IAI PSEL First Step Manual

Applicable to Fieldbus
PSEL, ASEL
First Step Guide
Seventh Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual as well as this First Step Guide to ensure correct use.
This Instruction Manual is original.
Warning : Read the instruction manual carefully and follow the instruction manual when handling this equipment.
Please downloaded the user's manual from our website.
You can download it free of change. User registration is required for first time users.
URL:www.iai-robot.co.jp/data_dl/CAD_MANUAL/
Keep a printout of the introduction manual near the equipment in which this product is installed so
that it can be checked at all times, or display it on your computer, tablet terminal, etc. so that you can
check it immediately.
If you need a bound copy of the instruction manual, order it from the nearest sales office listed in the
First Step Guide or at the end of the instruction manual. It will be provided for a fee.
• Using or copying all or part of this Instruction Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
Product Check
The standard configuration of this product is comprised of the following parts.
If you find any fault in the contained model or any missing parts, contact IAI or our distributor.
1. Parts
No. Part Name Model
Refer to "How to read the model plate", "How to
1 Controller Main Body
read the model of the controller"
Accessories
DeviceNet Type
SMSTB2.5/5-ST-5.08AU
CC-Link Type (Supplier : PHOENIX CONTACT)
Fieldbus
2
Connector
PROFIBUS-DP Type 9-pin D-sub (female) connector.
EtherNet/IP Type Ethernet straight cable (category 5e or above)
DeviceNet Type Installed if this is the end of the network
Fieldbus
CC-Link Type 130Ω1/2W, 110Ω1/2W enclosed one unit each
3 Terminal
PROFIBUS-DP Type Installed if this is the end of the network
Resistance
EtherNet/IP Type Not necessary
4 Motor Power Supply Plug
5 System I/O Plug
6 First Step Guide ME0263
7 Safety Guide M0194
2. Teaching Tool (to be purchased separately)
A teaching tool such as PC software is necessary to perform commissioning of this product.
Any of the following teaching tools may be used.
No. Part Name
1 PC Software (with RS232C cable + Emergency Stop Box)
2 PC Software (with USB converter adapter + RS232C cable + Emergency Stop Box)
PC Software (with the cable complying with Safety Category Class 4 specifications
3
+ Emergency Stop Box)
4 Teaching Pendant
5 Teaching Pendant (with deadman switch)
6 Teaching Pendant (with deadman switch + TP Adapter (IA-LB-TG))
7 Teaching Pendant
8 Teaching Pendant (with deadman switch)
3. Instruction Manuals related to this product
No. Part Name
1 PSEL Controller Instruction Manual
2 ASEL Controller Instruction Manual
3 PC Software IA-101-X-MW/IA-101-X-USBMW
4 Teaching Pendant SEL-T/TD/TG
5 Teaching Pendant IA-T-X/XD
6 DeviceNet Instruction Manual
7 CC-Link Instruction Manual
8 PROFIBUS-DP Instruction Manual
9 EtherNet/IP Instruction Manual
4. How to read the model plate
Model
MODEL PSEL-C-2-42PI-42PI-DV-2-0
SERIAL No. 600117538
Serial number
5. How to read the model of the controller
5.1 PSEL
PSEL – C – 2 – 20PI – 20PIB – DV – 0 – 0 – ABU – H
      
Model table
    Details of axis 1 to axis 2 
Controller Number Encod
Series Motor Size Brake Standard I/O
Type of axes er type
DV (DeviceNet Connection
C 20P (20 □Size)
Not Specifications)
(Standard 28P (28 □Size)
1 Specified CC (CC-Link Connection
Type) 28SP I
(1-axis) (w/o brake) Specifications)
PSEL (For RCP2- RA3C) (Increm-
2 PR (PROFIBUS-DP Connection
CS 35P (35 □Size) ental)
(2-axis) B Specifications)
(Standard 42P (42 □Size)
(w/ brake) EP (EtherNet/IP Connection
Type) 56P (56 □Size)
Specifications)
7A
5.2 ASEL
Model table
  
Controller Number
Series
Type of axes
C
(Standard
1
Type)
(1-axis)
ASEL
2
CS
(2-axis)
(Standard
Type)
Note 1 For RCA-RA3C/RA3D/RA3R/RGS3C/RGS3D/RGD3C/RGD3D and RCA2-SA4C/TA5C, the motor type should be 20S.
PSEL Specifications
Specification Item
Control Power Source Voltage
Motor Power Source Voltage
Control Power Capacity
Motor Power Actuator
Capacity Note 1
20, 28P, 28SP
Motor
35, 42, 56P Motor
Heat Generation
Transient Power Cutoff Durabirity 0.5ms
Insulation Resistance
Insulation Strength
Reference
Axis Control System
Encoder Resolution
Battery for Backup
Program language
Max. Number of program steps
Max. Number of position
Max. Number of programs
121Ω±1%, 1/4W
Max. Number of multitask programs 8 programs
Data storage device
220Ω1/4W × 1, 390Ω1/4W × 1
Data input method
Serial Communication Interface
USB Interface
Communication RS232C
cable length
USB
Fieldbus Port
System I/O
Model
Protective functions
IA-101-X-MW
IA-101-X-USBMW
Drive-source cutoff method
Ambient air temperature
IA-101-XA-MW
Ambient humidity
SEL-T
Ambient environment
SEL-TD
Ambient storage temperature
SEL-TG
Ambient storage humidity
IA-T-X
Vibration strength
IA-T-XD
Impact
Manual No.
Protection class
ME0172
Cooling method
ME0165
Weight
ME0154
External dimensions
ME0183
ME0160
Note 1 Inrush current of the control power when the power is turned ON, is about
ME0124
30.0A for 5ms both for single axis type and 2-axis type.
ME0123
Note 2 After the servo-motor is turned ON, the excitation detection operation is
ME0153
performed. Excitation phase detection is performed after power-on. In such a
ME0308 case, the current becomes maximum (About 100ms).
However, after the motor driving power is turned OFF, when the motor driving
power is turned ON again, about 6.0A of current passes for single axis type
and 12.0A of current for 2-axis type. (for approx. 1 to 2ms)
MADE IN JAPAN
ASEL Specifications
Specification Item
Control Power Source Voltage
Motor Power Source Voltage
  
Control Power Capacity
Motor
   
Power
Actuator
High
Capacity
I/O Flat Power- Simple
Acceleration
cable supply absolute Note 1
Transportable 10W
length voltage unit
Type
20W [Model code
Not Specified
mark: 20]
Not
(Standard)
Specified 30W
0 : (Not used)
0 : None H 20W [Model code
24V DC
(High
ABU mark: 20S]
Acceleration
(Use)
Type) 2W
5W
10W
Heat Generation
ASEL – C – 2 – 30A – 30AB – DV – 0 – 0
       
 Details of axis 1 to axis 2 
High Low Power
Motor Encoder Home
Brake Accel/Decel consumption Standard I/O
Output type Sensor
Type Type
Not Not
DV (DeviceNet Connection
Not
2 (2W) Specified Specified Specifications)
I Not Specified
5 (5W) (Standard (Standard CC (CC-Link Connection
(Incremen Specified (w/o home
10 (10W) Type) Type) Specifications)
tal) (w/o brake) sensor)
20S PR (PROFIBUS-DP
Connection
(20W Note 1 ) HA LA
A B B
20 (20W) (High (Power Specifications)
(Absolute) (w/ brake) (Home
EP (EtherNet/IP
30 (30W) Accel/Decel Consumption
Sensor)
Connection Specifications)
Type) Type)
Basic Specifications
Single-Axis Type 2-Axis Type
24V DC ±10%
24V DC ±10%
1.2A
Note 2
Rated MAX. Rated
0.4A 0.8A
2.0A
1.2A 2.4A
14.4W
500V DC 10MΩ or more
500V AC for 1min (Between all power terminals and FG)
AC Full-digital Servo
800Pulse/rev
For System Memory Backup : Manufactured by our company AB-5 (Option)
Super SEL language
2000 steps
1500 positions
64 programs
Flash ROM + SRAM battery backup (Option)
Teaching pendant or PC software
RS232C : 1CH   Dedicated protocol (at AUTO Mode) or for connection to PC software
1CH (B Connector)   Dedicated protocol (at AUTO Mode) or for connection to PC software
15m or less
5m or less
1 channel Complying with the standards for each field bus (Refer to the Wiring diagram
for the connector).
Either of DeviceNet / CC-Link / PROFIBUS-DP / EtherNet/IP
Emergency-stop input, safety gate input
Overvoltage, motor over current, motor overload, driver temperature error, and Encoder
error etc.
Internal Relay
0 to +40°C
10 to 95%RH (non-condensing)
Free of corrosive gases, especially, no excessive dust
−25 to 70°C, batteries (option) excluded
10 to 95%RH (non-condensing)
XYZ directions 10 to 57Hz Pulsating amplitude 0.035mm (continuous) 0.075mm (intermittent)
57 to 150Hz 4.9m/s 2 (continuous) 9.8m/s 2 (intermittent)
147mm/s 2 , 11ms Semi-sine wave pulse three times to each of the directions X, Y and Z
IP20
Natural Air Cooling
440g
(Refer to External Dimensions Section)
Select a +24V DC
power supply
preferably offering
"peak load
support", or one
with sufficient
inrush capacity.
Single-Axis Type 2-Axis Type
24V DC ±10%
24V DC ±10%
1.2A
Standard Type / Low Power Standard Type /
High Accel/Decel Type Consumption Type High Accel/Decel Type Consumption Type
Rated MAX. Note 2 Rated MAX. Note 3 Rated MAX. Note 2 Rated
1.3A 4.4A 1.3A 2.5A 2.6A 8.8A 2.6A
1.3A 4.4A 1.3A 2.5A 2.6A 8.8A 2.6A
1.3A 4.0A 1.3A 2.2A 2.6A 8.0A 2.6A
1.7A 5.1A 1.7A 3.4A 3.4A 10.2A 3.4A
0.8A 4.6A 1.6A 9.2A
1.0A 6.4A 2.0A 12.8A
1.3A 6.4A 2.6A 12.8A
14.4W
Specification Item
Transient Power Cutoff Durabirity 0.5ms
Insulation Resistance 500V DC 10MΩ or more
Insulation Strength 500V AC for 1min (Between all power terminals and FG)
Axis Control System AC Full –digital Servo
 
I/O Flat Power- Encoder RCA 800Pulse/rev
cable supply
Resolution
RCA2 RCA2-N 1048Pulse/rev
length voltage
800Pulse/rev
Other than
RCA2-N
RCL RA1L, SA1L, 715Pulse/rev
0 : 0 :
SA4L, SM4L
None 24V DC
RA2L, SA2L, 855Pulse/rev
RA5L, SA5L
RA3L, SA3L, 1145Pulse/rev
RA6L, SA6L
Battery for Backup For Absolute Data Backup : Manufactured by our company AB-5
For System Memory Backup : Manufactured by our company AB-5 (Option)
Program language Super SEL language
Max. Number of program steps 2000 steps
Max. Number of position 1500 positions
Max. Number of programs 64 programs
Max. Number of multitask programs 8 programs
Data storage device Flash ROM + SRAM battery backup (Option)
Note 2 Data input method Teaching pendant or PC software
MAX.
Serial Communication Interface RS232C : 1CH   Dedicated protocol (at AUTO Mode) or for connection to PC
4.0A
USB Interface 1CH (B Connector)   Dedicated protocol (at AUTO Mode) or for connection to PC
Communication RS232C 15m or less
cable length
USB 5m or less
Fieldbus Port 1 channel Complying with the standards for each field bus (Refer to the wiring
Either of DeviceNet / CC-Link / PROFIBUS-DP / EtherNet/IP
System I/O Emergency-stop input, safety gate input
Protective functions Overvoltage, motor over current, motor overload, driver temperature error, and
Encoder error etc.
Drive-source cutoff method Internal Relay
Ambient air temperature 0 to +40°C
Ambient humidity 10 to 95%RH (non-condensing)
Ambient environment Free of corrosive gases, especially, no excessive dust
Ambient storage temperature −25 to 70 degrees (batteries (option) excluded)
Ambient storage humidity 10 to 95%RH (non-condensing)
Vibration strength XYZ directions 10 to 57Hz Pulsating amplitude 0.035mm (continuous) 0.075mm (intermittent)
Impact 147mm/s
Protection class IP20
Cooling method Natural Air Cooling
Weight 450g
External dimensions (Refer to External Dimensions Section)
Note 1 Inrush current of the control power when the power is turned ON,
is about 30.0A for 5ms both for single axis type and 2-axis type.
Note 2 It is the maximum current in accelerating or decelerating.
Note 3 The current reaches its maximum level when the servo-motor
exciting phase is detected which is to be performed in the first
servo-motor turning ON processing after the power injection.
(Normal: Approx. 1 to 2s, Max.: 10s)
External Dimensions
110
Low Power
MAX. Note 3
5.0A
5.0A
4.4A
* The dimensions are the same no matter of single axis type, double axis type or the type of the
6.8A
fieldbus.
* The above figure shows the condition where the system memory backup battery (option) is attached.
Single-Axis Type 2-Axis Type
software
software
diagram for the connector).
57 to 150Hz 4.9m/s 2 (continuous) 9.8m/s 2 (intermittent)
2 , 11ms Semi-sine wave pulse three times to each of the directions X, Y and Z
Select a +24V DC power
supply preferably offering
"peak load support", or
one with sufficient inrush
capacity.
(17)
43
(26)
21.5
5