IAI SEL User Manual

Table of Contents
Safety Guide .........................................................................................................Pre-1
1. Forward ................................................................................................................1
2. Warranty Period and Scope of Warranty ..............................................................2
3. Connection to Controller .......................................................................................3
3.1. Connection to SEL-T, TD ............................................................................................3
3.2. Connection between SEL-TG and the Controller ......................................................12
3.3. Teaching Pendant Connection Procedure ................................................................18
4. Teaching Pendant Function and Specications ..................................................19
4.1. General Specications ..............................................................................................19
4.2. Main Operation Keys and Functions .........................................................................20
5. How to Save Data ...............................................................................................25
5.1. Set-up at Shipment with System Memory Backup Battery .......................................25
5.2. Set-up at Shipment without System Memory Backup Battery
(Table Top Actuator (TT), SSEL, ASEL, PSEL) .........................................................28
5.3. XSEL-R/S/RX/SX/RXD/SXD .....................................................................................30
5.4. TTA ............................................................................................................................31
5.5. Caution ......................................................................................................................32
6. Mode Transition Diagram....................................................................................33
6.1. X-SEL K, P/Q, R/S, TT, TTA Controller ....................................................................33
6.2. X-SEL KX Controller .................................................................................................38
6.3. X-SEL PX/QX, RX/SX, RXD/SXD Controller ............................................................43
6.4. SSEL, ASEL or PSEL Controller ...............................................................................48
6.4.1. Program mode ..............................................................................................48
6.4.2. Positioner Mode ............................................................................................53
7. Simple Operation Procedure .............................................................................57
7.1. Orthogonal Axis: 5th and 6th Axes of XSEL-K, P/Q or PX/QX Controller,
5th to 8th Axes of R/S or RX/SX Controller or TT, TTA, SSEL, ASEL or
PSEL Controller ............................................................................................................ 57
7.1.1. Creation of Position Data ..........................................................................58
7.1.2. Programming (Excluding the positioner mode of the SSEL, ASEL
and PSEL controller) .................................................................................67
7.1.3. Changing Application Program
(Excluding the positioner mode of the SSEL, ASEL and
PSEL controller.) ........................................................................................75

IAI SEL Specifications

General

Protection Class	IP20
Communication	RS-232C
Control Method	PTP
Number of Axes	Up to 4 axes
Vibration Resistance	4.9 m/s² (0.5 G)
Humidity	20 to 85% RH (non-condensing)