IAI ASEP User manual

ASEP Controller
PSEP Controller
IAI America Inc.
Operation Manual Fourth Edition

Introduction
Thank you for purchasing our product.
This Operation Manual describes all necessary information items to operate this product safely such
as the operation procedure, structure and maintenance procedure.
Before the operation, read this manual carefully and fully understand it to operate this product safely.
The enclosed CD in this product package includes the Operation Manual for this product.
For the operation of this product, print out the necessary sections in the Operation Manual or display
them using the personal computer.
After reading through this manual, keep this Operation Manual at hand so that the operator of this
product can read it whenever necessary.
Important Information
yFor any result of any operation not described in this Operation Manual, we do not have any
responsibility. Please understand it.
yThe contents of this Operation Manual are subject to change for improvement without prior
notice.
yIn the case that you have any question or doubt in the contents of this Operation Manual,
contact “IAI Customer Center Eight” or the nearest IAI sales office.
yThis Operation Manual shall not be used or copied, in whole or part, without our written
consent.

Contents
Safety Guide............................................................................................................ 1
Precautions in Operation ......................................................................................... 9
1. Product Check ................................................................................................... 15
1.1 Parts (The option is excluded.)................................................................................................... 15
1.2 Teaching Tool (Option) .......................................................................................................15
1.3 Operation manuals related to this product,
which are contained in the operation manual (CD)......................................................16
1.4 How to read the model plate ..............................................................................................16
1.5 How to read the model of the controller .............................................................................16
2. Basic Specifications............................................................................................17
3. External Dimensions.......................................................................................... 19
4. Installation Environment..................................................................................... 20
5. Installation and Noise Eliminati .......................................................................... 21
5.1 Noise Elimination Grounding (Frame Ground) ...................................................................21
5.2 Precautions regarding wiring method ................................................................................21
5.3 Noise Sources and Elimination ..........................................................................................21
5.4 Heat Radiation and Installation ..........................................................................................22
6. Wiring ................................................................................................................ 23
7. LED indication.................................................................................................... 24
8. Power Connector ............................................................................................... 25
9. PIO Connector ................................................................................................... 26
10. Setting.............................................................................................................. 33
11. Timing Chart..................................................................................................... 37
12. Starting Procedures ..........................................................................................41
13. User Parame.................................................................................................... 42
14. Alarm Codes and Trouble Shooting ................................................................. 44
15. Appendix.......................................................................................................... 48
16. Warranty Period and Scope of Warranty ......................................................... 49

1
Laws and Standards for the Industrial Robots
For the safety measures for the mechanical system, generally the following four measures are
specified based on the International Industrial Standards ISO/DIS12100 “Safety for Machinery”.
Based on the above, various standards are specified for each level in the International Standards
ISO/IEC. The safety standards for the industrial robots are as follows.
The domestic laws for the safety of the industrial robots are established as follows.
Article 59 in the Industrial Safety and Health Law
The practice of special training is obliged for the labors who are engaged in dangerous or
harmful jobs.
Ordinance on Industrial Safety and Hygiene
Article 36·············Jobs that require the special training
No. 31 (Teaching, etc.) ···············For the teaching operation, etc., for the industrial
robots (with some exceptions)
No. 32 (Inspection, etc.) ·············For the inspection, repair or adjustment operation,
etc., for the industrial robots (with some exceptions).
Article 150···········For the measures to be taken by the user of the industrial robot
Safety
Measures Essential Safety Design
Safety Protection································· Safety Fence, etc.
Additional Safety Measures ················ Emergency Stop Device, etc.
Information in Use ······························· Alarm Indication, Warning,
Operation Manual
Type C Standards
(Individual Safety
Standards)
ISO10218 (Manipulating Industrial Robots - Safety)
JIS B 8433
(Industrial Manipulating Robots - Safety)
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it before the operation of this product.

2
Operation
Area
Operation
Condition
Interruption of
Driving Source Treatment Specified in
Signal for operation startup Article 104Out of
Moving
Range
In Automatic
Operation Disable Fence or enclosure
installation, etc.
Item 4 in
Article 150
Enable
(Including
Operation Stop)
Indication showing “Under
Operation”
Item 3 in
Article 150
Preparation of Stipulations for
the Operation
Item 3 in
Article 150
Treatment to stop the
operation immediately
Item 3 in
Article 150
Indication showing “Under
Operation”
Item 3 in
Article 150
Practice of special training No. 31 in
Article 36
In Operation
such as
Teaching Disable
Checks, etc., before
operation startup Article 151
Performing it with the
machine stopped.
Item 5 in
Article 150
Enable Indication showing “Under
Operation”
Item 5 in
Article 150
Preparation of Stipulations for
the Operation
Item 5 in
Article 150
Treatment to stop the
operation immediately
Item 5 in
Article 150
Indication showing “Under
Operation”
Item 5 in
Article 150
Within the
Moving
Range
In Operation
such as
Inspection
Disable
(In the case that
it is performed
unavoidably
during the
machine
operation)
Practice of special training
(Excluding the cleaning and
oiling operations)
No. 32 in
Article 36
Requirements for the Industrial Robots set forth in the Ordinance on
Industrial Safety and Hygiene

3
Our Models regarded as Industrial Robots
The products which come under the following conditions, are excluded from the Industrial Robot
category according to the notice from the Ministry of Labor and the notification issued by the
director general of the Labor Standards Bureau in the Ministry of Labor (No. 340).
(1) Single-axis robot product with the motor wattage of 80W or less
(2) Multi-combined shaft robot product with the length of X, Y, and Z-axis of 300 mm or less and, if
there is any rotary section, the maximum movable range is 300 cubic mm or less including the
end section of the rotary section.
(3) Articulated robot product with both the movable radius and the length of Z-axis of 300 mm or
less.
Our models regarded as the industrial robots among the products in our catalogue are as follows.
1. Single Axis ROBO CYLINDER
RCS2/RCS2CR-SS8 with the stroke exceeding 300 mm
2. Single Axis Robot
Following models with the stroke exceeding 300 mm and motor capacity exceeding 80W
ISPDA, ISWA/ISPWA, IF, FS, NS
3. Linear Servo-Actuator
All the models with the stroke exceeding 300 mm
4. Cartesian-Type Robot
Any of the models in Item 1 through Item 3, which can be used on a single axis
5. IX SCARA Robot
6. Vertical Articulated Robot AR Series
IX-NNN (NNW, NNC) 3515
IX-NNN (NNW, NNC) 50 /60 /70 /80
IX-NSN5016/6016
IX-TNN (UNN) 3015/3515
IX-HNN (INN) 50 /60 /70 /80

4
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
Also, read the Operation Manual for each of other products.
No. Operation
Description Precautions
1 Model Selection This product has not been planned and designed for the application
where high level of safety is required, so the guarantee of the
protection of human life is impossible. Accordingly, do not use it in
any of the following applications.
(1) Medical equipment used to maintain, control or otherwise affect
human life or physical health
(2) Mechanisms and machinery designed for the purpose of moving
or transporting people (For vehicle, railway facility or air
navigation facility)
(3) Important safety parts of machinery (Safety device, etc.)
Do not use it in any of the following environments.
(1) Location where there is any inflammable gas, inflammable object
or explosive
(2) Place with potential exposure to radiation
(3) Location with the ambient temperature or relative humidity
exceeding the specification range
(4) Location where radiant heat is added from direct sunlight or other
large heat source
(5) Location where condensation occurs due to abrupt temperature
changes
(6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
(7) Location exposed to significant amount of dust, salt or iron
powder
(8) Location subject to direct vibration or impact
Do not use the product outside the specifications. Failure to do so
may considerably shorten its life and cause a product breakdown or
facility operation stop.
2 Transportation Consider well so that it is not bumped against anything or dropped
during the transportation.
Transport it using an appropriate transportation measure.
Do not get on the package.
Do not put any heavy thing that can deform the package, on it.
3 Storage The standards for the installation environment are applied also to the
storage environment. Consider well so that any dew condensation is
caused.