IAI PSEL series User manual

PSEL, ASEL
First Step Guide Third Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Operation Manual (CD) included with
the product in addition to this First Step Guide to ensure correct use.
*Using or copying all or part of this Operation Manual without permission is prohibited.
Product Check
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts (The option is excluded.)
No. Part Name Model
1 Controller Refer to “How to read the model plate” and “How to
read the model of the controller”.
Accessories
2 I/O Flat cable CB-DS-PIO*** ***indicates the cable length.
3 Battery for saving Absolute Data *1 AB-5
4 Control Power Unit•System I/O plug MC1.5/6-ST-3.5 (Maker: PHOENIX CONTACT)
5 Motor Power Plug MSTB2.5/2-STF-5.08 (Maker: PHOENIX CONTACT)
6 First Step Guide
7 Operation Manual (CD)
8 Safety Guide
*1 It is attached when the unit is absolute type.
2. Teaching Tool (Option)
The personal computer application software or teaching pendant is required for
the operations including program creation and setup such as position setting and
parameter setting with teaching. Use either of them.
No. Part Name Model
1 PC Software (with RS232C Cable + Emergency Stop Box + Connector
conversion adapter)
IA-101-X-MW-J
2 PC Software (USB Cable with a dummy plug) IA-101-X-USB
3 Teaching pendant SEL-T
4 Teaching pendant (with deadman switch) SEL-TD
5 Wall Hanging Hook specially for SEL-T/TD HK-1
6 Strap specially for SEL-T/TD STR-1
7 Teaching pendant IA-T-X
8 Teaching pendant (with deadman switch) IA-T-XD
9 Panel Unit
*2 PU-1
*2 It is the unit specially for “Status” indication.
3. Operation manuals related to this product, which are contained in the CD.
No. Name Manual No.
1 PSEL Controller Operation Manual ME0172
2 ASEL Controller Operation Manual ME0165
3 PC Software IA-101-X-MW/ IA-101-X-USBMW ME0154
4 Teaching pendant SEL-T/TD ME0183
5 Teaching pendant IA-T-X/XD ME0160
6 DeviceNet Operation Manual ME0124
7 CC-Link Operation Manual ME0123
8 PROFIBUS-DP Operation Manual ME0153
4. How to read the model plate
5. How to read the model of the controller
[PSEL]
[ASEL]
*1 : When the RCA-RA3C, -RA3D, -RA3R, -RGS3C, -RGS3D, -RGD3C, -RGD3D,
RCA2-SA4C or –TA5C is connected, the motor type should be 20S.
Basic Specifications
PSEL Specifications
Specification Item Single-Axis Type Double-Axis Type
Control Power Source Voltage 24VDC ±10%
Motor Power Source Voltage 24VDC ±10%
Control Power Capacity 1.2A
Actuator Rated Max
*2 Rated Max *2
20, 28P, 28SP Motor 0.4A 0.8A
Motor
Power
Capacity
*1
35, 42, 56P Motor 1.2A 2.0A 2.4A 4.0A
Heating value 14.4W
Momentary Power
Interruption Tolerance
0.5msec
Insulation Resistance 500VDC 10MΩor more
Insulation Strength 400VAC for 1min (Between all power terminals and FG)
Axis Control System AC Full –digital Servo
Position detection method Incremental Encoder
Battery for Backup For System Memory Backup : Manufactured by our company AB-5 (Option)
Program language Super SEL language
Max. Number of program steps 2000 steps
Max. Number of position 1500 positions
Max. Number of programs 64 programs
Max. Number of multitask programs 8 programs
Data storage device Flash ROM + SRAM battery backup (Option)
Data input method Teaching pendant or PC software
I/O Interface 24 Input Points (Total of Dedicated Input Points + Universal Input Points)
8 Output Points (Total of Dedicated Output Points + Universal Output Points)
PIO Interface Power Unit 24VDC ±10% (Externally supplied)
Teaching Port RS232C
(Special Protocol)
26-pin Half Pitch I/O Connector (TX20A Series for Connecting
1.27mm-pitch PCB Cable Pair Manufactured by JAE)
USB Teaching Port for
connecting the PC (Special
Protocol)
USB B Connector (XM7B-0442)
For connecting the PC
RS232C 15m or lessCommunication
cable length USB 5m or less
System I/O Emergency-stop input, safety gate input
Protective functions Overvoltage, motor over current, motor overload, driver
temperature abnormality, and Encoder abnormality etc.
Drive-source cutoff method Internal Relay
Surrounding air
temperature
0 to +40°C
Surrounding
humidity
10% to 95%RH (non-condensing)
Surrounding
environment
There should not be any corrosive gas. In particular, there
should not be much dust accumulation.
Surrounding storage
temperature
-25 to 70 degrees (However, except for battery (option))
Surrounding storage
humidity
10% to 95%RH (non-condensing)
Vibration strength XYZ directions 10 to 57Hz Pulsating amplitude 0.035mm
(continuous)0.075mm (intermittent)
57 to 150Hz 4.9m/s2(continuous) 9.8m/s2(intermittent)
Environ-
ment
Impact 147mm/s2, 11ms Semi-sine wave pulse three times to each
of the directions X, Y and Z
Protection class IP20
Cooling method Natural air-cooling
Weight 440g
External dimensions (Refer to the Item for the External dimensions Dimension)
PSEL – C －2 －20PI －20PIB －NP －2 －0
X Y Z [ [ \ ] ^
Model table
[Details of axis 1 to axis 2
X
Series
Y
Controller
Type
Z
Number
of axes
Motor Angle
Value Encoder type Brake
\
Standard
I/O
]
I/O Flat
cable
length
^
Power-
supply
voltage
PSEL
C
(Standard
Type)
1
(1-axis)
2
(2-axis)
20P
(20 angles)
28P
(28 angles)
28SP
(For RCP2-
RA3C)
35P
(35 angles)
42P
(42 angles)
56P
(56 angles)
I
(Incremental)
Not Specified
(w/o brake)
B
(w/ brake)
NP
Standard
PIO
Input 24/
Output 8
NPN type
PN
Standard
PIO
Input 24/
Output 8
PNP type
2 : 2m
(standard)
3 : 3m
5 : 5m
0 :
None
0 : 24VDC
ASEL – C －2 －30A －30AB －NP －2 －0
X Y Z [ [ \ ] ^
Model table
[Details of axis 1 to axis 2
X
Series
Y
Controller
Type
Z
Number
of axes
Motor
Output
Encoder
type Brake Home Sensor
High
Accel/
Decel
Type
Less
Power
consump-
tion Type
\
Standard I/O
]
I/O Flat
cable
length
^
Power-
supply
voltage
ASEL
C
(Standard
Type)
1
(1-axis)
2
(2-axis)
2
(2W)
5
(5W)
10
(10W)
20S
(20W*1)
20
(20W)
30
(30W)
I
(Incremental)
A
(Absolute)
Not
Specified
(w/o
brake)
B
(w/ brake)
Not
Specified
(w/o
home
sensor)
B
(Home
Sensor)
Not
Specified
(Standard
Type)
HA
(High
Accel/Decel
Type)
Not
Specified
(Standard
Type)
LA
(Less Power
consumption
Type)
NP
Standard
PIO
Input 24/
Output 8
NPN type
PN
Standard
PIO
Input 24/
Output 8
PNP type
2 : 2m
(standard)
3 : 3m
5 : 5m
0 :
None
0 : 24VDC
*1 Rush current of the control power when the
power is turned ON, is about 30.0A for 5msec
both for single axis type and double axis type.
*2 After the servo-motor is turned on, the
excitation detection operation is performed.
Excitation phase detection is performed after
power-on. In such a case, the current becomes
maximum (About 100msec).
However, after the motor driving power is
turned OFF, when the motor driving power is
turned ON again, about 6.0A of current passes
for single axis type and 12.0A of current for
double axis type. (for approx. 1 to 2msec)
As a +24VDC power
supply, select the power
supply of the “peak load
support” specification or
one with sufficient
capacity.
MODEL PSEL-C-2-42PI-42PI-NP-2-0
SERIAL No. 600117538
MADE IN JAPAN
Model
Serial number

ASEL Specifications
Specification Item Single-Axis Type Double-Axis Type
Control Power Source Voltage 24VDC ±10%
Motor Power Source Voltage 24VDC ±10%
Control Power Capacity 1.2A
Standard Type /
High Accel/Decel Type
Power consumption
Type
Standard Type /
High Accel/Decel Type
Power consumption
Type
Actuator
Rated Max
*2 Rated Max *3 Rated Max *2 Rated Max *3
SA4･SA5･RA4 (20W )
type 1.3A 4.4A 1.3A 2.5A 2.6A 8.8A 2.6A 5.0A
SA6･RA4 (30W) type 1.3A 4.0A 1.3A 2.2A 2.6A 8.0A 2.6A 4.4A
RA3 (20W) type 1.7A 5.1A 1.7A 3.4A 3.4A 10.2A 3.4A 6.8A
SA3(10W) type
SA5･TA6 (20W) type 1.3A 4.4A 1.3A 2.5A 2.6A 8.8A 2.6A 5.0A
RN3N･RP3N･GS3N･
GD3N･SD3N･TC3N･
TW3N･TF3N･TA4 C･
TA4R(10W) type
1.3A 4.4A 2.6A 8.8A
SA6･TA7 (30W) type 1.3A 4.0A 1.3A 2.2A 2.6A 8.0A 2.6A 4.4A
RA4･TA5 (20W) type 1.7A 5.1A 1.7A 3.4A 3.4A 10.2A 3.4A 6.8A
RN4N･RP4N･GS4N･
GD4N･SD4N･TC4N･
TW4N･TF4N(20W)
type
1.7A 5.1A 3.4A 10.2A
RA1L, SA1L 0.8A 4.6A 1.6A 9.2A
RA2L, SA2L 1.0A 6.4A 2.0A 12.8A
Motor
Power
Capacity
*1
RA3L, SA3L 1.3A 6.4A 2.6A 12.8A
Heating value 14.4W
Momentary Power
Interruption Tolerance
0.5msec
Insulation Resistance 500VDC 10MΩor more
Insulation Strength 500VAC for 1min (Between all power terminals and FG)
Axis Control System AC Full –digital Servo
Position detection method Incremental Encoder or Absolute Encoder
For Absolute Data Backup : Manufactured by our company AB-5Battery for Backup
For System Memory Backup : Manufactured by our company AB-5 (Option)
Program language Super SEL language
Max. Number of program steps 2000 steps
Max. Number of position 1500 positions
Max. Number of programs 64 programs
Max. Number of multitask programs 8 programs
Data storage device Flash ROM + SRAM battery backup (Option)
Data input method Teaching pendant or PC software
I/O Interface 24 Input Points (Total of Dedicated Input Points + Universal Input Points)
8 Output Points (Total of Dedicated Output Points + Universal Output Points)
PIO Interface Power Unit 24VDC ±10% (Externally supplied)
Teaching Port RS232C
(Special Protocol)
26-pin Half Pitch I/O Connector (TX20A Series for Connecting
1.27mm-pitch PCB Cable Pair Manufactured by JAE)
USB Teaching Port for connecting
the PC (Special Protocol)
USB B Connector (XM7B-0442)
For connecting the PC
RS232C 15m or lessCommunication
cable length USB 5m or less
System I/O Emergency-stop input, safety gate input
Protective functions Overvoltage, motor over current, motor overload, driver
temperature abnormality, Encoder abnormality etc.
Drive-source cutoff method Internal Relay
Surrounding air temperature 0 to +40°C
Surrounding humidity 10% to 95%RH (non-condensing)
Surrounding
environment
There should not be any corrosive gas. In particular, there should
not be much dust accumulation.
Surrounding storage
temperature
-25 to 70 degrees (However, except for battery (option))
Surrounding storage
humidity
10% to 95%RH (non-condensing)
Vibration resistance XYZ directions 10 to 57Hz Pulsating amplitude 0.035mm
(continuous)0.075mm (intermittent)
57 to 150Hz 4.9m/s2(continuous) 9.8m/s2(intermittent)
Environ
-ment
Impact 147mm/s2, 11ms Semi-sine wave pulse three times to each of the directions X, Y and Z
Protection class IP20
Cooling method Natural air-cooling
Weight 450g
External dimensions (Refer to the Item for the External dimensions Dimension)
External Dimensions
[PSEL]
* Same dimensions are applied to both the single axis and double axis units.
* The above figure shows the condition where the system memory backup battery (option)
is attached.
[ASEL]
* Same dimensions are applied to both the single axis and double axis units.
* The above figure shows the condition where the system memory backup battery (option)
and absolute data backup battery have been attached.
Installation Environment
Do not use this product in the following environment:
•Location where the surrounding air temperature exceeds the range of 0 to 40°C
•Location where condensation occurs due to abrupt temperature changes
•Location where relative humidity smaller than 30% or larger than 95%RH
•Location exposed to corrosive gases or combustible gases
•Location exposed to significant amount of dust, salt or iron powder
•Location subject to direct vibration or impact
•Location exposed to direct sunlight
• Location where the product may come in contact with water, oil or chemical droplets
When using the product in any of the locations specified below, provide a
sufficient shield.
•Location subject to electrostatic noise
•Location where high electrical or magnetic field is present
•Location with the mains or power lines passing nearby
Installation and Noise Elimination
1. Noise Elimination Grounding (Frame Ground)
2. Precautions Regarding Wiring Method
•Use a twisted cable for connection to power supply.
•Separate the I/O line, communication line and power or driving line to each other.
3. Noise Sources and Elimination
Carry out noise elimination measures for power devices on the
same power path and in the same equipment.
The following are examples of measures to eliminate noise
sources:
①AC solenoid valves, magnet switches and relays
[Measure] Install a surge absorber parallel with the coil.
②DC solenoid valves, magnet switches and relays
[Measure] Install a diode parallel with the coil. Use a
DC relay with a built-in diode.
4. Heat Radiation and Installation
Conduct design and manufacture in consideration of the control box size, controller layout
and cooling in such a way that the temperature around the controller will be 40°C or less.
The controller in the above figure is PSEL. ASEL works under the same
conditions for PSEL.
*1 Rush current of the control power when the power is
turned ON, is about 30.0A for 5msec both for single
axis type and double axis type.
*2 It is the maximum current in accelerating or
decelerating.
*3 The current reaches its maximum level when the
servo-motor exciting phase is detected which is to be
performed in the first servo-motor turning ON
processing after the power injection. (Normal: Approx.
1 to 2sec, Max.: 10sec
)
110
(26) (17) 43
21.5
(52)
137 159
5
System Memory
Backup Battery
110
(26)
(52)
137 159
5
(20)
(17) 43
21.5
System Memory
Backup Battery
A
bsolute Data
Backup Battery
As a +24VDC power supply,
select the power supply of
the “peak load support”
specification or one with
sufficient capacity.
50mm or more
50mm or more
95mm
or more
Airflow
direction of the wind
30 30
Fan
R
C
A
R
C
A
2
R
C
L
Surge Absorber
+24V
+24V
0V
0V
Relay coil
R
C
+-
Relay
coil
Controller
Other equipment
Controller
Other equipment Other equipment
Do not share the ground wire with or connect to
other equipment. Ground each controller.
Controller
Earth Terminal
Class D grounding
(
Formerl
y
Class-III
g
roundin
g
: Groundin
g
resistance at 100Ω or less
)
Connect it using a stranded
copper wire 2.0mm
2
(AWG 16).
Attach the ground screw
terminal to the earth
ground.

Connection Diagram
[PSEL､ASEL]
For PSEL and ASEL controller, the same wiring is applied.
*1 When the PC is connected to the controller using the USB cable, it is required to attach
the dummy plug to the controller to short Safety Gate Signal for the PC application
software and teaching pendant.
Warning When the PC is connected to the controller using the USB cable, the emergency stop box can
not be connected. In the case of stop in an emergency, process it in the system.
Wiring for the Power/Emergency Stop Circuit and Brake Forced Release Switch
[PSEL､ASEL] Shown is an example when two or more
controllers on the whole system
emergency stop circuit, are stopped in an
emergency.
*1 The connection of the teaching pendant is automatically recognized using the controller.
*2 For the CR contacts between EMG “+” and EMG “-”, use 24VDC, 0.5A/contact or more.
*3 When the safety category requirements include the motor driving source interception,
connect CR.
I/O Signals
Program Mode
Input
Pin
No.
Electric
wire
color
Port
No.
Function in Standard
Setting
(in Delivery)
Parameter
No. Parameter Name
Input
Function Set
Value (at the
delivery from
factory)
Input
Function
Set Value
*1
Function
１A BR-1 - I/O power connector + 24V - - - 0 Universal Input
１B RD-1 016 Program No. 1 Selection
(MSB)
251 Input Function Selection 016 9 1 Program Start (BCD) (ON Edge)
Signal
2A OR-1 017 Program No. 2 Selection
(The second bit)
252 Input Function Selection 017 10 2 Program Start (BIN) (ON Edge)
Signal
2B YW-1 018 Program No. 4 Selection
(The third bit)
253 Input Function Selection 018 11 3 Software Reset (Turning ON for
1 second)
3A GN-1 019 Program No. 8 Selection
(The fourth bit)
254 Input Function Selection 019 12 4 Servo ON signal (ON Edge)
3B BL-1 020 Program No. 10 Selection
(The fifth bit)
255 Input Function Selection 020 13 5 Automatic Start Program Start-up
Signal
(ON Edge)
4A PL-1 021 Program No. 20 Selection
(The sixth bit)
256 Input Function Selection 021 14 6 All servo-axes soft interlock
(OFF level)
4B GY-1 022 Program No. 40 Selection
(LSB
• The seventh bit)
257 Input Function Selection 022 15 7 Operation Pause Cancellation
(ON Edge)
5A WT-1 023 Software Reset 258 Input Function Selection 023 3 8 Pause Signal (OFF level)
5B BK-1 000 Program Start 30 Input Function Selection 000 1 9 Program No. appointment
(MSB)
6A BR-2 001 Universal Input 31 Input Function Selection 001 0 10 Program No. appointment
(The second bit)
6B RD-2 002 Universal Input 32 Input Function Selection 002 0 11 Program No. appointment
(The third bit)
7A OR-2 003 Universal Input 33 Input Function Selection 003 0 12 Program No. appointment
(The fourth bit)
7B YW-2 004 Universal Input 34 Input Function Selection 004 0 13 Program No. appointment
(The fifth bit)
8A GN-2 005 Universal Input 35 Input Function Selection 005 0 14 Program No. appointment
(The sixth bit)
8B BL-2 006 Universal Input 36 Input Function Selection 006 0 15 Program No. appointment
(LSB • The seventh bit)
9A PL-2 007 Universal Input 37 Input Function Selection 007 0 16 Error Reset (ON edge)
9B GY-2 008 Universal Input 38 Input Function Selection 008 0 17 Driving Power Interruption
Cancellation Input (ON Edge)
10A WT-2 009 Universal Input 39 Input Function Selection 009 0 18 Homing Command Signal for All
Effective Axes (ON Edge)
10B BK-2 010 Universal Input 40 Input Function Selection 010 0 19 All Increment Effective Axes
Homing(ON Edge)
11A BR-3 011 Universal Input 41 Input Function Selection 011 0 20 PC and Teaching Pendant
Servo-Motor Movement Command
Receipt Permission Input
11B RD-3 012 Universal Input 42 Input Function Selection 012 0 21 Remote Mode Control Input
12A OR-3 013 Universal Input 43 Input Function Selection 013 0 22 First Axis Brake Forced Release
Input
12B YW-3 014 Universal Input 44 Input Function Selection 014 0 23 Second Axis Brake Forced
Release Input
13A GN-3 015 Universal Input 45 Input Function Selection 015 0
*1 When the input function set values (0 to 23) are set in the I/O parameters 30 to 45 (input function selection 000 to
015) and I/O parameters 251 to 258 (input function selection 016 to 023), the set functions are allocated.
Program Mode
Output
Pin
No.
Electric
wire
color
Port
No.
Function in Standard
Setting
(in Delivery)
Parameter
No. Parameter Name
Output
Function Set
Value (at the
delivery from
factory)
Output
Function
Set Value
*1
Function
13B BL-3 300 Alarm Output 46 Output Function Selection 300 2 0 Universal Input
14A PL-3 301 READY Output 47 Output Function Selection 301 7 1 Error Output at the Operation
Cancellation Level or more(ON)
14B GY-3 302 Universal Output 48 Output Function Selection 302 0 2 Error Output at the Operation
Cancellation Level or more(OFF)
15A WT-3 303 Universal Output 49 Output Function Selection 303 0 3 Error Output at the Operation
Cancellation Level or more＋
Emergency-stop Output (ON)
15B BK-3 304 Universal Output 50 Output Function Selection 304 0 4 Error Output at the Operation
Cancellation Level or more＋
Emergency-stop Output (OFF)
16A BR-4 305 Universal Output 51 Output Function Selection 305 0 5 READY Output (PIO Trigger
Program Operation Available)
16B RD-4 306 Universal Output 52 Output Function Selection 306 0 6 READY Output (PIO Trigger
Program Operation Available)
and without occurrence of any
error at the operation
cancellation level or more
17A OR-4 307 Universal Output 53 Output Function Selection 307 0 7 READY Output (PIO Trigger
Program Operation Available)
and READY Output (PIO Trigger
Program Operation Available,
and without occurrence of any
error at the cold start level or
more or more level or more
17B YW-4 N I/O power connector 0V - - - 8 Emergency-stop Output(ON)
9
Emergency-stop Output (OFF)
10
AUTO Mode Output
11
Output during the Automatic
Operation
12
Output at the time of “All
Effective Axes Homing (=0)”
13
Output when all the effective
axes homing is completed
14
Output when all the effective axes
home preset coordinates are set
15
System Memory Battery (Option)
Voltage Drop
Warning Output
16
Voltage Drop Warning Output for
the Battery (Option) for
maintaining the Absolute Data
17
Driving Source Interception
(SDN) Notification Output
24
Output during the first axis servo ON
25
Output during the second axis
servo ON
*1 When the output function set values (0 to 17, 24, 25) are set in the I/O parameters 46 to 53 (output function
selection 300 to 307), the set functions are allocated.
The mixed allocation of output function set values 1, 2, 3 and 4 is not available.
The mixed allocation of output function set value 5, 6 and 7 is not available.
Positioner Mode Function description for I/O Signals
Input
Parameter No.25
Signal Abbreviation Signal Name Function Description 123416
PC1 to PC13
PC1 to PC11
Command Position
No. Signal
Input of the position number to m ove (binary input) { { {
Item Change Mode
PC1 to PC16
Position/Item No.
Signal
Input of the No. of item to be moved and position No. (Binary Input) {
DC-S-C1
Interchangeable Mode
PC1 to PC1000
Command Position
No. Signal
Input of the position number to move (BCD input)
(PC1 to 8 : Units Digit, PC10 to 80 : Tens Digit, PC100 to 800 : Hundreds Digit,
PC1000 : Thousands Digit)
{
RES Reset Signal An alarm will be reset when this signal is turned ON. Also, when it is turned ON in the
pause mode (*STP is turned OFF), the remaining movement amount can be cancelled. { { { {
CSTR PTP Strobing Signal
(Start Signal)
The actuator will start to move to the position set by the command position number. { { {
Double Axis
Independent Mode
CSTR1, CSTR2
PTP Strobing Signal
(Start Signal)
The actuator will start to move to the position set by the command position number.
•CSTR1 : First Axis
•CSTR2 : Second Axis
{
HOME Home Return Signal The controller will perform home return operation when this signal is turned ON. { {
Double Axis
Independent Mode
HOME1, HOME2
Home Return Signal The controller will perform home return operation when this signal is turned ON.
•HOME1 : First Axis
•HOME2 : Second Axis
{
SON Servo ON signal The servo remains ON while this signal is ON, or OFF while this signal is OFF. { { {
Double Axis
Independent Mode
SON1, SON2
Servo ON signal The servo remains ON while this signal is ON, or OFF while this signal is OFF.
•SON1 : First Axis
•SON2 : Second Axis
{
PUSH Pressing Signal When the command position No. signal and start signal are input in the Signal ON
mode, the pressing operation is performed. { {
*ST P Pause Sig nal When this signal turns OFF while the actuator is moving, the actuator will decelerate to stop.
The remaining movement is retained and will resume when the signal is turned ON again. { { {
Double Axis
Independent Mode
*STP1, *STP2
Pause Sign al When this signal turns OFF while the actuator is moving, the actuator will decelerate to stop.
The remaining movement is retained and will resume when the signal is turned ON again.
•*STP1 : First Axis •*STP2 : Second Axis
{
DC-S-C1
Interchangeable Mode
STP
Pause Sign al When this signal turns ON while the actuator is moving, the actuator will decelerate to stop. The
remaining movement is retained and will resume when the signal is turned OFF again. {
*CANC Cancel Signal When this signal turns OFF while the actuator is moving, the actuator will decelerate to
stop. During the stop condition, the remaining movement amount is cancelled, so even
when this signal is turned ON, the movement is not restarted.
{ {
Double Axis
Independent Mode
*CANC1, *CANC2
Cancel Signal When this signal turns OFF while the actuator is moving, the actuator will decelerate to
stop. During the stop condition, the remaining movement amount is cancelled, so even
when this signal is turned ON, the movement is not restarted.
•*CANC1 : First Axis •*CANC2 : Second Axis
{
LINE Interpolation Signal When the double axis unit is used and this signal is turned ON, the two axes perform the
linear interpolation operation { { {
DC-S-C1
I
nterchangeable Mode
CPRES
CPU Reset Signal When this signal is turned ON the controller is re-started up.
{
Teaching Mode
JOG1 +, JOG1 -
JOG2 +, JOG2 -
Jog Signal When the MODE signal is turned ON and the mode is set to Teaching Mode, using the ON
edge detection of this signal, the jog operation is performed in plus or minus direction. When
the OFF edge is detected during the jog operation, it is decelerated and stopped.
•JOG1 +, JOG1 - : First Axis •JOG2 +, JOG2 - : First Axis
{
Teaching Mode
IC001
IC01
IC05
IC1
Inching (Manual
Axis Operation)
Distance Signal
When the MODE signal is turned on and the mode is set to Teaching Mode, specifying
the inching (manual axis operation) distance and entering the jog signal (JOG1+,
JOG1-, JOG2+ or JOG2-), performs the inching (manual axis) operation.
•IC001 : Set the Inching (manual axis operation) Distance to “0.01mm”.
•IC01 : Set the Inching (manual axis operation) Distance to “0.1mm”.
•IC05 : Set the Inching (manual axis operation) Distance to “0.5mm”.
•IC1 : Set the Inching (manual axis operation) Distance to “1mm”.
When two or more inching (manual axis operation) distances (IC001 to IC1) are set, the
inching (manual axis operation) is performed for the total distance.
{
Teaching Mode
CSTR/PWRT
PTP Strobing Signal
(Start Signal)/
Current
Position Write Signal
When the MODE signal is turned OFF and the mode is set to Normal Positioning Mode,
it is used as the start signal.
When the MODE signal is turned ON and the mode is set to Teaching Mode, it is used
as the current position write signal. Specifying the write position and turning ON this
signal for 20msec or more, writes the current position onto the specified position.
{
Teaching Mode
MODE
Teaching Mode
Specifying Signal
When the MODE signal is turned OFF, the mode is set to Normal Positioning Mode.
When the MODE signal is turned OFF, the mode is changed to Teaching Mode.
(When the SERVO is turned ON and jog signal is turned ON, turning ON the MODE
signal starts up the actuator. Be careful.
{
Output
Parameter No.25
Signal Abbreviation Signal Name Function Description 123416
*ALM Controller Alarm
Status Signal
When the controller is turned ON normally, it is turned ON and when the controller is in alarm
mode, it is turned OFF. When the controller is recovered from alarm mode, it is turned ON again.
{ { { {
DC-S-C1 Interchange-
able Mode
ALM
Controller Alarm
Status Signal
When the controller is turned OFF normally, it is turned ON and when the controller is in alarm
mode, it is turned ON. When the controller is recovered from alarm mode, it is turned OFF again.
{
RDY Ready Signal When the controller initialization is completed normally and the control is enabled, it is turned ON. { { { { {
PEND Positioning
Completion Signal
This signal is turned ON when the positioning is completed (the actuator reaches within the positioning range).
When the start signal is turned ON and the movement command is issued, this signal is turned OFF. Then, after the
movement, the start signal is turned OFF and the actuator reaches within the positioning width, this signal is turned
ON. Until the start signal is turned ON, even when the actuator is out of the positioning width, this signal is not turned
ON.
When the start signal continues to be turned ON, even when the actuator reaches within the positioning width, this
signal is not turned ON.
{ { {
Double Axis
Independent Mode
PEND1
PEND2
Positioning
Completion Signal
This signal is turned ON when the positioning is completed (the actuator reaches within the
positioning range).
When the start signal is turned ON and the movement command is issued, this signal is
turned OFF. Then, after the movement, the start signal is turned OFF and the actuator
reaches within the positioning width, this signal is turned ON. Until the start signal is turned
ON, even when the actuator is out of the positioning width, this signal is not turned ON.
When the start signal continues to be turned ON, even when the actuator reaches within the
positioning width, this signal is not turned ON.
•PEND1 : First Axis •PEND2 : Second Axis
{
HEND Homing
Completion Signal
When the power is input, it is in the OFF mode. This signal will turn ON when home
return has been completed. It is turned ON when the homing command is issued. { { {
Double Axis
Independent Mode
HEND1, HEND2
Homing
Completion Signal
When the power is input, it is in the OFF mode. This signal will turn ON when home
return has been completed. It is turned ON when the homing command is issued.
•HEND1 : First Axis •HEND2 : Second Axis
{
SVON Servo ON Status Signal This signal will remain ON while the servo is ON. { { {
Double Axis
Independent Mode
SVON1, SVON2
Servo ON Status Signal This signal will remain ON while the servo is ON.
•SVON1 : First Axis •SVON2 : Second Axis {
PSED Pressing
Completion Signal
In the pressing operation, when the operation is completed, this is turned ON. When the swing error does
not occur (when the pressing operation is completed), the turning-off condition is continued.
{ {
SSER*1 System Battery
Error Signal
When the system memory battery (option) voltage drops, it is turned ON. { { { {
ABER*1 Battery for the Absolut
e
Data Maintenance
When the absolute data preservation battery (option) voltage drops, it is turned ON. { { { {
Teaching Mode
PEND/WEND
Positioning
Completion
Signal/Writing
Completion Signal
In the normal positioning mode (MODE signal is turned OFF), it is used as the positioning
completion signal.
This signal will turn ON when the target position has been reached after movement and the
actuator has entered the in-position range.
In the teaching mode (MODE signal is turned ON), it is used as the writing completion signal. At
the moment when the current position data writing is completed, it is turned ON.
{
Teaching Mode
TCMD
Operation Mode
Status Signal
It is turned OFF in the Normal Positioning Mode and turned ON in the Teaching Mode. {
*1 Turn ON the lamp, etc., with this signal. Use this signal for the alarm for battery change.
Control +24V Power Unit
System I/O
PWR
RDY
ALM
EMG
SV1
SV2
First Axis Brake
Release Switch
LED indication
Host System (PLC)
+24V Power Supply
for motor drive
AUTO/MANU
Mode
USB Cable
*1
Conversion Cable
(Option)
Dummy Plug
(Option)
*2
Teaching pendant
(Option)
Class D
grounding
(Formerly Class-III grounding)
(Protective Ground)
Motor Cable
Encoder Cable
Panel Unit (Option)
Axis 1
Axis 2
Personal Computer
Emergency-stop input,
safety gate input
Second Axis Brake
Release Switch
EMGIN EMGOUT2
+24V
EMG+
EMG-
ENB-
ENB+
0V
+24V
0V
+24V
+24V 0V
(*1)
CPU
CR+24V 0V
+24V
+24V
0V
+24V
0V
CR
CR
(*2)
EMG+
EMGIN EMGOUT2
EMG-
ENB+
ENB-
EMG-
EMG+
+24V
0V
ENB+
ENB-
CR
(*2)
CR
CR
+24V
0V
CPU
PSEL, ASEL Controller
EMG Switch for
the Teaching Pendant
Motor Power
Breaker Relay
External EMG
circuit
Safety gate
It is turned ON
when the open/close
door is closed. Motor Power
Unit
Control
Power Unit
Connection
detection circuit
External EMG
reset switch
to Second Unit
External
EMG circuit
Safety gate
It is turned ON
when the open/close
door is closed.
Motor Power
Unit
Control
Power Unit
Connection
detection circuit
EMG Switch for
the Teaching Pendant
Motor Power
Breaker Relay
Motor Power Unit
Control Power Unit
Safety gate
(*1)
It is turned ON
when the open/close
door is closed.

Positioner Mode
Mode Standard
Mode Item Change Mode
Double Axis
Independent
Mode
Teaching
Mode
DS-S-C1
Interchangeable
Mode
Other Parameter No. 25 1 2 3 4 16
Pin No. Electric
wire color Category
1A BR-1 +24V P24
1B RD-1 PC10 PC10 PC7 JOG1- PC1000
2A OR-1 PC11 PC11 PC8 JOG2+ -
2B YW-1 PC12 PC12 PC9 JOG2- -
3A GN-1 PC13 PC13 PC10 IC001 -
3B BL-1 - PC14 PC11 IC01 -
4A PL-1 - PC15 PC12 IC05 -
4B GY-1 - PC16 PC13 IC1 -
5A WT-1 RES RES RES RES CPRES
5B BK-1 CSTR CSTR CSTR1 CSTR/PWRT CSTR
6A BR-2 HOME HOME HOME1 SON STP
6B RD-2 SON SON SON1 *STP CANC
7A OR-2 PUSH PUSH *STP1 PC1 LINE
7B YW-2 *STP *STP *CANC1 PC2 PC1
8A GN-2 *CANC *CANC CSTR2 PC3 PC2
8B BL-2 LINE LINE HOME2 PC4 PC4
9A PL-2 PC1 PC1 SON2 PC5 PC8
9B GY-2 PC2 PC2 *STP2 PC6 PC10
10A WT-2 PC3 PC3 *CANC2 PC7 PC20
10B BK-2 PC4 PC4 PC1 PC8 PC40
11A BR-3 PC5 PC5 PC2 PC9 PC80
11B RD-3 PC6 PC6 PC3 PC10 PC100
12A OR-3 PC7 PC7 PC4 PC11 PC200
12B YW-3 PC8 PC8 PC5 MODE PC400
13A GN-3
Input
PC9 PC9 PC6 JOG1+ PC800
13B BL-3 *ALM *ALM *ALM *ALM ALM
14A PL-3 RDY RDY RDY RDY RDY
14B GY-3 PEND PEND PEND1 PEND/WEND PEND
15A WT-3 HEND HEND HEND1 HEND -
15B BK-3 SVON SVON SVON1 SVON -
16A BR-4 PSED PSED PEND2 TCMD -
16B RD-4 SSER SSER HEND2 SSER SSER
17A OR-4
Output
ABER ABER SVON2 ABER ABER
17B YW-4 0V N
I/O Flat cable
Model CB-DS-PIO□□□
Input section Output section
Item Specification Item Specification
Input voltage 24VDC± 10% Load voltage 24VDC
Input current 7mA Peak load electric current 100mA/1 point 400mA/8 points *1
NPN ON Voltage: MIN. 16.0VDC
OFF Voltage: MAX. 5.0VDC Leakage Current MAX. 0.1mA
Specification
ON/OFF Voltage
PNP ON Voltage: MIN. 8.0VDC
OFF Voltage: MAX. 19.0VDC
*1 The total of lead current reaches max. 400mA every
8 ports from output port No. 300.
NPN
Controller
Internal
Power Source
P24
Input Terminal
680Ω
3.3kΩ
External
Power
Source
24VDC
±10%
N
Load
P24
Controller
Internal
Power Source
Output Terminal
External
Power
Source
24VDC
±10%
Surge Absorber
Surge Absorber
Surge Absorber
PNP
680Ω
3.3kΩ
N
Controller
Internal
Power Source
Input Terminal
External
Power
Source
24VDC
±10%
P24
NLoad
Controller
Internal
Power Source
Output Terminal
External
Power
Source
24VDC
±10%
Surge Absorber
Surge Absorber
Surge Absorber
The I/O circuit is an equivalent circuit expressing the logic.
NPN type PNP type
Starting Procedures
When using this product for the first time, make sure to avoid mistakes and incorrect wiring by
referring to the procedure below.
Troubleshooting
The following alarm displays are frequently generated at the start-up operation. Process it referring to the following description.
Deal with each of them referring to the following table.
Status display
Code Status contents Cause and Remedy
LED
Personal
Computer
TB
Panel Unit
(Option)
EMG During
emergency-stop
It is not an alarm.
•It is generated when the emergency stop switch in the
teaching pendant or the personal computer application
software is not cancelled. In such case, cancel it.
•It is generated when the personal computer cable is not
connected to the emergency stop box.
•Check the emergency stop circuit.
○
enb Safety gate remains
opening
Deadman switch
OFF
It is not an alarm.
•It is generated when the system I/O ENB signal is opened.
Check the ENB signal. (It is generated when the safety gate
is open. Close the safety gate.)
•It is generated when the AUTO/MANU switch has been set to
“MANU” and the personal computer or the teaching pendant
is not connected. Connect the personal computer or the
teaching pendant or set the AUTO/MANU switch to “AUTO”.
•When the actuator is to be started up, hold the deadman
switch on the teaching pendant to turn it on.
DCF DC Power
Interruption
Momentary Power
Failure
Power Voltage Drop
It is generated when the power voltage is not supplied. Check
the power supply.
CA1 Absolute Data
Backup Battery
Voltage Error
It is caused when the battery is not attached or battery voltage
drops.
In the case of the actuator for the single-axis robots or
Cartesian robots with the absolute data specifications, it is
generated when the power is connected for the first time.
Perform the absolute reset.
○
D12 Encoder
Disconnection Error
It is generated when the cable is broken or the encode cable is
not connected to the controller. Check the wiring.
○
D19 Encoder Reception
Time Out
It is generated when the encoder is broken down, the cable is
broken or the encoder cable is not connected to the controller.
Check the wiring.
○
E69
E6C
24V I/O Error
DO output current
error
It is generated when the +24V power for I/O is not supplied.
Check the power supply.
(How to start up the controller without connecting the I/O 24V
power)
Set both the I/O parameter No. 10 to “0”.
○
D5□Field Bus Error It is generated when the field bus link connection is not
established.
Check the link cable connection, I/O parameter and PLC
parameter settings.
(How to start up the controller without connecting the field bus)
Set both the I/O parameter No. 10 to “0”.
○
IAI America Inc.
Head Office: 2690 W, 237th Street Torrance, CA 90505
TEL [phone] FAX [phone]
Chicago Office: 1261 Hamilton Parkway Itasca, IL 60143
TEL [phone] FAX [phone]
Atlanta Office: 1220-E Kennestone Circle, Marrietta, GA 30066
TEL [phone] FAX [phone]
website: www.intelligentactuator.com
IAI Industrieroboter GmbH
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL [phone] FAX [phone]
* Enter the cable length (L) in□□□ (up to 10m)
Example) 080=8m
No. color Wirings No. color Wirings
1A BR-1 9B GY-2
1B RD-1 10A W T-2
2A OR-1 10B BK-2
2B YW-1 11A BR-3
3A GN-1 11B RD-3
3B BL-1 12A OR-3
4A PL-1 12B YW-3
4B GY-1 13A GN-3
5A WT-1 13B BL-3
5B BK-1 14A PL-3
6A BR-2 14B GY-3
6B RD-2 15A W T-3
7A OR-2 15B BK-3
7B YW-2 16A BR-4
8A GN-2 16B RD-4
8B BL-2 17A OR-4
9A PL-2
Flat cable
(Press
welding)
17B YW-4
Flat cable
(Press
welding)
Manual No.: ME0210-3A
2m
Flat cable AWG28
(34 conductors)
1A1B
17A17B
No
connector
1A
1B
2A
13A
13B
14A
17A
17B
0V +24V
Pin No.
Load
Set-up for operation is completed. Perform the system operation adjustment.
A
→
↓Yes
Perform the absolute reset.
Confirm the alarm description in the window
of the personal computer or teaching
pendant, and deal with it.
(Refer to the “Treatments in Error Condition”)
In the case that it has been installed vertically, repeating the
servo turning ON/OFF, might lower the unit slightly due to the
weight of the unit itself. In such case, take care so that your
hand is not caught or the work is not damaged.
* The homing operation for the absolute type is not required.
Set-up for operation is completed. Set the position and start the program.
A
PIO Pattern Settings
Set the Other Parameter No. 25.
Setting Range 1: Standard Mode
2: Item Change Mode
3: Double-Axis Independent Mode
4: Teaching Mode
16: DS-S-C1 Interchange Mode
(Refer to the Instruction Manual for the details).
Set the safety speed.
When the machine is delivered from the factory, the safety speed is
set to 250mm/s using the Parameter No. 33 common to all axes.
Change it if necessary.
Connect the motor cable.
•To ensure safety, it is recommended that safety speed be enabled during initial movements.
•When the unit is installed vertically and the brake release switch is set to “RLS” side, the unit might
drop due to its own weight. In such case, take care not to catch your hand or damage the handle.
No→
→
No→
→
↓Yes
↓
↓Yes ↓No
↓Yes
↓No
↓Yes
↓
↓
↓
No→
↓Yes
↓Yes
↓
↓
↓
No→
↓Yes
↓
→No→No→
↓Yes
No→
↓Yes
↓Yes
No→
Contact the sales shop.
Power Supply and Alarm Check
Connect the personal computer or teaching
pendant, set the AUTO/MANU switch to the
[MANU] side and inject the power.
Check Item 1
Is the LED indicator
[EMG] turned off on the
front panel?
When the USB port is used, is the
dummy plug inserted to connect?
Insert the dummy plug to connect.
Check Item 1
Are the LED Indications “PWR” and
“RDY” turned ON on the front panel?
Is the LED Indication “ALM” turned OFF?
Is the actuator for Absolute?
Confirm the emergency stop switch box
connection.
Confirm that the emergency stop switch
has been cancelled.
Installation and Wiring
Install the controller and actuator and perform wiring according
to the instruction manual and the contents in this book.
Check of Packed Items
Are there all the delivered items?
PIO Pattern Settings
When the other parameter No. 25 is not set to
“0”, set it to “0”.
(When the machine is delivered from the factory,
it is set to “0”
)
.
Parameter Setting
Set the parameters including I/O parameter with
the personal computer or teaching pendant
operation.
Servo ON
Turn ON the servo motor with the personal
computer or teaching pendant operation.
Connect the motor cable.
When the alarm is output, deal with it after
confirming the alarm description, using the
personal computer or teaching pendant
operation.
Homing Execution
Home the actuator with personal computer or
teaching pendant operation.
Check of Safety Circuit
Check that the emergency stop circuit (or motor drive power
cutoff circuit) operates normally to turn off the servo.
Check the emergency stop circuit.
Confirming the operation of the actuator
Confirm that the full stroke operation is performed without any
trouble with the jog operation.
Has the motor cable connected?
Servo ON
Turn ON the servo motor with the personal
computer or teaching pendant operation.
Has the motor cable
connected?
Confirm the alarm description in the window of the
personal computer or teaching pendant, and deal with it.
(Refer to the “Treatments in Error Condition”)
Check the emergency stop circuit.
Check of Safety Circuit
Check that the emergency stop circuit (or motor drive-power
cutoff circuit) operates normally to turn off the servo.
Target Position Setting
Set a target position in the “Position” field for each position in the position table.
When carrying out direct teaching, perform home return operation first.
When the unit is equipped with the brake, move it after setting the brake release switch to “RLS” side.
Confirming the operation of the actuator
Confirm that the full stroke operation is performed without any trouble with the jog operation.
←In the case of Program Mode:
In the case of Positioner Mode:
Check Item
Are the LED Indications
“SV1” and “SV2” for the
turned ON axes turned ON?
In the case that it has been installed vertically, repeating the
servo turning ON/OFF, might lower the unit slightly due to the
weight of the unit itself. In such case, take care so that your
hand is not caught or the work is not damaged.
Check Item
Are the LED Indications
“SV1” and “SV2” for the
turned ON axes turned ON?
Point Check Item
•Have you perform the frame grounding and protective grounding processing.
•Has the noise countermeasure been taken?
1A
1B
2A
13A
13B
14A
17A
17B
0V+24V
Pin No.
Load