IAI America S-SEL-E User Manual
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Page 2
Table of Contents
Foreword ................................................................................................................................................................. 1
Before You Begin ...................................................................................................................................................... 4
Chapter 1 Setting Up ....................................................................................................................................... 5~63
Part 1
Safety Precautions ............................................................................................................................................... 5
Part 2
Warranty Period and Scope ................................................................................................................................. 6
Part 3
Installation Environment and Noise Measures .................................................................................................. 7
Part 4
Cabling Precautions .......................................................................................................................................... 12
Part 5
Part Names and Functions ................................................................................................................................ 14
Part 6
Specifications .................................................................................................................................................... 17
1
AC .................................................................................................................................................................. 17
2
DC .................................................................................................................................................................. 21
3
External I/O ................................................................................................................................................... 25
4
Servo .............................................................................................................................................................. 26
5
Precautions When Using Emergency Stop ................................................................................................... 27
6
Restarting the Controller After an Emergency Stop ..................................................................................... 27
Part 7
System Setup ..................................................................................................................................................... 28
1
Connecting the IA Controller and Actuator ................................................................................................. 28
2
Interface List .................................................................................................................................................. 29
3
I/O Wiring Diagram ...................................................................................................................................... 30
4
Teaching/RS232C Connector ........................................................................................................................ 33
5
Connector Pin Assignment ........................................................................................................................... 34
6
Controller Dimensions .................................................................................................................................. 49
7
Unit Configurations and Limitations ............................................................................................................ 52
8
Type G (AC) Unit Configurations ................................................................................................................. 56
9
12-slot Expansion Unit .................................................................................................................................. 61
10 Bleeder Resistor ............................................................................................................................................. 62
Part 8
Maintenance ...................................................................................................................................................... 63
Chapter 2 Operation ......................................................................................................................................64~93
Part 1
Basics in Operating Your Super SEL Controller ............................................................................................. 64
Part 2
Teaching Pendant Operation ............................................................................................................................ 66
Part 3
System Operation .............................................................................................................................................. 91
Chapter 3 Multi-tasking ............................................................................................................................. 94~105
Part 1
Real-time Multi-tasking .................................................................................................................................... 94
1
Super SEL Programming Language ............................................................................................................. 94
2
Multi-Tasking ................................................................................................................................................ 95
3
Difference Between the Super SEL and a PLC ............................................................................................. 96
4
Emergency Stop Release ............................................................................................................................... 97
5
Program Switching ........................................................................................................................................ 98
Part 2
Screwdriving Robot System .............................................................................................................................. 99
1
Components Used .......................................................................................................................................... 99
2
Operation ....................................................................................................................................................... 99
3
Screwdriving System Illustration .................................................................................................................. 99
4
Hardware ..................................................................................................................................................... 100
5
Software ....................................................................................................................................................... 102