ASEL Program Controller PDF

ASEL Program Controller PDF
Slider
Type
ASEL Controller
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Program controller
For RCA2/RCA
Controllers
Integrated
Table/Arm
/Flat Type
Mini
List of models
Program controller for operating RCA2/RCA Series actuators. One unit can handle various controls.
Standard
C
Type
Gripper/
Rotary Type
Name
Program mode
Positioner Mode
Both the actuator operation and communication with external
equipment can be handled by a single controller.
When two axes are connected, arc interpolation, path operations,
and synchronization can be performed.
Up to 1500 positioning points are supported.
Push-motion operation and teaching operation are also possible.
Linear Servo
Type
Cleanroom
Type
External view
Splash-Proof
Description
Controllers
Position points
1500 points
PMEC
/AMEC
Number of control axes
Up to 2 axes
PSEP
/ASEP
ROBO
NET
ERC2
PCON
Model
ACON
SCON
ASEL
Series
PSEL
ASEL
C
* 2nd axis specs not applicable to the single-axis model.
C
Type
0
Number of Axes
(Specs for 1st axis)
Motor
Encoder Option
(Specs for 2nd axis)
Motor
Encoder Option
I/O Cable
Length
I/O Type
Standard Type
0
SSEL
XSEL
Pulse Motor
1
Single-axis model
I
Incremental
2
2-axis model
A
Absolute
2
2W motor
2
2W motor
5
5W motor
5
5W motor
10
10
10W motor
Servo Motor
(200V)
Linear
Servo Motor
10W motor
20
20W motor
20
20W motor
30
30W motor
30
30W motor
* When connecting an
RCA-RA3 /
RGS3 /RGD3
and
RCA2-SA4 /TA5 , the motor
type is 20S.
567
ASEL
I
Incremental
A
Absolute
* When connecting an
RCA-RA3 /
RGS3 /RGD3 and
RCA2-SA4 /TA5 , the motor
type is 20S.
DC24V
0
No cable
2
2m (standard)
3
3m
5
5m
20S 20W motor (*)
20S 20W motor (*)
Servo Motor
(24V)
Power/
Voltage
B
B
HA
Brake
Home sensor
compatible
High Accel./Decel.
HA
Brake
Home sensor
compatible
High Accel./Decel.
LA
Power-saving
LA
Power-saving
H
H
NP
PIO NPN (standard)
PN
PIO PNP
DV
DeviceNet
CC CC-Link
PR
ProfiBus
ASEL Controller
System configuration
Slider
Type
Mini
Standard
Controllers
Integrated
PLC
Teaching Pendant (see P575)
Model: SEL-T/SEL-TD
(Optional)
Rod
Type
Mini
Standard
Field Network
I/O Flat Cable
Model: CB-DS-PIO020
(Supplied with the controller)
For a replacement cable, see P576.
5m
Panel Unit
(See P575)
Model: PU-1
(Optional)
2m
Controllers
Integrated
Table/Arm
/Flat Type
Mini
0.2m
Standard
RS232C Cable
Model: CB-STE1MW050-EB
(Supplied with the
IA-101-X-MW
PC software)
5m
Adapter Cable (see P576)
Model: CB-SEL-SJ002
(Optional)
Gripper/
Rotary Type
3m
USB Cable (see P576)
Model: CB-SEL-USB030
(included w/ IA-101-X-USB
PC software)
PC Software (see P575)
Model: IA-101-X-MW (with RS232C cable)
IA-101-X-USB (with USB cable)
3m
Linear Servo
Type
System Memory Backup Battery (see P575)
Model: AB-5-CS (with case)
AB-5 (standalone battery)
(Optional) *1
*1 The system memory backup battery is a
required feature if you wish to retain data
such as flags used in programs even after
the power has been shut off.
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
Absolute Data Backup Battery
(See P585)
Model: AB-5
(Supplied with absolute
type controller)
PSEP
/ASEP
ROBO
NET
ERC2
DC24V Power Supply
(See P471)
<Model: PS-241 (100V input)>
<Model: PS-242 (200V input)>
PCON
ACON
SCON
PSEL
Motor Cable
<Model: CB-ACS-MA
>
Standard 1m/3m/5m
For a replacement cable, see P576.
ASEL
SSEL
Actuator: RCA series
XSEL
Encoder Cable
Model: CB-ACS-PA
Standard 1m/3m/5m
For a replacement cable, see P576.
Pulse Motor
Actuator: RCA2 series
Servo Motor
(24V)
Motor-encoder Integrated Cable
<Motor: CB-ACS-MPA
>
Standard 1m / 3m / 5m
For a replacement cable, see P576.
Servo Motor
(200V)
Linear
Servo Motor
ASEL
568
Slider
Type
ASEL Controller
I/O Specifications
Mini
Standard
Controllers
Integrated
Rod
Type
■ Input section External input specifications
Item
Input voltage
Input current
Specifications
DC24V ±10%
7mA / circuit
ON voltage (min.)
OFF voltage (max.)
Photocoupler
ON/OFF voltage
Isolation method
NPN : DC16V / PNP : DC8V
NPN : DC5V / PNP : DC19V
■ Output section External output specifications
Item
Load Voltage
Max. load current
Residual voltage (Max.)
Isolation method
Specifications
DC24V
100mA / 1 point 400mA / 8 points in total
Max 0.1mA / 1 point
Photocoupler
Mini
NPN Specifications
NPN Specifications
Standard
Controllers
Integrated
Table/Arm
/Flat Type
P24
P24V
External
power
supply
+24V
Internal circuit
Internal circuit
R=560Ω
Outputs
Load
Input terminal
External
power
supply
+24V
Inputs
Mini
R=3.3kΩ
N
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Splash-Proof
PNP Specifications
PNP Specifications
N
External
power
supply
+24V
Internal circuit
Internal circuit
P24V
R=560Ω
Load
Input terminal
Inputs
External
power
supply
+24V
Outputs
R=3.3kΩ
Controllers
N
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
Explanation of I/O Signal Functions
Two modes can be selected for the ASEL controller: “Program Mode,” in which the actuator is operated by entering a program,
and “Positioner Mode,” in which PLC signals are received and the actuator is moved to designated positions.
The Positioner Mode has the five input patterns listed below to enable various applications.
ACON
SCON
■ Control Function by Type
PSEL
Operation mode
Features
ASEL
Program mode
Various operations including linear/arc interpolation operation, path operation ideal for coating processes, etc., archmotion operation and palletizing operation can be performed using the Super SEL language that lets you program
complex control actions using simple commands.
SSEL
Standard mode
This is the basic mode from which operations can be conducted by designating position numbers and inputting the
start signal.
Push-motion operation and teaching operation are also possible.
Product Change
mode
Multiple parts of the same shape with slightly different hole positions can be handled using movement commands to the
same position numbers by simply changing the product type number.
XSEL
Pulse Motor
Positioner mode
2-axis independent
mode
Teaching mode
In this mode, the slider (rod) moves based on an external signal, when the actuator is stopped, the current location
can be registered as position data.
DS-S-C1
Compatible mode
If you were using a DS-S-C1 controller, you can replace it with a ASEL controller without having to change the host
programs. *This mode does not ensure actuator compatibility.
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
569
With a 2-axis controller, each axis can be commanded and operated separately.
ASEL
ASEL Controller
Explanation of I/O Signal Functions
Slider
Type
Mini
Program mode
Standard
Pin Number Category
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
11A
11B
12A
12B
13A
13B
14A
14B
15A
15B
16A
16B
17A
17B
Port No.
Program Mode
016
017
018
019
020
021
022
023
000
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
300
301
302
303
304
305
306
307
24V input
Select Program No. 1
Select Program No. 2
Select Program No. 4
Select Program No. 8
Select Program No. 10
Select Program No. 20
Select Program No. 40
CPU reset
Start
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
Alarm
Ready
General-purpose output
General-purpose output
General-purpose output
General-purpose output
General-purpose output
General-purpose output
0V input
P24
Input
Output
N
Functions
Wiring Diagram
Controllers
Integrated
Connect 24V.
Rod
Type
Selects the program number to start.
(Input as BCD values to ports 016 to 022)
Mini
Standard
Resets the system to the same state as when the power is turned on.
Starts the program selected by ports 016 to 022.
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Waits for external input via program instructions.
Standard
Gripper/
Rotary Type
Linear Servo
Type
Turns off when an alarm occurs. (Contact B)
Turns on when the controller starts up normally and is in an operable state.
Cleanroom
Type
These outputs can be turned ON/OFF as desired via program instructions.
Splash-Proof
Connect 0V.
Controllers
Note: This is for NPN. PNP will be different.
0V
24
PMEC
/AMEC
Positioner mode
Pin Number Category
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
11A
11B
12A
12B
13A
13B
14A
14B
15A
15B
16A
16B
17A
17B
PSEP
/ASEP
Port No.
P24
Input
Output
N
016
017
018
019
020
021
022
023
000
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
300
301
302
303
304
305
306
307
Positioner
Standard Mode
24V input
Position input
Position input
Position input
Position input
10
11
12
13
Error reset
Start
Home Return
Servo ON
Push
Pause
Cancel
Interpolation settings
Position input 1
Position input 2
Position input 3
Position input 4
Position input 5
Position input 6
Position input 7
Position input 8
Position input 9
Alarm
Ready
Positioning complete
Home Return complete
Servo ON output
Pushing complete
System battery error
Absolute encoder battery error
0V input
Functions
ROBO
NET
Wiring Diagram
Connect 24V.
ERC2
Specifies the position numbers to move to, using port number 007 to 019
The number can be specified either as BCD or binary.
PCON
ACON
−
−
−
Resets minor errors. (Severe errors require a restart.)
Starts moving to the selected position.
Performs Home Return.
Switches between Servo ON and OFF.
Performs a push motion.
Pauses the motion when turned OFF, and resumes motion when turned ON.
Stops the motion when turned OFF. The remaining motion is canceled.
When this signal turned ON for a 2-axis model, the actuator moves by linear interpolation.
SCON
PSEL
ASEL
SSEL
XSEL
Specifies the position numbers to move to, using ports 007 to 019.
The number can be specified either as BCD or binary.
Pulse Motor
Turns off when an alarm occurs. (Contact B)
Turns on when the controller starts up normally and is in an operable state.
Turns on when the movement to the destination is complete.
Turns on when the home return operation is complete.
Turns on when servo is ON.
Turns on when a push motion is complete.
Turns on when the system battery runs low (warning level).
Turns on when the battery for the absolute encoder runs low (warning level).
Connect 0V.
Servo Motor
(24V)
Servo Motor
(200V)
Note: This is for NPN. PNP will be different.
0V
ASEL
24
570
Linear
Servo Motor
Slider
Type
Mini
ASEL Controller
Explanation of I/O Signal Functions
Positioner, Product-Type Change Mode
Standard
Port No.
Positioner
Product Type Change Mode
1B
016
Position/Product Type Input 10
2A
017
Position/Product Type Input 11
2B
018
Position/Product Type Input 12
3A
019
Position/Product Type Input 13
3B
020
Position/Product Type Input 14
4A
021
Position/Product Type Input 15
Standard
4B
022
Position/Product Type Input 16
5A
023
Controllers
Integrated
Error reset
5B
000
Start
6A
001
Home Return
6B
002
Servo ON
7A
003
Push
Performs a push motion.
004
Pause
Pauses the motion when turned OFF, and resumes motion when turned ON.
8A
005
Cancel
Stops the motion when turned OFF. The remaining motion is canceled.
8B
006
Interpolation settings
9A
007
Position/Product Type Input 1
Controllers
Integrated
Rod
Type
Mini
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Pin Number
Category
1A
P24
7B
9B
008
Position/Product Type Input 2
10A
009
Position/Product Type Input 3
10B
010
Position/Product Type Input 4
11A
011
Position/Product Type Input 5
11B
012
Position/Product Type Input 6
12A
013
Position/Product Type Input 7
12B
014
Position/Product Type Input 8
Position/Product Type Input 9
using ports 007 to 022.
The position and product type numbers are assigned by parameter settings.
The number can be specified either as BCD or binary.
Resets minor errors. (Severe errors require a restart.)
Starts moving to the selected position.
Performs Home Return.
Switches between Servo ON and OFF.
When this signal is turned ON for a 2-axis model, the actuator moves by linear interpolation.
Specifies the position numbers to move to, and the product type numbers,
using ports 007 to 022.
The position and product type numbers are assigned by parameter settings.
The number can be specified either as BCD or binary.
015
300
Alarm
Turns off when an alarm occurs (Contact B)
14A
301
Ready
Turns on when the controller starts up normally and is in an operable state.
14B
302
Positioning complete
303
Home Return complete
304
Servo ON output
Turns on when servo is ON.
16A
305
Pushing complete
Turns on when a push motion is complete.
16B
306
System battery error
17A
307
Absolute encoder battery error
15B
Controllers
Specifies the position numbers to move to, and the product type numbers,
13A
Output
N
17B
0V input
Wiring Diagram
Connect 24V.
13B
15A
Splash-Proof
Input
24V input
Functions
Turns on when the movement to the destination is complete.
Turns on when the home return operation is complete.
Turns on when the system battery runs low (warning level).
Turns on when the battery for the absolute encoder runs low (warning level).
Connect 0V.
Note: This is for NPN. PNP will be different.
0V
24
0V
24
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Positioner, 2-axis Independent Mode
Pin Number
Category
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
11A
11B
12A
12B
13A
13B
14A
14B
15A
15B
16A
16B
17A
17B
P24
Input
Output
571
N
ASEL
Port No.
Positioner 2-axis
Independent Mode
016
017
018
019
020
021
022
023
000
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
300
301
302
303
304
305
306
307
24V input
Position input 7
Position input 8
Position input 9
Position input 10
Position input 11
Position input 12
Position input 13
Error reset
Start 1
Home Return 1
Servo ON 1
Pause 1
Cancel 1
Start 2
Home Return 2
Servo ON 2
Pause 2
Cancel 2
Position input 1
Position input 2
Position input 3
Position input 4
Position input 5
Position input 6
Alarm
Ready
Positioning complete 1
Home Return complete 1
Servo ON output 1
Positioning complete 2
Home Return complete 2
Servo ON output 2
0V input
Functions
Wiring Diagram
Connect 24V.
Specifies the position numbers to move to, using ports 010 to 022.
The position numbers on the 1st and 2nd axes are assigned by
parameter settings.
The number can be specified either as BCD or binary.
Resets minor errors. (Severe errors require a restart.)
Starts movement to the selected position number on the 1st axis.
Performs home return on the 1st axis.
Switches between servo ON and OFF for the 1st axis.
Pauses the motion on 1st axis when turned OFF, and resumes motion when turned ON.
Cancels the movement on the 1st axis.
Starts the movement to the selected position number on the 2nd axis.
Performs home return on the 2nd axis.
Switches between servo ON and OFF for the 2nd axis.
Pauses the motion on 2nd axis when turned OFF, and resumes when turned ON.
Cancels the movement on the 2nd axis.
Specifies the position numbers to move to, using ports 010 to 022.
The position numbers on the 1st and 2nd axes are assigned by
parameter settings.
The number can be specified either as BCD or binary.
Turns off when an alarm occurs (Contact B)
Turns on when the controller starts up normally and is in an operable state.
Turns on when the movement to the specified position on the 1st axis is complete.
Turns on when home return on the 1st axis is complete.
Turns on when the 1st axis is in a servo ON state.
Turns on when the movement to the specified position on the 2nd axis is complete.
Turns on when home return on the 2nd axis is complete.
Turns on when the 2nd axis is in a servo ON state.
Connect 0V.
Note: This is for NPN. PNP will be different.
ASEL Controller
Explanation of I/O Signal Functions
Slider
Type
Mini
Positioner, Teaching Mode
Standard
Pin Number Category
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
11A
11B
12A
12B
13A
13B
14A
14B
15A
15B
16A
16B
17A
17B
Port No.
P24
Input
Output
016
017
018
019
020
021
022
023
000
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
300
301
302
303
304
305
306
307
N
Positioner
Teaching Mode
24V input
JOG− on 1st axis
JOG+ on 2nd axis
JOG− on 2nd axis
Specify inching (0.01mm)
Specify inching (0.1mm)
Specify inching (0.5mm)
Specify inching (1mm)
Error reset
Start
Servo ON
Pause
Position input 1
Position input 2
Position input 3
Position input 4
Position input 5
Position input 6
Position input 7
Position input 8
Position input 9
Position input 10
Position input 11
Teaching mode setting
JOG+ on 1st axis
Alarm
Ready
Positioning complete
Home return complete
Servo ON output
Functions
Wiring Diagram
Controllers
Integrated
Connect 24V.
While the signal is on, the 1st axis is moved in the - (negative) direction.
While the signal is on, the 2nd axis is moved in the + (positive) direction.
While the signal is on, the 2nd axis is moved in the - (negative) direction.
Rod
Type
Mini
Specifies how much to move during inching.
(Total of the values specified for ports 019 to 022)
Standard
Resets minor errors. (Severe errors require a restart.)
Starts moving to selected position.
Switches between Servo ON and OFF.
Pauses the motion when turned OFF, and resumes motion when turned ON.
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Ports 003 to 013 are used to specify the position number to move, and the
position number for inputting the current position.
When the teaching mode setting on port 014 is in the ON state, the current
value is written to the specified position number.
Standard
Gripper/
Rotary Type
Linear Servo
Type
While the signal is input, the 1st axis is moved in the + (positive) direction.
Turns off when an alarm occurs. (Contact B)
Turns on when the controller starts up normally and is in an operable state.
Turns on when the movement to the destination is complete.
Turns on when the home return operation is complete.
Turns on when servo is ON.
−
System battery error
Turns on when the system battery runs low (warning level).
Absolute encoder battery error Turns on when the battery for the absolute encoder runs low (warning level).
0V input
Connect 0V.
Cleanroom
Type
Splash-Proof
Controllers
Note: This is for NPN. PNP will be different.
0V
24
PMEC
/AMEC
Positioner, DS-S-C1 Compatible Mode
Pin Number Category
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
11A
11B
12A
12B
13A
13B
14A
14B
15A
15B
16A
16B
17A
17B
Port No.
P24
Input
Output
N
016
017
018
019
020
021
022
023
000
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
300
301
302
303
304
305
306
307
Positioner DS-S-C1
Compatible Mode
24V input
Position No. 1000
PSEP
/ASEP
Functions
ROBO
NET
Wiring Diagram
Connect 24V.
(Same as ports 004 through 015)
ERC2
PCON
ACON
CPU reset
Start
Hold (Pause)
Cancel
Interpolation settings
Position No. 1
Position No. 2
Position No. 4
Position No. 8
Position No. 10
Position No. 20
Position No. 40
Position No. 80
Position No. 100
Position No. 200
Position No. 400
Position No. 800
Alarm
Ready
Positioning complete
SCON
Resets the system to the same state as when the power is turned on.
Starts moving to selected position.
Pauses the motion when turned ON, and resumes when turned OFF.
Stops the motion when turned ON. The remaining motion is canceled.
When this signal is turned ON for a 2-axis model, the actuator moves by linear interpolation.
PSEL
ASEL
SSEL
XSEL
Ports 004 through 016 are used to specify the position number to move.
The numbers are specified as BCD.
Pulse Motor
Turns off when an alarm occurs. (Contact A)
Turns on when the controller starts up normally and is in an operable state.
Turns on when the movement to the destination is complete.
Servo Motor
(24V)
Servo Motor
(200V)
System battery error
Turns on when the system battery runs low (warning level).
Absolute encoder battery error Turns on when the battery for the absolute encoder runs low (warning level).
0V input
Connect 0V.
Note: This is for NPN. PNP will be different.
0V
ASEL
24
572
Linear
Servo Motor
Slider
Type
ASEL Controller
Table of specifications
Mini
Rod
Type
Basic Specifications
Standard
Controllers
Integrated
Item
Connected actuator
Input Voltage
Power Supply Capacity
Dielectric strength voltage
Withstand voltage
Rush current
Control
Number of control axes
Maximum total output of connected axis
Position detection method
Speed setting
Acceleration setting
Operating method
Programming language
Number of programs
Number of program steps
Number of multi-tasking programs
Positioning Points
Data memory device
Data input method
Number of I/O
I/O power
PIO cable
Serial communications function
Field Network
Motor Cable
Encoder cable
specification
Controllers
Integrated
Linear Servo
Type
Cleanroom
Type
Communication
Gripper/
Rotary Type
Controllers
General
Splash-Proof
1 axis / 2 axis
60W (30W + 30W)
Incremental encoder / Absolute encoder
1mm/sec and up, the maximum depends on actuator specifications
0.01G and up, the maximum depends on the actuator
Program operation / Positioner operation (switchable)
Super SEL language
64 programs
2000 steps
8 points
1500 points
FLASHROM (A system-memory backup battery can be added as an option)
Teaching pendant or PC software
24 input points / 8 output points (NPN or PNP selectable)
Externally supplied 24VDC ± 10%
CB-DS-PIO □□□ (supplied with the controller)
RS232C (D-Sub Half-pitch connector) / USB connector
DeviceNet, CC-Link, ProfiBus
CB-ACS-MA □□□ (Max. 20m)
CB-ACS-PA □□□ (Max. 20m)
0 to 40ºC 10 to 95% (non-condensing)
Free from corrosive gases. In particular, there shall be no significant dust.
IP20
Approx. 450g
43 mm (W) x 159 mm (H) x 110 mm (D)
Ambient operating humidity and temperature
Ambient atmosphere
Protection class
Weight
External dimensions
PMEC
/AMEC
1-Axis specification
PSEP
/ASEP
PCON
Motor
power
supply
capacity
(Note1)
ACON
SCON
PSEL
Standard specifications/high
acceleration and deceleration model
Actuator type
ROBO
NET
ERC2
10 to 57Hz, One side amplitude: 0.035mm (continuous), 0.075mm (intermittent)
58 to 150 Hz 4.9 m/s2 (continuous), 9.8 m/s2(intermittent)
Motor overcurrent, Motor driver temperature check, Overload check, Encoder open-circuit check
Soft limit over, system error, battery error, etc.
Protection function
specifications
Standard
Program
Table/Arm
/Flat Type
Mini
XYZ directions
Vibration resistance
Mini
Standard
Specifications
RCA/RCA2 Series Actuator
DC24V ±10%
Control power supply (Max. 1.2A) + motor power supply (See the table below)
DC500V 10MΩ or higher
AC500V 1 min.
Max. 30A
(Note
(Note
(Note
(Note
1)
2)
3)
4)
RCA
RCA2
RCL
2-Axis specification
Standard specifications/high
acceleration and deceleration model
Power-saving
Power-saving
Rated
Max. (Note2)
Rated
Max. (Note3)
Rated
Max. (Note2)
Rated
Max. (Note3)
10W, 20W [Model symbol: 20]
1.3A
4.4A
1.3A
2.5A
2.6A
8.8A
2.6A
5.0A
30W
1.3A
4.4A
1.3A
2.2A
2.6A
8.8A
2.6A
4.4A
20W [Model symbol: 20S] SA4, RA3, TA5 type dedicated
1.7A
5.1A
1.7A
3.4A
3.4A
10.2A
3.4A
6.8A
2W
0.8A
4.6A
−
−
1.6A
9.2A
−
−
5W
1.0A
6.4A
−
−
2.0A
12.8A
−
−
10W
1.3A
6.4A
−
−
2.6A
12.8A
−
−
For both 1-axis and 2-axis specifications, approx. 30.0A inrush current flows for 5 ms when the control power supply is turned on. Max. current at accelerating/decelerating
Current reaches the maximum when detecting the servo motor excitation phase at the first servo on after the power is on. (Normal: Approx. 1 to 2 sec., Max.: 10 sec)
Other than motor power supply capacity, it increases 0.5A for control power.
ASEL
External Dimensions
SSEL
XSEL
ASEL 1-axis controller
ASEL 2-axis controller
43
ø5
43
(80)
110
ø5
(80)
110
137
151
159
137
151
Servo Motor
(24V)
159
Pulse Motor
Servo Motor
(200V)
3
Linear
Servo Motor
5
573
ASEL
5
3
ASEL Controller
Name of Each Part
Slider
Type
Mini
1 Motor connector for axis 1
1
9
2
3
Connect the motor cable of the axis 1 actuator.
2 Motor connector for axis 2
Connect the motor cable of the axis 2 actuator.
4
5
10
6
11
7
12
Standard
10 Mode switch
This switch is used to specify the running mode of the
controller. The left position indicates the MANU (manual
operation) mode, while the right position indicates the
AUTO (automatic operation) mode. Teaching can only be
performed in manual operation, and automatic operation
using external I/Os is not possible in the MANU mode.
This switch is used to release the axis brake. Setting it to
the left position (RLS side) forcibly releases the brake,
while setting it to the right position (NOM side) causes the
controller to automatically control the brake.
4 Encoder connector for axis 1
Connect the encoder cable of the axis 1 actuator.
11 USB connector
A connector for PC connection via USB. If the USB
connector is connected, the TP connector is disabled and
all communication inputs to the TP connector are cut off.
12 Teaching pendant connector
A half-pitch I/O 26-pin connector that connects a teaching
pendant when the running mode is MANU. A special
conversion cable is needed to connect a conventional
Dsub, 25-pin connector.
6 Encoder connector for axis 2
13 System-memory backup battery connector
If you wish to retain the various data recorded in the SRAM
of the controller even after the power is cut off, connect the
necessary battery to this connector. This battery is
installed externally to the unit. The controller does not
come standard with the battery (Option).
Connect the encoder cable of the axis 2 actuator.
14 Motor power input connector
7 Status indicator LEDs
These LEDs are used to indicate the operating condition of
the controller.
The LED status indicators are as follows:
PWR
RDY
ALM
EMG
SV1
SV2
: Power is input to controller.
: The controller is ready to perform program
operation.
: The controller is abnormal.
: An emergency stop is actuated and the drive
source is cut off.
: The axis 1 actuator servo is on.
: The axis 2 actuator servo is on.
16
8 Panel unit connector
A connector for the panel unit (optional) that displays the
controller status and error codes.
18
17
9 I/O Connector
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
5 Brake switch for axis 2
This switch is used to release the axis brake.
Setting it to the left position (RLS side) forcibly releases the
brake, while setting it to the right position (NOM side)
causes the controller to automatically control the brake.
14 15
Rod
Type
Mini
3 Brake switch for axis 1
8
13
Controllers
Integrated
This connector is used to input the motor power. It consists
of a 2-pin, 2-piece connector by Phoenix Contact.
15 External regenerative resistor connector
A connector for the regenerative resistor that must be
connected when the built-in regenerative resistor alone
does not offer sufficient capacity in high-acceleration/
high-load operation, etc.
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
Whether or not an external regenerative resistor is
necessary depends on the conditions of your specific
application such as the axis configuration.
PSEP
/ASEP
16 Control power/System input connector
ERC2
This connector is used to connect the control power input,
emergency stop switch, and enable switch. It consists of a
Phoenix Contact 6-pin 2-piece connector.
PCON
ROBO
NET
ACON
17 Absolute-data backup battery connector for axis 1
A connector for the battery that backs up absolute data
when the actuator uses an absolute encoder. Secure
installation of the battery is the customer’s responsibility.
SCON
PSEL
A connector for interface I/Os.
34-pin flat cable connector for DIO (24IN/8OUT) interface.
I/O power is also supplied to the controller via this
connector (Pin No. 1 and No. 34).
ASEL
18 Absolute-data backup battery connector for axis 2
A connector for the battery that backs up absolute data
when the actuator uses an absolute encoder. Secure
installation of the battery is the customer’s responsibility.
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
ASEL
574
Slider
Type
Mini
Standard
ASEL Controller
Option
Teaching Pendant
Features
Controllers
Integrated
110.0
55.0
66.6
This is a teaching device that provides
information on functions such as position
input, test runs, and monitoring.
Mini
Model
218.3
Model
Rod
Type
Description
SEL-T-J
Standard type
with adapter cable
SEL-TD-J
Equipped with a deadman
switch and adapter cable
Standard
Controllers
Integrated
Configuration
39.0
46.9
Table/Arm
/Flat Type
Adapter cable: CB-SEL-SJ002
Mini
3-position Enable Switch
Standard
ANSI/UL standards
SEL-T dedicated options
Gripper/
Rotary Type
• Wall-mounting hook
Model HK-1
• Strap
Model STR-1
SEL-T-J
SEL-TD-J
No
Yes
Non-compliant
Compliant
CE mark
Compliant
Display
20 char. × 4 lines
Ambient Operating
Temp./Humidity
Linear Servo
Type
0~40ºC 10~90% RH (non-condensing)
Protective structure
Weight
Cleanroom
Type
Splash-Proof
Specifications
Item
0.2m
5m
89.6
IP54
Approx. 0.4kg (not incl. cable)
PC Software (Windows Only)
Features A startup support software for entering programs/positions, performing test
runs, and monitoring. More functions have been added for debugging, and
improvements have been made to shorten the start-up time.
Controllers
PMEC
/AMEC
IA-101-X-MW-J (with RS232C cable + adapter cable)
Model
PSEP
/ASEP
ROBO
NET
Configuration
ERC2
0.2m
5m
PCON
Adapter cable:
CB-SEL-SJ002
RS232C Cable
CB-ST-E1MW050-EB
PC Software (CD)
ACON
SCON
IA-101-X-USB (with USB cable)
Model
Note:
PSEL
ASEL
Only versions 7.0.0.0 and later can
be used with the PSEL controller.
Configuration
Dummy plug
DP-3
3m
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
USB cable
CB-SEL-USB030
PC Software (CD)
Panel Unit
Absolute Data Backup Battery
Features
Display device that shows the error
code from the controller or the
currently running program number.
Model
PU-1
ø3.2
43
114
Servo Motor
(200V)
Linear
Servo Motor
575
Features
Features This battery is required when you are
Model
AB-5
Model
(Cable length: 3m)
17
ASEL
System Memory Backup Battery
Battery for saving absolute data,
when operating an actuator with an
absolute encoder.
Same as the battery used for system
memory backup.
using global flags in the program and
you want to retain your data even
after the power has been turned OFF.
AB-5-CS (with case)
AB-5 (Standalone battery)
ASEL Controller
Option
Mini
Dummy Plug
USB Cable
Adapter Cable
Features When connecting the ASEL controller to a
Features A cable for connecting the controller
Features An adapter cable to connect the D-sub
computer with a USB cable, this plug is
inserted in the teaching port to shut off the
enable circuit.
(Supplied with the PC software
IA-101-X-USB)
Model
DP-3
to the USB port to a computer.
A controller with no USB port (e.g.
XSEL) can be connected to the USB
port of a computer by connecting an
RS232C cable to the USB cable via a
USB adapter.
(See PC software IA-101-X-USBMW)
Model
CB-SEL-USB030
25-pin connector from the teaching
pendant or a PC to the teaching
connector (half-pitch) of the ASEL
controller.
Model
Slider
Type
CB-SEL-SJ002
(Cable length: 0.2m)
Standard
Controllers
Integrated
Rod
Type
(Cable length: 3m)
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Spare Parts
When you need spare parts after purchasing the product, such as when replacing a cable, refer to the list of models below.
Mini
Motor cable
Standard
Model CB-ACS-MA □□□
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex.: 080 = 8 m
* The standard motor cable is a robot cable.
Gripper/
Rotary Type
(ø9)
L
1
1
3
3
Controller side
Mechanical side
DF1E-3S-2.5C
SLP-03V
Wire
Wire
Pin No. Signal Color
1
U
Red
AWG22
2
V
White (crimped)
3
W
Black
Color Signal Pin No.
U
1
Red
AWG22
V
2
(crimped) White
Black
W
3
Cleanroom
Type
Min. bend radius r = 50 mm or larger (when movable type is used)
Encoder cable/Encoder robot cable
Model CB-ACS-PA □□□ / CB-ACS-PA □□□ -RB
* The standard cable for the encoder cable is a normal cable. * Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
A robot cable can be specified as an option.
Ex.: 080 = 8 m
CN2
L
(ø10)
20
18 17
2
1
1
9
Controller side
Min. bend radius r = 50 mm or larger (when movable type is used)
* Only the robot cable is to be used in a cable track.
10
18
Mechanical side
Cable color
Robot Cable Standard Cable
White/Purple
Blue
White/Gray
Orange
Yellow
Green
Blue
Brown
White/Blue
Gray
White/Yellow
Red
White/Red
Black
White/Black
Yellow
Orange
Pink
Green
Purple
Purple
White
Gray
Blue/red
Orange/White
Red
Green/White
Black
Signal
LS+
LS−
BK+
BK−
ENA
ENA
ENB
ENB
ENZ
ENZ
VPS
5V
GND
CN1
Cable color
Signal
Standard Cable Robot Cable
1
ENA
Gray
White/Blue
Red
ENA
2
White/Yellow
Black
ENB
White/Red
3
Yellow White/Black
ENB
4
−
5
−
6
LS+
7
Blue
White/Purple
−
8
FG
9
Ground
Ground
ENZ
10
Pink
Orange
ENZ
11
Purple
Green
−
12
White
Purple
VPS
13
Blue/red
Gray
5V Orange/White
14
Red
GND Green/White
15
Black
LS−
16
White/Gray
Orange
BK−
17
Blue
Brown
BK+
18
Yellow
Green
Plug housing : XMP-18V (JST)
Socket contact : BXA-001T-P0.6 (JST)
Retainer : XMS-09V (JST)
Pin
No.
Pin
No.
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Ground
Ground
F.G
Housing : PHDR-18VR (JST)
Contact : SPHD-001T-P0.5 (JST)
CB-ACS-MPA □□□
(10)
(ø12)
(8)
(18)
(18)
(30)
(12)
(23)
(Front view) (8)
Controller side
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
ACON
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex.: 080 = 8 m
L
(5)
Splash-Proof
PCON
Motor-Encoder Integrated Cable for RCA2
Model Linear Servo
Type
Min. bend radius r = 84 mm or larger (when movable type is used)
Signal
U
V
W
Pin No.
1
2
3
(Wire color)
Red
Yellow
Black
BK+
BK−
LS+
LS−
A+
A−
B+
B−
Z+
Z−
16
15
18
17
14
13
12
11
10
9
8
7
6
5
Yellow (Red )
Yellow (Blue )
Pink (Red )
Pink (Blue )
White (Red )
White (Blue )
Orange (Red )
Orange (Blue )
Gray (Red )
Gray (Blue )
Orange (Red Contiguous)
Orange (Blue Contiguous)
Gray (Red Contiguous)
Gray (Blue Contiguous)
1
Shield
/PS
VCC
GND
NC
FG
(Front view)
Mechanical side
Pin No.
A1
B1
A2
B2
A3
B3
A4
B4
A5
B5
A6
B6
A7
B7
A8
B8
A9
B9
A10
B10
A11
B11
Signal
U
V
W
NC
NC
NC
BK+
BK−
LS+
LS−
A+
A−
B+
B−
Z+
Z−
SCON
PSEL
ASEL
SSEL
XSEL
/PS
VCC
GND
NC
FG
I/O Flat Cable
Model CB-DS-PIO □□□
* Enter the cable length (L) into □□□ . Compatible to a maximum of 10 meters.
Ex.: 080 = 8 m
2㨙
1B
1A
No connector
17B
17A
Flat cable AWG28 (34-core)
Pin No.
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
Color
Wire
Pin No.
Brown 1
9B
Red 1
10A
Orange 1
10B
Yellow 1
11A
Green 1
11B
Blue1
12A
Purple 1
12B
Gray 1
13A
Flat
13B
White 1
cable
Black 1 crimped 14A
Brown-2
14B
Red 2
15A
Orange 2
15B
Yellow 2
16A
Green 2
16B
Blue 2
17A
Purple 2
17B
Color
Wire
Gray 2
White 2
Black 2
Brown-3
Red 3
Orange 3
Yellow 3
Flat
Green 3
cable
Blue 3
Purple 3 crimped
Gray 3
White 3
Black 3
Brown-4
Red 4
Orange 4
Yellow 4
ASEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
576
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