IAI America SSEL User Manual

SSEL Controller

Operation Manual Ninth Edition

Eleventh 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 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]

x This Operation Manual is original.
x 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.

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

product improvement.

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

sales office near you.

x Using or copying all or part of this Operation Manual without permission is prohibited.
x 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 can be equipped with the following optional backup batteries for retention of data in the event of
power failure:

[1] System-memory backup battery (Optional)

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

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

For retention of encoder rotation data.

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

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

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

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

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

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

CAUTION

Optional System-Memory Backup Battery

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

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

“2.”

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

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.

Using a Rotary Actuator under Rotation Specification

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

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

However, pay attention to the following point:

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

Applicable models

Actuator

RS-30/60

RCS2-RT6/RT6R/RT7/RT7R

CAUTION

Notes on Use of X-SEL PC Software

Versions Supporting SSEL Controllers

(with Increased Memory Size*1)

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

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

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

office.

Table of Contents

Table of Contents

Safety Guide....................................................................................................Pre-1

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

6.1 Example of Configuration of Power Auxiliaries .............................................................. 33

7. Wiring......................................................................................................................................... 35

7.1 Connecting the Power Cables.........................................................................................35

7.2 Connecting the Actuator.................................................................................................. 36

7.3 Connecting the Emergency Stop Input, Enable Input and Brake Power Input ............... 37

7.4 Connecting the PIO Cable (I/O) ...................................................................................... 40

7.5 External I/O Specifications .............................................................................................. 45

7.6 Connecting Regenerative Resistance Units (RB) ........................................................... 49

7.7 Connecting the Teaching Pendant/PC Software (TP) (Optional) .................................... 51

7.8 Connecting the Panel Unit (Optional).............................................................................. 51

7.9 Installing the Absolute-Data Backup Battery (Optional) .................................................. 57

7.10 Installing the System-Memory Backup Battery (Optional)...............................................58

Chapter 4 Operation .......................................................................................................................... 59

1. Startup........................................................................................................................................ 59

1.1 Power ON Sequence....................................................................................................... 60

1.2 Power Cutoff Sequence .................................................................................................. 60

2. How to Perform Absolute Reset (Absolute Specification)..........................................................61

2.1 Preparation ...................................................................................................................... 61

2.2 Procedure ........................................................................................................................ 61

3. How to Start a Program ............................................................................................................. 66

3.1 Starting a Program by Auto-Start via Parameter Setting.................................................67

3.2 Starting via External Signal Selection.............................................................................. 68

4. Drive-Source Recovery Request and Operation-Pause Reset Request................................... 70

5. Controller Data Structure ........................................................................................................... 71

5.1 How to Save Data............................................................................................................ 72

5.2 Points to Note .................................................................................................................. 74

Chapter 5 Maintenance ..................................................................................................................... 75

1. Inspection Points ....................................................................................................................... 75

2. Spare Consumable Parts........................................................................................................... 75

3. Replacement Procedure for System-Memory Backup Battery (Optional)................................. 76

4. Replacement Procedure for Absolute-Data Backup Battery (Optional) ....................................78

Part 2 Programs ..............................................................................................80

Chapter 1 SEL Language Data

1. Values and Symbols Used in SEL Language............................................................................ 80

1.1 List of Values and Symbols Used.................................................................................... 80

1.2 I/O Ports .......................................................................................................................... 81

1.3 Virtual I/O Ports ............................................................................................................... 82

1.4 Flags................................................................................................................................ 84

1.5 Variables..........................................................................................................................85

1.6 Tags................................................................................................................................. 88

1.7 Subroutines ..................................................................................................................... 89

1.8 Symbols........................................................................................................................... 90

1.9 Character-String Literals.................................................................................................. 90

1.10 Axis Specification ............................................................................................................ 91

2. Position Part .............................................................................................................................. 93

3. Command Part........................................................................................................................... 94

3.1 SEL language Structure................................................................................................... 94

3.2 Extension Condition ........................................................................................................ 95

Chapter 2 List of SEL Language Command Codes .......................................................................... 96

1. By Function................................................................................................................................ 96

2. Alphabetical Order ................................................................................................................... 101

.........................................................................................................80

Chapter 3 Explanation of Commands.............................................................................................. 106

1. Commands .............................................................................................................................. 106

1.1 Variable Assignment...................................................................................................... 106

Table of Contents

1.2 Arithmetic Operation...................................................................................................... 109

1.3 Function Operation........................................................................................................ 112

1.4 Logical Operation .......................................................................................................... 115

1.5 Comparison Operation .................................................................................................. 118

1.6 Timer.............................................................................................................................. 119

1.7 I/O, Flag Operation........................................................................................................ 122

1.8 Program Control ............................................................................................................ 134

1.9 Task Management .........................................................................................................137

1.10 Position Operation.........................................................................................................142

1.11 Actuator Control Declaration ......................................................................................... 157

1.12 Actuator Control Command...........................................................................................173

1.13 Structural IF ................................................................................................................... 196

1.14 Structural DO.................................................................................................................199

1.15 Multi-Branching.............................................................................................................. 201

1.16 System Information Acquisition ..................................................................................... 205

1.17 Zone .............................................................................................................................. 208

1.18 Communication.............................................................................................................. 212

1.19 String Operation.............................................................................................................219

1.20 Arch-Motion-Related ..................................................................................................... 228

1.21 Palletizing-Related ........................................................................................................233

1.22 Palletizing Calculation Command.................................................................................. 240

1.23 Palletizing Movement Command................................................................................... 243

1.24 Building of Pseudo-Ladder Task.................................................................................... 245

1.25 Extended Command...................................................................................................... 247

Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note........................ 250

1. Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC] .. 250

2. PATH/PSPL Commands .......................................................................................................... 252

3. CIR/ARC Commands............................................................................................................... 252

4. CIR2/ARC2/ARCD/ARCC Commands .................................................................................... 252

Chapter 5 Palletizing Function (2-axis Specification) ...................................................................... 253

1. How to Use .............................................................................................................................. 253

2. Palletizing Setting .................................................................................................................... 253

3. Palletizing Calculation.............................................................................................................. 258

4. Palletizing Movement............................................................................................................... 259

5. Program Examples .................................................................................................................. 260

Chapter 6 Pseudo-Ladder Task ....................................................................................................... 262

1. Basic Frame............................................................................................................................. 262

2. Ladder Statement Field............................................................................................................ 263

3. Points to Note .......................................................................................................................... 263

4. Program Example .................................................................................................................... 264

Chapter 7 Application Program Examples....................................................................................... 265

1. Operation by Jog Command.................................................................................................... 265

2. Operation by Point Movement Command ............................................................................... 268

Chapter 8 Real-Time Multi-Tasking ................................................................................................. 271

1. SEL Language ......................................................................................................................... 271

2. Multi-Tasking............................................................................................................................ 272

3. Difference from a Sequencer................................................................................................... 273

4. Release of Emergency Stop.................................................................................................... 274

5. Program Switching................................................................................................................... 275

Chapter 9 Example of Building a System ........................................................................................ 276

1. Equipment................................................................................................................................ 276

2. Operation ................................................................................................................................. 276

3. Overview of the Screw-Tightening System.............................................................................. 277

4. Hardware ................................................................................................................................. 278

5. Software................................................................................................................................... 279

Chapter 10 Method of Building a System........................................................................................ 281

1. Position Table .......................................................................................................................... 281

2. Programming Format............................................................................................................... 282

3. Positioning to Five Positions.................................................................................................... 283

4. How to Use TAG and GOTO ................................................................................................... 284

5. Moving Back and Forth between Two Points .......................................................................... 285

6. Path Operation......................................................................................................................... 286

7. Output Control during Path Movement.................................................................................... 287

8. Circle/Arc Operation ................................................................................................................ 288

9. Output of Home Return and Home Return Complete Signal ................................................. 289

10. Axis Movement by Input Waiting and Completion Output ....................................................... 290

11. Changing the Moving Speed ................................................................................................... 291

12. Changing the Speed during Operation .................................................................................... 292

13. Local/Global Variables and Flags ............................................................................................ 293

14. How to Use Subroutines .......................................................................................................... 294

15. Pausing the Operation ............................................................................................................. 295

16. Canceling the Operation 1 (CANC) ......................................................................................... 296

17. Canceling the Operation 2 (STOP).......................................................................................... 297

18. Movement by Position Number Specification .......................................................................... 298

19. Movement by External Position Data Input ............................................................................. 299

20. Conditional Jump ..................................................................................................................... 300

21. Waiting Multiple Inputs............................................................................................................. 301

Table of Contents

22. How to Use Offset.................................................................................................................... 302

23. Executing an Operation N times .............................................................................................. 303

24. Constant-pitch Feed ................................................................................................................ 304

25. Jogging .................................................................................................................................... 305

26. Switching Programs ................................................................................................................. 306

27. Aborting a Program..................................................................................................................307

Part 3 Positioner Mode..................................................................................308

Chapter 1 Modes and Signal Assignments...................................................................................... 308

1. Feature of Each Mode ............................................................................................................. 308

2. Number of Positions Supported in Each Mode ....................................................................... 309

3. Quick Mode Function Reference Table ................................................................................... 309

4. Interface List of All PIO Patterns.............................................................................................. 310

Chapter 2 Standard Mode................................................................................................................ 311

1. I/O Interface List ...................................................................................................................... 311

2. Parameters .............................................................................................................................. 312

3. Details of Each Input Signal..................................................................................................... 312

4. Details of Each Output Signal.................................................................................................. 315

5. Timing Chart ............................................................................................................................ 316

5.1 Recognition of I/O Signals............................................................................................. 316

5.2 Home Return ................................................................................................................. 317

5.3 Movements through Positions....................................................................................... 318

Chapter 3 Product Switching Mode ................................................................................................. 320

1. I/O Interface List ......................................................................................................................320

2. Parameters .............................................................................................................................. 321

3. Details of Each Input Signal..................................................................................................... 322

4. Details of Each Output Signal.................................................................................................. 325

5. Timing Chart ............................................................................................................................ 326

5.1 Recognition of I/O Signals............................................................................................. 326

5.2 Home Return ................................................................................................................. 327

5.3 Movements through Positions....................................................................................... 328

Chapter 4 2-axis Independent Mode ............................................................................................... 330

1. I/O Interface List ......................................................................................................................330

2. Parameters .............................................................................................................................. 331

3. Details of Each Input Signal..................................................................................................... 332

4. Details of Each Output Signal.................................................................................................. 335

5. Timing Chart ............................................................................................................................ 336

5.1 Recognition of I/O Signals............................................................................................. 336

5.2 Home Return ................................................................................................................. 337

5.3 Movements through Positions ....................................................................................... 338

Chapter 5 Teaching Mode ...............................................................................................................340

1. I/O Interface List ...................................................................................................................... 341

2. Parameters .............................................................................................................................. 342

3. Details of Each Input Signal..................................................................................................... 342

4. Details of Each Output Signal.................................................................................................. 345

5. Timing Chart ............................................................................................................................ 347

5.1 Recognition of I/O Signals............................................................................................. 347

5.2 Home Return ................................................................................................................. 348

5.3 Movements through Positions ....................................................................................... 349

5.4 Timings in the Teaching Mode....................................................................................... 350

Chapter 6 DS-S-C1 Compatible Mode ............................................................................................ 351

1. I/O Interface List ...................................................................................................................... 351

2. Parameters .............................................................................................................................. 352

3. Details of Each Input Signal..................................................................................................... 352

4. Details of Each Output Signal.................................................................................................. 354

5. Timing Chart ............................................................................................................................ 355

5.1 Recognition of I/O Signals............................................................................................. 355

5.2 Home Return ................................................................................................................. 356

5.3 Movements through Positions ....................................................................................... 357

Appendix..........................................................................................................................................

358

Actuator Specification List ............................................................................................................... 358

Battery Backup Function ................................................................................................................. 363

1. System-Memory Backup Battery ............................................................................................. 363

2. Absolute-Data Backup Battery for Absolute Encoder .............................................................. 365

Synchro Function............................................................................................................................. 367

1. Common Items

(Applicable to Both the Absolute Specification and Incremental Specification)....................... 367

2. Incremental Specification......................................................................................................... 367

3. Absolute Specification

(When Both the Master Axis and Slave Axis are of Absolute Specification)............................ 367

Absolute Reset for Synchro Specification ....................................................................................... 368

1. Synchro Axes........................................................................................................................... 368

2. Position Alignment of Synchro-Axis Sliders............................................................................. 369

3. Special Absolute Reset Procedure .......................................................................................... 369

4. Standard Absolute Reset Procedure ....................................................................................... 372

5. Notes on Use of Synchro Function.......................................................................................... 373

Multi-slider Near-miss Detection (Collision Prevention) Function................................................... 374

Parameter Utilization ....................................................................................................................... 376

Table of Contents

1. Utilization Examples of I/O Parameters................................................................................... 377

2. Utilization Examples of Axis-specific Parameters.................................................................... 384

3. Parameter Utilization Examples (Reference) .......................................................................... 395

4. Servo Gain Adjustment............................................................................................................ 399

List of Parameters ........................................................................................................................... 401

1. I/O Parameters ........................................................................................................................ 402

1.1 I/O Parameters .............................................................................................................. 402

1.2 I/O Function Lists........................................................................................................... 408

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 Types.......................................................................................................... 427

Combination Table of SSEL Linear/Rotary Control Parameters .....................................................428

Error Level Control .......................................................................................................................... 429

Error List ......................................................................................................................................... 431

Troubleshooting of SSEL Controller................................................................................................ 466

Trouble Report Sheet ...................................................................................................................... 470

Change History...................................................................................................471

Safety Guide

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

Regulations and Standards Governing Industrial Robots

Safety measures on mechanical devices are generally classified into four 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 receive special education.

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

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

apply)

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

(exceptions apply)

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

Pre-1

Requirements for Industrial Robots under Ordinance on Industrial Safety and

Health

Work area

movement

range

Inside

movement

range

Work

condition

During

automatic

operation

During

teaching, etc.

During

inspection,

etc.

Cutoff of drive source Measure Article

Signs for starting operation Article 104 Outside

Not cut off

Cut off (including

stopping of operation)

Not cut off

Cut off

Not cut off (when

inspection, etc., must

be performed during

operation)

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

Article 150-4

Article 150-3

Article 150-3

Article 150-3

Article 151

Article 150-5

Article 150-5

Article 150-5

Article 150-5

Article 36-32

Pre-2

Applicable Modes of IAI’s Industrial Robot

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

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

any, has the maximum movement range of within 300 mm

(3) Multi-joint robot whose movable radius and Z-axis are within 300 mm

Among the products featured in our catalogs, the following models are classified as industrial robots:

1. Single-axis ROBO Cylinders
RCS2/RCS2CR-SS8 whose stroke exceeds 300 mm

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

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

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

5. IX SCARA robots

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

3

including the tip of the rotating part

Pre-3

Notes on Safety of Our Products

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

No. Task Note

1 Model

selection

2 Transportation

3 Storage/

preservation

4 Installation/

startup

z 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.)
z Do not use this product in the following environments:
[1]Place subject to flammable gases, ignitable objects, flammables, explosives, etc.
[2]Place that may be exposed to radiation
[3]Place where the surrounding air temperature or relative humidity exceeds the

specified range
[4]Place subject to direct sunlight or radiated heat from large heat sources
[5]Place subject to sudden temperature shift and condensation
[6]Place subject to corrosive gases (sulfuric acid, hydrochloric acid, etc.)
[7]Place subject to excessive dust, salt or iron powder
[8]Place where the product receives direct vibration or impact
z 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.
z When transporting the product, exercise due caution not to bump or drop the

product.

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

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

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

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

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

damage.

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

z The storage/preservation environment should conform to the installation

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

z 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.
z Do not step on the product or place any article on top. The product may tip over

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

product performance, shorter life, etc.
z 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

Pre-4

No. Task Note

4 Installation/

startup

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

teaching tool, etc.
z 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.

z Wire the product correctly after turning off the power.
z 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.
z Securely connect the cables and connectors so that they will not be disconnected

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

malfunction.
z 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

z 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

z 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.
z Be sure to provide an emergency stop circuit so that the product can be stopped

immediately in case of emergency during operation.
z 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.
z 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.
z 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.
z Implement measures to prevent the work part, etc., from dropping due to a power

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

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

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

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

work part, etc.

5 Teaching

z 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.
z 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.
z 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.
z Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.

Pre-5

No. Task Note

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

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

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

6 Confirmation

operation

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

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

specified work procedure just like during teaching.
z 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.
z 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

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

fences.
z Before commencing automatic operation, make sure all related peripherals are

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

indicated.

z Be sure to start automatic operation from outside the safety fences.
z 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.
z 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

z 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.

z When working inside the safety fences, turn off the power switch, as a rule.
z 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.
z 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.

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

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

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

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

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

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

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

scope of warranty.

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

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

or generate toxic gases.

Pre-6

Indication of Cautionary Information

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

Level Degree of danger/loss Symbol

Danger

Warning

Caution

Note

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

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

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

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

Danger

Warning

Caution

Note

Pre-7

CE Marking

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

Pre-8

Part 1 Installation

r

Part 1 Installation

Chapter 1 Overview

1. Introduction

Thank you for purchasing the SSEL Controller.

Please read this manual carefully, and handle the product with due care and operate it correctly.
Keep this manual in a safe place and reference relevant items when needed.

When actually starting up your system or if you have encountered a problem, you should also refer to the
manuals for the teaching pendant, PC software and other components used with the system, in addition to
this manual.

This manual does not cover all possible operations other than normal operations, or 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

Details of axis 1 to axis 2

Series

Controller

type

C

(Standard

specification)

Number

of axes

1

(Axis 1)

2

(Axis 2)

Motor

output (W)

(30W for RS)

Encoder

type

I

(Incremental)

A

(Absolute)

G

(Quasi-absolute)

Brake

Blank

(Without

brake)

B

(With brake)

Creep

Blank

(Without

creep)

C

(With creep)

Home

senso

Blank

(Without

home sensor)

I

(With home

sensor)

Synchro

specification

Blank

(No synchro

axis)

M

(Master axis

specification)

S

(Slave axis

specification)

Standard

I/O

NP

Standard PIO

24 inputs/8

outputs

NPN

specification

PN

Standard PIO

24 inputs/8

outputs

PNP

specification

I/O flat cable

length

2: 2 m

(Standard)

3: 3 m

5: 5 m

0: None

Power­source
voltage

1: Single-

phase
100 V

2: Single-

phase
200 V

1

3. SSEL Controller Functions

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

Part 1 Installation

SSEL

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

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

Program mode

Positioner mode

Standard mode

Product switching mode

2-axis independent mode

Teaching mode

DS-S-C1 compatible mode

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.

Turn on the I/O power and brake power (for the specification with brake) before or simultaneously with
the main power (control power + motor power).
Take the control power and motor power from the same power supply and turn on both powers
simultaneously.
Before performing a check or inserting/removing a connector, turn off the power and wait for at least 10
minutes. Even after the power is turned off, the internal circuits will continue to carry high voltages for a
short period.
After turning off the control power, be sure to wait for at least 5 seconds before turning it back on.
If the control power is turned on too soon, “E6D: Drive-source cutoff relay error” may occur.
Do not insert or remove connectors while the controller power is on. Doing so may cause malfunction.
Note on introducing a controller of absolute specification
The following steps must be taken to initialize the absolute-data backup battery circuit to prevent the
battery from being consumed quickly. Perform the initialization by following these steps:
[1] Before connecting the encoder cable, disconnect the absolute-data backup battery connector.
[2] Connect the encoder cable.
[3] Turn on the main power.
[4] Connect the absolute-data backup battery.
The above steps must always be performed after the encoder cable has been disconnected for any
reason, such as to move the controller.

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

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

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

3

4. System Setup

Teaching

pendant

Emergency
stop switch

24-VDC brake

power supply

Conversion cable

Part 1 Installation

Enable

switch

Auxiliary power

equipment

Regenerative

resistance unit

Grounded

Host system

Panel unit

Absolute-data

backup batteries

Axis 1

Axis 2

* 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 7.9, “Installing the Absolute-Data
Backup Battery” in Chapter 3 in Section 1.
If you have disconnected the encoder cable for any reason, such as to move the controller, also follow
the same steps to connect the absolute-data backup battery connector.

4

Part 1 Installation

5. Warranty Period and Scope of Warranty

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

1. Warranty Period

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

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.

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

Part 1 Installation

Chapter 2 Specifications

1. Controller Specifications

Base specifications of this product

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

Control method

Position detection method

Battery

Programming language Super SEL language

Number of program steps

Number of positions

Number of programs

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

Electromagnetic brake power

Electromagnetic brake output
voltage
PIO power input

Safety category

Regenerative resistor 20 W, built-in (External resistance unit(s) can be connected.)
PIO inputs 24 points, NPN or PNP (Selectable as factory setting)
PIO outputs 8 points, NPN or PNP (Selectable as factory setting)
Air cooling method Forced air-cooling
Weight 1380 g

External dimensions

Accessories

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

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

400 W 800 W

Single-phase 100 to 115 VAC r 10% Single-phase 200 to 230 VAC r 10%

Single-phase 100 to 115 VAC r 10% Single-phase 200 to 230 VAC r 10%

50/60 Hz r 5%

0.5 cycle (Not dependent on phase)

500 VDC, 100 M: or more

AC full digital servo

Incremental serial encoder

Absolute serial encoder

ABZ (UVW) parallel encoder

Absolute-data backup battery/system-memory backup battery (Optional)

Lithium battery: AB-5 by IAI, 3.6 V/2000 mAh

Controller with increased memory size 9999 steps (total)

Controller without increased memory size 2000 steps (total)

Controller with increased memory size 20000 positions (total)

Controller without increased memory size 1500 positions (total)

Controller with increased memory size 128 programs

Controller without increased memory size 64 programs

24 VDC r 10%

2 A peak (1 A peak/axis)

45 VDC (90 V at over-excitation)

24 VDC r 10%

Category B (Built-in relay)

* Safety category 1 can be met by connecting an external safety relay, etc.

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

202.6 (H) if the absolute-data backup battery holder is installed.

I/O flat cable

Power connector

EMG connector

ENB/BK connector

6

2. Name and Function of Each Part

Front View

[1] LED indicators

Part 1 Installation

[8] Power connector

[2] System I/O

connector

[3] TP connector

[4] MANU/AUTO switch

[5] USB connector

[6] PIO connector

[9] Grounding screws

[10] Regenerative unit

connector

[11] Axis 1 motor

connector

[12] Axis 2 motor

connector

[13] Axis 1 brake-release

switch

[14] Axis 2 brake-release

switch

[15] Axis 1 encoder/

sensor connector

[7] Panel unit

connector

[16] Axis 2 encoder/

sensor connector

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

7

Down View

[17] Axis 1 absolute-data

[18] Axis 2 absolute-data

[19] Axis 1/2 absolute-data

Part 1 Installation

backup battery connector

backup battery connector

backup battery holder

Top View

[20] System-memory backup

[21] System-memory backup

battery holder

battery connector

8

Part 1 Installation

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

Name Color Status when the LED is lit

PWR

Green

The controller has been started successfully and
is receiving power.

RDY Green The controller is ready.

ALM Orange An alarm is present

EMG Red An emergency stop is being actuated.

SV1 Green The servo for axis 1 is on.

SV2 Green The servo for axis 2 is on.

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

input and brake power input.

Item Specification Remarks
Applicable
connector
Applicable
cable size
Terminal
assignments

8-pin, 2-piece
connector

0.2 ~ 1.25 mm

2

(AWG24-16)

Pin No.

Signal

name

1 S1

2 S2

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

Recommended stripped-wire
length: 10 mm

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

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

7 BK+

8 BK-

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

names to prevent erroneous insertion.

Positive side of the brake power

input

Negative side of the brake power

input

9

Part 1 Installation

[3] Teaching connector:

(TP)

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

Interface Specifications of Teaching Serial Interface

Item Description Details

26-pin, half-pitch
I/O connector

Mating
connector

Connector
name

Baud rate Up to 115.2 kbps Half-duplex communication speeds

Maximum
wiring distance

Interface
standard

Connected unit Dedicated

Connection
cable

Power supply 5 VDC or

Protocol X-SEL teaching

Emergency­stop control

Enabling
control

[12] Mode
switch

T.P. Teaching connector

10M At 38.4 kbps

RS232C

teaching pendant

Dedicated cable

24 VDC

protocol
Series

emergency-stop
relay drive (24 V)

Enable switch
line (24 V)

AUTO/MANU
switch

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

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

of up to 115.2 kbps are supported.

IAI’s standard IA-T-X (D) for X-SEL

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

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

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

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

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

10

Teaching pendant & dedicated communication cable connector

Item Specification Remarks

Pin No. I/O Signal name

1 SG Signal ground

2 Out EMGS Emergency-stop status

3 Out VCC Power output (Standard IA-T-X/XD power supply (5 V))

4 In DTR Data terminal ready (Shorted to DSR)

5 NC Not connected

6 NC Not connected

7 NC Not connected

8 Out RSVVCC

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

9 In EMGIN Emergency-stop contact output, negative

10 Out RSVVCC

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

11 NC Not connected

Terminal

assignments

12 Out EMGOUT2 Emergency-stop contact output, positive

13 Out RTS Request to send (Not used; fixed to 0 V)

14 In CTS

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

15 Out TXD Transmitted data

16 In RXD Received data

17 Out DSR Data set ready (Shorted to DTR)

18 NC Not connected

19 NC Not connected

20 NC Not connected

21 NC Not connected

22 NC Not connected

23 In ENBTB Enable input

24 Out ENBVCC Enable drive power (24V)

25 NC Not connected (Reserved by ENBTBX2)

26 SG Signal ground

Part 1 Installation

11

Part 1 Installation

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

MANU AUTO

MANU AUTO

(left) (right)

Teaching pendant/PC software
operation (when the TP connector

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

Possible

Note)

Not possible

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

Not possible Possible

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

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

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

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

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

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

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

Dummy plug model number: DP-3

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

Standard I/O Interface Specifications (key items)

Item Description

Connector name I/O

Applicable
connector

Power supply

Inputs

Outputs

Flat connector, 34 pins

Power is supplied from connector pin Nos. 1 and

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

12

Connected to External PLC, sensor, etc.

I/O Interface List (Program mode)

Pin No. Category Port No. Function Cable color

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

Input

8A 005
8B 006
9A 007

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

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

Output

16A 305
16B 306
17A

307

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

17B N External power supply 0 V 4-Yellow

Part 1 Installation

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

13

Part 1 Installation

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

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

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

Item Specification Remarks
Applicable
connector

cable size

6-pin, 2-piece
connector

Control power 0.75

2

(AWG18) Applicable

mm
Motor power 2 mm

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

Recommended stripped-wire
length: 7 mm

2

(AWG14)
Terminal
assignments

Pin No.

Signal

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

The signal names are indicated on the mating connector.

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

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

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

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

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

Item Specification Remarks
Applicable
connector

3-pin, 2-piece
connector

1-178128-3 (by AMP)

Connector name RB

Applicable cable
size

1.0 mm2 (AWG17
or equivalent)

The cable comes with the
external regenerative
resistance unit.

Connected unit External regenerative resistance unit

RB+ Regenerative resistance +

Terminal symbol

RB- Regenerative resistance –
PE Grounding terminal

14

Part 1 Installation

A

A

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

1.

Motor Connector Specifications

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

Cable size

GIC2.5/4-STF-7.62

0.75 mm

2

(AWG18

or equivalent)

4-pin, 2-piece connector by
Phoenix Contact

Comes with the actuator.

Connected unit Actuator
Terminal
assignments

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

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

2.

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

actuator constituting axis 1.

RLS (left) NOM (right)

Name Description

RLS Supply the power to the brake and forcibly release the

xis 1

NOM

xis 2

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

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

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

actuator constituting axis 2.

15

Part 1 Installation

[15] Axis 1 encoder/sensor

connector:

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

Encoder/Axis Sensor Connector Specifications

Item Description Details
Applicable
connector

Cable-end connector

Connector name PG1 ~ 2

Half-pitch I/O
connector, 26 pins

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

connector
Maximum
connection

30 m

distance

16

Part 1 Installation

)

(JST) X 9

ctuator end

(JST)

(JST)

Plug housing:

Socket contact:

Retainer:

(pressure-

welded

Red

Green

Blue

Drain

Black

Yellow

Gray

Purple

Orange

Signal Color Wire

Drain wire and braided shield wire

(Sumitomo 3M)

Red

Blue

Gray

Black

Green

Plug connector:

(Sumitomo 3M)

Hood:

Wire Color Signal

Wiring diagram

Purple

Orange

(soldered)

Yellow

Connect the shield to the

Controller end

Encoder sensor cable

Cable model: CB-X1-PA ***

17

Part 1 Installation

g

p

)

)

A

LS side

ctuator end

(JST) X 9

(JST)

(JST)

(JST)

Plug housing:

Retainer:

Plug housing:

Socket contact:

ctuator end

LS side

(JST) X 9

(JST)

Socket contact:

Retainer:

(pressure-

Gray

Orange

Green

welded

Red

Blue

Black

Yellow

Ground

(pressure-

welded

White/Black

White/Red

White/Purple

White/Yellow

White/Blue

Signal Color Wire

White/Gray

Purple

Signal Color Wire

Drain wire and braided shield wire

.

Red

Blue

a clam

Yellow

Connect the shield to the

hood usin

(Sumitomo 3M)

Wire Color Signal

Wiring diagram

Gray

Black

Green

White/Black

White/Red

White/Purple

White/Yellow

White/Blue

White/Gray

(soldered)

Orange

Purple

(Sumitomo 3M)

Plug connector:

Hood:

Controller end

Cable model: CB-X1-PLA ***

18

Part 1 Installation

g

p

)

(JST) X 15

ctuator

end

(JST)

(JST) X 2

Retainer:

Plug housing:

Socket contact:

(pressure-

welded

Red

Gray

Drain

Green

White/Black

White/Red

White/Purple

White/Yellow

White/Blue

Signal Color Wire

White/Gray

Orange

Purple

(Taiyo Electric Wire & Cable)

Blue

Black

Yellow

Drain wire and braided shield wire

.

Red

Blue

Gray

Black

(Sumitomo 3M)

Wire Color Signal

Wiring diagram

Green

White/Black

White/Red

White/Yellow

White/Blue

(soldered)

Purple

Orange

White/Purple

White/Gray

a clam

Yellow

Connect the shield to the

hood usin

(Sumitomo 3M)

Plug connector:

Hood:

Cable model: CB-X2-PA ***

Controller end

19

LS side

g

p

)

)

A

ctuator

end

(JST) X 15

(JST)

(JST)

(JST) X 2

Plug housing:

Plug housing:

Socket contact:

Retainer:

ctuator end

LS side

(JST) X 6

(JST)

Socket contact:

Retainer:

Part 1 Installation

(pressure-

(pressure-

welded

Brown/Red

White/Green

Brown/Yellow

White/Orange

Brown/Blue

Brown/Black

Signal Color Wire

White/Red

White/Yellow

White/Blue

Signal Color Wire

welded

Red

Blue

Gray

White/Black

Drain

White/Purple

White/Gray

Orange

Green

Black

Purple

Yellow

Drain wire and braided shield wire

.

Blue

Yellow

a clam

Connect the shield to the hood

usin

(Sumitomo 3M)

Wire Color Signal

Wiring diagram

Red

Gray

Black

Green

White/Black

White/Red

White/Purple

White/Yellow

Brown/Red

Brown/Yellow

Brown/Blue

White/Orange

White/Green

White/Blue

Brown/Black

(soldered)

Purple

Orange

White/Gray

(Sumitomo 3M)

Plug connector:

Hood:

Cable model: CB-X2-PLA ***

20

Controller end

Part 1 Installation

[16] Axis 2 encoder/sensor

connector:

[17] Axis 1 absolute-data backup

battery connector:

[18] Axis 2 absolute-data backup

battery connector:

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

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

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

21

Part 1 Installation

[19] Axis 1/2 absolute-data backup

battery holder:

[20] System-memory backup

battery holder (optional):

[21] System-memory backup

battery connector:

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

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

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

22

Chapter 3 Installation and Wiring

1. External Dimensions

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

Part 1 Installation

23

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

Part 1 Installation

24

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

Part 1 Installation

25

Part 1 Installation

2. Installation Environment

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

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

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

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

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

treating furnace.

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

Environmental Condition of Controller

Item Specification and description

Surrounding air temperature

range

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

Storage temperature range

Maximum operating altitude 2000 m

Protection class IP20

Vibration

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

0 ~ 40qC

-25qC ~ 70qC (Excluding the battery)

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

2

(continuous), 9.8 m/s2 (intermittent)

X, Y and Z directions

26

Part 1 Installation

3. Heat Radiation and Installation

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

Airflow direction

Fan

Regenerative
resistance
boxes

100 mm min.

150 mm min.

Airflow

50 mm min.

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

27

Part 1 Installation

4. Noise Control Measures and Grounding

(1) Wiring and power supply

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

Class D grounding

(protective
grounding)

[1] Notes on wiring method

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

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

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

2

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

(2) Grounding for noise elimination

Class D grounding

Provide dedicated grounding.

SSEL

controller

Other

equipment

Metal enclosure

Other

equipment

SSEL

controller

28

Do not use this method.

Part 1 Installation

(3) Noise sources and noise elimination

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

[1] AC solenoid valve, magnet switch, relay

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

Surge killer

m Point

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

[2] DC solenoid valve, magnet switch, relay

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

capacity.

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

Diode

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

29

Reference Circuit Diagram

Controller

OUT

CR

+24 V

Part 1 Installation

100 VAC

CR

COM

0 V

Surge absorber

0 V

Solenoid valve

30

Part 1 Installation

5. Power-Supply Capacity and Heat Output

The SSEL controller requires the following power supplies:

A. Control power supply

Supplies power to the logic control part of the controller.

B. Motor power supply

Supplies power for driving the actuator.

C. PIO power

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

D. Brake power supply

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

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

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

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

Control power-

supply capacity

[VA]

Heat output from

control power

supply [W]

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

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

Actuator or motor capacity [W]

20 26 78 1.6
30 46 138 2.1

60 138 415 3.9
100 234 701 6.1
150 328 984 8.3
200 421 1263 9.1
400 796 2388 19.8
600 1164 3492 27.2
750 1521 4564 29.8

100 (linear actuator S6SS) 101 303 3.7
100 (linear actuator S8SS) 159 477 4.1

100 (linear actuator S8HS) 216 648 3.8
100 (linear actuator N10SS) 379 1137 4.5
200 (linear actuator S10SS) 343 1029 5.3
200 (linear actuator S10HS) 417 1251 5.0

200 (linear actuator H8SS) 189 567 5.4

200 (linear actuator H8HS) 379 1137 5.4
200 (linear actuator L15SS) 189 567 5.4
200 (linear actuator N15SS) 486 1458 4.4
200 (linear actuator N15HS) 773 2319 6.4

300 (linear actuator M19SS) 662 1986 11.6

400 (linear actuator W21SS) 920 2760 16.7

Rated motor powersupply

capacity [VA]

Momentary maximum motor

power-supply capacity [VA]

Heat output at rated motor

power supply [W]

31

Part 1 Installation

(3) Brake power supply

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

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

(4) Calculation example

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

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

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

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

32

Part 1 Installation

A

A

r

6. Power Auxiliary

Select and install appropriate power auxiliaries according to the illustration and explanations provided below.
If your product requires CE Marking certification, take proper actions by referring to “CE Marking.”

6.1 Example of Configuration of Power Auxiliaries

100 VAC or
200 VAC

Circuit

breaker

Earth

leakage

breaker

Surge protector

Clamp filters

Noise

filter

Controller

C power input

connector

B. Motor power

. Control powe

Class D grounding

(former Class 3

grounding)

24-VDC

power
supply

Brake power input connector

PIO connector

Brake

release box

[1] Circuit breaker
Install a circuit breaker or earth leakage breaker in the AC power-supply line (primary side) of the controller in
order to prevent damage due to power switching and short current. One circuit breaker or earth leakage breaker
can be used to protect both the motor power supply and control power supply.

x While the actuator is accelerating or decelerating, the controller current increases to three times the

rated current. Select an appropriate circuit breaker that will not trip when this higher current flows. If the
circuit breaker you have selected trips, change it to one with the next higher level of rated current.

x Select a circuit breaker that will not trip due to rush current. [Refer to the graph of operating

characteristics in the manufacturer’s catalog.]

x The rated cutoff current of the selected circuit breaker must be enough to cut off any short-circuit current,

should it flow, without fail.
Rated cutoff current > Short-circuit current = Power-supply capacity on primary side / Power-supply
voltage

x The rated current of the selected circuit breaker should have an ample allowance.

Rated current of circuit breaker > (Rated motor power-supply capacity [VA] + Control power-supply
capacity [VA]) / AC input voltage x Safety factor (rough guide: 1.2 to 1.4)

Rated current of circuit breaker > (Rated motor power-supply capacity [VA] + Control power-supply
capacity [VA]) / AC input voltage x Safety factor (rough guide: 1.2 to 1.4)

[2] Earth leakage breaker
Install an earth leakage breaker on the AC power-supply line side (primary side) of the controller to cut off earth
leakage current. One earth leakage breaker may be used to serve both the motor power and plant power.

x You must select an appropriate earth leakage breaker that can meet your specific purpose, be it fire

protection, protection of human life, or the like. Also measure the earth leakage current at the location
where the earth leakage breaker is to be installed.

x The earth leakage current changes according to the capacity of the motor to be connected, lengths of

cables, and surrounding environment. So that proper earth leakage protection can be provided, measure
the earth leakage current at the location where the earth leakage breaker is to be installed.

x Use an earth leakage breaker of harmonic type.

33

[3] Noise filter

Make sure to install the noise filter.
It is recommended to install the noise filter within 0.3 m from the controller.

Part name Supplier Model number

Noise filter Densei-Lambda MC1210

[4] Surge protector

It is recommended to install the surge protector to improve the noise resistance.

Part name Supplier Model number

Surge protector Okaya Electric Industries RxAxV-781BWZ-2A

[5] Clamp filter

It is recommended to install the clamp filter to improve the noise resistance.

Part name Supplier Model number

Clamp filter TDK ZCAT3035-1330

Part 1 Installation

34

7. Wiring

7.1 Connecting the Power Cables

Part 1 Installation

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

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

Note) Always install a noise filter.

Recommended noise filter

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

35

7.2 Connecting the Actuator

7.2.1 Connecting the Motor Cable (MOT1, 2)

Part 1 Installation

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

7.2.2 Connecting the Encoder Cable (PG1, PG2)

36

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

Caution: With the absolute specification,

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

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

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

Part 1 Installation

Emergency stop switch

Enable switch

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

37

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

A

Part 1 Installation

EMG

switch

UTO/MANU

switch

TP

connector

System I/O

connector

Inside controller

connection status

TP-connector

detection

Connected:

Open

connected:

Closed

Not

AUTO/MANU

status detection

AUTO:
Closed
MANU:

Open

38

ENB

switch

Power

connector

ENB input

detection

Drive-source
cutoff relay

EMG input

detection

Drive-source
cutoff control

Status signal

Status signal

Command signal

Drive source

Part 1 Installation

A

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

1)

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

External 24 V+

EMG

switch

UTO/MANU

switch

TP

connector

System I/O

connector

Inside controller

TP-connector

connection status

detection

Connected:

Open

Not

connected:

Closed

AUTO/MANU

status detection

AUTO:
Closed
MANU:

Open

External 24 V-

ENB

switch

Power

connector

ENB input

detection

Drive-source
cutoff relay

EMG input

detection

Drive-source
cutoff control

Drive source

Status signal

Status signal

Command signal

39

7.4 Connecting the PIO Cable (I/O)

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

Part 1 Installation

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

No connector

Flat cable (34 cores)

No. Color Wire No. Color Wire

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

Flat cable,

pressure-

welded

Flat cable,

pressure-

welded

17B Yellow 4

40

7.4.1 I/O Connection Diagram

(1) NPN specification (Program mode)

Part 1 Installation

Pin No.

Category

Port No. Function

1A P24 External power supply 24 V

1B 016 Program specification (PRG No. 1)

2A 017 Program specification (PRG No. 2)

2B 018 Program specification (PRG No. 4)

3A 019 Program specification (PRG No. 8)

3B 020 Program specification (PRG No. 10)
4A 021 Program specification (PRG No. 20)
4B 022 Program specification (PRG No. 40)

5A 023 Software reset (restart)

5B 000 Program start

6A 001 General-purpose input

6B 002 General-purpose input

7A 003 General-purpose input

7B 004 General-purpose input

Input

8A 005 General-purpose input
8B 006 General-purpose input
9A 007 General-purpose input

9B 008 General-purpose input

10A 009 General-purpose input

10B 010 General-purpose input

11A 011 General-purpose input

11B 012 General-purpose input

12A 013 General-purpose input

12B 014 General-purpose input
13A

015 General-purpose input

Cable color

1 – Brown

1 – Red

1 – Orange

1 – Yellow

1 – Green

1 – Blue

1 – Purple

1 – Gray

1 – White

1 – Black

2 – Brown

2 – Red

2 – Orange

2 – Yellow

2 – Green

2 – Blue

2 – Purple

2 – Gray

2 – White

2 – Black

3 – Brown

3 – Red

3 – Orange

3 – Yellow

3 – Green

Pin No.

Category

Port No. Function

13B 300 Alarm output

14A 301 Ready output

14B 302 General-purpose output

15A 303 General-purpose output

15B 304 General-purpose output

Output

16A 305 General-purpose output

16B 306 General-purpose output

17A

307 General-purpose output

17B N External power supply 0 V

The above functions reflect the factory settings.

Cable color

3 – Blue

3 – Purple

3 – Gray

3 – White

3 – Black

4 – Brown

4 – Red

4 – Orange

4 – Yellow

41

(2) PNP specification (Program mode)

Part 1 Installation

Pin No.

Category

Port No. Function

1A P24 External power supply 24 V

1B 016 Program specification (PRG No. 1)

2A 017 Program specification (PRG No. 2)

2B 018 Program specification (PRG No. 4)

3A 019 Program specification (PRG No. 8)

3B 020 Program specification (PRG No. 10)
4A 021 Program specification (PRG No. 20)
4B 022 Program specification (PRG No. 40)

5A 023 Software reset (restart)

5B 000 Program start

6A 001 General-purpose input

6B 002 General-purpose input

7A 003 General-purpose input

7B 004 General-purpose input

Input

8A 005 General-purpose input
8B 006 General-purpose input
9A 007 General-purpose input

9B 008 General-purpose input

10A 009 General-purpose input

10B 010 General-purpose input

11A 011 General-purpose input

11B 012 General-purpose input

12A 013 General-purpose input

12B 014 General-purpose input
13A

015 General-purpose input

Cable color

1 – Brown

1 – Red

1 – Orange

1 – Yellow

1 – Green

1 – Blue

1 – Purple

1 – Gray

1 – White

1 – Black

2 – Brown

2 – Red

2 – Orange

2 – Yellow

2 – Green

2 – Blue

2 – Purple

2 – Gray

2 – White

2 – Black

3 – Brown

3 – Red

3 – Orange

3 – Yellow

3 – Green

42

Pin No.

Category

Port No. Function

13B 300 Alarm output

14A 301 Ready output

14B 302 General-purpose output

15A 303 General-purpose output

15B 304 General-purpose output

Output

16A 305 General-purpose output

16B 306 General-purpose output

17A

307 General-purpose output

17B N External power supply 0 V

The above functions reflect the factory settings.

Cable color

3 – Blue

3 – Purple

3 – Gray

3 – White

3 – Black

4 – Brown

4 – Red

4 – Orange

4 – Yellow

(3) NPN specification (Standard positioner mode)

Part 1 Installation

Pin
No.

Category

Port

No.

Standard mode

Product switching

mode

Positioner mode

2-axis independent

mode

Teaching mode

DS-S-C1 compatible

mode

1A P24 24-V input

1B 16 Position input 10 Input 10 Position input 7 Axis 1 jog-

2A 17 Position input 11 Input 11 Position input 8 Axis 2 jog+

2B 18 Position input 12 Input 12 Position input 9 Axis 2 jog-

3A 19 Position input 13 Input 13 Position input 10 Inching (0.01 mm)

3B 20 Position input 14 Input 14 Position input 11 Inching (0.1 mm)

4A 21 Position input 15 Input 15 Position input 12 Inching (0.5 mm)

Position No. 1000 input

Position No. 2000 input

Position No. 4000 input

Position No. 8000 input

Position No. 10000 input

Position No. 20000 input

4B 22 Position input 16 Input 16 Position input 13 Inching (1 mm) (*1)

5A 23 Error reset Error reset Error reset Error reset CPU reset

5B 0 Start Start Axis 1 start Start Start

6A 1 Home return Home return Home return Servo ON Pause

6B 2 Servo ON Servo ON Axis 1 servo ON *Pause Cancellation

7A 3 Push motion Push motion *Axis 1 pause Position input 1

Input

7B 4 *Pause *Pause

*Axis 1 cancellation

Position input 2

8A 5 *Cancellation *Cancellation Axis 2 start Position input 3

8B 6 Interpolation Interpolation

Axis 2 home return

Position input 4

9A 7 Position input 1 Input 1 Axis 2 servo ON Position input 5

9B 8 Position input 2 Input 2 *Axis 2 pause Position input 6

10A 9 Position input 3 Input 3

*Axis 2 cancellation

Position input 7

10B 10 Position input 4 Input 4 Position input 1 Position input 8

11A 11 Position input 5 Input 5 Position input 2 Position input 9

11B 12 Position input 6 Input 6 Position input 3 Position input 10

12A 13 Position input 7 Input 7 Position input 4 Position input 11

12B 14 Position input 8 Input 8 Position input 5

13A

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

Teaching mode
specification

Interpolation setting

Position No. 1 input

Position No. 2 input

Position No. 4 input

Position No. 8 input

Position No. 10 input

Position No. 20 input

Position No. 40 input

Position No. 80 input

Position No. 100 input

Position No. 200 input

Position No. 400 input

Position No. 800 input

Cable

color

1 – Brown

1 – Red

1 – Orange

1 – Yellow

1 – Green

1 – Blue

1 – Purple

1 – Gray

1 – White

1 – Black

2 – Brown

2 – Red

2 – Orange

2 – Yellow

2 – Green

2 – Blue

2 – Purple

2 – Gray

2 – White

2 – Black

3 – Brown

3 – Red

3 – Orange

3 – Yellow

3 – Green

Pin

No.

Category

Port

No.

Standard mode

Product switching

mode

Positioner mode

2-axis independent

mode

Teaching mode

DS-S-C1 compatible

mode

13B 300 *Alarm *Alarm *Alarm *Alarm *Alarm

14A 301 Ready Ready Ready Ready Ready

14B 302

15A 303

Output

15B 304 Servo ON output Servo ON output Axis 1 servo ON Servo ON output -

16A 305

16B 306

17A

Positioning complete Positioning complete

Home return complete Home return com plete

Push motion complete Push m otion complete

System battery error System battery error

Absolute battery error Absolute battery error

307

Axis 1 positioning
complete
Axis 1 home return
complete

Axis 2 positioning
complete
Axis 2 home return
complete

Axis 2 servo ON

Positioning complete Positioning complete

Home return complete

-

-

System battery error System battery error

Absolute battery error Absolute battery error

17B N 0-V input

*: Contact B (always ON)

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

Cable

color

3 – Blue

3 – Purple

3 – Gray

3 – White

3 – Black

4 – Brown

4 – Red

4 – Orange

4 – Yellow

43

(4) PNP specification (Standard positioner mode)

Part 1 Installation

Pin
No.

Category

Port

No.

Standard mode

Product switching

mode

Positioner mode

2-axis independent

mode

Teaching mode

DS-S-C1 compatible

mode

1A P24 24-V input

1B 16 Position input 10 Input 10 Position input 7 Axis 1 jog-

2A 17 Position input 11 Input 11 Position input 8 Axis 2 jog+

2B 18 Position input 12 Input 12 Position input 9 Axis 2 jog-

3A 19 Position input 13 Input 13 Position input 10 Inching (0.01 mm)

3B 20 Position input 14 Input 14 Position input 11 Inching (0.1 mm)

4A 21 Position input 15 Input 15 Position input 12 Inching (0.5 mm)

Position No. 1000 input

Position No. 2000 input

Position No. 4000 input

Position No. 8000 input

Position No. 10000 input

Position No. 20000 input

4B 22 Position input 16 Input 16 Position input 13 Inching (1 mm) (*1)

5A 23 Error reset Error reset Error reset Error reset CPU reset

5B 0 Start Start Axis 1 start Start Start

6A 1 Home return Home return Home return Servo ON Pause

6B 2 Servo ON Servo ON Axis 1 servo ON *Pause Cancellation

7A 3 Push motion Push motion *Axis 1 pause Position input 1

Input

7B 4 *Pause *Pause

*Axis 1 cancellation

Position input 2

8A 5 *Cancellation *Cancellation Axis 2 start Position input 3

8B 6 Interpolation Interpolation

Axis 2 home return

Position input 4

9A 7 Position input 1 Input 1 Axis 2 servo ON Position input 5

9B 8 Position input 2 Input 2 *Axis 2 pause Position input 6

10A 9 Position input 3 Input 3

*Axis 2 cancellation

Position input 7

10B 10 Position input 4 Input 4 Position input 1 Position input 8

11A 11 Position input 5 Input 5 Position input 2 Position input 9

11B 12 Position input 6 Input 6 Position input 3 Position input 10

12A 13 Position input 7 Input 7 Position input 4 Position input 11

12B 14 Position input 8 Input 8 Position input 5

13A

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

Teaching mode
specification

Interpolation setting

Position No. 1 input

Position No. 2 input

Position No. 4 input

Position No. 8 input

Position No. 10 input

Position No. 20 input

Position No. 40 input

Position No. 80 input

Position No. 100 input

Position No. 200 input

Position No. 400 input

Position No. 800 input

Cable

color

1 – Brown

1 – Red

1 – Orange

1 – Yellow

1 – Green

1 – Blue

1 – Purple

1 – Gray

1 – White

1 – Black

2 – Brown

2 – Red

2 – Orange

2 – Yellow

2 – Green

2 – Blue

2 – Purple

2 – Gray

2 – White

2 – Black

3 – Brown

3 – Red

3 – Orange

3 – Yellow

3 – Green

44

Pin
No.

Category

Port
No.

Standard mode

Product switching

mode

Positioner mode

2-axis independent

mode

Teaching mode

DS-S-C1 compatible

mode

13B 300 *Alarm *Alarm *Alarm *Alarm *Alarm

14A 301 Ready Ready Ready Ready Ready

14B 302

15A 303

Output

15B 304 Servo ON output Servo ON output Axis 1 servo ON Servo ON output -

16A 305

16B 306

17A

Positioning complete Positionin g complete

Home return complete Home return complete

Push motion complete Push motion complete

System battery error System battery error

Absolute battery error Absolute battery error

307

Axis 1 positioning
complete
Axis 1 home return
complete

Axis 2 positioning
complete
Axis 2 home return
complete

Axis 2 servo ON

Positioning complete Positioning complete

Home return complete

-

-

System battery error System battery error

Absolute battery error Absolute battery error

17B N 0-V input

*: Contact B (always ON)

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

Cable

color

3 – Blue

3 – Purple

3 – Gray

3 – White

3 – Black

4 – Brown

4 – Red

4 – Orange

4 – Yellow

7.5 External I/O Specifications

r

7.5.1 NPN Specification

(1) Input part

External Input Specifications (NPN Specification)

Item Specification
Input voltage
Input current 7 mA per circuit

ON/OFF voltage

Insulation method Photocoupler insulation

External devices

24 VDC r10%

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

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

Part 1 Installation

[Input circuit]

P24*

cuit

+

External power

560 :

supply 24 VDC 10%

-

Internal ci

3.3 K:

Input terminal

* P24: I/O interface pin No. 1

Caution

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

~ SSEL controller’s input signal

ON duration

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

OFF duration

45

(2) Output part

External Output Specifications (NPN Specification)

Item Specification

Load voltage 24 VDC

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

Leakage current 0.1 mA max. per point

Insulation method Photocoupler insulation

External devices

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

[1] Miniature relay
[2] Sequencer input unit

[Output circuit]

P24*

Part 1 Installation

TD62084 (or equivalent)

Internal circuit

Caution

D

Surge absorber

10 :

Output terminal

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

N*

Load

+

External power supply
24 VDC r 10%

-

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

46

7.5.2 PNP Specification

(1) Input part

Item Specification

Input voltage

Input current 7 mA per circuit

ON/OFF voltage

Insulation method Photocoupler insulation

External devices

Part 1 Installation

External Input Specifications (PNP Specification)

24 VDC r10%

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

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

[Input circuit]

Input terminal

+

External power

560 :

supply 24 VDC 10%

-

Internal circuit

3.3 K:

N*

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

Caution

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

~ SSEL controller’s input signal

ON duration

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

OFF duration

47

(2) Output part

External Output Specifications (PNP Specification)

Item Specification

Load voltage 24 VDC

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

Leakage current 0.1 mA max. per point

Insulation method Photocoupler insulation

External devices

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

[1] Miniature relay
[2] Sequencer input unit

Part 1 Installation

TD62784 (or equivalent)

Internal circuit

Caution

[Output circuit]

Surge absorber

10 :

Output terminal

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

P24

Load

N

+

External power supply
24 VDC 10%

-

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

48

Part 1 Installation

7.6 Connecting Regenerative Resistance Units (RB)

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

7.6.1 Number of Units to Be Connected

Reference for required number of units

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

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

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

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

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

Number of regenerative
resistance units to be connected

7.6.2 Connection Method

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

49

Part 1 Installation

7.6.3 Connection Cables

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

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

Controller end

Receptacle housing
Receptacle contact

Model number nameplate

Wiring diagram

Wire Color Signal Signal Color W ire

Light blue

Brown
Green/

Yellow

External regenerative
resistance unit end

Plug
(Phoenix Contact)

Light blue

Brown
Green/

Yellow

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

Controller end

Plug
(Phoenix Contact)

Model number nameplate

Wiring diagram

Wire Color Signal Signal Color Wire

Light blue

Brown
Green/

Yellow

External regenerative
resistance unit end

Plug
(Phoenix Contact)

Light blue

Brown
Green/

Yellow

50

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

Part 1 Installation

Connector conversion cable

7.8 Connecting the Panel Unit (Optional)

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

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

51

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

(1) Application

Display Priority (*1) Description

Part 1 Installation

1

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

1 System-down level error

2 Writing data to the flash ROM.

3 Emergency stop is being actuated (except during the update mode).

4 Enable switch (deadman switch/safety gate) OFF (except in the update mode)

5 Cold-start level error

5 Cold-start level error

5 Operation-cancellation level error

5 Operation-cancellation level error

6 Waiting for a drive-source cutoff reset input (except during the update mode).

6 Operation is in pause (waiting for restart) (except during the update mode).

7 All servo axes are interlocked (except during the update mode).

8 Message level error

8 Message level error

9 Core update mode

9 Core update is in progress.

9 Core update has completed.

9 Slave update mode

9 Slave update is in progress.

9 Slave update has completed.

9 Running a program (last started program); “No.” indicates program number.

9 Initialization sequence number

9 Debug mode

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

52

Part 1 Installation

Display Priority (*1) Description

9 Ready status (auto mode) (Program mode)

9 Ready status (manual mode) (Program mode)

9 Operating in positioner mode; “No.” indicates positioner mode number.

9 Ready status (auto mode) (Positioner mode)

9 Ready status (manual mode) (Positioner mode)

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

53

(2) Core

Display Priority (*1) Description

Part 1 Installation

1

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

1 Cold-start level error

1 Cold-start level error

1 Operation-cancellation level error

1 Operation-cancellation level error

2 Message level error

2 Message level error

2 Application update mode

2 Application update is in progress.

2 Application update has completed.

2 Hardware test mode process

2 Clearing the application flash ROM.

2 Application flash ROM has been cleared.

2 Jump to the application

2 Core flash-ROM check process

2 Application flash-ROM check process

2 SDRAM check process

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

54

Part 1 Installation

7.8.2 Current Monitor and Variable Monitor

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

right segment digit will show the current for axis 1.

Axis 2 Axis 1

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

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

25 < Motor current to rating ratio (%) d 50

50 < Motor current to rating ratio (%) d 75

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

Thick lines indicate illuminated segments.

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

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

200 < Motor current to rating ratio (%)

55

Part 1 Installation

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

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

56

7.9 Installing the Absolute-Data Backup Battery (Optional)

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

Part 1 Installation

Insert the battery into the holder.

Axis 1 connector
Axis 2 connector

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

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

57

7.10 Installing the System-Memory Backup Battery (Optional)

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

Insert the battery into the holder.

Part 1 Installation

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

Caution: If the system-memory backup battery is

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

58

Part 1 Installation

Chapter 4 Operation

1. Startup

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

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

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

V brake power to the SIO connector.

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

supply.)

(7) Reset the emergency stop.

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

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

59

Part 1 Installation

1.1 Power ON Sequence

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

the same power-supply terminal.

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

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

The PIO power must be turned

Taken from the
same power supply.

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

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

Control power

Motor power

Controller status

PIO power

Brake power

Must be turned
on first, as a
rule.

Must be turned on
simultaneously, as a rule.

Initialization/self-diagnosis

Normal operating condition

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

1.2 Power Cutoff Sequence

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

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

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

off after the control power/motor power.

After the power is cut off,
the power cutoff processing
will start within approx. 0.5

Control power

Motor power

Must be turned off
simultaneously, as a rule.

to 1.5 AC cycles.

Controller status

PIO power

60

Power cutoff processing

0.5 to 1.5 AC
cycles

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

Part 1 Installation

2. How to Perform Absolute Reset (Absolute Specification)

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

2.1 Preparation

(1) PC

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

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

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

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

2.2 Procedure

(1) Turn off the SSEL controller power. Turn on the PC power and wait for the OS to start.

(2) Connect the 9-pin, D-sub connector of the connection cable to the COM port on the PC, and connect the

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

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

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

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

procedures in the X-SEL PC software.

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

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

61

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

Click OK to close the error message.

Part 1 Installation

(7) From the M

onitor menu, select Error Detail to check the condition of the present error.

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

62

Part 1 Installation

(8) From the C

ontroller menu, select Absolute Reset.

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

OK Cancel

(10) The Absolute Reset dialog box appears.

Click here

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

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

es.

63

Part 1 Installation

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

es again.

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

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

1. Controller Error Reset

2. Servo ON

3. Home Return

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

5. Encoder Rotation Data Reset 2

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

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

64

Part 1 Installation

(14) When the Confirmation dialog box appears, click Y

es to restart the controller.

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

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

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

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

(16) This completes the absolute reset.

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

65

Part 1 Installation

3. How to Start a Program

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

The former two methods are “starting from the teaching pendant” and “starting from the PC software.”

These methods provide simple means of checking the operation. For details on “starting from the teaching
pendant,” read the operation manual for the optional teaching pendant. For “starting from the PC software,” read
the applicable explanation in the manual supplied with the PC software.

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

Starting via

Teaching pendant

SSEL

Controller

external signal

selection

PC software

Start

Start

Start

Starting

automatically via

parameter setting

66

3.1 Starting a Program by Auto-Start via Parameter Setting

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

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

Part 1 Installation

Set an auto-start program number

Reset the controller

Automatically starting the program

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

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

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

Caution

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

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

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

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

67

3.2 Starting via External Signal Selection

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

(1) Flow chart

Controller

External device

Part 1 Installation

Power ON

READY signal ON

N

Program number

confirmed?

Y

N

Start signal
confirmed?

Y

Program run

N

Emergency-stop

signal confirmed?

Y

Ready output

Program number

input

External start input

Emergency-stop
input

Power ON

READY signal

confirmed?

Y

Various I/O

processing

Program number

specification

Start signal ON

Emergency-stop

switch ON?

Y

Emergency-stop

signal ON

When the READY signal (Output port No.

N

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

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

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

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

N

number of each program that has been
started.

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

N

Controller

error?

Y

Servo OFF

ALARM signal ON

Alarm output

ALARM signal

confirmed?

Y

N

*1 When I/O parameter 30 (input function

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

ALARM

processing

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

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

specification.)

68

(2) Timing chart

f

[1] Program start

Ready output

Program
number input

External start
input

Program 1

Program 2

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

external start signal is permitted
T1 = 10 msec min.

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

external start signal is permitted
T2 = 50 msec min.

T3: Input duration of external start signal

T3 = 100 msec min.

[2] Program start by auto start

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

Part 1 Installation

Ready output

Auto program
start signal input

Auto program
start

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

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

* Auto program start:

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

[3] Soft reset signal

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

Ready output

Soft reset
signal input

Program starting

T1: Time after the ready output turns ON until input

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

T2: Time until the soft reset signal becomes effective.

T2 = 1 sec min.

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

signal is output.

[4] Servo ON signal

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

Ready output

Servo ON
signal input

Servo ON

T1: Time after the ready output turns ON until input

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

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

T2 = 1.5 sec min.

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

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

Program starting

Emergency stop

Drive-source
cutoff reset

Pause reset

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

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

T2: Drive-source cutoff reset input time

T2 = 10 msec min.

T3: Pause reset input time

T3 = 10 msec min.

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

(1) Drive-source recovery request

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

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

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

[2] How to request a drive-source recovery

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

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

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

screen.

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

screen of the teaching pendant.

(2) Operation-pause reset request

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

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

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

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

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

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

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

Part 1 Installation

[2] How to request an operation-pause reset

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

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

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

screen.

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

screen of the teaching pendant.

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

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

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Part 1 Installation

5. Controller Data Structure

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

SSEL Controller Data Structure

Driver 1 Driver 2

Parameters

Parameters

Communication

Parameters

Main

SEL language

Position

data

Application

programs

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

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Part 1 Installation

5.1 How to Save Data

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

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

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

Data edited on the PC

or teaching pendant

Transfer

Transfer

PC

software,

TP

Data will be retained while the power

is on and cleared upon reset

Main CPU memory

Programs

Parameters

(other than slave card

parameters)

Symbols

Positions

Slave card
parameters
(variable portions of
driver parameters)

Write to flash memory

Transfer upon reset

Write to flash memory

Transfer upon reset

Transfer upon reset

Transfer upon reset

Data will be retained even after

the power is turned off

Main CPU flash memory

Slave card memory

Slave card

parameters

(fixed portions of

driver parameters)

(Cannot be changed)

Transfer

Slave card parameters

(encoder parameters,

etc.)

SEL global data

(flags, variables, strings)

Error lists

Transfer

Transfer upon reset

Slave card memory

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

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

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

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

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

Part 1 Installation

Data edited on the PC

or teaching pendant

Transfer

Transfer

PC

software,

TP

Data will be retained while the power

is on and cleared upon reset

Main CPU memory

Programs

Parameters

(other than slave card

parameters)

Symbols

Slave card
parameters
(variable portions of
driver parameters)

Write to flash memory

Transfer upon reset

Write to flash memory

Transfer upon reset

Transfer upon reset

Transfer upon reset

Data will be retained even after

the power is turned off

Main CPU flash memory

Slave card memory

Slave card
parameters

(fixed portions of

driver parameters)

(Cannot be changed)

Write to flash memory

Transfer

Slave card parameters

(encoder parameters,

etc.)

Transfer

Transfer

Transfer upon reset

Slave card memory

Battery backup memory

Positions

SEL global data

(flags, variables, strings)

Error lists

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

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5.2 Points to Note

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

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

Point to note when saving parameters to a file

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

Point to note when transferring a parameter file to the controller

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

Part 1 Installation

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Part 1 Installation

Chapter 5 Maintenance

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

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

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

should be shortened.

1. Inspection Points

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

disconnection.

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

connection, disconnection, play, etc.

2. Spare Consumable Parts

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

Consumable parts

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

(Absolute specification)

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

Battery Backup Function” in Appendix.

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

Error Codes Indicating Low Battery Voltage

System-memory backup battery A01 or A02

Absolute-data backup battery A23

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Part 1 Installation

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

Backing up the system memory

If the optional system-memory backup battery is installed in the SSEL controller and “Other parameter No. 20:
Backup battery installation function type” is set to “2” (Installed), the following SRAM data will be retained even
after the power is turned off:

x Position data
x SEL global data (flags, integer/real variables, string variables)
x Error list

Be sure to follow the procedure below when replacing the system-memory backup battery.

Note: If the system-memory backup battery is removed while other parameter No. 20, “Backup battery

installation function type” is still set to 2 (Installed), the above SRAM data will be lost.

: So that your position data can be restored even after the SRAM data has been lost, use the PC

software to save the position data to a file beforehand.
For information on how to save position data to a file, refer to 6, “Position Data Edit Window” in
“Operation Manual for X-SEL PC Software.”

(1) Turn on the controller power.

(2) Record (write down) the current setting of “Other parameter No. 20, Backup-battery installation function

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

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

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

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

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

* Confirm that the flash ROM writing process has completed.

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

special area in the flash ROM.)

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

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

(7) Replace the system-memory backup battery. (SRAM data will be lost if steps (1) through (6) are not

performed properly.)

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Battery Replacement Procedure

Part 1 Installation

[1] Remove the battery connector and pull out the battery.

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

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

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

securely and then turn on the controller power.

(9) Revert “Other parameter No. 20, Backup-battery installation function type” to the value recorded in step 2,

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

* Confirm that the flash ROM writing process has completed.

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

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

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

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

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Part 1 Installation

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

The replacement procedure is different depending on which error is present (No. A23, 914 and CA2).

x If no error is present, perform steps (1) to (4).
x If an absolute-data backup battery voltage-low warning (Error No. A23) has been issued, perform steps (1) to

(11).

x If an absolute-data backup battery voltage error (Error No. 914 or CA2) has been issued, perform steps (1) to

(4) and then perform the procedure explained in “How to Perform Absolute Reset.”

Note: Among the steps explained below, complete (2) to (4) within 15 minutes.

(1) Turn off the controller power. (Turn off both the control power and drive power.)

(2) Disconnect the battery connector and pull out the

battery.

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

connector. The hook on the connector should face right.

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