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
ORDGWKDWZHLJKVPRUHWKDQWKHHTXLSPHQW¶VFDSDELOLW\OLPLW
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.

3
No. Operation
Description Description
(3) Grounding
ƔMake sure to perform the grounding of type D (Former Type 3) for the
controller. The grounding operation should be performed to prevent an
electric shock or electrostatic charge, enhance the noise-resistance ability
and control the unnecessary electromagnetic radiation.
4 Installation
and Start
(4) Safety Measures
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.
ƔWhen the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within tKHURERW¶VPRYDEOHUDQJH:KHQWKH
robot under operation is touched, it may result in death or serious injury.
ƔMake sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
ƔTake the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an
injury or damage to the product.
ƔTake the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power
input.
ƔWhen the installation or adjustment operation is to be performed, give
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Sudden power input may cause an electric shock or injury.
ƔTake the measure so that the work part is not dropped in power failure or
emergency stop.
ƔWear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
ƔDo not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
ƔWhen releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.

4
No. Operation
Description Description
5 Teaching 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.
ƔPerform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence,SUHSDUHWKH³6WLSXODWLRQVIRUWKH
2SHUDWLRQ´DQGPDNHVXUHWKDW all the workers acknowledge and
understand them well.
ƔWhen the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
ƔWhen the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can be
stopped any time in an emergency. Also, keep watch on the operation so
that any third person can not operate the switches carelessly.
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ƔWhen releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
6DIHW\SURWHFWLRQ)HQFH,QWKHFDVH that there is no safety protection
fence, the movable range should be indicated.
6 Trial
Operation
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.
ƔAfter the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
ƔWhen the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
ƔMake sure to perform the programmed operation check at the safety
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motion caused by a program error, etc.
ƔDo not touch the terminal block or any of the various setting switches in
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malfunction.
7 Automatic
Operation
ƔBefore the automatic operation is started up, make sure that there is
nobody inside the safety protection fence.
ƔBefore the automatic operation is started up, make sure that all the related
peripheral machines are ready for the automatic operation and there is no
error indication.
ƔMake sure to perform the startup operation for the automatic operation, out
of the safety protection fence.
ƔIn the case that there is any abnormal heating, smoke, offensive smell, or
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product.
ƔWhen a power failure occurs, turn O))WKHSRZHUVZLWFK)DLOXUHWRGRVR
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.

5
No. Operation
Description Description
8 Maintenance
and Inspection
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.
ƔPerform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety
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sure that all the workers acknowledge and understand them well.
ƔWhen the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
ƔWhen the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
ƔWhen the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can be
stopped any time in an emergency. Also, keep watch on the operation so
that any third person can not operate the switches carelessly.
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ƔFor the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
ƔDo not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
ƔWhen releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
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fence, the movable range should be indicated.
9 Modification
and Dismantle
ƔDo not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal ƔWhen the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
ƔDo not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.

6
Alert Indication
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1. Overview
7
Remote I/O
terminal
1. Overview
The open field network ProfiBus-DP is a multi-bit, multi-vendor network for communication of both control and
data signals of the machine/line control level.
A wire-saving system can be built by connecting IAI’ s X-SEL, TT, RCS-C, E-Con, SCON-C, ASEL, PSEL, SSEL,
ACON, PCON, and SCON-CA controllers (hereinafter collectively and individually referred to as “Each
Controller” ) to a ProfiBus-DP network.
ACON, PCON and SCON-CA are not specified in this operation manual. Refer to the
separate ME0258 PROFIBUS-DP.
* For details on ProfiBus-DP, refer to the operation manual for the programmable controller (hereinafter referred
to as “PLC” ) in which the master unit is installed.
This operation manual should be used in conjunction with the operation manual for each controller.
You should also assume that any usage not specifically permitted in this operation manual is prohibited.
PLC Master station
Master
unit
CPU
unit
(Node)
(Slave
station)
(Slave
station)
(Slave
station)
(Slave
station)
(Slave
station)
(Slave
station)
(Slave
station)
(Slave station)
(Slave station)
(Slave
station)
(Slave
station)
Remote I/O
terminal
(Slave
station)

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8
2. Specifications
2.1 Interface Specifications
The table below lists the specifications of the ProfiBus-DP interface.
Item Specification Remarks
Communication profile ProfiBus-DP
Communication method Hybrid method Master/slave method with token passing
Number of connectable
stations
32 stations per segment Up to 126 stations can be connected if a
repeater is used.
Communication data length Maximum 244 bytes per frame
Physical profile
RS485
* A general physical profile is RS485.
* Use of a 9-pin D-sub connector is
recommended for IP20 configurations.
Baud rate (kbps) 9.6/19.2/93.75/187.5/500
1500/3000/6000/12000
*1
Maximum distance over the
entire network Baud rate Cable type
100 m 12,000/6,000/3,000 kbps
200 m 1,500 kbps
400 m 500 kbps
1000 m 187.5 kbps
Transmission distance
1200 m 9.6/19.2/93.75 kbps
Type A cable
Topology Bus/tree/star
Cable Single shielded twisted pair
cable
Type A cable
*1 The baud rate of a ProfiBus-DP network can be specified only when the ProfiBus-DP network is set up using
a configurator (*2).
The baud rate of all ProfiBus-DP slave modules is set with this configurator, and therefore a different baud rate
cannot be set for an individual slave station.
*2 For the ProfiBus-DP configurator, use the configurator recommended for the master unit.

3. X-SEL-J/K/P/Q/JX/KX/PX/QX
9
3. X-SEL Controller
3.1 ProfiBus-DP Board Types and Installation Positions in the X-SEL
There are six types of X-SEL controllers that support ProfiBus-DP, as listed below. The installation position of the
ProfiBus-DP board is different depending on whether the X-SEL controller is of PR0 type or PR1 type.
*1 The PR1 board can be installed in any one of expansion I/O slots 1 to 3.
*2 The ProfiBus-DP board is installed in the same position as shown in Fig. 3.4. With a 5-axis or 6-axis
specification, the ProfiBus-DP board is installed in the same position as with a 4-axis specification.
Controller
type
J
K
K
P
Q
PX
QX
Network I/O
points
(maximum
inputs/outputs)
Board installation position
Standard
slot
(I/O1)
Expansion
slot 1
(I/O2)
Expansion
slot 2 or 3
(I/O3 or 4)
Not available
for 1-axis and
2-axis
specifications.
X-SEL model I/O slot
arrangement
Fig. 3.1
Fig. 3.2
Fig. 3.3
Fig. 3.4
*2
*2
*2
*1
*1
Installation position of
field network board
Installation position of
field network board
X-SEL-J/K/P/Q/JX/KX/PX/QX

3. X-SEL-J/K/P/Q/JX/KX/PX/QX
10
(1) Compact type (J type)
1-axis specification*1 2-axis specification*1 3/4-axis specification*2, *3
Fig. 3.1
*1) An I/O board cannot be installed in 1-axis and 2-axis specifications, because the ProfiBus-DP board
occupies the only slot available.
*2) With 3-axis and 4-axis specifications, only the “PR0” ProfiBus-DP board can be installed in the standard slot.
*3) With 3-axis and 4-axis specifications, one expansion I/O board can be installed in the expansion slot.
Expansion I/O board
Model number [1] IA-103-X-32 (32 input points, 16 output points)
[2] IA-103-X-16 (16 input points, 32 output points)
ProfiBus-DP board ProfiBus-DP board Expansion slot ProfiBus-DP board
(Installed in the standard slot.)

3. X-SEL-J/K/P/Q/JX/KX/PX/QX
11
(2) General-purpose type (K type)
zEither a ProfiBus-DP board or standard I/O board must be always installed in the standard slot (I/O1 --- slot
at the far left).
zThe “PR1” ProfiBus-DP board occupies two expansion slots. If this type of ProfiBus-DP board is selected,
only one expansion slot can be used.
zEither an expansion I/O board*1 or SIO board*2 can be installed in an expansion slot.
Fig. 3.2
*1 Expansion I/O board
Mode [1] IA-103-X-32 (32 input points + 16 output points, NPN specification)
[2] IA-103-X-32-P (32 input points + 16 output points, PNP specification)
[3] IA-103-X-16 (16 input points + 32 output points, NPN specification)
[4] IA-103-X-16-P (16 input points + 32 output points, PNP specification)
[5] IA-IO-3204-NP (48 input points + 48 output points, NPN specification)
[6] IA-IO-3204-PN (48 input points + 48 output points, PNP specification)
[7] IA-IO-3205-NP (48 input points + 48 output points, NPN specification)
[8] IA-IO-3205-PN (48 input points + 48 output points, PNP specification)
(Note) [5] and [6] are used exclusively for the K, P and Q types, while [7] and [8] are used
exclusively for the J type.
For specification details, refer to “Operation Manual for X-SEL Controller.”
*2 SIO board
Mode [1] IA-105-X-MW-A (RS232C)
[2] IA-105-X-MW-B (RS422C)
[3] IA-105-X-MW-C (RS485C)
With all boards, one board can support two channels.
Expansion slots 1 to 3
ProfiBus-DP board
(Installed in the standard slot.)

3. X-SEL-J/K/P/Q/JX/KX/PX/QX
12
Fig. 3.3
(3) P/Q types
zThe ProfiBus-DP board is installed in the installation position of field network board.
Fig. 3.4
Expansion slots 2 and 3
ProfiBus-DP board
(Installed in expansion slot 1.)
Standard I/O board
Standard I/O
Standard I/O
ProfiBus-DP board ProfiBus-DP board Expansion I/O