IAI ssel User manual

Operation Manual Eighth Edition
SSEL Controller

Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to
ensure safe use of the product.
The CD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when 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.

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
Position data changed by SEL programs will be retained even after the main power is turned off.
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.
If you need any or all of the above functions, you must install the optional system-memory backup battery.
Using a Rotary Actuator under Rotation Specification
With a rotary actuator designated as a model supporting rotation specification, rotation operation or limit rotation
operation can be set using parameters.
For information on setting these parameters, refer to 2, “Utilization Examples of Axis-specific Parameters” in
Appendix “Parameter Utilization.”
Axis operation type, rotational axis mode
Perform rotation operation or short-cut control with a rotational axis
However, pay attention to the following point:
Rotation operation is not supported by rotational axes of absolute specification. This is because the infinite
stroke mode, or short-cut control in the index mode, cannot be set for these axes.
Applicable models
RS-30/60
Actuator RCS2-RT6/RT6R/RT7/RT7R

CAUTION
Notes on Use of X-SEL PC Software
Versions Supporting SSEL Controllers
(with Increased Memory Size*1)
(*1: Positions and programs have increased to 20000 and 128, respectively, among others.)
SSEL controllers (with increased memory size) are supported by X-SEL PC software of version 7.0.6.0 or later.
X-SEL PC software of versions order than 7.0.6.0 cannot be used with SSEL controllers.
If you use PC software whose version is older than 7.0.6.0, “Error code 684: Expanded data access error” will
occur.
* If the version of your X-SEL PC software is old (older than 7.0.6.0), contact your nearest IAI sales
office.

Table of Contents
Table of Contents
Safety Guide...........................................................................................................1
Part 1 Installation...............................................................................................1
Chapter 1 Overview...................................................................................................................1
1. Introduction..................................................................................................................................1
2. Type.............................................................................................................................................1
3. SSEL Controller Functions ..........................................................................................................2
4. System Setup ..............................................................................................................................4
5. Warranty Period and Scope of Warranty.....................................................................................5
Chapter 2 Specifications............................................................................................................6
1. Controller Specifications..............................................................................................................6
2. Name and Function of Each Part ................................................................................................7
Chapter 3 Installation and Wiring.............................................................................................23
1. External Dimensions..................................................................................................................23
2. Installation Environment ............................................................................................................26
3. Heat Radiation and Installation..................................................................................................27
4. Noise Control Measures and Grounding...................................................................................28
5. Power-Supply Capacity and Heat Output..................................................................................31
6. Auxiliary Power Equipment........................................................................................................33
6.1 Example of Auxiliary Power Equipment Configuration....................................................33
7. Wiring.........................................................................................................................................34
7.1 Connecting the Power Cables.........................................................................................34
7.2 Connecting the Actuator.................................................................................................. 35
7.3 Connecting the Emergency Stop Input, Enable Input and Brake Power Input ...............36
7.4 Connecting the PIO Cable (I/O) ......................................................................................39
7.5 External I/O Specifications ..............................................................................................44
7.6 Connecting Regenerative Resistance Units (RB) ...........................................................48
7.7 Connecting the Teaching Pendant/PC Software (TP) (Optional)....................................50
7.8 Connecting the Panel Unit (Optional)..............................................................................50
7.9 Installing the Absolute-Data Backup Battery (Optional).................................................. 56
7.10 Installing the System-Memory Backup Battery (Optional)...............................................57
Chapter 4 Operation ................................................................................................................58
1. Startup........................................................................................................................................58
1.1 Power ON Sequence.......................................................................................................59
1.2 Power Cutoff Sequence ..................................................................................................59

2. How to Perform Absolute Reset (Absolute Specification).......................................................... 60
2.1 Preparation...................................................................................................................... 60
2.2 Procedure........................................................................................................................ 60
3. How to Start a Program .............................................................................................................65
3.1 Starting a Program byAuto-Start via Parameter Setting.................................................66
3.2 Starting via External Signal Selection..............................................................................67
4. Drive-Source Recovery Request and Operation-Pause Reset Request...................................69
5. Controller Data Structure...........................................................................................................70
5.1 How to Save Data............................................................................................................71
5.2 Points to Note..................................................................................................................73
Chapter 5 Maintenance............................................................................................................74
1. Inspection Points .......................................................................................................................74
2. Spare Consumable Parts...........................................................................................................74
3. Replacement Procedure for System-Memory Backup Battery (Optional).................................75
4. Replacement Procedure for Absolute-Data Backup Battery (Optional) ....................................77
Part 2 Programs ..............................................................................................79
Chapter 1 SEL Language Data................................................................................................79
1. Values and Symbols Used in SEL Language............................................................................79
1.1 List of Values and Symbols Used....................................................................................79
1.2 I/O Ports ..........................................................................................................................80
1.3 Virtual I/O Ports...............................................................................................................81
1.4 Flags................................................................................................................................83
1.5 Variables..........................................................................................................................84
1.6 Tags.................................................................................................................................87
1.7 Subroutines .....................................................................................................................88
1.8 Symbols...........................................................................................................................89
1.9 Character-String Literals..................................................................................................89
1.10 Axis Specification ............................................................................................................90
2. Position Part ..............................................................................................................................92
3. Command Part...........................................................................................................................93
3.1 SEL language Structure...................................................................................................93
3.2 Extension Condition ........................................................................................................94
Chapter 2 List of SEL Language Command Codes.................................................................95
1. By Function................................................................................................................................95
2. Alphabetical Order...................................................................................................................100
Chapter 3 Explanation of Commands....................................................................................105
1. Commands ..............................................................................................................................105
1.1 Variable Assignment......................................................................................................105

Table of Contents
1.2 Arithmetic Operation......................................................................................................108
1.3 Function Operation.........................................................................................................111
1.4 Logical Operation .......................................................................................................... 114
1.5 Comparison Operation .................................................................................................. 117
1.6 Timer.............................................................................................................................. 118
1.7 I/O, Flag Operation........................................................................................................121
1.8 Program Control............................................................................................................133
1.9 Task Management.........................................................................................................136
1.10 Position Operation.........................................................................................................141
1.11 Actuator Control Declaration.........................................................................................156
1.12 Actuator Control Command...........................................................................................172
1.13 Structural IF...................................................................................................................195
1.14 Structural DO.................................................................................................................198
1.15 Multi-Branching..............................................................................................................200
1.16 System Information Acquisition.....................................................................................204
1.17 Zone ..............................................................................................................................207
1.18 Communication.............................................................................................................. 211
1.19 String Operation.............................................................................................................218
1.20 Arch-Motion-Related .....................................................................................................227
1.21 Palletizing-Related ........................................................................................................232
1.22 Palletizing Calculation Command..................................................................................239
1.23 Palletizing Movement Command...................................................................................242
1.24 Building of Pseudo-Ladder Task....................................................................................244
1.25 Extended Command......................................................................................................246
Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note ..............249
1. Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC].. 249
2. PATH/PSPL Commands..........................................................................................................251
3. CIR/ARC Commands...............................................................................................................251
4. CIR2/ARC2/ARCD/ARCC Commands....................................................................................251
Chapter 5 Palletizing Function (2-axis Specification).............................................................252
1. How to Use..............................................................................................................................252
2. Palletizing Setting....................................................................................................................252
3. Palletizing Calculation..............................................................................................................257
4. Palletizing Movement...............................................................................................................258
5. Program Examples..................................................................................................................259
Chapter 6 Pseudo-Ladder Task.............................................................................................261
1. Basic Frame.............................................................................................................................261
2. Ladder Statement Field............................................................................................................262

3. Points to Note ..........................................................................................................................262
4. Program Example....................................................................................................................263
Chapter 7 Application Program Examples.............................................................................264
1. Operation by Jog Command....................................................................................................264
2. Operation by Point Movement Command ...............................................................................267
Chapter 8 Real-Time Multi-Tasking........................................................................................270
1. SEL Language.........................................................................................................................270
2. Multi-Tasking............................................................................................................................271
3. Difference from a Sequencer...................................................................................................272
4. Release of Emergency Stop....................................................................................................273
5. Program Switching...................................................................................................................274
Chapter 9 Example of Building a System ..............................................................................275
1. Equipment................................................................................................................................275
2. Operation.................................................................................................................................275
3. Overview of the Screw-Tightening System..............................................................................276
4. Hardware .................................................................................................................................277
5. Software...................................................................................................................................278
Chapter 10 Method of Building a System ................................................................................280
1. Position Table ..........................................................................................................................280
2. Programming Format...............................................................................................................281
3. Positioning to Five Positions....................................................................................................282
4. How to Use TAG and GOTO ...................................................................................................283
5. Moving Back and Forth between Two Points ..........................................................................284
6. Path Operation.........................................................................................................................285
7. Output Control during Path Movement....................................................................................286
8. Circle/Arc Operation ................................................................................................................287
9. Home Return Completion Output............................................................................................288
10. Axis Movement by Input Waiting and Completion Output.......................................................289
11. Changing the Moving Speed ...................................................................................................290
12. Changing the Speed during Operation....................................................................................291
13. Local/Global Variables and Flags............................................................................................292
14. How to Use Subroutines..........................................................................................................293
15. Pausing the Operation.............................................................................................................294
16. Canceling the Operation 1 (CANC).........................................................................................295
17. Canceling the Operation 2 (STOP)..........................................................................................296
18. Movement by Position Number Specification..........................................................................297
19. Movement by External Position Data Input .............................................................................298
20. Conditional Jump.....................................................................................................................299
21. Waiting Multiple Inputs.............................................................................................................300

Table of Contents
22. How to Use Offset....................................................................................................................301
23. Executing an Operation N times..............................................................................................302
24. Constant-pitch Feed ................................................................................................................303
25. Jogging ....................................................................................................................................304
26. Switching Programs.................................................................................................................305
27. Aborting a Program..................................................................................................................306
Part 3 Positioner Mode..................................................................................307
Chapter 1 Modes and Signal Assignments............................................................................307
1. Feature of Each Mode.............................................................................................................307
2. Number of Positions Supported in Each Mode .......................................................................308
3. Quick Mode Function Reference Table ...................................................................................308
4. Interface List of All PIO Patterns..............................................................................................309
Chapter 2 Standard Mode......................................................................................................310
1. I/O Interface List ......................................................................................................................310
2. Parameters.............................................................................................................................. 311
3. Details of Each Input Signal..................................................................................................... 311
4. Details of Each Output Signal..................................................................................................314
5. Timing Chart ............................................................................................................................315
5.1 Recognition of I/O Signals.............................................................................................315
5.2 Home Return.................................................................................................................316
5.3 Movements through Positions.......................................................................................317
Chapter 3 Product Switching Mode .......................................................................................319
1. I/O Interface List ......................................................................................................................319
2. Parameters..............................................................................................................................320
3. Details of Each Input Signal..................................................................................................... 321
4. Details of Each Output Signal..................................................................................................324
5. Timing Chart ............................................................................................................................325
5.1 Recognition of I/O Signals.............................................................................................325
5.2 Home Return.................................................................................................................326
5.3 Movements through Positions.......................................................................................327
Chapter 4 2-axis Independent Mode......................................................................................329
1. I/O Interface List ......................................................................................................................329
2. Parameters..............................................................................................................................330
3. Details of Each Input Signal..................................................................................................... 331
4. Details of Each Output Signal..................................................................................................334
5. Timing Chart ............................................................................................................................335
5.1 Recognition of I/O Signals.............................................................................................335
5.2 Home Return.................................................................................................................336