IAI SSEL Operation Manual
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IAI SSEL Operation Manual

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SSEL Controller
Operation Manual
Eigh th Edition

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Summary of Contents for IAI SSEL

  • Page 1 SSEL Controller Operation Manual Eigh th Edition...
  • Page 2  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.
  • Page 3 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.
  • Page 4 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: ...
  • Page 5 If you use PC software whose version is older than 7.0.6.0, “Error code 684: Expanded data access error” will occur. * If the version of your X-SEL PC software is old (older than 7.0.6.0), contact your nearest IAI sales office.

  • Page 6: Table Of Contents

    Part 1 Installation....................1 Chapter 1 Overview ........................1 Introduction ..........................1 Type ............................. 1 SSEL Controller Functions ......................2 System Setup ..........................4 Warranty Period and Scope of Warranty ..................5 Chapter 2 Specifications ......................6 Controller Specifications ......................6 Name and Function of Each Part ....................7 Chapter 3 Installation and Wiring.....................23...
  • Page 7 How to Perform Absolute Reset (Absolute Specification)............60 Preparation ........................60 Procedure ........................60 How to Start a Program ......................65 Starting a Program by Auto-Start via Parameter Setting ..........66 Starting via External Signal Selection................67 Drive-Source Recovery Request and Operation-Pause Reset Request........69 Controller Data Structure ......................
  • Page 8 Table of Contents Arithmetic Operation...................... 108 Function Operation......................111 Logical Operation ......................114 Comparison Operation ....................117 Timer..........................118 I/O, Flag Operation ......................121 Program Control ......................133 Task Management ......................136 1.10 Position Operation ......................141 1.11 Actuator Control Declaration ..................156 1.12 Actuator Control Command...................
  • Page 9 Points to Note .......................... 262 Program Example ........................263 Chapter 7 Application Program Examples ................264 Operation by Jog Command....................264 Operation by Point Movement Command ................267 Chapter 8 Real-Time Multi-Tasking..................270 SEL Language ......................... 270 Multi-Tasking..........................271 Difference from a Sequencer....................272 Release of Emergency Stop ....................
  • Page 10 Table of Contents 22. How to Use Offset........................301 23. Executing an Operation N times....................302 24. Constant-pitch Feed ........................ 303 25. Jogging ............................ 304 26. Switching Programs......................... 305 27. Aborting a Program........................306 Part 3 Positioner Mode ..................307 Chapter 1 Modes and Signal Assignments ................307 Feature of Each Mode ......................
  • Page 11 Movements through Positions ..................337 Chapter 5 Teaching Mode......................339 I/O Interface List ........................340 Parameters ..........................341 Details of Each Input Signal..................... 341 Details of Each Output Signal....................344 Timing Chart ..........................346 Recognition of I/O Signals..................... 346 Home Return ......................... 347 Movements through Positions ..................
  • Page 12 Driver Parameters........................414 Encoder Parameters........................ 417 I/O Devices ..........................418 Other Parameters ........................419 Manual Operation Types......................424  Combination Table of SSEL Linear/Rotary Control Parameters..........425  Error Level Control........................426  Error List ..........................428  Troubleshooting of SSEL Controller ..................463 Trouble Report Sheet.........................467...
  • Page 13 Safety Guide This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to read this section before using your product. Regulations and Standards Governing Industrial Robots Safety measures on mechanical devices are generally classified into four categories under the International Industrial Standard ISO/DIS 12100, “Safety of machinery,”...
  • Page 14 Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work Work area Cutoff of drive source Measure Article condition Outside During Signs for starting operation Article 104 movement automatic Not cut off Installation of railings, enclosures, Article 150-4 range operation etc.
  • Page 15 Applicable Modes of IAI’s Industrial Robot Machines meeting the following conditions are not classified as industrial robots according to Notice of Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No. 340): (1) Single-axis robo with a motor wattage of 80 W or less...
  • Page 16 Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. Task Note  This product is not planned or designed for uses requiring high degrees of safety. Model...
  • Page 17 Note (2) Wiring the cables Installation/  Use IAI’s genuine cables to connect the actuator and controller or connect a startup teaching tool, etc.  Do not damage, forcibly bend, pull, loop round an object or pinch the cables or place heavy articles on top.
  • Page 18  The customer must not modify or disassemble/assemble the product or use Modification maintenance parts not specified in the manual without first consulting IAI.  Any damage or loss resulting from the above actions will be excluded from the scope of warranty.
  • Page 19 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 Failure to observe the instruction will result in an Danger Danger imminent danger leading to death or serious injury. Failure to observe the instruction may result in death Warning Warning...
  • Page 20 Europe must comply with the following directives in order to receive a CE Mark certification for their products. The SSEL controller has been designed to conform to the low-voltage directives by itself. For the EMC directives, a connection/installation model (conditions) including the controller, actuator and peripherals is determined and conformance with the EMC directives and related standards is ensured based on this model.
  • Page 21 Service environment Item Standard Remarks Overvoltage category Pollution degree Protection grade IP20 Protection class *1 Altitude 2,000 m or less *1) Protection class I equipment Equipment designed with additional safety measures, without relying solely on the basic insulation to provide protection against electric shock;...
  • Page 22 Surge absorber (1) Environment Use your SSEL controller in an environment conforming to pollution degree 2 or 1 as specified in IEC 60664-1. Example) Install the controller in a control panel having a structure resistant to intrusion of water, oil, carbon, dust, etc (IP54).
  • Page 23 (3) Installation To prevent electric shock, be sure to connect the PE terminal of the SSEL controller and the protective ground (grounding plate) of the control panel. (4) Earth Leakage Breaker Install an earth leakage breaker (of type B* (RCD) on the primary side of the SSEL controller.
  • Page 24 (6) Clamp Filter A Install the following clamp filter along the AC motor power cable and encoder cable. Supplier: TDK Model: ZCAT3035-1330 Shape/Dimensions (mm) Shape/Dimensions A: 39  1 ZCAT Type B: 34  1 C: 13  1 D: 30  1 [Fig.
  • Page 25 (8) Cables Take note that the cables are also subject to various limitations. All cables connected to the SSEL controller, such as the motor cable and encoder cable must be kept to a length below 30 m. For the brake power cable, use a shielded, 2-core (1-pair) twisted paired cable of AWG16 to 24 in wire size and connect the shield to ground on the 24-VDC power supply side.

  • Page 27: Safety Guide

    Chapter 1 Overview 1. Introduction Thank you for purchasing the SSEL Controller. Please read this manual carefully, and handle the product with due care and operate it correctly. Keep this manual in a safe place and reference relevant items when needed.

  • Page 28: Ssel Controller Functions

    Teaching mode DS-S-C1 compatible mode The SSEL controller has the “program mode” in which SEL programs are input to operate the actuator(s), and the “positioner mode” in which position numbers are specified from the host PLC to operate the actuator(s).
  • Page 29 Even after the power is turned off, the internal circuits will continue to carry high voltages for a short period.  About actuator duty IAI recommends that our actuators be used at a duty of 50% or less as a guideline in view of the relationship of service life and precision: Accelerati...

  • Page 30: System Setup

    Part 1 Installation 4. System Setup Enable switch Auxiliary power Teaching equipment pendant Emergency stop switch Regenerative resistance unit 24-VDC brake power supply Grounded Conversion cable Host system Panel unit Absolute-data backup batteries Axis 1 Axis 2 * Note on connecting the encoder cable to a controller of absolute specification Follow the steps below when connecting the encoder cable to a controller of absolute specification.

  • Page 31: Warranty Period And Scope Of Warranty

     Defect due to an act of God, accident, fire, etc. The warranty covers only the product as it is delivered. IAI shall not be liable for any loss arising in connection with the delivered product. The user must bring the defective product to our factory to receive a warranty repair.

  • Page 32: Chapter 2 Specifications

    Absolute serial encoder Position detection method ABZ (UVW) parallel encoder Absolute-data backup battery/system-memory backup battery (Optional) Battery Lithium battery: AB-5 by IAI, 3.6 V/2000 mAh Programming language Super SEL language Controller with increased memory size 9999 steps (total) Number of program steps...

  • Page 33: Name And Function Of Each Part

    Part 1 Installation 2. Name and Function of Each Part Front View [1] LED indicators [8] Power connector [9] Grounding screws [2] System I/O connector [10] Regenerative unit [3] TP connector connector [4] MANU/AUTO switch [11] Axis 1 motor connector [12] Axis 2 motor connector [5] USB connector...
  • Page 34 Part 1 Installation Down View [17] Axis 1 absolute-data backup battery connector [18] Axis 2 absolute-data backup battery connector [19] Axis 1/2 absolute-data backup battery holder Top View [20] System-memory backup battery holder [21] System-memory backup battery connector...
  • Page 35 Part 1 Installation [1] LED indicators: These indicators indicate the controller status. Name Color Status when the LED is lit The controller has been started successfully and Green is receiving power. Green The controller is ready. Orange An alarm is present An emergency stop is being actuated.
  • Page 36 Part 1 Installation Teaching connector: The teaching interface connects IAI’s teaching pendant or a PC (PC (TP) software) to enable operation and setting of your equipment from the teaching pendant/PC. The interface is a RS232C system based on a 26-pin, half-pitch I/O connector.
  • Page 37 Part 1 Installation Teaching pendant & dedicated communication cable connector Item Specification Remarks Pin No. Signal name Signal ground EMGS Emergency-stop status Power output (Standard IA-T-X/XD power supply (5 V)) Data terminal ready (Shorted to DSR) Not connected Not connected Not connected Power output (ANSI compliant IA-T-XA power supply RSVVCC...
  • Page 38 Part 1 Installation MANU/AUTO switch: This switch is used to specify the controller operation mode. MANU AUTO Teaching pendant/PC software MANU AUTO operation (when the TP connector Possible Not possible (left) (right) is used) PC software operation (when the Possible Not possible USB connector is used) Note)
  • Page 39 Part 1 Installation I/O Interface List (Program mode) Pin No. Category Port No. Function Cable color External power supply 24 V 1-Brown Program specification (PRG No. 1) 1-Red Program specification (PRG No. 2) 1-Orange Program specification (PRG No. 4) 1-Yellow Program specification (PRG No.
  • Page 40 Part 1 Installation [11] Axis 1 motor connector: This connector is used to connect the motor drive-source cable for axis Motor Connector Specifications Item Description Details Applicable 4-pin, 2-piece connector by GIC2.5/4-STF-7.62 connector Phoenix Contact Connector name M1 ~ 2 Motor connector 0.75 mm (AWG18...
  • Page 41 Part 1 Installation [15] Axis 1 encoder/sensor This connector is used to connect the encoder/sensor cables for axis 1. connector: It connects the encoder and sensors for actuator axis 1, such as LS, CREEP and OT. *: LS, CREEP and OT sensors are optional. Encoder/Axis Sensor Connector Specifications Item Description...
  • Page 42 Encoder sensor cable Cable model: CB-X1-PA *** Controller end Actuator end Plug housing: (JST) Plug connector: (Sumitomo 3M) Socket contact: (JST) X 9 Hood: (Sumitomo 3M) (JST) Retainer: Wiring diagram Wire Color Signal (soldered) Signal Color Wire Orange Purple Green Gray Purple Orange...
  • Page 43 Cable model: CB-X1-PLA *** LS side Controller end Actuator end Actuator end Plug housing: Plug connector: (Sumitomo 3M) (JST) Hood: Socket contact: (JST) X 9 (Sumitomo 3M) Retainer: (JST) LS side Plug housing: (JST) (JST) X 9 Socket contact: Retainer: (JST) Wiring diagram Wire...
  • Page 44 Cable model: CB-X2-PA *** (Taiyo Electric Wire & Cable) Actuator Controller end Plug housing: (JST) Plug connector: Socket contact: (JST) X 15 (Sumitomo 3M) Retainer: (JST) X 2 (Sumitomo 3M) Hood: Wiring diagram Wire Color Signal Signal Color Wire (soldered) White/Blue White/Blue White/Yellow...
  • Page 45 Cable model: CB-X2-PLA *** LS side Actuator Controller end Actuator end Plug housing: (JST) Plug connector: (Sumitomo 3M) (JST) X 15 Socket contact: (Sumitomo 3M) Hood: Retainer: (JST) X 2 LS side Plug housing: (JST) Socket contact: (JST) X 6 Retainer: (JST) Wiring diagram...
  • Page 46 Part 1 Installation [16] Axis 2 encoder/sensor This connector is used to connect the encoder/sensor cables for axis 2. connector: [17] Axis 1 absolute-data backup This connector is used to connect the absolute-data backup battery for battery connector: axis 1. (This connector is required only when the actuator is of absolute encoder specification.) [18] Axis 2 absolute-data backup This connector is used to connect the absolute-data backup battery for...
  • Page 47 Part 1 Installation [19] Axis 1/2 absolute-data backup This battery holder is used to install the absolute-data backup battery. battery holder: (The holder is fitted onto the bottom face of the resin cover.) [20] System-memory backup This battery holder is used to install the system-memory backup battery. battery holder (optional): (The holder is fitted onto the top face of the resin cover.) [21] System-memory backup...

  • Page 48: Chapter 3 Installation And Wiring

    Part 1 Installation Chapter 3 Installation and Wiring 1. External Dimensions 2-axis specification (The same external dimensions also apply to the 1-axis specification.)

  • Page 49: External Dimensions

    Part 1 Installation 2-axis absolute specification (The same external dimensions also apply to the 1-axis specification.)
  • Page 50 Part 1 Installation Specification with system-memory backup battery (optional)

  • Page 51: Installation Environment

    Part 1 Installation 2. Installation Environment (1) When installing and wiring the controller, do not block the ventilation holes provided for cooling. (Insufficient ventilation will not only prevent the product from functioning fully, but it may also result in failure.) (2) Prevent foreign matter from entering the controller through the ventilation holes.
  • Page 52 Part 1 Installation Panel unit connector: This connector is used to connect the optional panel unit. Power connector: This connector is used to connect the 100/200-VAC single-phase input power. The connector is divided into the control power input side and the motor power input side.

  • Page 53: Heat Radiation And Installation

    Part 1 Installation 3. Heat Radiation and Installation Design the control panel size, controller layout and cooling method so that the surrounding air temperature around the controller will be kept at or below 40°C. Install the controller vertically on a wall, as shown below. This controller is cooled by forced ventilation (air blows out from the top).

  • Page 54: Noise Control Measures And Grounding

    If you wish to extend the motor cable or encoder cable beyond the length of each supplied cable, please contact IAI’s Technical Service Section or Sales Engineering Section. (2) Grounding for noise elimination...
  • Page 55 Part 1 Installation (3) Noise sources and noise elimination There are many noise sources, but solenoid valves, magnet switches and relays are of particular concern when building a system. Noise from these parts can be eliminated using the measures specified below: [1] AC solenoid valve, magnet switch, relay Measure --- Install a surge killer in parallel with the coil.
  • Page 56 Part 1 Installation Reference Circuit Diagram Controller +24 V 100 VAC Surge absorber Solenoid valve...

  • Page 57: Power-Supply Capacity And Heat Output

    24 VDC should be supplied when an actuator with brake is used. The total power-supply capacity of the SSEL controller is the sum of capacities of the control power supply and motor power supply. The total heat output is also calculated as the sum of heat outputs from the motor power supply and control power supply.
  • Page 58 Heat output at rated power output [W] 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.

  • Page 59: Auxiliary Power Equipment

    Part 1 Installation 6. Auxiliary Power Equipment Example of Auxiliary Power Equipment Configuration Noise filter (Earth Control power input AC power leakage) supply Motor power input breaker Surge absorber [1] Breaker Install a circuit breaker on the AC power-supply line side (primary side) of the controller to prevent damage caused by power switching or short-circuit current.Install an earth leakage breaker on the AC power-supply line side (primary side) of the controller to cut off leak current should it generate.

  • Page 60: Wiring

    Part 1 Installation 7. Wiring Connecting the Power Cables As shown to the left, insert the stripped end of each cable into the connector, and tighten the screws with a screwdriver. Recommended cable diameter Motor power (L1, L2): 2 mm (AWG14) Control power (L1C, L2C): 0.75 mm (AWG18) Recommended stripped-wire length: 7 mm As shown to the left, tighten the screws to affix the...

  • Page 61: Connecting The Actuator

    Part 1 Installation Connecting the Actuator 7.2.1 Connecting the Motor Cable (MOT1, 2) Connect the motor cable from the actuator to the applicable motor connector on the front face of the controller. Use a screwdriver to securely tighten the screws at the top and bottom of the connector.

  • Page 62: Connecting The Emergency Stop Input, Enable Input And Brake Power Input

    Part 1 Installation Connecting the Emergency Stop Input, Enable Input and Brake Power Input (Wiring to the SIO Connector) As shown to the left, insert the stripped end of each cable while pressing down the spring using a driver. Applicable cable size: 0.2 ~ 1.3 mm (AWG24 ~ 16) Recommended stripped-wire length: 10 mm Emergency stop switch Enable switch...
  • Page 63 Part 1 Installation 7.3.1 Emergency Stop, Enable and Other Internal Circuits (Safety Category B) AUTO/MANU Inside controller switch AUTO/MANU status detection connector AUTO: Closed MANU: Open TP-connector connection status detection System I/O connector Connected: Open connected: Closed switch Status signal switch ENB input detection...
  • Page 64 Part 1 Installation 7.3.2 Connection Example of External Drive-source Cutoff Circuit and Internal Circuits (Safety Category A system meeting safety category 1 can be built by providing a drive-source cutoff circuit externally to the controller. AUTO/MANU Inside controller switch AUTO/MANU status detection connector AUTO:...

  • Page 65: Connecting The Pio Cable (I/O)

    Part 1 Installation Connecting the PIO Cable (I/O) Connect the supplied flat cable. Connect the opposite end (open end without connector) of the cable to a desired peripheral (host PLC, etc.). I/O flat cable (supplied): Model CB-DS-PIO020 No connector Flat cable (34 cores) Color Wire Color...
  • Page 66 Part 1 Installation 7.4.1 I/O Connection Diagram (1) NPN specification (Program mode) Pin No. Port No. Function Category Cable color External power supply 24 V 1 – Brown Program specification (PRG No. 1) 1 – Red Program specification (PRG No. 2) 1 –...
  • Page 67 Part 1 Installation (2) PNP specification (Program mode) Pin No. Port No. Function Cable color Category External power supply 24 V 1 – Brown Program specification (PRG No. 1) 1 – Red Program specification (PRG No. 2) 1 – Orange Program specification (PRG No.
  • Page 68 Part 1 Installation (3) NPN specification (Standard positioner mode) Positioner mode Port Cable Category Product switching 2-axis independent DS-S-C1 compatible color Standard mode Teaching mode mode mode mode 24-V input 1 – Brown Position input 10 Input 10 Position input 7 Axis 1 jog- Position No.
  • Page 69 Part 1 Installation (4) PNP specification (Standard positioner mode) Positioner mode Port Cable Category Product switching 2-axis independent DS-S-C1 compatible color Standard mode Teaching mode mode mode mode 24-V input 1 – Brown Position input 10 Input 10 Position input 7 Axis 1 jog- Position No.

  • Page 70: External I/O Specifications

    Caution If a non-contact circuit is connected externally, malfunction may result from leakage current. Use a circuit in which leakage current in a switch-off state does not exceed 1 mA.  SSEL controller’s input signal ON duration OFF duration At the default settings, the system recognizes the ON/OFF durations of input signals if they are approx.
  • Page 71 Part 1 Installation (2) Output part External Output Specifications (NPN Specification) Item Specification Load voltage 24 VDC Maximum load current 100 mA per point, 400 mA per 8 ports Note) TD62084 (or equivalent) Leakage current 0.1 mA max. per point Insulation method Photocoupler insulation [1] Miniature relay...
  • Page 72 Caution If a non-contact circuit is connected externally, malfunction may result from leakage current. Use a circuit in which leakage current in a switch-off state does not exceed 1 mA.  SSEL controller’s input signal ON duration OFF duration At the default settings, the system recognizes the ON/OFF durations of input signals if they are approx.
  • Page 73 Part 1 Installation (2) Output part External Output Specifications (PNP Specification) Item Specification Load voltage 24 VDC Maximum load current 100 mA per point, 400 mA per 8 ports Note) TD62784 (or equivalent) Leakage current 0.1 mA max. per point Insulation method Photocoupler insulation [1] Miniature relay...

  • Page 74: Connecting Regenerative Resistance Units (Rb)

    “60C: Power-system overheat error” will generate. If this happens, connect one or more external regenerative resistance units. If your SSEL controller is used with a vertically installed actuator, connect an external regenerative resistance unit(s) as necessary.
  • Page 75 7.6.3 Connection Cables The cable used to connect a regenerative resistance unit to the SSEL controller is different from the standard regenerative resistance connection cable (the connector on the SSEL cable is not compatible with the connector on the standard cable). To connect a regenerative resistance unit to the SSEL controller, the cable specified in [1] below is required.

  • Page 76: Connecting The Teaching Pendant/Pc Software (Tp) (Optional)

    Part 1 Installation Connecting the Teaching Pendant/PC Software (TP) (Optional) Connector conversion cable The SSEL controller’s teaching connector is a small, half- pitch connector. If you are using a teaching pendant or PC software cable, connect the cable to a connector conversion cable, and then connect the conversion cable to the teaching connector on the controller.
  • Page 77 Part 1 Installation 7.8.1 Explanation of Codes Displayed on the Panel Unit (Optional) (1) Application Display Priority (*1) Description AC power cut off (Momentary power failure or power-supply voltage drop may also be the cause.) System-down level error Writing data to the flash ROM. Emergency stop is being actuated (except during the update mode).
  • Page 78 Part 1 Installation Display Priority (*1) Description Ready status (auto mode) (Program mode) Ready status (manual mode) (Program mode) Operating in positioner mode; “No.” indicates positioner mode number. Ready status (auto mode) (Positioner mode) Ready status (manual mode) (Positioner mode) (*1) The priority increases as the number decreases.
  • Page 79 Part 1 Installation (2) Core Display Priority (*1) Description AC power cut off (Momentary power failure or power-supply voltage drop may also be the cause.) Cold-start level error Cold-start level error Operation-cancellation level error Operation-cancellation level error Message level error Message level error Application update mode Application update is in progress.
  • Page 80 Part 1 Installation 7.8.2 Current Monitor and Variable Monitor By setting other parameter Nos. 49 and 50 appropriately, the optional panel unit can be used to monitor either current levels or variables. (1) Current monitor Currents of up to four axes having continuous axis numbers can be monitored. Parameter settings Other parameter No.
  • Page 81 Part 1 Installation (2) Variable monitor The contents of global integer variables can be displayed on the panel window. Positive integers of 1 to 999 can be displayed. Parameter settings Other parameter No. 49 = 2 Other parameter No. 50 = Variable number of the global integer variable to be monitored When data is written to the flash ROM or a software reset (restart) is executed after the parameter values have been input, the panel window will show the content of the global integer variable, instead of “ready status”...

  • Page 82: Installing The Absolute-Data Backup Battery (Optional)

    Part 1 Installation Installing the Absolute-Data Backup Battery (Optional) As shown to the left, install the supplied battery holder at the bottom of the controller. Insert the battery into the holder. Axis 1 connector Axis 2 connector Connect the battery connector. Pay attention to the connector orientation.

  • Page 83: Installing The System-Memory Backup Battery (Optional)

    Part 1 Installation 7.10 Installing the System-Memory Backup Battery (Optional) As shown to the left, install the supplied battery holder at the top of the controller. Insert the battery into the holder. Connect the battery connector. Pay attention to the connector orientation. (The hook of the connector should face right when viewed from the front side of the controller.) Caution: If the system-memory backup battery is...

  • Page 84: Chapter 4 Operation

    Part 1 Installation Chapter 4 Operation 1. Startup (1) Connect the motor cable and encoder cable to the controller. (2) Connect the PIO connector to the host PLC using the supplied flat cable. (3) Execute an emergency stop. (4) Connect the PC or teaching pendant. Set the AUTO/MANU switch to the “MANU”...

  • Page 85: Power On Sequence

    Part 1 Installation Power ON Sequence  Although separate inputs are provided for the control power and motor power, they should be supplied from the same power-supply terminal.  Turn on the PIO power first. You can turn on the PIO power much earlier than the control power and motor power, as long as it is turned on before the control power/motor power.

  • Page 86: How To Perform Absolute Reset (Absolute Specification)

    Procedure (1) Turn off the SSEL controller power. Turn on the PC power and wait for the OS to start. (2) Connect the 9-pin, D-sub connector of the connection cable to the COM port on the PC, and connect the 25-pin, D-sub connector to the teaching connector on the controller.
  • Page 87 Part 1 Installation (6) The main window of the X-SEL PC software opens. Click OK to close the error message. (7) From the Monitor menu, select Error Detail to check the condition of the present error. If the controller is experiencing an encoder battery error, the displayed window should look like the one shown below (an absolute encoder is used for axis 2 in this example).
  • Page 88 Part 1 Installation (8) From the Controller menu, select Absolute Reset. (9) When the Warning dialog box appears, click OK. Cancel (10) The Absolute Reset dialog box appears. Click here to select the axis you want to perform an absolute reset for. (11) Click Encoder Rotation Data Reset 1.
  • Page 89 Part 1 Installation (12) Another Warning dialog box is displayed. Click Yes again. No (N) Yes (Y) (13) After the controller has finished processing encoder rotation data reset 1, the red arrow will move to the next item. Click the following processing buttons in this order (the arrow will move to the next one after each processing is completed): 1.
  • Page 90 Part 1 Installation (14) When the Confirmation dialog box appears, click Yes to restart the controller. No (N) Yes (Y) (Note) If you continue to operate the controller without resetting the software or reconnecting the power, the following errors may generate: Error No.

  • Page 91: How To Start A Program

    3. How to Start a Program With the SSEL Controller, the stored programs can be started (run) using four methods. Of these methods, two are mainly used to debug programs or perform trial operations, while the remaining two are used in general applications on site.

  • Page 92: Starting A Program By Auto-Start Via Parameter Setting

    Part 1 Installation Starting a Program by Auto-Start via Parameter Setting Other parameter No. 7 (Auto program start setting) = 1 (Standard factory setting) This parameter is set using the teaching pendant or PC software. Set the number of the program you wish to start automatically Set an auto-start program number in other parameter No.

  • Page 93: Starting Via External Signal Selection

    Part 1 Installation Starting via External Signal Selection Select a desired program number externally and then input a start signal. (1) Flow chart External device Controller Power ON Power ON When the READY signal (Output port No. Ready 301) turns ON, the RDY lamp (green) on the output READY signal READY signal ON...
  • Page 94 Part 1 Installation (2) Timing chart [1] Program start Duration after the ready output turns ON until input of Ready output external start signal is permitted Program 1 Program 2 T1 = 10 msec min. Program Duration after the program number is input until input of number input external start signal is permitted T2 = 50 msec min.

  • Page 95: Drive-Source Recovery Request And Operation-Pause Reset Request

    Part 1 Installation 4. Drive-Source Recovery Request and Operation-Pause Reset Request (1) Drive-source recovery request [1] Case where a drive-source request is required A drive-source recovery request is required in the following case:  Specify a desired input port for receiving the drive-source cutoff reset input signal (dedicated function).

  • Page 96: Controller Data Structure

    Part 1 Installation 5. Controller Data Structure The controller data consists of parameters as well as position data and application programs used to implement SEL language. SSEL Controller Data Structure Main Driver 1 Driver 2 Communication SEL language Parameters Position...

  • Page 97: How To Save Data

    Part 1 Installation How to Save Data The flow to save data in the SSEL controller is illustrated below. When data is transferred from the PC software or teaching pendant to the controller, the data is only written to the main CPU memory as shown in the diagram below and will be erased once the controller is powered down or reset.
  • Page 98 Part 1 Installation 5.1.2 When the System-Memory Backup Battery (Optional) is Used Change the setting of other parameter No. 20 to 2 (System-memory backup battery installed). Data will be retained while the power Data will be retained even after Data edited on the PC is on and cleared upon reset the power is turned off or teaching pendant...

  • Page 99: Points To Note

    Part 1 Installation Points to Note Point to note when transferring data and writing to the flash memory Never turn off the main power while data is being transferred or written to the flash memory. The data will be lost and the controller operation may be disabled. Point to note when saving parameters to a file The encoder parameters are stored in the EEPROM of the actuator’s encoder itself (unlike other parameters, they are not stored in the EEPROM of the controller).

  • Page 100: Chapter 5 Maintenance

    Consumable parts  Cables  System-memory backup battery (optional): AB-5 by IAI -- Must be replaced after approx. 5 years  Absolute-data backup battery (optional): AB-5 by IAI -- Must be replaced after approx. 2 years* (Absolute specification) *: The actual replacement timing will vary depending on the use condition.

  • Page 101: Replacement Procedure For System-Memory Backup Battery (Optional)

    Backing up the system memory If the optional system-memory backup battery is installed in the SSEL controller and “Other parameter No. 20: Backup battery installation function type” is set to “2” (Installed), the following SRAM data will be retained even after the power is turned off: ...
  • Page 102 Part 1 Installation Battery Replacement Procedure [1] Remove the battery connector and pull out the battery. [2] Insert a new battery into the holder and plug in the battery connector. The connector hook should face the right side. (8) When the replacement of system-memory backup battery is complete, confirm that the battery is installed securely and then turn on the controller power.

  • Page 103: Replacement Procedure For Absolute-Data Backup Battery (Optional)

    Part 1 Installation 4. Replacement Procedure for Absolute-Data Backup Battery (Optional) The replacement procedure is different depending on which error is present (No. A23, 914 and CA2).  If no error is present, perform steps (1) to (4).  If an absolute-data backup battery voltage-low warning (Error No. A23) has been issued, perform steps (1) to (11).
  • Page 104 Part 1 Installation (4) Turn on the controller power. (5) Start the PC software on a PC connected to the controller. From the Controller menu, select Absolute Reset. (6) When the Warning dialog box appears, click OK. Cancel Warning (7) The Absolute Reset dialog box appears. (8) Set the address number corresponding to the axis whose battery has just been replaced.

  • Page 105: Part 2 Programs

    Part 2 Programs Part 2 Programs Chapter 1 SEL Language Data 1. Values and Symbols Used in SEL Language List of Values and Symbols Used The various functions required in a program are represented by values and symbols. Function Global range Local range Remarks Varies depending on...

  • Page 106: I/O Ports

    Integers and real numbers can be used. However, pay due attention to the following limitations: [1] Numeric data The SSEL Controller can handle values of maximum eight digits including a sign and a decimal point. Integer: -9,999,999 to 99,999,999 Real number: Maximum eight digits including a sign and decimal point, regardless of the size of value Example) 999999.9, 0.123456, -0.12345...

  • Page 107: Virtual I/O Ports

    Part 2 Programs Virtual I/O Ports (1) Virtual input ports Port No. Function 7000 Always OFF 7001 Always ON 7002 Voltage low warning for system-memory backup battery 7003 Abnormal voltage of system-memory backup battery 7004 (For future expansion = Use strictly prohibited) 7005 (For future expansion = Use strictly prohibited) 7006...
  • Page 108 Part 2 Programs (2) Virtual output ports Port No. Function Latch cancellation output for a latch signal indicating that all-operation-cancellation 7300 factor is present (7011) (latch is cancelled only when operation-cancellation factor is no longer present) (7300 will be turned OFF following an attempt to cancel latch.) 7301 ~ 7380 (For future expansion = Use strictly prohibited) 7381 ~ 7399 (For future expansion = Use strictly prohibited) 7400 ~ 7599 (For future expansion = Use strictly prohibited)

  • Page 109: Flags

    Part 2 Programs Flags Contrary to its common meaning, the term “flag” as used in programming means “memory.” Flags are used to set or reset data. They correspond to “auxiliary relays” in a sequencer. Flags are divided into global flags (Nos. 600 to 899) that can be used in all programs, and local flags (Nos. 900 to 999) that can be used only in each program.

  • Page 110: Variables

    Part 2 Programs Variables (1) Meaning of variable “Variable” is a technical term used in software programming. Simply put, it means “a box in which a value is put.” Variables can be used in many ways, such as putting in or taking out a value and performing addition or subtraction.
  • Page 111 Part 2 Programs (2) Types of variables Variables are classified into two types, as follows: [1] Integer variables These variables cannot handle decimal places. [Example] 1234 Integer variable box Variable box 1 1 2 3 4 200 ~ 299 Integer variable number Can be used in all programs “Global integer variables”...
  • Page 112 Part 2 Programs [3] Variables with “*” (asterisk) (indirect specification) An “*” (asterisk) is used to specify a variable. In the following example, the content of variable box 1 will be put in variable box 2. If variable box 1 contains “1234,”...

  • Page 113: Tags

    Part 2 Programs Tags The term “tag” means “heading.” Tags are used in the same way you attach labels to the pages in a book you want to reference frequently. A tag is a destination specified in a jump command “GOTO.” Command Operand 1 Tag number (Integer between 1 and 256)

  • Page 114: Subroutines

    Part 2 Programs Subroutines By taking out the parts of a program that are used repeatedly and registering them as “subroutines,” the same processing can be performed with fewer steps. (A maximum of 15 nests are accommodated.) They are used only in each program. Command Operand 1 EXSR...

  • Page 115: Symbols

    Part 2 Programs Symbols In the SSEL Controller, values such as variable numbers and flag numbers can be handled as symbols. For the method to edit symbols, refer to “Editing Symbols” in the operation manual for X-SEL teaching pendant or “Symbol Edit Window” in the operation manual for X-SEL PC software.

  • Page 116: Axis Specification

    Part 2 Programs 1.10 Axis Specification Axes can be specified based on axis number or axis pattern. (1) Axis numbers and how axes are stated Each of multiple axes is stated as follows: Axis number How axis is stated Axis 1 Axis 2 The axis numbers stated above can also be expressed using symbols.
  • Page 117 Part 2 Programs (2) Axis pattern Whether or not each axis will be used is indicated by “1” or “0.” (Upper) (Lower) Axis number Axis 2 Axis 1 Used Not used [Example] When axes 1 and 2 are used Axis 2 Axis 1 [Example] When axes 2 is used...

  • Page 118: Position Part

    Part 2 Programs SEL language consists of a position part (position data = coordinates, etc.) and a command part (application program). 2. Position Part As position data, coordinates, speeds, accelerations and decelerations are set and stored. Standard *1, 2 Standard 0.3 G ...

  • Page 119: Command Part

    Part 2 Programs 3. Command Part The primary feature of SEL language is its very simple command structure. Since the structure is simple, there is no need for a compiler (to translate into computer language) and high-speed operation is possible via an interpreter (the program runs as commands are translated).

  • Page 120: Extension Condition

    Part 2 Programs Extension Condition Conditions can be combined in a complex manner. (SEL language) AND extension (Ladder diagram) Command Input Extension Condition Output condition Operand Operand condition Command Condition 1 Condition 2 Condition Operand Operand Condition 3 Command Condition OR extension Command Input...

  • Page 121: Chapter 2 List Of Sel Language Command Codes

    Part 2 Programs Chapter 2 List of SEL Language Command Codes 1. By Function Variables can be specified indirectly in the operand 1, operand 2 and output fields. Symbols can be input in the condition, operand 1, operand 2 and output fields. The input items in ( ) under operand 1 and operand 2 are optional.
  • Page 122 Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1  Operand 2, GT: Operand 1 >...
  • Page 123 Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1  Operand 2, GT: Operand 1 >...
  • Page 124 Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1  Operand 2, GT: Operand 1 >...
  • Page 125 Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, PE: Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1  Operand 2, GT: Operand 1 >...

  • Page 126: Alphabetical Order

    Part 2 Programs 2. Alphabetical Order Operation type in the output field EQ: Operand 1 = Operand 2, NE: Operand 1  Operand 2, CC: Command was executed successfully, GT: Operand 1 > Operand 2, GE: Operand 1  Operand 2, ZR: Operation result is zero, PE: Operation is complete, LT: Operand 1 <...
  • Page 127 Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1  Operand 2, GT: Operand 1 >...
  • Page 128 Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1  Operand 2, GT: Operand 1 >...
  • Page 129 Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1  Operand 2, GT: Operand 1 >...
  • Page 130 Part 2 Programs Operation type in the output field CC: Command was executed successfully, ZR: Operation result is zero, Operation is complete, CP: Command part has passed, TU: Time up EQ: Operand 1 = Operand 2, NE: Operand 1  Operand 2, GT: Operand 1 >...

  • Page 131: Chapter 3 Explanation Of Commands

    Part 2 Programs Chapter 3 Explanation of Commands 1. Commands Variable Assignment  LET (Assign) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Optional Optional Data number [Function]...
  • Page 132 Part 2 Programs  TRAN (Copy) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Variable Optional Optional TRAN number number [Function] Assign the content of the variable specified in operand 2 to the variable specified in operand 1.
  • Page 133 Part 2 Programs  CLR (Clear variable) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Variable Optional Optional number number [Function] Clear the variables from the one specified in operand 1 through the other specified in operand 2.

  • Page 134: Arithmetic Operation

    Part 2 Programs Arithmetic Operation  ADD (Add) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Variable Optional Optional Data number [Function] Add the content of the variable specified in operand 1 and the value specified in operand 2, and assign the result to the variable specified in operand 1.
  • Page 135 Part 2 Programs  MULT (Multiply) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Optional Optional MULT Data number [Function] Multiply the content of the variable specified in operand 1 by the value specified in operand 2, and assign the result to the variable specified in operand 1.
  • Page 136 Part 2 Programs  MOD (Remainder) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Optional Optional Data number [Function] Assign, to the variable specified in 1, the remainder obtained by dividing the content of the variable specified in operand 1 by the value specified in operand 2.

  • Page 137: Function Operation

    Part 2 Programs Function Operation  SIN (Sine operation) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Variable Optional Optional Data number [Function] Assign the sine of the data specified in operand 2 to the variable specified in operand 1. The output will turn ON when the operation result becomes 0.
  • Page 138 Part 2 Programs  TAN (Tangent operation) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Optional Optional Data number [Function] Assign the tangent of the data specified in operand 2 to the variable specified in operand 1. The output will turn ON when the operation result becomes 0.
  • Page 139 Part 2 Programs  SQR (Root operation) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Optional Optional Data number [Function] Assign the root of the data specified in operand 2 to the variable specified in operand 1. The output will turn ON when the operation result becomes 0.

  • Page 140: Logical Operation

    Part 2 Programs Logical Operation  AND (Logical AND) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Variable Optional Optional Data number [Function] Assign the logical AND operation result of the content of the variable specified in operand 1 and the value specified in operand 2, to the variable specified in operand 1.
  • Page 141 Part 2 Programs  OR (Logical OR) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Optional Optional Data number [Function] Assign the logical OR operation result of the content of the variable specified in operand 1 and the value specified in operand 2, to the variable specified in operand 1.
  • Page 142 Part 2 Programs  EOR (Logical exclusive-OR) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Optional Optional Data number [Function] Assign the logical exclusive-OR operation result of the content of the variable specified in operand 1 and the value specified in operand 2, to the variable specified in operand 1.

  • Page 143: Comparison Operation

    Part 2 Programs Comparison Operation  CP (Compare) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Variable Optional Optional CP Data number [Function] The output will be turned ON if the comparison result of the content of the variable specified in operand 1 and the value specified in operand 2 satisfies the condition.

  • Page 144: Timer

    Part 2 Programs Timer  TIMW (Timer) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Optional Optional TIMW Time Prohibited [Function] Stop the program and wait for the time specified in operand 1. The setting range is 0.01 to 99, and the unit is second.
  • Page 145 Part 2 Programs  TIMC (Cancel timer) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Program Optional Optional TIMC Prohibited number [Function] Cancel a timer in other program running in parallel. (Note) Timers in TIMW, WTON, WTOF and READ commands can be cancelled.
  • Page 146 Part 2 Programs  GTTM (Get time) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Optional Optional GTTM Prohibited number [Function] Read system time to the variable specified in operand 1. The time is specified in units of 10 milliseconds.

  • Page 147: I/O, Flag Operation

    Part 2 Programs I/O, Flag Operation  BT (Output port, flag operation) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration (Output, Optional Optional BT Output, flag flag) [Function] Reverse the ON/OFF status of the output ports or flags from the one specified in operand 1...
  • Page 148 Part 2 Programs  BTPN (Output ON pulse) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Output Timer Optional Optional BTPN port, flag setting [Function] Turn ON the specified output port or flag for the specified time. When this command is executed, the output port or flag specified in operand 1 will be turned ON and then the program will proceed to the next step.
  • Page 149 Part 2 Programs  BTPF (Output OFF pulse) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Output Timer Optional Optional BTPF port, flag setting [Function] Turn OFF the specified output port or flag for the specified time. When this command is executed, the output port or flag specified in operand 1 will be turned OFF and then the program will proceed to the next step.
  • Page 150 Part 2 Programs  WT (Wait for I/O port, flag) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional WT I/O, flag (Time) [Function] Wait for the I/O port or flag specified in operand 1 to turn ON/OFF. The program can be aborted after the specified time by setting the time in operand 2.
  • Page 151 Part 2 Programs  IN (Read I/O, flag as binary) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional I/O, flag I/O, flag [Function] Read the I/O ports or flags from the one specified in operand 1 through the other specified in operand 2, to variable 99 as a binary.
  • Page 152 Part 2 Programs  INB (Read I/O, flag as BCD) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional I/O, flag BCD digits [Function] Read the I/O ports or flags from the one specified in operand 1 for the number of digits specified in operand 2, to variable 99 as a BCD.
  • Page 153 Part 2 Programs  OUT (Write output, flag as binary) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional Output, flag Output, flag [Function] Write the value in variable 99 to the output ports or flags from the one specified in operand 1 through the other specified in operand 2.
  • Page 154 Part 2 Programs  OUTB (Write output, flag as BCD) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional OUTB Output, flag BCD digits [Function] Write the value in variable 99 to the output ports or flags from the one specified in operand 1 for the number of digits specified in operand 2 as a BCD.
  • Page 155 Part 2 Programs  OTPS (Output current position data) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Output port Axis Optional Optional OTPS number number [Function] Output current position data to an output port.
  • Page 156 Part 2 Programs  FMIO (Set IN, INB, OUT, OUTB, OTPS command format) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Format Optional Optional FMIO Prohibited type [Function] Set the data format for reading or writing I/O ports and flags with an IN, INB, OUT OUTB or...
  • Page 157 Part 2 Programs (4) Operand 1 = 3 Data is read or written after its upper 16 bits and lower 16 bits are reversed every 32 bits and its upper eight bits and lower eight bits are reversed every 16 bits. (I/O, flag number upper) (I/O, flag number lower) 01234567h ...
  • Page 158 Part 2 Programs [Example 2] Variable 99 = 00001234h (Decimal: 4660, BCD: 1234) OUT(B) command 00001234h Variable 99 4660 (IN/OUT command) 1234 (INB/OUTB command) IN(B) command OUT(B) command IN(B) command (I/O, flag number upper) (I/O, flag number lower)  FMIO = 0 00h 00h 12h 34h 0000 0000 0000 0000 0001 0010 0011 0100 ...

  • Page 159: Program Control

    Part 2 Programs Program Control  GOTO (Jump) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Optional Optional GOTO Prohibited number [Function] Jump to the position of the tag number specified in operand 1. (Note) A GOTO command is valid only within the same program.
  • Page 160 Part 2 Programs  EXSR (Execute subroutine) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Subroutine Optional Optional EXSR Prohibited number [Function] Execute the subroutine specified in operand 1. A maximum of 15 nested subroutine calls are supported.
  • Page 161 Part 2 Programs  EDSR (End subroutine) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Prohibited Prohibited EDSR Prohibited Prohibited [Function] Declare the end of a subroutine. This command is always required at the end of a subroutine.

  • Page 162: Task Management

    Part 2 Programs Task Management  EXIT (End program) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Optional Optional EXIT Prohibited Prohibited [Function] End the program. If the last step has been reached without encountering any EXIT command, the program will return to the beginning.
  • Page 163 Part 2 Programs  EXPG (Start other program) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Program (Program Optional Optional EXPG number number) [Function] Start the programs from the one specified in operand 1 through the other specified in operand 2, and run them in parallel.
  • Page 164 Part 2 Programs  ABPG (Abort other program) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Ending (Ending Optional Optional ABPG program program number number) [Function] Abort other program. (Note 1) If an ABPG command is issued while a movement command is being executed, the axes will immediately decelerate and stop.
  • Page 165 Part 2 Programs  SSPG (Pause program) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Program (Program Optional Optional SSPG number number) [Function] Pause the program from the one specified in operand 1 through the other specified in operand 2, at the current step.
  • Page 166 Part 2 Programs  RSPG (Resume program) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Program (Program Optional Optional RSPG number number) [Function] Resume the programs from the one specified in operand 1 through the other specified in operand 2.

  • Page 167: Position Operation

    Part 2 Programs 1.10 Position Operation  PGET (Read position data) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Axis Position Optional Optional PGET number number [Function] Read to variable 199 the data of the axis number specified in operand 1 in the position data specified in operand 2.
  • Page 168 Part 2 Programs  PPUT (Write position data) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Axis Position Optional Optional PPUT number number [Function] Write the value in variable 199 to the axis number specified in operand 1 in the position data specified in operand 2.
  • Page 169 Part 2 Programs  PCLR (Clear position data) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Position Position Optional Optional PCLR number number [Function] Clear the position data from the one specified in operand 1 through the other specified in operand 2.
  • Page 170 Part 2 Programs  PCPY (Copy position data) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Position Position Optional Optional PCPY number number [Function] Copy the position data specified in operand 2 to the position number specified in operand 1. [Example 1] PCPY Copy the data of position No.
  • Page 171 Part 2 Programs  PRED (Read current position) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Axis Position Optional Optional PRED pattern number [Function] Read the current position of the axis specified in operand 1 to the position specified in operand 2.
  • Page 172 Part 2 Programs  PRDQ (Read current axis position (1 axis direct)) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Axis Variable Optional Optional PRDQ number number [Function] Read the current position of the axis number specified in operand 1 to the variable specified in operand 2.
  • Page 173 Part 2 Programs  PTST (Check position data) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Axis Position Optional Optional PTST pattern number [Function] Check if valid data is contained in the axis pattern specified in operand 1 at the position number specified in operand 2.
  • Page 174 Part 2 Programs  PVEL (Assign speed data) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Position Optional Optional PVEL Speed number [Function] Write the speed specified in operand 1 to the position number specified in operand 2. (Note) If a negative value is written with a PVEL command, an alarm will generate when that position is specified in a movement operation, etc.
  • Page 175 Part 2 Programs  PACC (Assign acceleration data) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Position Optional Optional PACC Acceleration number [Function] Write the acceleration specified in operand 1 to the position number specified in operand 2. (Note) Range check is not performed for a PACC command.
  • Page 176 Part 2 Programs  PDCL (Assign deceleration data) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Position Optional Optional PDCL Deceleration number [Function] Assign the deceleration data specified in operand 1 to the deceleration item in the position data specified in operand 2.
  • Page 177 Part 2 Programs  PAXS (Read axis pattern) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Position Optional Optional PAXS number number [Function] Store the axis pattern at the position specified in operand 2 to the variable specified in operand 1.
  • Page 178 Part 2 Programs  PSIZ (Check position data size) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Optional Optional PSIZ Prohibited number [Function] Set an appropriate value in the variable specified in operand 1 in accordance with the parameter setting.
  • Page 179 Part 2 Programs  GVEL (Get speed data) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Position Optional Optional GVEL number number [Function] Obtain speed data from the speed item in the position data specified in operand 2, and set the value in the variable specified in operand 1.
  • Page 180 Part 2 Programs  GACC (Get acceleration data) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Position Optional Optional GACC number number [Function] Obtain acceleration data from the acceleration item in the position data specified in operand 2, and set the value in the variable specified in operand 1.
  • Page 181 Part 2 Programs  GDCL (Get deceleration data) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Position Optional Optional GDCL number number [Function] Obtain deceleration data from the deceleration item in the position data specified in operand 2, and set the value in the variable specified in operand 1.

  • Page 182: Actuator Control Declaration

    Part 2 Programs 1.11 Actuator Control Declaration  VEL (Set speed) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Optional Optional Speed Prohibited [Function] Set the actuator travel speed in the value specified in operand 1. The unit is mm/s.
  • Page 183 Part 2 Programs  OVRD (Override) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional OVRD Speed ratio Prohibited [Function] Reduce the speed in accordance with the ratio specified in operand 1 (speed coefficient setting).
  • Page 184 Part 2 Programs  ACC (Set acceleration) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional Acceleration Prohibited [Function] Set the travel acceleration of the actuator. The maximum acceleration will vary depending on the load and model of the actuator connected.
  • Page 185 Part 2 Programs  DCL (Set deceleration) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional Deceleration Prohibited [Function] Set the travel deceleration of the actuator. The maximum deceleration will vary depending on the load and model of the actuator connected.
  • Page 186 Part 2 Programs  SCRV (Set sigmoid motion ratio) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional SCRV Ratio Prohibited [Function] Set the ratio of sigmoid motion control of the actuator in the value specified in operand 1. The ratio is set as an integer in a range from 0 to 50 (%).
  • Page 187 Part 2 Programs  OFST (Set offset) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Axis Offset Optional Optional OFST pattern value [Function] Reset the target value by adding the offset value specified in operand 2 to the original target value when performing the actuator movement specified in operand 1.
  • Page 188 Part 2 Programs  DEG (Set arc angle) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional Angle Prohibited [Function] Set a division angle for the interpolation implemented by a CIR (move along circle) or ARC (move along arc) command.
  • Page 189 Part 2 Programs  BASE (Specify axis base) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Axis Optional Optional BASE Prohibited number [Function] Count the axes sequentially based on the axis number specified in operand 1 being the first axis.
  • Page 190 Part 2 Programs  GRP (Set group axes) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Axis Optional Optional Prohibited pattern [Function] Allow only the position data of the axis pattern specified in operand 1 to become valid. The program assumes that there are no data for other axes not specified.
  • Page 191 Part 2 Programs  HOLD (Hold: Declare axis port to pause) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration (Input port, (HOLD Optional Optional HOLD global flag) type) [Function] Declare an input port or global flag to pause while a servo command is being executed.
  • Page 192 Part 2 Programs  CANC (Cancel: Declare axis port to abort) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration (Input port, (CANC Optional Optional CANC global flag) type) [Function] Declare an input port or global flag to abort while a servo command is being executed.
  • Page 193 Part 2 Programs  VLMX (Specify VLMX speed) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional VLMX Prohibited Prohibited [Function] Set the actuator travel speed to the VLMX speed (normally maximum speed). Executing a VLMX command will set the value registered in “Axis-specific parameter No.
  • Page 194 Part 2 Programs  DIS (Set division distance at spline movement) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional Distance Prohibited [Function] Set a division distance for the interpolation implemented by a PSPL (move along spline) command.
  • Page 195 Part 2 Programs  POTP (Set PATH output type) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional POTP 0 or 1 Prohibited [Function] Set the output type in the output field to be used when a PATH or PSPL command is executed.
  • Page 196 Part 2 Programs  PAPR (Set push-motion approach distance, speed) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional PAPR Distance Speed [Function] Set the operation to be performed when a PUSH command is executed. Set the distance (push-motion approach distance) over which push-motion approach operation (torque-limiting operation) will be performed in operand 1 (in mm), and set the speed (push-motion approach speed) at which push-motion approach operation (torque-...
  • Page 197 Part 2 Programs  QRTN (Set quick-return mode) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional QRTN 0 or 1 Prohibited [Function] Set and cancel the quick-return mode. (1) QRTN [Operand 1] = 0 (Normal mode) Positioning is deemed complete when all command pulses have been output and the current position is inside the positioning band.

  • Page 198: Actuator Control Command

    Part 2 Programs 1.12 Actuator Control Command  SV (Turn ON/OFF servo) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Axis Optional Optional SV Prohibited pattern [Function] Turn ON/OFF the servos of the axes specified by the axis pattern in operand 1.
  • Page 199 Part 2 Programs  HOME (Return to home) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Axis Optional Optional HOME Prohibited pattern [Function] Perform home return of the axes specified by the axis pattern in operand 1. The servo of each home-return axis will turn ON automatically.
  • Page 200 Part 2 Programs  MOVP (Move PTP by specifying position data) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Position Optional Optional MOVP Prohibited number [Function] Move the actuator to the position corresponding to the position number specified in operand 1, without interpolation (PTP stands for “Point-to-Point”).
  • Page 201 Part 2 Programs  MOVL (Move by specifying position data) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Position Optional Optional MOVL Prohibited number [Function] Move the actuator to the position corresponding to the position number specified in operand 1, with interpolation.
  • Page 202 Part 2 Programs  MVPI (Move via incremental PTP) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Position Optional Optional MVPI Prohibited number [Function] Move the actuator, without interpolation, from the current position by the travel distance corresponding to the position number specified in operand 1.
  • Page 203 Part 2 Programs  MVLI (Move via incremental interpolation) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Position Optional Optional MVLI Prohibited number [Function] Move the actuator, with interpolation, from the current position by the travel distance corresponding to the position number specified in operand 1.
  • Page 204 Part 2 Programs  MOVD (Move via direct value specification) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Target Optional Optional MOVD (Axis pattern) position [Function] Move the axis specified by the axis pattern in operand 2, to the target position corresponding to the value specified in operand 1.
  • Page 205 Part 2 Programs  MVDI (Move relatively via direct value specification) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Travel Optional Optional MVDI (Axis pattern) distance [Function] Move the axis specified by the axis pattern in operand 2 from its current position by the travel distance corresponding to the value specified in operand 1.
  • Page 206 Part 2 Programs  PATH (Move along path) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Start Optional Optional PATH position position number number [Function] Move continuously from the position specified in operand 1 to the position specified in operand 2.
  • Page 207 During infinite-stroke operation, always perform timeout check using other task or from an external system. The infinite-stroke mode can be specified only when an incremental encoder is used. If you wish to use the infinite-stroke mode, contact IAI’s Sales Engineering. [Example 1] Set the speed to 100 mm/s.
  • Page 208 Part 2 Programs  STOP (Stop movement) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Axis Optional Optional STOP Prohibited pattern [Function] Decelerate and stop the axes specified by the axis pattern in operand 1. (Note 1) A STOP command can be used with all active servo commands other than a SVOF command.
  • Page 209 Part 2 Programs  PSPL (Move along spline) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Start Optional Optional PSPL position position number number [Function] Continuously move from the specified start position to end position via interpolation along a spline-interpolation curve.
  • Page 210 Part 2 Programs  PUSH (Move by push motion) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Target Optional Optional PUSH position Prohibited number [Function] Perform push-motion operation until the target position specified in operand 1 is reached. The axes move in a normal mode from the position origin to the push-motion approach start position as determined by a PAPR command, after which push-motion approach operation (toque-limiting operation) will be performed.
  • Page 211 Part 2 Programs [Example] PAPR MOVP PUSH Set the push-motion approach distance to 100 mm and push-motion approach speed to 20 mm/sec. Move from the current position to position No. 2. Perform push-motion movement from position Nos. 2 to 10. The diagram below describes a push-motion movement based on the position data shown in the table below: Position Data Display in PC Software...
  • Page 212 Part 2 Programs  PTRQ (Change push torque limit parameter) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Axis Optional Optional PTRQ Ratio pattern [Function] Change the push torque limit parameter of the axis pattern specified in operand 1 to the value in operand 2.
  • Page 213 Part 2 Programs  CIR2 (Move along circle 2 (arc interpolation)) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Passing Passing Optional Optional CIR2 position 1 position 2 number number...
  • Page 214 Part 2 Programs  ARC2 (Move along circle 2 (arc interpolation)) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Passing Optional Optional ARC2 position position number number [Function] Move along an arc originating from the current position, passing the specified position and terminating at the end position, via arc interpolation.
  • Page 215 Part 2 Programs  CHVL (Change speed) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional CHVL Axis pattern Speed [Function] Change the speed of the axes operating in other task. When a CHVL command is executed, the speed of the axes specified in operand 1 will change to the value specified in operand 2.
  • Page 216 Part 2 Programs  ARCD (Move along arc via specification of end position and center angle (arc interpolation)) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Center Optional Optional...
  • Page 217 Part 2 Programs  ARCC (Move along arc via specification of center position and center angle (arc interpolation)) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Center Center Optional...
  • Page 218 Part 2 Programs  PBND (Set positioning band) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Axis Optional Optional PBND Distance pattern [Function] Set the position complete width for the axes in the axis pattern specified in operand 1. The distance in operand 2 is set in mm.
  • Page 219 Part 2 Programs  CIR (Move along circle) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Passing Passing Optional Optional position 1 position 2 number number [Function] Move along a circle originating from the current position and passing the positions specified in operands 1 and 2.
  • Page 220 Part 2 Programs  ARC (Move along arc) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Passing Optional Optional position position number number [Function] Move along an arc from the current position to the position specified in operand 2, by passing the position specified in operand 1.

  • Page 221: Structural If

    Part 2 Programs 1.13 Structural IF  IF (Structural IF) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Variable Optional Optional IF Data number [Function] Compare the content of the variable specified in operand 1 with the value specified in operand 2, and proceed to the next step if the condition is satisfied.
  • Page 222 Part 2 Programs  IS (Compare strings) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Column Column number, Optional Optional IS number character literal [Function] Compare the character strings in the columns specified in operands 1 and 2, and proceed to the next step if the condition is satisfied.
  • Page 223 Part 2 Programs  ELSE (Else) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Prohibited Prohibited ELSE Prohibited Prohibited [Function] An ELSE command is used arbitrarily in conjunction with an IF or IS command to declare the command part to be executed when the condition is not satisfied.

  • Page 224: Structural Do

    Part 2 Programs 1.14 Structural DO  DW (DO WHILE) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Variable Optional Optional DW Data number [Function] Compare the content of the variable specified in operand 1 with the value specified in operand 2, and execute the subsequent commands up to EDDO while the condition is satisfied.
  • Page 225 Part 2 Programs  ITER (Repeat) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional ITER Prohibited Prohibited [Function] Forcibly switch the control to EDDO while in a DO loop. [Example 1] DWEQ Repeat the commands up to an EDDO command while...

  • Page 226: Multi-Branching

    Part 2 Programs 1.15 Multi-Branching  SLCT (Start selected group) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Optional Optional SLCT Prohibited Prohibited [Function] Branch to the step next to any WH or WS command that exists before an EDSL command and whose condition is satisfied, or to the step next to an OTHE command if none of the conditions are satisfied.
  • Page 227 Part 2 Programs  WH (Select if true; variable) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Prohibited Prohibited WH Data number [Function] This command is used between SLCT and EDSL commands to execute the subsequent commands up to the next W...
  • Page 228 Part 2 Programs  WS (Select if true; character) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Column Column number, Prohibited Prohibited WS number character literal [Function] This command is used between SLCT and EDSL commands to execute the subsequent commands up to the next W...
  • Page 229 Part 2 Programs  OTHE (Select other) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Prohibited Prohibited OTHE Prohibited Prohibited [Function] This command is used between SLCT and EDSL commands to declare the command to be executed when none of the conditions are satisfied.

  • Page 230: System Information Acquisition

    Part 2 Programs 1.16 System Information Acquisition  AXST (Get axis status) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Variable Axis Optional Optional AXST number number [Function] Store in the variable specified in operand 1 the status (axis error number) of the axis...
  • Page 231 Part 2 Programs  PGST (Get program status) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Program Optional Optional PGST number number [Function] Store in the variable specified in operand 1 the status (program error number) of the program specified in operand 2.
  • Page 232 Part 2 Programs  SYST (Get system status) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Optional Optional SYST Prohibited number [Function] Store the system status (top-priority system error number) in the variable specified in operand 1.

  • Page 233: Zone

    Part 2 Programs 1.17 Zone  WZNA (Wait for zone ON, with AND) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Zone Axis Optional Optional WZNA number pattern [Function]...
  • Page 234 Part 2 Programs  WZNO (Wait for zone ON, with OR) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Zone Axis Optional Optional WZNO number pattern [Function] Wait for the zone status of any of the axes (OR) specified by the axis pattern in operand 2 to become ON (inside zone) with respect to the zone specified in operand 1.
  • Page 235 Part 2 Programs  WZFA (Wait for zone OFF, with AND) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Zone Axis Optional Optional WZFA number pattern [Function] Wait for the zone status of all axes (AND) specified by the axis pattern in operand 2 to become OFF (outside zone) with respect to the zone specified in operand 1.
  • Page 236 Part 2 Programs  WZFO (Wait for zone OFF, with OR) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Zone Axis Optional Optional WZFO number pattern [Function] Wait for the zone status of any of the axes (OR) specified by the axis pattern in operand 2 to become OFF (outside zone) with respect to the zone specified in operand 1.

  • Page 237: Communication

    Part 2 Programs 1.18 Communication  OPEN (Open channel) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Channel Optional Optional OPEN Prohibited number [Function] Open the channel specified in operand 1. The specified channel will be enabled to send/receive hereafter.
  • Page 238 Part 2 Programs  READ (Read) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Channel Column Optional Optional READ number number [Function] Read a character string from the channel specified in operand 1 to the column specified in operand 2.
  • Page 239 Part 2 Programs (Note) A READ command must be executed before the other side sends the end character. SCHA OPEN READ Other side CLOS  Return code of the READ command The return code is stored in a local variable. The variable number can be set by “Other parameter No.
  • Page 240 [Function] Set the timeout to be applied to a READ/WRIT command. With the SSEL controller, a write timer setting cannot be specified. The timer setting specified in operand 1 will set the maximum time the program will wait for the character string read to end when a READ command is executed.
  • Page 241 Part 2 Programs Read completes successfully within 30 seconds  Variable No. 1 = 0 Timeout occurs  Variable No. 1 = 1 * The return code of READ command may not be limited to 0 or 1. The variable to store the return code can be set in “Other parameter No.
  • Page 242 SSEL. The return code is stored in a local variable. The variable number can be set by “Other parameter No. 24.”...
  • Page 243 Part 2 Programs  SCHA (Set end character) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Character Optional Optional SCHA Prohibited code [Function] Set the end character to be used by a READ or WRIT command. Any character from 0 to 255 (character code used in BASIC, etc.) can be specified.

  • Page 244: String Operation

    Part 2 Programs 1.19 String Operation  SCPY (Copy character string) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Column Column Optional Optional SCPY number, number character literal [Function] Copy the character string in the column specified in operand 2 to the column specified in operand 1.
  • Page 245 Part 2 Programs  SCMP (Compare character strings) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Column Column Optional Optional SCMP number, number character literal [Function] Compare the column specified in operand 1 with the column specified in operand 2. Comparison will be performed for the length set by a SLEN command.
  • Page 246 Part 2 Programs  SGET (Get character) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Column Variable Optional Optional SGET number, number character literal [Function] Assign one character from the column specified in operand 2 to the variable specified in operand 1.
  • Page 247 Part 2 Programs  SPUT (Set character) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Column Optional Optional SPUT Data number [Function] Set the data specified in operand 2 in the column specified in operand 1. [Example] SPUT Set 10 (LF) in column 5.
  • Page 248 Part 2 Programs  STR (Convert character string; decimal) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Column Optional Optional Data number [Function] Copy to the column specified in operand 1 a decimal character string converted from the data specified in operand 2.
  • Page 249 Part 2 Programs  STRH (Convert character string; hexadecimal) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Column Optional Optional STRH Data number [Function] Copy to the column specified in operand 1 a hexadecimal character string converted from the data specified in operand 2.
  • Page 250 Part 2 Programs  VAL (Convert character string data; decimal) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Column Variable Optional Optional number, number character literal [Function] Convert the decimal data in the column specified in operand 2 to a binary and assign the result to the variable specified in operand 1.
  • Page 251 Part 2 Programs  VALH (Convert character string data; hexadecimal) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Column Variable Optional Optional VALH number, number character literal [Function] Convert the hexadecimal data in the column specified in operand 2 to a binary and assign the result to the variable specified in operand 1.
  • Page 252 Part 2 Programs  SLEN (Set length) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Character Optional Optional SLEN string Prohibited length [Function] Set the length to be processed by a string command. This must always be set before using the following commands: SCMP Decimal part is invalid.

  • Page 253: Arch-Motion-Related

    Part 2 Programs 1.20 Arch-Motion-Related  ARCH (Arch motion) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Position Position Optional Optional ARCH number number Perform arch motion from the current point and move to the specified points. ...
  • Page 254 Part 2 Programs  The arch-motion Z-axis will come down after a rise-process command value is output. Therefore, one of the following operations will be performed depending on how the arch-trigger point and Z point are set. If the resulting operation is undesirable, change the arch trigger and/or Z point to improve the efficiency of movement.
  • Page 255 Part 2 Programs  ACHZ (Declare arch-motion Z-axis) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Axis Optional Optional ACHZ Prohibited number Specify the axis number representing the arch-motion Z direction. The axis number specified in operand 1 will be set as the axis number representing the arch-motion Z direction.
  • Page 256 Part 2 Programs  ATRG (Set arch triggers) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Position Position Optional Optional ATRG number number Set the arch triggers used for arch motion. (This setting becomes valid when an ARCH command is executed.) Set the arch-motion Z-axis position data in the point data specified in operand 1 as the start-point arch trigger, and set the arch-motion Z-axis position data in the point data specified in operand 2 as the end-...
  • Page 257 Part 2 Programs  OFAZ (Set arch-motion Z-axis offset) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Offset Optional Optional OFAZ Prohibited value Set the offset in the arch-motion Z-axis direction. The value specified in operand 1 will be set as the offset in the arch-motion Z-axis direction.

  • Page 258: Palletizing-Related

    Part 2 Programs 1.21 Palletizing-Related  BGPA (Declare start of palletizing setting) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Palletizing Optional Optional BGPA Prohibited number Declare the start of a palletizing setting.
  • Page 259 Part 2 Programs  PAPI (Set palletizing counts) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Optional Optional PAPI Count Count Set counts in the palletizing-axis directions. The count specified in operand 1 will apply to the preferential-axis (PX-axis) direction, while the count specified in operand 2 will apply to the PY-axis direction.
  • Page 260 Part 2 Programs  PASE (Declare palletizing axes) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Axis Axis Optional Optional PASE number number Set the two axes to be used in palletizing (PX and PY-axes). The axis specified in operand 1 will be set as the preferential axis (PX-axis).
  • Page 261 Part 2 Programs  PAST (Set palletizing reference point) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration (Position Optional Optional PAST Prohibited number) Set the reference point used in palletizing. If a value is set in operand 1, that position number specified in operand 1 will be used to store the reference point data.
  • Page 262 Part 2 Programs  PAPS (Set palletizing points) For 3-point teaching Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration (Palletizing Position Optional Optional PAPS position number setting type) Set palletizing positions in 3-point teaching.
  • Page 263 Part 2 Programs  If the valid axis pattern does not match the point data for 3-point teaching or 4-point teaching, an error “CB0, Mismatched valid axes for palletizing 3-point teaching data” will generate. If a PAPS command is executed after specifying the applicable axes using a GRP command, only the point data corresponding to the specified axes, among all axes whose point data is valid, will be used as palletizing point data.
  • Page 264 Part 2 Programs  PSLI (Set zigzag) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Offset Optional Optional PSLI (Count) amount Set a zigzag palletizing. The value specified in operand 1 will be set as the offset amount for even-numbered rows. The count specified in operand 2 will be set as the count for even-numbered rows.

  • Page 265: Palletizing Calculation Command

    Part 2 Programs 1.22 Palletizing Calculation Command  PTNG (Get palletizing position number) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Palletizing Variable Optional Optional PTNG number number Assign the palletizing position number for the palletizing number specified in operand 1 to the variable...
  • Page 266 Part 2 Programs  PDEC (Decrement palletizing position number by 1) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Palletizing Optional Optional PDEC Prohibited number Decrement by 1 the palletizing position number for the palletizing number specified in operand 1. If the decremented value is considered normal as a palletizing position calculated under the current palletizing setting, the value will be updated.
  • Page 267 Part 2 Programs  PARG (Get palletizing angle) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Palletizing Axis Optional Optional PARG number number Obtain the palletizing angle. Calculate the palletizing angle (degrees) from the physical axis specified in operand 2 for the palletizing number specified in operand 1, and store the result in variable 199.

  • Page 268: Palletizing Movement Command

    Part 2 Programs 1.23 Palletizing Movement Command  PMVP (Move to palletizing points via PTP) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Palletizing Optional Optional PMVP Prohibited number...
  • Page 269 Part 2 Programs  PMVL (Move to palletizing points via interpolation) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Palletizing Optional Optional PMVL Prohibited number Move to the calculated palletizing points via interpolation. The axes will move to the palletizing points specified in operand 1, via interpolation.

  • Page 270: Building Of Pseudo-Ladder Task

    Part 2 Programs 1.24 Building of Pseudo-Ladder Task  CHPR (Change task level) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Optional Optional CHPR 0 or 1 Prohibited [Function] Specify “1”...
  • Page 271 Part 2 Programs  TSLP (Task sleep) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Prohibited Prohibited TSLP Time Prohibited [Function] Set the time during which the applicable task will sleep, in order to distribute the processing time to other tasks.

  • Page 272: Extended Command

    Part 2 Programs 1.25 Extended Command  ECMD1 (Get motor current value (as percentage of rated current)) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) Operand 1 Operand 2 (Output, flag) declaration Axis Optional Optional ECMD...
  • Page 273 Part 2 Programs  ECMD5 (Get axis operation status) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Axis Optional Optional ECMD number [Function] Store the status of the axis specified in operand 2, in variable 99. The axis status is indicated by the ON/OFF level of each bit, as shown below.
  • Page 274 Part 2 Programs  ECMD20 (Get parameter value) Command, declaration Extension condition Input condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration Variable Optional Optional ECMD number [Function] Store the value of the specified parameter in variable 99, using the data stored in the three consecutive variables starting from the one corresponding to the variable number specified in operand 2.

  • Page 275: Chapter 4 Key Characteristics Of Actuator Control Commands And Points To Note

    Part 2 Programs Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note 1. Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC] [1] By running a program with continuous movement commands input in a series of continuous program steps, you can allow the actuators to perform operations continuously without stopping between steps.
  • Page 276 Part 2 Programs [Example 1] (POTP = 1) Output field Timing POTP Turn ON as P1 approaches. Turn ON as P2 approaches. Turn ON as P3 approaches. PATH Turn ON as P11 approaches. ARC2 Turn ON as P21 approaches. PATH Turn ON as P22 approaches.

  • Page 277: Path/Pspl Commands

    Part 2 Programs 2. PATH/PSPL Commands When executing a PATH or PSPL command, pay attention to the locus because it will change if the acceleration/deceleration is different between points. The locus can be fine-tuned by changing the acceleration/deceleration, but different acceleration/deceleration settings between points will prevent smooth transition of speeds when moving from one position to another.

  • Page 278: Chapter 5 Palletizing Function (2-Axis Specification)

    Part 2 Programs Chapter 5 Palletizing Function (2-axis Specification) The SEL language used by the SSEL Controller provides palletizing commands that support palletizing operation. These commands allow simple specification of various palletizing settings and enable arch motion ideal for palletizing.
  • Page 279 Part 2 Programs (2) Palletizing pattern --- Command: PAPN Select a pattern indicating the palletizing order. The two patterns illustrated below are available. The encircled numbers indicate the order of palletizing and are called “palletizing position numbers.” Pattern 1 Pattern 2 Preferential Preferential axis...
  • Page 280 Part 2 Programs 3-point teaching method To set the palletizing positions by 3-point teaching, store desired positions in position data fields as three continuous position data and then specify the first position number using a PAPS command. This method allows you to set the PX-axis and PY-axis as three-dimensional axes not parallel with the actuators and not crossing with each other.
  • Page 281 Part 2 Programs Method to set palletizing positions in parallel with the actuators Palletizing reference point: Store the position data of the start point (palletizing position No. 1) in a position data field and specify the applicable position number using a PAST command, as shown below.
  • Page 282 Part 2 Programs (5) Zigzag setting --- Command: PSLI Use a PSLI command to set a zigzag layout as shown below. Zigzag offset: Offset amount in the preferential-axis direction, which will be applied when even- numbered rows are placed. “Even-numbered rows” refer to the rows occurring at the even numbers based on the row placed first representing the first row.

  • Page 283: Palletizing Calculation

    Physical-axis direction (axis 1) Fig. 4 With SSEL commands, executing a “get palletizing angle” command following a palletizing setting via 3-point teaching will automatically obtain the palletizing angle. (3) Palletizing calculation data Command --- PAPG When a palletizing position number is set, this data refers to the position coordinate data of the palletizing point corresponding to that palletizing position number.

  • Page 284: Palletizing Movement

    Part 2 Programs 4. Palletizing Movement Palletizing movement commands are used to move the actuator to palletizing points. (1) Movement commands to palletizing point --- PMVP, PMVL Position coordinates of a two-dimensionally placed palletizing point are calculated and movement is performed using the calculated point as the end point.

  • Page 285: Program Examples

    Part 2 Programs 5. Program Examples (1) Simple program example (two-axis specification) using PAPS (set by 3-point teaching) The example below specifies movement only and does not cover picking operation. Start of palletizing No. 1 setting Palletizing count = 3 x 7 3-point teaching setting Zigzag offset = 20 mm End of palletizing No.
  • Page 286 Part 2 Programs (2) Simple program example (two-axis specification) using PAPS, PAPT and PAST The example below specifies movement only and does not cover picking operation. Start of palletizing No. 2 setting Palletizing count = 4 x 5 PX-axis = Axis 1, PY-axis = Axis 2 Pitch X = 20, Y = 15 Position No.

  • Page 287: Chapter 6 Pseudo-Ladder Task

    Part 2 Programs Chapter 6 Pseudo-Ladder Task With the SSEL Controller, a pseudo-ladder task function can be used depending on the command and extension condition. The input format is shown below. Note that this function must be used by expert engineers with a full knowledge of PLC software design.

  • Page 288: Ladder Statement Field

    Part 2 Programs 2. Ladder Statement Field [1] Extension conditions LOAD AND BLOCK OR BLOCK All of the above extension conditions can be used in non-ladder tasks. [2] Ladder commands OUTR Ladder output relay (Operand 1 = Output, flag number) TIMR Ladder timer relay (Operand 1 = Local flag number, Operand 2 = Timer setting (sec))

  • Page 289: Program Example

    Part 2 Programs 4. Program Example OUTR314 TIMR900 0.5 SEC Extension condition Input condition Command Operand 1 Operand 2 Output Cmnd 7001 CHPR TPCD OUTR TIMR 7001 TSLP 7001 GOTO 7001 EXIT...

  • Page 290: Chapter 7 Application Program Examples

    Part 2 Programs Chapter 7 Application Program Examples 1. Operation by Jog Command [Doll-Picking Game Machine] (1) Overview of the system This system is a doll-picking game machine consisting of axis-1 and axis-2 actuators. Pushbutton switches corresponding to the two axes are provided on an external operation switch box, and these switches are used to move the actuators to a desired position to grab and pick up dolls inside the case.
  • Page 291 Part 2 Programs (2) Explanation of the operation [1] Wait for the axis-1 movement pushbutton switch to turn ON. [2] The X-axis moves while the pushbutton switch is ON, and stops when the switch turns OFF. [3] Wait for the axis-2 movement pushbutton switch to turn ON. [4] The Y-axis moves while the pushbutton switch is ON, and stops when the switch turns OFF.
  • Page 292 Part 2 Programs (3) SSEL Controller application program Step Cmnd Operand 1 Operand 2 Comment HOME Axes 1 and 2 return to home (servo ON). Set speed to 400 mm/s. WTON Wait for input from axis-1 movement switch. Move forward while axis-1 movement switch JFWN is ON.

  • Page 293: Operation By Point Movement Command

    Part 2 Programs 2. Operation by Point Movement Command [Riveting System] (1) Overview of the system This system is a riveting system consisting of an XY-table operated by axis-1 and axis-2 actuators and a riveter. By setting a load on the XY-table at the operation home and turning on the start switch, rivets will be driven at the three points specified on the load.
  • Page 294 Part 2 Programs (2) Explanation of the operation [1] The XY-table moves to the operation home (P1) and waits. [2] The operator sets a load on the XY-table and turns on the start switch. [3] Load riveting position No. 1 (P2) on the XY-table moves to the riveting position and a riveting command is output to the riveter.
  • Page 295 Part 2 Programs (3) SSEL Controller application program Step Cmnd Operand 1 Operand 2 Comment HOME XY-table returns to home (servo ON). Set speed to 400 mm/s. MOVL Move to position No. 1 (work home). Set 2 in load counter.

  • Page 296: Chapter 8 Real-Time Multi-Tasking

    Chapter 8 Real-Time Multi-Tasking 1. SEL Language The SSEL Controller allows integrated control of actuators and peripherals with a single controller using its 32-bit RISC CPU and high-speed real-time operating system. There is no need to learn various languages for different units, such as robot language for robots and sequencer language for peripherals. Since SEL language is the only language used, an efficient system can be designed.

  • Page 297: Multi-Tasking

    Part 2 Programs 2. Multi-Tasking “Multi-tasking” operation may not be a familiar term, but it is widely used in computer programming to refer to parallel processing. Simply put, multi-tasking means running several programs in parallel. Take a screw-tightening robot, for example. In general, a screw-tightening robot consists of axis-1 and axis-2 actuators and a screw-tightening machine (up/down air cylinder, etc.).

  • Page 298: Difference From A Sequencer

    Part 2 Programs 3. Difference from a Sequencer The parallel processing method has evolved from the traditional method of using a sequence control circuit consisting of relays to a more recent one using a sequencer equipped with a microcomputer. Since a microcomputer basically allows one process for each clock, a sequence control circuit with a microcomputer must scan the entire program to achieve apparent parallel processing.

  • Page 299: Release Of Emergency Stop

    An emergency stop is actuated by turning the emergency-stop contact b input to OFF, and released by turning the input to ON. [1] Flow chart [2] Timing chart Emergency stop is Emergency-stop release timing on SSEL Controller actuated Emergency-stop input (contact b) Emergency stop...

  • Page 300: Program Switching

    Part 2 Programs 5. Program Switching Various methods are available to switch between programs, depending on the purpose of programs. The representative methods are explained below. External start Program switching Program Single-tasking EXIT command Multi-tasking EXPG command First, the program switching methods are largely divided into switching by external start and switching by application program.

  • Page 301: Chapter 9 Example Of Building A System

    How to build hardware and software is explained in details by using a screw-tightening robot as an example. 1. Equipment Screw-tightening machine (for Z-axis) Actuators (for axes 1 and 2) IAI’s actuator with 300-mm stroke x 2 Controller IAI’s SSEL controller 2. Operation (1) Tighten six screws at 30-mm pitches on axes 1 and 2.

  • Page 302: Overview Of The Screw-Tightening System

    Part 2 Programs 3. Overview of the Screw-Tightening System This system consists of axis-1 and axis-2 actuators, Z-axis cylinder, screw-tightening device and parts feeder, and tightens the screws fed by the parts feeder at the specified positions on the load. Axis 2 Z-axis cylinder Screw-tightening device...

  • Page 303: Hardware

    Part 2 Programs 4. Hardware Pin No. Category Port No. Function External power supply 24 V Program specification (PRG No. 1) Program specification (PRG No. 2) Program specification (PRG No. 4) Program specification (PRG No. 8) Program specification (PRG No. 10) Program specification (PRG No.

  • Page 304: Software

    Part 2 Programs 5. Software (1) Control flow chart Main program: Sub program: Screw-tightening Parts feeder machine Program 1 Program 2 Start program 2 Screws short Align home Parts feeder ON Screws fully loaded Start screw tightening (pushbutton) Parts feeder OFF Move Z-axis air cylinder 5 seconds on timer...
  • Page 305 Part 2 Programs (2) Main program Screw-tightening program No. 1 Application program Extension Input Output Command condition condition condition Comment Comment Operand Operand Output AND, OR I/O, flag Command port, flag EXPG Start program 2. HOME Align home. Speed: 100 mm/sec Acceleration: 0.3 G Jump destination at restart WTON...

  • Page 306: Chapter 10 Method Of Building A System

    Part 2 Programs Chapter 10 Method of Building a System 1. Position Table Position Table Up to 1,500 position points can be registered in the SSEL controller. Positions are registered using the PC software or teaching pendant. (Example of 3-axis system) No.: Specify a number, and the actuator will move to the position registered for the specified number in the program.

  • Page 307: Programming Format

    Part 2 Programs 2. Programming Format Program Edit Screen (PC Software) The SSEL controllers support programs consisting of up to 2,000 steps. Programs are edited using the PC software or teaching pendant. No.: Step number Set a breakpoint (this field becomes editable during online edit).

  • Page 308: Positioning To Five Positions

    Part 2 Programs 3. Positioning to Five Positions Description Move the actuator to positions 1 through 5 at a speed of 100 mm/sec after homing. Use of only 1 axis is assumed. Flowchart  Homing must be performed and a speed must be set, before the actuator Start can be operated.
  • Page 309 Part 2 Programs 4. How to Use TAG and GOTO Description Use GOTO and TAG commands to repeat the same operation within the program or to jump to a desired step if a condition is satisfied. A TAG command can be written in a step either before or after a GOTO command.

  • Page 310: Moving Back And Forth Between Two Points

    Part 2 Programs 5. Moving Back and Forth between Two Points Description Moves back and forth between two points. Flowchart Start  The actuator moves back and forth between P1 and P2 indefinitely.  Use of only 1 axis is assumed. ...

  • Page 311: Path Operation

    Part 2 Programs 6. Path Operation Description Move continuously through four arbitrary points without stopping (PATH movement). The actuator moves along the path shown at right, without stopping at P2 and P3. Compared with MOVP and MOVL, this command does not require the actuator to position exactly at P2 and P3, and thus the movement tact time can be reduced.

  • Page 312: Output Control During Path Movement

    Part 2 Programs 7. Output Control during Path Movement Description In spray operation, etc., output control may be required while the actuator is moving. The SSEL controller can output signals while the actuator is moving with a PATH command. How to Use Before executing a PATH command, declare a POTP command to specify signal output during movement.

  • Page 313: Circle/Arc Operation

    Part 2 Programs 8. Circle/Arc Operation Description The actuator moves along a two-dimensional circle or arc. How to Use To specify a circle, specify three points the actuator will pass. To specify an arc, specify the starting point, passing point and end point. Example of Use 1 Circle ...

  • Page 314: Home Return Completion Output

    Output a signal to confirm completion of homing (incremental specification). With the SSEL controller, a home return completion signal can be output using an I/O parameter. However, the following explains how to output a home return completion signal within a program using a general-purpose output.

  • Page 315: Axis Movement By Input Waiting And Completion Output

    Part 2 Programs 10. Axis Movement by Input Waiting and Completion Output Description How to perform input waiting and output a processing completion signal is explained. Flowchart Start Example of Use The actuator waits until input port 10 turns ON, and then Input 10 moves to P1.

  • Page 316: Changing The Moving Speed

    Change the moving speed. How to Use With the SSEL controller, the speed can be set using the following two methods: a: Use a VEL command within the application program b: Use a speed setting in the position data table...

  • Page 317: Changing The Speed During Operation

    Part 2 Programs 12. Changing the Speed during Operation Description Use a PATH command to change the speed while the actuator is moving. For example, this command is useful in a paint dispensing application where the application volume changes in the middle. Example of Use The actuator moves through linear sections a, b and c at 50 mm/sec, 20 mm/sec and 50 mm/sec, respectively, without stopping (PATH movement).

  • Page 318: Local/Global Variables And Flags

    Backup in Battery The SSEL controller has a built-in battery for retaining variables and flags used in the programs. For both variables and flags, only those in the global range will be retained after the controller power is turned off.

  • Page 319: How To Use Subroutines

    Part 2 Programs 14. How to Use Subroutines Description A subroutine is a group of steps that are called and executed several times within a program. Subroutines are used to reduce the number of program steps and make the program easy to read. Up to 99 subroutines can be used in one program.

  • Page 320: Pausing The Operation

    Part 2 Programs 15. Pausing the Operation Description Use a declaration command HOLD to pause the moving axis temporarily via external input. How to Use A pause interruption operation can be executed to a moving axis (to decelerate the axis to a stop) by declaring a HOLD command within the program.

  • Page 321: Canceling The Operation 1 (Canc)

    Part 2 Programs 16. Canceling the Operation 1 (CANC) Description Use a declaration command CANC to decelerate the moving axis to a stop and cancel the remaining operation. How to Use While CAN is input, all movement commands in the same program are cancelled. Example of Use CANC command Cancel the movement commands if input port 15 turns ON (declaration).

  • Page 322: Canceling The Operation 2 (Stop)

    Part 2 Programs 17. Canceling the Operation 2 (STOP) Description Decelerate the moving axis to a stop and cancel the remaining operation. (STOP) How to Use Execute a STOP command from other program to forcibly stop the operation (in the multi-tasking mode). Specify the axis you want to stop using an axis pattern.

  • Page 323: Movement By Position Number Specification

    Part 2 Programs 18. Movement by Position Number Specification Description Load externally input BCD codes as position numbers to execute movements. Example of Use Use an INB command to load a position number as a BCD code from an input port. A position number can be specified using a value consisting of up to three digits.

  • Page 324: Movement By External Position Data Input

    Part 2 Programs 19. Movement by External Position Data Input Description Receive target position data as absolute values from a host device to execute movements. Example of Use Use an INB command to load position data as a BCD code from an input port. Each BCD value should consist of four digits, with the last digit indicating a decimal place.

  • Page 325: Conditional Jump

    Part 2 Programs 20. Conditional Jump Description Select the destination to jump to via GOTO using the external input, output and/or internal flag statuses as a condition. The controller waits for multiple inputs, and performs processing according to the received input(s). Example of Use 1 If input 10 turns ON, the actuator will jump to TAG 1.

  • Page 326: Waiting Multiple Inputs

    Part 2 Programs 21. Waiting Multiple Inputs Description The controller waits for multiple different inputs and performs processing upon reception of any of these inputs. Point A WTON command permits processing only when the specified input is received. The controller cannot wait for multiple inputs.

  • Page 327: How To Use Offset

    Part 2 Programs 22. How to Use Offset Description With an OFST command, an offset can be specified for position data when you want to shift (offset) all teaching points by several millimeters because the actuator was not installed exactly in the specified position or for other reasons.

  • Page 328: Executing An Operation N Times

    Part 2 Programs 23. Executing an Operation N times Description Execute a specific operation n times. Example of Use The actuator moves back and forth between P1 and P2 ten times, and then the program ends. Use a CPEQ command to compare the number of times the movement has been actually repeated, against 10.

  • Page 329: Constant-Pitch Feed

    Part 2 Programs 24. Constant-pitch Feed Description Feed the actuator by a specified pitch n times from a reference point. The pitch and number of repetitions are specified by variables in advance. Flowchart Start Example of Use Use an OFST command to perform pitch feed. Initial setting The number of times the actuator has been fed is counted by a counter variable.

  • Page 330: Jogging

    Part 2 Programs 25. Jogging Description The slider moves forward or backward while an input is ON or OFF. Instead of an input, an output or global flag can be used as a cue. The slider will move directly to the next step if the specified input does not satisfy the condition when the command is executed.

  • Page 331: Switching Programs

    (EXPG) or ended (ABPG) simultaneously. Caution  The SSEL controller supports multi-tasking. Up to 8 programs can be run at the same time. To use other programs when the controller is already running 8 programs, switch programs by closing a program or programs that are not required.

  • Page 332: Aborting A Program

    Part 2 Programs 27. Aborting a Program Description Abort a program currently running. Execute an ABPG command (command to abort other program) from other program in the multi-tasking mode. Caution * If the target program was executing a movement command, the actuator immediately decelerates to a stop and the program ends.

  • Page 333: Part 3 Positioner Mode

    Part 3 Positioner Mode Part 3 Positioner Mode In the positioner mode, position data is input in the MANU mode and positioning operation based on input data is performed in the AUTO mode (the controller modes are switched using the AUTO/MANU switch). If the controller mode is changed to MANU while positioning is performed in the AUTO mode, the controller will maintain the servo ON or OFF status that was effective prior to the mode change.

  • Page 334: Number Of Positions Supported In Each Mode

    Part 3 Positioner Mode 2. Number of Positions Supported in Each Mode Mode Number of positions Standard mode Maximum 1,500 positions Product switching Total 1,500 positions for all products mode (The same number of position data sets is used for each product.) 2-axis independent 13 input bits are divided into position-number input bits for axis 1 and position- mode...

  • Page 335: Interface List Of All Pio Patterns

    Part 3 Positioner Mode 4. Interface List of All PIO Patterns Positioner mode Port Cable Category Product switching 2-axis DS-S-C1 color Standard mode Teaching mode mode independent mode compatible mode 24-V input 1-Brown Position No. 1000 Position input 10 Input 10 Position input 7 Axis 1 jog- 1-Red...

  • Page 336: Chapter 2 Standard Mode

    Part 3 Positioner Mode Chapter 2 Standard Mode The standard mode provides a PIO pattern of greatest general utility among all positioner modes accessible in the SSEL controller. 1. I/O Interface List Port Signal Cable Category Signal name Function overview...

  • Page 337: Parameters

    Part 3 Positioner Mode 2. Parameters To use the controller in the standard mode, set other parameter No. 25 to “1.” Position numbers are specified as binary codes according to the factory setting. To change the input mode to BCD, set a value “other than 0” in other parameter No. 25. Parameter Function Operation mode type...
  • Page 338 Part 3 Positioner Mode  Cancellation (CANC) If this signal turns ON while the actuator is moving, the controller will cause the actuator to decelerate to a stop. The remaining travel distance will be cancelled and the movement will not resume even when the signal turns OFF thereafter.
  • Page 339 Part 3 Positioner Mode  Interpolation (LINE) With the 2-axis specification, input of the position signal and start signal while this signal is ON will cause the two axes to perform interpolation operation (the two axes will start simultaneously and arrive at the target position simultaneously).

  • Page 340: Details Of Each Output Signal

    Part 3 Positioner Mode 4. Details of Each Output Signal  Positioning complete (PEND) This signal indicates that the actuator reached the target position and the positioning has completed. After the power was input and the servo has turned on, this signal will turn ON if the position deviation is within the in-position band when the controller becomes ready.

  • Page 341: Timing Chart

    Part 3 Positioner Mode 5. Timing Chart Recognition of I/O Signals An input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at least 6 [msec].

  • Page 342: Home Return

    Part 3 Positioner Mode Home Return Timings associated with home-return operation are illustrated below. Start Home return Input Servo ON *Pause *Cancellation Alarm Ready Output Positioning complete Home return complete Servo ON status Home return in progress Timing Chart of Home-return Operation (Standard Positioner Mode) Perform home-return operation by following the procedure explained below.

  • Page 343: Movements Through Positions

    Part 3 Positioner Mode Movements through Positions Timings of how the actuator moves through positions are illustrated below. Start Input Home return Position input Alarm Ready Output Positioning complete Home return complete Servo ON status Timing Chart of Movement through Positions (Standard Positioner Mode) : At least 6 msec Operate the actuator to move through positions by following the procedure explained below.
  • Page 344 Part 3 Positioner Mode * To perform push-motion or interpolation operation, turn ON the applicable input signal before turning ON the start input signal. Turn the operation signal OFF after the start input signal has turned OFF. * While the actuator is moving to the target position, only the pause or cancellation input is accepted. The servo cannot be turned off even if the servo ON input signal is turned OFF.

  • Page 345: Chapter 3 Product Switching Mode

    Part 3 Positioner Mode Chapter 3 Product Switching Mode In addition to position numbers, product numbers can also be specified in this mode. Sixteen bits of inputs 1 through 16 are divided into position number inputs and product number inputs. In other words, the actuator can be moved to different positions for different products by specifying the same position number.

  • Page 346: Parameters

    Part 3 Positioner Mode 2. Parameters The following parameters must be set in the product switching mode. Table: Parameter Settings in Product Switching Mode Type Parameter Function Operation mode type 2: Product switching mode Position-number input mode specification (0: Binary,  0: BCD) Positioner mode parameter 1 * Default value: 0 (Binary) Other...

  • Page 347: Details Of Each Input Signal

    Part 3 Positioner Mode 3. Details of Each Input Signal  Start (CSTR) Movement to the position corresponding to the position data of the specified product will start upon detection of the OFF  ON leading edge of this signal. Product numbers and position numbers are specified by the 16-bit binary code consisting of inputs 1 through 16.
  • Page 348 Part 3 Positioner Mode The input mode can be changed to BCD by changing the setting of other parameter No. 71. Assume the following settings: Other parameter No. 71, “Position-number input method specification” = 1 (BCD) Other parameter No. 72, “Number of position-number input bits” = 8 (In the BCD input mode, one digit consists of four bits.
  • Page 349 Part 3 Positioner Mode  Error reset (RES) This signal is used to reset the alarm output signal (*ALM) that has been generated due to an error. If an error occurred, check the content of the error and then turn this signal ON. The error will be reset upon detection of the leading edge of the signal.

  • Page 350: Details Of Each Output Signal

    Part 3 Positioner Mode 4. Details of Each Output Signal  Positioning complete (PEND) This signal indicates that the actuator reached the target position and the positioning has completed. After the power was input and the servo has turned on, this signal will turn ON if the position deviation is within the in-position band when the controller becomes ready.

  • Page 351: Timing Chart

    Part 3 Positioner Mode 5. Timing Chart Recognition of I/O Signals An input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at least 6 [msec].

  • Page 352: Home Return

    Part 3 Positioner Mode Home Return Timings associated with home-return operation are illustrated below. Start Home return Input Servo ON *Pause *Cancellation Alarm Ready Positioning complete Output Home return complete Servo ON status Home return in progress Timing Chart of Home-return Operation (Standard Positioner Mode) Perform home-return operation by following the procedure explained below.

  • Page 353: Movements Through Positions

    Part 3 Positioner Mode Movements through Positions Timings of how the actuator moves through positions are illustrated below. Start Input Home return Product/ position input Alarm Ready Output Positioning complete Home return complete Servo ON status Timing Chart of Movement through Positions (Standard Positioner Mode) : At least 6 msec Operate the actuator to move through positions by following the procedure explained below.
  • Page 354 Part 3 Positioner Mode * To perform push-motion or interpolation operation, turn ON the applicable input signal before turning ON the start input signal. Turn the operation signal OFF after the start input signal has turned OFF. * While the actuator is moving to the target position, only the pause or cancellation input is accepted. The servo cannot be turned off even if the servo ON input signal is turned OFF.

  • Page 355: Chapter 4 2-Axis Independent Mode

    Part 3 Positioner Mode Chapter 4 2-axis Independent Mode With the 2-axis specification, each axis can be controlled separately in this mode. A set of signals, such as the start input signal and positioning complete output signal, are provided for each axis. Although the position number specification applies commonly to both axes, 13 bits of position inputs 1 through 13 (PC1 through 13) are divided into position-number specification bits for axis 1 and position- number specification bits for axis 2.

  • Page 356: Parameters

    Part 3 Positioner Mode 2. Parameters The following parameters must be set in the 2-axis independent mode. Type Parameter Function Operation mode type 3: 2-axis independent mode Position-number input mode specification (0: Binary,  0: BCD) Positioner mode parameter 1 * Default value: 0 (Binary) Other Specification of number of position-number input bits for axis 1...

  • Page 357: Details Of Each Input Signal

    Part 3 Positioner Mode 3. Details of Each Input Signal  Position inputs 1 through 13 (PC1 through 13) Thirteen bits of PC1 through 13 are divided into position-number specification bits for axis 1 and position- number specification bits for axis 2. Example) Assume that the parameters are set as follows: Other parameter No.
  • Page 358 Part 3 Positioner Mode  Axis 2 start (CSTR2) Axis 2 will start moving to the position corresponding to the specified position data for axis 2 upon detection of the OFF  ON leading edge of this signal. Position numbers are specified using, among the 13 bits of PC1 through 13, the remainder of the bits excluding those used for axis 1.
  • Page 359 Part 3 Positioner Mode  Axis 1 servo ON (SON1) The servo for axis 1 will remain ON while this signal is ON. To operate the actuator using the start input/home return input, the servo ON input signal must be ON. If the servo ON input signal is OFF, these operation commands will not be accepted.

  • Page 360: Details Of Each Output Signal

    Part 3 Positioner Mode 4. Details of Each Output Signal  Axis 1 positioning complete (PEND1) This signal indicates that axis 1 reached the target position and the positioning has completed. Use it together with the aforementioned MOVE signal to determine the positioning completion status on the PLC side.

  • Page 361: Timing Chart

    Part 3 Positioner Mode 5. Timing Chart Recognition of I/O Signals An input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at least 6 [msec].

  • Page 362: Home Return

    Part 3 Positioner Mode Home Return Timings associated with home-return operation are illustrated below. The figures in parentheses indicate port numbers for axis 2. Start Home return Servo ON Input *Pause *Cancellation Alarm Ready Positioning complete Output Home return complete Servo ON status Home return in progress Timing Chart of Home-return Operation (Standard Positioner Mode)

  • Page 363: Movements Through Positions

    Part 3 Positioner Mode Movements through Positions Timings of how the actuator moves through positions are illustrated below. The figures in parentheses indicate port numbers for axis 2. Start Input Servo ON Position input Alarm Ready Output Positioning complete Home return complete Servo ON status Timing Chart of Movement through Positions (Standard Positioner Mode) : At least 6 msec...
  • Page 364 Part 3 Positioner Mode * While the actuator is moving to the target position, only the pause or cancellation input is accepted. The servo cannot be turned off even if the servo ON input signal is turned OFF. (The servo can be turned off only when the positioning complete output signal is ON.) * While the start input signal is ON, the positioning complete output signal will not turn ON even after the actuator physically completes moving to the target position.

  • Page 365: Chapter 5 Teaching Mode

    Part 3 Positioner Mode Chapter 5 Teaching Mode In addition to normal positioning operation, jogging, inching and teaching can be performed in this mode. A dedicated input is used to switch to the teaching mode, where the actuator can be moved using I/Os and the achieved position can be written to the position data table.

  • Page 366: I/O Interface List

    Part 3 Positioner Mode 1. I/O Interface List Port Signal Cable Category Signal name Function overview symbol color External power supply 24 V 1-Brown Axis 1 will move in the negative direction while this signal is 016 Axis 1 jog- JOG1- 1-Red Axis 2 will move in the positive direction while this signal is...

  • Page 367: Parameters

    Part 3 Positioner Mode 2. Parameters To use the controller in the teaching mode, set other parameter No. 25 to “4.” Position numbers are specified as binary codes according to the factory setting. To change the input mode to BCD, set a value “other than 0” in other parameter No. 25. Parameter Function 4: Teaching mode...
  • Page 368 Part 3 Positioner Mode  Servo ON (SON) The servo remains on while this signal is ON. Use this signal if servo ON/OFF control is required as part of the safety circuit for the entire system to be provided on the PLC side. To operate the actuator using the start input/jog input, the servo ON input signal must be ON.
  • Page 369 Part 3 Positioner Mode  Axis 1 jog (JOG1+, JOG1-) These signals are effective when the aforementioned MODES output signal is ON. The actuator of axis 1 will move to the + or - soft limit position upon detection of the OFF  ON leading edge of each signal.

  • Page 370: Details Of Each Output Signal

    Part 3 Positioner Mode 4. Details of Each Output Signal  Positioning complete (PEND) This signal indicates that the actuator reached the target position and the positioning has completed. The signal will turn ON when the servo has turned on after the main power was input, and the controller becomes ready.
  • Page 371 Part 3 Positioner Mode  Servo ON output (SVON) This signal will turn ON when the servo turns on. Issue a movement command after the servo ON output signal has turned ON.  System battery error This signal will turn ON when the voltage of the optional system-memory backup battery drops to a specified level.

  • Page 372: Timing Chart

    Part 3 Positioner Mode 5. Timing Chart Recognition of I/O Signals An input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at least 6 [msec].

  • Page 373: Home Return

    Part 3 Positioner Mode Home Return In the teaching mode, no dedicated home-return input is available. Home return will be performed when the start signal is input after specifying a desired position in a condition where home return is not yet completed. Timings associated with home-return operation are illustrated below.

  • Page 374: Movements Through Positions

    Part 3 Positioner Mode Movements through Positions Timings of how the actuator moves through positions are illustrated below. Start Input Servo ON Position input Alarm Ready Output Positioning complete Home return complete Servo ON status Timing Chart of Movement through Positions (Standard Positioner Mode) : At least 6 msec Operate the actuator to move through positions by following the procedure explained below.

  • Page 375: Timings In The Teaching Mode

    Part 3 Positioner Mode Timings in the Teaching Mode 303: Home return complete 014: Teaching mode specification 305: Teaching mode output 015, 016: Axis 1 jog 017, 018: Axis 2 jog Position 1 003 through 013: Command positions 000: Current position write 302: Write complete T1: At least 20 msec.

  • Page 376: Chapter 6 Ds-S-C1 Compatible Mode

    Part 3 Positioner Mode Chapter 6 DS-S-C1 Compatible Mode In this mode, the same I/O assignments used by the conventional controller model DS-S-C1 are used. As added functions, the cancellation (CANC) input, interpolation setting input, system battery error output, and absolute battery error output are available, and the number of positions has been increased. 1.

  • Page 377: Parameters

    Part 3 Positioner Mode 2. Parameters To use the controller in the DS-S-C1 compatible mode, set other parameter No. 25 to “16.” Other parameter No. 25 = 16, “DS-S-C1 compatible mode” 3. Details of Each Input Signal  Start (CSTR) The actuator will start moving to the position corresponding to the specified position data upon detection of the OFF ...
  • Page 378 Part 3 Positioner Mode  Cancellation (CANC) If this signal turns ON while the actuator is moving, the controller will cause the actuator to decelerate to a stop. The remaining travel distance will be cancelled and the movement will not resume even when the signal turns OFF thereafter.

  • Page 379: Details Of Each Output Signal

    Part 3 Positioner Mode 4. Details of Each Output Signal  Ready (RDY) This signal will turn ON when the initialization has completed successfully after the main power was input, and the controller enters the mode where it can control the actuator. This signal will turn OFF when an error of cold level or higher generates.

  • Page 380: Timing Chart

    Part 3 Positioner Mode 5. Timing Chart Recognition of I/O Signals An input time constant is set for the input signals of this controller to prevent malfunction due to chattering, noise, etc. Except for certain signals, the input signal will switch if the new signal level has remained for at least 6 [msec].

  • Page 381: Home Return

    Part 3 Positioner Mode Home Return In the DS-S-C1 compatible mode, no dedicated home-return input is available. Home return will be performed when the start signal is input after specifying position No. 0. The positioning complete output signal is OFF after the power is input when home return is not yet completed. Timings associated with home-return operation are illustrated below.

  • Page 382: Movements Through Positions

    Part 3 Positioner Mode Movements through Positions Timings of how the actuator moves through positions are illustrated below. Stop Move Stop Move Stop Start Input Position input Alarm Output Ready Positioning complete Timing Chart of Movement through Positions (Positioner Mode) T1: Time after a position number signal is input until the start signal can be input (30 msec or more) T2: Start signal input (30 msec or more) T3: Time after the start signal turns ON until the positioning complete output signal turns OFF...

  • Page 383: Appendix

    Appendix Appendix  Actuator Specification List Rated acceleration Load capacity (Note 2) Stroke (mm) and maximum speed (mm/sec) (Note 1) Model Horizontal Vertical Horizontal Vertical (Note 1) The value in each band indicates the maximum speed at each applicable stroke. (Note 2) The load capacity is based on operation at the rated acceleration.
  • Page 384 Appendix Rated acceleration Load capacity (Note 2) Stroke (mm) and maximum speed (mm/sec) (Note 1) Model Horizontal Vertical Horizontal Vertical (Note 1) The value in each band indicates the maximum speed at each applicable stroke. (Note 2) The load capacity is based on operation at the rated acceleration.

  • Page 386: Battery Backup Function

    The system-memory backup battery can be installed on the top face of the controller so that the data stored in the SSEL controller’s SRAM will be retained even after the power is cut off. Data to be backed up include controller parameters, SEL language variable data (global variables), position table data, and error list.
  • Page 387 ROM and then reload the flash ROM data to the SRAM after a new battery is installed. The battery specifications are shown in the table below. List of System-Memory Backup Battery Functions Battery type AB-5 (by IAI) Battery voltage 3.6 V Current capacity...

  • Page 388: Absolute-Data Backup Battery For Absolute Encoder

    Appendix 2. Absolute-Data Backup Battery for Absolute Encoder If the SSEL controller is to drive/control an absolute type actuator, an absolute-data backup battery must be installed in the controller. An absolute encoder is designed to retain rotation data and detect rotations using the power supplied from the absolute-data backup battery, even when the controller’s control power is not supplied.
  • Page 389 Appendix The absolute encoder backup specifications are shown in the table below. List of Absolute Encoder Backup Functions Battery type AB-5 (by IAI) Battery voltage 3.6 V Current capacity 2000 mAH Detection voltage for battery (Typical) 3.1 V 3.0 V  3.2 V...

  • Page 390: Synchro Function

    Appendix  Synchro Function 1. Common Items (Applicable to Both the Absolute Specification and Incremental Specification) A pair of synchro axes consists of the master axis and the slave axis, with the axis of the smaller axis number designated as the master axis. The axis-number combination for master axis and slave axis is set in axis-specific parameter No.

  • Page 391: Absolute Reset For Synchro Specification

    Appendix  Absolute Reset for Synchro Specification The controller ordered as a synchro type will be shipped with the applicable parameters set for the synchro specification. If an absolute reset is performed, some parameters must be changed. The following explanation assumes operation using the PC software. Read the operation manual for your PC software before performing an absolute reset.

  • Page 392: Position Alignment Of Synchro-Axis Sliders

    Appendix 2. Position Alignment of Synchro-Axis Sliders Position alignment (physical parallel adjustment) of synchro-axis sliders is performed in the following manner. (1) With each axes and the controller not yet connected with a cable (the main controller power is off), adjust the relative position relationship of the master-axis and slave-axis sliders and then connect the sliders.
  • Page 393 Appendix (3) Perform an absolute reset using the special procedure explained below (perform a forced reset by ignoring the onscreen instructions). [1] Perform “encoder rotation data reset 1” for the slave axis. Select the slave axis number. Click Encoder Rotation Data Reset 1. When the Warning windows appear, click Yes to close all windows.
  • Page 394 Appendix (4) Enter the value recorded in (1) into “Axis-specific parameter No. 83, Absolute synchro slave-axis initialization cancellation” for the slave axis.  Transfer the parameter data to the controller, write to the flash ROM, and then restart the controller (software reset). (5) Set the home preset value to align the coordinate values between the master axis and slave axis.

  • Page 395: Standard Absolute Reset Procedure

    Appendix [3] Enter the calculated result in [2] above into “Axis-specific parameter No. 12, Home preset value” for the slave axis.  Transfer the parameter data to the controller, write to the flash ROM, and then restart the controller (software reset). (6) Turn on the servo, and check the operation with jogging commands (master axis operation).

  • Page 396: Notes On Use Of Synchro Function

    Appendix 5. Notes on Use of Synchro Function  As a rule, when using the synchro function the master-axis and slave-axis sliders must be connected using a bracket, etc.  If the current position of the master axis is not aligned with the current position of the slave axis when the servo is turned on, automatic position correction will be performed.

  • Page 397: Multi-Slider Near-Miss Detection (Collision Prevention) Function

    Appendix  Multi- lider Near-miss Detection (Collision Prevention) Function * Supported versions: SSEL controller main application version 0.12 or later : Teaching pendant main application (IA-T-X/IA-T-XD) version 1.42 or later : Teaching pendant main application (IA-T-XA) version 1.32 or later : PC software (IA-101-X-**) version V7.0.4.0 or later...
  • Page 398 Appendix Related Parameters (Axis-specific Parameters) Default Parameter name Input range Unit Remarks value Multi-slider near- 0H to Bits 0 to 3: Axis number of the paired axis to miss detection FFFFFFFFH perform near-miss detection against target axis (on the positive side of the coordinate specification system of the applicable axis) Bits 4 to 7: Axis number of the paired axis to...

  • Page 399: Parameter Utilization

    Before changing a given parameter, always read the applicable section in the parameter list. If you have any question regarding changing the parameters, please contact IAI’s Sales Engineering Section. After changing a parameter, record the new and old parameter settings.

  • Page 400: Utilization Examples Of I/O Parameters

    Appendix 1. Utilization Examples of I/O Parameters I/Os include general-purpose inputs/outputs and dedicated inputs/outputs. General-purpose inputs/outputs are used by the user in SEL programs for sending/receiving ON/OFF signals to/from peripherals, among others. Dedicated inputs are turned ON/OFF externally to activate specific functions. Dedicated outputs turn ON or OFF in specific conditions.
  • Page 401 Appendix Example 1) How to set input port No. 5 as an input to forcibly release the brake for axis 1 Change the input function specification value of I/O parameter No. 35, which corresponds to input port No. 5, to “22” (Axis 1 forced brake-release input). I/O parameter No.
  • Page 402 Appendix (2) Explanation of input function specification values Input function specification value 0: General-purpose input The applicable input can be used freely in programs as a general- purpose input. Input function specification value 1: Program start signal (BCD) (ON edge) The applicable signal is set as a program start signal.
  • Page 403 Appendix Input function specification value 9: Start-program number specification bit 1 (least significant bit) This bit specifies the least significant bit of a program number. Note: Start-program number specification bits x (input function setting values 9 through 15) cannot be assigned discontinuously from the least significant bit or in descending order from the least significant bit.
  • Page 404 Appendix Input function specification value 22: Axis 1 forced brake release Forcibly release the brake (axis 1). Note: This function is effective only when the brake switch is tilted down (NOM). Input function specification value 23: Axis 2 forced brake release Forcibly release the brake (axis 2).
  • Page 405 Appendix (3) Explanation of output function specification values Output function specification value 0: General-purpose output The applicable output can be used freely in programs as a general- purpose output. Output function specification value 1: Operation-cancellation level or higher error output (ON) The signal will turn ON when an error of operation-cancellation level or higher generates.
  • Page 406 Appendix Output function specification value 13: All-valid-axes home-return complete (coordinate confirmed) output A signal will be output when all valid axes have completed home return. Output function specification value 14: All-valid-axes preset home coordinate output A signal will be output when all valid axes have completed home return.

  • Page 407: Utilization Examples Of Axis-Specific Parameters

    Appendix 2. Utilization Examples of Axis-specific Parameters The following functions can be added to, or changed from the factory-set functions, by changing the values of the corresponding axis-specific parameters. Before changing a given parameter, always read the applicable section in the parameter list. ...
  • Page 408 Appendix Change the home return direction Axis-specific parameter No. 6, “Coordinate/physical-operation direction selection” Parameter name Default value Input range Unit Coordinate/physical-operation direction selection 0 ~ 1 None  Setting method A desired direction of home-return operation can be selected.  Setting value 0: Motor CCW ...
  • Page 409 Appendix About the home-return method Axis-specific parameter No. 10, “Home-return method” Parameter name Default value Input range Unit Home-return method 0 ~ 5 None  Explanation of setting Set a desired method to perform home return.  Setting value 0: Search phase Z after end search The actuator performs normal home-return operation.
  • Page 410 Appendix Set a home preset Axis-specific parameter No. 12, “Home preset value” Parameter name Default value Input range Unit Home preset value -99999999 ~ 99999999 0.001 mm  Explanation of setting Set a value indicating where the actuator should be upon completing home return. (Normally, the actuator should be at 0-mm coordinate upon completing home return.) ...
  • Page 411 Appendix Set a home offset Axis-specific parameter No. 21, “Offset travel distance at home return” Parameter name Default value Input range Unit Offset travel distance at home return 1000 -99999999 ~ 99999999 0.001 mm  Explanation of setting An offset can be set that will be applied after detecting phase Z (point 0) during home return. * If the home position has shifted after replacing the motor, jig, etc., use this parameter to adjust the home.
  • Page 412 Appendix Apply length measurement correction Axis-specific parameter No. 44, “Length measurement correction” Parameter name Default value Input range Unit Length measurement correction -99999999 ~ 99999999 0.001 mm/1 M  Explanation of setting Adjust the difference between the actual distance traveled and the measured distance, for the commanded travel distance.
  • Page 413 Appendix Axis operation type, rotational axis mode Axis-specific parameter No. 1, “Axis operation type” Parameter name Default value Input range Unit Axis operation type Varies by actuators 0 ~ 5 None  Explanation of setting Define the type of actuator used. ...
  • Page 414 Appendix Move a rotational axis by multiple rotations or implement short-cut control of a rotational axis Axis-specific parameter No. 67, “Short-cut control selection for rotational movement axis”  Set this parameter if you wish to turn the rotational movement axis in the same direction, etc. Rotation operation can be performed by setting 1 (Select) for short-cut and repeating a movement command in the same rotating direction.
  • Page 415 “Short-cut control selection for rotational movement axis,” “Expression of current position (approx.),” “Soft limit +,” “Soft limit -,” etc., are summarized in a table in Appendix, “Combination Table of SSEL Linear/Rotary Control Parameters.” Use this table as a reference.
  • Page 416 Appendix Zone output A signal can be output when the actuator has entered a desired zone specified by the user. Three parameters must be set to specify a zone. A zone is set for each axis. Parameter name Default value Input range Unit Zone 1 MAX...
  • Page 417 Appendix The zone output function allows four zones (zones 1 through 4) to be set for each axis. Parameter name Default value Input range Unit Zone 1 MAX -99999999 ~ 99999999 0.001 mm Zone 1 MIN -99999999 ~ 99999999 0.001 mm Zone 1 output number 0 ~ 899 None...

  • Page 418: Parameter Utilization Examples (Reference)

    3. Parameter Utilization Examples (Reference) Description Action Parameter setting Operation/outcome Suppress generation of errors pertaining The I/O-board error monitor can Set “0” in the I/O parameter corresponding To disable the error monitor of the standard to the standard I/O board (so that trial be disabled to suppress error to the I/O whose error monitor is to be I/O board, set “0”...
  • Page 419 Description Action Parameter setting Operation/outcome Enter program numbers as Program numbers to be specified can be Set the following value in the I/O parameter binary codes using input ports input as binary codes using the ports set “Input function selection n” corresponding to the (default setting: BCD input).
  • Page 420 Description Action Parameter setting Operation/outcome Output a signal when all valid A desired output port can be set Set the following value in the I/O parameter “Output The specified port will turn ON when all axes have completed home as an all-valid-axes home-return function selection n”...
  • Page 421 Description Action Parameter setting Operation/outcome Switch between the AUTO mode A desired input port can be set as Set the following value in the I/O parameter Set the mode switch to the “AUTO” side. The and MANUAL mode using an a mode switching input.

  • Page 422: Servo Gain Adjustment

    Particularly with custom models (whose ball screw lead or stroke is longer than that of the standard model), vibration/noise may occur due to external conditions. In this case, the parameters shown below must be changed. Contact IAI for details.  Position gain...
  • Page 423 Changing the parameter carelessly may affect the stability of the control system and a very dangerous situation may occur. Changing this parameter may be useful in some situations such as when resonance noise generates, in which case a parameter change can help suppress the noise. If you wish to change this parameter, please contact IAI.

  • Page 424: List Of Parameters

    Appendix  List of Parameters If you have any question regarding changing the parameters, please contact IAI’s Sales Engineering Section. After changing a parameter, record the new and old parameter settings. If you have purchased the PC software, we recommend that you back up the parameters immediately after the controller is delivered and when the system incorporating the controller is started.

  • Page 425: I/O Parameters

    Appendix 1. I/O Parameters I/O Parameters Default Parameter name value Input range Unit Remarks (Reference) I/O port assignment type 0 ~ 20 0: Fixed assignment Input port start number -1 ~ 599 0 + (Multiple of 8) (Invalid if a negative value is set) with fixed standard I/O assignments (I/O1) Output port start number...
  • Page 426 Appendix I/O Parameters Default Parameter name value Input range Unit Remarks (Reference) For future expansion 0 ~ 599 Input function selection 000 0 ~ 99 Input function specification value * Refer to 1.2, “I/O Function Lists” under “I/O Parameters.” Input function selection 001 0 ~ 99 Input function specification value * Refer to 1.2, “I/O Function Lists”...
  • Page 427 Appendix I/O Parameters Default Parameter name value Input range Unit Remarks (Reference) Output function selection 309 0 ~ 99 Output function specification value * Refer to 1.2, “I/O Function Lists” under “I/O Parameters.” Output function selection 310 0 ~ 99 Output function specification value * Refer to 1.2, “I/O Function Lists”...
  • Page 428 SIO channel 0 opened to user 1: Do not forcibly enable receive at send IAI-protocol minimum 0 ~ 999 msec Valid only with IAI protocol. response delay for SIO channel 0 opened to user (Reservation of SIO channel 0 opened to user)
  • Page 429 Appendix I/O Parameters Default Input Parameter name value Unit Remarks range (Reference) Network system reservation 0 ~ 255 Network system reservation 0 ~ 255 Network system reservation 0 ~ 255 Network system reservation 0 ~ 255 Network system reservation 0 ~ 255 Network system reservation 0 ~ 255 Network system reservation...
  • Page 430 Appendix I/O Parameters Default Input Parameter name value Unit Remarks range (Reference) Input function selection 026 0 ~ 99 Input function specification value * Refer to 1.2, “I/O Function Lists” under “I/O Parameters.” Input function selection 027 0 ~ 99 Input function specification value * Refer to 1.2, “I/O Function Lists”...

  • Page 431: I/O Function Lists

    Appendix I/O Function Lists Input Function List Input function specification Function name Remarks value General-purpose input Program start signal Specify a BCD program number using the ports to which start-program number (BCD) (ON edge) specification bits x (input function specification values 9 through 15) are assigned. * To ensure starting of the program, keep these bits ON for at least 100 msec.
  • Page 432 Appendix Output Function List Output function specification Function name Remarks value General-purpose output Operation-cancellation level or * The following output functions cannot be assigned at the same time: higher error output (ON) • Operation-cancellation level or higher alarm output (ON) (Output function specification value = 1) •...

  • Page 433: Parameters Common To All Axes

    Appendix 2. Parameters Common to All Axes Default value Parameter name Input range Unit Remarks (Reference) Valid axis pattern 0000B 00B ~ An OFF bit indicates that no driver is installed. 11111111B Default override 1 ~ 100 Used if not specified in program. (Invalid for SIO operation) 3 ~ 8 (For expansion) Physical axis pattern 11111111B...
  • Page 434 Appendix Parameters Common to All Axes Default value Parameter name Input range Unit Remarks (Reference) (Acceleration/deceler 1 ~ 300 0.01 G (Invalid) ation at home return (old)) Acceleration/decelera Reference 0: T system, 1: P, M system tion specification type only Master axis type Reference 0: T system, 1: P system...

  • Page 435: Axis-Specific Parameters

    Appendix 3. Axis-Specific Parameters Default value Parameter name Input range Unit Remarks (Reference) Axis operation type 0 ~ 1 0: Linear movement axis, 1: Rotational movement axis (Angle control) (For expansion) 0: Motor CCW  Positive direction on the coordinate Coordinate/physical- 0 ~ 1 operation direction selection...
  • Page 436 Appendix Axis-Specific Parameters Default value Parameter name Input range Unit Remarks (Reference) (Phase-Z evacuation 1000 0 ~ 99999 0.001 mm Evacuation distance from the actual phase-Z position distance at absolute home (Positive value = Applied in the direction of moving away return (old)) from the end) (Phase-shift prevention margin) (Refer to axis- specific parameter No.
  • Page 437 Appendix Axis-Specific Parameters Default value Parameter name Input range Unit Remarks (Reference) Push-abort deviation ratio at 2000 1 ~ 99999 Deviation is compared against “Steady-state deviation of home return push speed + Push-speed pulse speed x Abort deviation ratio.” Push-abort deviation ratio at 5000 1 ~ 99999 Deviation is compared against “Steady-state deviation of...
  • Page 438 * This parameter can be specified only for an axis whose resolution characteristics are the same as those of the applicable axis. * With the SSEL controller, the multi-slider near-miss detection function cannot be used if the synchro specification is selected.
  • Page 439 Appendix Axis-Specific Parameters Default value Parameter name Input range Unit Remarks (Reference) Effective multi-slider 0.001 mm Set “[Distance between sliders at the farthest positions stroke 99999999 allowed] – [Distance between sliders at the closest positions allowed]” when both of the sliders subject to multi-slider near-miss detection are inside the range of operation.

  • Page 440: Driver Parameters

    Appendix 4. Driver Parameters Default value Parameter name Input range Unit Remarks (Reference) Type (upper) Space Reference only For adjustment by the manufacturer (Manufacturing information) Type (middle) Space Reference only For adjustment by the manufacturer (Manufacturing information) Type (lower) Space Reference only For adjustment by the manufacturer (Manufacturing information)
  • Page 441 Appendix Driver parameters Default value Parameter name Input range Unit Remarks (Reference) Motor/encoder characteristic word 0004H Reference only For adjustment by the manufacturer (compatible with E, priority on E) (configuration information) Motor/encoder control word 1 5000 Reference only For adjustment by the manufacturer (compatible with E, priority on E) (configuration information) Motor/encoder control word 2...
  • Page 442 Appendix Driver parameters Default value Parameter name Input range Unit Remarks (Reference) 61 ~ (For expansion) 0000H ~ FFFFH Current control query information 01 Reference only For adjustment by the manufacturer Current control query information 02 Reference only For adjustment by the manufacturer Current control query information 03 Reference only For adjustment by the manufacturer...

  • Page 443: Encoder Parameters

    Appendix 5. Encoder Parameters Default value Parameter name Input range Unit Remarks (Reference) Type (upper) Space Reference only (Manufacturing information) Type (middle) Space Reference only (Manufacturing information) Type (lower) Space Reference only (Manufacturing information) Manufacturing data Space Reference only (Manufacturing information) Manufacturing data Space Reference only...

  • Page 444: I/O Devices

    Appendix 6. I/O Devices Default value Parameter name Input range Unit Remarks (Reference) Type (upper) Space Reference only For adjustment by the manufacturer (Manufacturing information) Type (middle) Space Reference only For adjustment by the manufacturer (Manufacturing information) Type (lower) Space Reference only For adjustment by the manufacturer (Manufacturing information)

  • Page 445: Other Parameters

    Appendix 7. Other Parameters Default value Parameter name Input range Unit Remarks (Reference) Auto-start program 0 ~ 128 (Invalid if “0” is set) number I/O processing 0 ~ 128 The start trigger is determined from the “I/O processing program number at program start type at operation/program abort.”...
  • Page 446 Appendix Other Parameters Default value Parameter name Input range Unit Remarks (Reference) Automatic operation 0 ~ 3 0: Program is running AND all-operation-cancellation factor is recognition type not present 1: [Program is running OR in AUTO mode] AND all-operation- cancellation factor is not present 13 ~ (For expansion) System-memory...
  • Page 447 Appendix Other Parameters Default value Parameter name Input range Unit Remarks (Reference) PC/TP data protect 0H ~ Bits 0 to 3: Protect type setting (Program) FFFFFFFFH (0: Read/write, 1: Read only, 2: No read/write) Bits 4 to 7: Protect release method (0: Special operation) Bits 8 to 11: Protect range maximum number...
  • Page 448 Appendix Other Parameters Default value Parameter name Input range Unit Remarks (Reference) EEPROM information Reference 0: Disable checksum, 1: Enable checksum check type only Bit 0 = (For future expansion) Bit 1 = Encoder Bits 2 to 7 = (For future expansion) 0: Do not use EEPROM, 1: Use EEPROM Bits 16 to 23 = (For future expansion) Hardware information...
  • Page 449 Appendix Other Parameters Default value Parameter name Input range Unit Remarks (Reference) Panel 7-segment 0 ~ 9 0: Display controller status display data type 1: Display motor current indicator The current pattern of each axis is displayed instead of “ready status” or “program run number.” “Minimum indicator-displayed axis number”...

  • Page 450: Manual Operation Types

    Appendix 8. Manual Operation Types The selectable operation types will vary depending on the setting value of the “Manual operation type” parameter (Other parameter No. 21). (1) PC software [1] Setting value = 0 (Always enable edit and SIO/PIO start) Functions Jog, move, Operation type...

  • Page 451: Combination Table Of Ssel Linear/Rotary Control Parameters

     Combination Table of SSEL Linear/Rotary Control Parameters Permitted encoder Axis-specific Axis-specific Axis-specific Axis-specific Axis- processing method Axis-specific Axis- Axis-specific parameter No. parameter No. parameter No. 67, Expression Axis-specific Axis-specific parameter specific parameter specific parameter of current parameter parameter No. 44,...

  • Page 452: Error Level Control

     Error Level Control System error Display Error list Error LED Error reset Program run (Application only) Error Error No. assignment (7-segment (Application output (Application Remarks level (HEX) Other parameter No. 4 = 0 Other parameter No. 4 = 1 source display, etc.) only)
  • Page 453 System error Display Error list Error LED Program run (Application only) Error reset Error Error No. Remarks assignment (7-segment (Application output (Application level (HEX) Other parameter No. 4 = 0 Other parameter No. 4 = 1 source display, etc.) only) (MAIN only) only) MAIN application...

  • Page 454: Error List

    Drive-source cutoff relay DET (MELT) error The drive-source cutoff relay may have fused. Updating system mode error (IAI protocol) An update command was received other than in the update mode. Update file name error (IAI protocol) The name of the update program file selected in the update mode is invalid. Select the correct file and repeat the updating procedure from the beginning.
  • Page 455 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Flash busy reset timeout Error erasing/writing the flash ROM Control constant table management information mismatch The management information regarding the control constant table is invalid. If this error error occurs when the controller is started, the control constant table may need to be updated.
  • Page 456 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Forced discharge error Abnormal forced discharge. The drive-source cutoff relay may be abnormal. The power must be reconnected. Regenerative discharge error Abnormal regenerative discharge.
  • Page 457 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Updating system code error (Application detection) The updating system code is invalid. Updating unit code error (Application detection) The updating unit code is invalid. Updating device number error (Application detection) The updating device number is invalid.
  • Page 458 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Serial encoder command packet error The serial encoder command packet is invalid. 1-revolution data reset error at servo ON (serial encoder A 1-revolution data reset was commanded when the servo was ON.
  • Page 459 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Main/driver motor control data mismatch error A motor control constant does not match the corresponding driver parameter (rated speed, maximum speed, rated current, maximum current number of pole pairs, linear motor lead, linear motor specification).
  • Page 460 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Target specification error due to no axis number The specified target of slave communication (driver or encoder) is invalid (no axis number is assigned for the target ID, or an internal driver board axis is specified).
  • Page 461 SCIF overrun status (IAI protocol reception) Communication failure. Check for noise, connected equipment and communication setting. SCIF receive ER status (IAI protocol reception) Communication failure. Check for noise, shorted/disconnected communication cable, connected equipment and communication setting. This error will also occur when establishing communication with the PC/TP wrongly connected to SIO-CH1 being opened to the user.
  • Page 462 Command error (IAI protocol HT reception) The command ID is not supported or invalid. (For future expansion) Message conversion error (IAI protocol HT reception) The transmitted message does not match the message format or contains invalid data. (For future expansion) PC/TP servo-movement command acceptance-enable input OFF Any axis movement command issued to the axis specified in I/O parameter No.
  • Page 463 The header in the received message is invalid. Invalid header position (message is 9 bytes or less) is suspected, among other reasons. Message station number error (IAI protocol reception) The station number in the received message is invalid. Message ID error (IAI protocol reception) The ID in the received message is invalid.
  • Page 464 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Absolute-data backup battery voltage-low warning (Main analysis) The voltage of the absolute-data backup battery is low. Check the battery connection or replace the battery. Step count specification error The specified number of steps is invalid.
  • Page 465 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Data change refusal error during flash ROM write Data cannot be changed while the flash ROM is being written. Duplicate flash-ROM write commands refusal error Another flash-ROM write command was received while the flash ROM was being written.
  • Page 466 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. I/O-port/flag count specification error The specified number of I/O ports/flags is invalid. Fieldbus error (LERROR-ON) A LERROR-ON was detected. Fieldbus error (LERROR-BLINK) A LERROR-BLINK was detected.
  • Page 467 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. SCHA setting error The setting value of SCHA command is invalid. TPCD setting error The setting value of TPCD command is invalid. SLEN setting error The setting value of SLEN command is invalid.
  • Page 468 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. DW/IF/IS/SL pair-end mismatch error The branching command syntax is invalid. Correspondence with the last appearing branching command is invalid when EDIF, EDDO or EDSL is used. Check the correspondence between IF/IS command and EDIF, DO command and EDDO or SLCT command and EDSL.
  • Page 469 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Operand type error Program step error. The operand data type is invalid. Actuator control declaration error The setting value of actuator control declaration command is invalid. Timer setting-range over error The timer setting is invalid.
  • Page 470 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Character-string length error during string processing The character-string length used in string processing is invalid. Check the value of character-string length defined by a SLEN command. Symbol definition table number error The symbol definition table number is invalid.
  • Page 471 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Write-source data buffer address error (Flash ROM write) Error writing the flash ROM No SEL global data/error list write area error There is no area to write the erased SEL global data/error lists.
  • Page 472 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Motion-data-packet generation logic error The motion-data-packet generation logic is invalid. Movement-point count over error Too many packets are generated simultaneously. Handling-packet overflow error The servo handling packets overflowed.
  • Page 473 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Point deletion error during command execution The final point data was deleted while continuous point movement was being calculated. Axis operation type error The axis operation type is invalid.
  • Page 474 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Setting value error of placement points in palletizing-axis directions The set X/Y-axis direction counts for palletizing are invalid. Palletizing PASE/PAPS non-declaration error Neither PASE nor PAPS palletizing-setting command is set.
  • Page 475 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Positioning distance overflow error The positioning distance is too large. If the controller is of absolute encoder specification and the system has just been moved or “Error No.
  • Page 476 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Encoder EEPROM-write timeout error The encoder is faulty or failure occurred in the encoder communication. Encoder EEPROM-read timeout error The encoder is faulty or failure occurred in the encoder communication. Encoder count error Faulty encoder or defective encoder assembly condition is suspected.
  • Page 477 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Driver error (Refer to error No. CA1.) Encoder rotation reset error The encoder is faulty or has turned. Encoder alarm reset error Faulty encoder Encoder ID error The encoder is faulty or failure occurred in the encoder communication.
  • Page 478 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Fieldbus error (INIT timeout) An INIT timeout was detected. Check the status of the monitor LED on the front face of the board by referring to the operation manual for the field network board.
  • Page 479 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Optional password error The optional function the controller is attempting to use requires an optional password. Check other parameter Nos. 30 through 32, etc., in accordance with the applicable function.
  • Page 480 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Task ID error The task ID is invalid. WAIT factor error The WAIT factor is invalid. WAIT logic error The WAIT logic is invalid. Point-data valid address error Point-data valid address is not set.
  • Page 481 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Slave data setting prohibited Setting of slave data is prohibited. Faulty slave EEPROM The slave EEPROM is faulty. No encoder EEPROM error The encoder is not equipped with EEPROM.
  • Page 482 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Brake ON/OFF timeout error Brake ON/OFF cannot be confirmed. Pole sense non-detection error Motor magnetic pole cannot be detected. Detection OFF error upon pole sense completion The motor-magnetic-pole detection status bit (Psenex) is turned OFF after completion of pole sense.
  • Page 483 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Magnetic-pole sensor installation specification mismatch error The magnetic-sensor installation specification in the system’s axis-specific parameter and that of the installed encoder do not match. Brake installation specification mismatch error The brake installation specification in the system’s axis-specific parameter and that of the installed encoder do not match.
  • Page 484 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Shutdown error (hi_sysdwn () definition) A shutdown error (hi_sysdwn () definition) was detected. FF0 ~ FFF Shutdown error (hi_sysdwn () definition) A shutdown error (hi_sysdwn () definition) was detected.
  • Page 485 Error name Description, action, etc. SCIF overrun error Communication error. Check for noise, connected equipment and communication setting. (When updating the application, connect to a PC and use IAI’s update tool.) SCIF framing error Communication error. Check for noise, shorted/disconnected communication cable, connected equipment and communication setting.
  • Page 486 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. FROM write request error before erase is complete When updating, a flash-ROM write command was received before a flash-ROM erase command. Confirm that the update program file is valid and then perform update again.
  • Page 487 (In the panel window, the three digits after “E” indicate an error number.) Error No. Error name Description, action, etc. Core code flash-ROM status error The core program is invalid. Contact the manufacturer. Application code flash-ROM status error The application program is invalid. Contact the manufacturer. Core code sum error The core program is invalid.
  • Page 488 A FPGA boot watchdog was detected. The core program may not be running properly. Application-update SCIF receive-queue overflow error Excessive data is received from outside. (Confirm that a PC and IAI’s update tool are used to update the application.) Installed flash ROM type mismatch (Core) The flash ROM type anticipated in the software does not match the flash ROM type actually installed.

  • Page 489: Troubleshooting Of Ssel Controller

    Appendix  Troubleshooting of SSEL Controller The X-SEL controller has a panel window on its front side. This panel window displays an error number every time an error generates. When the power is turned on, normally “rdy” or “Ardy” will be displayed. “P01” or other code will be displayed while a program is running.
  • Page 490 Troubleshooting (Causes and Countermeasures for Key Errors) Error No. Error name Cause Countermeasure AC power cutoff A momentary power failure or voltage drop Check the power-supply voltage. has occurred. If the last digit of the controller model name is “1,” the 100 V is input when the controller’s power controller’s power specification is 100 V.
  • Page 491 Error No. Error name Cause Countermeasure Abnormal absolute-data The PG cable was disconnected from the Connect the PG cable to the controller and execute an backup battery voltage controller. absolute reset. Absolute reset has not been executed after Replace the absolute-data backup battery and execute the initial setup.
  • Page 492 Error No. Error name Cause Countermeasure Speed loop underrun error The driver CPU board was damaged due to Replace the board and implement noise control noise in the encoder cable. measures. Shutdown relay ER status The transistor on the power-supply board Replace the board.

  • Page 493: Trouble Report Sheet

    Appendix Trouble Report Sheet Trouble Report Sheet Date: Company name Department Reported by (Ext) IAI agent Purchase date Serial number Manufacture date  axis(es) [1] Number of axes Type [2] Type of problem 1. Disabled operation 2. Position deviation 3. Runaway machine 4.

  • Page 494: Change History

    Change History Revision Date Description of Revision First edition Second edition January 2007 Third edition April 2007 Fourth edition September 2007 Fifth edition September 2009 Sixth edition June 2010 Seventh edition • Added “Please Read Before Use” on the first page after the cover. •...
  • Page 497 SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China TEL 021+6448-4753 FAX 021-6448-3992 website: www.iai-robot.com The information contained in this document is subject to change without notice for the purpose of product improvement. Copyright  2010. Dec. IAI Corporation. All rights reserved.

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