IAI SSEL First Step Manual

Applicable to Fieldbus
SSEL
First Step Guide
Sixth 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
(Supplier : PHOENIX CONTACT)
CC-Link type
Fieldbus
2
PROFIBUS-DP type 9-pin D-sub (female) connector.
Connector
Ethernet straight cable (Category level 5e or
EtherNet/IP type
higher)
Installed if this controller is at the end of the
DeviceNet type
network
Fieldbus
CC-Link type 130Ω1/2W, 110Ω1/2W enclosed one unit each
3 Terminal
Installed if this controller is at the end of the
Resistance PROFIBUS-DP type
network
EtherNet/IP type Not necessary
4 AC Power Supply Plug
5 System I/O Plug (2 Units)
6 First Step Guide ME0264
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 SSEL Controller Instruction Manual
2 PC Software IA-101-X-MW/IA-101-X-USBMW
3 Teaching Pendant SEL-T/TD/TG
4 Teaching Pendant IA-T-X/XD
5 DeviceNet Instruction Manual
6 CC-Link Instruction Manual
7 PROFIBUS-DP Instruction Manual
8 EtherNet/IP Instruction Manual
4. How to read the model plate
Model
MODEL SSEL-C-2-200A-100AB-DV-2-1
SERIAL No. 600061190
Serial number
6D
5. How to read the model of the controller
Model table
  
Controller Number
Series
Type of axes
C
(Standard
1
Type)
(1-axis)
SSEL
2
CS
(2-axis)
(Standard
Type)
Specifications
Specification Item
Max. Connected Axis 100V AC Type 400W
Output
200V AC Type 800W
Control Power 100V AC Type Single-phase 100V to 115V Power Fluctuation ±10% or less
Capacity
200V AC Type Single-phase 200V to 230V Power Fluctuation ±10% or less
Reference
Motor Power Source 100V AC Type Single-phase 100V to 115V Power Fluctuation ±10% or less
Voltage
200V AC Type Single-phase 200V to 230V Power Fluctuation ±10% or less
Power Supply Frequency
Rush Current Note1
Leakage Current Note2
Power Capacity for Electro-magnetic
Note3
Brake Power Unit
(In the case of the actuator with a brake)
Heat Generation for Electro-magnetic
Brake Power Unit
121Ω±1%, 1/4W
(In the case of the actuator with a brake)
Transient Power Cutoff Durability
220Ω1/4W × 1,
Insulation Resistance
390Ω1/4W × 1
Insulation Strength
Axis Control System
Position detection method
Battery for Backup
Program language
Max. Number of program steps
Max. Number of positions
Max. Number of programs
Model
Max. Number of multitask programs
IA-101-X-MW
Data storage device
IA-101-X-USBMW
Data input method
Serial Communication Interface
IA-101-XA-MW
USB Interface
SEL-T
Communication RS232C
SEL-TD
Cable Length
USB
SEL-TG
Field Bus Port
IA-T-X
IA-T-XD
System I/O
Protective functions
Manual No.
ME0157
Drive-source cutoff method
ME0154
Regenerative Resistor
ME0183
Ambient air temperature
ME0160
Ambient humidity
ME0124
Ambient environment
ME0123
Ambient storage temperature
ME0153
Ambient storage humidity
ME0308
Vibration durability
Impact
Protection class
Cooling Method
MADE IN JAPAN
Weight
External Dimensions
Note 1 Rush current at the power connection continues for about 5 msec. Consider the safety rate at the time when rush
current passes. The rush current value varies depending on the impedance of the power line.
Note 2 The leaked current value is for the single controller not connected to the actuator.
The leaked current varies depending on the surrounding environment.
When the leakage protective measure is taken, measure the leakage current at the leakage breaker installation
location.
Note 3 The brake is an instantaneous over excitation brake. Current of max. 1A per axis passes during 100msec of brake
release.
SSEL – C – 2 – 200A – 100AB – DV – 2 – 1
       
Details of axis 1 to axis 2  
Motor Encoder Home Synchronization Standard I/O Flat cable
Brake Creep
Output Type sensor Designation I/O length
30D
(30W for RCS2)
30R
(30W for RC) DV
60 DeviceNet
WAI
(60W) Not Specified
(Battery-less Not
100 (No synchronization)
absolute/ Specified
(100W) Not Not CC
Incremental) (w/o home
150 Specified Specified M CC-Link
sensor)
(150W) (w/o brake) (w/o creep) (Master-axis
A 0 : None
200 designation)
(Absolute) L
(200W) B C PR
(Applicable
300 (w/ brake) (w/ creep) S PROFIBUS
G to Home
(300W) (Slave-axis -DP
(Spurious Sensor LS)
400 designation)
absolute)
(400W) EP
600 EtherNet/IP
(600W)
750
(750W)
Basic Specifications
Single-Axis Type 2-Axis Type
50/60Hz
55A (Control) 55A (Drive) 55A (Control) 110A (Drive)
1.0mA or less
24V DC±10% Rated 0.5A MAX. 1A 24V DC±10% Rated 1A MAX. 2A
12W 24W
50Hz : 10ms, 60Hz : 8ms
500V DC 100MΩ or more
1500V AC for 1min. (actuator the time of connection 1000V AC for 1min.)
AC Full-digital Servo
Incremental Encoder or Absolute Encoder
For Absolute Data Memory Backup : AB-5 manufactured by our company (Option)
For System Memory Backup : AB-5 manufactured by our company (Option)
Super SEL language
9999 steps
20000 positions
128 programs
8 programs
Flash ROM + SRAM 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 overcurrent, motor overload, driver temperature error, encoder
error, etc.
Internal Relay
Built-in 20W Power Source (External Expansion Available)
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 Each direction 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
Forced Air Cooling
1380g
(Refer to External Dimensions Section)
Table 1 Motor Power Unit Capacity and Heat Generation
Rated Motor
Actuator or Motor Capacity [W]
Power Capacity [VA]
 20
Power-supply
30
Voltage
60
100
150
200
400
600 1,164
1 : Single-
750 1,521
Phase
100V 100 (Linear Actuator S6SS)
100 (Linear Actuator S8SS)
2 : Single-
100 (Linear Actuator S8HS)
Phase
200V
100 (Linear Actuator N10SS)
200 (Linear Actuator S10SS)
200 (Linear Actuator S10HS)
200 (Linear Actuator H8SS)
200 (Linear Actuator H8HS)
200 (Linear Actuator L15SS)
200 (Linear Actuator N15SS)
200 (Linear Actuator N15HS)
300 (Linear Actuator N19SS)
400 (Linear Actuator W21SS)
Table 2 Control Power Unit Capacity and Heat Generation
Control Power Capacity [VA]
60
[Power Capacity and Heat Generation]
Rated Power Capacity [VA] = First Axis Momentary Maximum Motor Power Capacity [VA]
Momentary Maximum Motor Power Capacity [VA]
Momentary Maximum Power Capacity [VA] = First Axis Momentary Maximum Motor Power Capacity [VA]
Axis Momentary Maximum Motor Power Capacity [VA]
Power Capacity [VA]
Heat Generation in reaching the Rated Capacity [W] = First Axis Motor Power Unit Heat Generation in reaching the
External Dimensions
100
50
4.5
• The dimensions are the same no matter of single axis type, double axis type or the type of the fieldbus.
• The above figure shows the condition where the system memory backup battery (option) and absolute
data backup battery (option) have been attached.
Regeneration Unit (Option) : REU-1, REU-2
Regenerative Resistor Unit: This unit converts the regenerative current brought at the time of the motor
deceleration into heat
[Specification]
Item Specification
Dimensions W34 × H195 × D126mm
Weight 0.9kg
Internal Regenerative Resistor 235Ω 80W
Connection REU-1 Model : CB-ST-REU010 1m
Cable
REU-2 Model : CB-SC-REU010 1m
(Accessories)
[Installation Standards]
When it is installed horizontally
No. of Connected
Connected Actuator
Regenerative Resistance
Motor Capacity Total
Units
to 200W Not Required
to 800W 1
* More regenerative resistance may be required depending on the operating condition.
Heat Generation in
Peek Max. Motor
reaching the rated motor
Power Capacity [VA]
power capacity [W]
26 78 1.6
46 138 2.1
138 415 3.9
234 701 6.1
328 984 8.3
421 1,263 9.1
796 2,388 19.8
3,492 27.2
4,564 29.8
101 303 3.7
159 477 4.1
216 648 3.8
379 1137 4.5
343 1,029 5.3
417 1,251 5.0
189 567 5.4
379 1,137 5.4
189 567 5.4
486 1458 4.4
773 2319 6.4
662 1,986 11.6
920 2,760 16.7
Control Power Unit Heat Generation [W]
36
Second Axis
Control Power Capacity [VA]
Second
Control
Rated Capacity [W] Second Axis Motor Power Unit Heat
Generation in reaching the Rated Capacity [W] Control
Power Unit Heat Generation [W]
System Memory Backup Battery
125
Absolute Data Backup Battery
φ5 34
[External Dimensions]
RB-
RB+
RB IN
RB-
RB+
RB OUT
5
126
16.6
When it is installed vertically
No. of Connected
Connected Actuator
Regenerative Resistance
Motor Capacity Total
Units
to 200W Not Required
to 600W 1
to 800W 2