Iai-america ASEL Bedienungsanleitung

ASEL ControllerOperation Manual Seventh Edition

Table of ContentsChapter 6 Pseudo-Ladder Task...

Part 2 ProgramsChapter 1 SEL Language Data78Part 2 Programs 1.7 Subroutines By taking out the parts of a program that are used repeatedly and regi

Part 2 Programs Chapter 1 SEL Language Data79Part 2 Programs 1.8 Symbols In the ASEL Controller, values such as variable numbers and flag numbers

Part 2 ProgramsChapter 1 SEL Language Data80Part 2 Programs 1.10 Axis Specification Axes can be specified based on axis number or axis pattern. (1

Part 2 Programs Chapter 1 SEL Language Data81Part 2 Programs (2) Axis pattern Whether or not each axis will be used is indicated by “1” or “0.”

Part 2 ProgramsChapter 1 SEL Language Data82Part 2 Programs SEL language consists of a position part (position data = coordinates, etc.) and a comm

Part 2 Programs Chapter 1 SEL Language Data83Part 2 Programs 3. Command Part The primary feature of SEL language is its very simple command struc

Part 2 ProgramsChapter 1 SEL Language Data84Part 2 Programs 3.2 Extension Condition Conditions can be combined in a complex manner. (SEL language)

Part 2 Programs Chapter 2 List of SEL Language Command Codes85Part 2 Programs Chapter 2 List of SEL Language Command Codes 1. By Function Variabl

Part 2 ProgramsChapter 2 List of SEL Language Command Codes86Part 2 Programs Operation type in the output field CC: Command was executed successfu

Part 2 Programs Chapter 2 List of SEL Language Command Codes87Part 2 Programs Operation type in the output field CC: Command was executed successf

Table of Contents20. Conditional Jump...

Part 2 ProgramsChapter 2 List of SEL Language Command Codes88Part 2 Programs Operation type in the output field CC: Command was executed successfu

Part 2 Programs Chapter 2 List of SEL Language Command Codes89Part 2 Programs Operation type in the output field CC: Command was executed successf

Part 2 ProgramsChapter 2 List of SEL Language Command Codes90Part 2 Programs 2. Alphabetical Order Operation type in the output field CC: Command

Part 2 Programs Chapter 2 List of SEL Language Command Codes91Part 2 Programs Operation type in the output field CC: Command was executed successf

Part 2 ProgramsChapter 2 List of SEL Language Command Codes92Part 2 Programs Operation type in the output field CC: Command was executed successfu

Part 2 Programs Chapter 2 List of SEL Language Command Codes93Part 2 Programs Operation type in the output field CC: Command was executed successf

Part 2 ProgramsChapter 2 List of SEL Language Command Codes94Part 2 Programs Operation type in the output field CC: Command was executed successfu

Part 2 Programs Chapter 3 Explanation of Commands95Part 2 Programs Chapter 3 Explanation of Commands 1. Commands 1.1 Variable Assignment z LET

Part 2 ProgramsChapter 3 Explanation of Commands96Part 2 Programs z TRAN (Copy) Command, declaration Extension condition (LD, A, O, AB, OB) Input

Part 2 Programs Chapter 3 Explanation of Commands97Part 2 Programs z CLR (Clear variable) Command, declaration Extension condition (LD, A, O, AB,

Table of Contents5.1 Recognition of I/O Signals... 3245.2

Part 2 ProgramsChapter 3 Explanation of Commands98Part 2 Programs 1.2 Arithmetic Operation z ADD (Add) Command, declaration Extension condition (

Part 2 Programs Chapter 3 Explanation of Commands99Part 2 Programs z MULT (Multiply) Command, declaration Extension condition (LD, A, O, AB, OB) I

Part 2 ProgramsChapter 3 Explanation of Commands100Part 2 Programs z MOD (Remainder) Command, declaration Extension condition (LD, A, O, AB, OB) I

Part 2 Programs Chapter 3 Explanation of Commands101Part 2 Programs 1.3 Function Operation z SIN (Sine operation) Command, declaration Extension

Part 2 ProgramsChapter 3 Explanation of Commands102Part 2 Programs z TAN (Tangent operation) Command, declaration Extension condition (LD, A, O, A

Part 2 Programs Chapter 3 Explanation of Commands103Part 2 Programs z SQR (Root operation) Command, declaration Extension condition (LD, A, O, AB,

Part 2 ProgramsChapter 3 Explanation of Commands104Part 2 Programs 1.4 Logical Operation z AND (Logical AND) Command, declaration Extension condi

Part 2 Programs Chapter 3 Explanation of Commands105Part 2 Programs z OR (Logical OR) Command, declaration Extension condition (LD, A, O, AB, OB)

Part 2 ProgramsChapter 3 Explanation of Commands106Part 2 Programs z EOR (Logical exclusive-OR) Command, declaration Extension condition (LD, A, O

Part 2 Programs Chapter 3 Explanation of Commands107Part 2 Programs 1.5 Comparison Operation z CP (Compare) Command, declaration Extension cond

Table of Contentsx ... 347Battery Backup

Part 2 ProgramsChapter 3 Explanation of Commands108Part 2 Programs 1.6 Timer z TIMW (Timer) Command, declaration Extension condition (LD, A, O, A

Part 2 Programs Chapter 3 Explanation of Commands109Part 2 Programs z TIMC (Cancel timer) Command, declaration Extension condition (LD, A, O, AB,

Part 2 ProgramsChapter 3 Explanation of Commands110Part 2 Programs z GTTM (Get time) Command, declaration Extension condition (LD, A, O, AB, OB) I

Part 2 Programs Chapter 3 Explanation of Commands111Part 2 Programs 1.7 I/O, Flag Operation z BT (Output port, flag operation) Command, declara

Part 2 ProgramsChapter 3 Explanation of Commands112Part 2 Programs z BTPN (Output ON pulse) Command, declaration Extension condition (LD, A, O, AB

Part 2 Programs Chapter 3 Explanation of Commands113Part 2 Programs z BTPF (Output OFF pulse) Command, declaration Extension condition (LD, A, O,

Part 2 ProgramsChapter 3 Explanation of Commands114Part 2 Programs z WT (Wait for I/O port, flag) Command, declaration Extension condition (LD,

Part 2 Programs Chapter 3 Explanation of Commands115Part 2 Programs z IN (Read I/O, flag as binary) Command, declaration Extension condition (LD,

Part 2 ProgramsChapter 3 Explanation of Commands116Part 2 Programs z INB (Read I/O, flag as BCD) Command, declaration Extension condition (LD, A,

Part 2 Programs Chapter 3 Explanation of Commands117Part 2 Programs z OUT (Write output, flag as binary) Command, declaration Extension condition

Part 2 ProgramsChapter 3 Explanation of Commands118Part 2 Programs z OUTB (Write output, flag as BCD) Command, declaration Extension condition (LD

Part 2 Programs Chapter 3 Explanation of Commands119Part 2 Programs z FMIO (Set IN, INB, OUT, OUTB command format) Command, declaration Extension

Part 2 ProgramsChapter 3 Explanation of Commands120Part 2 Programs (4) Operand 1 = 3 Data is read or written after its upper 16 bits and lower 16

Part 2 Programs Chapter 3 Explanation of Commands121Part 2 Programs [Example 2] Variable 99 = 00001234h (Decimal: 4660, BCD: 1234) 00001234h Varia

Part 2 ProgramsChapter 3 Explanation of Commands122Part 2 Programs 1.8 Program Control z GOTO (Jump) Command, declaration Extension condition (LD

Part 2 Programs Chapter 3 Explanation of Commands123Part 2 Programs z EXSR (Execute subroutine) Command, declaration Extension condition (LD, A, O

Part 2 ProgramsChapter 3 Explanation of Commands124Part 2 Programs z EDSR (End subroutine) Command, declaration Extension condition (LD, A, O, AB,

Part 2 Programs Chapter 3 Explanation of Commands125Part 2 Programs 1.9 Task Management z EXIT (End program) Command, declaration Extension condi

Part 2 ProgramsChapter 3 Explanation of Commands126Part 2 Programs z EXPG (Start other program) Command, declaration Extension condition (LD, A, O

Part 2 Programs Chapter 3 Explanation of Commands127Part 2 Programs z ABPG (Abort other program) Command, declaration Extension condition (LD, A,

Safety Guide“Safety Guide” has been written to use the machine safely and so prevent personal injury or propertydamage beforehand. Make sure to read i

Part 2 ProgramsChapter 3 Explanation of Commands128Part 2 Programs z SSPG (Pause program) Command, declaration Extension condition (LD, A, O, AB,

Part 2 Programs Chapter 3 Explanation of Commands129Part 2 Programs z RSPG (Resume program) Command, declaration Extension condition (LD, A, O, AB

Part 2 ProgramsChapter 3 Explanation of Commands130Part 2 Programs 1.10 Position Operation z PGET (Read position data) Command, declaration Exten

Part 2 Programs Chapter 3 Explanation of Commands131Part 2 Programs z PPUT (Write position data) Command, declaration Extension condition (LD, A,

Part 2 ProgramsChapter 3 Explanation of Commands132Part 2 Programs z PCLR (Clear position data) Command, declaration Extension condition (LD, A, O

Part 2 Programs Chapter 3 Explanation of Commands133Part 2 Programs z PCPY (Copy position data) Command, declaration Extension condition (LD, A, O

Part 2 ProgramsChapter 3 Explanation of Commands134Part 2 Programs z PRED (Read current position) Command, declaration Extension condition (LD, A,

Part 2 Programs Chapter 3 Explanation of Commands135Part 2 Programs z PRDQ (Read current axis position (1 axis direct)) Command, declaration Exten

Part 2 ProgramsChapter 3 Explanation of Commands136Part 2 Programs z PTST (Check position data) Command, declaration Extension condition (LD, A, O

Part 2 Programs Chapter 3 Explanation of Commands137Part 2 Programs z PVEL (Assign speed data) Command, declaration Extension condition (LD, A, O,

No.OperationDescriptionDescription2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons orutilize equipment such as cr

Part 2 ProgramsChapter 3 Explanation of Commands138Part 2 Programs z PACC (Assign acceleration data) Command, declaration Extension condition (LD,

Part 2 Programs Chapter 3 Explanation of Commands139Part 2 Programs z PDCL (Assign deceleration data) Command, declaration Extension condition (LD

Part 2 ProgramsChapter 3 Explanation of Commands140Part 2 Programs z PAXS (Read axis pattern) Command, declaration Extension condition (LD, A, O,

Part 2 Programs Chapter 3 Explanation of Commands141Part 2 Programs z PSIZ (Check position data size) Command, declaration Extension condition (LD

Part 2 ProgramsChapter 3 Explanation of Commands142Part 2 Programs z GVEL (Get speed data) Command, declaration Extension condition (LD, A, O, AB,

Part 2 Programs Chapter 3 Explanation of Commands143Part 2 Programs z GACC (Get acceleration data) Command, declaration Extension condition (LD, A

Part 2 ProgramsChapter 3 Explanation of Commands144Part 2 Programs z GDCL (Get deceleration data) Command, declaration Extension condition (LD, A,

Part 2 Programs Chapter 3 Explanation of Commands145Part 2 Programs 1.11 Actuator Control Declaration z VEL (Set speed) Command, declaration Exte

Part 2 ProgramsChapter 3 Explanation of Commands146Part 2 Programs z OVRD (Override) Command, declaration Extension condition (LD, A, O, AB, OB) I

Part 2 Programs Chapter 3 Explanation of Commands147Part 2 Programs z ACC (Set acceleration) Command, declaration Extension condition (LD, A, O, A

No.OperationDescriptionDescription(2) Cable WiringƔ Use our company’s genuine cables for connecting between the actuatorand controller, and for the te

Part 2 ProgramsChapter 3 Explanation of Commands148Part 2 Programs z DCL (Set deceleration) Command, declaration Extension condition (LD, A, O, AB

Part 2 Programs Chapter 3 Explanation of Commands149Part 2 Programs z SCRV (Set sigmoid motion ratio) Command, declaration Extension condition (LD

Part 2 ProgramsChapter 3 Explanation of Commands150Part 2 Programs z OFST (Set offset) Command, declaration Extension condition (LD, A, O, AB, OB)

Part 2 Programs Chapter 3 Explanation of Commands151Part 2 Programs z DEG (Set arc angle) Command, declaration Extension condition (LD, A, O, AB,

Part 2 ProgramsChapter 3 Explanation of Commands152Part 2 Programs z BASE (Specify axis base) Command, declaration Extension condition (LD, A, O,

Part 2 Programs Chapter 3 Explanation of Commands153Part 2 Programs z GRP (Set group axes) Command, declaration Extension condition (LD, A, O, AB,

Part 2 ProgramsChapter 3 Explanation of Commands154Part 2 Programs z HOLD (Hold: Declare axis port to pause) Command, declaration Extension condit

Part 2 Programs Chapter 3 Explanation of Commands155Part 2 Programs z CANC (Cancel: Declare axis port to abort) Command, declaration Extension con

Part 2 ProgramsChapter 3 Explanation of Commands156Part 2 Programs z VLMX (Specify VLMX speed) Command, declaration Extension condition (LD, A, O,

Part 2 Programs Chapter 3 Explanation of Commands157Part 2 Programs z DIS (Set division distance at spline movement) Command, declaration Extensio

No.OperationDescriptionDescription4 Installationand Start(4) Safety MeasuresƔ When the work is carried out with 2 or more persons, make it clear who i

Part 2 ProgramsChapter 3 Explanation of Commands158Part 2 Programs z POTP (Set PATH output type) Command, declaration Extension condition (LD, A,

Part 2 Programs Chapter 3 Explanation of Commands159Part 2 Programs z PAPR (Set push-motion approach distance, speed) Command, declaration Extensi

Part 2 ProgramsChapter 3 Explanation of Commands160Part 2 Programs z QRTN (Set quick-return mode) Command, declaration Extension condition (LD, A,

Part 2 Programs Chapter 3 Explanation of Commands161Warning : Turning the servo ON near the mechanical end may disturb the magnetic pole phasedetect

Part 2 ProgramsChapter 3 Explanation of Commands162Part 2 ProgramsHOME (Return to home)Command, declarationExtension condition(LD, A, O, AB, OB)Inp

Part 2 Programs Chapter 3 Explanation of Commands163Part 2 Programs z MOVP (Move PTP by specifying position data) Command, declaration Extension c

Part 2 ProgramsChapter 3 Explanation of Commands164Part 2 Programs z MOVL (Move by specifying position data) Command, declaration Extension condit

Part 2 Programs Chapter 3 Explanation of Commands165Part 2 Programs z MVPI (Move via incremental PTP) Command, declaration Extension condition (LD

Part 2 ProgramsChapter 3 Explanation of Commands166Part 2 Programs z MVLI (Move via incremental interpolation) Command, declaration Extension cond

Part 2 Programs Chapter 3 Explanation of Commands167Part 2 Programs z MOVD (Move via direct value specification) Command, declaration Extension co

No.OperationDescriptionDescription6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who isto be the leader and wh

Part 2 ProgramsChapter 3 Explanation of Commands168Part 2 Programs z MVDI (Move relatively via direct value specification) Command, declaration Ex

Part 2 Programs Chapter 3 Explanation of Commands169Part 2 Programs z PATH (Move along path) Command, declaration Extension condition (LD, A, O, A

Part 2 ProgramsChapter 3 Explanation of Commands170Part 2 Programs z JW (Jog) Command, declaration Extension condition (LD, A, O, AB, OB) Input

Part 2 Programs Chapter 3 Explanation of Commands171Part 2 Programs z STOP (Stop movement) Command, declaration Extension condition (LD, A, O, AB,

Part 2 ProgramsChapter 3 Explanation of Commands172Part 2 Programs z PSPL (Move along spline) Command, declaration Extension condition (LD, A, O,

Part 2 Programs Chapter 3 Explanation of Commands173Part 2 Programs z PUSH (Move by push motion) Command, declaration Extension condition (LD, A,

Part 2 ProgramsChapter 3 Explanation of Commands174Part 2 Programs [Example] PAPR 100 20 MOVP 2 PUSH 10Set the push-motion approach distance to

Part 2 Programs Chapter 3 Explanation of Commands175Part 2 Programs z PTRQ (Change push torque limit parameter) Command, declaration Extension con

Part 2 ProgramsChapter 3 Explanation of Commands176Part 2 Programs z CIR2 (Move along circle 2 (arc interpolation)) Command, declaration Extension

Part 2 Programs Chapter 3 Explanation of Commands177Part 2 Programs z ARC2 (Move along circle 2 (arc interpolation)) Command, declaration Extensio

No.OperationDescriptionDescription8 Maintenanceand InspectionƔ When the work is carried out with 2 or more persons, make it clear who isto be the lead

Part 2 ProgramsChapter 3 Explanation of Commands178Part 2 Programs z CHVL (Change speed) Command, declaration Extension condition (LD, A, O, AB, O

Part 2 Programs Chapter 3 Explanation of Commands179Part 2 Programs z ARCD (Move along arc via specification of end position and center angle (arc

Part 2 ProgramsChapter 3 Explanation of Commands180Part 2 Programs z ARCC (Move along arc via specification of center position and center angle (a

Part 2 Programs Chapter 3 Explanation of Commands181Part 2 Programs z PBND (Set positioning band) Command, declaration Extension condition (LD, A,

Part 2 ProgramsChapter 3 Explanation of Commands182Part 2 Programs z CIR (Move along circle) Command, declaration Extension condition (LD, A, O, A

Part 2 Programs Chapter 3 Explanation of Commands183Part 2 Programs z ARC (Move along arc) Command, declaration Extension condition (LD, A, O, AB,

Part 2 ProgramsChapter 3 Explanation of Commands184Part 2 Programs 1.13 Structural IF z IF (Structural IF) Command, declaration Extension condi

Part 2 Programs Chapter 3 Explanation of Commands185Part 2 Programs z IS (Compare strings) Command, declaration Extension condition (LD, A, O, A

Part 2 ProgramsChapter 3 Explanation of Commands186Part 2 Programs z ELSE (Else) Command, declaration Extension condition (LD, A, O, AB, OB) Input

Part 2 Programs Chapter 3 Explanation of Commands187Part 2 Programs 1.14 Structural DO z DW (DO WHILE) Command, declaration Extension condition

Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to thewarning level, as follows, and de

Part 2 ProgramsChapter 3 Explanation of Commands188Part 2 Programs z ITER (Repeat) Command, declaration Extension condition (LD, A, O, AB, OB) Inp

Part 2 Programs Chapter 3 Explanation of Commands189Part 2 Programs 1.15 Multi-Branching z SLCT (Start selected group) Command, declaration Exten

Part 2 ProgramsChapter 3 Explanation of Commands190Part 2 Programs z WH (Select if true; variable) Command, declaration Extension condition (LD,

Part 2 Programs Chapter 3 Explanation of Commands191Part 2 Programs z WS (Select if true; character) Command, declaration Extension condition (L

Part 2 ProgramsChapter 3 Explanation of Commands192Part 2 Programs z OTHE (Select other) Command, declaration Extension condition (LD, A, O, AB, O

Part 2 Programs Chapter 3 Explanation of Commands193Part 2 Programs 1.16 System Information Acquisition z AXST (Get axis status) Command, declara

Part 2 ProgramsChapter 3 Explanation of Commands194Part 2 Programs z PGST (Get program status) Command, declaration Extension condition (LD, A, O,

Part 2 Programs Chapter 3 Explanation of Commands195Part 2 Programs z SYST (Get system status) Command, declaration Extension condition (LD, A, O,

Part 2 ProgramsChapter 3 Explanation of Commands196Part 2 Programs 1.17 Zone z WZNA (Wait for zone ON, with AND) Command, declaration Extension c

Part 2 Programs Chapter 3 Explanation of Commands197Part 2 Programs z WZNO (Wait for zone ON, with OR) Command, declaration Extension condition (L

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

Part 2 ProgramsChapter 3 Explanation of Commands198Part 2 Programs z WZFA (Wait for zone OFF, with AND) Command, declaration Extension condition (

Part 2 Programs Chapter 3 Explanation of Commands199Part 2 Programs z WZFO (Wait for zone OFF, with OR) Command, declaration Extension condition (

Part 2 ProgramsChapter 3 Explanation of Commands200Part 2 Programs 1.18 Communication z OPEN (Open channel) Command, declaration Extension condit

Part 2 Programs Chapter 3 Explanation of Commands201Part 2 Programs z READ (Read) Command, declaration Extension condition (LD, A, O, AB, OB) Inpu

Part 2 ProgramsChapter 3 Explanation of Commands202Part 2 Programs (Note) A READ command must be executed before the other side sends the end char

Part 2 Programs Chapter 3 Explanation of Commands203Part 2 Programs z TMRW (Set READ/WRIT timeout value) Command, declaration Extension condition

Part 2 ProgramsChapter 3 Explanation of Commands204Part 2 Programs Read completes successfully within 30 seconds o Variable No. 1 = 0 Timeout occur

Part 2 Programs Chapter 3 Explanation of Commands205Part 2 Programs z WRIT (Write) Command, declaration Extension condition (LD, A, O, AB, OB) Inp

Part 2 ProgramsChapter 3 Explanation of Commands206Part 2 Programs z SCHA (Set end character) Command, declaration Extension condition (LD, A, O,

Part 2 Programs Chapter 3 Explanation of Commands207Part 2 Programs 1.19 String Operation z SCPY (Copy character string) Command, declaration Ext

Part 1 Installation Chapter 1 Overview1Part 1 Installation Part 1 Installation Chapter 1 Overview 1. Introduction Thank you for purchasing the A

Part 2 ProgramsChapter 3 Explanation of Commands208Part 2 Programs z SCMP (Compare character strings) Command, declaration Extension condition (LD

Part 2 Programs Chapter 3 Explanation of Commands209Part 2 Programs z SGET (Get character) Command, declaration Extension condition (LD, A, O, AB,

Part 2 ProgramsChapter 3 Explanation of Commands210Part 2 Programs z SPUT (Set character) Command, declaration Extension condition (LD, A, O, AB,

Part 2 Programs Chapter 3 Explanation of Commands211Part 2 Programs z STR (Convert character string; decimal) Command, declaration Extension condi

Part 2 ProgramsChapter 3 Explanation of Commands212Part 2 Programs z STRH (Convert character string; hexadecimal) Command, declaration Extension c

Part 2 Programs Chapter 3 Explanation of Commands213Part 2 Programs z VAL (Convert character string data; decimal) Command, declaration Extension

Part 2 ProgramsChapter 3 Explanation of Commands214Part 2 Programs z VALH (Convert character string data; hexadecimal) Command, declaration Extens

Part 2 Programs Chapter 3 Explanation of Commands215Part 2 Programs z SLEN (Set length) Command, declaration Extension condition (LD, A, O, AB, OB

Part 2 ProgramsChapter 3 Explanation of Commands216Part 2 Programs 1.20 Arch-Motion-Related z ARCH (Arch motion) Command, declaration Extension c

Part 2 Programs Chapter 3 Explanation of Commands217Part 2 Programs x The arch-motion Z-axis will come down after a rise-process command value is o

Part 1 InstallationChapter 1 Overview2Part 1 Installation 3. ASEL Controller Functions The functions provided by the ASEL controller are structure

Part 2 ProgramsChapter 3 Explanation of Commands218Part 2 Programs z ACHZ (Declare arch-motion Z-axis) Command, declaration Extension condition (L

Part 2 Programs Chapter 3 Explanation of Commands219Part 2 Programs z ATRG (Set arch triggers) Command, declaration Extension condition (LD, A, O,

Part 2 ProgramsChapter 3 Explanation of Commands220Part 2 Programs z OFAZ (Set arch-motion Z-axis offset) Command, declaration Extension condition

Part 2 Programs Chapter 3 Explanation of Commands221Part 2 Programs 1.21 Palletizing-Related z BGPA (Declare start of palletizing setting) Comman

Part 2 ProgramsChapter 3 Explanation of Commands222Part 2 Programs z PAPI (Set palletizing counts) Command, declaration Extension condition (LD, A

Part 2 Programs Chapter 3 Explanation of Commands223Part 2 Programs z PASE (Declare palletizing axes) Command, declaration Extension condition (LD

Part 2 ProgramsChapter 3 Explanation of Commands224Part 2 Programs z PAST (Set palletizing reference point) Command, declaration Extension conditi

Part 2 Programs Chapter 3 Explanation of Commands225Part 2 Programs z PAPS (Set palletizing points) For 3-point teaching Command, declaration Exte

Part 2 ProgramsChapter 3 Explanation of Commands226Part 2 Programs x If the valid axis pattern does not match the point data for 3-point teaching o

Part 2 Programs Chapter 3 Explanation of Commands227Part 2 Programs z PSLI (Set zigzag) Command, declaration Extension condition (LD, A, O, AB, OB

Part 1 Installation Chapter 1 Overview3Part 1 Installation This controller can be configured with one axis and two axes. Just like other convention

Part 2 ProgramsChapter 3 Explanation of Commands228Part 2 Programs 1.22 Palletizing Calculation Command z PTNG (Get palletizing position number)

Part 2 Programs Chapter 3 Explanation of Commands229Part 2 Programs z PDEC (Decrement palletizing position number by 1) Command, declaration Exten

Part 2 ProgramsChapter 3 Explanation of Commands230Part 2 Programs z PARG (Get palletizing angle) Command, declaration Extension condition (LD, A,

Part 2 Programs Chapter 3 Explanation of Commands231Part 2 Programs 1.23 Palletizing Movement Command z PMVP (Move to palletizing points via PTP)

Part 2 ProgramsChapter 3 Explanation of Commands232Part 2 Programs z PMVL (Move to palletizing points via interpolation) Command, declaration Exte

Part 2 Programs Chapter 3 Explanation of Commands233Part 2 Programs 1.24 Building of Pseudo-Ladder Task z CHPR (Change task level) Command, decla

Part 2 ProgramsChapter 3 Explanation of Commands234Part 2 Programs z TSLP (Task sleep) Command, declaration Extension condition (LD, A, O, AB, OB)

Part 2 Programs Chapter 3 Explanation of Commands235Part 2 Programs 1.25 Extended Command z ECMD1 (Get motor current value (as percentage of rate

Part 2 ProgramsChapter 3 Explanation of Commands236Part 2 Programs z ECMD5 (Get axis operation status) Command, declaration Extension condition (L

Part 2 Programs Chapter 3 Explanation of Commands237Part 2 Programs z ECMD20 (Get parameter value) Command, declaration Extension condition (LD, A

Part 1 InstallationChapter 1 Overview4Part 1 Installation 4. System Setup * Note on connecting the encoder cable to a controller of absolute speci

Part 2 ProgramsChapter 4 Key Characteristics of Actuator Control Commands and Points to Note238Part 2 Programs Chapter 4 Key Characteristics of A

Part 2 Programs Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note239Part 2 Programs (POTP = 1) [Example 1] POTP 1 O

Part 2 ProgramsChapter 4 Key Characteristics of Actuator Control Commands and Points to Note240Part 2 Programs 2. PATH/PSPL Commands When executi

Part 2 Programs Chapter 5 Palletizing Function (2-axis Specication)241Part 2 Programs Chapter 5 Palletizing Function (2-axis Specification) The S

Part 2 ProgramsChapter 5 Palletizing Function (2-axis Specication)242Part 2 Programs (2) Palletizing pattern --- Command: PAPN Select a pattern i

Part 2 Programs Chapter 5 Palletizing Function (2-axis Specication)243Part 2 Programs A. 3-point teaching method To set the palletizing positions

Part 2 ProgramsChapter 5 Palletizing Function (2-axis Specication)244Part 2 Programs B. Method to set palletizing positions in parallel with the

Part 2 Programs Chapter 5 Palletizing Function (2-axis Specication)245Part 2 Programs (5) Zigzag setting --- Command: PSLI Use a PSLI command to

Part 2 ProgramsChapter 5 Palletizing Function (2-axis Specication)246Part 2 Programs 3. Palletizing Calculation The items that can be operated or

Part 2 Programs Chapter 5 Palletizing Function (2-axis Specication)247Part 2 Programs 4. Palletizing Movement Palletizing movement commands are u

Part 1 Installation Chapter 1 Overview5Part 1 Installation 5. Warranty Period and Scope of Warranty The ASEL Controller you have purchased passed

Part 2 ProgramsChapter 5 Palletizing Function (2-axis Specication)248Part 2 Programs 5. Program Examples (1) Simple program example (two-axis sp

Part 2 Programs Chapter 5 Palletizing Function (2-axis Specication)249Part 2 Programs (2) Simple program example (two-axis specification) using P

Part 2 ProgramsChapter 6 Pseudo-Ladder Task250Part 2 Programs Chapter 6 Pseudo-Ladder Task With the ASEL Controller, a pseudo-ladder task functio

Part 2 Programs Chapter 6 Pseudo-Ladder Task251Part 2 Programs 2. Ladder Statement Field [1] Extension conditions LD LOAD A AND O OR AB AND B

Part 2 ProgramsChapter 6 Pseudo-Ladder Task252Part 2 Programs 4. Program Example Extension condition N Input condition Command Operand 1 Operand

Chapter 7 Application Program ExamplesPart 2 Programs253Part 2 Programs Chapter 7 Application Program Examples 1. Operation by Jog Command [Doll

Chapter 7 Application Program ExamplesPart 2 Programs254Part 2 Programs (2) Explanation of the operation 1. Wait for the axis-1 movement pushbutt

Chapter 7 Application Program ExamplesPart 2 Programs255Part 2 Programs (3) ASEL Controller application program Step E N Cnd Cmnd Operand 1 O

Chapter 7 Application Program ExamplesPart 2 Programs256Part 2 Programs 2. Operation by Point Movement Command [Riveting System] (1) Overview of

Chapter 7 Application Program ExamplesPart 2 Programs257Part 2 Programs (2) Explanation of the operation [1] The XY-table moves to the operation

Part 1 InstallationChapter 2 Specications6Part 1 Installation Chapter 2 Specifications 1. Controller Specifications Base specifications of this

Chapter 7 Application Program ExamplesPart 2 Programs258Part 2 Programs (3) ASEL Controller application program Step E N Cnd Cmnd Operand 1 O

Part 2 ProgramsChapter 8 Real-Time Multi-Tasking259Part 2 Programs Chapter 8 Real-Time Multi-Tasking 1. SEL Language The ASEL Controller allows i

Part 2 ProgramsChapter 8 Real-Time Multi-Tasking260Part 2 Programs 2. Multi-Tasking “Multi-tasking” operation may not be a familiar term, but it i

Part 2 ProgramsChapter 8 Real-Time Multi-Tasking261Part 2 Programs 3. Difference from a Sequencer The parallel processing method has evolved from

Part 2 ProgramsChapter 8 Real-Time Multi-Tasking262Part 2 Programs 4. Release of Emergency Stop Default factory settings of parameters “Other para

Part 2 ProgramsChapter 8 Real-Time Multi-Tasking263Part 2 Programs 5. Program Switching Various methods are available to switch between programs,

Part 2 ProgramsChapter 9 Example of Building a System264Part 2 Programs Chapter 9 Example of Building a System How to build hardware and software

Part 2 ProgramsChapter 9 Example of Building a System265Part 2 Programs 3. Overview of the Screw-Tightening System This system consists of axis-1

Part 2 ProgramsChapter 9 Example of Building a System266Part 2 Programs 4. Hardware Pin No. Category Port No. Function 1A P24 External power

Part 2 ProgramsChapter 9 Example of Building a System267Part 2 Programs 5. Software (1) Control flow chart Main program: Screw-tightening machine

Part 1 Installation Chapter 2 Specications7Part 1 Installation 2. Name and Function of Each Part 2.1 Name of Each Part 2.1.1 Front View *1 For

Part 2 ProgramsChapter 9 Example of Building a System268Part 2 Programs (2) Main program Screw-tightening program No. 1 Application program Ex

Part 2 ProgramsChapter 10 Example of Building a System269Part 2 Programs Chapter 10 Example of Building a System 1. Position Table Position Table

Part 2 ProgramsChapter 10 Example of Building a System270Part 2 Programs 2. Programming Format Program Edit Screen (PC Software)The ASEL controlle

Part 2 ProgramsChapter 10 Example of Building a System271Part 2 Programs 3. Positioning to Five Positions Description Move the actuator to positio

Part 2 ProgramsChapter 10 Example of Building a System272Part 2 Programs 4. How to Use TAG and GOTO Description Use GOTO and TAG commands to repea

Part 2 ProgramsChapter 10 Example of Building a System273Part 2 Programs 5. Moving Back and Forth between Two Points Description Moves back and fo

Part 2 ProgramsChapter 10 Example of Building a System274Part 2 Programs 6. Path Operation Description Move continuously through four arbitrary po

Part 2 ProgramsChapter 10 Example of Building a System275Part 2 Programs 7. Output Control during Path Movement Description In spray operation, et

Part 2 ProgramsChapter 10 Example of Building a System276Part 2 Programs 8. Circle/Arc Operation Description The actuator moves along a two-dimens

Part 2 ProgramsChapter 10 Example of Building a System277Part 2 Programs 9. Home Return Completion Output Description Output a signal to confirm c

Please Read Before UseThank you for purchasing our product.This Operation Manual explains the handling methods, structure and maintenance of this prod

Part 1 InstallationChapter 2 Specications8Part 1 Installation 2.1.2 Down View 2.1.3 Top View [14] Control power & system I/O connector [16]

Part 2 ProgramsChapter 10 Example of Building a System278Part 2 Programs 10. Axis Movement by Input Waiting and Completion Output Description How t

Part 2 ProgramsChapter 10 Example of Building a System279Part 2 Programs 11. Changing the Moving Speed Description Change the moving speed. How to

Part 2 ProgramsChapter 10 Example of Building a System280Part 2 Programs 12. Changing the Speed during Operation Description Use a PATH command to

Part 2 ProgramsChapter 10 Example of Building a System281Part 2 Programs 13. Local/Global Variables and Flags Description The internal variables an

Part 2 ProgramsChapter 10 Example of Building a System282Part 2 Programs 14. How to Use Subroutines Description A subroutine is a group of steps th

Part 2 ProgramsChapter 10 Example of Building a System283Part 2 Programs 15. Pausing the Operation Description Use a declaration command HOLD to pa

Part 2 ProgramsChapter 10 Example of Building a System284Part 2 Programs 16. Canceling the Operation 1 (CANC) Description Use a declaration command

Part 2 ProgramsChapter 10 Example of Building a System285Part 2 Programs 17. Canceling the Operation 2 (STOP) Description Decelerate the moving axi

Part 2 ProgramsChapter 10 Example of Building a System286Part 2 Programs 18. Movement by Position Number Specification Description Load externally

Part 2 ProgramsChapter 10 Example of Building a System287Part 2 Programs 19. Movement by External Position Data Input Description Receive target po

Part 1 Installation Chapter 2 Specications9Part 1 Installation [1] Axis 1 motor connector (M1): This connector is used to connect the motor cabl

Part 2 ProgramsChapter 10 Example of Building a System288Part 2 Programs 20. Conditional Jump Description Select the destination to jump to via GOT

Part 2 ProgramsChapter 10 Example of Building a System289Part 2 Programs 21. Waiting Multiple Inputs Description The controller waits for multiple

Part 2 ProgramsChapter 10 Example of Building a System290Part 2 Programs 22. How to Use Offset Description With an OFST command, an offset can be s

Part 2 ProgramsChapter 10 Example of Building a System291Part 2 Programs 23. Executing an Operation N times Description Execute a specific operatio

Part 2 ProgramsChapter 10 Example of Building a System292Part 2 Programs 24. Constant-pitch Feed Description Feed the actuator by a specified pitch

Part 2 ProgramsChapter 10 Example of Building a System293Part 2 Programs 25. Jogging Description The slider moves forward or backward while an inpu

Part 2 ProgramsChapter 10 Example of Building a System294Part 2 Programs 26. Switching Programs Description Use EXPG/ABPG commands to switch progra

Part 2 ProgramsChapter 10 Example of Building a System295Part 2 Programs 27. Aborting a Program Description Abort a program currently running. Exec

Part 3 Positioner ModeChapter 1 Modes and Signal Assignments296Part 3 Positioner Mode Part 3 Positioner Mode In the positioner mode, position data

Part 3 Positioner Mode Chapter 1 Modes and Signal Assignments297Part 3 Positioner Mode 2. Number of Positions Supported in Each Mode Mode Number o

Part 1 InstallationChapter 2 Specications10Part 1 Installation [4] Axis 1 encoder/sensor connector (PG1): This connector is used to connect the e

Part 3 Positioner ModeChapter 1 Modes and Signal Assignments298Part 3 Positioner Mode 4. Interface List of All PIO Patterns Positioner mode Pin No

Part 3 Positioner Mode Chapter 2 Standard Mode299Part 3 Positioner Mode Chapter 2 Standard Mode The standard mode provides a PIO pattern of greate

Part 3 Positioner ModeChapter 2 Standard Mode300Part 3 Positioner Mode 2. Parameters To use the controller in the standard mode, set other paramet

Part 3 Positioner Mode Chapter 2 Standard Mode301Part 3 Positioner ModeCancellation (*CANC)If this signal turns OFF while the actuator is moving, t

Part 3 Positioner ModeChapter 2 Standard Mode302Part 3 Positioner Mode  Interpolation (LINE) With the 2-axis specification, input of the position

Part 3 Positioner Mode Chapter 2 Standard Mode303Part 3 Positioner Mode4. Details of Each Output SignalPositioning complete (PEND)This signal indic

Part 3 Positioner ModeChapter 2 Standard Mode304Part 3 Positioner Mode 5. Timing Chart 5.1 Recognition of I/O Signals An input time constant is s

Part 3 Positioner Mode Chapter 2 Standard Mode305Part 3 Positioner Mode5.2 Home ReturnTimings associated with home-return operation are illustrated

Part 3 Positioner ModeChapter 2 Standard Mode306Part 3 Positioner Mode 5.3 Movements through Positions Timings of how the actuator moves through p

Part 3 Positioner Mode Chapter 2 Standard Mode307Part 3 Positioner Mode * To perform push-motion or interpolation operation, turn ON the applicable

Part 1 Installation Chapter 2 Specications11Part 1 Installation Encoder cable Controller end Actuator end White/Purple White/Gray Yellow Blue Whit

Part 3 Positioner ModeChapter 3 Product Switching Mode308Part 3 Positioner Mode Chapter 3 Product Switching Mode In addition to position numbers,

Part 3 Positioner Mode Chapter 3 Product Switching Mode309Part 3 Positioner Mode 2. Parameters The following parameters must be set in the product

Part 3 Positioner ModeChapter 3 Product Switching Mode310Part 3 Positioner Mode 3. Details of Each Input Signal  Start (CSTR) Movement to the po

Part 3 Positioner Mode Chapter 3 Product Switching Mode311Part 3 Positioner ModeThe input mode can be changed to BCD by changing the setting of othe

Part 3 Positioner ModeChapter 3 Product Switching Mode312Part 3 Positioner Mode  Error reset (RES) This signal is used to reset the alarm output

Part 3 Positioner Mode Chapter 3 Product Switching Mode313Part 3 Positioner Mode 4. Details of Each Output Signal  Positioning complete (PEND) T

Part 3 Positioner ModeChapter 3 Product Switching Mode314Part 3 Positioner Mode 5. Timing Chart 5.1 Recognition of I/O Signals An input time cons

Part 3 Positioner Mode Chapter 3 Product Switching Mode315Part 3 Positioner Mode5.2 Home ReturnTimings associated with home-return operation are ill

Part 3 Positioner ModeChapter 3 Product Switching Mode316Part 3 Positioner Mode 5.3 Movements through Positions Timings of how the actuator moves

Part 3 Positioner Mode Chapter 3 Product Switching Mode317Part 3 Positioner Mode * To perform push-motion or interpolation operation, turn ON the a

Part 1 InstallationChapter 2 Specications12Part 1 Installation Encoder cable Controller end Blue Orange Green Brown Gray RedBlack Yellow Pink Purp

Part 3 Positioner ModeChapter 4 2-axis Independent Mode318Part 3 Positioner Mode Chapter 4 2-axis Independent Mode With the 2-axis specification,

Part 3 Positioner Mode Chapter 4 2-axis Independent Mode319Part 3 Positioner Mode 2. Parameters The following parameters must be set in the 2-axis

Part 3 Positioner ModeChapter 4 2-axis Independent Mode320Part 3 Positioner Mode 3. Details of Each Input Signal  Position inputs 1 through 13 (

Part 3 Positioner Mode Chapter 4 2-axis Independent Mode321Part 3 Positioner Mode  Axis 2 start (CSTR2) Axis 2 will start moving to the position

Part 3 Positioner ModeChapter 4 2-axis Independent Mode322Part 3 Positioner ModeAxis 1 servo ON (SON1)The servo for axis 1 will remain ON while thi

Part 3 Positioner Mode Chapter 4 2-axis Independent Mode323Part 3 Positioner Mode  Axis 1 home return complete (HEND1) This signal is OFF while

Part 3 Positioner ModeChapter 4 2-axis Independent Mode324Part 3 Positioner Mode 5. Timing Chart 5.1 Recognition of I/O Signals An input time con

Part 3 Positioner Mode Chapter 4 2-axis Independent Mode325Part 3 Positioner Mode5.2 Home ReturnTimings associated with home-return operation are i

Part 3 Positioner ModeChapter 4 2-axis Independent Mode326Part 3 Positioner Mode 5.3 Movements through Positions Timings of how the actuator moves

Part 3 Positioner Mode Chapter 5 Teaching Mode327Part 3 Positioner Mode Chapter 5 Teaching Mode In addition to normal positioning operation, joggi

Part 1 Installation Chapter 2 Specications13Part 1 Installation [5] Axis 2 brake-release switch (BK2):This switch is used to forcibly release the

Part 3 Positioner ModeChapter 5 Teaching Mode328Part 3 Positioner Mode 1. I/O Interface List Pin No. Category Port No. Signal name Signal symbolFu

Part 3 Positioner Mode Chapter 5 Teaching Mode329Part 3 Positioner Mode 2. Parameters To use the controller in the teaching mode, set other parame

Part 3 Positioner ModeChapter 5 Teaching Mode330Part 3 Positioner ModeServo ON (SON)The servo remains on while this signal is ON.Use this signal if

Part 3 Positioner Mode Chapter 5 Teaching Mode331Part 3 Positioner Mode  Axis 1 jog (JOG1+, JOG1-) These signals are effective when the aforement

Part 3 Positioner ModeChapter 5 Teaching Mode332Part 3 Positioner Mode 4. Details of Each Output Signal  Positioning complete (PEND) This signal

Part 3 Positioner Mode Chapter 5 Teaching Mode333Part 3 Positioner Mode  Servo ON output (SVON) This signal will turn ON when the servo turns on.

Part 3 Positioner ModeChapter 5 Teaching Mode334Part 3 Positioner Mode 5. Timing Chart 5.1 Recognition of I/O Signals An input time constant is s

Part 3 Positioner Mode Chapter 5 Teaching Mode335Part 3 Positioner Mode5.2 Home ReturnIn the teaching mode, no dedicated home-return input is availa

Part 3 Positioner ModeChapter 5 Teaching Mode336Part 3 Positioner Mode 5.3 Movements through Positions Timings of how the actuator moves through p

Part 3 Positioner Mode Chapter 5 Teaching Mode337Part 3 Positioner Mode 5.4 Timings in the Teaching Mode T1: At least 20 msec. T1 represents the t

Part 1 InstallationChapter 2 Specications14Part 1 Installation I/O Interface List (Program mode) Pin No. Category Port No. Function Cable color

Part 3 Positioner ModeChapter 6 DS-S-C Compatible Mode338Part 3 Positioner Mode Chapter 6 DS-S-C1 Compatible Mode In this mode, the same I/O assig

Part 3 Positioner Mode Chapter 6 DS-S-C Compatible Mode339Part 3 Positioner Mode 2. Parameters To use the controller in the DS-S-C1 compatible mod

Part 3 Positioner ModeChapter 6 DS-S-C Compatible Mode340Part 3 Positioner Mode  Cancellation (CANC) If this signal turns ON while the actuator i

Part 3 Positioner Mode Chapter 6 DS-S-C Compatible Mode341Part 3 Positioner Mode 4. Details of Each Output Signal  Ready (RDY) This signal will

Part 3 Positioner ModeChapter 6 DS-S-C Compatible Mode342Part 3 Positioner Mode 5. Timing Chart 5.1 Recognition of I/O Signals An input time cons

Part 3 Positioner Mode Chapter 6 DS-S-C Compatible Mode343Part 3 Positioner Mode5.2 Home ReturnIn the DS-S-C1 compatible mode, no dedicated home-re

Part 3 Positioner ModeChapter 6 DS-S-C Compatible Mode344Part 3 Positioner Mode 5.3 Movements through Positions Timings of how the actuator moves

Part 3 Positioner Mode Chapter 6 DS-S-C Compatible Mode345Appendix

AppendixList of Applicable Actuator Specications346Appendix~ List of Applicable Actuator Specifications Slider type *Note 1 Each band indicates a

Appendix Battery Backup Function347AppendixAppendix Battery Backup Function The ASEL controller uses the following two batteries. x System-memory b

Part 1 Installation Chapter 2 Specications15Part 1 Installation [10] MANU/AUTO switch: This switch is used to specify the controller operation m

AppendixBattery Backup Function348Appendix<Battery Replacement> To replace the system-memory backup battery, disconnect the battery connector on

Appendix Battery Backup Function349Appendix2. Absolute-Data Backup Battery for Absolute Encoder If the ASEL controller is to drive/control an absolut

AppendixBattery Backup Function350AppendixThe absolute encoder backup specifications are shown in the table below. List of Absolute Encoder Backup Fu

Appendix Parameter Utilization351Appendix Parameter UtilizationFunctions not initially available on the controller can be added, or dedicated functio

AppendixParameter Utilization352Appendix1. Utilization Examples of I/O Parameters I/Os include general-purpose inputs/outputs and dedicated inputs/ou

Appendix Parameter Utilization353AppendixExample 1) How to set input port No. 5 as an input to forcibly release the brake for axis 1 Change the input

AppendixParameter Utilization354Appendix(2) Explanation of input function specification valuesInput function specification value 0: General-purpose in

Appendix Parameter Utilization355AppendixInput function specification value 9: Start-program number specification bit 1 (least significant bit) This

AppendixParameter Utilization356AppendixInput function specification value 22: Axis 1 forced brake release Forcibly release the brake (axis 1). Note

Appendix Parameter Utilization357Appendix(3) Explanation of output function specification values Output function specification value 0: General-purp

Part 1 InstallationChapter 2 Specications16Part 1 Installation [12] Teaching connector (TP):The teaching interface connects IAI’s teaching pendan

AppendixParameter Utilization358AppendixOutput function specification value 13: All-valid-axes home-return complete (coordinate confirmed) outputA si

Appendix Parameter Utilization359Appendix2. Utilization Examples of Axis-specific ParametersThe following functions can be added to, or changed from t

AppendixParameter Utilization360AppendixChange the home return direction Axis-specific parameter No. 6, “Coordinate/physical-operation direction selec

Appendix Parameter Utilization361AppendixAbout the home-return method Axis-specific parameter No. 10, “Home-return method” No. Parameter name Default

AppendixParameter Utilization362AppendixSet a home preset Axis-specific parameter No. 12, “Home preset value” No. Parameter name Default value Input

Appendix Parameter Utilization363AppendixSet a home offsetAxis-specific parameter No. 21, “Offset travel distance at home return”No. Parameter name De

AppendixParameter Utilization364AppendixHome return is desired in vertical installationDriver parameters No.39 “Push torque limit at home return”No. P

Appendix Parameter Utilization365AppendixApply length measurement correction Axis-specific parameter No. 44, “Length measurement correction” No. Para

AppendixParameter Utilization366AppendixZone output A signal can be output when the actuator has entered a desired zone specified by the user. Three

Appendix Parameter Utilization367AppendixThe zone output function allows four zones (zones 1 through 4) to be set for each axis. No. Parameter name

Part 1 Installation Chapter 2 Specications17Part 1 Installation Teaching pendant & dedicated communication cable connector Item Specification

AppendixParameter Utilization368Warning : Turning the servo ON near themechanical end may disturb themagnetic pole phase detection, andmay cause the m

Appendix Parameter Utilization369Appendix Description Action Parameter setting Operation/outcome 8Enter program numbers as binary codes using input

AppendixParameter Utilization370369Appendix Description Action Parameter setting Operation/outcome 15Output a signal when all valid axes have comple

Appendix Parameter Utilization371Appendix Description Action Parameter setting Operation/outcome 21Switch between the AUTO mode and MANUAL mode usin

AppendixParameter Utilization372Appendix4. Servo Gain Adjustment Since the servo has been adjusted at the factory in accordance with the standard spe

Appendix Parameter Utilization373Appendixz Speed loop integral gain Driver parameter number Unit Input range Default value (reference) 44 --- 1 to 3

AppendixList of Parameters374Appendix List of Parameters If you have any question regarding changing the parameters, please contact IAI’s Sales Engin

Appendix List of Parameters375Appendix1. I/O Parameters 1.1 I/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks

AppendixList of Parameters376AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 27 (For expansion) 028 (

Appendix List of Parameters377AppendixI/O Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 54 Output function select

CAUTIONOperator Alarm on Low Battery Voltage This controller is equipped with the following backup batteries for retention of data in the event of pow

Part 1 InstallationChapter 2 Specications18Part 1 Installation [13] System-memory backup battery connector: This connector is used to install the

AppendixList of Parameters378AppendixI/O ParametersNo. Parameter nameDefault value(Reference)skrameRtinUegnartupnI83 (PC/TP SIO reservation) 084 (PC/T

Appendix List of Parameters379AppendixI/O ParametersNo. Parameter nameDefault value(Reference)skrameRtinUegnartupnI136 Network system reservation552~0

AppendixList of Parameters380AppendixI/O ParametersNo. Parameter nameDefault value(Reference)skrameRtinUegnartupnI260 Input function selection 025 0 0

Appendix List of Parameters381Appendix1.2 I/O Function Lists (1) Input Function List Input function specification value Function name Remarks0 Gene

AppendixList of Parameters382Appendix(2) Output Function List Output function specification value Function name Remarks0 General-purpose output 1 Op

Appendix List of Parameters383Appendix2. Parameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks ~1 Va

AppendixList of Parameters384AppendixParameters Common to All Axes No. Parameter name Default value (Reference) Input range Unit Remarks 25 (Accele

Appendix List of Parameters385Appendix3. Axis-Specific Parameters No Parameter name Default value (Reference) Input range Unit Remarks ~1 Axis ope

AppendixList of Parameters386AppendixAxis-Specific Parameters No Parameter name Default value (Reference) Input range Unit Remarks 26 (Phase-Z evac

Appendix List of Parameters387AppendixAxis-Specific Parameters No Parameter name Default value (Reference) Input range Unit Remarks 57 Push-abort d

Part 1 Installation Chapter 2 Specications19Part 1 Installation [16] Motor power connector: This connector is used to input the 24-VDC motor pow

AppendixList of Parameters388AppendixAxis-Specific Parameters No Parameter name Default value (Reference) Input range Unit Remarks 84 Maximum synch

Appendix List of Parameters389Appendix4. Driver Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Type (upper) (M

AppendixList of Parameters390AppendixDriver parametersNo. Parameter nameDefault value(Reference)Input range Unit Remarks29 Motor/encoder characteristi

Appendix List of Parameters391AppendixDriver parametersNo. Parameter nameDefault value(Reference)Input range Unit Remarks60 Current control word 8 0H

AppendixList of Parameters392Appendix5. Encoder Parameters No. Parameter name Default value (Reference)Input range Unit Remarks 1 Type (upper) (Ma

Appendix List of Parameters393Appendix6. I/O Devices No. Parameter name Default value (Reference) Input range Unit Remarks 1 Type (upper) (Manufa

AppendixList of Parameters394Appendix7. Other Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 1 Auto-start progra

Appendix List of Parameters395AppendixOther Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 12 Automatic operation

AppendixList of Parameters396AppendixOther Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 36 PC/TP data protect s

Appendix List of Parameters397AppendixOther Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 40 EEPROM information

Chapter 3 Installation and WiringPart 1 Installation20Part 1 Installation Chapter 3 Installation and Wiring 1. External Dimensions (1) 2-axis sp

AppendixList of Parameters398AppendixOther Parameters No. Parameter name Default value (Reference) Input range Unit Remarks 49 Panel 7-segment disp

Appendix List of Parameters399Appendix8. Manual Operation Types The selectable operation types will vary depending on the setting of the “Manual oper

AppendixCombination Table of ASEL Linear/Rotary Control Parameters400Appendix  Combination Table of ASEL Linear/Rotary Control Parameters Permitted e

Appendix Error Level Control401Appendix  Error Level Control Program run (Application only) ErrorlevelSystem error assignmentsourceError No. (HEX)Dis

AppendixError Level Control402Appendix Program run (Application only) ErrorlevelSystem error assignmentsourceError No. (HEX)Display (7-segmentdisplay,

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)403Appendix  Error List (MAIN appli

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)404Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)405Appendix (In the panel window, th

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)406Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)407Appendix (In the panel window, th

Part 1 InstallationChapter 3 Installation and Wiring21Part 1 Installation (2) 2-axis specification with battery

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)408Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)409Appendix (In the panel window, th

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)410Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)411Appendix (In the panel window, th

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)412Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)413Appendix (In the panel window, th

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)414Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)415Appendix (In the panel window, th

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)416Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)417Appendix (In the panel window, th

Chapter 3 Installation and WiringPart 1 Installation22Part 1 Installation As for the use environment, this product can be used in an environment of

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)418Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)419Appendix (In the panel window, th

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)420Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)421Appendix (In the panel window, th

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)422Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)423Appendix (In the panel window, th

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)424Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)425Appendix (In the panel window, th

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)426Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)427Appendix (In the panel window, th

Part 1 InstallationChapter 3 Installation and Wiring23Part 1 Installation 3. Heat Radiation and Installation Design the control panel size, contro

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)428Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)429Appendix (In the panel window, th

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)430Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)431Appendix (In the panel window, th

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)432Appendix (In the panel window, the

Appendix Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)433Appendix (In the panel window, th

AppendixError List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)434Appendix (In the panel window, the

Appendix Error List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.)435Appendix  Error List (MAIN core) (In th

AppendixError List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.)436Appendix (In the panel window, the three

Appendix Error List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.)437Appendix (In the panel window, the three

Chapter 3 Installation and WiringPart 1 Installation24Part 1 Installation 4. Noise Control Measures and Grounding The ASEL controller has no dedic

AppendixError List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.)438Appendix (In the panel window, the three

Appendix Troubleshooting of ASEL Controller439Appendix Troubleshooting of ASEL Controller After the optional panel unit was connected, the panel wind

AppendixTroubleshooting of ASEL Controller440Appendix Troubleshooting (Causes and Countermeasures for Key Errors) Error No. Error name Cause Counte

Appendix Troubleshooting of ASEL Controller441Appendix Error No. Error name Cause Countermeasure d03 Faulty encoder or attachment of dustThe encod

AppendixTroubleshooting of ASEL Controller442

Appendix Trouble Report Sheet443Trouble Report Sheet Trouble Report Sheet Date:Company name Department Reported by TEL (Ext) FAXIAI agent Purchas

Change History444Change HistoryRevision Date Description of RevisionFirst editionSeptember 2007 Second editionAugust 2008 Third editionJune 2010 Fourt

Manual No.: ME0165-7A (February 2013)The information contained in this document is subject to change without notice for purposes ofproduct improvement

Part 1 InstallationChapter 3 Installation and Wiring25Part 1 Installation (3) Noise sources and noise elimination There are many noise sources, bu

Chapter 3 Installation and WiringPart 1 Installation26Part 1 Installation Reference Circuit Diagram ControllerSurge absorber Solenoid valve

Part 1 InstallationChapter 3 Installation and Wiring27Part 1 Installation 5. Supply Voltage The supply voltage to the controller is 24 VDC r 10%.

CAUTIONOptional System-Memory Backup BatteryThe ASEL controller can be used with the optional system-memory backup battery. Caution: When installing t

Chapter 3 Installation and WiringPart 1 Installation28Part 1 Installation 6. Wiring 6.1 Wiring the Control Power Supply, Emergency Stop Switch an

Part 1 InstallationChapter 3 Installation and Wiring29Part 1 Installation 6.2 Wiring the Motor Power Cables As shown to the left, insert the strip

Chapter 3 Installation and WiringPart 1 Installation30Part 1 Installation 6.3 Connecting the Actuator 6.3.1 Connecting the Motor Cable (M1/M2) Co

Part 1 InstallationChapter 3 Installation and Wiring31Part 1 Installation 6.4 Connecting the PIO Cable (I/O) Connect the supplied flat cable. Conn

Chapter 3 Installation and WiringPart 1 Installation32Part 1 Installation 6.4.1 I/O Connection Diagram (1) NPN specification (Program mode) Pin N

Part 1 InstallationChapter 3 Installation and Wiring33Part 1 Installation (2) PNP specification (Program mode) Pin No. Category Port No. Function

Chapter 3 Installation and WiringPart 1 Installation34Part 1 Installation (3) NPN specification (Positioner mode) Pin No.Category Port No. Positio

Part 1 InstallationChapter 3 Installation and Wiring35Part 1 Installation (4) PNP specification (Positioner mode) Pin No.Category Port No. Positio

Chapter 3 Installation and WiringPart 1 Installation36Part 1 Installation 6.5 External I/O Specifications 6.5.1 NPN Specification (1) Input part

Part 1 InstallationChapter 3 Installation and Wiring37Part 1 Installation (2) Output part External Output Specifications (NPN Specification)Item S

Chapter 3 Installation and WiringPart 1 Installation38Part 1 Installation 6.5.2 PNP Specification (1) Input part External Input Specifications (P

Part 1 InstallationChapter 3 Installation and Wiring39Part 1 Installation (2) Output part External Output Specifications (PNP specification)Item S

Chapter 3 Installation and WiringPart 1 Installation40Part 1 Installation 6.6 Connecting the Teaching Pendant/PC (Software) (TP) (Optional) The AS

Part 1 InstallationChapter 3 Installation and Wiring41Part 1 Installation 6.7.1 Explanation of Codes Displayed on the Panel Unit (Optional) (1) A

Chapter 3 Installation and WiringPart 1 Installation42Part 1 Installation Display Priority (*1) Description 9 Ready status (auto mode) (P

Part 1 InstallationChapter 3 Installation and Wiring43Part 1 Installation (2) Core Display Priority (*1) Description 1 Control power cut

Chapter 3 Installation and WiringPart 1 Installation44Part 1 Installation 6.7.2 Current Monitor and Variable Monitor By setting other parameter No

Part 1 InstallationChapter 3 Installation and Wiring45Part 1 Installation (2) Variable monitor The contents of global integer variables can be dis

Chapter 3 Installation and WiringPart 1 Installation46Part 1 Installation 6.8 Installation Method for the Absolute-Data Backup Battery The ASEL co

Part 1 InstallationChapter 3 Installation and Wiring47Part 1 Installation 6.9 Installing the System-Memory Backup Battery (Optional) As shown to t

Table of ContentsTable of Contents Part 1 Installation ...

Chapter 4 OperationgPart 1 Installation48Part 1 Installation Chapter 4 Operation 1. Startup (1) Connect the motor cable and encoder cable to the

Part 1 InstallationChapter 4 Operation49Part 1 Installation 1.1 Power ON Sequence x Although separate inputs are provided for the control power an

Chapter 4 OperationgPart 1 Installation50Part 1 Installation 2. How to Perform Absolute Reset (Absolute Specification) If the ASEL controller expe

Part 1 InstallationChapter 4 Operation51Part 1 Installation (6) The main window of the X-SEL PC software opens. Click OK to close the error messa

Chapter 4 OperationgPart 1 Installation52Part 1 Installation 1(8) From the Controller menu, select Absolute Reset.(9) When the Warning dialog box

Part 1 InstallationChapter 4 Operation53Part 1 Installation (12) Another Warning dialog box is displayed. Click Yes again.(13) After the controller

Chapter 4 OperationgPart 1 Installation54Part 1 Installation (14) When the Confirmation dialog box appears, click Yes to restart the controller. (

Part 1 InstallationChapter 4 Operation55Part 1 Installation 3. How to Start a Program With the ASEL Controller, the stored programs can be started

Chapter 4 OperationgPart 1 Installation56Part 1 Installation 3.1 Starting a Program by Auto-Start via Parameter Setting Other parameter No. 7 (Aut

Part 1 InstallationChapter 4 Operation57Part 1 Installation Note) The assignments of dedicated input/output port functions (such as RDY output sta

Table of Contents3. How to Start a Program...

Chapter 4 OperationgPart 1 Installation58Program 1 Program 2 T1: Duration after the ready output turns ON untilinput of external start signal is per

Part 1 InstallationChapter 4 Operation59Part 1 Installation 4. Drive-Source Recovery Request and Operation-Pause Reset Request (1) Drive-source r

Chapter 4 OperationgPart 1 Installation60Part 1 Installation 5. Controller Data Structure The controller data consists of parameters as well as po

Part 1 InstallationChapter 4 Operation61Part 1 Installation 5.1 How to Save Data The flow to save data in the ASEL controller is illustrated below

Chapter 4 OperationgPart 1 Installation62Part 1 Installation 5.1.2 When the System-Memory Backup Battery (Optional) is Used Change the setting of

Part 1 InstallationChapter 4 Operation63Part 1 Installation 5.2 Points to Note Point to note when transferring data and writing to the flash memor

Chapter 5 MaintenancegPart 1 Installation64Part 1 Installation Chapter 5 Maintenance x Routine maintenance and inspection are necessary so that t

Part 1 InstallationChapter 5 Maintenance65Part 1 Installation 3. Replacement Procedure for System-Memory Backup Battery (Optional) Backing up the

Chapter 5 MaintenancegPart 1 Installation66Part 1 Installation Battery Replacement Procedure [1] Remove the battery connector and pull out the bat

Part 1 InstallationChapter 5 Maintenance67Part 1 Installation 4. Replacement Procedure for Absolute-Data Backup Battery (Optional) The replacement

Table of ContentsChapter 3 Explanation of Commands...

Chapter 5 MaintenancegPart 1 Installation68Part 1 Installation (4) Turn on the controller power. (5) Start the PC software on a PC connected to

Part 2 Programs Chapter 1 SEL Language Data69Part 2 Programs Part 2 Programs Chapter 1 SEL Language Data 1. Values and Symbols Used in SEL Langu

Part 2 ProgramsChapter 1 SEL Language Data70Part 2 Programs z If the optional system-memory backup battery is installed, data of global variables

Part 2 Programs Chapter 1 SEL Language Data71Part 2 Programs 1.3 Virtual I/O Ports (1) Virtual input ports Port No. Function7000 Always OFF 700

Part 2 ProgramsChapter 1 SEL Language Data72Part 2 Programs (2) Virtual output ports Port No. Function 7300Latch cancellation output for a latch

Part 2 Programs Chapter 1 SEL Language Data73Part 2 Programs 1.4 Flags Contrary to its common meaning, the term “flag” as used in programming mean

Part 2 ProgramsChapter 1 SEL Language Data74Part 2 Programs 1.5 Variables (1) Meaning of variable “Variable” is a technical term used in software

Part 2 Programs Chapter 1 SEL Language Data75Part 2 Programs (2) Types of variables Variables are classified into two types, as follows: [1] Inte

Part 2 ProgramsChapter 1 SEL Language Data76Part 2 Programs [3] Variables with “*” (asterisk) (indirect specification) An “*” (asterisk) is used

Part 2 Programs Chapter 1 SEL Language Data77Part 2 Programs 1.6 Tags The term “tag” means “heading.” Tags are used in the same way you attach lab