IAI America S-SEL-E User Manual

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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

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

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

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

24V

AC 117V

SOL

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

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

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

(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

(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

(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

Chapter 1. Setting Up

2. Interface List

I/O Connector (NPN-Sinking)

Pin No. Category Port No. Function Cable

1A P24 --- 1-Brown 1B 2A 001 User Input 1-Orange 2B 002 Emergency Stop b Contact Input * 1-Yellow 3A 003 SystemReserve 1-Green 3B 004 SystemReserve 1-Blue 4A 005 User Input 1-Purple 4B 006 User Input 1-Gray 5A 007 User Input 1-White 5B 008 PRG No. 1 (User Input) 1-Black 6A 009 PRG No. 2 (User Input) 2-Brown 6B 010 PRG No. 4 (User Input) 2-Red 7A 011 PRG No. 8 (User Input) 2-Orange 7B 012 PRG No. 10 (User Input) 2-Yellow 8A 013 PRG No. 20 (User Input) 2-Green 8B 014 PRG No. 40 (User Input) 2-Blue 9A 015 User Input 2-Purple 9B 016 User Input 2-Gray

10A 017 User Input 2-White 10B 018 User Input 2-Black 11A 019 User Input 3-Brown 11B 020 User Input 3-Red 12A 021 User Input 3-Orange 12B 022 User Input 3-Yellow 13A 023 User Input 3-Green 13B 14A 30 1 Ready Output 3-Purple 14B 302 User Output 3-Gray 15A 303 User Output 3-White 15B 304 User Output 3-Black 16A 305 User Output 4-Brown 16B 306 User Output 4-Red 17A 30 7 User Output 4-Orange 17B 308 User Output 4-Yellow 18A 309 User Output 4-Green 18B 310 User Output 4-Blue 19A 311 User Output 4-Purple 19B 312 User Output 4-Gray 20A 313 User Output 4-White 20B 314 User Output 4-Black 21A 315 User Output 5-Brown 21B 316 User Output 5-Red 22A 31 7 User Output 5-Orange 22B 318 User Output 5-Yellow 23A 319 User Output 5-Green 23B 320 User Output 5-Blue 24A 321 User Output 5-Purple 24B 322 User Output 5-Gray 25A 323 User Output 5-White 25B N24 --- 5-Black

Input

Output

000 External Start Input 1-Red

300 Em ergency Stop /Alarm Outp ut 3-Blue

* Emergency Stop (normally

closed). T o release the emergency stop, short circuit the jumper post with a jumper pin or connect pin 2B and pin 25B. Refer to Supplement 6.

* Pin No.3A (Port No.003) and Pin

No.3B (Port No.004) cannot be used as user input.

* Connector:

Sumitomo 3M7950-6500SC or Yamaichi F AP-5001-1202

Page 29

Chapter 1. Setting UpChapter 1. Setting Up

Caution ! NPN I/O wirings and PNP wirings are DIFFERENT

3. I/O Wiring Diagram

Standard I/O (NPN - Sinking)

Pin No. Category Port No. Functio n

1A P24 --1B 2A 001 User Input 2B 002 Emergency Stop b Contact Input * 3A 003 S ystemR eserve 3B 004 S ystemR eserve 4A 005 User Input 4B 006 User Input 5A 007 User Input 5B 008 P RG N o. 1 (User Input) 6A 009 P RG N o. 2 (User Input) 6B 010 P RG N o. 4 (User Input) 7A 011 P RG N o. 8 (User Input) 7B 012 PRG No. 10 (User Input) 8A 013 PRG No. 20 (User Input) 8B 014 PRG No. 40 (User Input) 9A 015 User Input

9B 016 User Input 10A 017 User Input 10B 018 User Input 11A 019 User Input 11B 030 User Input 12A 021 User Input 12B 022 User Input 13A 023 User Input 13B 14A 301 Ready Output 14B 302 User Output 15A 303 User Output 15B 304 User Output 16A 305 User Output 16B 306 User Output 17A 307 User Output 17B 308 User Output 18A 309 User Output 18B 310 User Output 19A 311 User Output 19B 312 User Output 20A 313 User Output 20B 314 User Output 21A 315 User Output 21B 316 User Output 22A 317 User Output 22B 318 User Output 23A 319 User Output 23B 320 User Output 24A 321 User Output 24B 322 User Output 25A 323 User Output 25B N24 ---

Input

Output

000 External Start Input

300 Em ergency Stop/Alarm O utput

External 24V power

∆

P24 0

•

Digital SW

•

∆

•

Note:The same cable colors

are used for the standard cables and the expansion cables.

*Standard I/O Pin No.3A

(Port No.003), and Pin No.3B(Port No.004) cannot be used as user puts.

•

in-

Page 30

Chapter 1. Setting Up

Expansion I/O * (NPN - Sinking)

Pin No. Category Port No. Function

1A P24 External Power Supply +24V Input 1B 2A 025 User Input 2B 026 User Input 3A 027 User Input 3B 028 User Input 4A 029 User Input 4B 030 User Input 5A 031 User Input 5B 032 User Input 6A 033 User Input 6B 034 User Input 7A 035 User Input 7B 036 User Input 8A 037 User Input 8B 038 User Input 9A 039 User Input

9B 040 User Input 10A 041 User Input 10B 042 User Input

11A 043 User Input

11B 044 User Input 12A 045 User Input 12B 046 User Input 13A 047 User Input 13B 14A 325 User Output 14B 326 User Output 15A 327 User Output 15B 328 User Output 16A 329 User Output 16B 330 User Output 17A 331 User Output 17B 332 User Output 18A 333 User Output 18B 334 User Output 19A 335 User Output 19B 336 User Output 20A 337 User Output 20B 338 User Output 21A 339 User Output 21B 340 User Output 22A 341 User Output 22B 342 User Output 23A 343 User Output 23B 344 User Output 24A 345 User Output 24B 346 User Output 25A 347 User Output 25B N24 E xternal Pow er Supply 0V

* This is the first expansion I/O. In the second expansion I/O,

the port numbers continue on from these numbers.

Input

Output

024 User Input

324 User Output

External 24V power

P24 0

•

Page 31

Chapter 1. Setting Up

4. Interface List (PNP Sourcing)

Pin No. Category Port No. Function C able Color

1A N24 External power 0V 1-Brown 1B 2A 001 User input 1-Orange 2B 002 E mergency Stop b contact input *1 1-Yellow 3A 003 System reserve 1-Green 3B 004 System reserve 1-Blue 4A 005 User input 1-Purple 4B 006 User input 1-Gray 5A 007 User input 1-W hite 5B 008 P RG No. 1 (user input) 1-Black 6A 009 P RG No. 2 (user input) 1-Brown 6B 010 P RG No. 4 (user input) 2-Red 7A 011 PRG No. 8 (user input) 2-Orange 7B 012 PRG N o. 10 (user input) 2-Yellow 8A 013 PRG N o. 20 (user input) 2-Green 8B 014 PRG N o. 40 (user input) 2-Blue 9A 015 User input 2-Purple

9B 016 User input 2-Gray 10A 017 User input 2-White 10B 018 User input 2-Black 11A 019 User input 3-Brown 11B 020 User input 3-Red 12A 021 User input 3-Orange 12B 022 User input 3-Yellow 13A 023 User input 3-Green 13B 14A 301 Ready output 3-Purple 14B 302 Use r output 3-Gray 15A 303 Use r output 3-White 15B 304 Use r output 3-Black 16A 305 Use r output 4-Brown 16B 306 Use r output 4-Red 17A 307 Use r output 4-Orange 17B 308 Use r output 4-Yellow 18A 309 Use r output 4-Green 18B 310 Use r output 4-Blue 19A 311 Use r output 4-Purple 19B 312 Use r output 4-Gray 20A 313 Use r output 4-White 20B 314 Use r output 4-Black 21A 315 Use r output 5-Brown 21B 316 Use r output 5-Red 22A 317 Use r output 5-Orange 22B 318 Use r output 5-Yellow 23A 319 Use r output 5-Green 23B 320 Use r output 5-Blue 24A 321 Use r output 5-Purple 24B 322 Use r output 5-Gray 25A 323 Use r output 5-White 25B P24 External power +24V 5-Black

Input

Output

000 External start input 1-Red

300 Emergency stop/Alarm output 3-Blue

Emergency Stop is a b-contact in-

put (normally closed). To release the emergency stop, short circuit the jumper post with the jumper pin. Refer to Supplement 7. Pin No.3A (Port No.003), and Pin

No.3B (Port No.004) cannot be used as user inputs. Connector: Sumitomo 3M 7950-

6500SC or Yamaichi FAP-5001-

1202.

Page 29-A

Chapter 1. Setting Up

5. Wiring Diagram

Pin No. Category Port No. Function Cable Color

1A N24 External power 0V 1-Brown 1B 2A 001 User input 1-Orange 2B 002 Emergency Stop b contact input 1-Yellow 3A 00 3 Sy stem re serv e 1-G reen 3B 004 System reserve 1-Blue 4A 005 User input 1-Purple 4B 006 User input 1-Gray 5A 007 User input 1-W hite 5B 008 PRG No. 1 (user input) 1-Black 6A 009 PRG No. 2 (user input) 1-Brown 6B 010 PRG No. 4 (user input) 2-Red 7A 011 PR G No. 8 (user input) 2-Orange 7B 012 PRG No . 10 (user input) 2-Yellow 8A 013 PR G No. 20 (user input) 2-Green 8B 014 PR G No. 40 (user input) 2-Blue 9A 015 User input 2-Purple

9B 016 User input 2-Gray 10A 017 User input 2-White 10B 018 User input 2-Black

11A 019 User input 3-Brown

11B 020 User input 3-Red 12A 021 User input 3-Orange 12B 022 User input 3-Yellow 13A 023 User input 3-Green 13B 14A 301 Ready output 3-Purple 14B 302 U ser output 3-Gray 15A 303 U ser output 3-White 15B 304 U ser output 3-Black 16A 305 U ser output 4-Brown 16B 306 U ser output 4-Re d 17A 307 U ser output 4-Orange 17B 308 U ser output 4-Yellow 18A 309 U ser output 4-Green 18B 310 U ser output 4-Blue 19A 311 U ser output 4-Purple 19B 312 U ser output 4-Gray 20A 313 U ser output 4-White 20B 314 U ser output 4-Black 21A 315 U ser output 5-Brown 21B 316 U ser output 5-Re d 22A 317 U ser output 5-Orange 22B 318 U ser output 5-Yellow 23A 319 U ser output 5-Green 23B 320 U ser output 5-Blue 24A 321 U ser output 5-Purple 24B 322 U ser output 5-Gray 25A 323 U ser output 5-White 25B P24 External power +24V 5-Black

Note: The same cable colors are used for the standard cables and the expansion cables.

Inp ut

Output

000 External start input 1-Red

300 Emergency stop/Alarm output 3-Blue

Standard I/O (PNP - Sourcing)

*Standard I/O Pin No.3A (Port No.003), and Pin No.3B(Port No.004) cannot be used as user inputs.

∇

BCD SW

∇

P24 0

NOTE:

•

For the SEL EU controller, if the motor/encoder cables are not connected to the controller, the controller will be in a permanent emergency stop condition (even if the Estop input is jumpered to 24VDC for a PNP I/O board).

•

Page 30-A

Chapter 1. Setting Up

I/O Expansion * (PNP-Sourcing)

Pin No. Category Port No. Function Cable Color

1A N24 External power 0V 1-Brown 1B 2A 025 User input 1-Orange 2B 026 User input 1-Yellow 3A 027 User input 1-Green 3B 028 User input 1-Blue 4A 029 User input 1-Purple 4B 030 User input 1-Gray 5A 031 User input 1-White 5B 032 User input 1-Black 6A 033 User input 1-Brown 6B 034 User input 2-Red 7A 035 User input 2-Orange 7B 036 User input 2-Yellow 8A 037 User input 2-Green 8B 038 User input 2-Blue 9A 039 User input 2-Purple

9B 040 User input 2-Gray 10A 041 User input 2-White 10B 042 User input 2-Black 11A 043 User input 3-Brown 11B 044 User input 3-Red 12A 045 User input 3-Orange 12B 046 User input 3-Yellow 13A 047 User input 3-Green 13B 14A 325 User output 3-Purple 14B 326 User output 3-Gray 15A 327 User output 3-White 15B 328 User output 3-Black 16A 329 User output 4-Brown 16B 330 User output 4-Red 17A 331 User output 4-Orange 17B 332 User output 4-Yellow 18A 333 User output 4-Green 18B 334 User output 4-Blue 19A 335 User output 4-Purple 19B 336 User output 4-Gray 20A 337 User output 4-White 20B 338 User output 4-Black 21A 339 User output 5-Brown 21B 340 User output 5-Red 22A 341 User output 5-Orange 22B 342 User output 5-Yellow 23A 343 User output 5-Green 23B 344 User output 5-Blue 24A 345 User output 5-Purple 24B 346 User output 5-Gray 25A 347 User output 5-White 25B P24 External power +24V 5-Black

* This is the first expansion I/O. In the second expansion I/O,

the port numbers continue on from these numbers.

Inpu t

Output

024 User input 1-Red

324 User output 3-Blue

Page 31-A

•

∇

•

P24 0

•

Chapter 1. Setting Up

DC24V Electromagnetic Valve Wiring Precautions (Example)

Super SEL I/O Unit

24V Switching Power

Cable size

0.75° or greater

Output Relay Circuit

Separate

Wiring should be a separate system

Large Voltage Electromagnetic V alve Circuit

In a situation where the I/O unit drives the relay and the relay drives the electromagnetic valve, separate the output relay circuit and the large voltage electromagnetic valve circuit as shown in the diagram above.

Page 32

Chapter 1. Setting Up

4. Teaching/RS232C Connector (D-Sub 25 DTE Special *)

Pin No. Signal

1 FG 2 TXD 3 RXD 4 (RTS) 5 (CTS) 6 DSR 7 SG 8 NC

9 NC 10 NC 11 NC 12 NC 13 NC

Pin No. Signal

14 NC 15 NC 16 NC 17 NC 18 +6.2V Output 19 NC 20 DTR 21 NC 22 NC

Emergency Stop

Switch (EMG.SW) 24 NC 25 0V (+6.2V)

* Pin numbers 18, 23, and 25 are for use with the teaching pendant signal. Do not connect these pins.

• Pin numbers 4 and 5 are short-circuited.

nRS232C Cable

Use RS232C cable pin configuration (between controller and computer serial port)

RS232C Adapter

(25 Pin Male)

Shield

Earth

TXD

RXD

RTS

CTS

DSR

GND

DTR

IBM PC

(9 Pin Female)

Earth

RXD

TXD

DTR

GND

DSR

RTS

CTS

RS232C Adapter

(25 Pin Male)

Earth

TXD

RXD

RTS

CTS

DSR

GND

DTR

IBM PC

(25 Pin Female)

Earth

TXD

RXD

RTS

CTS

DSR

GND

DTR

Page 33

Chapter 1. Setting Up

5. Connector Pin Assignment

The bottom view of the Super SEL Type E/G on the left shows the placement of the connectors. Please refer to Page 29 and 31 for the I/O connector and the I/O wiring (including the I/O expansion).

The connector pin assignment for the other parts are shown below.

(1) AC100W 2-Axis specifications

 Power Supply Connector

Pin No. Signal

1AC117V 3AC117V 5FG

Nippon Molex 53265-0320 (3P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 3 Terminal

 LS Connector (Option)

Pin No. Signal

1P24V 2N 3XLS 4YLS 5 E MG stop contact point input*

* The Emergency Stop is normally open.

 BK Connector (Option)

Pin No. Signal

160V 2GD 3 XBK 4 YBK

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1U 2V 3W 4NC 5FG 6 PV5 7GD 8A

9A 10 B 11 B 12 Z 13 Z 14 FG

X (1) Axis

Nippon Molex 53258-0520 (5P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 5 Terminal

Nippon Molex 53258-0420 (4P) (Body side)

51067-0500 Housing (4P) 50217-8100 x 4 Terminal

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Page 34

Chapter 1. Setting Up

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1U 2V 3W 4NC 5FG 6 PV5 7GD 8A 9A

10 B

11 B 12 Z 13 Z 14 FG

 SEL NET SND Connector (Option)

Pin No. Signal

1NC 2NC 3RD 4TD 5GD 6FG

Y (2) Axis

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Nippon Molex 53259-0620 (6P) (Body side)

51067-0600 Housing (6P) 50217-8100 x 6 Terminal

 SEL NET RCV Connector (Option)

Pin No. Signal

1NC 2NC 3RD 4TD 5GD 6FG

Nippon Molex 53259-0620 (6P) (Body side)

51067-0600 Housing (6P) 50217-8100 x 6 Terminal

Page 35

Chapter 1. Setting Up

(2) AC100W 4-Axis specifications

 Power Supply Connector

Pin No. Signal

1AC117V 3AC117V 5FG

Nippon Molex 53265-0320 (3P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 3 Terminal

 LS Connector (Option)

Pin No. Signal

1P24V 2N 3XLS 4YLS 5 EM G stop contact point input*

* The Emergency Stop is normally open.

 LS Connector (Option)

Pin No. Signal

1P24V 2N 3ZLS 4 5 EM G stop contact point input*

* The Emergency Stop is normally open.

 BK Connector (Option)

Pin No. Signal

1 60V 2GD 3 XBK 4 YBK

Nippon Molex 53258-0520 (5P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 5 Terminal

Nippon Molex 53258-0520 (5P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 5 Terminal

Nippon Molex 53258-0420 (4P) (Body side)

51067-0400 Housing (4P) 50217-8100 x 4 Terminal

Page 36

Chapter 1. Setting Up

 BK Connector (Option)

Pin No. Signal

160V 2GD 3 XBK 4

 M·PG Connector (Motor/Encoder Signal)

Nippon Molex 53258-0420 (4P) (Body side)

51067-0400 Housing (4P) 50217-8100 x 4 Terminal

Pin No. Signal

1U 2V 3W 4NC 5FG 6 PV5 7GD 8A 9A

10 B

11 B 12 Z 13 Z 14 FG

X (1) Axis

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1U 2V 3W 4NC 5FG 6 PV5 7GD 8A

9A 10 B 11 B 12 Z 13 Z 14 FG

Y (2) Axis

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Page 37

Chapter 1. Setting Up

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1U 2V 3W 4NC 5FG 6 PV5 7GD 8A 9A

10 B

11 B 12 Z 13 Z 14 FG

Z (3) Axis

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1U 2V 3W 4NC 5FG 6 PV5 7GD 8A

9A 10 B 11 B 12 Z 13 Z 14 FG

θ (4) Axis

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Page 38

Chapter 1. Setting Up

(3) AC200W 2-Axis specifications

 Power Supply Connector

Pin No. Signal

1AC117V 3AC117V 5FG

Nippon Molex 53265-0320 (3P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 3 Terminal

 LS Connector (Option)

Pin No. Signal

1P24V 2N 3XLS 4YLS 5 EM G stop contact point input*

* The Emergency Stop is normally open.

 BK Connector (Option)

Pin No. Signal

160V 2GD 3 XBK 4 YBK

Nippon Molex 53258-0520 (5P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 5 Terminal

Nippon Molex 53258-0420 (4P) (Body side)

51067-0400 Housing (4P) 50217-8100 x 4 Terminal

Page 39

Chapter 1. Setting Up

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1U 2V 3W 4NC 5FG 6 PV5 7GD 8A

9A 10 B 11 B 12 Z 13 Z 14 FG

X (1) Axis

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1U 2V 3W 4NC 5FG 6 PV5 7GD 8A

9A 10 B 11 B 12 Z 13 Z 14 FG

Y (2) Axis

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Page 40

Chapter 1. Setting Up

(4) AC400W 1-Axis specifications

 Power Supply Connector

Pin No. Signal

1AC117V 3AC117V 5FG

 LS Connector (Option)

Pin No. Signal

1P24V 2N 3XLS 4YLS 5 EM G stop contact point input*

* The Emergency Stop is normally open.

Nippon Molex 53265-0320 (3P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 3 Terminal

Nippon Molex 53258-0520 (5P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 5 Terminal

 BK Connector (Option)

Pin No. Signal

160V 2GD 3 XBK 4 YBK

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1U 2V 3W 4NC 5FG 6 PV5 7GD 8A

9A 10 B 11 B 12 Z 13 Z 14 FG

X (1) Axis

Nippon Molex 53258-0420 (4P) (Body side)

51067-0400 Housing (4P) 50217-8100 x 4 Terminal

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Page 41

Chapter 1. Setting Up

(5) DC100W 2-Axis specifications

 Power Supply Connector

Pin No. Signal

1AC117V 3AC117V 5FG

 LS Connector (Option)

Pin No. Signal

1P24V 2N 3XLS 4YLS 5 EM G stop contact point inpu t*

* The Emergency Stop is normally open.

Nippon Molex 53265-0320 (3P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 3 Terminal

Nippon Molex 53258-0520 (5P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 5 Terminal

 BK Connector (Option)

Pin No. Signal

160V 2GD 3 XBK 4 YBK

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1MB 2MB 3MA 4MA 5FG 6 PV5 7GND 8A

9AGND 10 B 11 BGND 12 Z 13 ZGND 14 FG

X (1) Axis

Nippon Molex 53258-0420 (4P) (Body side)

51067-0500 Housing (4P) 50217-8100 x 4 Terminal

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Page 42

Chapter 1. Setting Up

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1MB 2NC 3NC 4MA 5FG 6 PV5 7GD 8A 9AGND

10 B

11 BGND 12 Z 13 ZGND 14 FG

Y (2) Axis

 SEL NET SND Connector (Option)

Pin No. Signal

1NC 2NC 3RD 4TD 5GD 6FG

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Nippon Molex 53259-0620 (6P) (Body side)

51067-0600 Housing (6P) 50217-8100 x 6 Terminal

 SEL NET RCV Connector (Option)

Pin No. Signal

1NC 2NC 3RD 4TD 5GD 6FG

Nippon Molex 53259-0620 (6P) (Body side)

51067-0600 Housing (6P) 50217-8100 x 6 Terminal

Page 43

Chapter 1. Setting Up

(6) DC100W 4-Axis specifications

 Power Supply Connector

Pin No. Signal

1AC117V 3AC117V 5FG

Nippon Molex 53265-0320 (3P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 3 Terminal

 LS Connector (Option)

Pin No. Signal

1P24V 2N 3XLS 4YLS 5 EM G stop contact point input*

* The Emergency Stop is normally open.

 LS Connector (Option)

Pin No. Signal

1P24V 2N 3ZLS 4 5 EM G stop contact point input*

* The Emergency Stop is normally open.

 BK Connector (Option)

Pin No. Signal

1 60V 2GD 3 XBK 4 YBK

Nippon Molex 53258-0520 (5P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 5 Terminal

Nippon Molex 53258-0520 (5P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 5 Terminal

Nippon Molex 53258-0420 (4P) (Body side)

51067-0400 Housing (4P) 50217-8100 x 4 Terminal

Page 44

Chapter 1. Setting Up

 BK Connector (Option)

Pin No. Signal

160V 2GD 3ZBK 4

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1MB 2NC 3NC 4MA 5FG 6 PV5 7GD 8A

9AGND 10 B 11 BGND 12 Z 13 ZGND 14 FG

X (1) Axis

Nippon Molex 53258-0420 (4P) (Body side)

51067-0400 Housing (4P) 50217-8100 x 4 Terminal

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1MB 2NC 3NC 4MA 5FG 6 PV5 7GD 8A 9AGND

10 B

11 BGND 12 Z 13 ZGND 14 FG

Y (2) Axis

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Page 45

Chapter 1. Setting Up

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1MB 2NC 3NC 4MA 5FG 6 PV5 7GD 8A

9AGND 10 B 11 BGND 12 Z 13 ZGND 14 FG

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1MB 2NC 3NC 4MA 5FG 6 PV5 7GD 8A

9AGND 10 B 11 BGND 12 Z 13 ZGND 14 FG

Z (3) Axis

θ (4) Axis

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Page 46

Chapter 1. Setting Up

(7) DC200W 2-Axis specifications

 Power Supply Connector

Pin No. Signal

1AC117V 3AC117V 5FG

Nippon Molex 53265-0320 (3P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 3 Terminal

 LS Connector (Option)

Pin No. Signal

1P24V 2N 3XLS 4YLS 5 EM G stop contact point input*

* The Emergency Stop is normally open.

 BK Connector (Option)

Pin No. Signal

160V 2GD 3 XBK 4 YBK

Nippon Molex 53258-0520 (5P) (Body side)

51067-0500 Housing (5P) 50217-8100 x 5 Terminal

Nippon Molex 53258-0420 (4P) (Body side)

51067-0400 Housing (4P) 50217-8100 x 4 Terminal

Page 47

Chapter 1. Setting Up

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1MB 2NC 3NC 4MA 5FG 6 PV5 7GD 8A

9AGND 10 B 11 BGND 12 Z 13 ZGND 14 FG

 M·PG Connector (Motor/Encoder Signal)

Pin No. Signal

1MB 2NC 3NC 4MA 5FG 6 PV5 7GD 8A

9AGND 10 B 11 BGND 12 Z 13 ZGND 14 FG

X (1) Axis

Y (2) Axis

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Nippon Molex 53258-1420 (14P) (Body side)

51067-1400 Housing (14P) 50217-8100 x 14 Terminal

Page 48

Chapter 1. Setting Up

6. Controller Dimensions

Type E (Single Axis)

AC 60W • 100W DC 20W ~ 100W

Type G (2 Axis)

AC 60W • 100W x 2 DC 20W ~ 100W x 2

Front View Side View

Type E (Single Axis) + Expansion Unit Box (Option)

AC 60W • 100W DC 20W ~ 100W

Type G (2 Axis) + Expansion Unit Box (Option)

AC 60W • 100W x 2 DC 20W ~ 100W x 2

Front View Side View

Page 49

Chapter 1. Setting Up

Type E (Single Axis)

AC 200W AC 400W DC 200W

Type G (2 Axis)

AC 200W x 2 DC 200W x 2

Type G (4 Axis)

AC 60W • 100W x 4 DC 20W ~ 100W x 4

Front View Side View

Type G (2 Axis)

AC 400W

Type G (2 Axis)

AC 200W x 4 DC 200W x 4

Front View Side View

Page 50

Chapter 1. Setting Up

Type G (4 Axis)

AC 400W x 4

Front View Side View

Type G (8 Axis)

AC 60W • 100W x 4 DC 20W ~ 100W x

Type G (8 Axis)

AC 200W x 8 DC 200W x 8

Front View Side View

Page 51

Chapter 1. Setting Up

7. Unit Configurations

1 Servo Driver Units: Basic Modules Module 1 - Both CPU and servo driver in a single unit. Representative of 1 or 2-axis Type-E and Type-G controllers with

100W maximum motor capacity per axis.

100W 2-axis dedicated

Module 2 - 4-axis servo driver unit with 100W maximum motor capacity per axis. This servo driver unit must be used

along with a separate CPU unit. (See examples)

Servo driver unit (100W 4-axis)

Module 3 - 2-Axis servo driver unit with 200W maximum motor capacity per axis. This servo driver unit must be used

along with a separate CPU unit. (See examples)

Servo driver unit (200W 2-axis)

Module 4 - 1-Axis servo driver unit with 400W motor capacity. This servo driver unit must be used along with a separate

CPU unit. (See examples)

Servo driver unit (400W 1-axis)

Page 52

Chapter 1. Setting Up

2 5-Axis configuration with various motor capacities

CPU Unit

Axis 1 =60W Axis 2 =100W Axis 3 =100W Axis 4 =200W

∪

Axis 5 =60W

* The unit with the largest motor capacity is placed at the furthest left of the CPU unit. This is to reduce noise

interference. A 12-slot expansion unit is available as an option.

100W 4-axis servo driver unit 200W 2-axis servo driver unit (using 1 axis only)

+ +

Servo unit 200W 2 axis (1 axis use)

Servo unit 100W 4 axis (4 axis use)

CPU unit

4-slot expansion unit

3 3-Axis configuration with various motor capacities

CPU Unit

Axis 1 =200W Axis 2 =60W Axis 3 =60W

* The unit with the largest motor capacity is placed at the furthest left of the CPU unit. This is to reduce

200W 2-axis servo driver unit (using 1 axis only)

100W 4-axis servo driver unit (using 2 axes only)

noise interference.

Servo unit 200W 2 axis (1 axis use)

Servo unit 100W 4axis (2 axis use)

CPU unit

4-slot expansion unit

Page 53

Chapter 1. Setting Up

4 6-Axis configuration with various motor capacities

Axis 1 =200W Axis 2 =60W Axis 3 =100W Axis 4 =200W Axis 5 =200W Axis 6 =100W

* The unit with the largest motor capacity is placed at the furthest left of the CPU unit. This is to reduce noise

interference. A 12-slot expansion unit is available as an option.

∪ ∪

∪

CPU Unit

200W 2-axis servo driver unit

100W 4-axis servo driver unit (using 3 axes only)

200W 2-axis servo driver unit (using 1 axis only)

Servo unit 200W 2 axis (2 axis use)

Servo unit 200W 2 axis (1 axis use)

Servo unit 100W 4 axis (3 axis use)

CPU unit

4-slot expansion unit

5 4-Axis configuration with various motor capacities

CPU Unit

Axis 1 =200W Axis 2 =200W Axis 3 =200W Axis 4 =100W

200W 2-axis servo driver unit 200W 2-axis servo driver unit

+ +

(Specification changes to 200W 1-axis and 100W 1-axis)

* The unit with the largest motor capacity is placed at the furthest left of the CPU unit. This is to reduce noise

interference.

Servo unit 200W 2 axis (2 axis use)

CPU unit

Page 54

4-slot expansion unit

Chapter 1. Setting Up

6 Controller configuration limitations

(1) Limitation on number of axes

Motor Capacity 100W (Maximum 8 axes) Motor Capacity 200W (Maximum 8 axes)* Motor Capacity 400W (Maximum 4 axes)* * In the case of 8 axes with 200W motor or 4 axes with 400W motor, there are two power supply locations so power

must be supplied to both.

200W 8 Axis Specification

Servo unit 200W 2 axis

(2 axis use)

AC117V

400W 4 Axis Specification

Servo unit 400W 1 axis

Servo unit 200W 2 axis

(2 axis use)

Servo unit 400W 1 axis

Servo unit 200W 2 axis

(2 axis use)

Servo unit 400W 1 axis

Servo unit 200W 2 axis

(2 axis use)

Servo unit 400W 1 axis

CPU unit

4-slot expansion unit

AC 117V

(2) Limitation on axis expansion for dedicated 2-axis unit

The dedicated 2-axis Super SEL controller unit cannot be expanded to handle more than 2 axes.

(3) Limitation on unit configuration

Up to a maximum for four servo driver units can be connected.

[Example 1] 400W x 3 axes 3 units

+ = 4 units à ok

200W x 1 axis 1 unit

[Example 2] 400W x 3 axes 3 units

+ = 5 units à no good

200W x 3 axes 2 units

Page 55

Chapter 1. Setting Up

8. Type G (AC) Unit Configurations

Once the axis alignment and motor wattage (60W, 100W, 200W, 400W) have been decided, the controller unit configuration can be determined. We will explain the tables given below for determining the unit configuration from the model type.

Check how many axes there are by motor output. In this case,

any motor output below 100W will be considered as 100W. Example 200W - 100W - 60W

200W x 1 100W x 2 ß60W is less than 100W so it is considered as 100W

Looking at the front of the unit, arrange the units with the largest

output starting at the left, refer to charts 1 ~ 7 on the following pages and confirm the configuration type.

EXAMPLE 1 2-axis system

200W-400W Assembly

Model type is M-SEL-G-2-AC-200-400 (1)

200W x 1 400W x 1

Arrange from the largest output,

400 + 200

According to Table 1, the configuration type is C

Note: Because the unit is arranged in order of largest output, please be aware that the order in which

the axes are arranged may differ from what was specified at the time the unit was ordered (in actual usage, there will be no changes to the specifications designated by the customer). However, for output under 100W , the units will be arranged in axis order regardless of the wattage.

○○○○

Page 56

Chapter 1. Setting Up

EXAMPLE 2 4-axis system

60W-200W-100W-60W Assembly

Model type is M-SEL-G-4-AC-60-200-100-60

100W x 3 200W x 1

Arrange from the largest output,

(200 x 1) + (100 x 3)

According to Table 3, the configuration type is C

EXAMPLE 3 6-axis system

400W-200W-400W-200W-100W-60W Assembly

Model type is M-SEL-G-6-AC-400-200-400-200-100-60

400W x 2 200W x 2

100W x 2 Arrange from the largest output, (400 x 2) + (200 x 2) + (100 x 2)

According to Table 5, the configuration type is H

*There are other limiting factors on the assembly types. When the total output is 1600W or less, up to a maximum of 4 servo driver

units can be connected. For an assembly consisting entirely of 400W output, only up to four axes can be assembled. Configurations where the above restrictions apply, are excluded from the tables that follow.

Page 57

Chapter 1. Setting Up

[Unit Configuration Tables]

*Any output less than 100W is considered as 100W.

Table 1

2-axis (6 combinations) Configuration

100-100 A 200-200 B 200-100 B 400-400 C 400-200 C 400-100 C

Table 2

3-axis (10 combinations) Configuration

100-100-100 B 200-200-200 C 200-200-100 C 200-100-100 C 400-400-400 D 400-400-200 D 400-400-100 D 400-200-200 C 400-200-100 C 400-100-100 C

Dimension Drawings

(Side view)

Front view

Page 58

Chapter 1. Setting Up

Table 3

4-axis (15 combinations) Configuration

100x4 B 200x4 C 200x3 + 100x1 C 200x2 + 100x2 C 200x1 + 100x3 C 400x4 E 400x3 + 200x1 E 400x3 + 100x1 E 400x2 + 200x2 D 400x2 + 200x1 + 100x1 D 400x2 + 100x2 D 400x1 + 200x3 D 400x1 + 200x2 + 100x1 D 400x1 + 200x1 + 100x2 D 400x1 + 100x3 C

Page 59

Chapter 1. Setting Up

Table 4

5-axis (18 combinations) Configuration

100x5 F 200x5 G 200x4 + 100x1 G 200x3 + 100x2 G 200x3 + 100x3 F 200x1 + 100x4 F 400x3 + 200x2 H 400x3 + 200x1 +100X1 H 400x3 + 100x2 H 400x2 + 200x3 H 400x2 + 200x2 + 100x1 H 400x2 + 200x1 + 100x2 H 400x2 + 100x3 G 400x1 + 200X4 G 400x1 + 200x3 + 100x1 G 400x1 + 200x2 + 100x2 G 400x1 + 200x1 + 100x3 G 400x1 + 100x4 F

Table 5

6-axis (19 combinations) Configuration

100x6 F 200x6 G 200x5 + 100x1 G 200x4 + 100x2 G 200x3 + 100x3 G 200x2 + 100x4 F 200x1 + 100x5 F 400x3 + 100x3 H 400x2 + 200x4 H 400x2 + 200x3 + 100x1 H 400x2 + 200x2 + 100X2 H 400x2 + 200x1 + 100X3 H 400x2 + 100x4 G 400x1 + 200x5 H 400x1 + 200x4 + 100x1 H 400x1 + 200x3 + 100x2 H 400X1 + 200x2 + 100x3 G 400x1 + 200x1 + 100x4 G 400x1 + 100x5 G

Table 6 Table 7

7-axis (19 combinations) Configuration

100x7 F 200x7 H 200x6 + 100x1 H 200x5 + 100x2 H 200x4 + 100x3 G 200x3 + 100x4 G 200x2 + 100x5 G 200x1 + 100x6 G 400x3 + 100x4 H 400x2 + 200x2 + 100X3 H 400x2 + 200x1 + 100x4 H 400x2 + 100x5 H 400x1 + 200x6 H 400x1 + 200x5 + 100x1 H 400x1 + 200x4 + 100x2 H 400x1 + 200x3 + 100x3 H 400X1 + 200x2 + 100x4 G 400x1 + 200x1 + 100x5 G 400x1 + 100x6 G

8-axis (17 combinations) Configuration

100x8 F 200x8 H 200x7 + 100x1 H 200x6 + 100x2 H 200x5 + 100x3 H 200x4 + 100x4 G 200x3 + 100x5 G 200x2 + 100x6 G 200x1 + 100x7 G 400x2 + 200x2 + 100X4 H 400x2 + 200x1 + 100X5 H 400x2 + 100x6 H 400x1 + 200x4 + 100x3 H 400x1 + 200x3 + 100x4 H 400X1 + 200x2 + 100x5 H 400x1 + 200x1 + 100x6 H 400x1 + 100x7 G

Page 60

Chapter 1. Setting Up

9. 12-slot Expansion Unit

A 12-slot expansion unit is available as an option and is used in the following situations.

(1) When the total number of inputs and outputs exceeds 96. (2) When the total number of inputs and outputs is 96 and a flash memory card is used. (3) When the total number of inputs and outputs is 96 and a 2-channel RS232 unit is used.

Please refer to pages 58 and 59 for the servo unit and CPU unit assembly configuration.

The drawing below gives the external dimensions for the 12-slot expansion unit.

Page 61

Chapter 1. Setting Up

10. Bleeder Resistor

If the selected module uses a large amount of voltage, there will also be a large amount of regenerative voltage which in some cases may require you to attach a bleeder resistor. The determination of whether to attach a bleeder resistor is made for each servo unit separately and is dependent on the total wattage of all motors for that unit. However, if the servo unit has a brake specification, there is a brake box (option) with a built-in discharge circuit.

Below, we illustrate the connection of a bleeder resistor to the controller using an M-SEL-G-3-AC-200-200-100 module as an example.

Bleeder resistor connector (RB)

Servo unit 2 (100W 4-axis) For 1 axis

Servo unit 1 (200W 2 axis) For 2 axes

Bleeder resistor connector (RB)

In the above module, servo unit 1 has a large combined motor capacity, which may require a discharge circuit so a bleeder resistor is attached. In this case, the cable for connecting the resistor to the controller is plugged into the resistor connector RB. Servo unit 2 does not require a resistor since the motor capacity is small. The resistor connector (RB) becomes a reserve connector.

* At present, the general rule is that a bleeder resistor is attached for each servo unit in which the total motor capacity of

all the axes is 200W or greater for an AC motor and 300W or greater for a DC motor. Also, if you are using the actuator as a vertical axis, the optional bleeder resistor is necessary even if you are not using a brake (box).

Note: If you forget to attach a bleeder resistor when the actuator is carrying a vertical load, excessive regenerative voltage will cause an "A1" driver alarm. If this happens, turn the power OFF, then turn the power back ON to home the actuator.

Dimensions

M-SEL-G-3-AC-200·200·100

Page 62

Chapter 1. Setting Up

Part 8 Super SEL Controller Maintenance

To ensure safe and trouble-free operation of your Super SEL system, a regular maintenance and inspection program should be implemented. Be sure to turn OFF the power before initiating any maintenance or inspection work. An inspection is recommended at least once every 6 to 12 months. However, depending on the environment, a more frequent inspection schedule may be advisable.

(1) Inspection Guidelines

• Check and make sure that the power supply to your Super SEL Controller is maintained at 90 ~ 127V.

• Check the controller vents and clean any accumulated dirt or dust.

• Check the controller cable (controller → axis) and make sure there are no loose screws or disconnections.

• Check for loose controller mounting screws. Tighten if necessary.

• Check each cable (axis cables, general I/O cables, system I/O cables, power supply cable). Check for loose connections, damage, or excessive wear. Replace if necessary.

(2) Recommended Spare Parts

It is advisable to keep a small supply of spare parts. In critical applications, it may be advisable to keep an entire spare Super SEL Controller on hand. The following spare parts are recommended:

• Cables

• Batteries* (Ni-Cd batteries have a general shelf life of about 6 years but this varies depending on use conditions and environment )

(3) Memory Backup

When the controller is fully charged, backup memory is guaranteed for 3 months. In actuality, the backup memory is not erased for 6-8 months but if the controller is to be left for a long period (more than 3 months) without having current run through it, please take precautions to save your program, position data, and parameters. To fully charge the controller if it does not contain any data, you will need to leave the controller with the power ON for 3 days. If the memory is erased, the system's preset parameters will be set but the actuator will not run properly in this condition.

Page 63

Chapter 2. Operation

Part 1 Basics in Operating Your Super SEL Controller

1. Summary of Teaching Pendant Operation

The tree structure below illustrates the teaching pendant mode structure.

Mdi

Value Input

Posi

Position Teaching

Power ON

ROM Version Display

Prog

Program Mode

Play

Play Mode

Parm

Parameter Mode

Test

Test Mode

Teac

JOG Direct

Aprg

Application Program

Step

Etc.

The basics of Teaching Pendant operation of your Super SEL Controller will display the above messages on the LCD display screen. Press F1 ~ F4 to move through the branch modes and press ESC to go back to the main branch.

Page 64

Chapter 2. Operation

2. Teaching Pendant Key Functions

Teaching pendant key functions are as follows:

01 Cursor: Numbers can be changed when the cursor is positioned underneath.

"Inc" Increment: This key increases the step number or point number. "Dec" Decrement: This key decreases the step number or point number. "Esc" Escape: This key is used to go back to the previous display. " . " Decimal Point Key: When creating an application program, the display will go to the next command

menu.

"-" Minus Key: When creating an application program, the display will return to the previous

command menu.

" = < " Data Key, JOG Key: Dual function key for use in data input and axis Jog functions.

↵ ↵

↵ " Return Key: This key registers the value at the cursor, and makes it effective.

↵ ↵

Note: If the main power is turned OFF, all programs and data will be stored for a guaranteed period of 3 months.

Page 65

Chapter 2. Operation

Part 2 Teaching Pendant Operation

1. Mode Selection

(LCD Screen Display) (Operation)

IA. Super. SEL Teach 01/13/95

Start (Blinking)

F1 F2 F3 F4

1. Initial Display

Press F1 (Start) (To P66. 2)

IA. Super SEL Teach 01/13/95 Main V2.50 07/14/95 Start (Blinking)

F1 F2 F3 F4

Mode Select

Prog Play Parm Test

F1 F2 F3 F4

2. Controller ROM Version Display

Press F1 (Start) (To P66. 3)

3. Mode Selection Display

F1- Prog (Program) Mode (P67. 4) F2- Play (Play/Execution) Mode (P81. 22) F3- Parm (Parameter) Mode (P75. 18) F4- Test (Test) Mode (P79. 21)

*Note* In case of an input error, press the ESC key to return

to the previous screen and then resume operation. For any operation, if you continue pressing the ESC key, you will eventually return to this initial display.

Page 66

Chapter 2. Operation

2. Program Mode

(LCD Screen Display) (Operation)

Prog

Posi Aprg

F1 F2 F3 F4



 Creating position data



4. Program Mode (Press F1 at Step 3)

F1- (Posi: Position) Position Data Input (P67. 5) F2- (Aprg: Application Program) Super SEL Program-

ming Edit Display (P72. 15)

Esc- Return to Mode Selection Display (P66.3)

Posi

Mdi Teac Step Etc

F1 F2 F3 F4

Point data for Axis 1

Point data for Axis 2

Mdi - 1 No 1 [1] - 8

1.234 12.345

123.456 1234.567 Inc Dec Clr Del

F1 F2 F3 F4

Mdi - 1 No 1 [1] - 8

Cursor Position Axis Name

Axis # No. of axes connected

5. Position (Position Data) Input Display (Step 4. Press F1)

F1- Mdi Mode (Position Data Direct Input) (P67. 6) F2- Teac (Position Data Teaching) Mode (P70. 12) F3- Point Step (Position Data Step) Mode (P69. 10) F4- Return to Etc Edit Display 2 (P68. 6-2) Esc- Return to Program Mode (P67. 4)

6. Mdi Mode

6-1 Position Number Input Mode (Step 5. Press F1)

Input 4-digit numbers. F1- (Inc: Increment) Increments the position number

displayed by 1.

F2- (Dec: Decrement) Decrements the position number

displayed by 1. F3- (Clr: Clear) Clears all data (return to 0) for reentry. F4- (Del: Delete) Deletes input data Return - Position Data Input (P68. 7) Esc- Returns to Position Data Input Display (P67. 5)

*This screen can only display up to a maximum of four axes.

Page 67

Chapter 2. Operation

Posi

Shift Copy Clr Etc

F1 F2 F3 F4

Mdi - 1 No 1 [1] - 8

1.23

4 12.345

123.456 1234.567 Wrt Can Clr Etc

F1 F2 F3 F4

Mdi - 1 No 1[1] - 8

1.23

4 12.345

123.456 1234.567 Axis+ Axis- Vel Etc

F1 F2 F3 F4

6-2 Position (Position Data) Input Display 2 (Go back to the

display in Step 5. Press F4)

F1- (Shift) Position Shift Mode (P69. 11-1) F2- (Copy) Position Data Copy (P69. 11-1) F3- (Clr: Clear) Position Data Clear (Deletion) (P69.

11-2) F4- Position (Position Data) Input Display (P67. 5) Esc- Return to Program Mode (P67. 4)

7. Position Data Input Mode (Step 6-1, Return Key)

Direct input (5-digit integers before decimal point and 3 digits after the decimal point.) F1- (Wrt: Write) Saving position data F2- (Can: Cancel) displays xxxx.xxx. F3- (Clr: Clear) displays 0.000 for data reentry. F4- Position data input sub menu. (P68. 8)

8. Position Data Input Sub Menu (Step 7. F4)

Direct Input (5-digit integers before decimal point and 3digits after the decimal point) F1- (Axis+) Increments axis number by 1. (P68. 8-1) F2- (Axis-) Decrement axis number by 1. (P68. 8-2) F3- (Vel: Velocity) Set velocity and acceleration for

the position number. (P69. 9)

F4- (Etc) Returns to Position Data Input Mode (P68. 7)

Mdi - 1 No 2[2] - 8

1.234 12.34

123.456 1234.567 Axis+ Axis- Vel Etc

F1 F2 F3 F4

Mdi - 1 No 8[8] - 8

2345.678 1.234

12.345 1234.5

Axis+ Axis- Vel Etc

F1 F2 F3 F4

8-1 Increments axis number by 1. (Step 8, F1)

8-2. Decrements axis number by 1. (Step 8, F2)

Page 68

Chapter 2. Operation

Mdi - 1 No 8[8] - 8

500.000 600.000

700.000 600.000

Wrt Can Clr Etc

F1 F2 F3 F4

8-3 Use the F1 key (Wrt) to save data for up to 8 axes.

However, do not write data while a program is running (cannot guarantee data will be saved).

F1- Wrt: Write F2 - Can: Cancel F3- Clr: Clear

Mdi - 1 No. 1[1] - 8

1.234 12.345 Vel [30

0] Acc[0.99]

Wrt Axis Clr

F1 F2 F3 F4

Step - 1 No 1[1] - 8

1.234 12.345

123.456 1234.567

Inc Dec Go JVel

F1 F2 F3 F4

Posi Shift From St.

1 Ed.

To St. Ed.

Clr

F1 F2 F3 F4

9. Position Data Velocity and Acceleration Setting (Step 8. F3) (Velocity: 3-digits, Acceleration 9.99, 2-digits after decimal point.)

10. Point Step Mode (Go back to the display in step number 5, then press F3.)

F1- Position No. +1 F2- Position No. -1 F3- Move to designated position F4- Designate velocity

11-1 Position Shift (Move) Mode (6-2. F1 key)

Moves the specified multiple position data. Input the beginning and the ending position No. of the original position (From), then input the beginning and the ending position No. of the target position (To). *Position Copy Mode (6-2. F2 key) for duplication can be operated in the same manner.

Clear All Position

Clr

F1 F2 F3 F4

11-2 Position Clear Mode (Go back to the display in Step

6-2. Then, press F3.)

F3- Clears all position numbers. F1- Execute

Page 69

Chapter 2. Operation

Teac- 1 No 1[1] - 8

1.234 12.345

123.456 1234.567

Inc Dec Go JVel

F1 F2 F3 F4

Teac- 1 No 1[1] - 8

1.23

123.456 1234.567 JVel Jog SvOf Etc

F1 F2 F3 F4

4 12.345

12. Teaching Mode (Go back to the display in Step 5, then press F2.

Position Number Input Mode (2-digit number input) F1- Increments position number by 1. F2- Decrements position number by 1. F3- Moves actuators from current position to the

position designated in the display. F4- Sets velocity. Return- Performs teaching for each axis. (P70. 13)

13. Teaching Selection Mode (12. Return Key)

Select Jog or SvOf (Servo OFF, Manual) The cursor is located under axis number 1. Press Etc to switch to another axis.

F1- Select jog velocity. F2- Set for jog movement. (P70. 13-1) F3- Set for manual (direct) teaching. (P71. 14) F4-

Velocity setting and axis changing mode. (P70. 13-3)

Jog- 1 No 1[1] - 8

1111.12

3 12.345

123.456 1234.567

Wrt JVel SvOf Etc

F1 F2 F3 F4

Jog- 1 No 1[1] - 8

1111.12

3 12.345

123.456 1234.567

Axis + Axis - Vel Etc

F1 F2 F3 F4

Teac- 1 No 1[1] - 8

1.23

4 12.345

123.456 1234.567 Axis+ Axis

Vel Etc

13-1 Jog Mode (Step 13. F2)

Turns all servos ON and also indicates the present position. When Wrt is selected, the present position will be saved. F4- Velocity setting and axis selection mode (P70. 13-2)

13-2 Jog Mode (Step 13-1, F4)

Velocity, axis selection.

When selecting Axes to jog: F1- Axis+ moves cursor forward 1 axis. F2- Axis- moves cursor backward 1 axis.

13-3 Teaching Velocity Set, Axis Change Mode (Step 13. F4)

F1- Teach axis number + 1. F2- Teach axis number - 1. F3- Set velocity and acceleration for point data. F4- Return to the display before selection.

F1 F2 F3 F4

Page 70

Chapter 2. Operation

SvOf - 1 No 1[1] - 8

1111.12

3 12.345

123.456 1234.567

Wrt JVel Jog Etc

F1 F2 F3 F4

SvOf - 1 No 1[1] - 8

1111.12

3 12.345

123.456 1234.567

Axis

F1 F2 F3 F4

Vel Etc

SvOf - 1 No 1[1] - 8

1111.123 12.345

Vel[ 3

0] Acc[0.30]

Wrt Axis Clr

F1 F2 F3 F4

14. SvOf (Servo OFF, Manual • Direct Teaching) Mode (Go

back to the display in Step 13, then press F3)

Servo OFF for all connected axes.

Moves axis position manually (direct teaching).

Wrt: Saves data.

Return: Changes axis number.

14-1 SvOF Mode (Step 14. F4)

Velocity Setting, Axis No. Selection Use to set point position velocity or to change axis number.

F3- àVelocity Setting Selection Display (P71. 14-2)

14-2 SvOf Mode (Step 14-1. F3)

Velocity Setting Selection Input velocity and accerelation, then press Return key. F2- Return to SvOf Mode (P71. 14) F3- Clr (Clear) clears input value, for re-entry.

Page 71

Chapter 2. Operation



 Application Programming



Aprg

Edit Copy

F1 F2 F3 F4

Edit 1- 1 [ 50] MOVP 1

699 A N499

Inc Dec Clr Del

F1 F2 F3 F4

15. Super SEL Programming Edit Display (Go back to the display in Step 4, then press F2)

F1- (Edit Mode) Perform SEL programming, editing,

addition, insertion, and deletion. (P72. 16)

F2- (Copy Mode) Copies or overwrites programs.

(P74. 17)

16. Super SEL Programming Edit Mode (15. F1)

16-1 Program Number Input Mode

F1- Increments program number by 1. F2- Decrements program number by 1. F3- Clears input value for re-entry. F4- Deletes program number. Return- Switches to step number input mode when the

program number input is within the appropriate range. (P73. 16-2)

When a program number exists, step number 1 will be displayed. When a program number does not exist, a space will be displayed.

Page 72

( Edit 1- 1 [ 50] )

| | | Prog. No. Step No. Step Number

( MOVP 1 )

| |

Command Operation 1

( 699 A N499)

| | | Operation 2 Result Continuous Condition

Chapter 2. Operation

Edit 1- 1 [ 50] MOVP 1

699 A N499

Inc Dec Clr etc

F1 F2 F3 F4

16-2 Step Number Input Mode (Step 16-1. Return Key)

F1- (Inc) Increments step number by 1. F2- (Dec) Decrements step number by 1. F3- (Clr) Clears data for re-entry. F4- Additional mode (Insertion mode, deletion mode,

etc.) (P73. 16-2-1)

Edit 1- 1 [ 50] MOVP 1

699 A N499

Ins Del etc

F1 F2 F3 F4

Edit 1- 1 [ 50]

MOVP 1

699 A N499

ABPG ACC ADD AND

F1 F2 F3 F4

16-2-1 Step Number Input Mode 1 (Step 16-2. F4)

F1- (Insertion) Add steps. F2- (Delete) Delete steps.

16-3 Edit Command Input Mode (Step 16-2. Return Key)

4 commands will be displayed from F1 to F4.

Pressing the decimal point (.) will display the commands in alphabetical order. Pressing the minus sign (-) will display the commands in reverse alphabetical order. Select a command by pressing F1 ~ F4, . (decimal point), or - (minus) sign. Press CR (Return key) to display Operation 1 Input Mode (P73. 16.4).

Edit 1- 1 [ 50] MOVP

699 A N499

* BS Clr

F1 F2 F3 F4

16-4 Operation 1 Input Mode (Step 16-3. Return key)

Input operation 1 of the selected command. F1- (*) Designate variables indirectly. F2- (BS: Back Space) Clears last input value. Cursor

will move backwards.

F3- (Clr: Clear) Clears all the values input for new

data entry.

Return- Input values will be saved, then operation 2

input mode will be displayed. (P74. 16-5)

ESC- Command input mode

Page 73

Chapter 2. Operation

Edit 1- 1 [ 50] MOVP 1

699 A N499

BS Clr

F1 F2 F3 F4

Edit 1- 1 [ 50] MOVP 1

699 A N

499

And Or Clr Not

F1 F2 F3 F4

Edit 1- 1 [ 50] MOVP 1

699 A N499

Clr Wrt

16-5 Operation 2 Input Mode (Step 16-4, Return key)

Same as 16-4

16-6 Result Input Mode (16-4. Return key)

Input result, output and flag. F2- Clears the last entry and moves cursor backwards

using BS (back space). F3- Clears all data. Return- Continuous Condition Input Mode (P74. 16-7)

16-7 Continuous Condition Input Mode (Step 16-6, Return

key)

F1- Select And F2- Select Or F3- Clears data entry F4- Select Not Return- Confirmation Mode (P74. 16-8)

16-8 Confirmation Mode (Step 16-7. Return key)

F3- Re-input from command F4- Proceeds to the next step number after saving (Wrt) the current step number. ( In the case of insertion, the step number remains the same).

F1 F2 F3 F4

Prog Copy From

Clr

F1 F2 F3 F4

Prog Copy From 1 [ 50] To 1 [ 50] Copy OWrt

F1 F2 F3 F4

17. Copy Mode (Go back to the display in Step No. 15, then press F2.)

17-1 Copies program. (Step 15. F2)

Input program number to be copied after "From", then input a new program number after "To".

F3- Clears data for data entry. Return- Copy, Overwrite Selection Mode (P74. 17-2)

17-2 Copy, Overwrite Selection Mode (17-1. CR: return key)

F1- Copies the program. F2- Overwrites the program.

Page 74

Chapter 2. Operation

3. Parameter Mode

*Important* Please contact our technical service department if parameters need to be changed for your system.

Para

Axis Sys

F1 F2 F3 F4

Para Axis

Srvo Home Motr Name

F1 F2 F3 F4

Para System

Prog Pos Srvo Etc

18. Parameter Mode (Step 3, F3)

F1- Parameter mode for each axis (P75. 18-1) F2- System parameter mode (P75. 18-2) (P77.20)

18-1 Parameter Mode for each axis (Step 18. F1)

F1- Servo parameter mode for each axis (P75.19-1) F2- Home parameter mode for each axis (P76.19-2),

axis activation mode F3- Motor parameter mode for each axis (P76. 19-3) F4- Axis name parameter mode for each axis (P77. 19-4)

18-2 System Parameter Mode (Step 18. F2)

F1- System program parameter mode F2- System point parameter mode F3- System servo parameter mode F4- Additional selection mode (P75. 18-3)

F1 F2 F3 F4

Para System

Sio Cir Etc

F1 F2 F3 F4

Para Axis 1[1] Srvo

1. Numerator Inc [ < = ] Axis

Dec Clr Wrt

F1 F2 F3 F4

18-3 System parameter additional selections (Step 18-2. F4)

F1- (Sio: Serial I/O RS232C) System Sio parameter

mode (P78. 20-4) F2- (Cir: Circle) System path/circular parameter mode

(P78. 20-5) F4- (Etc) Returns to system parameter mode. (P75. 18-

19-1 Servo Parameter Mode (18-1. F1)

F1- Goes to next axis no. (+1). Axis name will also be

changed. (P76. 19-1-1) F2- Goes backward -1 (P76. 19-1-2) F3- Clears data for data entry F4- Direct number input Return- (Inc[<=]) adds +1

Page 75

Chapter 2. Operation

Para Axis 2[2] Srvo

1. Numerator Inc [<=] Axis+ Dec Clr Wrt

F1 F2 F3 F4

19-1-1 Press F1 to display axis number +1.

Para Axis 1[1] Srvo

9. Soft Limit (-) Inc [<=]

Axis+ Dec Clr Wrt

F1 F2 F3 F4

Para Axis 1[1] Home

1. Home Dir Inc[<=]

Axis+ Dec Clr Wrt

F1 F2 F3 F4

Para Axis 1[1] Home

3. Home Sequence Inc[<=]

Axis+ Dec Clr Wrt

F1 F2 F3 F4

19-1-2 Press F2 to display item -1.

19-2 Home parameter mode for each axis, axis activation

mode (Step 18-1, F2)

19-2-1 Home parameter mode for each axis, axis activation

mode (Step 19-2, Press the RETURN key twice). Doing this brings you to the 3. Home Sequence screen. By inputting 0 here, the axis will be inactivated. Homing or Jog will not be performed. (Position indicator will display ∆). By inputting a number (1 ~ 9), homing order for all activated axes can be designated.

Para Axis 1[1] Motr

1. Motor RPM Max Inc[<=] 400

Axis+ Dec Clr Wrt

F1 F2 F3 F4

19-3 Motor Parameter Mode (Step 18-1. F3)

Page 76

Chapter 2. Operation

Para Axis 1[1] Name

Axis+ Axis - Name+ Name-

F1 F2 F3 F4

Para Axis 1[2] Name

Wrt Name+ Name-

F1 F2 F3 F4

19-4 Parameter Name Mode for Each Axis (Step 18-1. F4 Key)

F1- Increments axis number by 1 F2- Decrements axis number by 1 F3- Increments axis name by 1 for range 1 ~ 9, A ~ Z

(P77. 19-4-1)

F4- Decrements axis name by 1 for range 1 ~ 9, A ~ Z

19-4-1 Axis Name Change (Step 19-4. F3)

F1- (Wrt) Change axis name.

Para System

Prog Pos Srvo Etc

F1 F2 F3 F4

Para System Prog

1.Auto Start PRG Inc[<=]

Inc Dec Clr Wrt

F1 F2 F3 F4

Para System Pos

1.Point Size Inc[<=] 10 0

Inc Dec Clr Wrt

20. System Parameter Mode (Step 18. F2)

F1- System Program Parameter Mode (P77. 20-1) F2- System Point Parameter Mode (P77. 20-2) F3- System Servo Parameter Mode (P78. 20-3)

20-1 System Program Parameter Mode (Step 20. F1)

Press the RETURN key to increment the item. (Inc[<=])

20-2 System Point Parameter Mode (Step 20. F2)

F1 F2 F3 F4

Page 77

Chapter 2. Operation

Para System Srvo

1. Axis Size Inc [<=]

Inc Dec Clr Wrt

F1 F2 F3 F4

Para System Sio

1. Terminal ID Inc[<=] 9

Inc Dec Clr Wrt

F1 F2 F3 F4

Para System Cir

1. Circle Angle Inc[<=] 15.

Inc Dec Clr Wrt

20-3 System Servo Parameter Mode (Step 20. F3)

20-4 System Sio Parameter Mode (18-3. F1 Key)

20-5 System Circle, Arc, Parameter Mode (Step 18-3. F2)

F1 F2 F3 F4

Page 78

Chapter 2. Operation

4. Test Mode

Test

Flag In Out Ver

F1 F2 F3 F4

21. Test Mode (3. F4 Key)

F1- (Flag) Flag displayed. Press F1 and "1" key

simultaneously. RamCL (Ram Clear) Mode will

appear on the display.

F2- (In) Input Port Display (P79. 21-2) F3- (Out) Output Port (P79. 21-3) F4- (Ver: Version) Displays current software version of

Servo, Main and Teaching Pendant (P80. 21-4)

Test

RamCL In Out Ver

F1 F2 F3 F4

Test 0123456789 (In) 000-> 1000000001 <-009 010-> 0000001100 <-019 Inc Dec

F1 F2 F3 F4

Test 0123456789 (Out) 300->

0000000000<-309 310->0000001100<-319 Inc Dec Clr 0/1

F1 F2 F3 F4

Test 0123456789 (Out) 310->

0000000000<-319 320->0000001100<-329 Inc Dec Clr

21-1 While holding down both the F1 and "1" keys, the

display will remain the same as shown on the left. When the keys are released, Memory Clear Mode (RamCL) will appear. (P80. 21-5)

21-2 Test Input Port Display (Step 21. F2)

Displays input port status.

F1- Port displayed. +10 F2- Port displayed. -10

21-3 Test Output Port Display (21. F3)

F1- Output port +10 (P79. 21-3-1) F2- Output port -10 F3- All displayed ports will be 0 output F4- Output 0 ⇒1, 1⇒0

. (decimal point), RETURN key moves cursor to the right

- (minus key) moves cursor to the left "0" outputs cursor position port to 0 "1" outputs cursor position port to 1

With this display, you can force output ports ON/OFF, but you cannot monitor outputs as they change on the controller side in real time.

21-3-1 F1 (output port +10)

F1 F2 F3 F4

Page 79

Chapter 2. Operation

Test Version 1[1] MotorV1.00 12/13/93 Main V1.00 1/25/94 Axis+ Axis- Main Teac

F1 F2 F3 F4

RamCL

All Para Prog Pos

F1 F2 F3 F4

21-4 Test Version Mode (Step 21. F4)

21-5 Memory Clear (RamCL) Mode (Step 21. F1 + 1 key)

Caution: This will erase all data. Make sure to backup all data before doing this operation. F1- Clears system parameter, program, and position

area (P80. 21-5-1) F2- Clears system parameter (P80. 21-5-2) F3- Clears application program area (P80. 21-5-3) F4- Clears position data area (P81. 21-5-4)

RamCL All

CLROk?

F1 F2 F3 F4

RamCL Para

CLROk?

F1 F2 F3 F4

RamCL Prog

21-5-1 F1(All) is selected.

Press F1 (CLROk?: Clear OK?) Note: This is the same as RESET.

21-5-2 F2 (Para) is selected.

Press F1 (CLROk?) - same as Reset Note: This is the same as RESET.

21-5-3 F3 (Prog) is selected.

Press F1 Clears all application programs.

CLROk?

F1 F2 F3 F4

Page 80

Chapter 2. Operation

RamCL Pos

CLROk?

F1 F2 F3 F4

5. Play Mode

Play 1-1 [ 50] MOVP 1

699 A N499

Inc Dec Clr

F1 F2 F3 F4

21-5-4 F4 (Pos) is selected.

Press F1 Clears all position data.

22. Play (Play) Mode (3, F2 Key)

22-1 Play Program Input Mode

Input program number to execute (or stop). Program

status can be seen by pressing START then PROG.

Play 1-1 [ 50] MOVP 1

699 A N499

Show Go Stat HLT

F1 F2 F3 F4

Play 1-1 [ 50] MOVP 1

699 A N499

Posi Play Stat Etc

F1 F2 F3 F4

Play 1- No 1 [1]-2

1111.123 2222.234

3333.345 4444.456

Axis+ Axis- Stat

F1 F2 F3 F4

22-2 Program Execution/Stop Selection (22-1. CR: return key)

F1- (Show) Monitoring (when the designated

program is executing.) (P84. 23) F2- (Go) Program execution (P81. 22-3) F3- (Status) show status (after checking the status,

select execution or stop) F4- (HLT) Stop (P81. 22-3)

22-3 Execution Status Selection (22-2. F2) (22-2. F4)

F1- Axis status display (P81. 22-4) F2- Other program execution, or stops currently

executing program. (P82. 22-5) F3- Shows program status (P82. 22-6) F4- Input port, Output port, Flags (P82. 22-7)

22-4 Axis Status Display Mode (22-3. F1)

F1- Checks other axis status (+) F2- Checks other axis status (-)

( Play 1- No 1 [2]-8)

á Starting axis

Page 81

Chapter 2. Operation

Play 1-1 [ 50] MOVP 1

699 A N499

Inc Dec Clr

F1 F2 F3 F4

Play 1 [Run 1- 0]

Prog

F1 F2 F3 F4

Play 1- 1 [ 50] MOVP 1

699 A N499

In Out Flag Etc

22-5 Execution, Stop Mode (22-3, F2)

Input program number to be executed or stopped. Returns to 22-3.

22-6 System movement and program number display (22-3,

F3)

22-7 I/O port, Flag Status Selection Mode (22-3. F4)

F1- Input port change display, select (P82. 22-8) F2- Ouput port change display, select (P82. 22-9) F3- Flag change display, select (P83. 22-10) F4- Execute, status selection screen (P83. 22-12)

F1 F2 F3 F4

Play 0123456789 (In) 000 ->1000000001 <-009 010->1000001100<-019 Inc Dec

F1 F2 F3 F4

Play 0123456789 (Out) 300 ->1000000001 <-309 310->0000001100<--319 Inc Dec

F1 F2 F3 F4

22-8 Play Input Port Display (22-7. F1)

F1- Input Port +10 F2- Input Port -10

22-9 Play Output Display (22-7. F2)

F1- Output +10 F2- Output -10

Page 82

Chapter 2. Operation

Play 0123456789 (Flg) 600->1000000001<-609 610->0000001100<-619

Inc Dec

F1 F2 F3 F4

22-10 Play Flag Display (22-7. F3)

F1- Flag +10 F2- Flag -10

Play 1-1 [50] MOVP

699A N499

Posi Play Stat Etc

F1 F2 F3 F4

Play 1-1 [50] MOVP 1

699A N499

In Out Flag Etc

F1 F2 F3 F4

Play [Run 1- 3] 1-2 2-2 3-2

Stop Etc

22-11-1 Select F1 (Show), F2 (GO), or F4 (HL T) from Program

Execution/Stop Selection Display (P81. 22-2) to stop Play Mode (program stops). Execution Status Selection Display appears. Then press F4 (Etc). (P83. 2211-2)

22-11-2 I/O Port, Flag Status Selection Mode (P82. 22-7)

Press F4 (Etc). (P83. 22-12)

22-12. Execute, Status Selection Screen (22-7. F4)

F1 - Goes to Program Stop Selection Mode.

(P83. 22-13)

F1 F2 F3 F4

Play [Run 1-3] 1-2 2-2 3-2

Inc Dec StpAL Stp1

F1 F2 F3 F4

22-13 Program Stop Selection Mode (22-12. F1)

F1- Changes program number to be stopped. F2- Changes program number to be stopped. F3- Stops all the programs being executed. F4- Stops program number with the cursor underneath.

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Chapter 2. Operation

6. Show Mode

Play 3 -0 [ 6 ]

Posi Play Stat Etc

F1 F2 F3 F4

Play 3 No. 1 [1] -2

xxx.xx xxx.xx

Axis+ Axis- Stat

F1 F2 F3 F4

Play 3 No. 1 [1] -2 Home [ON] Servo [OFF] Move [ON] xxx.xx Axis+ Axis- Pos

F1 F2 F3 F4

23. Show Mode (Step 22-2. F1)

F1- Displays the position of each axis currently

moving (P84. 23-1-1) F2- Execute other program (P85.23-2) F3- Shows program status (P85. 23-3-1) F4- Current Input/Output Status, Flag Status Mode

(P86. 23-4)

23-1-1 Position Display Mode (Step 23. F1)

F1- Checks other axis status (+) F2- Checks other axis status (-) F3- Shows program status (P84. 23-1-2)

23-1-2 Status Display Mode (Step 23-1-1. F3)

Display homing incomplete (OFF)/complete (ON), servo ON/ OFF, moving incomplete (OFF)/complete (ON), and current value.

F3- Return to Position Display Mode (P84. 23-1-1)

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Chapter 2. Operation

Play 3 -1 [ 6 ] Home 11

Inc Dec Clr

F1 F2 F3 F4

Play 3 [Run 1 -1] 3-2

Prog

F1 F2 F3 F4

Play 3 [Prog Status] ERR _ STEP [ NONE ] [ RUN ]

23-2 Program Display Selection Mode (Step 23. F2)

F1- Increment Program No.

F2- Decrement Program No.

F3- Clear Program No.

23-3-1 Program Execution Status Mode (Step 23. F3)

3 -2 â â 2: Executable, 4: Wait for completion (Input) Executing Program No.

F3- Program Execution Status (P85. 23-3-2)

23-3-2 Program Execution Status (Step 23-3-1. F3)

F3- Return to Program Execution Status Mode

(P85. 23-3-1).

Stat

F1 F2 F3 F4

Page 85

Chapter 2. Operation

Play 3 [Prog Status] ERR _ STEP [ NONE ] [ RUN ]

In Out Flag

F1 F2 F3 F4

Play 012345678 (In) 000 -> 001000000 <-009 010 -> 000000000 <--019 Inc Dec

F1 F2 F3 F4

Play 012345678 (Out) 300 -> 010000000 <-309 310 -> 000000000 <- 319 Inc Dec

23-4 Input/Output, Flag Status Display Mode (Step

23. F4)

F1- Input Status Display Mode (P86. 23-4-1) F2- Output Status Display Mode (P86. 23-4-2) F3- Flag Status Display Mode (P86. 23-4-3)

23-4-1 Input Status Display Mode (Step 23-4. F1)

Display In 002 is ON. 0 0 1 0 0 0 0 0 0 0

â â

000 001 002 009

23-4-2 Output Status Display Mode (Step 23-4. F2)

Display Out 301 is ON.

ß Port No.

F1 F2 F3 F4

Play 012345678 (Flag) 600 -> 000000000 <-609 610 -> 000000000 <- 619 Inc Dec

F1 F2 F3 F4

23-4-3 Flag Status Display Mode (Step 23-4. F3)

Page 86

Chapter 2. Operation

7. Simple Application Program Example

2-Axis actuator moves back and forth between point 1 and point 2.

• Application Program

• Position Data

(LCD Display) (Operation)

IA Super.SEL Teach 01/13/95

Comm and Operand 1 Comm ent

HOM E 11 X and Y axis homing (Servo ON)

VE L 1 00 Velocity settin g 1 00m m /se c

AC C 0.3 Ac cele ration se tting 0 .3G

TAG 1 Assigns the target for GOTO command MOV L 1 Moves to position number 1 MOV L 2 Moves to position number 2

GOTO 1 Jumps to TAG 1

Position Number X Axis Y Axis

1 100.000 100.000 2 10.000 10.000

1. Initial Display

Press F1 to start.

Start (blinking)

F1 F2 F3 F4

IA Super.SEL Teach 01/13/95 Main V2.20 03/06/95 Start (blinking)

F1 F2 F3 F4

Mode Select

Prog Play Parm Test

F1 F2 F3 F4

2. Controller ROM Version Display

Press F1 to start.

3. Mode Selection Display

Press F1 to select Prog Mode.

Page 87

Chapter 2. Operation

Prog

Posi Aprg

F1 F2 F3 F4

Aprg

Edit Copy

F1 F2 F3 F4

Edit 1- 0 [ 0]

Inc Dec Clr Dec

F1 F2 F3 F4

4. Program Mode Display

Press F2 to select Aprg (Application Program).

5. Super SEL Programming Display

Press F1 to select Edit Mode to bring up Super SEL program, modify, add, insert, or erase.

6. Super SEL Programming Edit Mode

Press 1 (Program number 1), then press return key. When the program number selected exists, the display shows the first step number. If the program number selected does not exist, a space will appear.

Edit 1- 1 [ 0]

Inc Dec Clr etc

F1 F2 F3 F4

Edit 1- 1 [ 0]

ABPG ACC ADD AND

F1 F2 F3 F4

7. Press return key.

8. Press "." (decimal point) or "-" (minus) repeatedly until

HOME appears.

Page 88

Chapter 2. Operation

Edit 1- 1 [ 0]

GOTO GRP HOLD HOME

F1 F2 F3 F4

9. Press F4 to select HOME.

Edit 1- 1 [ 0] HOME

GOTO GRP HOLD HOME

F1 F2 F3 F4

Edit 1- 1 [ 0]

HOME _

* BS Clr

F1 F2 F3 F4

Edit 1- 1 [ 0]

HOME 11

* BS Clr

10. Press RETURN key.

11. Press "1" two times to home X and Y axes simultaneously.

12. Press return key 3 times.

F1 F2 F3 F4

Edit 1- 1 [ 0]

HOME 11

Clr Wrt

F1 F2 F3 F4

Edit 1- 2 [ 0]

GOTO GRP HOLD HOME

F1 F2 F3 F4

13. Press F4 (Wrt: Writing).

14. Press "." (decimal point) repeatedly until VEL appears

on display.

Repeat the same process after step 9 to input commands.

Page 89

Chapter 2. Operation

When programming is completed, press ESC key repeatedly until mode selection display appears. Next, position data will be input.

Mode Select

Prog Play Parm Test

F1 F2 F3 F4

Prog

Posi Aprg

F1 F2 F3 F4

Posi

Mdi Teac Step Etc

15. Mode Selection Display

Press F1 to select Prog (Program) Mode.

16. Program Mode

Press F1 to select Position data.

17. Position Data Editing (Go back to the display in Step 4, then press F1).

Press F1 to select Mdi Mode (position data direct input).

F1 F2 F3 F4

Mdi - 1 No 1 [ 1 ] - 2

Inc Dec Clr Del

F1 F2 F3 F4

Mdi - 1 No 1 [ 1 ] - 2 xxxx.xx

x xxxx.xxx

Wrt Can Clr Etc

F1 F2 F3 F4

18. Mdi Mode

Press 1 for position data number 1, then press the RETURN key.

19. Press 100, then press RETURN key for X axis position data. Press 100, then press RETURN for Y axis position data.

Press F1 (Wrt: Writing) to save position data number 1 (100,100).

*Repeat the same process to input position data number

Page 90

Chapter 2. Operation

Part 3 System Operation

Operating Mode Summary

There are four operating modes in the Super SEL Controller System. Of these, two are primarily used for program debugging/trial operation and the remainng two are used in general applications at the factory site. The first two modes are: 1) operation from a teaching pendant and 2) operation from the PC interface software. These are used for simple operating checks. For the PC interface software mode, please read the operating manual that comes with the software. The latter two modes are: 3) automatic operation based on parameter settings and 4) operation based on selection of external signals. In the following sections, we will explain the operating modes except for 2, the PC software mode.

1. Automatic start using the parameters

Enter the number of the program you wish to start automatically in the controller parameter named "Automatic Start Program." After doing this, the program that was entered will start running automatically when the controller is reset or when it is powered up again after an emergency stop. This parameter can be set with the teaching pendant or the PC interface software.

! Things to remember when using the automatic start program

When you use an automatic start program, the sudden startup of the servo actuator can startle the operator. As a safety precaution, always use an interlock such as inserting a check signal at the beginning of the program so it will only start up after it receives the signal. If you wish to run several programs at the same time, write the command to run the other programs using the [EXPG] command signal at the start of the primary automatic program.

Teaching pendant

PC interface software

Super SEL controller

Start Start

Automatic start using parameters

External

start input

Start

Page 91

Chapter 2. Operation

2. External Start Operating Mode

Select Program No. from external unit, then input start signal.

 Flow Chart

Controller Power ON

Ready (301) ON

Program No. Input

External Start (000) Input

Selected Program No. will start.

 Timing Chart

Ready output

Program no. input

Yes

○○

Power on

Program No. can be input before the Ready prompt. The BCD code is input at input signal numbers 8~14.

Program No. will be displayed on the front panel of the controller and the [AUTO] mode LED will light up.

T1: Time from ready output ON to start input

Min. 30msec

T2: Time from program No. input to external

start input Min. 30msec

External start input

T3: External start input

Min. 30msec

Page 92

Chapter 2. Operation

3. Teaching Pendant Operating Mode

Program is executed using the Teaching Pendant Play Mode.

Play Mode

Play 1- 1 [ 50] MOVP 1

699 A N499

Inc Dec Clr

F1 F2 F3 F4

Play 1- 1 [ 50] MOVP 1

699 A N499

Show Go Stat HLT

F1 F2 F3 F4

Play Mode (Operation)

1. Play Program Input Mode

Input the program to be executed (stopped).

2. Program Execution or Program Stop Selection

Designate program execution or stop. F1 - (Show) Supervise (when the designated

program is already executing.) F2 - (Go) Execution F3 - (Status) Display status. (Program can be

executed or stopped after checking the status.) F4 - (Hlt) Stop the program.

(Press F2 to execute a designated program)

4. Dedicated Input/Output Signal

(1) Dedicated Inputs

 External Start This is the signal for external start. The port for this signal is (mmm).

Reads the program number and starts the program.

 Program Selection Selects the program number for external start using BCD code input.

PRG 1~ External start signal is input and can be used as a user input after the program starts.

Ports 8~14 are used for this.

 Emergency Stop Emergency Stop Signal

Servos and all user outputs turn OFF and alarm output turns ON. This signal is Port 002.

 System Reserve This should never be used as a User Input.

(2) Dedicated Outputs

 Alarm Output Turns ON in case of Emergency Stop input or when an alarm occurs

(Error Code A?). This signal is Port 300.

another letter appears here.

 Ready Output Turns ON after a few seconds when power is turned ON.

Turns OFF when alarm output is ON. This signal is Port 301.

Note: These 2-dedicated outputs can be turned ON and OFF in the program.

Page 93

Chapter 3. Multi-tasking

Part 1 Real-time Multi-tasking

1. Super SEL Programming Language

The Super SEL employs a 32 bit RISC CPU operated by a high speed operating system (OS). The Super SEL can control an entire system, including not only the actuators but also peripheral devices. The Super SEL enables the user to design an efficient automation system without learning various types of programming languages.

The original SEL language has been improved to what is now Super SEL language. In particular, the "Multi Tasking" feature allows for high speed control of multi programs and I/O. Programming is so simple that even non-technical users can write a parallel processing program.

General system

Robot control device

Robot language

If....Then....Else....

MOVP P10 DOUT (310) = 1B

Super SEL system

Super SEL controller

Robot

Interlocking wiring

Wiring is also simple

Conveyor

Control device for peripherals PLC

Ladder diagram

•

Super SEL language N 600 MOVL 10 310

Page 94

Chapter 3. Multi-tasking

2. Multi-tasking

"Multi Tasking" simply means running multiple programs concurrently.

Let us consider a screwdriving robot system as an example. The following screwdriving system is composed of two actuators (X axis and Y axis) and a screwdriver with the part feeder.

System Flow

[Screwdriving] Parts Feeder

Move

Screw Preparation

↓

Screw

↓

X,Y Move

Screw Preparation

↓

Screw

The following is a simple flowchart that shows the multi-tasking operation used when it is necessary to move a part feeder at the same time the XY actuator is operating.

Program 1 Start

Move

Tighten screw

Program 2

Start

Parts feeder ON

Screw OK

Move

Tighten screw

Parts feeder OFF

Not enough screws

Timer

Page 95

IAI America S-SEL-E User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual