AIA X-SEL User manual

PROFIBUS-DP
Operation Manual, Twelfth Edition
X-SEL SSEL
RCS-C TT
ASEL E-Con
PSEL SCON-C

Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to
ensure safe use of the product.
The CD/DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
This Operation Manual is original.
The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall
assume no responsibility for the outcome of any operation not specified herein.
Information contained in this Operation Manual is subject to change without notice for the purpose of product
improvement.
If you have any question or comment regarding the content of this manual, please contact the IAI sales office
near you.
Using or copying all or part of this Operation Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the sentences are
registered trademarks.

Caution: The following functions are described in the separate operation manual.
Title of operation manual/Overview Control number
1
PROFIBUS-DP Operation Manual
Refer to this operation manual if you are using an ACON,
PCON or SCON-CA controller(s).
ME0258

Table of Contents
Safety Guide .............................................................................................................................1
1. Overview ............................................................................................................................7
2. Specifications ...................................................................................................................... 8
2.1 Interface Specifications.................................................................................................................. 8
3. X-SEL-J/K/P/Q/JX/KX/PX/QX ............................................................................................9
3.1 ProfiBus-DP Board Types and Installation Positions in the X-SEL ............................................... 9
(1) Compact type (J type) .......................................................................................................... 10
(2) General-purpose type (K type)............................................................................................. 11
(3) P/Q types.............................................................................................................................. 12
3.2 Setting a ProfiBus-DP Board (Slave Station)............................................................................... 13
(1) Name of each part................................................................................................................ 13
(2) ProfiBus-DP communication connector interface specifications.......................................... 14
(3) Bus termination settings <Set using the termination switch>............................................... 14
(4) Node address settings <Set by the address setting dials> .................................................. 15
(5) Monitor LED indications ....................................................................................................... 15
3.3 Setting X-SEL I/O Parameters (Assigning I/O Ports)................................................................... 16
3.3.1 Board Installation Positions (Slots) and I/O Parameters................................................. 16
(1) J/JX type (compact type)......................................................................................... 16
(2) K/KX type................................................................................................................. 17
(3) P/PX/Q/QX type....................................................................................................... 17
3.3.2 Factory-set Parameters (Default Settings)...................................................................... 18
3.3.3 Automatically Assigning X-SEL I/Os ............................................................................... 20
3.3.4 Setting Examples for J/JX/K/KX Type Controllers .......................................................... 20
3.3.5 Setting Examples for P/PX/Q/QX Type Controllers ........................................................ 26
3.3.6 X-SEL I/O Port Numbers................................................................................................. 32
3.3.7 Correspondence of X-SEL I/O Port Numbers and PLC Addresses................................ 33
4. XSEL-R/S/RX/SX/RXD/SXD ............................................................................................38
4.1 Model Numbers ........................................................................................................................... 38
4.2 PROFIBUS-DP Interface ............................................................................................................. 39
4.3 Parameter Settings ...................................................................................................................... 40
4.4 Setting example ........................................................................................................................... 44
(1) Name of each part ............................................................................................................... 39
(2) Monitor LED indications ....................................................................................................... 39
(1) Example for when using only PROFIBUS ............................................................................44
(2) Example for when using PROFIBUS and I/O Board 1 together ...........................................46
(3) Example for when using PROFIBUS and I/O Board 1 together ...........................................48

5.2.3 Termination switch (Bus termination settings) ................................................................ 56
5.2.4 Address Setting Dials (Node Address Settings) ............................................................. 57
5.2.5 Monitor LED indications .................................................................................................. 57
5.3 I/O Parameter Settings (I/O Port Assignments)........................................................................... 58
(1) Board installation position (slot) and parameter numbers.................................................... 58
(2) Factory-set parameters for the TT type................................................................................ 59
(3) Example of parameter settings for the tabletop robot TT..................................................... 60
5.4 I/O Port Numbers for TT .............................................................................................................. 62
6. RCS-C, E-Con and SCON................................................................................................64
6.1 Model Numbers............................................................................................................................ 64
(1) RCS-C .................................................................................................................................. 64
(2) E-Con ................................................................................................................................... 65
(3) SCON ................................................................................................................................... 65
6.2 Setting a ProfiBus-DP Board (Slave Station)............................................................................... 66
(1) Name of each part................................................................................................................ 66
(2) ProfiBus-DP communication connector interface specifications.......................................... 66
(3) Bus termination settings....................................................................................................... 67
(4) Node address settings.......................................................................................................... 67
(5) Monitor LED indications ....................................................................................................... 68
(6) Input/output (I/O) signal assignments .................................................................................. 69
(7) Correspondence of RCS-C, E-Con and SCON I/O port numbers and PLC addresses ...... 73
7. ASEL, PSEL, SSEL ..........................................................................................................77
7.1 Model Numbers............................................................................................................................ 77
6.1.1 ASEL, PSEL .................................................................................................................... 77
6.1.2 SSEL ............................................................................................................................... 78
7.2 ProfiBus Interface ........................................................................................................................ 79
(1) Name of each part................................................................................................................ 79
(2) Status LED indications .........................................................................................................79
(3) ProfiBus-DP communication connector ............................................................................... 81
7.3 I/O Parameter Settings ................................................................................................................ 82
(1) Network type setting............................................................................................................. 82
(2) Node address ....................................................................................................................... 82
(3) I/O part assignments ............................................................................................................ 82
(4) Network error monitor........................................................................................................... 82
5. Tabletop Robot TT............................................................................................................54
5.1 Model Numbers............................................................................................................................ 54
5.2 ProfiBus Board............................................................................................................................. 55
5.2.1 Name of each part .......................................................................................................... 55
5.2.2 ProfiBus-DP Communication Connector......................................................................... 56
4.5 Standard I/O Ports of XSEL Controller......................................................................................... 50
4.6 Troubleshooting ........................................................................................................................... 52

8. Common Items and Others ..............................................................................................89
8.1 Communication Cable.................................................................................................................. 89
8.2 Useful Function When Adjusting an X-SEL Controller ................................................................ 89
8.3 GDS Files..................................................................................................................................... 89
Change History ...................................................................................................................... 90
7.4 I/O Port Numbers and ProfiBus-DP Address Assignments ......................................................... 84
(1) Basic example ...................................................................................................................... 84
(2) Positioner mode ................................................................................................................... 85

1
Safety Guide
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Safety Precautions for Our Products
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2
No. Operation
Description Description
2 Transportation ƔWhen the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
ƔConsider well so that it is not bumped against anything or dropped during
the transportation.
ƔTransport it using an appropriate transportation measure.
ƔDo not step or sit on the package.
ƔDo not put any heavy thing that can deform the package, on it.
ƔWhen using a crane capable of 1t or more of weight, have an operator who
has qualifications for crane operation and sling work.
ƔWhen using a crane or equivalent equipments, make sure not to hang a
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ƔUse a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
ƔDo not get on the load that is hung on a crane.
ƔDo not leave a load hung up with a crane.
ƔDo not stand under the load that is hung up with a crane.
3 Storage and
Preservation
ƔThe storage and preservation environment conforms to the installation
environment.
However, especially give consideration to the prevention of condensation.
(1) Installation of Robot Main Body and Controller, etc.
ƔMake sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or injury.
ƔDo not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
ƔWhen using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
4 Installation
and Start
(2) Cable Wiring
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and controller, and for the teaching tool.
ƔDo not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
ƔPerform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
ƔWhen the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is
not correct, it might cause a fire, product breakdown or malfunction.
ƔConnect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction
of the product.
ƔNever cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.