IAI ssel User manual

SSEL Controller
Operation Manual Fifteenth Edition

Please Read Before Use
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 DVD 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]
• This Operation Manual is original.
• The product cannot be operated in any way unless expressly specified in this Operation
Manual. IAI shall assume no responsibility for the outcome of any operation not specified
herein.
• Information contained in this Operation Manual is subject to change without notice for the
purpose of product improvement.
• If you have any question or comment regarding the content of this manual, please contact
the IAI sales office near you.
• Using or copying all or part of this Operation Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.

Construction of Operation Manual for each Controller Model and
This Manual
SSEL-CS
zBasic Specifications
• Program Mode Operation SSEL Controller (This Manual) ME0157
• Positioner Mode Operation
★Types to select from
• PIO Control
• Fieldbus Control
(i) DeviceNet DeviceNet ME0124
(ii) CC-Link CC-Link ME0123
(iii) PROFIBUS-DP PROFIBUS-DP ME0153
(iv) EtherNet/IP EtherNet/IP ME0308
• Remote I/O unit Remote I/O unit ME0339
Programming Manual
• SEL Language Programming Manual Programming Manual ME0224
Teaching Tool,
• PC Software PC Software ME0154
• Touch Panel Teaching
Teaching Pendant
(i) TB-01 Touch Panel Teaching ME0325
(ii) SEL-T Teaching Pendant ME0183

CAUTION
Operator Alarm on Low Battery Voltage
This controller can be equipped with the following optional backup batteries for retention of data in
the event of power failure:
[1] System-memory backup battery (Optional)
For retention of position data, global variables/flags, error list, strings, etc.
[2] Absolute-data backup battery (absolute encoder specification)
For retention of encoder rotation data.
Since these batteries are not rechargeable, they will be eventually consumed. Unless the batteries
are replaced in a timely manner, the voltage will drop to a level where the data can no longer be
retained. If a power failure occurs in this condition, the data will be lost.
(The life of each battery varies depending on the operating time.)
Once the data is lost, the controller will not operate normally the next time the power is turned on,
and recovery will take time.
To prevent this problem, this controller can output a low battery voltage alarm from its I/O port.
You can specify a desired output port to issue a voltage-low warning for the system-memory
backup battery.
Set “15” as the input function specification value in the I/O parameter corresponding to the output
port number you want to specify.
Setting example)
To specify output port No. 306 to issue a voltage-low warning for the system-memory backup
battery, set “15” in I/O parameter No. 52.
You can specify a desired output port to issue a voltage-low warning for the absolute-data
backup battery.
Set “16” as the input function specification value in the I/O parameter corresponding to the output
port number you want to specify.
Setting example) To specify output port No. 307 to issue a voltage-low warning for the
absolute-data backup battery, set “16” in I/O parameter No. 53.
It is recommended that this function be utilized to prevent unnecessary problems resulting from low
battery voltage (consumption of battery life).
In particular, the person in charge of system design should utilize this function to provide a design
means for issuing an operator alarm using an output signal from an I/O port, while the person in
charge of electrical design should provide an electrical means for achieving the same effect.
For the battery replacement procedure, refer to the applicable section in the operating manual.
It is recommended that you always backup the latest data to a PC in case of voltage drop in the
system-memory battery or unexpected controller failure.

CAUTION
Optional System-Memory Backup Battery
The SSEL controller can be used with the optional system-memory backup battery.
Caution: When installing the system-memory backup battery, “Other parameter No. 20” must
be set to “2.”
Installing the system-memory backup battery will add the following functions to the controller:
• Save SEL global data
Data of global variables, flags and strings will be retained even after the main power is turned off.
• Save RAM position data
The position data changed in a teaching tool such as XSEL PC software is remained even if the
power gets turned off.
(Note) If the system-memory backup battery is installed, the domain to save the position data
changes from the flash ROM domain to RAM domain.
• Save an error list
An error list containing up to 100 most recent errors will be retained even after the main power is
turned off.
In case those features above are required, install the optional system-memory backup battery.

CAUTION
Note on Controller with Expanded Memory*1
*1 Positions and programs have increased to 20000 and 128, respectively, among others.
For a controller with expanded memory, use the PC software or teaching pendant of an applicable
version as specified below.
Teaching tool Version
XSEL PC software V7.0.6.0 or later
Teaching pendant SEL-T/TD V1.00 or later
Teaching pendant
TB01/01D/01DR
Applicable for programming controller
V1.00 or later
If you use PC software whose version is older than 7.0.6.0, “Error code 684: Expanded data
access error” will occur.
[How to check if the controller memory has been expanded]
Check in ROM Version Information (Controller → ROM Version Information) in the PC software
(ver. 6.0.0.0.0 or later).
• Expanded memory: As shown below, “Main (FROM32M)” is shown in the PC software. On the
teaching pendant screen, “Main (FROM32M)” is shown. If the screen shows
SRAM16M, it means applicable for memory capacity expansion.
Checking in PC software

Table of Contents
Safety Guide ......................................................................................................................1
Modes in SSEL Controller .................................................................................................8
Caution in Handling ...........................................................................................................9
International Standards Compliances ..............................................................................11
Name for Each Parts and Their Functions.......................................................................12
Actuator Axes...................................................................................................................21
Starting Procedures .........................................................................................................23
Chapter 1 Specifications Check .....................................................................................25
1.1 Product Check .............................................................................................................. 25
1.1.1 Components (Excluding Options) ...................................................................... 25
1.1.2 Teaching Tool (Optional) .................................................................................... 26
1.1.3 Operation Manuals Related to this Product, which are Contained in the
Operation Manual (DVD)....................................................................................26
1.1.4 How to Read the Model Plate ............................................................................ 27
1.1.5 How to Read the Model......................................................................................27
1.2 Basic Specifications...................................................................................................... 30
1.2.1 Specification List ................................................................................................ 30
1.2.2 Power Capacity and Heat output ....................................................................... 32
1.2.3 Selection of the Circuit Breaker.......................................................................... 34
1.2.4 Selection of the Leakage Breaker...................................................................... 34
1.3 External Dimensions ....................................................................................................35
1.3.1 2-axis Specification ............................................................................................35
1.3.2 2-axis Absolute Specification ............................................................................. 36
1.3.3 Specification with System Memory Backup Battery (Option)............................. 37
1.4 Option ........................................................................................................................... 38
1.4.1 PIO Board...........................................................................................................38
1.4.2 Field Network Board........................................................................................... 40
1.4.3 Panel Unit: PU-1 ................................................................................................41
1.4.4 Brake Box: RCB-110-RA13-0............................................................................. 42
1.4.5 Regenerative Resister Unit: RESU-1 and RESU-2............................................ 43
1.5 Installation and Storage Environment........................................................................... 45
1.6 Noise Prevention and the Installation........................................................................... 46
Chapter 2 Wiring ............................................................................................................51
2.1 Wiring (Connection of devices) Diagram...................................................................... 51
2.2 Circuit Diagram (Example) ........................................................................................... 52
2.2.1 Power Supply Circuit.......................................................................................... 52
2.2.2 Brake Release Power Supply ............................................................................ 52
2.2.3 Emergency Stop Circuit...................................................................................... 53
2.2.4 Motor Encoder Circuit ........................................................................................ 55
2.2.5 PIO Circuit..........................................................................................................56
2.2.6 Connection of Regenerative Resister Unit (Option)........................................... 61
2.2.7 Brake Box (RCB-110-RA13-0) (Option) ............................................................. 62
2.2.8 Teaching Port .....................................................................................................63
2.3 Wiring Method ..............................................................................................................64
2.3.1 Wiring for Power Supply Circuit .........................................................................64
2.3.2 Wiring the Emergency Stop Circuit (System I/O) ............................................... 66
2.3.3 Wiring for Actuator.............................................................................................. 67
2.3.4 Wiring for PIO..................................................................................................... 69
2.3.5 Wiring for Panel Unit .......................................................................................... 70
2.3.6 Wiring for Regenerative Resister Unit (RESU-1, RESU-2) (Option).................. 71
2.3.7 Wiring for the Brake Box (RCB-110-RA13-0)..................................................... 72
2.3.8 Wiring for the Teaching Tool...............................................................................74

2.4 Installing the Absolute-Data Backup Battery (Optional) ............................................... 76
2.5 Installing the Absolute-Data Backup Battery (Optional) ............................................... 77
Chapter 3 Program Mode Operation..............................................................................79
3.1 Types of Operations .....................................................................................................79
3.2 Receiving and Forwarding of I/O Signals Necessary for Operation............................. 80
3.3 Controller Data Structure.............................................................................................. 82
3.3.1 How to Save Data .............................................................................................. 83
3.4 Starting the Controller................................................................................................... 86
3.4.1 Boot and Cutoff of Power Supply....................................................................... 86
3.4.2 Panel Unit PU-1 Display..................................................................................... 87
3.4.3 Position Table and Program Creation and Writing ............................................. 90
3.5 Program Operation....................................................................................................... 91
3.5.1 Auto Start upon Power On ................................................................................. 91
3.5.2 Starting a Program by Specifying its Program Number ..................................... 93
3.5.3 Input Timing for Software Reset Signal and Servo-on Signal............................ 94
Chapter 4 Operation in Positioner Mode........................................................................95
4.1 Basic Operation ............................................................................................................ 95
4.1.1 Basic Operation Methods...................................................................................95
4.1.2 Parameter Settings ............................................................................................ 97
4.1.3 PIO Pattern Selection and PIO Signal ...............................................................98
4.2 Operation in Positioner Mode.....................................................................................105
4.2.1 Set of Position Table ........................................................................................106
4.2.2 Control of Input Signal...................................................................................... 110
4.2.3 Operation Ready and Auxiliary Signals = Common Item................................. 111
4.2.4 Operation with the Position No. Input = Operations of PIO Patterns 0 to 4..... 122
4.2.5 Synchro operation ............................................................................................143
4.2.6 How to Home-Return in PIO Pattern without Home-Return Signal HEND ......144
Chapter 5 Absolute Reset and Absolute Battery..........................................................147
5.1 Absolute Reset (Absolute Specification) .................................................................... 147
5.1.1 For PC Software...............................................................................................147
5.1.2 For Teaching Pendant ......................................................................................153
5.2 Absolute Reset (Battery-less Absolute specification).................................................159
5.3 Data Retaining Battery ............................................................................................... 162
5.3.1 System-memory backup battery (Option) ........................................................162
5.3.2 Absolute Encoder Backup................................................................................167
Chapter 6 Special Functions ........................................................................................173
6.1 Synchro Function........................................................................................................173
6.1.1 Overview ..........................................................................................................173
6.1.2 Preparation for Operation of Synchro Specification.........................................176
6.1.3 Procedure for Re-execution of Absolute Reset................................................184
6.2 Multiple-Slider Near-Miss Detection (Collision Prevention) Function.........................186
6.3 Driver Overload Warning Function .............................................................................189
Chapter 7 I/O Parameter..............................................................................................193
7.1 I/O Parameter (All Types)........................................................................................... 195
7.2 I/O Function Lists........................................................................................................213
7.3 Parameters Common to All Axes................................................................................217
7.4 Axis-Specific Parameters ...........................................................................................221
7.5 Driver Parameters ...................................................................................................... 230
7.6 Encoder Parameters ..................................................................................................234
7.7 I/O Devices Parameters .............................................................................................236
7.8 Other Parameters.......................................................................................................239
7.9 Feature Setup for I/O.................................................................................................. 245
7.10 Parameters for Linear / Rotation Controls.................................................................. 251

7.11 Permission of SIO/PIO Program Startup with Password............................................254
7.12 Parameter Setting (Applied) ....................................................................................... 255
7.12.1 Want to Operate the System Tentatively Without Using I/Os...........................256
7.12.2 Want to Output an Auto Operation Determination Signal from the SSEL
Controller..........................................................................................................256
7.12.3 Want to Retain Current Output Statuses Even during Emergency Stop..........256
7.12.4 Want to Start an Emergency Program .............................................................256
7.12.5 Want to Enable Auto Recovery (Restart) upon Cancellation of Emergency
Stop ..................................................................................................................257
7.12.6 Want to Enable Auto Recovery (Error Reset) upon Cancellation of
Emergency Stop............................................................................................... 257
7.12.7 Want to Return to the Condition Immediately before Emergency Stop ...........257
7.12.8 Want to Restart the XSEL Controller Externally...............................................257
7.12.9 Want to Turn on the Servo Externally ..............................................................258
7.12.10 Want to Make a Home-return on all the Single Axis Actuators Externally ....... 258
7.12.11 Want to Execute the SSEL Controller Program Externally .............................. 258
7.12.12 Want to Execute a Program Externally by Making an Indication of a
Program Number in Binary............................................................................... 258
7.12.13 Want to Pause the XSEL Controller Externally ................................................259
7.12.14 Want to Reset Errors Externally.......................................................................259
7.12.15 Want to Release the Actuator Brake Externally ............................................... 259
7.12.16 Want to Switch between AUTO and MANU Modes Externally ........................ 259
7.12.17 Want to Output that all the Single Axis Actuators are at the Home Position....260
7.12.18 Want to Output that Home-return Operation is Complete on all the Single
Axis Actuators ..................................................................................................260
7.12.19 Want to Output that a Single Axis Actuator got into the Area (zone) which
has been Set ....................................................................................................261
7.12.20 Want to Output the Error Level ........................................................................ 262
7.12.21 Want to Output the Emergency Stop Status ....................................................262
7.12.22 Want to Know the Current Operation Mode.....................................................263
7.12.23 Want to Output the System Memory Backup Battery (Option) Voltage
Drop Alarm .......................................................................................................263
7.12.24 Want to Output an Absolute-encoder Backup Battery (Option) Voltage
Low Alarm.........................................................................................................263
7.12.25 Want to Know the Current at This Moment on Panel Unit PU-1 (Option)
without Connecting to Teaching Tool................................................................264
7.12.26 Want to Monitor the Global Integral Variables on Panel Unit PU-1 (Option)
without Connecting to Teaching Tool................................................................265
7.13 Servo Adjustment .......................................................................................................266
Chapter 8 Troubleshooting...........................................................................................269
8.1 Action to Be Taken upon Occurrence of Problem ...................................................... 269
8.2 Error Level Control .....................................................................................................272
8.3 Error List (MAIN application) ...................................................................................... 274
Chapter 9 Appendix .....................................................................................................313
9.1 Example of Safety Circuit (Conforming to Safety Category)...................................... 313
9.1.1 Connecting the IA-LB-TGS ..............................................................................313
9.1.2 Wiring and Setting of Safety Circuit ................................................................. 314
9.1.3 Examples of Safety Circuits ............................................................................. 316
9.1.4 TP Adapter and Related Parts ......................................................................... 322
9.2 Stopping Method and Recovery .................................................................................325
9.2.1 Stopping Method ..............................................................................................325
9.2.2 Recovery ..........................................................................................................326
9.3 Specifications List for Connectable Single Axis Actuator ...........................................328

Chapter 10 Warranty......................................................................................................391
10.1 Warranty Period..........................................................................................................391
10.2 Scope of the Warranty................................................................................................391
10.3 Honoring the Warranty ...............................................................................................391
10.4 Limited Liability ...........................................................................................................391
10.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and
Applications ................................................................................................................392
10.6 Other Items Excluded from Warranty ......................................................................... 392
Trouble Report Sheet ....................................................................................................393
Change History..............................................................................................................395

1
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.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No. Operation
Description Description
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 the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
●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
●For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an
accident such as an injury or damage on the work piece.

2
No. Operation
Description Description
2 Transportation ●When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●When in transportation, consider well about the positions to hold,
weight and weight balance and pay special attention to the carried
object so it would not get hit or dropped.
●Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the
instructions in the operation manual for each model.
●Do not step or sit on the package.
●Do not put any heavy thing that can deform the package, on it.
●When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
●When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
●Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
●Do not get on the load that is hung on a crane.
●Do not leave a load hung up with a crane.
●Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
●The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention
of condensation.
●Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
●Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
●Do not get on or put anything on the product. Failure to do so may
cause an accidental fall, injury or damage to the product due to a drop
of anything, malfunction of the product, performance degradation, or
shortening of its life.
●When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets

3
No. Operation
Description Description
(2) Cable Wiring
●Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
●Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do
not coil it around. Do not insert it. Do not put any heavy thing on it.
Failure to do so may cause a fire, electric shock or malfunction due to
leakage or continuity error.
●Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
●When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
●Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
●Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
may cause the product to malfunction or cause fire.
4 Installation
and Start
(3) Grounding
●The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and
control the unnecessary electromagnetic radiation.
●For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair
cable with wire thickness 0.5mm2(AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
●Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100Ωor below).

4
No. Operation
Description Description
4 Installation
and Start
(4) Safety Measures
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection
fence) so that nobody can enter the area within the robot’s movable
range. When the robot under operation is touched, it may result in
death or serious injury.
●Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
●Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
●Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
●When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
●Take the measure so that the work part is not dropped in power failure
or emergency stop.
●Wear protection gloves, goggle or safety shoes, as necessary, to
secure safety.
●Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or
fire.
●When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching ●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●Perform the teaching operation from outside the safety protection
fence, if possible. In the case that the operation is to be performed
unavoidably inside the safety protection fence, prepare the “Stipulations
for the Operation” and make sure that all the workers acknowledge and
understand them well.
●When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
●When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch
on the operation so that any third person can not operate the switches
carelessly.
●Place a sign “Under Operation” at the position easy to see.
●When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.

5
No. Operation
Description Description
6 Trial
Operation
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic
operation.
●When the check operation is to be performed inside the safety
protection fence, perform the check operation using the previously
specified work procedure like the teaching operation.
●Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
●Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
●Check before starting the automatic operation or rebooting after
operation stop that there is nobody in the safety protection fence.
●Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
●Make sure to operate automatic operation start from outside of the
safety protection fence.
●In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and
turn OFF the power switch. Failure to do so may result in a fire or
damage to the product.
●When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recovery operation from the power failure.

6
No. Operation
Description Description
8 Maintenance
and
Inspection
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
●When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
●When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
●When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch
on the operation so that any third person can not operate the switches
carelessly.
●Place a sign “Under Operation” at the position easy to see.
●For the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
●Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
●When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
●The slider or rod may get misaligned OFF the stop position if the servo
is turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
●Pay attention not to lose the cover or untightened screws, and make
sure to put the product back to the original condition after maintenance
and inspection works.
Use in incomplete condition may cause damage to the product or an
injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
●Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal ●When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
●When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
●Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ●Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing
so may affect the performance of your medical device.
●See Overseas Specifications Compliance Manual to check whether
complies if necessary.
●For the handling of actuators and controllers, follow the dedicated
operation manual of each unit to ensure the safety.