SSEL Controller - 産業用ロボット｜電動アクチュエーターのアイ ...ME0157-15E).pdf · 2017. 11. 23. · Please Read Before Use Thank you for purchasing our product

SSEL ControllerOperation Manual Fifteenth Edition

Please Read Before Use

Thank you for purchasing our product. This Operation Manual describes all necessary information items to operate this product safely such as the operation procedure, structure and maintenance procedure. Before the operation, read this manual carefully and fully understand it to operate this product safely. The enclosed DVD in this product package includes the Operation Manual for this product. For the operation of this product, print out the necessary sections in the Operation Manual or display them using the personal computer. After reading through this manual, keep this Operation Manual at hand so that the operator of this product can read it whenever necessary.

[Important] • This Operation Manual is original. • The product cannot be operated in any way unless expressly specified in this Operation

Manual. IAI shall assume no responsibility for the outcome of any operation not specified herein.

• Information contained in this Operation Manual is subject to change without notice for the purpose of product improvement.

• If you have any question or comment regarding the content of this manual, please contact the IAI sales office near you.

• Using or copying all or part of this Operation Manual without permission is prohibited. • The company names, names of products and trademarks of each company shown in the

sentences are registered trademarks.

Construction of Operation Manual for each Controller Model and This Manual SSEL-CS

Basic Specifications

• Program Mode Operation SSEL Controller (This Manual) ME0157

• Positioner Mode Operation

★Types to select from

• PIO Control • Fieldbus Control

(i) DeviceNet DeviceNet ME0124

(ii) CC-Link CC-Link ME0123

(iii) PROFIBUS-DP PROFIBUS-DP ME0153

(iv) EtherNet/IP EtherNet/IP ME0308

• Remote I/O unit Remote I/O unit ME0339

Programming Manual

• SEL Language Programming Manual Programming Manual ME0224

Teaching Tool,

• PC Software PC Software ME0154

• Touch Panel Teaching

Teaching Pendant

(i) TB-01 Touch Panel Teaching ME0325

(ii) SEL-T Teaching Pendant ME0183

CAUTION

Operator Alarm on Low Battery Voltage This controller can be equipped with the following optional backup batteries for retention of data in the event of power failure:

[1] System-memory backup battery (Optional) For retention of position data, global variables/flags, error list, strings, etc.

[2] Absolute-data backup battery (absolute encoder specification) For retention of encoder rotation data.

Since these batteries are not rechargeable, they will be eventually consumed. Unless the batteries are replaced in a timely manner, the voltage will drop to a level where the data can no longer be retained. If a power failure occurs in this condition, the data will be lost. (The life of each battery varies depending on the operating time.) Once the data is lost, the controller will not operate normally the next time the power is turned on, and recovery will take time. To prevent this problem, this controller can output a low battery voltage alarm from its I/O port. You can specify a desired output port to issue a voltage-low warning for the system-memory backup battery. Set “15” as the input function specification value in the I/O parameter corresponding to the output port number you want to specify. Setting example) To specify output port No. 306 to issue a voltage-low warning for the system-memory backup battery, set “15” in I/O parameter No. 52. You can specify a desired output port to issue a voltage-low warning for the absolute-data backup battery. Set “16” as the input function specification value in the I/O parameter corresponding to the output port number you want to specify. Setting example) To specify output port No. 307 to issue a voltage-low warning for the absolute-data backup battery, set “16” in I/O parameter No. 53.

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

CAUTION

Optional System-Memory Backup Battery The SSEL controller can be used with the optional system-memory backup battery.

Caution: When installing the system-memory backup battery, “Other parameter No. 20” must be set to “2.”

Installing the system-memory backup battery will add the following functions to the controller: • Save SEL global data

Data of global variables, flags and strings will be retained even after the main power is turned off. • Save RAM position data

The position data changed in a teaching tool such as XSEL PC software is remained even if the power gets turned off. (Note) If the system-memory backup battery is installed, the domain to save the position data

changes from the flash ROM domain to RAM domain. • Save an error list

An error list containing up to 100 most recent errors will be retained even after the main power is turned off.

In case those features above are required, install the optional system-memory backup battery.

CAUTION

Note on Controller with Expanded Memory*1

*1 Positions and programs have increased to 20000 and 128, respectively, among others. For a controller with expanded memory, use the PC software or teaching pendant of an applicable version as specified below.

Teaching tool Version XSEL PC software V7.0.6.0 or later

Teaching pendant SEL-T/TD V1.00 or later Teaching pendant TB01/01D/01DR

Applicable for programming controller V1.00 or later

If you use PC software whose version is older than 7.0.6.0, “Error code 684: Expanded data access error” will occur. [How to check if the controller memory has been expanded] Check in ROM Version Information (Controller → ROM Version Information) in the PC software (ver. 6.0.0.0.0 or later). • Expanded memory: As shown below, “Main (FROM32M)” is shown in the PC software. On the

teaching pendant screen, “Main (FROM32M)” is shown. If the screen shows SRAM16M, it means applicable for memory capacity expansion.

Checking in PC software

Table of Contents

Safety Guide......................................................................................................................1 Modes in SSEL Controller .................................................................................................8 Caution in Handling ...........................................................................................................9 International Standards Compliances ..............................................................................11 Name for Each Parts and Their Functions.......................................................................12 Actuator Axes...................................................................................................................21 Starting Procedures .........................................................................................................23

Chapter 1 Specifications Check .....................................................................................25 1.1 Product Check..............................................................................................................25

1.1.1 Components (Excluding Options) ......................................................................25 1.1.2 Teaching Tool (Optional) ....................................................................................26 1.1.3 Operation Manuals Related to this Product, which are Contained in the

Operation Manual (DVD)....................................................................................26 1.1.4 How to Read the Model Plate ............................................................................27 1.1.5 How to Read the Model......................................................................................27

1.2 Basic Specifications......................................................................................................30 1.2.1 Specification List ................................................................................................30 1.2.2 Power Capacity and Heat output .......................................................................32 1.2.3 Selection of the Circuit Breaker..........................................................................34 1.2.4 Selection of the Leakage Breaker......................................................................34

1.3 External Dimensions ....................................................................................................35 1.3.1 2-axis Specification ............................................................................................35 1.3.2 2-axis Absolute Specification .............................................................................36 1.3.3 Specification with System Memory Backup Battery (Option).............................37

1.4 Option ...........................................................................................................................38 1.4.1 PIO Board...........................................................................................................38 1.4.2 Field Network Board...........................................................................................40 1.4.3 Panel Unit: PU-1 ................................................................................................41 1.4.4 Brake Box: RCB-110-RA13-0.............................................................................42 1.4.5 Regenerative Resister Unit: RESU-1 and RESU-2............................................43

1.5 Installation and Storage Environment...........................................................................45 1.6 Noise Prevention and the Installation...........................................................................46

Chapter 2 Wiring ............................................................................................................51 2.1 Wiring (Connection of devices) Diagram......................................................................51 2.2 Circuit Diagram (Example) ...........................................................................................52

2.2.1 Power Supply Circuit..........................................................................................52 2.2.2 Brake Release Power Supply ............................................................................52 2.2.3 Emergency Stop Circuit......................................................................................53 2.2.4 Motor Encoder Circuit ........................................................................................55 2.2.5 PIO Circuit ..........................................................................................................56 2.2.6 Connection of Regenerative Resister Unit (Option)...........................................61 2.2.7 Brake Box (RCB-110-RA13-0) (Option) .............................................................62 2.2.8 Teaching Port .....................................................................................................63

2.3 Wiring Method ..............................................................................................................64 2.3.1 Wiring for Power Supply Circuit .........................................................................64 2.3.2 Wiring the Emergency Stop Circuit (System I/O)...............................................66 2.3.3 Wiring for Actuator..............................................................................................67 2.3.4 Wiring for PIO.....................................................................................................69 2.3.5 Wiring for Panel Unit ..........................................................................................70 2.3.6 Wiring for Regenerative Resister Unit (RESU-1, RESU-2) (Option)..................71 2.3.7 Wiring for the Brake Box (RCB-110-RA13-0).....................................................72 2.3.8 Wiring for the Teaching Tool...............................................................................74

2.4 Installing the Absolute-Data Backup Battery (Optional) ...............................................76 2.5 Installing the Absolute-Data Backup Battery (Optional) ...............................................77

Chapter 3 Program Mode Operation..............................................................................79 3.1 Types of Operations .....................................................................................................79 3.2 Receiving and Forwarding of I/O Signals Necessary for Operation.............................80 3.3 Controller Data Structure..............................................................................................82

3.3.1 How to Save Data ..............................................................................................83 3.4 Starting the Controller...................................................................................................86

3.4.1 Boot and Cutoff of Power Supply.......................................................................86 3.4.2 Panel Unit PU-1 Display.....................................................................................87 3.4.3 Position Table and Program Creation and Writing .............................................90

3.5 Program Operation.......................................................................................................91 3.5.1 Auto Start upon Power On .................................................................................91 3.5.2 Starting a Program by Specifying its Program Number .....................................93 3.5.3 Input Timing for Software Reset Signal and Servo-on Signal............................94

Chapter 4 Operation in Positioner Mode........................................................................95 4.1 Basic Operation............................................................................................................95

4.1.1 Basic Operation Methods...................................................................................95 4.1.2 Parameter Settings ............................................................................................97 4.1.3 PIO Pattern Selection and PIO Signal ...............................................................98

4.2 Operation in Positioner Mode.....................................................................................105 4.2.1 Set of Position Table ........................................................................................106 4.2.2 Control of Input Signal...................................................................................... 110 4.2.3 Operation Ready and Auxiliary Signals = Common Item................................. 111 4.2.4 Operation with the Position No. Input = Operations of PIO Patterns 0 to 4.....121 4.2.5 Synchro operation ............................................................................................142 4.2.6 How to Home-Return in PIO Pattern without Home-Return Signal HEND ......143

Chapter 5 Absolute Reset and Absolute Battery..........................................................145 5.1 Absolute Reset (Absolute Specification) ....................................................................145

5.1.1 For PC Software...............................................................................................145 5.1.2 For Teaching Pendant ......................................................................................151

5.2 Absolute Reset (Battery-less Absolute specification).................................................157 5.3 Data Retaining Battery ...............................................................................................160

5.3.1 System-memory backup battery (Option) ........................................................160 5.3.2 Absolute Encoder Backup................................................................................165

Chapter 6 Special Functions ........................................................................................171 6.1 Synchro Function........................................................................................................171

6.1.1 Overview ..........................................................................................................171 6.1.2 Preparation for Operation of Synchro Specification.........................................174 6.1.3 Procedure for Re-execution of Absolute Reset................................................182

6.2 Multiple-Slider Near-Miss Detection (Collision Prevention) Function.........................184 6.3 Driver Overload Warning Function .............................................................................187

Chapter 7 I/O Parameter..............................................................................................190 7.1 I/O Parameter (All Types)...........................................................................................192 7.2 I/O Function Lists........................................................................................................210 7.3 Parameters Common to All Axes................................................................................214 7.4 Axis-Specific Parameters ...........................................................................................218 7.5 Driver Parameters ......................................................................................................227 7.6 Encoder Parameters ..................................................................................................231 7.7 I/O Devices Parameters .............................................................................................233 7.8 Other Parameters .......................................................................................................236 7.9 Feature Setup for I/O..................................................................................................242 7.10 Parameters for Linear / Rotation Controls..................................................................248

7.11 Permission of SIO/PIO Program Startup with Password............................................251 7.12 Parameter Setting (Applied) .......................................................................................252

7.12.1 Want to Operate the System Tentatively Without Using I/Os...........................253 7.12.2 Want to Output an Auto Operation Determination Signal from the SSEL

Controller..........................................................................................................253 7.12.3 Want to Retain Current Output Statuses Even during Emergency Stop..........253 7.12.4 Want to Start an Emergency Program .............................................................253 7.12.5 Want to Enable Auto Recovery (Restart) upon Cancellation of Emergency

Stop ..................................................................................................................254 7.12.6 Want to Enable Auto Recovery (Error Reset) upon Cancellation of

Emergency Stop...............................................................................................254 7.12.7 Want to Return to the Condition Immediately before Emergency Stop ...........254 7.12.8 Want to Restart the XSEL Controller Externally...............................................254 7.12.9 Want to Turn on the Servo Externally ..............................................................255 7.12.10 Want to Make a Home-return on all the Single Axis Actuators Externally .......255 7.12.11 Want to Execute the SSEL Controller Program Externally ..............................255 7.12.12 Want to Execute a Program Externally by Making an Indication of a

Program Number in Binary...............................................................................255 7.12.13 Want to Pause the XSEL Controller Externally ................................................256 7.12.14 Want to Reset Errors Externally.......................................................................256 7.12.15 Want to Release the Actuator Brake Externally ...............................................256 7.12.16 Want to Switch between AUTO and MANU Modes Externally ........................256 7.12.17 Want to Output that all the Single Axis Actuators are at the Home Position....257 7.12.18 Want to Output that Home-return Operation is Complete on all the Single

Axis Actuators ..................................................................................................257 7.12.19 Want to Output that a Single Axis Actuator got into the Area (zone) which

has been Set ....................................................................................................258 7.12.20 Want to Output the Error Level ........................................................................259 7.12.21 Want to Output the Emergency Stop Status ....................................................259 7.12.22 Want to Know the Current Operation Mode.....................................................260 7.12.23 Want to Output the System Memory Backup Battery (Option) Voltage

Drop Alarm .......................................................................................................260 7.12.24 Want to Output an Absolute-encoder Backup Battery (Option) Voltage

Low Alarm.........................................................................................................260 7.12.25 Want to Know the Current at This Moment on Panel Unit PU-1 (Option)

without Connecting to Teaching Tool................................................................261 7.12.26 Want to Monitor the Global Integral Variables on Panel Unit PU-1 (Option)

without Connecting to Teaching Tool................................................................262 7.13 Servo Adjustment .......................................................................................................263

Chapter 8 Troubleshooting...........................................................................................266 8.1 Action to Be Taken upon Occurrence of Problem ......................................................266 8.2 Error Level Control .....................................................................................................269 8.3 Error List (MAIN application) ......................................................................................271

Chapter 9 Appendix .....................................................................................................310 9.1 Example of Safety Circuit (Conforming to Safety Category)......................................310

9.1.1 Connecting the IA-LB-TGS ..............................................................................310 9.1.2 Wiring and Setting of Safety Circuit ................................................................. 311 9.1.3 Examples of Safety Circuits .............................................................................313 9.1.4 TP Adapter and Accessories............................................................................319

9.2 Stopping Method and Recovery .................................................................................322 9.2.1 Stopping Method ..............................................................................................322 9.2.2 Recovery ..........................................................................................................323

9.3 Specifications List for Connectable Single Axis Actuator ...........................................325

Chapter 10 Warranty......................................................................................................387

10.1 Warranty Period..........................................................................................................387 10.2 Scope of the Warranty................................................................................................387 10.3 Honoring the Warranty ...............................................................................................387 10.4 Limited Liability ...........................................................................................................387 10.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and

Applications ................................................................................................................388 10.6 Other Items Excluded from Warranty .........................................................................388

Trouble Report Sheet ....................................................................................................389

Change History ..............................................................................................................391

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Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product.

Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation.

No. Operation Description Description

1 Model Selection

● This product has not been planned and designed for the application where high level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications. 1) Medical equipment used to maintain, control or otherwise affect

human life or physical health. 2) Mechanisms and machinery designed for the purpose of moving or

transporting people (For vehicle, railway facility or air navigation facility)

3) Important safety parts of machinery (Safety device, etc.) ● Do not use the product outside the specifications. Failure to do so may

considerably shorten the life of the product. ● Do not use it in any of the following environments.

1) Location where there is any inflammable gas, inflammable object or explosive

2) Place with potential exposure to radiation 3) Location with the ambient temperature or relative humidity exceeding

the specification range 4) Location where radiant heat is added from direct sunlight or other

large heat source 5) Location where condensation occurs due to abrupt temperature

changes 6) Location where there is any corrosive gas (sulfuric acid or

hydrochloric acid) 7) Location exposed to significant amount of dust, salt or iron powder 8) Location subject to direct vibration or impact

● For an actuator used in vertical orientation, select a model which is equipped with a brake. If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece.

2


2 Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane.

● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

● When in transportation, consider well about the positions to hold, weight and weight balance and pay special attention to the carried object so it would not get hit or dropped.

● Transport it using an appropriate transportation measure. The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions in the operation manual for each model.

● Do not step or sit on the package. ● Do not put any heavy thing that can deform the package, on it. ● When using a crane capable of 1t or more of weight, have an operator

who has qualifications for crane operation and sling work. ● When using a crane or equivalent equipments, make sure not to hang a

load that weighs more than the equipment’s capability limit. ● Use a hook that is suitable for the load. Consider the safety factor of the

hook in such factors as shear strength. ● Do not get on the load that is hung on a crane. ● Do not leave a load hung up with a crane. ● Do not stand under the load that is hung up with a crane.

3 Storage and Preservation

● The storage and preservation environment conforms to the installation environment. However, especially give consideration to the prevention of condensation.

● Store the products with a consideration not to fall them over or drop due to an act of God such as earthquake.

4 Installation and Start

(1) Installation of Robot Main Body and Controller, etc. ● Make sure to securely hold and fix the product (including the work part).

A fall, drop or abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake.

● Do not get on or put anything on the product. Failure to do so may cause an accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.

● When using the product in any of the places specified below, provide a sufficient shield. 1) Location where electric noise is generated 2) Location where high electrical or magnetic field is present 3) Location with the mains or power lines passing nearby 4) Location where the product may come in contact with water, oil or

chemical droplets

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(2) Cable Wiring ● Use our company’s genuine cables for connecting between the actuator

and controller, and for the teaching tool. ● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do

not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.

● Perform the wiring for the product, after turning OFF the power to the unit, so that there is no wiring error.

● When the direct current power (+24V) is connected, take the great care of the directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.

● Connect the cable connector securely so that there is no disconnection or looseness. Failure to do so may cause a fire, electric shock or malfunction of the product.

● Never cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length. Failure to do so may cause the product to malfunction or cause fire.


(3) Grounding ● The grounding operation should be performed to prevent an electric

shock or electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.

● For the ground terminal on the AC power cable of the controller and the grounding plate in the control panel, make sure to use a twisted pair cable with wire thickness 0.5mm2 (AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).

● Perform Class D Grounding (former Class 3 Grounding with ground resistance 100Ω or below).

4



(4) Safety Measures ● When the work is carried out with 2 or more persons, make it clear who

is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

● When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range. When the robot under operation is touched, it may result in death or serious injury.

● Make sure to install the emergency stop circuit so that the unit can be stopped immediately in an emergency during the unit operation.

● Take the safety measure not to start up the unit only with the power turning ON. Failure to do so may start up the machine suddenly and cause an injury or damage to the product.

● Take the safety measure not to start up the machine only with the emergency stop cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input.

● When the installation or adjustment operation is to be performed, give clear warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden power input may cause an electric shock or injury.

● Take the measure so that the work part is not dropped in power failure or emergency stop.

● Wear protection gloves, goggle or safety shoes, as necessary, to secure safety.

● Do not insert a finger or object in the openings in the product. Failure to do so may cause an injury, electric shock, damage to the product or fire.

● When releasing the brake on a vertically oriented actuator, exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

5 Teaching ● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

● Perform the teaching operation from outside the safety protection fence, if possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

● When the operation is to be performed inside the safety protection fence, the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

● When the operation is to be performed inside the safety protection fence, in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.

● Place a sign “Under Operation” at the position easy to see. ● When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

* Safety protection Fence : In the case that there is no safety protection fence, the movable range should be indicated.

5


6 Trial Operation


● After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.

● When the check operation is to be performed inside the safety protection fence, perform the check operation using the previously specified work procedure like the teaching operation.

● Make sure to perform the programmed operation check at the safety speed. Failure to do so may result in an accident due to unexpected motion caused by a program error, etc.

● Do not touch the terminal block or any of the various setting switches in the power ON mode. Failure to do so may result in an electric shock or malfunction.

7 Automatic Operation

● Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence.

● Before starting automatic operation, make sure that all peripheral equipment is in an automatic-operation-ready state and there is no alarm indication.

● Make sure to operate automatic operation start from outside of the safety protection fence.

● In the case that there is any abnormal heating, smoke, offensive smell, or abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.

● When a power failure occurs, turn OFF the power switch. Failure to do so may cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.

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8 Maintenance and Inspection


● Perform the work out of the safety protection fence, if possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

● When the work is to be performed inside the safety protection fence, basically turn OFF the power switch.

● When the operation is to be performed inside the safety protection fence, the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

● When the operation is to be performed inside the safety protection fence, in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.

● Place a sign “Under Operation” at the position easy to see. ● For the grease for the guide or ball screw, use appropriate grease

according to the Operation Manual for each model. ● Do not perform the dielectric strength test. Failure to do so may result in

a damage to the product. ● When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

● The slider or rod may get misaligned OFF the stop position if the servo is turned OFF. Be careful not to get injured or damaged due to an unnecessary operation.

● Pay attention not to lose the cover or untightened screws, and make sure to put the product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury.

* Safety protection Fence : In the case that there is no safety protection fence, the movable range should be indicated.

9 Modification and Dismantle

● Do not modify, disassemble, assemble or use of maintenance parts not specified based at your own discretion.

10 Disposal ● When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste.

● When removing the actuator for disposal, pay attention to drop of components when detaching screws.

● Do not put the product in a fire when disposing of it. The product may burst or generate toxic gases.

11 Other ● Do not come close to the product or the harnesses if you are a person who requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.

● See Overseas Specifications Compliance Manual to check whether complies if necessary.

● For the handling of actuators and controllers, follow the dedicated operation manual of each unit to ensure the safety.

7

Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model.

Level Degree of Danger and Damage Symbol

Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.

Danger

Warning This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.

Warning

Caution This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.

Caution

Notice This indicates lower possibility for the injury, but should be kept to use this product properly. Notice

8

Modes in SSEL Controller There are two types of modes in SSEL Controller, “Program Mode” to operate the program created in SEL Language and “Positioner Mode” to have an operation by indicating the position number from a controller such as host PLC. There are five types of modes prepared in Positioner Mode to make it applicable for various ways of use. Selection of modes can be performed in the setting in Other Parameter No. 25. It is set to Program Mode at the delivery. (Other parameter No.25 = 0) (Note) It is not available to operate the two modes, “Program Mode” and “Positioner Mode”, at the

same time.

SSEL Controller Program Mode (Other parameter No.25=0)

Positioner Mode Standard mode

(Other parameter No.25=1) Product switching mode (Other parameter No.25=2) 2-axis independent mode (Other parameter No.25=3) Teaching mode (Other parameter No.25=4) DS-S-C1 compatible mode (Other parameter No.25=16)

9

Caution in Handling

1 Make sure to follow the usage condition, environment and specification range of the product. Operation out of the guarantee could cause a drop in performance or malfunction of the product.

2. Wait for 5 seconds or more before rebooting the power. For the reason of controller circuit structure, “Drive Cutoff Relay Error (E6D)” which means the welding of internal relay may occur if the time before turning the power ON (to reboot the controller) after the power is turned OFF is too short.

3. Use the dedicated teaching tool. Check 1.1.2 Teaching Tool for the PC software and teaching pendant available for this controller.

4. Create a secure data backup for use in case of a breakdown. The data to be registered in this controller such as the position data, programs and parameters are written in the flash ROM and FRAM. Therefore, you will not usually lose the data even if the power is shut down. However, make sure to save the latest data so a quick recovery action can be taken in case when the controller is broken and needs to be replaced with another one. (Note) When the system memory battery (option) is not installed, the data of SEL global data

and error list will be lost when the power is turned off. How to Save Data (1) Save the data to external memory or hard disk with using the PC software

[Refer to XSEL PC Software Instruction Manual] 5. It can be selected from multi-rotation and limited operation by parameter for

the multi-rotation specification rotary actuator. For the parameter settings of the multi-rotation or limited rotation, refer to 7.10 Parameters for Linear / Rotation Controls. However, it is necessary to pay attention to following. Absolute specification cannot have the rotary axes operate multi-rotation. It is because setting is unavailable for infinity stroke mode or short way control in index mode.

Application

RS-30/60 RCS2-RT6/RT6R/RT7/RT7R RCS2-RTC8L/RTC8HL/RTC10L/RTC12L

10

6. Transference of PIO Signal between Controllers Please note the following when conducting transference of PIO signal between controllers. To certainly transfer the signal between controllers with different scan time, it is necessary to have longer scan time than the one longer than the other controller. To ensure to end the process of signal safely, it is recommended to have more than twice as long as the longer scan time at least.

●Operation Image

Also, if one tries to read the signal that is being re-written by the other, the signal may be read wrong. Make sure to read the signal after the rewriting is complete. (It is recommended to have more than 2 scan periods to wait.) Make sure not to have the output side to change the output until the other side completes the reading. Also, a setting is made on the input area not to receive the signal less than a certain time to prevent a wrong reading of noise. This duration also needs to be considered. Note1 Because this controller performs two or more processing works including program execution and

error processing, in addition to I/0 processing, the scan time is not fixed. 7. PLC Timer Setting (Reference)

Do not have the PLC timer setting to be done with the minimum setting. Setting to “1” for 100msec timer turns on at the timing from 0 to 100msec while 10msec timer from 0 to 10msec for some PLC. Therefore, the process same as when there is no timer set will be conducted and a failure may be occurred. Set “2” as the minimum value for the setting of 10msec timer and when setting to 100msec, use 10msec timer and set to “10”.

Output Process

Input Process

As shown in the diagram, the input and output timings of two devices that have different scan time do not match, when transferring a signal. There is no guarantee that PLC would read the signal as soon as this controller signal turns on. In such a case, make the setting to read the signal after a certain time that is longer than the longer scan time to ensure the reading process succeeds on the PLC side. It is the same in the case this controller side reads the signal. In such a case, it is recommended to ensure 2 to 4 times of the scan time for the timer setting margin. It is risky to have the setting below the scan time since the timer is also processed in the scan process. In the diagram, PLC can only read the input once in 20msec even though this controller output once in some msec. Because PLC only conducts output process once in 20msec, ASEP/PSEP identifies the same output status for that entire time period.

This controller (scan time some msec) (Note1)

PLC (e.g. scan time is 20msec)

11

International Standards Compliances This product complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.

RoHS Directive CE Marking ○ ○

13

Name for Each Parts and Their Functions [1] Main unit ● View from Front

(Note) For one axis specification, 12), 14) and 16) are not installed and masked.

8) AC power input connector

9) Grounding screw

10) Regenerative resister unit connector

11) 1st axis motor cable connector

12) 2nd axis motor cable connector

13) 1st axis brake release switch

14) 2nd axis brake release switch

15) 1st axis encoder connector

16) 2nd axis encoder connector

7) LED display

6) System I/O connector

5) Teaching connector

4) MANU/AUTO switch

3) USB connector

2) PIO connector

1) Panel unit connector

14

● View from Bottom

BA

T2

BA

T1

● View from Top

SB

AT

19) 1st axis absolute-data backup battery connector

18) 2nd axis absolute-data backup battery connector

17) 1st/2nd axis absolute-data backup battery holder

21) System-memory backupbattery holder

20) System-memory backup battery connector

15

1) Panel unit connector[Refer to 2.3.5] It is a connector to connect the panel unit PU-1 (option) to display the controller status and error numbers. [For details of panel unit, refer to 1.4.3 Panel Unit: PU-1]

2) PIO connector[Refer to 2.3.4]

It is the PIO interface with 24 points of input and 8 points of output. It can be selected from NPN and PNP

3) USB connector

This connector is used to connect the PC software and the controller via a USB cable. (Note) • When a USB port is used, all of the controllers to be connected must be linked one by

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

• When a USB port is used, a dummy plug must be plugged into the teaching connector (5. Dummy plug model number: DP-3 (For SSEL-C)

DP-45 (For SSEL-CS) 4) MANU/AUTO switch

This switch is used to specify the controller operation mode.

Switch Position Function MANU (manual mode)

Left side

Teaching tool is activated.

AUTO (automatic mode)

Right side

Teaching tool is inactivated. • Automatic start program is

available for activation. • Positioner mode is available to be

executed.

(Note) When using the USB connector on MANU side, servo would not turn on unless inserting the dummy plug to 5) Teaching connector. When using the USB connector, use the unit with the dummy plug inserted so the disable status can be released. If a dummy plug is used, always operate the controller in a condition where the Emergency Stop switch is within an easy reach.

5) Teaching connector[Refer to 2.3.8]

It is a connector for teaching tools to connect a teaching pendant or PC (PC software) to perform operation and settings of an actuator.

6) System I/O connector[Refer to 2.3.2]

It is the input and output connectors to manage the safety control on the controller. By having the external safety circuit applied to this connector, the safety circuit can be constructed. It includes the pins to connect the power line for brake release on an actuator equipped with a brake.

7) LED display[Refer to 8.1]

It shows the controller status with the 6 LED lamps.

MANU AUTO(left) (right)

16

8) AC power input connector[Refer to 2.3.1] It is a connector to input the main power supply 100V to 115V AC or single-phase 200V to 230V AC. It consists of five terminals, motor power terminals, control power terminals and PE terminals.

Warning: Do not attempt to touch this connector or wires while the power is on as it may cause electric shock.

9) Grounding screw

It is a screw for security grounding. It is connected with PE on the power connector inside the controller. Utilize this terminal in case the security grounding at the connector cannot be accepted due to such a problem as the safety specifications.

10) Regenerative resister unit connector[Refer to 2.3.6]

It is a connector to connect a regenerative resister unit. 11) 1st axis motor cable connector[Refer to 2.3.3]

It is a connector to connect the motor cable on the 1st axis actuator. 12) 2nd axis motor cable connector[Refer to 2.3.3]

It is a connector to connect the motor cable on the 2nd axis actuator. 13) 1st brake release switch 14) 2nd brake release switch

It is the switch to release the brake compulsorily (excitation release) for the actuator equipped with a brake. The brake can be compulsorily released by setting the switch on RLS side when manual operation of the actuator is needed for such cases as when starting up the system or for teaching or during an error. Keep the switch set on NOM side unless necessary.

Switch Position Function

RLS (brake release)

Left side

Brake is released compulsorily.

NOM (automatic mode)

Right side

Brake gets controlled automatically by controller. Servo-on: Brake release Servo-off: Brake activated

Warning: After conducting the brake compulsory release, make sure to set the switch

back to NOM (Automatic Mode) so the controller can perform the automatic control on the brake. In RLS (brake release) status, it is very dangerous as the brake would not work in emergency stop or when the servo is turned off. On an actuator installed in vertical orientation, it may cause a serious accident due to a drop of the slider or rod.

15) 1st axis encoder connector[Refer to 2.3.3]

It is a connector to connect the encoder cable on the 1st axis actuator.

16) 2nd axis encoder connector[Refer to 2.3.3] It is a connector to connect the encoder cable on the 2nd axis actuator.

17) 1st/2nd axis absolute-data backup battery holder It is the battery holder to mount the absolute battery in order to have a backup of the absolute encoder data. (The holder is fitted onto the bottom face of the resin cover.)

RLS (left) NOM (right)

Axis 1

Axis 2

17

18) 2nd axis absolute-data backup battery connector It is the connector to connect the absolute battery in order to have a backup of the 2nd absolute encoder data. (To mount the absolute data backup battery in the absolute encoder specification)

19) 1st axis absolute-data backup battery connector

It is the connector to connect the absolute battery in order to have a backup of the 1st absolute encoder data. (To mount the absolute data backup battery in the absolute encoder specification)

20) System-memory backup battery connector

It is the connector to connect the system backup battery in order to have a backup of the system memory data.

21) System-memory backup battery holder

It is the battery holder to mount the system-memory backup battery in order to have a backup of the system memory data. (The holder is fitted onto the bottom face of the resin cover.)

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[2] Panel unit: PU-1 (Option) This is the display board consists of four digits of seven-segment displays and LED lamps. The status of a controller such as the error codes can be checked on it if it is connected to SSEL controller. Also, if connected to an extension I/O unit, the condition of each I/O unit whether it is in normal or error condition. [Refer to Chapter 8 Troubleshooting]

Panel window

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[3] Brake box: RCB-110-RA13-0 (Option) It is a brake control unit necessary when the following actuators are in brake-equipped specification. Ultra High-Thrust Rod Type RCS2-RA13R MZMS/MZMM/LZMS/LZMM Types in ball screw nut rotary type NS series Brakes for two axes can be controlled with one brake box.

1) Brake release switch connector 1[Refer to 2.3.7] Signals of a switch prepared externally can be connected to this connector, and the brake on the brake-equipped actuator connected to 5) Encoder connector 1-1 can be released compulsorily (excitation release). The switch can be installed near the actuator so the actuator can be operated manually with hand in teaching and error. Warning: After conducting the brake compulsory release, make sure to turn the signal off

so the controller can perform the automatic control on the brake. It is very dangerous if the signal is kept on as the brake would not work in emergency stop or when the servo is turned off. For vertically mounted actuators, the slider or rod can drop and it may cause a critical accident.

1) Brake release switch connector 1

2) Brake power input connector 3) POWER ON LED

4) Brake release switch connector 2

8) Encoder connector 2-2



7) Encoder connector 2-1 For cable between controller and brake box

For cable between controller and brake box

For cable between actuator and brake box

For cable between actuator and brake box

- Front side -

- Rear side -

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2) Brake power input connector[Refer to 2.3.7] It is a connector to connect the power line. Supply 24V DC (19.76VA/axis).

3) POWER ON LED

It turns on (green) when 24V DC gets supplied.

4) Brake release switch connector 2[Refer to 2.3.7] Signals of a switch prepared externally can be connected to this connector, and the brake on the brake-equipped actuator connected to 7) Encoder connector 2-1 can be released compulsorily (excitation release). The switch can be installed near the actuator so the actuator can be operated manually with hand in teaching and error. Warning: After conducting the brake compulsory release, make sure to turn the signal off

so the controller can perform the automatic control on the brake. It is very dangerous if the signal is kept on as the brake would not work in emergency stop or when the servo is turned off. For vertically mounted actuators, the slider or rod can drop and it may cause a critical accident.

5) Encoder connector 1-1 It is a connector to connect the encoder cable between the controller and the brake box. It outputs the encoder signal of the actuator connected to 6) Encoder connector 1-2.


It is a connector to connect the encoder cable between the actuator and the brake box.

7) Encoder connector 2-1 It is a connector to connect the encoder cable between the controller and the brake box. It outputs the encoder signal of the actuator connected to 8) Encoder connector 2-2.


It is a connector to connect the encoder cable between the actuator and the brake box.

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Actuator Axes Refer to the pictures below for the actuator axes that can be controlled. 0 defines the home position, and items in ( ) are for the home-reversed specification (option).

(1) Rod Type

(2) Slider Type

(3) Table Type

(4) Arm Type

Caution: There are some actuators that are not applicable to the origin reversed specification. Check further on the catalog or the Instruction Manual of the actuator.

+

(0) 0

(+)

0 (+)

+ (0)

+ (0)

0 (+)

+ (0)

0 (+)

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(5) Gripper Type

Finger Attachment

(6) Rotary Type

(300-degree Rotation Specification) (360-degree Rotation Specification)

(360-degree Rotation Specification)

For multiple rotation specification with the origin reversed specification, the directions of + and – are the other way around

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Starting Procedures When using this product for the first time, work while making sure to avoid omission and incorrect wiring by referring to the procedure below.

Warning: Make sure to put the brake release switch on the controller on the right (NOM)

when booting the power. If it is on the left (RLS) side, it may cause a drop of actuator by its own weight and may pinch a part of your body or damage the work piece.

1. Programming mode Other Parameter No.25: 0 (factory default)

The controller is now ready. Set parameters according to the operation pattern you have selected Create a program and set the position data. [Refer to Chapter 3 for the operating methods.]

↓Yes

Connect the motor cable. [Refer to 2.3.3.]

No→

• To ensure safety, it is recommended that safety speed be enabled during initial movements.

• When the actuator is installed vertically , be careful so you would not pinch your hand or damage the robot hand with the actuator dropped by its own weight when the brake release switch is put on [RLS] side.

Contact your IAI dealer or IAI.

Important check items [Refer to 1.6.] • Have you performed the installation and the connection

of the frame ground and protective ground (PE)? • Have you implement noise measures?

↓Yes

No →

→

Turn on the power and check for alarms. [Refer to 2.3.8.]

Connect a PC or teaching pendant and then turn on the power.

Turn ON the servo. Turn on the servo from the PC or teaching pendant.

Check item Check if “SV ON” is shown on the position edit screen of the PC software or teaching pendant. If an alarm is present, check the nature of the

alarm and take an appropriate action from the PC or teaching pendant. [Refer to Chapter 8.]

No →

→

↓

↓Yes

Check items [Refer to 3.3.2.] Is the displayed status “ ”? For PIO specification, supply I/O 24V power.

For Field Network specification, get the fieldbus connected. [Reference] Set I/O Parameters No. 10 to 11 to 0 (Not to Monitor Errors)

if starting up the system without connecting I/O 24V power supply for PIO specification. Set either of I/O Parameter No. 18 to 0 (Not to Monitor Errors) if starting up the system without connecting Field Network for Field Network specification.

Product Check Product Check [Refer to 1. 1.] Are all items included?

Is the motor cable connected? No→

↓Yes

↓Yes

No→

Check the actuator operation. Confirm that the actuator can be moved over its full stroke without problem by jogging.

Check the safety circuit. [Refer to 2.3.2.] Does the emergency stop circuit (drive-source cutoff circuit) actuate properly to turn OFF the servo?

Installation and wiring [Refer to 1.6, Chapter 2.]Install and wire the controller and robot according to the instructions in this manual.

The actuator may drop slightly by its own weight as a result of turning on/off repeatedly if it is installed vertically. Be careful so you would not pinch your hand or damage the robot hand.

Is I/O 24V power is supplied for PIO specification? Is the power is turned on with the Field Network connected for Field Network specification?

Set parameters. [Refer to Chapter 7.] Set I/O parameters, etc., from the PC or teaching pendant.

↓Yes

If an alarm is present, check the nature of the alarm and take an appropriate action from the PC or teaching pendant. [Refer to Chapter 8.]

No →

↓

↓

Check the emergency stop circuit.

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2. Positioner Mode It is necessary to select a mode for operation from the five types of positioner modes, and have the setting done in Other Parameter No. 25. [Refer to Chapter 4 for the operating methods.]

No→ Check Item Any vibration or abnormal noise?

→

Test Run Adjustment 2 1) Set the MANU/AUTO switch to “AUTO”. 2) Output the operation command from PLC to the controller and check the system operation.

Check if there is any problem with the installation of the actuator and the condition of the actuator use exceeds the ranges of the rated values. Adjust the servo if necessary. ↓Yes

↓Yes

Connect the motor cable. [Refer to 2.3.3.]

No→

Contact your IAI dealer or IAI.

Important check items [Refer to 1.6.] • Have you performed the installation and the connection

of the frame ground and protective ground (PE)? • Have you implement noise measures?

↓Yes

No →

→

Turn on the power and check for alarms. [Refer to 2.3.8.]

Connect a PC or teaching pendant and then turn on the power.

Turn ON the servo. Turn on the servo from the PC or teaching pendant.

Check item Check if “SV ON” is shown on the position edit screen of the PC software or teaching pendant. If an alarm is present, check the nature of the

alarm and take an appropriate action from the PC or teaching pendant. [Refer to Chapter 8.]

No →

↓

↓Yes

Check items [Refer to 3.3.2.] Is the displayed status “ ”? For PIO specification, supply I/O 24V power.

For Field Network specification, get the fieldbus connected. [Reference] Set I/O Parameters No. 10 to 11 to 0 (Not to Monitor Errors)

if starting up the system without connecting I/O 24V power supply for PIO specification. Set either of I/O Parameter No. 18 to 0 (Not to Monitor Errors) if starting up the system without connecting Field Network for Field Network specification.

Product Check Product Check [Refer to 1. 1.] Are all items included?

Is the motor cable connected? No→

↓Yes

↓Yes

No→

Installation and wiring [Refer to 1.6, Chapter 2.]Install and wire the controller and robot according to the instructions in this manual.

The actuator may drop slightly by its own weight as a result of turning on/off repeatedly if it is installed vertically. Be careful so you would not pinch your hand or damage the robot hand.

Is I/O 24V power is supplied for PIO specification? Is the power is turned on with the Field Network connected for Field Network specification?

Set parameters. [Refer to Chapter 4.] Select a mode to drive from five types of positioner modes by operation from the PC or a teaching pendant, and set it in Other Parameter No. 25.

↓Yes

If an alarm is present, check the nature of the alarm and take an appropriate action from the PC or teaching pendant. [Refer to Chapter 8.]

No →

↓

↓

Check the emergency stop circuit.

Target Position Setting Set the target position in “Position” Box in each position table. Perform a home-return operation first when Direct Teaching is to be performed. When moving the actuator manually, set the Brake Release Switch to “BK RLS” side for the brake equipped type. Put the switch back after the setting is complete.

In the case the actuator is installed in vertical orientation and put the brake release switch to [BK RLS] side, be careful not to drop it with self-weight and pinch your hand or damage the work.

Check the safety circuit. [Refer to 2.3.2.] Does the emergency stop circuit (drive-source cutoff circuit) actuate properly to turn OFF the servo?

Caution : To ensure safety, it is recommended that safety speed be enabled during initial movements.↓

Test Run Adjustment 1 Check the operation without mounting a work and set the safety speed invalid on the teaching tool such as PC, and then check the operation with a work mounted.

↓

Chapter 1 Specifications C

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Chapter 1 Specifications Check 1.1 Product Check The standard configuration of this product is comprised of the following parts. If you find any faulty or missing parts, contact your local IAI distributor. 1.1.1 Components (Excluding Options) No. Item Model Quantity

1 Controller Main Body Refer to “How to read the model plate”, “How to read the model”. 1

Accessories

2 I/O Flat Cable CB

CB-DS-PIO□□□

1 □□□ shows the cable length

3 Battery to Save Absolute Data

AB-5

1 or 2 Enclosed in absolute specification

4 AC Power Supply Plug

MSTB2.5/6-STF-5.08

2

5 System I/O Plug

FMC1.5/4-ST-3.5

2

6 First Step Guide 1

7 Operation Manual (DVD) 1

8 Safety Guide 1

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1.1.2 Teaching Tool (Optional) The PC software or teaching pendant is necessary to perform setup operations such as position and parameter settings through teaching or other means. Use either of them. No. Item Model

1 PC Software (with RS232C cable + Emergency stop box) IA-101-X-MW

2 PC Software (with USB conversion adapter + RS232C cable + Emergency stop box) IA-101-X-USBMW

3 PC Software (Safety categories 4 compliance cable + Emergency stop box) IA-101-XA-MW

4 Teaching Pendant SEL-T 5 Teaching Pendant (with deadman switch) SEL-TD 6 Teaching Pendant (with deadman switch + TP adapter (IA-LB-TG)) SEL-TG 7 Teaching Pendant IA-T-X 8 Teaching Pendant (with deadman switch) IA-T-XD 9 Teaching Pendant TB-01 10 Teaching Pendant (with deadman switch) TB-01D, TB-01DR

1.1.3 Operation Manuals Related to this Product, which are Contained in the Operation Manual (DVD).

No. Name Manual No.1 SEL Language Programming Manual ME0224 2 PC Software IA-101-X-MW/ IA-101-X-USBMW RC Gateway Function Operation Manual ME0154 3 Teaching Pendant SEL-T/TD/TG Operation Manual ME0183 4 Teaching Pendant IA-T-X/XD Operation Manual ME0160

5 Touch Panel Teaching TB-01, TB-01D, TB-01DR Applicable for Program Controller Operation Manual ME0325

6 DeviceNet Operation Manual ME0124 7 CC-Link Operation Manual ME0123 8 PROFIBUS-DP Operation Manual ME0153 9 EtherNet/IP Operation Manual ME0308

10 Remote I/O Unit ME0339


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1.1.4 How to Read the Model Plate 1.1.5 How to Read the Model

Mode

Serial number MODEL SSEL-C-2-200A-100AB-NP-2-1 SERIAL No. 600061190 MADE IN JAPAN

SSEL – CS － 2 － 200A － 100AB － NP － 2 － 1

Type specification table Details of axis 1 to axis 2

Series

Controller

Type

Number of Axes

Motor Wattage

Encoder Type

Brake CreepHigh

Acceleration/Deceleration

Home SensorSynchronizationDesignation

Standard I/O

I/O Flat Cable

Length

Power Supply

Voltage

SSEL

C (Standard

specification)

CS (Standard

specification)

1 (1-axis)

2

(2-axis)

12 (12W) 30D

(30W for RCS2) 30R

(30W for RC) 60

(60W) 100

(100W) 100S

(100W) 150

(150W) 200

(200W) 200S

(200W) 300

(300W) 300S

(300W) 400

(400W) 600

(600W) 750

(750W)

WAI (battery-less

absolute/ Incremental)

A

(Absolute)

G (Spurious absolute)

Not specified(w/o brake)

B

(w/ brake)

Not specified(w/o creep)

C

(w/ creep)

Not specified(w/o

acceleration/deceleration)

HA

(acceleration/deceleration)

Not specified(w/o home

sensor) L

(home sensorApplicable for

LS)

Not specified(No

synchronization)

M (Master-axis designation)

S

(Slave-axis designation)

NP Standard PIO

24 inputs/8 outputs NPN specification

PN

Standard PIO 24 inputs/8 outputs PNP specification

DV

DeviceNet

CC CC-Link

PR

ProfiBus

EP EtherNet/IP

IA

Remote I/O unit

2: 2m (Standard) 3: 3m 5: 5m

0: None

1: Single-phase 100V

2: Single-phase

200V

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Linear Actuators Connectable to SSEL Controller The linear actuators LSA and LSAS available to connect to SSEL controller are as shown below.

○: Connectable ×: Not connectable

Linear Actuator Model Single-Phase 100V Input Specification Single-Phase 200V Input

Specification S6SS ○ ○ S6SM × ○ S8SS ○ ○ S8SM × ○ S8HS ○ ○ S8HM × ○ N10SS × ○ N10SM × ○ S10SS ○ ○ S10SM × ○ S10HS × ○ S10HM × ○ H8SS ○ ○ H8SM × ○ H8HS ○ ○ H8HM × ○ L15SS ○ ○ L15SM × ○ N15SS × ○ N15SM × ○ N15HS × ○ N15HM × ○ N19SS ○ ○ N19SM × ○ W21SS × ○ W21SM × × W21HS × × W21HM × ×


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Calculation of Actuator Wattage Connectable to SSEL Controller

The total wattage of two axes of connectable actuators should be 400W or less for the single-phase 100V input specification. It should be 800W or less for the single-phase 200V input specification. However, for the linear actuator, figure out the wattage based on the controller wattage calculation output shown in the table below. (e.g. 1) When S6SS is connected to single-phase 100V input specification SSEL Controller, 100W

actuator can be connected, which is the remaining from 300W, the wattage calculation output for S6SS.

(e.g. 2) When N15HS is connected to single-phase 200V input specification SSEL Controller, 200W actuator can be connected, which is the remaining from 600W, the wattage calculation output for N15HS.

Linear Actuator Model Number of Sliders Motor Type [W] Wattage

Calculation Output[W]

S6SS 1 100 300 S6SM 2 100 600 S8SS 1 100 300 S8SM 2 100 600 S8HS 1 100 300 S8HM 2 100 600 N10SS 1 100 300 N10SM 2 100 600 S10SS 1 100 600 S10SM 2 100 800 S10HS 1 200 600 H8SS 1 200 600 (Note 1) H8SM 2 200 800 H8HS 1 200 600 (Note 1) H8HM 2 200 800 L15SS 1 200 600 (Note 1) L15SM 2 200 800 N15SS 1 200 600 N15SM 2 200 800 N15HS 1 200 600 N15HM 2 200 800 N19SS 1 300 600 (Note 1) N19SM 2 300 800 W21SS 1 400 800

(Note) Although the wattage calculation output exceeds 400W, it is available to connect to the single-phase

100V input specification.

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1.2 Basic Specifications 1.2.1 Specification List

Specification Item Single-Phase 100V Input Specification Single-Phase 200V Input SpecificationNumber of controlled axes 1-axis to 2-axis Applicable motor capacity 20W to 750W Total connectable wattage 400W 800W Control power supply voltage Single-phase AC100V to 115V±10% Single-phase AC200V to 230V±10%Motor driving source voltage Single-phase AC100V to 115V±10% Single-phase AC200V to 230V±10%Power supply frequency 50Hz/60Hz

Control power supply 55A

Rush current (Note 1) Motor drive power supply 55A 110A Leakage current(Note 2) 1.0mA or less Heat output Refer to the Item for the Power Capacity and Heat output. PIO power supply(Note 3) DC24V±10% (supplied from external equipment) Power capacity of excitation brake power source(Note 4) (For the actuator with the brake) DC24V±10% rated 0.5A MAX. 1A DC24V±10% rated 1A MAX. 2A

Heat output of excitation brake power source (For the actuator with the brake) 12W 24W

Transient power cutoff durability 10ms (when power source frequency 50Hz is used), 8ms (when power source frequency 60Hz is used) Motor control system AC Full-digital servo Applicable encoder Incremental serial encoder or absolute encoder Speed setting From 1mm/s The upper limit depends on the specifications of actuator Acceleration setting From 0.01G The upper limit depends on the specifications of actuator

Serial communication interface RS232C Dedicated protocol (at AUTO Mode) or connector for teaching tools USB interface Dedicated protocol (at AUTO Mode) or connector for teaching tools

RS232C 15m or less Communication cable length USB 5m or less

PIO specification

Signal I/O dedicated for 24V DC (Input and output ports, selected from NPN/PNP) Input 24 points (Total of dedicated inputs and general inputs) Output 8 points (Total of dedicated outputs and general outputs) [Refer to 1.1.5 How to Read the Model]

External interface

Field network specification DeviceNet, CC-Link, PROFIBUS-DP, EtherNet/IP [Refer to each Fieldbus Instruction Manual] Data setting and input PC software or teaching pendant Program specification SEL language Max. number of program steps 9,999 steps (2,000 steps in case memory capacity increase not applicable)

Max. number of positions 20,000 positions (1,500 positions in case memory capacity increase not applicable)

Max. number of programs 128 programs (64 programs positions in case memory capacity increase not applicable) Max. number of multitask programs 8 programs Data retention memory Flash ROM, SRAM backup (option) Panel unit PU-1 (option) Controller status display System I/O Emergency stop input, safety gate input, brake power input

Drive-source cutoff method Internal relay Emergency-stop input b contact (normally closed) input (internal power supply) Safety circuit configuration Enable input b contact (normally closed) input (internal power supply)

Protective functions Motor over current, motor overload, motor driver temperature check, encoder open circuit detection, soft limit over, system abnormality, battery abnormality

Regenerative resistor Equipped with built-in 1kΩ/20W regenerative resistor Extension available with connecting an external regenerative resistor Absolute battery AB-5 (Mounted externally to controller) System memory backup battery (option) AB-5 (Mounted externally to controller)


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Specification Item Single-Phase 100V Input Specification Single-Phase 200V Input SpecificationInsulation resistance 10MΩ or more (Between power terminal and I/O terminal and also all external terminals and case at the power supply of 500V DC) Insulation strength 1,500V AC for 1 min Cooling method Forced air-cooling

Surrounding air temperature 0 to +40°C Surrounding humidity From 10%RH to 95%RH (non-condensing) Surrounding environment (Refer to the Item for the Installation Environment). Surrounding storage temperature -25 to 70°C (the absolute battery is excluded.)

Surrounding storage humidity From 10%RH to 95%RH (non-condensing)

Vibration resistance 10 to 57 Hz in XYZ directions/pulsating amplitude 0.035 mm (continuous), 0.075 mm (intermittent) 57 to 150 Hz/4.9 m/s² (continuous), 9.8 m/s² (intermittent)

Protection class IP20

Environment

Pollution degree Pollution degree 2 External dimensions [Refer to the 1.3 External Dimensions] Weight With no absolute battery unit 1,380g

Note 1 Rush current at the power connection continues for 5 msec. Note that the value of in-rush current differs depending on the impedance of the power supply line.

Note 2 Leak current is the value of controller itself with no actuator connected. Leak current varies depending on the capacity of connected motor, cable length and the surrounding environment. Measure the leak current at the point where a ground fault circuit interrupter is to be installed when leakage protection is conducted. Regarding the leakage breaker, it is necessary to have a clear purpose for selection such as a fire protection or protection of human body. Use the harmonic type (for inverter) for a leakage breaker.

Note 3 Power supply is not necessary if PIO is not to be used. Note 4 Brake is a peek over-excitation brake. 1A at the maximum of current per axis flows in 100msec at the

brake release. Note 5 The dielectric withstanding of the motor used in the actuator is 1,000V AC for 1 minute. Do not

exceed 1,000V AC for 1 minute when performing a voltage resistance test.

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1.2.2 Power Capacity and Heat output Calculate the Power Capacity and Heat output using the following formulas. Rated Power Capacity [VA] = Rated Motor Power capacity on 1st Axis [VA]

+ Rated Motor Power Capacity on 2nd Axis [VA] + Control Power Capacity [VA]

Peek Max. Power Capacity [VA] = Peek Max. Motor Power Capacity on 1st Axis [VA]

+ Peek Max. Motor Power capacity on 2nd Axis [VA] + Control Power Capacity [VA]

Heat Output at Rated Power Output [W] = Heat Output at Rated Motor Power Output on 1st

Axis [W] + Heat Output at Rated Motor Power Output on 2nd Axis [W] + Heat Output at Control Power Source [W]

• Select the rated motor power capacity on 1st axis [VA] and the rated motor power capacity on

2nd axis [VA] from Table 1. Select the control power capacity [VA] from Table 2. • Select the peek maximum motor power capacity on 1st Axis [VA] and the peek maximum motor

power capacity on 2nd axis [VA] from Table 1. Select the control power capacity [VA] from Table 2.

• Select the heat output at rated motor power output on 1st axis [W] and the heat output at rated motor power output on 2nd axis [W] from Table 1. Select the Heat output at control power source [W] from Table 2.

Table 1 Motor Power Capacity of Actuator and Heat output

Wattage of Actuator Motor [W] Rated Motor Power Supply Capacity [VA]Peek Max. Motor

Power Supply Capacity [VA]

Heat Output at Rated Motor Power Supply

[W] 20 26 78 1.6 30 46 138 2.1 60 138 415 3.9

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

100 (linear actuator S6SS) 101 303 3.7 100 (linear actuator S8SS) 159 477 4.1 100 (linear actuator S8HS) 216 648 3.8 100 (linear actuator N10SS) 379 1137 4.5 200 (linear actuator S10SS) 343 1029 5.3 200 (linear actuator S10HS) 417 1251 5.0 200 (linear actuator H8SS) 189 567 5.4 200 (linear actuator H8HS) 379 1137 5.4 200 (linear actuator L15SS) 189 567 5.4 200 (linear actuator N15SS) 486 1458 4.4 200 (linear actuator N15HS) 773 2319 6.4 300 (linear actuator N19SS) 662 1986 11.6 400 (linear actuator W21SS) 920 2760 16.7


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Table 2 Capacity and Heat Output of the Control Power Supply Control Power Capacity [VA] Heat Output at Control Power Source [W]

60 36

Table 3 Brake Power Supply Power supply voltage [V] 24

Rated current [A] 0.5 Peek maximum current [A] 1

Heat output at rated power output [W]

12

The brakes used by IAI’s actuators are of instantaneous over-excitation type, which means that a maximum current of 1 A flows per axis over a period of approx. 100 msec when the brake is released.

[Calculation example] Power-supply capacities when the output of axis 1 is 400 W and that of axis 2 is 200 W (200-V controller) The capacities and heat output of the motor power supply are calculated as follows: • Rated motor power-supply capacity: 796+421=1217 [VA] • Peek maximum motor power-supply capacity: 2388+1263=3651 [VA] • Heat output at rated motor power output: 19.8+9.1=28.9 [W] The capacities and heat output of the control power supply are added: • Rated power-supply capacity: 1217+60=1277 [VA] • Peek maximum motor power-supply capacity: 3651+60=3711 [VA] • Heat output at rated power output: 28.9+36=64.9 [W]

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1.2.3 Selection of the Circuit Breaker For the selection of the circuit breaker, perform it according to the following items. • 3 times of the rated current flows to the controller during the acceleration/deceleration. Select

one that does not trip when the above current passes. When it trips, select the breaker with a rated current one rank above. (Refer to the Operation Characteristic Curve described in the catalogue of each manufacturer.)

• Select the breaker that does not trip with the rush current. (Refer to the Operation Characteristic Curve described in the catalogue of each manufacturer.)

• For the rated breaking current, select the current value which can break the current even when a short circuit occurs.

Rated Breaking Current > Short-circuit Current = Primary Power Supply Capacity/Power Voltage • Consider margin for the rated current on the circuit breaker.

Rated Current of Circuit Breaker > Rated Voltage Amperage [VA] / AC Input Voltage × Margin (1.2 to 1.4 for reference)

1.2.4 Selection of the Leakage Breaker • Regarding the leakage breaker, it is necessary to have a clear purpose for selection such as a

fire protection or protection of human body. • Leak current varies depending on the capacity of connected motor, cable length and the

surrounding environment. Measure the leak current at the point where a ground fault circuit interrupter is to be installed when leakage protection is conducted.

• Use the harmonic type for a leakage breaker.


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1.3 External Dimensions 1.3.1 2-axis Specification The same external dimensions also apply to the 1-axis specification.

100

177

186

195

BA

T2

BA

T1

SB

AT

126

φ4.5

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1.3.2 2-axis Absolute Specification The same external dimensions also apply to the 1-axis specification.

195

186

177

100 126

202.

6

BA

T2

BA

T1

SB

AT

φ4.5


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1.3.3 Specification with System Memory Backup Battery (Option)

BA

T1B

AT2

16.6

202.

6

195

186

177

100

SB

AT

φ4.5

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1.4 Option

1.4.1 PIO Board [1] Type

Display Polarity Input and Output Points NP NPN Input 24 points, Output 8 points PN PNP Input 24 points, Output 8 points

[2] Input and Output Interfaces Input Output

Input voltage 24V DC ±10% Load voltage 24V DC ±10%

Input current 7mA/1 circuit Max. load current 100mA/1 circuit, 400mA(Note1) / 8 ports

NPN ON voltage Min. 16V DC OFF voltage Max. 5V DC ON/OFF voltage

PNP ON voltage Min. 8V DC OFF voltage Max. 19V DC

Leak current Max. 0.1mA

Spec

ifica

tion

Insulation type Photocoupler insulation Insulation type Photocoupler insulation

NP

N

PN

P

*1 The total of lead current reaches max. 400mA every 8 ports from output port No. 300.

NPN specification PNP specification

1A 1B 2A

13A 13B 14A

17A 17B

0V +24VPin No.

Load

1A1B2A

13A13B14A

17A17B

0V+24VPin No.

Load


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

PIO Board input signal

ON duration OFF duration

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

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1.4.2 Field Network Board Type Overview Details

DeviceNet DeviceNet Field Network Board This board communicates the I/O data as the remote I/O terminal.

Refer to the separate Instruction Manual. (ME0124)

CC-Link CC-Link Field Network Board This board communicates the I/O data as the Ver1.10 remote device station.

Refer to the separate Instruction Manual. (ME0123)

PROFIBUS-DP PROFIBUS-DP Field Network Board This board communicates the I/O data as the slave station.

Refer to the separate Instruction

Documents

SSEL Controller - 産業用ロボット｜電動アクチュエーターのアイ ...ME0157-15E).pdf · 2017. 11. 23. · Please Read Before Use Thank you for purchasing our product