Document Outline

• Please Read Before Use
• Operator Alarm on Low Battery Voltage
• Notes on Use of X-SEL PC Software
• Table of Contents
• Safety Guide
• CE Marking
• Part 1 Installation
  • Chapter 1 Overview
    • 1. Introduction
    • 2. Type
    • 3. SSEL Controller Functions
    • 4. System Setup
    • 5. Warranty Period and Scope of Warranty
  • Chapter 2 Specifications
    • 1. Controller Specifications
    • 2. Name and Function of Each Part
  • Chapter 3 Installation and Wiring
    • 1. External Dimensions
    • 2. Installation Environment
    • 3. Heat Radiation and Installation
    • 4. Noise Control Measures and Grounding
    • 5. Power-Supply Capacity and Heat Output
    • 6. Power Auxiliary
    • 7. Wiring
      • 7.1 Connecting the Power Cables
      • 7.2 Connecting the Actuator
      • 7.3 Connecting the Emergency Stop Input, Enable Input and Brake Power Input (Wiring to the SIO Connector)
      • 7.4 Connecting the PIO Cable (I/O)
      • 7.5 External I/O Specifications
      • 7.6 Connecting Regenerative Resistance Units (RB)
      • 7.7 Connecting the Teaching Pendant/PC Software (TP) (Optional)
      • 7.8 Connecting the Panel Unit (Optional)
      • 7.9 Installing the Absolute-Data Backup Battery (Optional)
      • 7.10 Installing the System-Memory Backup Battery (Optional)
  • Chapter 4 Operation
    • 1. Startup
      • 1.1 Power ON Sequence
      • 1.2 Power Cutoff Sequence
    • 2. How to Perform Absolute Reset (Absolute Specification)
      • 2.1 Preparation
      • 2.2 Procedure
    • 3. How to Start a Program
      • 3.1 Starting a Program by Auto-Start via Parameter Setting
      • 3.2 Starting via External Signal Selection
    • 4. Drive-Source Recovery Request and Operation-Pause Reset Request
    • 5. Controller Data Structure
      • 5.1 How to Save Data
      • 5.2 Points to Note
  • Chapter 5 Maintenance
    • 1. Inspection Points
    • 2. Spare Consumable Parts
    • 3. Replacement Procedure for System-Memory Backup Battery (Optional)
    • 4. Replacement Procedure for Absolute-Data Backup Battery (Optional)
• Part 2 Programs
  • Chapter 1 SEL Language Data
    • 1. Values and Symbols Used in SEL Language
      • 1.1 List of Values and Symbols Used
      • 1.2 I/O Ports
      • 1.3 Virtual I/O Ports
      • 1.4 Flags
      • 1.5 Variables
      • 1.6 Tags
      • 1.7 Subroutines
      • 1.8 Symbols
      • 1.9 Character-String Literals
      • 1.10 Axis Specification
    • 2. Position Part
    • 3. Command Part
      • 3.1 SEL language Structure
      • 3.2 Extension Condition
  • Chapter 2 List of SEL Language Command Codes
    • 1. By Function
    • 2. Alphabetical Order
  • Chapter 3 Explanation of Commands
    • 1. Commands
      • 1.1 Variable Assignment
      • 1.2 Arithmetic Operation
      • 1.3 Function Operation
      • 1.4 Logical Operation
      • 1.5 Comparison Operation
      • 1.6 Timer
      • 1.7 I/O, Flag Operation
      • 1.8 Program Control
      • 1.9 Task Management
      • 1.10 Position Operation
      • 1.11 Actuator Control Declaration
      • 1.12 Actuator Control Command
      • 1.13 Structural IF
      • 1.14 Structural DO
      • 1.15 Multi-Branching
      • 1.16 System Information Acquisition
      • 1.17 Zone
      • 1.18 Communication
      • 1.19 String Operation
      • 1.20 Arch-Motion-Related
      • 1.21 Palletizing-Related
      • 1.22 Palletizing Calculation Command
      • 1.23 Palletizing Movement Command
      • 1.24 Building of Pseudo-Ladder Task
      • 1.25 Extended Command
  • Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note
    • 1. Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC]
    • 2. PATH/PSPL Commands
    • 3. CIR/ARC Commands
    • 4. CIR2/ARC2/ARCD/ARCC Commands
  • Chapter 5 Palletizing Function (2-axis Specification)
    • 1. How to Use
    • 2. Palletizing Setting
    • 3. Palletizing Calculation
    • 4. Palletizing Movement
    • 5. Program Examples
  • Chapter 6 Pseudo-Ladder Task
    • 1. Basic Frame
    • 2. Ladder Statement Field
    • 3. Points to Note
    • 4. Program Example
  • Chapter 7 Application Program Examples
    • 1. Operation by Jog Command [Doll-Picking Game Machine]
    • 2. Operation by Point Movement Command [Riveting System]
  • Chapter 8 Real-Time Multi-Tasking
    • 1. SEL Language
    • 2. Multi-Tasking
    • 3. Difference from a Sequencer
    • 4. Release of Emergency Stop
    • 5. Program Switching
  • Chapter 9 Example of Building a System
    • 1. Equipment
    • 2. Operation
    • 3. Overview of the Screw-Tightening System
    • 4. Hardware
    • 5. Software
  • Chapter 10 Method of Building a System
    • 1. Position Table
    • 2. Programming Format
    • 3. Positioning to Five Positions
    • 4. How to Use TAG and GOTO
    • 5. Moving Back and Forth between Two Points
    • 6. Path Operation
    • 7. Output Control during Path Movement
    • 8. Circle/Arc Operation
    • 9. Output of Home Return and Home Return Complete Signal
    • 10. Axis Movement by Input Waiting and Completion Output
    • 11. Changing the Moving Speed
    • 12. Changing the Speed during Operation
    • 13. Local/Global Variables and Flags
    • 14. How to Use Subroutines
    • 15. Pausing the Operation
    • 16. Canceling the Operation 1 (CANC)
    • 17. Canceling the Operation 2 (STOP)
    • 18. Movement by Position Number Specification
    • 19. Movement by External Position Data Input
    • 20. Conditional Jump
    • 21. Waiting Multiple Inputs
    • 22. How to Use Offset
    • 23. Executing an Operation N times
    • 24. Constant-pitch Feed
    • 25. Jogging
    • 26. Switching Programs
    • 27. Aborting a Program
• Part 3 Positioner Mode
  • Chapter 1 Modes and Signal Assignments
    • 1. Feature of Each Mode
    • 2. Number of Positions Supported in Each Mode
    • 3. Quick Mode Function Reference Table
    • 4. Interface List of All PIO Patterns
  • Chapter 2 Standard Mode
    • 1. I/O Interface List
    • 2. Parameters
    • 3. Details of Each Input Signal
    • 4. Details of Each Output Signal
    • 5. Timing Chart
      • 5.1 Recognition of I/O Signals
      • 5.2 Home Return
      • 5.3 Movements through Positions
  • Chapter 3 Product Switching Mode
    • 1. I/O Interface List
    • 2. Parameters
    • 3. Details of Each Input Signal
    • 4. Details of Each Output Signal
    • 5. Timing Chart
      • 5.1 Recognition of I/O Signals
      • 5.2 Home Return
      • 5.3 Movements through Positions
  • Chapter 4 2-axis Independent Mode
    • 1. I/O Interface List
    • 2. Parameters
    • 3. Details of Each Input Signal
    • 4. Details of Each Output Signal
    • 5. Timing Chart
      • 5.1 Recognition of I/O Signals
      • 5.2 Home Return
      • 5.3 Movements through Positions
  • Chapter 5 Teaching Mode
    • 1. I/O Interface List
    • 2. Parameters
    • 3. Details of Each Input Signal
    • 4. Details of Each Output Signal
    • 5. Timing Chart
      • 5.1 Recognition of I/O Signals
      • 5.2 Home Return
      • 5.3 Movements through Positions
      • 5.4 Timings in the Teaching Mode
  • Chapter 6 DS-S-C1 Compatible Mode
    • 1. I/O Interface List
    • 2. Parameters
    • 3. Details of Each Input Signal
    • 4. Details of Each Output Signal
    • 5. Timing Chart
      • 5.1 Recognition of I/O Signals
      • 5.2 Home Return
      • 5.3 Movements through Positions
• Appendix
  • Actuator Specification List
  • Battery Backup Function
    • 1. System-Memory Backup Battery
    • 2. Absolute-Data Backup Battery for Absolute Encoder
  • Synchro Function
    • 1. Common Items (Applicable to Both the Absolute Specification and Incremental Specification)
    • 2. Incremental Specification
    • 3. Absolute Specification (When Both the Master Axis and Slave Axis are of Absolute Specification)
  • Absolute Reset for Synchro Specification
    • 1. Synchro Axes
    • 2. Position Alignment of Synchro-Axis Sliders
    • 3. Special Absolute Reset Procedure
    • 4. Standard Absolute Reset Procedure
    • 5. Notes on Use of Synchro Function
  • Multi-slider Near-miss Detection (Collision Prevention) Function
  • Parameter Utilization
    • 1. Utilization Examples of I/O Parameters
    • 2. Utilization Examples of Axis-specific Parameters
    • 3. Parameter Utilization Examples (Reference)
    • 4. Servo Gain Adjustment
  • List of Parameters
    • 1. I/O Parameters
      • 1.1 I/O Parameters
      • 1.2 I/O Function Lists
    • 2. Parameters Common to All Axes
    • 3. Axis-Specific Parameters
    • 4. Driver Parameters
    • 5. Encoder Parameters
    • 6. I/O Devices
    • 7. Other Parameters
    • 8. Manual Operation Types
  • Combination Table of SSEL Linear/Rotary Control Parameters
  • Error Level Control
  • Error List (MAIN application) (In the panel window, the three digits after “E” indicate an error number.)
  • Error List (MAIN core) (In the panel window, the three digits after “E” indicate an error number.)
  • Troubleshooting of SSEL Controller
• Change History