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This page refers to the now obsolete IH SCARA and MSEL, DS controllers.

Actuator / Controller Connections

Incoming Line Voltage

In an ideal world, everybody would have a dedicated power source for each device operating on AC voltage. In reality, multiple devices often share one power source from the main power causing our equipment to be indirectly linked to these other devices.

Any noise problems or electromagnetic interference seen on one device, run on a 220VAC line for example, can cause other devices to fail running on that same voltage connection.

In the case where the option to have a separate AC power supply for our controller is impossible, an AC line filter is recommended to abate any noise that may exist on the incoming line.

Connecting to a PC to Run the Software

The SuperSEL controller has either a 9 / 25 cable (9 pin to 25 pin) or a 25 / 25 cable (25 pin to 25 pin) for communicating between the PC and the controller. Before opening up the software, connect both ends of this cable to their respective ports. If the cable is damaged, miswired or cut, communication will not occur.

The DS, SCARA, SELF & H controllers all use a 9 / 25 cable, but with an additional auxiliary Estop box connected. The two pins corresponding to this Estop on the serial cable are in a normally closed configuration, therefore, if the Estop is not attached, the controller will not communicate. If the Estop is released on the SCARA controller, but not on the serial cable, the controller will not communicate.

This normally closed Estop contact needs to be taken into consideration when connecting to the controllers mentioned above.

If the software has been started in offline mode and you wish to go "online" with the IA Controller, close out the software, connect the serial cable to the controller, and restart the software. Again, the software takes a few seconds to load so be patient.

If multiple copies are opened at the same time while the initial copy is loading, communication will probably fail.

Certain serial communication applications require custom cables to work properly.  IAI does not supply auxiliary communication cables for special applications. However, the serial cable pin outs and serial communication protocol are available in both manual form and through IAI.

Connecting to an External Device for Serial Communication

All of IAI's controllers communicate via RS232 serial protocol with the exception of the Robo Cylinder which uses RS485.

For the current SuperSEL series (E,G,IH-SEL) the user has two options for communications: SELNET/RS232 2ch. and the Teach Port. The Robo Cylinder, DS, SSEL, MSEL, SuperSEL A/B can only communicate via the Teach Port. IAI does not do any hardware "handshaking" between the serial port and the peripheral. Any software handshaking would have to be done on the user's side of operations (front end).

The main difference between SELNET and the Teach Port is that SELNET requires that a program is running inside the controller to control communications with the peripheral.

The Teach Port is a direct communication link with the CPU via IAI Serial Communication Protocol and requires no program or point data to communicate. SELNET is more "open-ended" and can accept any combination of characters to be interpreted by the program. Communication via the Teach Port can only be performed using the IAI Serial Communication Protocol.

The four most important serial wiring connections between the IAI Controller and peripherals are read (RD), write (TD), signal ground (GD) and frame ground (FG). Frame ground should not be linked to the signal ground for obvious grounding reasons.

Connecting to an External Device via 24VDC I/O

Concerning the I/O connections, these basic rules apply:

  1. Do not exceed the current rating on the I/O.
  2. Use noise protection on all devices: diodes for DC, snubbers for AC
  3. Avoid running the I/O cable close to high-voltage AC cables.
  4. Use a power supply that can handle the overall load of the system.

Many of the noise problems encountered can be avoided by abiding by the "Noise Suppression" methods explained in the operating manuals of the individual controllers.

The inputs and outputs can both be monitored by using either the PC Interface Software or handheld Teach Pendant. The outputs can be toggled through these two methods but the inputs are read-only, they cannot be toggled internally.

If you encounter any problems, please contact us.

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