IAI America ASEL User Manual

ASEL Controller
Operation Manual Seventh Edition

Please Read Before Use

Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products. When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary.
[Important]
" This Operation Manual is original. " The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI
shall assume no responsibility for the outcome of any operation not specified herein.
" Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
" If you have any question or comment regarding the content of this manual, please contact the IAI
sales office near you.
" Using or copying all or part of this Operation Manual without permission is prohibited. " The company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.
CAUTION

Operator Alarm on Low Battery Voltage

This controller is equipped with the following 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-encoder backup battery (absolute specification)
For retention of multi-rotation data of the encoder
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 low voltage alarm 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 low voltage alarm for the system-memory backup battery, set “15” in I/O parameter No. 52 as the input function specification value.
You can specify a desired output port to issue a low voltage alarm 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 low voltage alarm for the absolute-data backup battery, set “16” in I/O parameter No. 53 as the input function specification value.
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 overall 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 back up the latest data to a PC in case of voltage drop in the system­memory backup battery or unexpected controller failure.
CAUTION
Optional System-Memory Backup Battery
The ASEL 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:
x Save SEL global data
Data of global variables, flags and strings will be retained even after the main power is turned off.
x Save RAM position data
Position data changed by SEL programs will be retained even after the main power is turned off.
x Save an error list
An error list containing up to 100 most recent errors will be retained even after the main power is turned off.
If you need any or all of the above functions, you must install the optional system-memory backup battery.

Table of Contents

Table of Contents
Part 1 Installation .................................................................................................... 1
Chapter 1 Overview................................................................................................................................. 1
1. Introduc
2. Type ................................................................................................................................................ 1
3. ASEL Controller Functions .............................................................................................................. 2
4. System Setup .................................................................................................................................. 4
5. Warranty Period and Scope of W
Chapter 2 Specifications
1. Controller Spec
2. Name and Function of Each Part
Chapter 3 Installation and Wiring
1. External Dimens
2. Installation Environment
3. Heat Radiation and Inst
4. Noise Control Measures
5. Supply Voltage .............................................................................................................................. 27
6. Wiring ............................................................................................................................................ 28
6.1 Wiring the Control Power Supply, Emergency S
6.2 Wiring the Motor Power Cables
6.3 Connecting the Ac
6.4 Connecting the PIO Cable (I/O)
6.5 External I/O S
6.6 Connecting the Teaching Pendant/PC (Sof
6.7 Connecting the Panel Unit (Optional
6.8 Installation Method for the Absolute-Dat
6.9 Installing the System-Memory Backup B
Chapter 4 Operation
1. Startup ........................................................................................................................................... 48
1.1 Power ON Sequence
1.2 Power Cutof
2. How to Perform Absolute Res
2.1 Preparation
2.2 Procedure
tion...................................................................................................................................... 1
arranty......................................................................................... 5
.......................................................................................................................... 6
ifications.................................................................................................................. 6
.................................................................................................... 7
.......................................................................................................... 20
ions ..................................................................................................................... 20
................................................................................................................ 22
allation ..................................................................................................... 23
and Grounding....................................................................................... 24
top Switch and Enable Switch................ 28
......................................................................................... 29
tuator .................................................................................................... 30
......................................................................................... 31
pecifications................................................................................................. 36
tware) (TP) (Optional) .................................... 40
) ................................................................................ 40
a Backup Battery ................................................ 46
attery (Optional)................................................. 47
.............................................................................................................................. 48
......................................................................................................... 49
f Sequence..................................................................................................... 49
et (Absolute Specification) ............................................................. 50
........................................................................................................................ 50
.......................................................................................................................... 50
Table of Contents
3. How to Start a Program
3.1 Starting a Program by Auto-S
3.2 Starting via External Signal
4. Drive-Source Recovery Request and Operation-Pause Reset Request
5. Controller Dat
5.1 How to Save Dat
5.2 Points to Note
Chapter 5 Maintenance
1. Inspection points ........................................................................................................................... 64
2. Spare consumable p
3. Replacement Procedure for System-M
4. Replacement Procedure for Absolute-Dat
a Structure............................................................................................................... 60
................................................................................................................. 55
tart via Parameter Setting ................................................... 56
Selection................................................................................ 57
...................................... 59
a .............................................................................................................. 61
.................................................................................................................... 63
......................................................................................................................... 64
arts................................................................................................................ 64
emory Backup Battery (Optional) .................................... 65
a Backup Battery (Optional)........................................ 67
Part 2 Programs .................................................................................................... 69
Chapter 1 SEL Language Data ............................................................................................................. 69
1. Values and Symbols Used in SEL
1.1 List of Values and Symbols Used
1.2 I/O Port
1.3 Virtual I/O Port
1.4 Flags
1.5 Variables ............................................................................................................................ 74
1.6 Tags ................................................................................................................................... 77
1.7 Subroutines
1.8 Symbols ............................................................................................................................. 79
1.9 Character-String Literals
1.10 Axis Spec
2. Position Part
3. Command Part
3.1 SEL language S
3.2 Extension Condition
Chapter 2 List of SEL
1. By Func
2. Alphabetical Order
s............................................................................................................................. 70
s.................................................................................................................. 71
.................................................................................................................................. 73
........................................................................................................................ 78
ification............................................................................................................... 80
.................................................................................................................................. 82
.............................................................................................................................. 83
Language Command Codes.............................................................................. 85
tion ................................................................................................................................... 85
......................................................................................................................... 90
tructure..................................................................................................... 83
Language................................................................................ 69
...................................................................................... 69
.................................................................................................... 79
........................................................................................................... 84
Table of Contents
Chapter 3 Explanation of Commands
................................................................................................... 95
1. Commands .................................................................................................................................... 95
1.1 Variable Ass
1.2 Arithmetic Operation
1.3 Function Operation
1.4 Logical Operation
1.5 Comparison Operation
ignment .......................................................................................................... 95
.......................................................................................................... 98
.......................................................................................................... 101
............................................................................................................. 104
..................................................................................................... 107
1.6 Timer................................................................................................................................ 108
1.7 I/O, Flag Operation
1.8 Program Control
...........................................................................................................111
............................................................................................................... 122
1.9 Task Management............................................................................................................ 125
1.10 Position Operation
1.11 Actuator Control Dec
1.12 Actuator Cont
........................................................................................................... 130
laration............................................................................................ 145
rol Command ............................................................................................. 161
1.13 Structural IF...................................................................................................................... 184
1.14 Structural DO
1.15 Multi-Branching
................................................................................................................... 187
................................................................................................................ 189
1.16 System Information Acquisition........................................................................................ 193
1.17 Zone................................................................................................................................. 196
1.18 Communication................................................................................................................ 200
1.19 String Operation
1.20 Arch-Motion-Related
1.21 Palletizing-Related
1.22 Palletizing Calc
1.23 Palletizing Movement Command
1.24 Building of Pseudo-Ladder T
1.25 Extended Command
Chapter 4 Key Characteristics of Actuator Control
1. Continuous Movement Commands
............................................................................................................... 207
........................................................................................................ 216
........................................................................................................... 221
ulation Command.................................................................................... 228
..................................................................................... 231
ask ...................................................................................... 233
........................................................................................................ 235
Commands and Points to Note ........................... 238
............................................................................................. 238
2. PATH/PSPL Commands.............................................................................................................. 240
3. CIR/ARC Commands
4. CIR2/ARC2/ARCD/ARCC Commands
Chapter 5 Palletizing Function (2-axis S
1. How to Use
.................................................................................................................................. 241
2. Palletizing Setting
3. Palletizing Calc
4. Palletizing Movement
5. Program Examples
.................................................................................................................. 240
........................................................................................ 240
pecification).......................................................................... 241
........................................................................................................................ 241
ulation ................................................................................................................. 246
.................................................................................................................. 247
...................................................................................................................... 248
Table of Contents
Chapter 6 Pseudo-Ladder T
ask........................................................................................................... 250
1. Basic Frame ................................................................................................................................ 250
2. Ladder Statement Field
............................................................................................................... 251
3. Points to Note.............................................................................................................................. 251
4. Program Example
Chapter 7 Application Program Examples
1. Operation by Jog Command
2. Operation by Point Movement Command [Riveting Sys
Chapter 8 Real-Time Multi-T
........................................................................................................................ 252
.......................................................................................... 253
[Doll-Picking Game Machine]........................................................ 253
tem]...................................................... 256
asking..................................................................................................... 259
1. SEL Language............................................................................................................................. 259
2. Multi-Tasking ............................................................................................................................... 260
3. Difference from a Sequencer
...................................................................................................... 261
4. Release of Emergency Stop........................................................................................................ 262
5. Program Swit
Chapter 9 Example of Building a Sys
ching ...................................................................................................................... 263
tem............................................................................................ 264
1. Equipment ................................................................................................................................... 264
2. Operation
3. Overview of the Screw-T
..................................................................................................................................... 264
ightening System ................................................................................. 265
4. Hardware..................................................................................................................................... 266
5. Software ...................................................................................................................................... 267
Chapter 10 Example of Building a Sys
1. Position T
2. Programming Format
3. Positioning to Five Pos
4. How to Use T
able .............................................................................................................................. 269
.................................................................................................................. 270
itions ....................................................................................................... 271
AG and GOTO ....................................................................................................... 272
5. Moving Back and Forth bet
6. Path Operation
............................................................................................................................ 274
7. Output Control during Path Movement
8. Circle/Arc Operation
.................................................................................................................... 276
9. Home Return Completion Output
10. Axis Movement by Input W
11. Changing the Moving S
peed ....................................................................................................... 279
12. Changing the Speed during Operation
13. Local/Global Variables
14. How to Use Subroutines
15. Pausing the Operation
and Flags................................................................................................ 281
.............................................................................................................. 282
................................................................................................................. 283
16. Canceling the Operation 1 (CANC)
17. Canceling the Operation 2 (ST
18. Movement by Position Number S
19. Movement by External Position Dat
tem............................................................................................ 269
ween Two Points .............................................................................. 273
........................................................................................ 275
................................................................................................ 277
aiting and Completion Output........................................................... 278
........................................................................................ 280
............................................................................................. 284
OP) ............................................................................................. 285
pecification.............................................................................. 286
a Input ................................................................................. 287
Table of Contents
20. Conditional Jump
21. Waiting Multiple Input
22. How to Use Offs
23. Executing an Operation N t
24. Constant-pitch Feed
25. Jogging........................................................................................................................................ 293
26. Switching Programs
27. Aborting a Program
......................................................................................................................... 288
s ................................................................................................................ 289
et ....................................................................................................................... 290
imes ................................................................................................. 291
.................................................................................................................... 292
.................................................................................................................... 294
..................................................................................................................... 295
Part 3 Positioner Mode........................................................................................ 296
Chapter 1 Modes and Signal Assignments ......................................................................................... 296
1. Feature of Eac
2. Number of Positions Supported in Eac
3. Quick Mode Function Ref
4. Interface List of All
Chapter 2 Standard Mode
1. I/O Interfac
2. Parameters.................................................................................................................................. 300
3. Details of Each Input Signal
4. Details of Each Output Signal
5. Timing Chart
5.1 Recognition of I/O Signals
5.2 Home Return
5.3 Movements through Pos
Chapter 3 Product Switching Mode
1. I/O Interfac
2. Parameters.................................................................................................................................. 309
3. Details of Each Input Signal
4. Details of Each Output Signal
5. Timing Chart
5.1 Recognition of I/O Signals
5.2 Home Return
5.3 Movements through Pos
Chapter 4 2-axis Independent Mode
1. I/O Interfac
2. Parameters.................................................................................................................................. 319
3. Details of Each Input Signal
4. Details of Each Output Signal
5. Timing Chart
h Mode................................................................................................................. 296
h Mode ........................................................................... 297
erence Table ....................................................................................... 297
PIO Patterns ................................................................................................. 298
................................................................................................................... 299
e List .......................................................................................................................... 299
........................................................................................................ 300
..................................................................................................... 303
................................................................................................................................304
............................................................................................... 304
.................................................................................................................... 305
itions ......................................................................................... 306
..................................................................................................... 308
e List .......................................................................................................................... 308
........................................................................................................ 310
..................................................................................................... 313
................................................................................................................................314
............................................................................................... 314
.................................................................................................................... 315
itions ......................................................................................... 316
................................................................................................... 318
e List .......................................................................................................................... 318
........................................................................................................ 320
..................................................................................................... 322
................................................................................................................................324
Table of Contents
5.1 Recognition of I/O Signals
5.2 Home Return
5.3 Movements through Pos
Chapter 5 Teac
1. I/O Interfac
.................................................................................................................... 325
hing Mode ................................................................................................................... 327
e List .......................................................................................................................... 328
............................................................................................... 324
itions ......................................................................................... 326
2. Parameters.................................................................................................................................. 329
3. Details of Each Input Signal
4. Details of Each Output Signal
5. Timing Chart
................................................................................................................................334
5.1 Recognition of I/O Signals
5.2 Home Return
5.3 Movements through Pos
5.4 Timings in the T
Chapter 6 DS-S-C1 Comp
1. I/O Interfac
e List .......................................................................................................................... 338
.................................................................................................................... 335
atible Mode................................................................................................ 338
........................................................................................................ 329
..................................................................................................... 332
............................................................................................... 334
itions ......................................................................................... 336
eaching Mode ......................................................................................... 337
2. Parameters.................................................................................................................................. 339
3. Details of Each Input Signal
4. Details of Each Output Signal
5. Timing Chart
................................................................................................................................342
5.1 Recognition of I/O Signals
5.2 Home Return
.................................................................................................................... 343
5.3 Movements through Pos
........................................................................................................ 339
..................................................................................................... 341
............................................................................................... 342
itions ......................................................................................... 344
Table of Contents
Appendi
x ................................................................................................................. 347
Battery Backup Function ................................................................................................................... 347
1. System-Memory Backup Battery................................................................................................. 347
2. Absolute-Data Backup Battery for Absolute Encoder ................................................................. 349
Parameter Utilization ......................................................................................................................... 351
1. Utilization Examples of I/O Parameters ...................................................................................... 352
2. Utilization Examples of Axis-specific Parameters ....................................................................... 359
3. Parameter Utilization Examples (Reference).............................................................................. 368
4. Servo Gain Adjustment................................................................................................................ 372
List of Parameters.............................................................................................................................. 374
1. I/O Parameters ............................................................................................................................ 375
1.1 I/O Parameters................................................................................................................. 375
1.2 I/O Function Lists............................................................................................................. 381
2. Parameters Common to All Axes ................................................................................................ 383
3. Axis-Specific Parameters ............................................................................................................ 385
4. Driver Parameters ....................................................................................................................... 389
5. Encoder Parameters ................................................................................................................... 392
6. I/O Devices.................................................................................................................................. 393
7. Other Parameters........................................................................................................................ 394
8. Manual Operation Types ............................................................................................................. 399
Combination Table of ASEL Linear/Rotary Control Parameters ........................................................ 340
Error Level Control............................................................................................................................. 401
Error List ............................................................................................................................................ 403
Error List ............................................................................................................................................ 435
Troubleshooting of ASEL Controller .................................................................................................. 439
Trouble Report Sheet ........................................................................................................... 443
.............
Change History 444
..........................................................................................................

Safety Guide

“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
1 Model
Description
Selection
Operation
Description
Ɣ This product has not been planned and designed for the application where
high level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of 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 (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Ɣ Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding the specification range
4) Location where radiant heat is added from direct sunlight or other large heat source
5) Location where condensation occurs due to abrupt temperature changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Ɣ For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece.
No.
Operation
Description
Description
2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Ɣ When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it would not get hit or dropped.
Ɣ Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions in the operation manual for each model.
Ɣ Do not step or sit on the package. Ɣ Do not put any heavy thing that can deform the package, on it. Ɣ When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
Ɣ When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Ɣ Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Ɣ Do not get on the load that is hung on a crane. Ɣ Do not leave a load hung up with a crane. Ɣ Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
Ɣ The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of condensation.
Ɣ Store the products with a consideration not to fall them over or drop due to
an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc. Ɣ Make sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake.
Ɣ Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.
Ɣ When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or chemical droplets
No.
Operation
Description
4 Installation
and Start
Description
(2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
Ɣ Perform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
Ɣ When the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.
Ɣ Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction of the product.
Ɣ Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire. (3) Grounding Ɣ The grounding operation should be performed to prevent an electric shock
or electrostatic charge, enhance the noise-resistance ability and control
the unnecessary electromagnetic radiation. Ɣ For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair cable
with wire thickness 0.5mm
2
(AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).
Ɣ Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100: or below).
No.
Operation
Description
4 Installation
and Start
(4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is
Description
to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Ɣ When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range. When the robot under operation is touched, it may result in death or serious injury.
Ɣ Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Ɣ Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an injury or damage to the product.
Ɣ Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input.
Ɣ When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden power input may cause an electric shock or injury.
Ɣ Take the measure so that the work part is not dropped in power failure or
emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Ɣ Do not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.
5 Teaching Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Ɣ Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.
Ɣ When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
No.
Operation
Description
Description
6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Ɣ After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
Ɣ When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work procedure like the teaching operation.
Ɣ Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected motion caused by a program error, etc.
Ɣ Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or malfunction.
7 Automatic
Operation
Ɣ Check before starting the automatic operation or rebooting after operation
stop that there is nobody in the safety protection fence.
Ɣ Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm indication.
Ɣ Make sure to operate automatic operation start from outside of the safety
protection fence.
Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.
Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.
No.
Operation
Description
8 Maintenance
and Inspection
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
Description
each other to ensure the safety of the workers.
Ɣ Perform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.
Ɣ When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
Ɣ When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ For the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
Ɣ Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.
Ɣ The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an unnecessary operation.
Ɣ Pay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
Ɣ Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
Ɣ When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Ɣ Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Ɣ Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.
Ɣ See Overseas Specifications Compliance Manual to check whether
complies if necessary.
Ɣ For the handling of actuators and controllers, follow the dedicated
operation manual of each unit to ensure the safety.
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model.
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Danger
Warning
Caution
Notice
This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.
This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.
This indicates lower possibility for the injury, but should be kept to use this product properly.
Danger
Warning
Caution
Notice

CE Marking

If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

Part 1 Installation

Part 1 Installation

Chapter 1 Overview

1. Introduction

Thank you for purchasing the ASEL 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 unexpected events such as complex signal changes resulting from use of critical timings. Accordingly, you should consider items not specifically explained in this manual as “prohibited.”
* Utmost effort has been made to ensure 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.
Part 1 Installation Chapter 1 Overview

2. Type

Refer to the following table for details on type specification.
Example of type specification
Type specification table
Details of axis 1 to axis 2
Series
Controller
type
(Standard
specification)
Number
of axes
(Axis 1)
(Axis 2)
Motor
output (W)
Encoder
type
(Incremental)
(Absolute)
Brake
Blank
(Without
brake)
B
(With brake)
(Without home
Home
sensor
Blank
sensor)
L
(With home
sensor)
Standard
I/O
Standard PIO
24 inputs/8 outputs
NPN specification
Standard PIO
24 inputs/8 outputs
PNP specification
I/O flat
cable length
(Standard)
None
Power­source voltage
0: 24 VDC
1

3. ASEL Controller Functions

The functions provided by the ASEL controller are structured in the following manner.
Part 1 Installation
Part 1 Installation
The ASEL 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).
Chapter 1 Overview
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).
ASEL
Program mode
Positioner mode
Standard mode
Product switching mode
2-axis independent mode
Teaching mode
DS-S-C1 compatible mode
Caution: Two modes cannot be selected at the same time.
2
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.
x Turn on the I/O power before or simultaneously with the main power (control power + motor power). x Take the control power and motor power from the same power supply and turn on both powers
simultaneously.
x Before performing a check or inserting/removing a connector, turn off the power and wait for at least 10
minutes.
x 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:
Part 1 Installation Chapter 1 Overview
Duty (%) =
Inactivity time Motion
Time onDecelerati / onAccelerati
X 100
x After turning off the control power, be sure to wait for at least 5 seconds before turning it back on. x Do not insert or remove connectors while the controller power is on. Doing so may cause malfunction.
x 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.
3

4. System Setup

Part 1 Installation
Part 1 Installation
Host
system
Chapter 1 Overview
24-VDC power supply
Teaching
pendant
Enable switch
Conversion cable
Dummy plug
Emergency stop switch
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 specification. If the specified steps are not followed, the absolute-data backup battery may be consumed quickly. [1] Before connecting the encoder cable, disconnect the absolute-data backup battery connector. [2] Connect the encoder cable, and turn on the main power. [3] Connect the absolute-data backup battery connector. Once the connector has been plugged in, the main
power can be turned off. For the installation of the absolute-data backup battery, refer to 6.8, “Installation Method for the Absolute-Data Backup Battery” in Chapter 3 of Part 1. If you have disconnected the encoder cable for any reason, such as to move the controller, also follow the same steps to connect the absolute-data backup battery connector.
4

5. Warranty Period and Scope of Warranty

Part 1 Installation
The ASEL 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:
x 18 months after shipment from our factory x 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:
x Discoloration of paint or other normal aging x Wear of consumable parts due to use x Subjective imperfection, such as noise not affecting mechanical function x Defect caused by inappropriate handling or use by the user x Defect caused by inappropriate or erroneous maintenance/inspection x Defect caused by use of a part other than IAI’s genuine part x Defect caused by unauthorized modification, etc., not approved by IAI or its agent x 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.
Part 1 Installation Chapter 1 Overview
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:
x Guidance on installation/adjustment and witnessing of test operation x Maintenance/inspection x Technical guidance and training on operation, wiring method, etc. x Technical guidance and training regarding programs, such as program generation x Other services and operations where IAI finds a need to charge a separate fee
5

Chapter 2 Specifications

1. Controller Specifications

Base specifications of this product
Total output when maximum number of axes are connected
Control power input
Motor power input
Part 1 Installation
Chapter 2 Specications
Resistance against momentary power failure
Withstand voltage
Insulation resistance
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
PIO power input
Safety category Category B (Built-in relay)
Regenerative resistor
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 Natural convection method
Weight 450 g
External dimensions 43 (W) x 159 (H) x 110 (D); mounting pitch 151 mm
Accessories
Part 1 Installation
30 W x 2 axes
24 VDC r 10% 24 VDC r 10%
Maximum 0.5 msec
1500 VAC for 1 minute (Measured between all power-supply terminals and FG)
500 VDC, 10 M: or more
Incremental serial encoder Absolute serial encoder ABZ parallel encoder Absolute-data backup battery/System-memory backup battery (Optional) Lithium battery: AB-5 by IAI, 3.6 V/2000 mAh
24 VDC r 10%
Built-in, 100 : (2 W). An external resistor of 22 : (5 W) can be connected.
I/O flat cable Motor power connector Control power & system I/O connector RB connector (Not normally used)
6

2. Name and Function of Each Part

Part 1 Installation
2.1 Name of Each Part
2.1.1 Front View
[9] PIO connector
[10] MANU/AUTO switch
Part 1 Installation Chapter 2 Specications
[1] Axis 1 motor
connector
[2] Axis 2 motor
connector
[3] Axis 1 brake-release
switch
[4] Axis 1 encoder
connector
[5] Axis 2 brake-release
switch
[6] Axis 2 encoder
[11] USB connector
[12] Teaching connector
*1 For the 1-axis specification, [2], [5] and [6] are not installed and the front panel is masked.
connector
[7] LED indicators
[8] Panel unit connector
7
2.1.2 Down View
[14] Control power &
Part 1 Installation
[15] Regenerative
[16] Motor power
system I/O connector
resistor connector
connector
Part 1 Installation
[17] Axis 1 absolute-data
backup battery connector
[18 Axis 2 absolute-data
backup battery connector
2.1.3 Top View
[13] System-memory backup
Chapter 2 Specications
battery connector
8
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