IAI PSEL Operating instructions

1

Operation Manual Tenth Edition

PSEL Controlle

r

Operation Manual

PSEL Controller

Eleventh Edition

Operation Manual

PSEL Controller

Twelfth

Edition

Please Read Before Use

Thank you for purchasing our product.

This Operation Manual explains the handling methods, structure and maintenance of this product, among

others, providing the information you need to know to use the product safely.

Before using the product, be sure to read this manual and fully understand the contents explained herein

to ensure safe use of the product.

The CD that comes with the product contains operation manuals for IAI products.

When using the product, refer to the necessary portions of the applicable operation manual by printing

them out or displaying them on a PC.

After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product

can reference it quickly when necessary.

[Important]

x This Operation Manual is original.

x The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI

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

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

product improvement.

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

sales office near you.

x Using or copying all or part of this Operation Manual without permission is prohibited.

x The company names, names of products and trademarks of each company shown in the sentences

are registered trademarks.

CE Marking

If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual

(ME0287) that is provided separately.

Table of Contents

Safety Precautions (Read This Section Before Use) ....................................................... 1

Part 1 Installation........................................................................................................ 9

Chapter 1 Overview ................................................................................................................................... 9

1. Introduction .................................................................................................................................... 9

2. Type................................................................................................................................................ 9

3. PSEL Controller Functions........................................................................................................... 10

4. System Setup............................................................................................................................... 12

5. Warranty Period and Scope of Warranty ..................................................................................... 13

Chapter 2 Specifications .......................................................................................................................... 14

1. Controller Specifications............................................................................................................... 14

2. Name and Function of Each Part................................................................................................. 15

2.1 Name of Each Part............................................................................................................15

2.1.2 Down View........................................................................................................................ 16

2.1.3 Top View ........................................................................................................................... 16

Chapter 3 Installation and Wiring............................................................................................................. 26

1. External Dimensions .................................................................................................................... 26

2. Installation Environment............................................................................................................... 28

3. Heat Radiation and Installation .................................................................................................... 29

4. Noise Control Measures and Grounding...................................................................................... 30

5. Supply Voltage ............................................................................................................................. 33

6. Wiring ........................................................................................................................................... 34

6.1 Wiring the Control Power Supply, Emergency Stop Switch and Enable Switch............... 34

6.2 Wiring the Motor Power Cables ........................................................................................ 35

6.3 Connecting the Actuator.................................................................................................... 36

6.4 Connecting the PIO Cable (I/O)........................................................................................ 37

6.5 External I/O Specifications................................................................................................ 42

6.6 Connecting the Teaching Pendant/PC (Software) (TP) (Optional) ................................... 46

6.7 Connecting the Panel Unit (Optional) ............................................................................... 46

6.8 Installing the System-memory Backup Battery (Optional) ................................................ 52

Chapter 4 Operation ................................................................................................................................ 53

1. Startup .......................................................................................................................................... 53

1.1 Power ON Sequence ........................................................................................................ 54

1.2 Power Cutoff Sequence .................................................................................................... 54

2. How to Use the Simple Absolute Unit (Optional) ......................................................................... 55

2.1 How to Connect the Simple Absolute Unit (Optional) ....................................................... 55

2.2 Setting the Piano Switches for the Simple Absolute Unit (Optional) ................................ 56

2.3 Setting the Parameters ..................................................................................................... 57

2.4 Absolute Reset Method..................................................................................................... 57

3. How to Start a Program................................................................................................................ 62

3.1 Starting a Program by Auto-Start via Parameter Setting .................................................. 63

3.2 Starting via External Signal Selection ............................................................................... 64

4. Drive-Source Recovery Request and Operation-Pause Reset Request ..................................... 67

5. Controller Data Structure.............................................................................................................. 68

5.1 How to Save Data .............................................................................................................69

5.2 Points to Note ................................................................................................................... 71

Chapter 5 Maintenance............................................................................................................................ 72

1. Inspection points .......................................................................................................................... 72

Table of Contents

2. Spare consumable parts .............................................................................................................. 72

3. Replacement Procedure for System-Memory Backup Battery (Optional) ................................... 73

Part 2 Programs ....................................................................................................... 75

Chapter 1 SEL Language Data................................................................................................................ 75

1. Values and Symbols Used in SEL Language............................................................................... 75

1.1 List of Values and Symbols Used ..................................................................................... 75

1.2 I/O Ports............................................................................................................................ 76

1.3 Virtual I/O Ports................................................................................................................. 77

1.4 Flags ................................................................................................................................. 79

1.5 Variables ........................................................................................................................... 80

1.6 Tags................................................................................................................................... 83

1.7 Subroutines....................................................................................................................... 84

1.8 Symbols ............................................................................................................................ 85

1.9 Character-String Literals ................................................................................................... 85

1.10 Axis Specification ............................................................................................................. 86

2. Position Part................................................................................................................................. 88

3. Command Part ............................................................................................................................. 89

3.1 SEL language Structure .................................................................................................... 89

3.2 Extension Condition ..........................................................................................................90

Chapter 2 List of SEL Language Command Codes................................................................................. 91

1. By Function .................................................................................................................................. 91

2. Alphabetical Order ....................................................................................................................... 96

Chapter 3 Explanation of Commands.................................................................................................... 101

1. Commands................................................................................................................................. 101

1.1 Variable Assignment ....................................................................................................... 101

1.2 Arithmetic Operation ....................................................................................................... 104

1.3 Function Operation ......................................................................................................... 107

1.4 Logical Operation.............................................................................................................110

1.5 Comparison Operation.....................................................................................................113

1.6 Timer ................................................................................................................................114

1.7 I/O, Flag Operation ..........................................................................................................117

1.8 Program Control.............................................................................................................. 128

1.9 Task Management........................................................................................................... 131

1.10 Position Operation.......................................................................................................... 136

1.11 Actuator Control Declaration .......................................................................................... 151

1.12 Actuator Control Command............................................................................................ 167

1.13 Structural IF .................................................................................................................... 190

1.14 Structural DO.................................................................................................................. 193

1.15 Multi-Branching .............................................................................................................. 195

1.16 System Information Acquisition ...................................................................................... 199

1.17 Zone ............................................................................................................................... 202

1.18 Communication .............................................................................................................. 206

1.19 String Operation ............................................................................................................. 213

1.20 Arch-Motion-Related ...................................................................................................... 222

1.21 Palletizing-Related ......................................................................................................... 227

1.22 Palletizing Calculation Command .................................................................................. 234

1.23 Palletizing Movement Command ................................................................................... 237

1.24 Building of Pseudo-Ladder Task..................................................................................... 239

1.25 Extended Command....................................................................................................... 241

Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note.............................. 244

1. Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC]..... 244

2. PATH/PSPL Commands............................................................................................................. 246

Table of Contents

3. CIR/ARC Commands ................................................................................................................. 246

4. CIR2/ARC2/ARCD/ARCC Commands ...................................................................................... 246

Chapter 5 Palletizing Function (2-axis Specification) ............................................................................ 247

1. How to Use................................................................................................................................. 247

2. Palletizing Setting....................................................................................................................... 247

3. Palletizing Calculation ................................................................................................................ 252

4. Palletizing Movement ................................................................................................................. 253

5. Program Examples..................................................................................................................... 254

Chapter 6 Pseudo-Ladder Task ............................................................................................................. 256

1. Basic Frame ............................................................................................................................... 256

2. Ladder Statement Field .............................................................................................................. 257

3. Points to Note............................................................................................................................. 257

4. Program Example ...................................................................................................................... 258

Chapter 7 Application Program Examples............................................................................................. 259

1. Operation by Jog Command [Doll-Picking Game Machine] ...................................................... 259

2. Operation by Point Movement Command [Riveting System]..................................................... 262

Chapter 8 Real-Time Multi-Tasking........................................................................................................ 265

1. SEL Language............................................................................................................................ 265

2. Multi-Tasking .............................................................................................................................. 266

3. Difference from a Sequencer ..................................................................................................... 267

4. Release of Emergency Stop ...................................................................................................... 268

5. Program Switching ..................................................................................................................... 269

Chapter 9 Example of Building a System .............................................................................................. 270

1. Equipment .................................................................................................................................. 270

2. Operation.................................................................................................................................... 270

3. Overview of the Screw-Tightening System ................................................................................ 271

4. Hardware.................................................................................................................................... 272

5. Software ..................................................................................................................................... 273

Chapter 10 Example of Building a System .............................................................................................. 275

1. Position Table ............................................................................................................................. 275

2. Programming Format ................................................................................................................. 276

3. Positioning to Five Positions ...................................................................................................... 277

4. How to Use TAG and GOTO...................................................................................................... 278

5. Moving Back and Forth between Two Points............................................................................. 279

6. Path Operation ........................................................................................................................... 280

7. Output Control during Path Movement ...................................................................................... 281

8. Circle/Arc Operation................................................................................................................... 282

9. Home Return Completion Output............................................................................................... 283

10. Axis Movement by Input Waiting and Completion Output.......................................................... 284

11. Changing the Moving Speed...................................................................................................... 285

12. Changing the Speed during Operation....................................................................................... 286

13. Local/Global Variables and Flags............................................................................................... 287

14. How to Use Subroutines ............................................................................................................ 288

15. Pausing the Operation ............................................................................................................... 289

16. Canceling the Operation 1 (CANC)............................................................................................ 290

17. Canceling the Operation 2 (STOP) ............................................................................................ 291

18. Movement by Position Number Specification............................................................................. 292

19. Movement by External Position Data Input................................................................................ 293

20. Conditional Jump ....................................................................................................................... 294

21. Waiting Multiple Inputs ............................................................................................................... 295

22. How to Use Offset ...................................................................................................................... 296

Table of Contents

23. Executing an Operation N times ................................................................................................ 297

24. Constant-pitch Feed................................................................................................................... 298

25. Jogging....................................................................................................................................... 299

26. Switching Programs ................................................................................................................... 300

27. Aborting a Program .................................................................................................................... 301

Part 3 Positioner Mode ........................................................................................... 302

Chapter 1 Modes and Signal Assignments............................................................................................ 302

1. Feature of Each Mode................................................................................................................ 302

2. Number of Positions Supported in Each Mode .......................................................................... 303

3. Quick Mode Function Reference Table...................................................................................... 303

4. Interface List of All PIO Patterns ................................................................................................ 304

Chapter 2 Standard Mode...................................................................................................................... 305

1. I/O Interface List......................................................................................................................... 305

2. Parameters................................................................................................................................. 306

3. Details of Each Input Signal....................................................................................................... 306

4. Details of Each Output Signal .................................................................................................... 309

5. Timing Chart............................................................................................................................... 310

5.1 Recognition of I/O Signals .............................................................................................. 310

5.2 Home Return....................................................................................................................311

5.3 Movements through Positions ........................................................................................ 312

Chapter 3 Product Switching Mode ....................................................................................................... 314

1. I/O Interface List......................................................................................................................... 314

2. Parameters................................................................................................................................. 315

3. Details of Each Input Signal....................................................................................................... 316

4. Details of Each Output Signal .................................................................................................... 319

5. Timing Chart............................................................................................................................... 320

5.1 Recognition of I/O Signals .............................................................................................. 320

5.2 Home Return................................................................................................................... 321

5.3 Movements through Positions ........................................................................................ 322

Chapter 4 2-axis Independent Mode ..................................................................................................... 324

1. I/O Interface List......................................................................................................................... 324

2. Parameters................................................................................................................................. 325

3. Details of Each Input Signal....................................................................................................... 326

4. Details of Each Output Signal .................................................................................................... 328

5. Timing Chart............................................................................................................................... 330

5.1 Recognition of I/O Signals .............................................................................................. 330

5.2 Home Return................................................................................................................... 331

5.3 Movements through Positions ........................................................................................ 332

Chapter 5 Teaching Mode...................................................................................................................... 333

1. I/O Interface List......................................................................................................................... 334

2. Parameters................................................................................................................................. 335

3. Details of Each Input Signal....................................................................................................... 335

4. Details of Each Output Signal .................................................................................................... 338

5. Timing Chart............................................................................................................................... 340

5.1 Recognition of I/O Signals .............................................................................................. 340

5.2 Home Return................................................................................................................... 341

5.3 Movements through Positions ........................................................................................ 342

5.4 Timings in the Teaching Mode ........................................................................................ 343

Chapter 6 DS-S-C1 Compatible Mode .................................................................................................. 344

1. I/O Interface List......................................................................................................................... 344

Table of Contents

2. Parameters................................................................................................................................. 345

3. Details of Each Input Signal....................................................................................................... 345

4. Details of Each Output Signal .................................................................................................... 347

5. Timing Chart............................................................................................................................... 348

5.1 Recognition of I/O Signals .............................................................................................. 348

5.2 Home Return................................................................................................................... 349

5.3 Movements through Positions ........................................................................................ 350

~ List of Specifications of Connectable Actuators .................................................................................... 351

~ Push Force and Current-limiting Value ................................................................................................. 366

~ Battery Backup Function ....................................................................................................................... 373

1. System-Memory Backup Battery ............................................................................................... 373

2. Absolute Reset (Optional) .......................................................................................................... 375

~ Parameter Utilization ............................................................................................................................ 377

1. Utilization Examples of I/O Parameters ..................................................................................... 378

2. Utilization Examples of Axis-specific Parameters ...................................................................... 385

3. Parameter Utilization Examples (Reference)............................................................................. 394

4. Servo Gain Adjustment .............................................................................................................. 398

~ List of Parameters ................................................................................................................................. 400

1. I/O Parameters........................................................................................................................... 401

1.1 I/O Parameters................................................................................................................ 401

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

(1) Input Function List........................................................................................................... 408

(2) Output Function List........................................................................................................ 409

2. Parameters Common to All Axes ............................................................................................... 410

3. Axis-Specific Parameters ........................................................................................................... 412

4. Driver Parameters ...................................................................................................................... 417

5. Encoder Parameters .................................................................................................................. 420

6. I/O Devices................................................................................................................................. 421

7. Other Parameters....................................................................................................................... 422

8. Manual Operation Types ............................................................................................................ 427

~ Combination Table of PSEL Linear/Rotary Control Parameters ........................................................... 428

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

~ Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)

.............................................................................................................................................. 431

~ Error List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.) ....... 462

~ Troubleshooting of PSEL Controller...................................................................................................... 467

Trouble Report Sheet ................................................................................................................................ 471

Change History............................................................................................................ 472

1

Part 1 Installation

Safety Precautions (Read This Section Before Use)

When designing and manufacturing a robot system, ensure safety by following the safety

precautions provided below and taking the necessary measures.

Regulations and Standards Governing Industrial Robots

Safety measures on mechanical devices are generally classified into four categories under the

International Industrial Standard ISO/DIS 12100, “Safety of machinery,” as follows:

Safety measures Inherent safety design

Protective guards --- Safety fence, etc.

Additional safety measures --- Emergency stop device, etc.

Information on use --- Danger sign, warnings, operation manual

Based on this classification, various standards are established in a hierarchical manner under the

International Standards ISO/IEC. The safety standards that apply to industrial robots are as follows:

Type C standards (individual safety standards) ISO10218 (Manipulating industrial robots – Safety)

JIS B 8433

(Manipulating industrial robots – Safety)

Also, Japanese laws regulate the safety of industrial robots, as follows:

Industrial Safety and Health Law Article 59

Workers engaged in dangerous or harmful operations must receive special education.

Ordinance on Industrial Safety and Health

Article 36 --- Operations requiring special education

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

(exceptions apply)

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

robots (exceptions apply)

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

2

Part 1 Installation

Requirements for Industrial Robots under Ordinance on Industrial Safety and

Health

Work area Work condition Cutoff of drive

source Measure Article

Signs for starting operation Article 104

Outside

movement

range

During

automatic

operation

Not cut off Installation of railings,

enclosures, etc. Article 150-4

Cut off (including

stopping of

operation)

Sign, etc., indicating that work is

in progress Article 150-3

Preparation of work rules Article 150-3

Measures to enable immediate

stopping of operation Article 150-3

Sign, etc., indicating that work is

in progress Article 150-3

Provision of special education Article 36-31

During

teaching, etc.

Not cut off

Checkup, etc., before

commencement of work Article 151

To be performed after stopping

the operation Article 150-5

Cut off

Sign, etc., indicating that work is

in progress Article 150-5

Preparation of work rules Article 150-5

Measures to enable immediate

stopping of operation Article 150-5

Sign, etc., indicating that work is

in progress Article 150-5

Inside

movement

range

During

inspection, etc. Not cut off (when

inspection, etc.,

must be performed

during operation)

Provision of special education

(excluding cleaning and

lubrication)

Article 36-32

3

Part 1 Installation

Applicable Models of IAI’s Industrial Robots

Machines meeting the following conditions are not classified as industrial robots according to Notice of

Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No.

340):

(1) Single-axis robot with a motor wattage of 80 W or less

(2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating

part, if any, has the maximum movement range of within 300 mm3 including the end of the

rotating part

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

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

1. Single-axis ROBO Cylinders

RCS2/RCS2CR-SS8 whose stroke exceeds 300 mm

2. Single-axis robots

The following models whose stroke exceeds 300 mm and whose motor capacity also exceeds 80 W:

ISA/ISPA, ISDA/ISPDA, ISWA/ISPWA, IF, FS, NS

3. Linear servo actuators

All models whose stroke exceeds 300 mm

4. Cartesian robots

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

5. IX SCARA robots

All models whose arm length exceeds 300 mm

(All models excluding IX-NNN1205/1505/1805/2515, NNW2515 and NNC1205/1505/1805/2515)

4

Part 1 Installation

Notes on Safety of Our Products

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

No. Task Note

1 Model

selection

z This product is not planned or designed for uses requiring high degrees of

safety. Accordingly, it cannot be used to sustain or support life and must not be

used in the following applications:

[1] Medical devices relating to maintenance, management, etc., of life or health

[2] Mechanisms or mechanical devices (vehicles, railway facilities, aircraft

facilities, etc.) intended to move or transport people

[3] Important safety parts in mechanical devices (safety devices, etc.)

z Do not use this product in the following environments:

[1] Place subject to flammable gases, ignitable objects, flammables,

explosives, etc.

[2] Place that may be exposed to radiation

[3] Place where the surrounding air temperature or relative humidity exceeds

the specified range

[4] Place subject to direct sunlight or radiated heat from large heat sources

[5] Place subject to sudden temperature shift and bedewing

[6] Place subject to corrosive gases (sulfuric acid, hydrochloric acid, etc.)

[7] Place subject to excessive dust, salt or iron powder

[8] Place where the product receives direct vibration or impact

z Do not use this product outside the specified ranges. Doing so may significantly

shorten the life of the product or result in product failure or facility stoppage.

2 Transportation z When transporting the product, exercise due caution not to bump or drop the

product.

z Use appropriate means for transportation.

z Do not step on the package.

z Do not place on the package any heavy article that may deform the package.

z When using a crane with a capacity of 1 ton or more, the crane must be

operated by personnel qualified to operate cranes and perform slinging

operations.

z When using a crane or other equipment, never use it to hoist any article

exceeding the rated load of the applicable crane, etc.

z Use hoisting accessories suitable for the article to be hoisted. Select appropriate

hoisting accessories by making sure there is an ample allowance for safety in

their cutting load, etc.

z Do not climb onto the article being hoisted.

z Do not keep the article hoisted.

z Do not stand under the hoisted article.

3 Storage/

preservation

z The storage/preservation environment should conform to the installation

environment. Among others, be careful not to cause bedewing.

4 Installation/

startup

(1) Installing the robot, controller, etc.

z Be sure to firmly secure and affix the product (including its work part).

If the product tips over, drops, malfunctions, etc., damage or injury may result.

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

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

product performance, shorter life, etc.

z If the product is used in any of the following places, provide sufficient shielding

measures:

[1] Place subject to electrical noise

[2] Place subject to a strong electric or magnetic field

[3] Place where power lines or drive lines are wired nearby

[4] Place subject to splashed water, oil or chemicals

5

Part 1 Installation

No. Task Note

(2) Wiring the cables

z Use IAI’s genuine cables to connect the actuator and controller or connect a

teaching tool, etc.

z Do not damage, forcibly bend, pull, loop round an object or pinch the cables or

place heavy articles on top. Current leak or poor electrical continuity may occur,

resulting in fire, electric shock or malfunction.

z Wire the product correctly after turning off the power.

z When wiring a DC power supply (+24 V), pay attention to the positive and

negative polarities.

Connecting the wires in wrong polarities may result in fire, product failure or

malfunction.

z Be sure to connect the cable connectors without fail and firmly. Failing to do so

may result in fire, electric shock or product malfunction.

z Do not cut and reconnect the cables of the product to extend or shorten the

cables. Doing so may result in fire or product malfunction.

(3) Grounding

z Be sure to provide class D (former class 3) grounding for the controller.

Grounding is required to prevent electric shock and electrostatic charges,

improve noise resistance and suppress unnecessary electromagnetic radiation.

(4) Safety measures

z Implement safety measures (such as installing safety fences, etc.) to prevent

entry into the movement range of the robot when the product is moving or can

be moved. Contacting the moving robot may result in death or serious injury.

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

immediately in case of emergency during operation.

4 Installation/

startup

z Implement safety measures so that the product cannot be started only by turning

on the power. If the product starts suddenly, injury or product damage may

result.

z Implement safety measures so that the product will not start upon cancellation of

an emergency stop or recovery of power following a power outage. Failure to do

so may result in injury, equipment damage, etc.

z Put up a sign saying “WORK IN PROGRESS. DO NOT TURN ON POWER,”

etc., during installation, adjustment, etc. If the power is accidently turned on,

electric shock or injury may result.

z Implement measures to prevent the work part, etc., from dropping due to a

power outage or emergency stop.

z Ensure safety by wearing protective gloves, protective goggles and/or safety

shoes, as necessary.

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

result in injury, electric shock, product damage, fire, etc.

z When releasing the brake of a vertically installed actuator, be careful not to

pinch your hand or damage the work part, etc., due to the slider dropping by its

dead weight.

5 Teaching z Whenever possible, perform teaching from outside the safety fences. If teaching

must be performed inside the safety fences, prepare “work rules” and make sure

the operator understands the procedures thoroughly.

z When working inside the safety fences, the operator should carry a handy

emergency stop switch so that the operation can be stopped any time when an

abnormality occurs.

z When working inside the safety fences, appoint a safety watcher in addition to

the operator so that the operation can be stopped any time when an abnormality

occurs. The safety watcher must also make sure the switches are not operated

inadvertently by a third party.

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

z When releasing the brake of a vertically installed actuator, be careful not to

pinch your hand or damage the work part, etc., due to the slider dropping by its

dead weight.

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

6

Part 1 Installation

No. Task Note

6 Confirmation

operation

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

before switching to automatic operation.

z When carrying out confirmation operation inside the safety fences, follow the

specified work procedure just like during teaching.

z When confirming the program operation, use the safety speed. Failure to do so

may result in an unexpected movement due to programming errors, etc.,

causing injury.

z Do not touch the terminal blocks and various setting switches while the power is

supplied. Touching these parts may result in electric shock or malfunction.

7 Automatic

operation

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

fences.

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

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

indicated.

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

z If the product generated abnormal heat, smoke, odor or noise, stop the product

immediately and turn off the power switch. Failure to do so may result in fire or

product damage.

z If a power outage occurred, turn off the power switch. Otherwise, the product

may move suddenly when the power is restored, resulting in injury or product

damage.

8 Maintenance/

inspection

z Whenever possible, work from outside the safety fences. If work must be

performed inside the safety fences, prepare “work rules” and make sure the

operator understands the procedures thoroughly.

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

z When working inside the safety fences, the operator should carry a handy

emergency stop switch so that the operation can be stopped any time when an

abnormality occurs.

z When working inside the safety fences, appoint a safety watcher in addition to

the operator so that the operation can be stopped any time when an abnormality

occurs. The safety watcher must also make sure the switches are not operated

inadvertently by a third party.

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

z Use appropriate grease for the guides and ball screws by checking the operation

manual for each model.

z Do not perform a withstand voltage test. Conducting this test may result in

product damage.

z When releasing the brake of a vertically installed actuator, be careful not to

pinch your hand or damage the work part, etc., due to the slider dropping by its

dead weight.

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

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

maintenance parts not specified in the manual without first consulting IAI.

z Any damage or loss resulting from the above actions will be excluded from the

scope of warranty.

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

properly as an industrial waste.

z When disposing of the product, do not throw it into fire. The product may

explode or generate toxic gases.

7

Part 1 Installation

Indication of Cautionary Information

The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution”

and “Note,” as specified below.

Level Degree of danger/loss Symbol

Danger Failure to observe the instruction will result in an imminent danger

leading to death or serious injury. Danger

Warning Failure to observe the instruction may result in death or serious

injury. Warning

Caution Failure to observe the instruction may result in injury or property

damage. Caution

Note The user should take heed of this information to ensure the proper

use of the product, although failure to do so will not result in injury. Note

8

Part 1 Installation

9

Part 1 Installation

Chapter 1 Overview

1. Introduction

Thank you for purchasing the PSEL Controller.

Please read this manual carefully, and handle the product with due care and operate it correctly.

Keep this manual in a safe place and reference relevant items when needed.

When actually starting up your system or if you have encountered a problem, you should also refer to the

manuals for the teaching pendant, PC software and other components used with the system, in addition to

this manual.

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

such as complex signal changes resulting from use of critical timings.

Accordingly, you should consider items not specifically explained in this manual as “prohibited.”

* Utmost effort has been made to ensure precision and completeness of the information contained in this

manual. However, should you find any error in the manual or if you have any comment regarding its

content, please contact IAI.

Keep this manual in a convenient place so that you can quickly reference it whenever necessary.

2. Type

Refer to the following table for details on type specification.

Example of type specification

Type specification table

Series Controller

type Number

of axes

Details of axis 1 to axis 2

Motor

output (W)

Encoder

type Brake Standard

I/O

I/O flat cable

length

Power-

source

voltage

0: 24 VDC

(Axis 1)

(Axis 2)

(22, square)

(Incremental)

Blank

(Without

brake)

(With brake)

Standard PIO

24 inputs/8

outputs

NPN specification

Standard PIO

24 inputs/8

outputs

PNP specification

(Standard)

None

(28, square)

(RCP2-

RA3C, square)

(35, square)

(42, square)

(56, square)

(Standard

specification)

C

(Standard

specification)

CS

10

Part 1 Installation

3. PSEL Controller Functions

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

The PSEL controller has the “program mode” in which SEL programs are input to operate the actuator(s),

and the “positioner mode” in which position numbers are specified from the host PLC to operate the

actuator(s).

The positioner mode provides five sub-modes to meet the needs of various applications.

The program mode has been selected at the factory prior to the shipment of the controller (Other

parameter No. 25 = 0).

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

Program mode

Positioner mode Standard mode

Product switching mode

2-axis independent mode

Teaching mode

DS-S-C1 compatible mode

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IAI PSEL Operating instructions

IAI PSEL Operating instructions

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