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IAI ssel User Manual
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37
Part 1 Installation
7.3.1 Emergency
Stop,
Enable
and Other Internal Circui
ts (Safety Category B)
A
UTO/MANU
switch
TP
connector
System I/O
connector
EMG
switch
ENB
switch
Power
connector
Inside controller
AUTO/MANU
status detection
AUTO:
Closed
MANU:
Open
TP-connecto
r
connection status
detection
Connected:
Open
Not
connected:
Closed
ENB input
detection
EMG input
detection
Status signal
Drive-source
cutoff cont
rol
Command signal
Status signal
Drive source
Drive-source
cutoff relay
62
64
Table of Contents
Default Chapter
6
Table of Contents
6
Chapter 1 Overview
27
Introduction
27
Part 1 Installation
27
Safety Guide
27
Type
27
SSEL Controller Functions
28
System Setup
30
Warranty Period and Scope of Warranty
31
Chapter 2 Specifications
32
Controller Specifications
32
Name and Function of each Part
33
Chapter 3 Installation and Wiring
48
External Dimensions
49
Installation Environment
51
Heat Radiation and Installation
53
Noise Control Measures and Grounding
54
Power-Supply Capacity and Heat Output
57
Auxiliary Power Equipment
59
Example of Auxiliary Power Equipment Configuration
59
Wiring
60
Connecting the Power Cables
60
Connecting the Actuator
61
Connecting the Emergency Stop Input, Enable Input and Brake Power Input
62
Connecting the PIO Cable (I/O)
65
External I/O Specifications
70
Connecting Regenerative Resistance Units (RB)
74
Connecting the Teaching Pendant/Pc Software (TP) (Optional)
76
Connecting the Panel Unit (Optional)
76
Installing the Absolute-Data Backup Battery (Optional)
82
Installing the System-Memory Backup Battery (Optional)
83
Chapter 4 Operation
84
Startup
84
Power on Sequence
85
Power Cutoff Sequence
85
How to Perform Absolute Reset (Absolute Specification)
86
Preparation
86
Procedure
86
How to Start a Program
91
Starting a Program by Auto-Start Via Parameter Setting
92
Starting Via External Signal Selection
93
Drive-Source Recovery Request and Operation-Pause Reset Request
95
Controller Data Structure
96
How to Save Data
97
Points to Note
99
Chapter 5 Maintenance
100
Inspection Points
100
Spare Consumable Parts
100
Replacement Procedure for System-Memory Backup Battery (Optional)
101
Replacement Procedure for Absolute-Data Backup Battery (Optional)
103
Chapter 1 SEL Language Data
105
Values and Symbols Used in SEL Language
105
List of Values and Symbols Used
105
I/O Ports
106
Virtual I/O Ports
107
Flags
109
Variables
110
Tags
113
Subroutines
114
Character-String Literals
115
Symbols
115
Axis Specification
116
Position Part
118
Command Part
119
SEL Language Structure
119
Extension Condition
120
Part 2 Programs
105
Chapter 2 List of SEL Language Command Codes
121
By Function
121
Alphabetical Order
126
Chapter 3 Explanation of Commands
131
Commands
131
Variable Assignment
131
Arithmetic Operation
134
Function Operation
137
Logical Operation
140
Comparison Operation
143
Timer
144
I/O, Flag Operation
147
Program Control
159
Task Management
162
Position Operation
167
Actuator Control Declaration
182
Actuator Control Command
198
Structural if
221
Structural DO
224
Multi-Branching
226
System Information Acquisition
230
Zone
233
Communication
237
String Operation
244
Arch-Motion-Related
253
Palletizing-Related
258
Palletizing Calculation Command
265
Palletizing Movement Command
268
Building of Pseudo-Ladder Task
270
Extended Command
272
Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note
275
Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC]
275
PATH/PSPL Commands
277
CIR/ARC Commands
277
CIR2/ARC2/ARCD/ARCC Commands
277
Chapter 5 Palletizing Function (2-Axis Specification)
278
How to Use
278
Palletizing Setting
278
Palletizing Calculation
283
Palletizing Movement
284
Program Examples
285
Chapter 6 Pseudo-Ladder Task
287
Basic Frame
287
Ladder Statement Field
288
Program Example
289
Chapter 7 Application Program Examples
290
Operation by Point Movement Command
293
Chapter 8 Real-Time Multi-Tasking
296
Multi-Tasking
297
Difference from a Sequencer
298
Release of Emergency Stop
299
Program Switching
300
Chapter 9 Example of Building a System
301
Overview of the Screw-Tightening System
302
Hardware
303
Software
304
Chapter 10 Method of Building a System
306
Programming Format
307
Positioning to Five Positions
308
Moving Back and Forth between Two Points
310
Path Operation
311
Output Control During Path Movement
312
Circle/Arc Operation
313
Home Return Completion Output
314
Axis Movement by Input Waiting and Completion Output
315
Changing the Moving Speed
316
Changing the Speed During Operation
317
Local/Global Variables and Flags
318
How to Use Subroutines
319
Pausing the Operation
320
Canceling the Operation 1 (CANC)
321
Canceling the Operation 2 (STOP)
322
Movement by Position Number Specification
323
Movement by External Position Data Input
324
Conditional Jump
325
Waiting Multiple Inputs
326
How to Use Offset
327
Executing an Operation N Times
328
Constant-Pitch Feed
329
Jogging
330
Switching Programs
331
Aborting a Program
332
Part 3 Positioner Mode
333
Number of Positions Supported in each Mode
334
Interface List of All PIO Patterns
335
Chapter 2 Standard Mode
336
Parameters
337
Details of each Output Signal
340
Timing Chart
341
Home Return
342
Movements through Positions
343
Chapter 3 Product Switching Mode
345
Parameters
346
Details of each Input Signal
347
Details of each Output Signal
350
Timing Chart
351
Home Return
352
Movements through Positions
353
Chapter 4 2-Axis Independent Mode
355
Parameters
356
Details of each Input Signal
357
Details of each Output Signal
360
Timing Chart
361
Home Return
362
Movements through Positions
363
Chapter 5 Teaching Mode
365
I/O Interface List
366
Parameters
367
Details of each Output Signal
370
Timing Chart
372
Home Return
373
Movements through Positions
374
Timings in the Teaching Mode
375
Chapter 6 DS-S-C1 Compatible Mode
376
Parameters
377
Details of each Output Signal
379
Timing Chart
380
Home Return
381
Movements through Positions
382
Appendix
383
Battery Backup Function
386
Absolute-Data Backup Battery for Absolute Encoder
388
Synchro Function
390
Absolute Reset for Synchro Specification
391
Position Alignment of Synchro-Axis Sliders
392
Standard Absolute Reset Procedure
395
Notes on Use of Synchro Function
396
Multi-Slider Near-Miss Detection (Collision Prevention) Function
397
Parameter Utilization
399
Utilization Examples of I/O Parameters
400
Utilization Examples of Axis-Specific Parameters
407
Parameter Utilization Examples (Reference)
418
Servo Gain Adjustment
422
List of Parameters
424
I/O Parameters
425
I/O Function Lists
431
Parameters Common to All Axes
433
Axis-Specific Parameters
435
Driver Parameters
440
Encoder Parameters
443
I/O Devices
444
Other Parameters
445
Manual Operation Types
450
Combination Table of SSEL Linear/Rotary Control Parameters
451
Error Level Control
452
Error List
454
Troubleshooting of SSEL Controller
489
Trouble Report Sheet
493
Change History
494
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IAI ssel Specifications
General
Brand
IAI
Model
ssel
Category
Controller
Language
English
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