Iai-america S-SEL-E Bedienungsanleitung

Super SEL Controller(Type E & G)Operating ManualIntelligent Actuator Inc.Super SEL Type EINTELLIGENT ACTUATOR

Page 8Chapter 1. Setting Up If you need to use a stepdown transformer to lower the power voltage from 240V to 117V, use a dedicated, insulatedtransf

Page 95MoveScrewX,Y MoveScrewScrew PreparationScrew Preparation2. Multi-tasking"Multi Tasking" simply means running multiple programs concur

Page 96In the past, parallel processing was accomplished by relay ladder circuitry. It was subsequently replaced by a PLC which isequipped with micro

Page 97Chapter 3. Multi-tasking4. Emergency Stop ReleaseEmergency stop is turned ON when emergency contact b is OFF, and emergency stop is released wh

Page 98Chapter 3. Multi-tasking5. Program SwitchingThere are several ways to switch programs depending on the program operating application but the ty

Page 99Chapter 3. Multi-taskingPart 2 Screwdriving Robot SystemThis chapter explains the screwdriving robot system operated by the Super SEL Control

Page 100Chapter 3. Multi-tasking4. Hardware(1) I/O AssignmentPin No. Category Port No. Function Cable1A P24 --- 1-Brown1BInput000 External Start In

Page 101DigitalSwitch(2) WiringCR1CR2Screwdriving Start ButtonZ Axis Upper EndScrew Driver (Complete)Screw Feeder FullZ Axis Goes DownScrew Driver (S

Page 1025. Software(1) FlowchartsMain ProgramScrewdrivingHomingStart screwdriving (Push button)Program 2 StartZ Axis Cylinder Goes DownStart Screwdr

Page 103(3) Sub ProgramScrew Feeding • Program No. 2Application Program(2) Main ProgramScrewdriving • Program No. 1Application ProgramPosition Program

Page 104Chapter 3. Multi-TaskingPart 3 Multi-Tasking Programming TipsAlthough multi-tasking methods are generally expressed as "the simultaneous

Page 9 Please use a dedicated and insulated power transformer when the system has a 240V power source.Chapter 1. Setting Up Wiring Notes1. To reduc

Page 105Chapter 3. Multi-Taskingn The most efficient configuration is to ex-ecute the next program during a waitingperiod such as waiting for an inpu

Page 106Part 1 Super SEL Language1. Numerals and SymbolsThe following numerals and symbols are used for super SEL programming.l Battery Back-up RangeW

Page 107(2) Output PortOutput ports are numbered from 300 ~ 587. There are 24 inputs and 24 outputs for each I/O board.Chapter 4. Programming*Varies

Page 1083. FlagsThe function of flags is to set and reset data within "Memory." This is analagous to "internal relays" or "c

Page 109Command Operand 1 Operand 2Add 1 1This command adds 1 to variable register #1. If the register contains 2, then the variable becomes 3.Add on

Page 110Integer VariableRegisterReal VariableRegisterChapter 4. ProgrammingNote: The variable 99 is a special register for whole integer calculation.

Page 1111234Chapter 4. ProgrammingCommand Operand 1 Operand 2LET 1 1234Command Operand 1 Operand 2LET 2 *1 Variables with an asterisk (*)The asteris

Page 112TAG 1GOTO 1Can be used individually in each program.TagChapter 4. Programming5. Tags"Tag" means heading. A TAG can be thought of a

Page 113EXSR 1EXSR 1EXSR 1BGSR 1EDSRSubroutineCall subroutine6. SubroutineFrequently repeated steps in a program can be expressed as subroutines in or

Page 1147. Axis DesignationThere are two ways to designate the axes to be used: axis number and axis pattern.(1) Axis number and notationWith the Sup

Page 10• The most effective method is to install a surge absorber and surge killer in parallel to the reactance load (solenoidand relay coils). This

Page 115(2) Axis PatternSelection of an axis is specified by either "1" or "0"Chapter 4. ProgrammingAxis No. 8 7 6 5 4 3 2 1Used

Page 1161~1500 mm/secStandard0.3G±9999.999mmPart 2 Super SEL Language StructureThe Super SEL programming consists of a position and application progr

Page 117Carry out a command when an input condition is established, and turn the output port ON, if output is desig-nated. When not established, go

Page 118ORANDANDOR ExpansionAND/OR ExpansionCond 1Cond 2Cond 3Cond 1Cond 2Cond 1Cond 2Cond 3ANDOR2-2 Expansion ConditionIt is possible to combine cond

Page 119Chapter 4. ProgrammingPart 3 Standard Commands1. Command TableCategory Function Command PageActuator Control DesignationSet velocity VEL 121S

Page 120Chapter 4. ProgrammingCategory Function Command PageProgram ControlCommandsProgram end EXIT 140Start task EXPG 140Abort task ABPG 141Tag Comm

Page 121The velocity between these two points is 1000mm/sec.The velocity between these two points is 500mm/sec.ACC (Acceleration)[Function] Sets the a

Page 122OVRD (Override)[Function] This command decreases the velocity according to the designated ratio. (Velocity coefficient setting).The range of

Page 123GRP (Grouping of Axes)[Function] This command moves the actuator through the position data of the designated axis pattern. (Even if there isd

Page 124Chapter 4. ProgrammingInput 25 ONHOLDtInput 25 OFFVMotionCompletedRemainingmotion[Function] Designates an input port for sending a command to

Page 11 DC solenoid valve · magnetic switch · relay• Install a diode parallel with a reactive/inductive load.• Select a diode with the proper voltag

Page 125[Function] Designates an input port for sending a command to decelerate and stop while a move command is beingexecuted. If the actuator is mo

Page 126SVON (Servo ON)SVOF (Servo OFF)[Function] This commands turns the servo of the designated axes ON.[Example] SVON 1 0 0 0 0 0 1 1Axis 1 ONAxis

Page 127HOME (Return Home)[Function] This command executes homing of the designated axes. Servos turn ON automatically.[Example] HOME 10000011Axis 1,

Page 128CIR (Circular Movement)[Function] Moves the actuator to the designated point while using interpolation (not point to point).[Example] MOVL 100

Page 129Chapter 4. ProgrammingPATH (Path Movement)[Function] Actuator moves continuously between the designated starting point and the finishing poin

Page 130JFWF (Jog Forward OFF)[Function] While the designated input port or flag (global flag) is OFF, the axis moves forward.* HOLD is not available

Page 131Chapter 4. Programming[Function] While the designated input port or flag (global flag) is ON, the axis moves backward.* HOLD is not available

Page 132Chapter 4. Programming[Function] Stops the movement of axes in the main program and the other programs running in parallel, then proceeds tot

Page 133Chapter 4. Programming60%200 (No.1)(No.2)60%200(No.3)0ATRG (Arch Motion Trigger)XY[Function] Sets the axis movement position ratio to execute

Page 134BTOF (Output Port · Flag OFF)[Function] Turns the designated output port or flag ON.Operand 1 and 2 can be used to designate a range of ports

Page 12Chapter 1. Setting UpPart 4 Cabling PrecautionsWhen using the IA actuator and controller to build an application system, it is important to po

Page 135BTNT (Output Port · Flag Invert)WTON (Waiting Input/Output Port · Flag ON)[Function] Inverts the designated output port or flag. Operand 1 an

Page 136Chapter 4. Programming133 Variable 99IN (Binary Numbers Read Input/Output)[Function] Reads the value from the designated I/O port or flag as

Page 137OUT (Binary Number Output)[Function] Output the value in variable register 99 as a binary number to the designated output port or flag (range)

Page 138Chapter 4. ProgrammingOUTB (BCD Output)Expansioncondition(AND · OR)Inputcondition(I/O · Flag)CommandPost(Output port · Flag)Command Operand

Page 139TIMC (Timer Cancel)[Function] Sets a time interval during which the program waits to advance.The unit for the time setting is in seconds (0.01

Page 140EXPG (Start another program)[Function] Starts another program and processes it in parallel.When that program (task) has been started, the port

Page 141ABPG (Abandon Other Program)[Function] Forces the other program being executed to end.When that program (task) is forced to end, the port and

Page 142[Function] Jumps to the step designated by the tag number.(Valid only within the same program)[Example] GOTO 1Jump to the step in Tag No. 1.TA

Page 143EDSR (End Subroutine)[Function] Declares completion of subroutine.*Subroutines are generally used at the end of a program.[Example] EDSRDeclar

Page 144EXSR (Execute Subroutine)[Function] Performs the designated subroutine number.(Valid only within the same program)[Example] EXSR 1Perform subr

Page 13Chapter 1. Setting Up7 If placing cable in a cableveyor or flexible tube, make sure it does not twist around. Also, make sure the cables have

Page 145ADD (Addition)[Function] Adds contents of the variable in Operand 1 and the data in Operand 2, then stores this in the variable inOperand 1.

Page 146Chapter 4. ProgrammingSUB (Subtraction)[Function] Subtracts the data in Operand 2 from the variable in Operand 1, then stores this in the var

Page 147Chapter 4. ProgrammingDIV (Division)MOD (Remainder)Expansioncondition(AND · OR)Inputcondition(I/O · Flag)CommandPost(Output port · Flag)Comma

Page 148CLR (Clear Variables)[Function] Clears the designated range of variables to zero.(Be sure to input a variable number in Operand 2. When desig

Page 1492-9 Functional CommandsSIN (Sine)Chapter 4. ProgrammingCOS (Cosine)[Function] Stores the sine (SIN) of the data in Operand 2 in the variable

Page 150Chapter 4. ProgrammingATN (Arctangent)TAN (Tangent)Expansioncondition(AND · OR)Inputcondition(I/O · Flag)CommandPost(Output port · Flag)Comma

Page 151SQR (Square Root)Chapter 4. ProgrammingExpansioncondition(AND · OR)Inputcondition(I/O · Flag)CommandPost(Output port · Flag)Command Operand 1

Page 1522-10 Logical Operation CommandsAND (Logical AND)Chapter 4. Programming[Function] Stores the results of the AND operation on the contents of t

Page 153EOR (Exclusive OR)Chapter 4. ProgrammingExpansioncondition(AND · OR)Inputcondition(I/O · Flag)CommandPost(Output port · Flag)Command Operand

Page 154Chapter 4. ProgrammingCPNE (Compare if not equal)[Function] Turns ON the post flag or the output port if the values in Operand 1 and 2 are eq

Page 14Part 5 Part Names and Functions1. IA Controller Front ViewChapter 1. Setting Up Code (Code Display)Controller operating status display (2 dig

Page 155Chapter 4. Programming[Function] Turns ON the post flag or the output port when the value in Operand 1 is greater than the value in Operand 2

Page 156Chapter 4. Programming[Function] Turns ON the post flag or the output port when the value in Operand 1 is less than the value in Operand 2.(V

Page 1572-12 Position Data Operation CommandsPPUT (Assign Axis Data)Chapter 4. ProgrammingPGET (Read Axis Data)[Function] Reads the position data for

Page 158PTST (Check Position Data)[Function] Copies data in the designated position No. (copy data in Operand 2 to Operand 1).[Example] PCPY 20 10Copy

Page 159Chapter 4. ProgrammingPCLR (Clear Position Data)[Function] Clears the data in the range of positions designated by Operand 1 and Operand 2 (b

Page 160Chapter 4. Programming[Function] Assigns the value in Operand 1 as the velocity for the designated position data. Variables can also be used

Page 161Chapter 4. Programming[Function] Assigns the acceleration data in Operand 1 for the acceleration speed of the position data. As with the PVE

Page 162Chapter 4. ProgrammingPart 4 Expansion Commands1. Command TableNote: These expansion commands cannot be used with the teaching pendant. Plea

Page 163Chapter 4. Programming2. Commands2-1 Actuator Control DesignationSCRV (S Motion Ratio Setting)[Function] Sets the ratio to control the S moti

Page 164Chapter 4. ProgrammingMVLI (Incremental Interpolation Movement)[Function] Moves the actuator to the designated point in Operand 1 from the cu

Page 152. Controller Bottom ViewChapter 1. Setting Up LS (Limit Switch Connector) (Option)5 pins, limit switch connector (Model: Nippon Molex 53258-0

Page 165Chapter 4. ProgrammingAXST (Axis Status Acquisition)[Function] Stores the status (error code) of the axis in Operand 2 in the variable in Ope

Page 166Chapter 4. Programming[Function] Writes the system time to the variable in Operand 1. The time unit is 10msec.The time obtained with this co

Page 167Chapter 4. Programming[Function] Assigns the contents of the variable in Operand 2 to the variable in Operand 1. This function is also known

Page 168Chapter 4. Programming[Function] Stores the axis pattern of the position in Operand 2 into the variable in Operand 1.[Example] PAXS 100 200St

Page 169Chapter 4. Programming[Function] Compares the contents of the variable in Operand 1 and the value in Operand 2. When the condition is estab-

Page 170Chapter 4. Programming[Function] Declares the end of an IFXX command.[Example] Refer to IFXX.EDIF (IFXX End)ELSE[Function] The ELSE command i

Page 171Chapter 4. Programming[Function] Compares the character string in the column numbers in Operand 1 and Operand 2. When the condition isestabl

Page 172Chapter 4. Programming[Function] Compares the contents of the variable in Operand 1 and the value in Operand 2. While the condition is estab

Page 173Chapter 4. ProgrammingITER (Repeat)[Function] Escapes the DOXX loop, then the program proceeds to the next step after EDDO.[Example] DWEQ 1 0

Page 174Chapter 4. ProgrammingEDDO (End DO WHILE)[Function] Declares the end of the loop which started with DWXX.When a DWXX condition is not establi

Page 163. Teaching Pendant (Option)Chapter 1. Setting Up LCD Display4 lines with a 20 character per line capacity display. Shows program and Moti

Page 175Chapter 4. Programming[Function] Opens the channel specified in Operand 1. Channels specified after this will be able to transmit and receiv

Page 176Chapter 4. Programming[Function] Reads the character string from the channel in Operand 1 to the column in Operand 2.Stops reading when the c

Page 177Chapter 4. ProgrammingWRIT (Write)Expansioncondition(AND · OR)Inputcondition(I/O · Flag)CommandPost(Output port · Flag)Command Operand 1 Oper

Page 178Chapter 4. Programming[Function] Copies the character string from the column in Operand 2 to the column in Operand 1.Copies only the length s

Page 179Chapter 4. Programming[Function] Compares the column in Operand 1 and the column in Operand 2.Compares only the length set by the SLEN comman

Page 180Chapter 4. Programming[Function] Assigns 1 character from the column in Operand 2 to the variable in Operand 1.[Example SGET 1 100Assign 1 by

Page 181Chapter 4. Programming[Function] Copies the data in Operand 2 which has been converted to a decimal character string to the column in Operand

Page 182Chapter 4. Programming[Function] Copies the data in Operand 2 which has been converted to a hexadecimal character string to the column inOper

Page 183Chapter 4. Programming[Function] Converts the decimal data in the column in Operand 2 to a binary number and assigns this to the variable inO

Page 184[Function] Sets the length for the string command.The length must be set prior to using any of the following commands.SCMP · · · Decimals Inva

Page 17Chapter 1. Setting UpPart 6 Specifications1. AC Specifications(1) Type E (1 Axis)*1 Controller unit test*2 The maximum number of steps that ca

Page 185Chapter 4. ProgrammingExpansion(AND·OR)Input(Input·Output·Flag)Command · StatementPost(Output · FlagCommand Operand 1 Operand 2Optional Optio

Page 186Chapter 4. ProgrammingExpansion(AND·OR)Input(Input·Output·Flag)Command · StatementPost(Output · FlagCommand Operand 1 Operand 2WHXX Variable

Page 187Chapter 4. ProgrammingExpansion(AND·OR)Input(Input·Output·Flag)Command · StatementPost(Output · FlagCommand Operand 1 Operand 2WSXX Column N

Page 188Chapter 4. ProgrammingPart 5 Parameter ListAll system parameters are appropriately set at the time of shipment. Basically, the user does not

Page 189(c) Motor*(d) Axis NameNo. Parameter Name Default Valid Name1 Axis 1 1 Axis Name 0 ~ 9, A - Z Setting2 Axis 2 2 Axis Name 0 ~ 9, A - Z Settin

Page 1902. System Parameters(a) Application ProgramChapter 4. Programming(b) Position Data*For reference only. Cannot be changed.(c) Servo Device(d)

Page 191Chapter 4. ProgrammingPart 6 Application Program Examples1. Movement Using the Point Move Command [Riveting Device](1) System Description

Page 192Chapter 4. Programming(2) Movement Description1. X and Y-axis return to home and wait.2. Worker sets work on X-Y-table, then turns start swit

Page 193Chapter 4. Programming(3) Super SEL Controller Application ProgramStep A/O N OP-Code Operand 1 Operand 2 Post Comments1 HOME 11 X-Y table hom

Page 194Chapter 4. Programming2. Palletizing Operation [Palletizing Device](1) System DescriptionThis system consists of an X-Y configuration wit

This publication was written to assist you in better understanding this part of your IA system. If you require further assistance, pleasecontact IA T

Page 18Chapter 1. Setting Up(2) Type G (2-Axis)*1 Controller unit test*2 The maximum number of steps that can be compiled per unit is 1999.*3 96 inpu

Page 195Chapter 4. ProgrammingOperating Position Flowchart(2) Movement Description1. Move to the waiting position, and wait for start input.2. Move t

Page 196Chapter 4. Programming(3) Super SEL Controller Application ProgramStep A/O N OP-Code Operand 1 Operand 2 Post Comments1 HOME 11 X and Y axis

Page 197Chapter 4. ProgrammingStep A/O N OP-Code Operand1 Operand2 Post Comment1 HOME 11 X and Y-Axis Homing2 VEL 200 Velocity 200mm/s Setting3 ACC 0

Page 198Chapter 4. Programming4. Path Movement CommandIn the Super SEL Controller, accurate path motion profiles can be achieved by passing through t

Page 199Chapter 4. Programming5. BCD Code Signals Input and Output(1) CircuitThis circuit allows the controller to verify the BCD values input by the

Page 200Chapter 4. Programming(2) I/O ConnectionsThe following I/O connections are for external digital switches and the external display unit.Extern

Page 201Chapter 4. Programming(3) Movement DescriptionStartDigital SW Take-in7 Segment OutputVariable 99 = 1Lamp 1 OFFLamp 1 ONVariable 99 = 2Lamp 2

Page 202Chapter 4. Programming(4) Application ProgramStep A/O N OP-Code Operand1 Operand2 Post Comment1 TAG 12 INB 15 1 Digital Switch Value into Var

Page 203Chapter 5. Option1. I/O Card Unit (Model H-103)Super SEL has as standard equipment, 24inputs and 24 outputs. No PLC is neces-sary to control

Page 204Chapter 5. Option2. High Speed Input Unit (Model H-104)(1) What is the High Speed Input Unit?In FA (Factory Automation), a high speed pulse ma

Page 19Chapter 1. Setting Up(3) Type G (4-Axis)*1 Controller unit test*2 The maximum number of steps that can be compiled per unit is 1999.Number of

Page 205Chapter 5. Option3) The scan time (1 ~ 9 msec) within the detection pulse is also adjustable and can be set every 8 port groupings.Movement wh

Page 206Chapter 5. Option4) The Super SEL controller can be expanded up to 287 input ports. They can be grouped into numbered units, one for every8 p

Page 207Chapter 5. OptionWhen input units are overlappingExampleInput No. 32 ~ 55 are overlapping. In this case, the high speedinput unit goes into e

Page 208Chapter 5. Option(3) SpecificationsInput SpecificationsPoint Maximum Input...32 PointsPower Voltage DC24V +/-20%Current 7mA/DC24VON/OFF Power

Page 209Chapter 5. Option(4) Interface ListPin No. Category Port No. Function Cable1A P24 --- 1-Brown1BInput000 User Input 1-Red2A 001 User Input 1-Or

Page 210Chapter 5. Option3. SEL NET 2-Channel RS232C Unit (Model H-105)The Super SEL Controller is equipped with a 1-channel RS232C port as a standard

Page 211 Controller connected to a PC(2) SEL NET FunctionsTo achieve distributed control of a single production line using multiple controllers, usua

Page 212 Loop ConnectionThere are two methods of connecting controllers with SEL NET. The first diagram shows a loop connection while thes

Page 213Figure 2 Between Super SEL and Super SELFigure 3 Between Other Devices and Super SELChapter 5. Option(6) The RS232C communication circuit has

Page 214Chapter 5. Option(7) System Using RS232C Communication CircuitFigure 4 Connecting to a Vision DeviceThe vision device is used to check the pos

Page 20Chapter 1. Setting Up(4) Type G (8-Axis)*1 Controller unit test*2 The maximum number of steps that can be compiled per unit is 1999.± A 12-slo

Page 215Figure 5 Multiple Super SEL Control SystemChapter 5. OptionSoldering Robot No. 2Dispensing Robot No. 2Screwdriving Robot No. 2Super SEL Contro

Page 216(8) SpecificationsChapter 5. Option2-Channel RS232C UnitInterface Specifications Basing on RS-232CTransmission Method Full Duplex Method (No

Page 217(10) CommandsCommands related to RS232C communicationChapter 5. OptionNote: These commands are expansion commands. Therefore, they must be us

Page 218Chapter 5. Option External Input Output CommandOPEN (Open Channel)[Function] Opens the channel specified in Operand 1. Channels specified af

Page 219Chapter 5. Option[Function] Reads the character string from the channel in Operand 1 to the column in Operand 2.Stops reading when the charact

Page 220Chapter 5. OptionWRIT (Write)Expansioncondition(AND · OR)Inputcondition(I/O · Flag)CommandPost(Output port · Flag)Command Operand 1 Operand 2O

Page 221[Function] Copies the character string from the column in Operand 2 to the column in Operand 1.Copies only the length set by the SLEN command.

Page 222Chapter 5. Option[Function] Compares the column in Operand 1 and the column in Operand 2.Compares only the length set by the SLEN command.When

Page 223Chapter 5. Option[Function] Assigns 1 character from the column in Operand 2 to the variable in Operand 1.[Example SGET 1 100Assign 1 byte of

Page 224Chapter 5. Option[Function] Copies the data in Operand 2 which has been converted to a decimal character string to the column inOperand 1. Us

Page 21Chapter 1. Setting Up2. DC Specifications(1) Type E (1 Axis)*1 Controller unit test*2 The maximum number of steps that can be compiled per uni

Page 225Chapter 5. Option[Function] Copies the data in Operand 2 which has been converted to a hexadecimal character string to the column inOperand 1.

Page 226Chapter 5. Option[Function] Converts the decimal data in the column in Operand 2 to a binary number and assigns this to the variable inOperand

Page 227Chapter 5. Option[Function] Converts the hexadecimal data in the column in Operand 2 to a binary number and assigns this to the variablein Ope

Page 228Chapter 5. Option[Function] Sets the length for the string command.The length must be set prior to using any of the following commands.SCMP ·

Page 229 Transmission FormatCommunication in this system is carried out by exchanging character strings. Every character string is determinedtoperfo

Page 230Chapter 5. Option StringA character string in a transmission format is placed in a column box called "String" in order to be used i

Page 231Chapter 5. Option Determination of Transmission FormatThere are three types of transmission formats required for the application program. (T

Page 232Chapter 5. Option ProcedureThis procedure explains the process for programming the application examples.1) Set characters (terminating charac

Page 233Chapter 5. Option4. Flash Memory Card Unit (Model H-106)The Flash Memory Card Unit itself does not need a backup battery and keeps data almost

Page 234(2) OperationFlash Memory Card UnitChapter 5. Option2) Save/Load TimeAlthough it takes time to load and save information via RS232C, there is

Page 22Chapter 1. Setting Up(2) Type G (2-Axis)*1 Controller unit test*2 The maximum number of steps that can be compiled per unit is 1999.*3 96 inpu

Page 235Chapter 5. Option1) When the power is turned ON,The SAVE LOAD lamp blinks 5 times to indicate the power has been turned ON. During this time

Page 236Chapter 5. Option(3) ErrorErrors will be checked after the SAVE LOAD buttons are pressed.1) Communication ErrorIndicates an abnormality in th

Page 237Chapter 5. Option2) Flash Memory Card Unit Card External Dimensions Unit Outline Drawing41.911.271.2765.6143.3±0.154±0.185.6±0.2

Page 238Chapter 5. OptionDOS Version (for IBM compatible) Model H-101-MWindows Version (FD 1.4M)* Model H-101-MWIt is easier to use the multi-tasking

Page 239Chapter 5. Option12E-Type Controller (1-Axis) for 200W or 400W;G-Type Controller (up to 4 Axes) for any combina-tion of 100W, 200W or 400W.Exa

Page 240*Supplement(1)(2)(3)(4)(5)Open (Always appears at the beginning). Goes to the next step (2) after500msec.Opens SIO (Serial IO). If under EMG

Page 241*Supplement2. Power Required by the Super SEL Controller (Manual display & method of calculation)Power values written in the manual indica

Page 242*Supplement3. Brake Specification (Option)(1) SummaryWhen an actuator with brake specification is controlled by the Super SEL Controller, conn

Page 243*Supplement(2) How to connect Brake Box and ControllerThe brake connector numbers on the controller side are indicated on the cables. Connec

Page 244*Supplement(3) External DimensionsAC Brake Box(±Can be attached to the DIN rail)

Page 23Chapter 1. Setting Up(3) Type G (4-Axis)*1 Controller unit test*2 The maximum number of steps that can be compiled per unit is 1999.Number of

Page 245*SupplementDC Brake Box(±Can be attached to the DIN rail)

Page 246*Supplement4. Heat Dissipation The type E and G Controllers are designed to be mounted inside of a control panel.The air inside the panel mus

Page 247*Supplement3) The room temperature must be kept under 10°C.The temperature rises 1°C / 6W / 1m2 in a metal plate cabinet with a fan provided

Page 248*SupplementA. Standard I/O5. I/O DC24V Power SupplyFor the Type E/G, there is no DC 24V power supply built in for the I/O. The DC24V powermus

Page 249*SupplementB. I/O ExpansionExternal Power Supply 24VForType E/G, there is no DC 24Vpower supply built in for the I/O. The DC24V power must be

Page 250*Supplement6. Emergency StopFor the Super SEL Controller Type E·G, the Pin 2B and 0V must be short-circuited (because of the B contact point),

Page 2517. Error Code List*SupplementError Code Error Name ExplanationA1 External Interrupt Error1. Motor over current2. Over regenerative current (

Page 252*Supplement8. What to do When an Error Code OccursBelow we indicate what to do in case any of the error codes described on the preceding page

Page 253*Supplement(2) B0 - BC Programming Errors Group 1An error will be displayed when there is a problem with the written program itself or th

Page 254*Supplement(3) C0 - CF programming errors Group 2/Command Error - 1This group of errors is also related to programming, but primarily aris

Page 24Chapter 1. Setting Up(4) Type G (8-Axis)Number of Axes DC20W~100Wx8 DC200Wx8Power Voltage AC 117V±10%Power Frequency 50/60HzPower Consumption≈1

Page 255*SupplementD2 Override error The override was specified outside the range of 1 ~100%. Specify value within this range.D3 Angle error The angl

Page 256*Supplement(5) E0 - E3 programming errors Group 4/Command error - 3These errors, like those in sections 3 and 4 above, primarily arise fro

Page 257*Supplement Another thing to consider with an emergency stopUsually, the emergency stop input is tied to a ground. In the case where you are

Page 258IndexAApplication Programs 87~90, 103, 117, 191~196, 229Axis Number 17-24, 106, 114Axis Pattern 106, 115BBinary Coded Decimal (BCD) 13

Page 259IndexGRP 119, 123GOTO 120, 142HOLD 119, 124HOME 119, 127IN 119, 136INB 119, 137JBWF 119, 131JBWN 119, 131JFWF 119, 130JFWN

Page 260IndexTTag 112Teaching PendantFeatures and Functions 16OperationKey Functions 65Program 67~74Play 81~83Parameter 75~78Show 84~86T

Publication No. IAI-038C.v 7 Publication Date: March1998Price: US$20.00Intelligent Actuator Inc.Intelligent Actuator Inc.In

Page 253. External I/O Specifications(1) InputInternal CircuitChapter 1. Setting UpTime Width while ON30msec1) The power must be supplied externally f

Page 264. Servo*Max velocity differs depending on actuator specifications.SpecificationsControl Method Semi-closed loop controlPosition Feedback Rotar

Page 27Chapter 1. Setting Up5. Precautions When Using the Emergency StopAs a rule, emergency stops should only be applied from the I/O.Do not turn the

Page 1ForewordThank you very much for purchasing the IA Super SEL Controller E·G Type. Without knowing beforehand how to correctly useor operate the

Page 28 Connect controller and actuator cables. Use only IA supplied cables. These cables include:a. Motor cableb. Encoder cablec. Teaching pen

Page 292. Interface ListI/O Connector (NPN-Sinking)Chapter 1. Setting Up* Emergency Stop (normallyclosed). To release the emer-gency stop, short ci

Page 30Chapter 1. Setting UpChapter 1. Setting Up3. I/O Wiring DiagramStandard I/O (NPN - Sinking)0P24•Note:The same cable colorsare used for the stan

Page 31Chapter 1. Setting UpExpansion I/O * (NPN - Sinking)* This is the first expansion I/O. In the second expansion I/O,the port numbers continue o

Page 29-AChapter 1. Setting Up4. Interface List (PNP Sourcing)Emergency Stop is a b-contact in-put (normally closed). To releasethe emergency stop,

Page 30-AChapter 1. Setting Up5. Wiring DiagramStandard I/O (PNP - Sourcing)Note: The same cable colors are used for the standard cables and the expan

Page 31-AChapter 1. Setting UpI/O Expansion * (PNP-Sourcing)* This is the first expansion I/O. In the second expansion I/O,the port numbers continue

Page 32Chapter 1. Setting UpDC24V Electromagnetic Valve Wiring Precautions (Example)24V Switching PowerCable size0.75° or greaterSuper SELI/O UnitOutp

Page 33* Pin numbers 18, 23, and 25 are for use with the teaching pendant signal. Do not connect these pins.• Pin numbers 4 and 5 are short-circui

Page 34Chapter 1. Setting UpNippon Molex 53258-0420 (4P) (Body side)51067-0500 Housing (4P)50217-8100 x 4 TerminalNippon Molex 53258-1420 (14P) (Body

Page 2Table of ContentsForeword ...

Page 35Chapter 1. Setting UpNippon Molex 53258-1420 (14P) (Body side)51067-1400 Housing (14P)50217-8100 x 14 TerminalY (2) AxisY (2) Axis SEL NET SND

Page 36Chapter 1. Setting Up(2) AC100W 4-Axis specifications BK Connector (Option)* The Emergency Stop is normally open. LS Connector (Option)* The

Page 37Nippon Molex 53258-1420 (14P) (Body side)51067-1400 Housing (14P)50217-8100 x 14 Terminal M·PG Connector (Motor/Encoder Signal)Chapter 1. Sett

Page 38Nippon Molex 53258-1420 (14P) (Body side)51067-1400 Housing (14P)50217-8100 x 14 Terminal M·PG Connector (Motor/Encoder Signal)Chapter 1. Sett

Page 39Chapter 1. Setting Up(3) AC200W 2-Axis specificationsNippon Molex 53265-0320 (3P) (Body side)51067-0500 Housing (5P)50217-8100 x 3 TerminalNipp

Page 40Nippon Molex 53258-1420 (14P) (Body side)51067-1400 Housing (14P)50217-8100 x 14 Terminal M·PG Connector (Motor/Encoder Signal)Chapter 1. Sett

Page 41Chapter 1. Setting Up(4) AC400W 1-Axis specificationsNippon Molex 53258-1420 (14P) (Body side)51067-1400 Housing (14P)50217-8100 x 14 TerminalN

Page 42Chapter 1. Setting Up(5) DC100W 2-Axis specificationsNippon Molex 53258-1420 (14P) (Body side)51067-1400 Housing (14P)50217-8100 x 14 Terminal

Page 43Nippon Molex 53258-1420 (14P) (Body side)51067-1400 Housing (14P)50217-8100 x 14 TerminalChapter 1. Setting Up SEL NET SND Connector (Option)N

Page 44Chapter 1. Setting Up(6) DC100W 4-Axis specificationsNippon Molex 53258-0520 (5P) (Body side)51067-0500 Housing (5P)50217-8100 x 5 TerminalNipp

Page 3Table of ContentsPart 3 Multi-tasking Programming Tips ...

Page 45Nippon Molex 53258-1420 (14P) (Body side)51067-1400 Housing (14P)50217-8100 x 14 TerminalChapter 1. Setting UpNippon Molex 53258-1420 (14P) (Bo

Page 46Chapter 1. Setting UpNippon Molex 53258-1420 (14P) (Body side)51067-1400 Housing (14P)50217-8100 x 14 TerminalNippon Molex 53258-1420 (14P) (Bo

Page 47Chapter 1. Setting Up(7) DC200W 2-Axis specificationsNippon Molex 53265-0320 (3P) (Body side)51067-0500 Housing (5P)50217-8100 x 3 TerminalNipp

Page 48Nippon Molex 53258-1420 (14P) (Body side)51067-1400 Housing (14P)50217-8100 x 14 TerminalChapter 1. Setting UpNippon Molex 53258-1420 (14P) (Bo

Page 49Chapter 1. Setting Up6. Controller DimensionsType E (Single Axis)AC 60W • 100WDC 20W ~ 100WType G (2 Axis)AC 60W • 100W x 2DC 20W ~ 100W x 2

Page 50Chapter 1. Setting UpType E (Single Axis)AC 200WAC 400WDC 200WType G (2 Axis)AC 200W x 2DC 200W x 2Type G (4 Axis)AC 60W • 100W x 4DC 20W ~ 100

Page 51Chapter 1. Setting UpType G (4 Axis)AC 400W x 4Type G (8 Axis)AC 200W x 8DC 200W x 8Type G (8 Axis)AC 60W • 100W x 4DC 20W ~ 100W x

Page 527. Unit Configurations 1 Servo Driver Units: Basic ModulesModule 2 - 4-axis servo driver unit with 100W maximum motor capacity per axis. This

Page 53Chapter 1. Setting Up2 5-Axis configuration with various motor capacitiesAxis 1 =60WAxis 2 =100WAxis 3 =100WAxis 4 =200WAxis 5 =60WCPU Unit+100

Page 54Chapter 1. Setting Up4 6-Axis configuration with various motor capacities5 4-Axis configuration with various motor capacitiesAxis 1 =200WAxis 2

Page 4Differences between the Super SEL Controller Type E/G and Type A/B(Be sure to read this before you begin)1. There is no built-in DC24V power sup

Page 55Chapter 1. Setting Up(2) Limitation on axis expansion for dedicated 2-axis unitThe dedicated 2-axis Super SEL controller unit cannot be expande

Page 56Chapter 1. Setting Up8. Type G (AC) Unit ConfigurationsOnce the axis alignment and motor wattage (60W, 100W, 200W, 400W) have been decided, the

Page 57Chapter 1. Setting Up60W-200W-100W-60W AssemblyModel type is M-SEL-G-4-AC-60-200-100-60ê100W x 3200W x 1Arrange from the largest output,(200 x

Page 58Chapter 1. Setting Up[Unit Configuration Tables]*Any output less than 100W is considered as 100W.Table 12-axis (6 combinations) Co

Page 59Chapter 1. Setting Up100x4 B200x4 C200x3 + 100x1 C200x2 + 100x2 C200x1 + 100x3 C400x4 E400x3 + 200x1 E400x3 + 100x1 E400x2 + 200x2 D400x2 + 200

Page 60100x7 F200x7 H200x6 + 100x1 H200x5 + 100x2 H200x4 + 100x3 G200x3 + 100x4 G200x2 + 100x5 G200x1 + 100x6 G400x3 + 100x4 H400x2 + 200x2 + 100X3 H4

Page 61Chapter 1. Setting Up9. 12-slot Expansion UnitA 12-slot expansion unit is available as an option and is used in the following situations.(1) Wh

Page 62Chapter 1. Setting Up10. Bleeder ResistorIf the selected module uses a large amount of voltage, there will also be a large amount of regenerati

Page 63Part 8 Super SEL Controller MaintenanceTo ensure safe and trouble-free operation of your Super SEL system, a regular maintenance and inspection

Page 64PosiPosition TeachingTeacJOG DirectStepEtc.AprgApplication ProgramTestTest ModePlayPlay ModeParmParameter ModePower ONROM Version DisplayThe b

Page 5Part 1 Safety PrecautionsThe IA Super SEL Controller Type E was designed to control any type single axis IAI actuator and Type G was designed to

Page 65 01 Cursor: Numbers can be changed when the cursor is positioned underneath."Inc" Increment: This key increases the step number or p

Page 66Part 2 Teaching Pendant Operation1. Mode Selection(LCD Screen Display) (Operation) IA. Super SEL Teach 01/13/95 Main V2.50 07/14/95 Start (Bl

Page 67F1 F2 F3 F4 Prog Posi Aprg Posi Mdi Teac Step EtcF1 F2 F3 F4 Mdi - 1 No 1 [1] -

Page 68 Posi Shift Copy Clr EtcF1 F2 F3 F4 Mdi - 1 No 1 [1] - 8 1.234 12.345 123.456 1234.56

Page 69 Mdi - 1 No 8[8] - 8500.000 600.000700.000 600.000 Wrt Can Clr Etc8-3 Use the F1 key (Wrt) to save dat

Page 7012. Teaching Mode (Go back to the display in Step 5, thenpress F2.Position Number Input Mode (2-digit number input)F1- Increments position n

Page 7114. SvOf (Servo OFF, Manual • Direct Teaching) Mode (Goback to the display in Step 13, then press F3)Servo OFF for all connected axes.Moves

Page 7215. Super SEL Programming Edit Display (Go back to thedisplay in Step 4, then press F2)F1- (Edit Mode) Perform SEL programming, editing,addit

Page 73Edit 1- 1 [ 50]MOVP 1 699 A N499 Inc Dec Clr etc16-2 Step Number Input Mode (Step 16-1.

Page 74F1 F2 F3 F416-5 Operation 2 Input Mode (Step 16-4, Return key)Same as 16-416-6 Result Input Mode (16-4. Return key)Input result, output and f

Page 6Chapter 1. Setting UpPart 2 Warranty Period and ScopeThe Super SEL controller undergoes stringent testing before it is shipped from our factory.

Page 7519-1 Servo Parameter Mode (18-1. F1)F1- Goes to next axis no. (+1). Axis name will also bechanged. (P76. 19-1-1)F2- Goes backward -1 (P76. 19-

Page 76Para Axis 2[2] Srvo1. NumeratorInc [<=]1Axis+ Dec Clr WrtF1 F2 F3 F419-1-1 Press F1 to display axis number

Page 7719-4 Parameter Name Mode for Each Axis (Step 18-1. F4 Key)F1- Increments axis number by 1F2- Decrements axis number by 1F3- Increments axis na

Page 78F1 F2 F3 F4 Para System Sio 1. Terminal ID Inc[<=] 99 Inc Dec Clr Wrt Para System Cir

Page 79 Test 0123456789 (Out) 310->0000000000<-319 320->0000001100<-329 Inc Dec ClrF1 F2 F3 F421-3-

Page 80 Test Version 1[1] MotorV1.00 12/13/93 Main V1.00 1/25/94 Axis+ Axis- Main TeacF1 F2 F3 F4 Ra

Page 81F1 F2 F3 F4 Play 1- No 1 [1]-2 1111.123 2222.234 3333.345 4444.456 Axis+ Axis- Stat22-4 Axis Status Display Mode (22-3. F1)F1-

Page 8222-5 Execution, Stop Mode (22-3, F2)Input program number to be executed or stopped.Returns to 22-3. Play 1-1 [ 50] MOVP 1

Page 8322-11-1 Select F1 (Show), F2 (GO), or F4 (HLT) from ProgramExecution/Stop Selection Display (P81. 22-2) to stopPlay Mode (program stops). Exec

Page 846. Show Mode23. Show Mode (Step 22-2. F1)F1- Displays the position of each axis currentlymoving (P84. 23-1-1)F2- Execute other program (P85.23-

Page 7Part 3 Installation Environment and Noise Measures1. Installation Environment(1) Do NOT block the air vents of your controller when installing y

Page 85F1 F2 F3 F4Play 3 -1 [ 6 ]Home 11Inc Dec Clr23-2 Program Display Selection Mode (Step 23. F2)F1- Increment Program No.F2- Decrement Progr

Page 86Chapter 2. OperationF1 F2 F3 F4Play 3 [Prog Status]ERR _ STEP [ NONE ] [ RUN ]In Out Flag23-4 Input/Output, Flag Status Display

Page 877. Simple Application Program Example2-Axis actuator moves back and forth between point 1 and point 2.• Application Program• Position Data(LC

Page 884. Program Mode DisplayPress F2 to select Aprg (Application Program). Aprg Edit Copy5. Super SEL Programming DisplayPress F1 to select Edi

Page 899. Press F4 to select HOME.F1 F2 F3 F4Edit 1- 1 [ 0]GOTO GRP HOLD HOMEEdit 1- 1 [ 0]HOMEGOTO GRP

Page 90When programming is completed, press ESC key repeatedly until mode selection display appears.Next, position data will be input.16. Program Mode

Page 91Chapter 2. OperationPart 3 System OperationOperating Mode SummaryThere are four operating modes in the Super SEL Controller System. Of these,

Page 92Controller Power ONReady (301) ONProgram No. InputExternal Start (000) InputSelected Program No. will start.Chapter 2. OperationNoProgram No.

Page 934. Dedicated Input/Output Signal(1) Dedicated Inputs External Start This is the signal for external start. The port for this signal is (mmm)

Page 94Chapter 3. Multi-taskingPart 1 Real-time Multi-tasking1. Super SEL Programming LanguageThe Super SEL employs a 32 bit RISC CPU operated by a h