INTELLIGENT ACTUA TOR
Super SEL Controller
(Type E & G)
Operating Manual
Super SEL Type E
Intelligent Actuator Inc.
This publication was written to assist you in better understanding this part of your IA system. If you require further assistance, please
contact IA Technical Support. For Central and East Coast Time Zones, please call our Itasca, IL office at 1-800-944-0333 or F AX 630467-9912. For Mountain and Pacific Time Zones, please call our Torrance, CA office at 1-800-736-1712 or FAX 310-891-0815; Monday
thru Friday from 8:00 AM to 5:00PM.
Intelligent Actuator, Inc.
U.S. Headquarters
2690 W. 237th Street
Torrance, CA 90501
310-891-6015 / 310-891-0815 fax
Intelligent Actuator, Inc.
Midwest Regional Office
1261 Hamilton Parkway
Itasca, IL 60143
630-467-9900 / 630-467-9912 fax
www .intelligentactuator.com
© December 1996 Intelligent Actuator, Inc. All rights reserved.
No portion of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic,
mechnical, recording, or otherwise, without the prior written permission of Intelligent Actuator, Inc.
Disclaimer
The information and technical data contained herein are subject to change without notice. Intelligent Actuator, Inc. assumes no responsibility
for any errors or omissions regarding the accuracy of the information contained in this publication.
Foreword
Thank you very much for purchasing the IA Super SEL Controller E·G Type. Without knowing beforehand how to correctly use
or operate the controller, not only will the user be unable to take full advantage of all the functions built into this product but he
might inadvertently cause damage to the controller or shorten its life. Please read this manual carefully to acquire an understanding of the proper method of handling and operating the controller. Keep the manual handy so that you can refer to the
appropriate sections as the need arises.
Your Super SEL Controller E·G Type has a built-in 32 bit RISC (Reduced Instruction Set Computer) CPU and uses SEL
language developed exclusively by IAI for programming. The Super SEL is a highly advanced, new generation of controller
that eliminates the need for a PLC, allows you to do multi-tasking (parallel processing), and allows you to network the controllers with the SEL NET option.
As with our other Super SEL controllers, the Super SEL E·G Type can be used with all IAI actuators. Type E is designed for
single axis control and Type G for multiple axes control. Please use the special cable provided to connect the actuator with the
controller.
*All precautions have been taken to ensure the accuracy of the contents of this manual. However, if you become aware of any
inaccuracies or discrepancies, please contact your IAI sales representative or technical service department.
Page 1
Table of Contents
Foreword ................................................................................................................................................................. 1
Before You Begin...................................................................................................................................................... 4
Chapter 1 Setting Up ....................................................................................................................................... 5~63
Part 1 Safety Precautions ...............................................................................................................................................5
Part 2 Warranty Period and Scope.................................................................................................................................6
Part 3 Installation Environment and Noise Measures ..................................................................................................7
Part 4 Cabling Precautions ..........................................................................................................................................12
Part 5 Part Names and Functions ................................................................................................................................14
Part 6 Specifications ....................................................................................................................................................17
1 AC..................................................................................................................................................................17
2 DC..................................................................................................................................................................21
3 External I/O ................................................................................................................................................... 25
4 Servo ..............................................................................................................................................................26
5 Precautions When Using Emergency Stop ...................................................................................................27
6 Restarting the Controller After an Emergency Stop.....................................................................................27
Part 7 System Setup .....................................................................................................................................................28
1 Connecting the IA Controller and Actuator .................................................................................................28
2 Interface List..................................................................................................................................................29
3 I/O Wiring Diagram ......................................................................................................................................30
4 Teaching/RS232C Connector ........................................................................................................................ 33
5 Connector Pin Assignment ...........................................................................................................................34
6 Controller Dimensions ..................................................................................................................................49
7 Unit Configurations and Limitations ............................................................................................................52
8 Type G (AC) Unit Configurations.................................................................................................................56
9 12-slot Expansion Unit .................................................................................................................................. 61
10 Bleeder Resistor .............................................................................................................................................62
Part 8 Maintenance ......................................................................................................................................................63
Chapter 2 Operation ......................................................................................................................................64~93
Part 1 Basics in Operating Your Super SEL Controller .............................................................................................64
Part 2 Teaching Pendant Operation ............................................................................................................................66
Part 3 System Operation .............................................................................................................................................. 91
Chapter 3 Multi-tasking ............................................................................................................................. 94~105
Part 1 Real-time Multi-tasking ....................................................................................................................................94
1 Super SEL Programming Language .............................................................................................................94
2 Multi-Tasking ................................................................................................................................................ 95
3 Difference Between the Super SEL and a PLC.............................................................................................96
4 Emergency Stop Release ...............................................................................................................................97
5 Program Switching ........................................................................................................................................ 98
Part 2 Screwdriving Robot System .............................................................................................................................. 99
1 Components Used..........................................................................................................................................99
2 Operation .......................................................................................................................................................99
3 Screwdriving System Illustration ..................................................................................................................99
4 Hardware .....................................................................................................................................................100
5 Software .......................................................................................................................................................102
Page 2
Table of Contents
Part 3 Multi-tasking Programming Tips ...................................................................................................................104
1 Inefficient Configuration.............................................................................................................................104
2 Most Efficient Configuration ......................................................................................................................105
Chapter 4 Programming .......................................................................................................................... 106~199
Part 1 Super SEL Language ......................................................................................................................................106
1 Numerals and Symbols................................................................................................................................106
2 I/O Ports....................................................................................................................................................... 107
3 Flags.............................................................................................................................................................108
4 Variable Register ......................................................................................................................................... 109
5 Tags.............................................................................................................................................................. 112
6 Subroutine.................................................................................................................................................... 113
7 Axis Designation .........................................................................................................................................114
Part 2 Super SEL Language Structure ......................................................................................................................116
1 Position Program .........................................................................................................................................116
2 Application Program ................................................................................................................................... 117
Part 3 Standard Commands .......................................................................................................................................119
1 Command Table ........................................................................................................................................... 119
2 Commands ...................................................................................................................................................121
Part 4 Expansion Commands ....................................................................................................................................162
1 Command Table ........................................................................................................................................... 162
2 Commands ...................................................................................................................................................163
Part 5 Parameter List .................................................................................................................................................185
Part 6 Application Program Examples......................................................................................................................188
1 Movement using Point Move Command .................................................................................................... 188
2 Palletizing Operation ..................................................................................................................................191
3 Circular Movement Command ....................................................................................................................194
4 Path Movement Command..........................................................................................................................195
5 BCD Code Signals Input and Output..........................................................................................................196
Chapter 5 Options ..................................................................................................................................... 200~236
1 Expansion I/O Card ...............................................................................................................................................200
2 High Speed Input Unit ...........................................................................................................................................201
3 SEL NET 2-Channel RS232C Unit .......................................................................................................................207
4 Flash Memory Card Unit .......................................................................................................................................230
5 PC Interface Software.............................................................................................................................................235
6 Optional I/O Expansion Module............................................................................................................................ 236
*Supplement ................................................................................................................................................ 237~254
1 Super SEL Controller 7 Segment Display .............................................................................................................237
2 Power Required by the Super SEL Controller .......................................................................................................238
3 Brake Specifications (Option)................................................................................................................................239
4 Heat Dissipation .....................................................................................................................................................243
5 I/O DC24V Power Supply......................................................................................................................................245
6 Emergency Stop......................................................................................................................................................247
7 Error Code List....................................................................................................................................................... 248
8 What to Do When an Error Code Occurs ..............................................................................................................249
Index ............................................................................................................................................................ 255~257
Page 3
Before You Begin
Differences between the Super SEL Controller Type E/G and Type A/B
(Be sure to read this before you begin)
1. There is no built-in DC24V power supply for the I/O in the Super SEL Controller Type E/G. The DC24V power must be
supplied externally. Connect +24V to I/O connector Pin 1A, and 0V to Pin 25B. (Refer to "Supplement 5. I/O DC24V power
Supply" for more details.)
2. For the Super SEL Controller Type E·G, the Emergency Stop is normally closed. To release the Emergency Stop, Pin 2B and
0V must be short-circuited. To release the Emer gency Stop for testing, short-circuit the jumper post (ST1) placed at the bottom
of the controller CPU UNIT or CPU SERVO UNIT with a jumper pin. Even in this case, the Emergency Stop function from
the teaching pendant is still effective. (Refer to Supplement 6. Emergency Stop)
Note: After testing, please make sure to take the jumper pin out so that the Emergency Stop operates externally.
3. The Super SEL Type E·G Controllers are designed to be mounted inside of a control panel. For cooling, the heat sink method
or forced air current method is recommended. (Refer to Supplement 4. Heat Dissipation)
! A Word of Caution
Please read this manual carefully to operate the controller properly.
You are not allowed to use or reproduce this manual or any portion thereof without permission.
We cannot accept any responsibility for possible damage resulting from the use of this manual.
We reserve the right to change the information contained in this manual without prior notice.
! Emergency Procedures
If hazardous conditions arise while using the controller, immediately turn OFF all power switches for the controller and any
devices connected to it, or pull all the power plugs from the electric outlet. ("Hazardous condition" refers to excessive heat,
smoke or flames coming from the controller or any conditions which might lead to fire or cause damage to the controller.)
Page 4
Chapter 1. Setting Up
Part 1 Safety Precautions
The IA Super SEL Controller Type E was designed to control any type single axis IAI actuator and Type G was designed to
control any type actuator in assembly configurations using a maximum of 8 axes or integrated with other peripheral devices. It
is capable of controlling everything from a simple single axis system to large scale FA (factory automation) system. As systems
become more complicated, the possibility of incorrect operation or accidents arising from carelessness also increases. Please
take sufficient care when operating your system.
Please follow the following safety precautions when operating your IA system:
(1) Any operation not specifically addressed in this manual should not be attempted. If you have any questions, please
contact your IA sales representative or contact IA technical support at: 1-800-736-1712.
(2) Use only IA cables when connecting IA actuators and controllers. IA cables are matched for use with IA actuators and
are specially designed to withstand repeated bending.
(3) Stand clear of your IA system when operating or preparing to operate. Surround your IA system with safety partitions
if there is any possibility that someone may become injured by an operating IA system.
(4) Before assembling, adjusting, or performing maintenance on your IA system, please make sure that people around you
are aware that the system is not to be powered up or turned on. You may want to disconnect the power cable completely, keep the power cable close to the operator, or use a safety plug to ensure that the power cable will not be
plugged in inadvertently.
(5) When more than one person is working on your IA system, use signs to inform everyone of the operating status of the
equipment. Make sure that everyone stands clear prior to operation. Operate your system only after you are sure that
everyone knows that you are initiating system start-up and that everyone is clear of the system.
(6) In situations where the cables must be lengthened, be sure to double check all connections before powering up your IA
system.
Page 5
Chapter 1. Setting Up
Part 2 Warranty Period and Scope
The Super SEL controller undergoes stringent testing before it is shipped from our factory. IAI provides the following warranty.
1. Warranty Period
The warranty period is 12 months from the date the unit is shipped to the customer.
2. Scope of Warranty
If within the period specified above, a breakdown occurs while operating the controller under normal conditions and is
clearly the responsibility of the manufacturer, IAI will repair the unit at no cost. However, the following items are not
covered by this warranty.
•Faded paint or other changes that occur naturally over time.
•Consumable components that wear out with use (battery, etc.).
•Unit seems to be noisy or similar impressions that do not affect machinery performance.
•Damage resulting from improper handling or use.
•Damage resulting from user error or failure to perform proper maintenance.
•Any alterations not authorized by IAI or its representatives.
•Damage caused by fire and other natural disasters or accidents.
The warranty pertains to the purchased product itself and does not cover any loss that might arise from a breakdown of the
product. Any repairs will be done at our factory.
3. Service
The purchase price of the product does not include programming or expenses for sending technicians to the customer's site.
Even if the product is still under the warranty period, separate charges will be assessed for the following services.
•Assistance with unit installation or trial operation.
•Inspection and maintenance.
•Technical instruction and training for controller operation and wiring.
•Writing programs or technical instruction and training for programming.
•Any other services or work for which IAI normally assesses separate charges.
Page 6
Chapter 1. Setting Up
Part 3 Installation Environment and Noise Measures
1. Installation Environment
(1) Do NOT block the air vents of your controller when installing your IA system.
(2) Your Super SEL Controller is NOT dust, water, or oil proof. Take steps to prevent foreign matter from getting into the
controller air vents. A void using your IA system in environments subject to contamination by dust, oil mist, or cutting oil.
(3) Do not expose your IA system to direct sunlight or place it near a heat source.
(4) Avoid placing your IA system under conditions of extreme tempreratures above 50
o
C (120oF) or below 0oC (32oF). The
area level of humidity should not be above 85%. Do NOT expose to corrosive or inflammable gas.
(5) Avoid external vibration, unnecessary impact, or excessive shocks to your IA system.
(6) Take steps to shield all cables and wires from electromagnetic noise.
2. Power Source
Make certain that an AC line voltage of 90 ~ 127V (Rated 100 ~ 120V) is maintained. If the power supply tends to fluctuate
substantially, use a constant-voltage transformer.
3. Electromagnetic Noise Supression
(1) Wiring and Power Supply
For grounding, please use a dedicated ground of Class 3 or better. The thickness of the cable should be
2.0~5.5mm
2
or larger.
IA Controller
Other
Devices
IA Controller
Other
Devices
Class 3 ground Correct
Avoid this method
Page 7
Chapter 1. Setting Up
If you need to use a stepdown transformer to lower the power voltage from 240V to 117V, use a dedicated, insulated
transformer for the IA controller. (For further details, please contact your IA sales representative or technical support).
240V
117V
1 17V
Insulated transformer
with static shield
Other devices
IA Controller
Separate
Dedicated
transformer
Page 8
Chapter 1. Setting Up
Please use a dedicated and insulated power transformer when the system has a 240V power source.
AC 117V
Main power
source
IA
power
Other
devices
Other
power
AC 240V
Main power
source
IA
power
240V 240V
117V
devices
Other
power
1 17V
1 17V
Main
circuit
240V
devices
IA Controller
Wiring Notes
1. To reduce noise problems, the AC117V and the DC24V external power cable should be a twisted pair.
2. Isolate the SEL cables from the power line.
3. For DC motors, isolate the encoder cable from the motor cable.
4. For AC motors, the motor and encoder cables are partially wired together but when the length of the cable
extends more than 5m, please wire them separately.
5. Consult with IAI if you need to extend the motor and encoder cables beyond the length that comes with the
controller.
IA Controller
Page 9
Chapter 1. Setting Up
(2) Noise Source and Noise Suppression
When using electrical components such as electromagnets, solenoids, or relays which create electromagnetic noise,
some type of noise supression device should be used.
AC solenoid valve · magnetic switch · relay
• Install a surge absorber parallel to the reactance load (solenoid and relay coils).
*Note* Use the shortest possible wiring between the surge absorber
and the noise-creating device. Use of excessively long wiring will decrease the performance of the surge absorber.
• The most effective method is to install a surge absorber and surge killer in parallel to the reactance load (solenoid
and relay coils). This will reduce noise in a wide band of frequencies.
Surge Absorber (Metal Oxide Varistor or Transzorb).
Surge Killer (Resistor Capacitor Snubber)
Page 10
Chapter 1. Setting Up
DC solenoid valve · magnetic switch · relay
• Install a diode parallel with a reactive/inductive load.
Circuit Example
• Select a diode with the proper voltage rating. The voltage rating is
determined by the loading capacity of the system.
• When installing the diode, pay careful attention to the polarity of the
diode. A diode installed in reverse polarity could damage your IA
System's internal circuitry.
• If the Controller output will be driving a 24V relay or a 120V solenoid valve, the diode must be installed to reduce any noise made by
these devices.
IA Super SEL
Controller
OUT
COM
MY2
DC24V
CR
24V
0V
AC 117V
CR
SOL
0V
Solenoid Valve
ENB221D-14A
Page 11
Chapter 1. Setting Up
Part 4 Cabling Precautions
When using the IA actuator and controller to build an application system, it is important to position and lay out the cable correctly.
If this is not done, the cable may snap or have a faulty connection that could lead to a variety of problems which in turn could cause
the actuator to run out of control. Below, we explain the things not to do to ensure that the cables are connected in the correct
fashion.
Ten “Do’s and Don’ts” When Laying Out Cable (Please make sure to observe these rules!)
1 Make sure there is no excessive bending at one spot.
Steel band
(piano wire)
Bundle loosely
2 Do not twist or crease the cable. 3 Do not stretch the cable too tautly.
4 Do not exert rotational force at a single spot on the cable.
Use a
spiral cord
6 Do not cut, dent or let the cable get caught in something.
5 When affixing the cable, do not clamp it too tightly.
Do not use spiral tubing on a section
of the cable that bends frequently.
Page 12
Chapter 1. Setting Up
7 If placing cable in a cableveyor or flexible tube, make sure it does not twist around. Also, make sure the cables have some
freedom of movement and are not bunched up (cable should not project out at bending points).
8 The amount of cable placed inside a cableveyor should
9
Do not mix the signal line with a high voltage circuit.
be about 60% of the space capacity of the cableveyor.
Cableveyor
Power supply circuit
Cable
Signal line
(flat cable, etc.)
Duct
10 In a case where the cable will be subject to forced bending, always use robot cable.
[Standard structure]
Outer covering
Varies according to
manufacturer and type
Protective layer
Shield
* When to use Robot Cable
When assembling two or three axes and connecting cable to the moving parts, bending weight will be repeatedly applied to the
base of the cable. In this case, the cable core is very likely to snap. T o prevent this from happening, we strongly recommend the
use of robot cable which has greatly improved capacity to withstand bending.
Signal line (copper + tin)
Absorption material
(when the cable bends
and there is pressure
from the outside signal
line, this absorbs the inner and outer difference)
Page 13
Chapter 1. Setting Up
Part 5 Part Names and Functions
1. IA Controller Front View
Code (Code Display)
Controller operating status display (2 digit, 7 segment)
Ready (Ready Display LED)
Indicates if the controller is operable.
Alarm (Alarm Display LED)
Alerts the operator of any abnormality in the system.
Teaching/RS232C Connector
Connector for Teaching Pendant or PC.
Page 14
Chapter 1. Setting Up
2. Controller Bottom View
LS (Limit Switch Connector) (Option)
5 pins, limit switch connector (Model: Nippon Molex 53258-0520)
BK (Brake Connector) (Option)
4 pins, brake output connector to a brake unit (option) (Model: Nippon Molex
53258-0420)
M·PG (Servo Motor Output/Encoder Input Connector)
14 pins, servo motor output/encoder input combined type connector (Axis 1 is
on the left and Axis 2 is on the right) (Model: Nippon Molex 53258-1420)
Power (Power Cable Connector)
3 pins, AC power supply cable connector
Since Type E and Type G are designed to be mounted inside of a controller
panel, no plug is provided for the power cable on the other end of the controller.
(Terminal Type) (Model: Nippon Molex 53265-0320)
I/O (I/O Connector)
50 pins, external I/O connector. This is used for Type E and Type G (2 axis)
up to 100W only. For other models, it is attached to the I/O Unit Box.
(Model: Sumitomo 3M 7950-6500FL)
SEL NET (Optional SEL Network Connector)
SEL. Network transmission connector. (Model: Nippon Molex 53259-0620)
*Power Cable, Terminal
No. Color Signal
1BlackAC117V
2--- --3 White AC117V
4--- --5Green FG
ST1
Emergency Stop release jumper post. Refer to "Supplement 6. Emergency Stop".
Page 15
Chapter 1. Setting Up
3. Teaching Pendant (Option)
LCD Display
4 lines with a 20 character per line capacity display. Shows program and Motion status.
Emergency Stop
When the emergency stop button is pressed, servos will disengage and all programmable outputs will be turned OFF.
To release the emergency stop, press Restart (F1) on the LCD Display.
F1, F2, F3, F4 (Function Key)
Multi-function keys which correspond with the LCD Display.
ESC (Escape)
The escape key allows the operator to go backwards in one-step increments to previous displays to make corrections or
to switch to different modes.
= <
Dual function keys for use in data input and axis Jog functions.
↵ ↵
↵ (Return Key)
↵ ↵
Return key is used to change operations and to move the cursor position.
Page 16
Chapter 1. Setting Up
Part 6 Specifications
1. AC Specifications
(1) Type E (1 Axis)
Number of Axes AC60W ·100W x1 AC200W x1 AC400Wx1
Power Voltage AC 117V±10%
Power Frequency 50/60Hz
Power Consumption
Ambient Temperature and Humidity Temperature 0~40°C, Humidity less than 85%RH
Am bient Environment No corrosive gas, minimal dust
Isolation Resistance 500V 10MΩ or more
Noise Im munity*1 1500V 1µsec pulse by no ise simulator
Unit Weight (kg) 1.2 2.5 3.0
Protective Functions
Motor Capacity
Mem ory Capacity Total 3,000 steps 2,000 positions *2
Number of Programs 64 programs, 16 multi-tasking programs
Memory Device CMOS RAM battery backup
Dedicated Input External start · Emergency stop · Limit switch
Standard I/O
I/O
(DC24V)
Data Input M ethod Teaching pendant or RS232C communications
Expansion I/O
Maximum I/O
(including dedicated I/O)
Comm unications EIA RS232C Asynchronous, Full duplex
Network SEL NET RS232C network
175W (100Wx1)
≈
AC servo motor
60W · 100W
Extended I/O: 1 module 24 inputs, 24 outputs
--- 3 3
24 inputs *3
24 outputs
Output maximum load current 100mA/1 point
345W
≈
Driver temperature check
Overload check
S oftw a re lim it c he ck
AC servo motor
200W
24 inputs (including dedicated inputs)
24 outputs (including dedicated outputs)
96 inputs
96 outputs
(Recommended 20mA/1 point)
Transistor array: TD62083AF compatible
600W
≈
AC servo motor
400W
96 inputs
96 outputs
*1 Controller unit test
*2 The maximum number of steps that can be compiled per unit is 1999.
*3 96 inputs and 96 outputs are available by connecting an optional expansion unit box.
60W·100W
200W
400W
Page 17
Chapter 1. Setting Up
(2) Type G (2-Axis)
Number of Axes AC60W ·100W x2 AC200W x2 AC400Wx2
Power Voltage AC 117V±10%
Power Frequency 50/60Hz
Power Consumption
Am bient Temperature and Humidity Tem perature 0~40°C, Humidity less than 85% RH
Am bient Environment No corrosive gas, minim al dust
Isolation Resistance 500V 10M
Noise Im munity*1 1500V 1µsec pulse by noise simulator
Unit W eight (kg) 1.2 2.7 3.5
Protective Functions
Motor Capacity
Mem ory Capacity Total 3,000 steps 2,000 positions *2
Number of Programs 64 programs, 16 multi-tasking programs
Memory Device CMOS RAM battery backup
Dedicated Input E xternal start · Emergency stop · Limit switch
Standard I/O
I/O
(DC24V)
Data Input Method Teaching pendant or RS232C comm unications
Expansion I/O
Maximum I/O
(including dedicated I/O)
Comm unications E IA RS 232C Asynchronous, Full duplex
Network SEL NET RS232C network
300W (100W x2)
≈
AC servo motor
60W · 100W x2
Extended I/O : 1 module 24 inputs, 24 outputs
--- 3 3
24 inputs *3
24 outputs
Output maximum load current 100m A/1 point
590W
≈
or more
Ω
Driver temperature check
Overload check
S oftw a re lim it ch e ck
AC servo motor
200Wx2
24 inputs (including dedicated inputs)
24 outputs (including dedicated outputs)
96 inputs
96 outputs
(Recommended 20mA /1 point)
Transistor array: TD62083AF compatible
11 0 0W
≈
AC servo motor
400Wx2
96 inputs
96 outputs
*1 Controller unit test
*2 The maximum number of steps that can be compiled per unit is 1999.
*3 96 inputs and 96 outputs are available by connecting an expansion unit box (option).
60W·100Wx2
200Wx2
Page 18
400Wx2
Chapter 1. Setting Up
(3) Type G (4-Axis)
Number of Axes AC60W ·100W x4 AC200W x4 AC400Wx4
Power Voltage AC 117V±10%
Power Frequency 50/60Hz
Power Consumption
Am bient Temperature and Humidity Tem perature 0~40°C, Humidity less than 85% RH
Am bient Environment No corrosive gas, minim al dust
Isolation Resistance 500V 10M
Noise Im munity*1 1500V 1µsec pulse by noise simulator
Unit W eight (kg) 2.7 3.5 4.7
Protective Functions
Motor Capacity
Mem ory Capacity Total 3,000 steps 2,000 positions *2
Number of Programs 64 programs, 16 multi-tasking programs
Memory Device CMOS RAM battery backup
Dedicated Input E xternal start · Emergency stop · Limit switch
Standard I/O
I/O
(DC24V)
Data Input Method Teaching pendant or RS232C comm unications
Expansion I/O
Maximum I/O
(including dedicated I/O)
Comm unications E IA RS 232C Asynchronous, Full duplex
Network SEL NET RS232C network
600W (100W x4)
≈
AC servo motor
60W · 100W x4
Extended I/O : 1 module 24 inputs, 24 outputs
333
96 inputs
96 outputs
Output maximum load current 100m A/1 point
1080W
≈
or more
Ω
Driver temperature check
Overload check
S oftw a re lim it ch e ck
AC servo motor
200Wx4
24 inputs (including dedicated inputs)
24 outputs (including dedicated outputs)
96 inputs
96 outputs
(Recommended 20mA /1 point)
Transistor array: TD62083AF compatible
2100W
≈
AC servo motor
400Wx4
96 inputs
96 outputs
*1 Controller unit test
*2 The maximum number of steps that can be compiled per unit is 1999.
60W·100Wx4 200Wx4
400Wx4
Page 19
Chapter 1. Setting Up
(4) Type G (8-Axis)
Num ber of Axes A C60W ·100W x8 A C200Wx8
Power Voltage AC 117V±10%
Power Frequency 50/60Hz
Power Consum ption
Am bient Tem perature and Hum idity Temperature 0~40°C, Humidity less than 85%RH
Am bient Environment No corrosive gas, m inimal dust
Isolation Resistance 500V 10M
Noise Imm unity*1 1500V 1µ sec pulse by noise sim ulator
Unit W eight (kg) 4.5 5.7
Protective Functions
Motor Capacity
Mem ory Capacity Total 3,000 steps 2,000 positions *2
Num ber of Programs 64 programs, 16 multi-tasking programs
Memory Device CMOS RAM battery backup
Dedicated Input External start · Em ergency stop · Limit switch
Standard I/O
I/O
(DC24V)
Data Input Method Teaching pendant or RS 232C comm unications
Expansion I/O
Maximum I/O
(including dedicated I/O )
Com munications EIA R S232C Asynchronous, Full duplex
Network SEL N ET RS232C netw ork
1100W (100W x8)
≈
or more
Ω
Driver temperature check
Overload check
S o ftw a re lim it c he c k
AC servo motor
60W · 100W x8
48 inputs (including dedicated inputs)
48 outputs (including dedicated outputs)
Extended I/O : 1 m odule 24 inputs, 24 outputs
10 10
288 inputs
288 outputs
Output m axim um load current 100mA/1 point
(Recomm ended 20mA/1 point)
Transistor array: TD62083AF com patible
AC servo motor
2000W
≈
200W x8
288 inputs
288 outputs
*1 Controller unit test
*2 The maximum number of steps that can be compiled per unit is 1999.
± A 12-slot expansion unit is available as an option (please see P. 61).
60W·100Wx8
200Wx8
Page 20
Chapter 1. Setting Up
2. DC Specifications
(1) Type E (1 Axis)
Num ber of Axes DC 20W~100W x1 DC 200Wx1
Power Voltage AC 117V±10%
Power Frequency 50/60Hz
Power Consum ption
Am bient Tem perature and Hum idity Temperature 0~40°C, Humidity less than 85%RH
Am bient Environment No corrosive gas, m inimal dust
Isolation Resistance 500V 10M
Noise Imm unity*1 1500V 1µ sec pulse by noise sim ulator
Unit W eight (kg) 1.2 2.5
Protective Functions
Motor Capacity
Mem ory Capacity Total 3,000 steps 2,000 positions *2
Num ber of Programs 64 programs, 16 multi-tasking programs
Memory Device CMOS RAM battery backup
Dedicated Input External start · Em ergency stop · Limit switch
Standard I/O
I/O
(DC24V)
Data Input Method Teaching pendant or RS 232C comm unications
Expansion I/O
Maximum I/O
(including dedicated I/O )
Com munications EIA R S232C Asynchronous, Full duplex
Network SEL N ET RS232C netw ork
*1 Controller unit test
*2 The maximum number of steps that can be compiled per unit is 1999.
*3 96 inputs and 96 outputs are available by connecting an expansion unit box (option).
210W (100W x1)
≈
or more
Ω
Driver temperature check
Overload check
S o ftw a re lim it c he c k
DC servo motor
20~100W
24 inputs (including dedicated inputs)
24 outputs (including dedicated outputs)
Extended I/O : 1 m odule 24 inputs, 24 outputs
--- 3
24 inputs *3
24 outputs
Output m axim um load current 100mA/1 point
(Recomm ended 20mA/1 point)
Transistor array: TD62083AF com patible
DC servo motor
370W
≈
200W
96 inputs
96 outputs
20W~100W
200W
Page 21
Chapter 1. Setting Up
(2) Type G (2-Axis)
Num ber of Axes DC 20W~100W x2 DC 200Wx2
Power Voltage AC 117V±10%
Power Frequency 50/60Hz
Power Consum ption
Am bient Tem perature and Hum idity Temperature 0~40°C, Humidity less than 85%RH
Am bient Environment No corrosive gas, m inimal dust
Isolation Resistance 500V 10M
Noise Imm unity*1 1500V 1µ sec pulse by noise sim ulator
Unit W eight (kg) 1.2 2.7
Protective Functions
Motor Capacity
Mem ory Capacity Total 3,000 steps 2,000 positions *2
Num ber of Programs 64 programs, 16 multi-tasking programs
Memory Device CMOS RAM battery backup
Dedicated Input External start · Em ergency stop · Limit switch
Standard I/O
I/O
(DC24V)
Data Input Method Teaching pendant or RS 232C comm unications
Expansion I/O
Maximum I/O
(including dedicated I/O )
Com munications EIA R S232C Asynchronous, Full duplex
Network SEL N ET RS232C netw ork
370W (100W x2)
≈
or more
Ω
Driver temperature check
Overload check
S o ftw a re lim it c he c k
DC servo motor
20~100W x2
24 inputs (including dedicated inputs)
24 outputs (including dedicated outputs)
Extended I/O : 1 m odule 24 inputs, 24 outputs
--- 3
24 inputs *3
24 outputs
Output m axim um load current 100mA/1 point
(Recomm ended 20mA/1 point)
Transistor array: TD62083AF com patible
DC servo motor
640W
≈
200W x2
96 inputs
96 outputs
*1 Controller unit test
*2 The maximum number of steps that can be compiled per unit is 1999.
*3 96 inputs and 96 outputs are available by connecting an expansion unit box (option).
20W~100W
200W
Page 22
Chapter 1. Setting Up
(3) Type G (4-Axis)
Num ber of Axes DC 20W~100W x4 DC 200Wx4
Power Voltage AC 117V±10%
Power Frequency 50/60Hz
Power Consum ption
Am bient Tem perature and Hum idity Temperature 0~40°C, Humidity less than 85%RH
Am bient Environment No corrosive gas, m inimal dust
Isolation Resistance 500V 10M
Noise Imm unity*1 1500V 1µ sec pulse by noise sim ulator
Unit W eight (kg) 2.7 3.5
Protective Functions
Motor Capacity
Mem ory Capacity Total 3,000 steps 2,000 positions *2
Num ber of Programs 64 programs, 16 multi-tasking programs
Memory Device CMOS RAM battery backup
Dedicated Input External start · Em ergency stop · Limit switch
Standard I/O
I/O
(DC24V)
Data Input Method Teaching pendant or RS 232C comm unications
Expansion I/O
Maximum I/O
(including dedicated I/O )
Com munications EIA R S232C Asynchronous, Full duplex
Network SEL N ET RS232C netw ork
740W (100W x4)
≈
or more
Ω
Driver temperature check
Overload check
S o ftw a re lim it c he c k
DC servo motor
20~100W x4
24 inputs (including dedicated inputs)
24 outputs (including dedicated outputs)
Extended I/O : 1 m odule 24 inputs, 24 outputs
33
96 inputs
96 outputs
Output m axim um load current 100mA/1 point
(Recomm ended 20mA/1 point)
Transistor array: TD62083AF com patible
DC servo motor
11 80 W
≈
200W x4
96 inputs
96 outputs
*1 Controller unit test
*2 The maximum number of steps that can be compiled per unit is 1999.
20W~100Wx4 200Wx4
Page 23
Chapter 1. Setting Up
(4) Type G (8-Axis)
Num ber of Axes DC 20W~100W x8 DC 200Wx8
Power Voltage AC 117V±10%
Power Frequency 50/60Hz
Power Consum ption
Am bient Tem perature and Hum idity Temperature 0~40°C, Humidity less than 85%RH
Am bient Environment No corrosive gas, m inimal dust
Isolation Resistance 500V 10M
Noise Imm unity*1 1500V 1µ sec pulse by noise sim ulator
Unit W eight (kg) 4.5 5.7
Protective Functions
Motor Capacity
Mem ory Capacity Total 3,000 steps 2,000 positions *2
Num ber of Programs 64 programs, 16 multi-tasking programs
Memory Device CMOS RAM battery backup
Dedicated Input External start · Em ergency stop · Limit switch
Standard I/O
I/O
(DC24V)
Data Input Method Teaching pendant or RS 232C comm unications
Expansion I/O
Maximum I/O
(including dedicated I/O )
Com munications EIA R S232C Asynchronous, Full duplex
Network SEL N ET RS232C netw ork
1380W (100W x8)
≈
or more
Ω
Driver temperature check
Overload check
S o ftw a re lim it c he c k
DC servo motor
20~100W x8
48 inputs (including dedicated inputs)
48 outputs (including dedicated outputs)
Extended I/O : 1 m odule 24 inputs, 24 outputs
10 10
288 inputs
288 outputs
Output m axim um load current 100mA/1 point
(Recomm ended 20mA/1 point)
Transistor array: TD62083AF com patible
DC servo motor
2260W
≈
200W x8
288 inputs
288 outputs
*1 Controller unit test
*2 The maximum number of steps that can be compiled per unit is 1999.
± A 12-slot expansion unit is available as an option (please see P. 61).
20W~100Wx8
200Wx8
Page 24
Chapter 1. Setting Up
3. External I/O Specifications
(1) Input
Input Specifications
Dedicated Input...4 Points
Point
Power Voltage DC24V +/-20%
Current 7mA/DC24V
ON/OFF Power Voltage ON....Min DC16.0V OFF....Max DC5.0V
ON/OFF Response Time ON....Max 20m sec OFF....Max 20m sec
Isolation Method Photocoupler
Internal Circuit
User Input....20 Points
Expansion Input (Option)....Max 72 Points
External power
Internal
Circuit
Each input
1) The power must be supplied externally for the standard I/O board and the expansion I/O board.
2) For the external circuit connection (no contact point), the leakage per 1point must be kept lower than 1mA when the
switch is OFF.
Guaranteed operation width of the Super SEL Controller input signal
Time Width while ON
30msec
Time Width while OFF
30msec
Generally, the input signal operates within 25msec but the guaranteed operation width is 30msec.
Page 25
Chapter 1. Setting Up
(2) Output
Output Point
Rated Power DC24V
Maximum Load Current 100m A/1point
Recom mended Load Current 20mA /1 point
Leakage 0.1mA (maximum )
Residual Voltage 3.1V/40m A (maximum)
Insulation Method Photocoupler
Internal Circuit
Specifications
Dedicated output.....2 points
User output.....22 points
Expansion output (option).....m aximum 72 points
External power
Each output
The power must be supplied externally for the standard I/O board and the expansion I/O board.
*You will damage the output element if you overload or underload it.
4. Servo
Specifications
Control Method Semi-closed loop control
Position Feedback Rotary encoder A · B · Z phase
Internal
Circuit
Repeatability ± 2 pulses
Velocity 1m/sec ~ 1500m/sec *
Acceleration 0.01G ~ 1G
*Max velocity differs depending on actuator specifications.
Page 26
Chapter 1. Setting Up
5. Precautions When Using the Emergency Stop
As a rule, emergency stops should only be applied from the I/O.
Do not turn the power (AC117V) ON/OFF to effect an emergency stop.
If you stop the actuator by turning the power OFF, wait at least 15 seconds before turning the power ON again. If you
disregard this warning, and repeatedly turn the power ON/OFF without waiting a sufficient amount of time, you may damage
the controller.
6. Restarting the Controller After an Emergency Stop (refer to part 3, 1-4 "Emergency Stop Release" for details)
The Super SEL controller and Table Top type (TT-300) both use a "hard reset" to restart after an emergency stop. The
operation is nearly the same as turning the power OFF/ON. (Homing is required).
(1) Emergency Stop from the teaching pendant
Press EMERGENCY STOP on the teaching pendant. Continue pressing and the screen will display the following.
T eaching pendant display
EMG STOP.
ReStart (Flashing dis play)
F1 F2 F3 F4
Controller code display
EG
(A red *ALARM lamp lights up)
Take your finger off the EMERGENCY STOP button to do a hard reset and the following screen appears.
T eaching pendant display
EMG STOP.
ReStart (Flashing dis play)
F1 F2 F3 F4
Controller code display
rd
(A green *READY lamp lights up)
If you press the F1 key (ReStart) on the teaching pendant, the initial screen reappears.
T eaching pendant display
IA.S u p e r.SE L
Teach v1.00 07/18/94
Start (Flashing display)
Controller code display
rd
(A green *READY lamp lights up)
F1 F2 F3 F4
(2) Pressing the controller emergency stop button or an emergency stop condition caused by an external signal
When the emergency stop is released after pressing the emergency stop button on the controller front panel, you must
follow the same procedure as described above or the teaching pendant will not reset (you cannot operate the teaching
box if the code display on the controller front panel reads EG .
! Warning
If you are using the Auto Start PRG in the system program parameter mode, always write the program so that movement will not resume unless there is some kind of input condition. This is to avoid sudden startup of movement
because of the automatic start program right after the emergency stop is released.
Page 27
Chapter 1. Setting Up
Part 7 System Setup
1. Connecting the IA Controller and Actuator
* Since Type E and T ype G Controllers are designed to be mounted
inside of a control panel, no plug is provided for the power cable
on the other end of the controller.
*Power Cable·Terminal
No. C olor S ignal
1 Black AC117V
2--- --3 W hite AC117V
4--- --5GreenFG
Teaching Pendant
Connect controller and actuator cables. Use only IA supplied cables. These cables include:
a. Motor cable
b. Encoder cable
c. Teaching pendant cable
d. Brake cable (optional)
e. Limit switch cable (optional)
Connect the power cord.
The CODE display shows in sequence. The Super SEL controller is ready to operate.
If the CODE display is release the Emergency Stop input.
Note: The Emergency Stop is normally closed (b contact point input). In order to release the emergency stop, short the jumper
post (ST1) at the bottom of the controller CPU UNIT or CPU SERVO UNIT with the jumper pin. Refer to Supplement
6 for the actual procedure.
Page 28
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