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
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