PSEL Controlle
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PSEL Controller
Operation Manual Tenth Edition
Operation Manual
Eleventh Edition
1
Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among
others, providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein
to ensure safe use of the product.
The CD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing
them out or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product
can reference it quickly when necessary.
[Important]
This Operation Manual is original.
The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI
shall assume no responsibility for the outcome of any operation not specified herein.
Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
If you have any question or comment regarding the content of this manual, please contact the IAI
sales office near you.
Using or copying all or part of this Operation Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.
CE Marking
If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.
Table of Contents
Table of Contents
Safety Precautions (Read This Section Before Use)....................................................... 1
Part 1 Installation........................................................................................................ 9
Chapter 1 Overview................................................................................................................................... 9
1. Introduction .................................................................................................................................... 9
2. Type................................................................................................................................................ 9
3. PSEL Controller Functions........................................................................................................... 10
4. System Setup............................................................................................................................... 12
5. Warranty Period and Scope of Warranty ..................................................................................... 13
Chapter 2 Specifications.......................................................................................................................... 14
1. Controller Specifications............................................................................................................... 14
2. Name and Function of Each Part................................................................................................. 15
2.1 Name of Each Part............................................................................................................ 15
2.1.2 Down View........................................................................................................................ 16
2.1.3 Top View........................................................................................................................... 16
Chapter 3 Installation and Wiring............................................................................................................. 26
1. External Dimensions.................................................................................................................... 26
2. Installation Environment............................................................................................................... 28
3. Heat Radiation and Installation.................................................................................................... 29
4. Noise Control Measures and Grounding......................................................................................30
5. Supply Voltage............................................................................................................................. 33
6. Wiring...........................................................................................................................................34
6.1 Wiring the Control Power Supply, Emergency Stop Switch and Enable Switch............... 34
6.2 Wiring the Motor Power Cables........................................................................................ 35
6.3 Connecting the Actuator.................................................................................................... 36
6.4 Connecting the PIO Cable (I/O)........................................................................................ 37
6.5 External I/O Specifications................................................................................................ 42
6.6 Connecting the Teaching Pendant/PC (Software) (TP) (Optional)................................... 46
6.7 Connecting the Panel Unit (Optional) ............................................................................... 46
6.8 Installing the System-memory Backup Battery (Optional)................................................ 52
Chapter 4 Operation ................................................................................................................................ 53
1. Startup.......................................................................................................................................... 53
1.1 Power ON Sequence ........................................................................................................ 54
1.2 Power Cutoff Sequence.................................................................................................... 54
2. How to Use the Simple Absolute Unit (Optional)......................................................................... 55
2.1 How to Connect the Simple Absolute Unit (Optional)....................................................... 55
2.2 Setting the Piano Switches for the Simple Absolute Unit (Optional) ................................ 56
2.3 Setting the Parameters ..................................................................................................... 57
2.4 Absolute Reset Method..................................................................................................... 57
3. How to Start a Program................................................................................................................ 62
3.1 Starting a Program by Auto-Start via Parameter Setting.................................................. 63
3.2 Starting via External Signal Selection............................................................................... 64
4. Drive-Source Recovery Request and Operation-Pause Reset Request..................................... 67
5. Controller Data Structure.............................................................................................................. 68
5.1 How to Save Data............................................................................................................. 69
5.2 Points to Note ................................................................................................................... 71
Chapter 5 Maintenance............................................................................................................................ 72
1. Inspection points.......................................................................................................................... 72
2.
Spare consumable parts .............................................................................................................. 72
3. Replacement Procedure for System-Memory Backup Battery (Optional)................................... 73
Table of Contents
Part 2 Programs ....................................................................................................... 75
Chapter 1 SEL Language Data................................................................................................................ 75
1. Values and Symbols Used in SEL Language...............................................................................75
1.1 List of Values and Symbols Used..................................................................................... 75
1.2 I/O Ports............................................................................................................................ 76
1.3 Virtual I/O Ports................................................................................................................. 77
1.4 Flags ................................................................................................................................. 79
1.5 Variables ........................................................................................................................... 80
1.6 Tags................................................................................................................................... 83
1.7 Subroutines....................................................................................................................... 84
1.8 Symbols ............................................................................................................................ 85
1.9 Character-String Literals................................................................................................... 85
1.10 Axis Specification............................................................................................................. 86
2. Position Part................................................................................................................................. 88
3. Command Part............................................................................................................................. 89
3.1 SEL language Structure.................................................................................................... 89
3.2 Extension Condition.......................................................................................................... 90
Chapter 2 List of SEL Language Command Codes................................................................................. 91
1. By Function.................................................................................................................................. 91
2. Alphabetical Order ....................................................................................................................... 96
Chapter 3 Explanation of Commands.................................................................................................... 101
1. Commands................................................................................................................................. 101
1.1 Variable Assignment ....................................................................................................... 101
1.2 Arithmetic Operation ....................................................................................................... 104
1.3 Function Operation ......................................................................................................... 107
1.4 Logical Operation.............................................................................................................110
1.5 Comparison Operation.....................................................................................................113
1.6 Timer................................................................................................................................114
1.7 I/O, Flag Operation ..........................................................................................................117
1.8 Program Control.............................................................................................................. 128
1.9 Task Management...........................................................................................................131
1.10 Position Operation.......................................................................................................... 136
1.11 Actuator Control Declaration.......................................................................................... 151
1.12 Actuator Control Command............................................................................................ 167
1.13 Structural IF.................................................................................................................... 190
1.14 Structural DO.................................................................................................................. 193
1.15 Multi-Branching .............................................................................................................. 195
1.16 System Information Acquisition...................................................................................... 199
1.17 Zone ...............................................................................................................................202
1.18 Communication .............................................................................................................. 206
1.19 String Operation............................................................................................................. 213
1.20 Arch-Motion-Related ...................................................................................................... 222
1.21 Palletizing-Related ......................................................................................................... 227
1.22 Palletizing Calculation Command .................................................................................. 234
1.23 Palletizing Movement Command ................................................................................... 237
1.24 Building of Pseudo-Ladder Task..................................................................................... 239
1.25 Extended Command....................................................................................................... 241
Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note.............................. 244
1. Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC]..... 244
2. PATH/PSPL Commands.............................................................................................................246
Table of Contents
3.
CIR/ARC Commands................................................................................................................. 246
4. CIR2/ARC2/ARCD/ARCC Commands ...................................................................................... 246
Chapter 5 Palletizing Function (2-axis Specification)............................................................................ 247
1. How to Use................................................................................................................................. 247
2. Palletizing Setting....................................................................................................................... 247
3. Palletizing Calculation................................................................................................................ 252
4. Palletizing Movement................................................................................................................. 253
5. Program Examples..................................................................................................................... 254
Chapter 6 Pseudo-Ladder Task............................................................................................................. 256
1. Basic Frame............................................................................................................................... 256
2. Ladder Statement Field.............................................................................................................. 257
3. Points to Note............................................................................................................................. 257
4. Program Example ...................................................................................................................... 258
Chapter 7 Application Program Examples............................................................................................. 259
1. Operation by Jog Command [Doll-Picking Game Machine] ...................................................... 259
2. Operation by Point Movement Command [Riveting System]..................................................... 262
Chapter 8 Real-Time Multi-Tasking........................................................................................................ 265
1. SEL Language............................................................................................................................265
2. Multi-Tasking .............................................................................................................................. 266
3. Difference from a Sequencer.....................................................................................................267
4. Release of Emergency Stop...................................................................................................... 268
5. Program Switching..................................................................................................................... 269
Chapter 9 Example of Building a System.............................................................................................. 270
1. Equipment.................................................................................................................................. 270
2. Operation....................................................................................................................................270
3. Overview of the Screw-Tightening System................................................................................ 271
4. Hardware.................................................................................................................................... 272
5. Software.....................................................................................................................................273
Chapter 10 Example of Building a System..............................................................................................275
1. Position Table............................................................................................................................. 275
2. Programming Format.................................................................................................................276
3. Positioning to Five Positions...................................................................................................... 277
4. How to Use TAG and GOTO...................................................................................................... 278
5. Moving Back and Forth between Two Points............................................................................. 279
6. Path Operation........................................................................................................................... 280
7. Output Control during Path Movement ...................................................................................... 281
8. Circle/Arc Operation................................................................................................................... 282
9. Home Return Completion Output............................................................................................... 283
10. Axis Movement by Input Waiting and Completion Output..........................................................284
11. Changing the Moving Speed...................................................................................................... 285
12. Changing the Speed during Operation.......................................................................................286
13. Local/Global Variables and Flags............................................................................................... 287
14. How to Use Subroutines ............................................................................................................ 288
15. Pausing the Operation ............................................................................................................... 289
16. Canceling the Operation 1 (CANC)............................................................................................ 290
17. Canceling the Operation 2 (STOP)............................................................................................ 291
18. Movement by Position Number Specification.............................................................................292
19. Movement by External Position Data Input................................................................................ 293
20. Conditional Jump ....................................................................................................................... 294
21. Waiting Multiple Inputs............................................................................................................... 295
22. How to Use Offset...................................................................................................................... 296
23.
Executing an Operation N times ................................................................................................ 297
24. Constant-pitch Feed................................................................................................................... 298
25. Jogging....................................................................................................................................... 299
26. Switching Programs................................................................................................................... 300
27. Aborting a Program.................................................................................................................... 301
Table of Contents
Part 3 Positioner Mode........................................................................................... 302
Chapter 1 Modes and Signal Assignments............................................................................................302
1. Feature of Each Mode................................................................................................................302
2. Number of Positions Supported in Each Mode.......................................................................... 303
3. Quick Mode Function Reference Table...................................................................................... 303
4. Interface List of All PIO Patterns ................................................................................................ 304
Chapter 2 Standard Mode......................................................................................................................305
1. I/O Interface List.........................................................................................................................305
2. Parameters................................................................................................................................. 306
3. Details of Each Input Signal....................................................................................................... 306
4. Details of Each Output Signal.................................................................................................... 309
5. Timing Chart............................................................................................................................... 310
5.1 Recognition of I/O Signals .............................................................................................. 310
5.2 Home Return....................................................................................................................311
5.3 Movements through Positions ........................................................................................ 312
Chapter 3 Product Switching Mode....................................................................................................... 314
1. I/O Interface List.........................................................................................................................314
2. Parameters................................................................................................................................. 315
3. Details of Each Input Signal....................................................................................................... 316
4. Details of Each Output Signal.................................................................................................... 319
5. Timing Chart............................................................................................................................... 320
5.1 Recognition of I/O Signals .............................................................................................. 320
5.2 Home Return................................................................................................................... 321
5.3 Movements through Positions ........................................................................................ 322
Chapter 4 2-axis Independent Mode ..................................................................................................... 324
1. I/O Interface List.........................................................................................................................324
2. Parameters................................................................................................................................. 325
3. Details of Each Input Signal....................................................................................................... 326
4. Details of Each Output Signal.................................................................................................... 328
5. Timing Chart............................................................................................................................... 330
5.1 Recognition of I/O Signals .............................................................................................. 330
5.2 Home Return................................................................................................................... 331
5.3 Movements through Positions ........................................................................................ 332
Chapter 5 Teaching Mode...................................................................................................................... 333
1. I/O Interface List.........................................................................................................................334
2. Parameters................................................................................................................................. 335
3. Details of Each Input Signal....................................................................................................... 335
4. Details of Each Output Signal.................................................................................................... 338
5. Timing Chart............................................................................................................................... 340
5.1 Recognition of I/O Signals .............................................................................................. 340
5.2 Home Return................................................................................................................... 341
5.3 Movements through Positions ........................................................................................ 342
5.4 Timings in the Teaching Mode ........................................................................................ 343
Chapter 6 DS-S-C1 Compatible Mode .................................................................................................. 344
1. I/O Interface List.........................................................................................................................344
Table of Contents
2.
Parameters................................................................................................................................. 345
3. Details of Each Input Signal....................................................................................................... 345
4. Details of Each Output Signal.................................................................................................... 347
5. Timing Chart............................................................................................................................... 348
5.1 Recognition of I/O Signals .............................................................................................. 348
5.2 Home Return................................................................................................................... 349
5.3 Movements through Positions ........................................................................................ 350
List of Specifications of Connectable Actuators .................................................................................... 351
Push Force and Current-limiting Value ................................................................................................. 366
Battery Backup Function....................................................................................................................... 373
1. System-Memory Backup Battery ............................................................................................... 373
2. Absolute Reset (Optional).......................................................................................................... 375
Parameter Utilization ............................................................................................................................ 377
1. Utilization Examples of I/O Parameters..................................................................................... 378
2. Utilization Examples of Axis-specific Parameters ...................................................................... 385
3. Parameter Utilization Examples (Reference)............................................................................. 394
4. Servo Gain Adjustment .............................................................................................................. 398
List of Parameters................................................................................................................................. 400
1. I/O Parameters...........................................................................................................................401
1.1 I/O Parameters................................................................................................................ 401
1.2 I/O Function Lists............................................................................................................ 408
(1) Input Function List........................................................................................................... 408
(2) Output Function List........................................................................................................ 409
2. Parameters Common to All Axes ............................................................................................... 410
3. Axis-Specific Parameters........................................................................................................... 412
4. Driver Parameters...................................................................................................................... 417
5. Encoder Parameters.................................................................................................................. 420
6. I/O Devices................................................................................................................................. 421
7. Other Parameters....................................................................................................................... 422
8. Manual Operation T ypes............................................................................................................ 427
Combination Table of PSEL Linear/Rotary Control Parameters........................................................... 428
Error Level Control................................................................................................................................ 429
Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)
..............................................................................................................................................431
Error List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.) ....... 462
Troubleshooting of PSEL Controller...................................................................................................... 467
Trouble Report Sheet................................................................................................................................ 471
Change History............................................................................................................ 472
Part 1 Installation
Safety Precautions (Read This Section Before Use)
When designing and manufacturing a robot system, ensure safety by following the safety
precautions provided below and taking the necessary measures.
Regulations and Standards Governing Industrial Robots
Safety measures on mechanical devices are generally classified into four categories under the
International Industrial Standard ISO/DIS 12100, “Safety of machinery,” as follows:
Safety measures Inherent safety design
Protective guards --- Safety fence, etc.
Additional safety measures --- Emergency stop device, etc.
Information on use --- Danger sign, warnings, operation manual
Based on this classification, various standards are established in a hierarchical manner under the
International Standards ISO/IEC. The safety standards that apply to industrial robots are as follows:
Type C standards (individual safety standards) ISO10218 (Manipulating industrial robots – Safety)
JIS B 8433
(Manipulating industrial robots – Safety)
Also, Japanese laws regulate the safety of industrial robots, as follows:
Industrial Safety and Health Law Article 59
Workers engaged in dangerous or harmful operations must recei v e special education.
Ordinance on Industrial Safety and Health
Article 36 --- Operations requiring special education
No. 31 (Teaching, etc.) --- Teaching and other similar work involving industrial robots
(exceptions apply)
No. 32 (Inspection, etc.) --- Inspection, repair, adjustment and similar work involving industrial
robots (exceptions apply)
Article 150 --- Measures to be taken by the user of an industrial robot
1
Part 1 Installation
Requirements for Industrial Robots under Ordinance on Industrial Safety and
Health
Work area Work condition
Cutoff of drive
source
Measure Article
Outside
movement
range
Inside
movement
range
During
automatic
operation
During
teaching, etc.
During
inspection, etc.
Not cut off
Cut off (including
stopping of
operation)
Not cut off
Cut off
Not cut off (when
inspection, etc.,
must be performed
during operation)
Signs for starting operation Article 104
Installation of railings,
enclosures, etc.
Sign, etc., indicating that work is
in progress
Preparation of work rules Article 150-3
Measures to enable immediate
stopping of operation
Sign, etc., indicating that work is
in progress
Provision of special education Article 36-31
Checkup, etc., before
commencement of work
To be performed after stopping
the operation
Sign, etc., indicating that work is
in progress
Preparation of work rules Article 150-5
Measures to enable immediate
stopping of operation
Sign, etc., indicating that work is
in progress
Provision of special education
(excluding cleaning and
lubrication)
Article 150-4
Article 150-3
Article 150-3
Article 150-3
Article 151
Article 150-5
Article 150-5
Article 150-5
Article 150-5
Article 36-32
2
Part 1 Installation
Applicable Models of IAI’s Industrial Robots
Machines meeting the following conditions are not classified as industrial robots according to Notice of
Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No.
340):
(1) Single-axis robot with a motor wattage of 80 W or less
(2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating
part, if any, has the maximum movement range of within 300 mm
rotating part
(3) Multi-joint robot whose movable radius and Z-axis are within 300 mm
Among the products featured in our catalogs, the following models are classified as industrial robots:
1. Single-axis ROBO Cylinders
RCS2/RCS2CR-SS8 whose stroke exceeds 300 mm
2. Single-axis robots
The following models whose stroke exceeds 300 mm and whose motor capacity also exceeds 80 W:
ISA/ISPA, ISDA/ISPDA, ISWA/ISPWA, IF, FS, NS
3. Linear servo actuators
All models whose stroke exceeds 300 mm
4. Cartesian robots
Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3
5. IX SCARA robots
All models whose arm length exceeds 300 mm
(All models excluding IX-NNN1205/1505/1805/2515, NNW2515 and NNC1205/1505/1805/2515)
3
including the end of the
3
Part 1 Installation
Notes on Safety of Our Products
Common items you should note when performing each task on any IAI robot are explained below.
No. Task Note
1 Model
selection
2 Transportation When transporting the product, exercise due caution not to bump or drop the
3 Storage/
preservation
4 Installation/
startup
This product is not planned or designed for uses requiring high degrees of
safety. Accordingly, it cannot be used to sustain or support life and must not be
used in the following applications:
[1] Medical devices relating to maintenance, management, etc., of life or health
[2] Mechanisms or mechanical devices (vehicles, railway facilities, aircraft
facilities, etc.) intended to move or transport people
[3] Important safety parts in mechanical devices (safety devices, etc.)
Do not use this product in the following environments:
[1] Place subject to flammable gases, ignitable objects, flammables,
explosives, etc.
[2] Place that may be exposed to radiation
[3] Place where the surrounding air temperature or relative humidity exceeds
the specified range
[4] Place subject to direct sunlight or radiated heat from large heat sources
[5] Place subject to sudden temperature shift and bedewing
[6] Place subject to corrosive gases (sulfuric acid, hydrochloric acid, etc.)
[7] Place subject to excessive dust, salt or iron powder
[8] Place where the product receives direct vibration or impact
Do not use this product outside the specified ranges. Doing so may significantly
shorten the life of the product or result in product failure or facility stoppage.
product.
Use appropriate means for transportation.
Do not step on the package.
Do not place on the package any heavy article that may deform the package.
When using a crane with a capacity of 1 ton or more, the crane must be
operated by personnel qualified to operate cranes and perform slinging
operations.
When using a crane or other equipment, never use it to hoist any article
exceeding the rated load of the applicable crane, etc.
Use hoisting accessories suitable for the article to be hoisted. Select appropriate
hoisting accessories by making sure there is an ample allowance for safety in
their cutting load, etc.
Do not climb onto the article being hoisted.
Do not keep the article hoisted.
Do not stand under the hoisted article.
The storage/preservation environment should conform to the installation
environment. Among others, be careful not to cause bedewing.
(1) Installing the robot, controller, etc.
Be sure to firmly secure and affix the product (including its work part).
If the product tips over, drops, malfunctions, etc., damage or injury may result.
Do not step on the product or place any article on top. The product may tips over
or the article may drop, resulting in injury, product damage, loss of/drop in
product performance, shorter life, etc.
If the product is used in any of the following places, provide sufficient shielding
measures:
[1] Place subject to electrical noise
[2] Place subject to a strong electric or magnetic field
[3] Place where power lines or drive lines are wired nearby
[4] Place subject to splashed water, oil or chemicals
4
Part 1 Installation
No. Task Note
4 Installation/
startup
(2) Wiring the cables
Use IAI’s genuine cables to connect the actuator and controller or connect a
teaching tool, etc.
Do not damage, forcibly bend, pull, loop round an object or pinch the cables or
place heavy articles on top. Current leak or poor electrical continuity may occur,
resulting in fire, electric shock or malfunction.
Wire the product correctly after turning off the power.
When wiring a DC power supply (+24 V), pay attention to the positive and
negative polarities.
Connecting the wires in wrong polarities may result in fire, product failure or
malfunction.
Be sure to connect the cable connectors without fail and firmly. Failing to do so
may result in fire, electric shock or product malfunction.
Do not cut and reconnect the cables of the product to extend or shorten the
cables. Doing so may result in fire or product malfunction.
(3) Grounding
Be sure to provide class D (former class 3) grounding for the controller.
Grounding is required to prevent electric shock and electrostatic charges,
improve noise resistance and suppress unnecessary electromagnetic radiation.
(4) Safety measures
Implement safety measures (such as installing safety fences, etc.) to prevent
entry into the movement range of the robot when the product is moving or can
be moved. Contacting the moving robot may result in death or serious injury.
Be sure to provide an emergency stop circuit so that the product can be stopped
immediately in case of emergency during operation.
Implement safety measures so that the product cannot be started only by turning
on the power. If the product starts suddenly, injury or product damage may
result.
Implement safety measures so that the product will not start upon cancellation of
an emergency stop or recovery of power following a power outage. Failure to do
so may result in injury, equipment damage, etc.
Put up a sign saying “WORK IN PROGRESS. DO NOT TURN ON POWER,”
etc., during installation, adjustment, etc. If the power is accidently turned on,
electric shock or injury may result.
Implement measures to prevent the work part, etc., from dropping due to a
power outage or emergency stop.
Ensure safety by wearing protective gloves, protective goggles and/or safety
shoes, as necessary.
Do not insert fingers and objects into openings in the product. Doing so may
result in injury, electric shock, product damage, fire, etc.
When releasing the brake of a vertically installed actuator, be careful not to
pinch your hand or damage the work part, etc., due to the slider dropping by its
dead weight.
5 Teaching Whenever possible, perform teaching from outside the safety fences. If teaching
must be performed inside the safety fences, prepare “work rules” and make sure
the operator understands the procedures thoroughly.
When working inside the safety fences, the operator should carry a handy
emergency stop switch so that the operation can be stopped any time when an
abnormality occurs.
When working inside the safety fences, appoint a safety watcher in addition to
the operator so that the operation can be stopped any time when an abnormality
occurs. The safety watcher must also make sure the switches are not operated
inadvertently by a third party.
Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.
When releasing the brake of a vertically installed actuator, be careful not to
pinch your hand or damage the work part, etc., due to the slider dropping by its
dead weight.
* Safety fences --- Indicate the movement range if safety fences are not provided.
5
Part 1 Installation
No. Task Note
6 Confirmation
operation
After teaching or programming, carry out step-by-step confirmation operation
before switching to automatic operation.
When carrying out confirmation operation inside the safety fences, follow the
specified work procedure just like during teaching.
When confirming the program operation, use the safety speed. Failure to do so
may result in an unexpected movement due to programming errors, etc.,
causing injury.
Do not touch the terminal blocks and various setting switches while the power is
supplied. Touching these parts may result in electric shock or malfunction.
7 Automatic
operation
Before commencing automatic operation, make sure no one is inside the safety
fences.
Before commencing automatic operation, make sure all related peripherals are
ready to operate in the auto mode and no abnormalities are displayed or
indicated.
Be sure to start automatic operation from outside the safety fences.
If the product generated abnormal heat, smoke, odor or noise, stop the product
immediately and turn off the power switch. Failure to do so may result in fire or
product damage.
If a power outage occurred, turn off the power switch. Otherwise, the product
may move suddenly when the power is restored, resulting in injury or product
damage.
8 Maintenance/
inspection
Whenever possible, work from outside the safety fences. If work must be
performed inside the safety fences, prepare “work rules” and make sure the
operator understands the procedures thoroughly.
When working inside the safety fences, turn off the power switch, as a rule.
When working inside the safety fences, the operator should carry a handy
emergency stop switch so that the operation can be stopped any time when an
abnormality occurs.
When working inside the safety fences, appoint a safety watcher in addition to
the operator so that the operation can be stopped any time when an abnormality
occurs. The safety watcher must also make sure the switches are not operated
inadvertently by a third party.
Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.
Use appropriate grease for the guides and ball screws by checking the operation
manual for each model.
Do not perform a withstand voltage test. Conducting this test may result in
product damage.
When releasing the brake of a vertically installed actuator, be careful not to
pinch your hand or damage the work part, etc., due to the slider dropping by its
dead weight.
* Safety fences --- Indicate the movement range if safety fences are not provided.
9 Modification The customer must not modify or disassemble/assemble the product or use
maintenance parts not specified in the manual without first consulting IAI.
Any damage or loss resulting from the above actions will be excluded from the
scope of warranty.
10 Disposal When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
When disposing of the product, do not throw it into fire. The product may
explode or generate toxic gases.
6
Part 1 Installation
Indication of Cautionary Information
The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution”
and “Note,” as specified below.
Level Degree of danger/loss Symbol
Danger
Warning
Caution
Note
Failure to observe the instruction will result in an imminent danger
leading to death or serious injury.
Failure to observe the instruction may result in death or serious
injury.
Failure to observe the instruction may result in injury or property
damage.
The user should take heed of this information to ensure the proper
use of the product, although failure to do so will not result in injury.
Danger
Warning
Caution
Note
7
Part 1 Installation
8
Part 1 Installation
Part 1 Installation
Chapter 1 Overview
1. Introduction
Thank you for purchasing the PSEL 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 precision and completeness of the information contained in this
manual. However, should you find any error in the manual or if you have any comment regarding its
content, please contact IAI.
Keep this manual in a convenient place so that you can quickly reference it whenever necessary.
2. Type
Refer to the following table for details on type specification.
Example of type specification
Type specification table
Series
Controller
type
(Standard
specification)
Number
of axes
(Axis 1)
(Axis 2)
Motor
output (W)
(22, square)
(28, square)
(RCP2RA3C, square)
(35, square)
(42, square)
(56, square)
Details of axis 1 to axis 2
Encoder
type
(Incremental)
Brake
Blank
(Without
brake)
(With brake)
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
9
Part 1 Installation
3. PSEL Controller Functions
The functions provided by the PSEL controller are structured in the following manner.
The PSEL 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 controlle r (Other
parameter No. 25 = 0).
Caution: Two modes cannot be selected at the same time.
Program mode
Positioner mode
Standard mode
Product switching mode
2-axis independent mode
Teaching mode
DS-S-C1 compatible mode
10
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 before or simultaneously with the main power (control power + motor powe r).
Take the control power and motor power from the same power supply and turn on both powers
simultaneously.
Before performing a check or inserting/removing a connector, turn off the power and wait for at least 10
minutes. Even after the power is turned off, the internal circuits will continue to carry high voltages for a
short period.
About actuator duty
IAI recommends that our actuators be used at a duty of 50% or less as a guideline in view of the
relationship of service life and precision:
Duty (%) =
Inactivity time Motion
Time onDecelerati / onAccelerati
X 100
After turning off the control power, be sure to wait for at least 5 seconds before turning it back on.
Do not insert or remove connectors while the controller power is on. Doing so may cause malfunction.
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.
11
4. System Setup
24-VDC
power
supply
Host system
Teaching
pendant
Enable switch
Conversion cable
Dummy plug
Emergency stop
switch
Part 1 Installation
Panel unit
12
Part 1 Installation
5. Warranty Period and Scope of Warranty
The PSEL Controller you have purchased passed our strict outgoing inspection. This unit is covered by
the following warranty:
1. Warranty Period
The warranty period shall be either of the following periods, whichever ends first:
18 months after shipment from our factory
12 months after delivery to a specified location
2. Scope of Warranty
Should the product fail during the above period under a proper use condition du e to a fault on the part
of the manufacturer, IAI will repair the defect free of charge. However, the following cases are
excluded from the scope of warranty:
Discoloration of paint or other normal aging
Wear of consumable parts due to use
Subjective imperfection, such as noise not affecting mechanical function
Defect caused by inappropriate handling or use by the user
Defect caused by inappropriate or erroneous maintenance/inspection
Defect caused by use of a part other than IAI’s genuine part
Defect caused by unauthorized modification, etc., not approved by IAI or its agent
Defect due to an act of God, accident, fire, etc.
The warranty covers only the product as it is delivered. IAI shall not be liable for any loss arising in
connection with the delivered product. The user must bring the defective product to our factory to
receive a warranty repair.
3. Scope of Service
The price of the delivered product does not include costs incurred in association with program
generation, dispatch of technician, etc. Therefore, a separate fee will be chargeable in the following
cases even during the warranty period:
Guidance on installation/adjustment and witnessing of test operation
Maintenance/inspection
Technical guidance and training on operation, wiring method, etc.
Technical guidance and training regarding programs, such as program generation
Other services and operations where IAI finds a need to charge a separate fee
13
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
Resistance against
momentary power failure
Withstand voltage
Isolation resistance
Drive-source cutoff method Internal relay
Emergency stop input Contact B inp ut (Internal power-supply type)
Emergency stop action Deceleration stop + Regenerative brake by timer
Enable input Contact B input (Internal power-supply type)
Position detection method Incremental encoder of A/B two-phase output type
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)
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 440 g
External dimensions 43 (W) x 159 (H) x 110 (D); mounting pitch 151 mm
Accessories
30 W x 2 axes
24 VDC 10%
24 VDC 10%
Maximum 0.5 msec
1500 VAC for 1 minute (Measured between all power-supply terminals
and FG)
500 VDC, 10 M or more
System-memory backup battery (Optional)
Lithium battery: AB-5 by IAI, 3.6 V/2000 mAh
24 VDC 10%
I/O flat cable
Motor power connector
Control power & system I/O connector
Part 1 Installation
14
Part 1 Installation
2. Name and Function of Each Part
2.1 Name of Each Part
2.1.1 Front View
[9] PIO connector
[10] MANU/AUTO switch
[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.
[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
connector
[7] LED indicators
[8] Panel unit connector
15
2.1.2 Down View
[14] Control power &
system I/O connector
[15] Motor power
connector
2.1.3 Top View
[13] System-memory backup
battery connector
Part 1 Installation
16
Part 1 Installation
[1] Axis 1 motor connector (M1): This connector is used to connect the motor cable for axis 1.
Motor Connector Specifications
Item Specification Remarks
Applicable
connector
AMP Dynamic
D2100, 6 pins
Cable-end
connector
0-1376136-1 (AMP)
0-1318119-3 (AMP)
Contact: 1318107-1 (AMP)
Connector name M1
Maximum
connection distance
20 m
Connected unit Actuator (motor)
Connected cable Motor cable AWG22 X 6C
Motor cable
Controller end
Actuator end
CN2 pin assignments CN1 pin assignments
Cable color Signal symbol Pin No.
Blue
Black
White
Red
Black
Green (yellow 3)
Housing
Receptacle contact
Pin No. Signal symbol Cable color
Red
Black
Blue
Green (yellow 3)
Black
White
Housing
Socket contact
(JST)
[2] Axis 2 motor connector (M2): This connector is used to connect the motor drive-source cable for
axis 2. The specifications are the same as those of the axis 1 motor
connector.
[3] Axis 1 brake-release switch
(BK1):
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 brake.
NOM
Turn the brake ON/OFF using an internal sequence.
Normally this switch is set to the “NOM” side.
17
Part 1 Installation
[4] Axis 1 encoder/sensor
connector (PG1):
This connector is used to connect the encoder cable for axis 1. It
connects the encoder cable of the actuator constituting axis 1.
Encoder Connector Specifications
Item Specification Remarks
Applicable connector
2-mm pitch, doublerow connector, 16 pins
S16B-PHDSS (JST)
Cable-end connector PHDR-16VS (JST)
Contact:
SPHD-001T-P0.5 (JST)
Connector name PG1
Maximum connection
distance
20 m
Connected unit Actuator encoder
Connected cable Motor cable AWG22 X 6P Shielded
Encoder cable
Controller end
Actuator end
CN2 pin assignments CN1 pin assignments
Standard cable:
Robot cable:
White (with purple)
White (with yellow)
Cable color
Robot cable
Purple
Blue
White (with blue)
Yellow
Green
Red
White (with red)
Ground
Standard cable
Red
Gray
Brown
Green
Purple
Pink
Yellow
Orange
Blue
Ground
Contact
Retainer
Signal
Pin No.
symbol
(Reserved)
(Reserved)
(Reserved)
(JST)
Pin No.
Housing
Contact
Retainer
symbol
Cable color Signal
Standard cable
Brown
Green
Purple
Pink
Blue
Orange
Yellow
Red
Gray
Ground
(JST)
Robot cable
Blue
White (with blue)
Yellow
White (with yellow)
White (with red)
Red
Green
Yellow
White (with purple)
Ground
18
Part 1 Installation
[5] Axis 2 brake-release switch
(BK2):
This switch is used to forcibly release the electromagnetic brake of
the actuator constituting axis 2. The specifications are the same as
those of the axis 1 brake-release switch in [3].
[6] Axis 2 encoder/sensor
connector (PG2):
This connector is used to connect to the encoder cable for axis 2.
The specifications are the same as those of the axis 1
encoder/sensor connector in [4].
[7] LED indicators: These indicators indicate the controller status.
Name Color Status when the LED is lit
PWR
RDY Green The controller is ready.
ALM Orange
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.
Green
The controller has been started successfully and is
receiving power.
An alarm is present (an error of message level or
higher has generated.)
[8] Panel unit connector: This connector is used to connect the optional panel unit.
[9] 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 Flat connector, 34 pins
Power supply
Inputs
Outputs
Connected to External PLC, sensor, etc.
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)
19
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
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
Output
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
015
Alarm output 3-Blue
Ready output 3- Purple
Emergency-stop 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
307
The above functions reflect the factory settings for the program mode.
These functions can be changed by changing the corresponding pa rameters.
Part 1 Installation
20
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