99 and 199 are special variables this system uses in operations. Avoid using these two variables for general purposes.

• The values in the table represent ranges that can be processed by software. Items that require physical devices, such as I/O ports and

200 ~ 299 (100)

1200 ~ 1299 (100)

300 ~ 399 (100)

1300 ~ 1399 (100)

7000 ~ 7299 (300)

7300 ~ 7599 (300)

2500 (including literals)

Used in common from any

program.

Referenced separately in each program. Cleared when the program is started.

1 ~ 99 (99)

1001 ~ 1099 (99)

100 ~ 199 (100)

1100 ~ 1199 (100)

16 (Number of timers that

can be operated

simultaneously)

functions relating to axis number and SIO, will be determined by possible combinations and models of commercial boards, etc., available for each device application.

Varies depending on the function. Varies depending on the function.

99 is used for IN, INB, OUT, OUTB, etc. 199 is used for PPUT, PGET, PARG, etc.

Varies depending on the function.

Part 2 Programs

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Part 2 Programs

z Data of variables and flags in the global range will be retained even after the controller power is turned

off. (Other parameter No. 20 must be set to “2.” Refer to 4.1, “How to Save Data” in Part 1.)

z The variables and flags in the local range will be cleared when the program is started. z Ranges of values that can be used in SEL language

Integers and real numbers can be used. However, pay due attention to the following limitations:

[1] Numeric data

The SSEL Controller can handle values of maximum eight digits including a sign and a decimal point. Integer: -9,999,999 to 99,999,999 Real number: Maximum eight digits including a sign and decimal point, regardless of the size of value Example) 999999.9, 0.123456, -0.12345 If a floating point is used in operations, the number of valid digits will be limited to seven. Also note that operations using a floating point are subject to error.

[2] Position data

The input range of position data consists of four integer digits and three decimal digits. –9999.999 to 9999.999 (The maximum value varies depending on the actuator model.) If position data are used in internal operations as numeric data (repeated multiplications and divisions), the accuracy of the last digit may decrease.

Consider the above limitations fully when using values. Particularly when the CPEQ command is used in a comparison operation using real numbers, a match will rarely result. In this case, the CPLE or CPGE command that looks at the magnitude relationship of two terms must be used.

1.2 I/O Ports

(1) Input ports

Used as input ports for limit switches, sensor switches, etc.

(2) Output ports

Used as various output ports.

Input number assignment

000 to 023 (standard)

Output number assignment

300 to 307 (standard)

Page 95

1.3 Virtual I/O Ports

(1) Virtual input ports

Port No. Function

7000 Always OFF 7001 Always ON 7002 Voltage low warning for system-memory backup battery 7003 Abnormal voltage of system-memory backup battery 7004 (For future expansion = Use strictly prohibited) 7005 (For future expansion = Use strictly prohibited) 7006 Top-level system error = Message level error is present 7007 Top-level system error = Operation-cancellation level error is present 7008 Top-level system error = Cold-start level error is present 7009 (For future expansion = Use strictly prohibited) 7010 Drive-source cutoff factor is present (including when waiting for cutoff reset input)

7011 7012 7013

7014 (For future expansion = Use strictly prohibited) 7015 Voltage low warning for axis-1 absolute-data backup battery

7016 7017 Voltage low warning for axis-2 absolute-data backup battery 7018

7019 ~ 7026 (For future expansion = Use strictly prohibited) 7027 ~ 7040 (For future expansion = Use strictly prohibited) 7041 ~ 7070 (For future expansion = Use strictly prohibited)

7071 In AUTO mode 7072 During automatic operation

7073 ~ 7100 (For future expansion = Use strictly prohibited)

7101 Running program No. 01 (including during pause)

~ ~

7164 Running program No. 64 (including during pause)

7165 ~ 7299 (For future expansion = Use strictly prohibited)

Latch signal indicating that all-operation-cancellation factor is present (latch signal for recognizing 1-shot cancellation factor; latch is cancelled by 7300-ON) All-operation-pause factor is present (including when waiting for restart switch signal) (Valid only during automatic operation recognition) All-servo-axis-interlock factor is present (all-operation-pause factor + interlock input-port factor)

Abnormal voltage of axis-1 absolute-data backup battery (latched until power-on reset or software reset)

Abnormal voltage of axis-2 absolute-data backup battery (latched until power-on reset or software reset)

Part 2 Programs

Page 96

(2) Virtual output ports

Port No. Function

Latch cancellation output for a latch signal indicating that all-operation-cancellation

7300

factor is present (7011) (latch is cancelled only when operation-cancellation factor is no longer present) (7300 will be turned OFF following an attempt to cancel latch.)

7301 ~ 7380 (For future

expansion

= Use strictly prohibited)

7381 ~ 7399 (For future expansion = Use strictly prohibited)

7400 ~ 7599 (For future

expansion

= Use strictly prohibited)

Part 2 Programs

Page 97

Part 2 Programs

1.4 Flags

Contrary to its common meaning, the term “flag” as used in programming means “memory.” Flags are used to set or reset data. They correspond to “auxiliary relays” in a sequencer. Flags are divided into global flags (Nos. 600 to 899) that can be used in all programs, and local flags (Nos. 900 to 999) that can be used only in each program. Global flags will be retained (backed up by battery) even after the power is turned off. Local flags will be cleared when the power is turned off.

Flag number 600 ~ 899 Can be used in all programs “Global flags” Flag number 900 ~ 999 Used only in each program “Local flags”

Program 1

BTON 600

Turn on flag 600

(Like this, global flags can be used to exchange signals.)

BTON 900 BTON 900

(Although the number is the same, these are local flags and can exist only in their respective programs.)

Program n

WTON 600

Wait for flag 600 to turn ON

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Part 2 Programs

1.5 Variables

(1) Meaning of variable “Variable” is a technical term used in software programming. Simply put, it means “a box in which a value is put.” Variables can be used in many ways, such as putting in or taking out a value and performing addition or subtraction.

Variable

box 1

Command Operand 1 Operand 2

A variable can be used in many ways, such as: Putting in a value (1234),

Taking out a value (456), or

Adding a value (+1).

ADD 1 1

If this command is applied to variable box 1, which already contains 2, then 1 will be added to the current value and 3 will result.

1 is added.

Variable

box 1

(Already contains 2)

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(2) Types of variables

Variables are classified into two types, as follows:

[1] Integer variables

These variables cannot handle decimal places. [Example] 1234

Integer variable number Integer variable number

Caution

200 ~ 299

1200 ~ 1299

1 ~ 99

1001 ~ 1099

Integer 99 is a special register this system uses in integer operations. Any value in the range from –9,999,999 to

Integer variable box

Variable

box 1

99,999,999 can be input in programs.

Part 2 Programs

1 2 3 4

Can be used in all programs “Global integer variables” Used only in each program “Local integer variables”

[2] Real variables

Actual values. These variables can handle decimal places. [Example] 1234.567

(Decimal point)

Real variable number Real variable number

Caution

Variable

box 1

300 ~ 399

1300 ~ 1399

100 ~ 199

1100 ~ 1199

Real number 199 is a special register this system uses in realnumber operations. Any value in the range from –99,999.9 to

Real variable box

Can be used in all programs “Global real variables” Used only in each program “Local real variables”

999,999.9 (eight digits including a sign) can be input in programs.

1234.567

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Part 2 Programs

[3] Variables with “*” (asterisk) (indirect specification)

An “*” (asterisk) is used to specify a variable. In the following example, the content of variable box 1 will be put in variable box 2. If variable box 1 contains “1234,” then “1234” will be put in variable box 2.

Command Operand 1 Operand 2

LET 1 1234

1 2 3 4

Put in.

Variable

box 1

1 2 3 4

Command Operand 1 Operand 2

LET 2 *1

Variable

box 2

1 2 3 4

Variable

box 1

1 2 3 4

The above use of variables is called “indirect specification.”

An “*” is also used when indirectly specifying a symbol variable (refer to 1.8, “Symbols”).

Command Operand 1 Operand 2

LET ABC 1 LET BCD 2

ADD ABC *BCD

Put 1 in variable ABC. Put 2 in variable BCD.

Add the content of variable BCD, or 2, to variable ABC. (The content of variable ABC becomes 3.)