IAI MSEL, Instruction Manual, Page: 8 / 234

Starting Procedures
When using this product for the first time, make sure to check the safety guide in the next section,
and then start working with care to avoid mistakes and incorrect wiring by referring to the procedure
below.
Warning
:

Make sure to put the brake release switch on the bottom side (NOM) before
turning ON the power. If on the top side (RLS : Compulsory Release), the
actuator may drop with its weight and pinch yourself or damage the work piece.

Make sure to connect the robot with the manufacturing number indicated on the
controller.
Connecting other than not indicated may cause a wrong operation.
No →
↓
↓
No →
Contact us or our distributor.
↓ Yes
No →
↓
Check Item
Is the panel window showing “ ”?
Connect the teaching tool such as PC to confirm the
content of alarm and have an appropriate treatment.
 It is necessary to supply I/O power for PIO type.
When I/O is not to be used, set I/O Parameter No.
10 = 0
 Connect to the upper master for fieldbus type
(Set I/O parameter No. 18 = 0 when not connecting
to master)
Check Item
Confirm that “Servo-ON: SV” is turned on in a teaching tool such
as PC.
Safety Circuit Check
Does the emergency stop circuit (drive cutoff circuit) work properly and turn the servo OFF?
Check the emergency
stop circuit.
No →
↓ Yes
Operation check on actuator
Check by JOG operation that operation of the full stroke can be performed with no abnormality.
If an alarm is generated, connect the PC or
teaching pendant and check the content of the
alarm to have the right treatment.
↓ Yes
↓
↓ Yes
Check of Packed Items
Are there all the delivered items?
Caution  To ensure safety, it is recommended that safety speed be enabled during initial movements.

When putting the brake release switch to “RLS” side on a robot installed vertically, pay
attention not to pinch fingers or damage a hand by the actuator dropped by its own weight.
Installation and Wiring [Refer to Chapter 1 and 2.1]
Perform the installation of and wiring for the actuator and controller.
Point Check Item
• Is frame ground (FG) and protection earthing (PE) connected? • Has the noise countermeasure been taken?
Power Supply and Alarm Check
Connect a teaching tool such as PC, turn the operation mode setting switch to “MANU” side and turn the power ON for unit.
Servo ON
Turn the servo ON with the operation on the teaching tool such as PC.
Now, preparation for operation is complete.
[Refer to Section 3 for how to operate]
Caution
Please perform this process with the actuator away from the mechanical end or interfering subjects as much as possible.
Put the actuator away if it interferes with surroundings. It may generate an alarm if the actuator hit the mechanical end or
interfering subjects when the servo is turned ON.
The slider may get slightly dropped by self-weight if servo ON and OFF is repeatedly performed at the same position. Be
careful not to pinch the hand or damage the work.