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