User guide

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