IAI IA-101-X-MW User manual

1
PC Software
for X-SEL
IA-101-X-MW IA-101-X-MW-JS IA-101-XA-MW
IA-101-X-USBS IA-101-X-USBMW
IA-101-TT-USB
Operation Manual 22th Edition
IAI Corporation

Before Use
Thank you for purchasing our product.
This operation manual explains the handling methods, 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 DVD that comes with the product contains operation manuals for our 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 written specifically for the product.
• The product cannot be operated in any way unless expressly specified in this operation manual. We
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 “IAI
Customer Center Eight” or the IAI sales office near you.
• Unauthorized use or reproduction of this operation manual, whether in whole or in part, is strictly
prohibited.
• All company names and product names mentioned are trademarks or registered trademarks of the
respective companies.

Table of Contents
Support Models.........................................................................................................................1
Installing V6.0.0.0 Compatible with the IA Super SEL Controller E/G Types and the DS
Controller ..................................................................................................................................2
Software License Agreement ....................................................................................................5
A Word of Caution.....................................................................................................................6
Safety Guide .............................................................................................................................7
1. Before You Begin..............................................................................................................15
1.1 Items Supplied with This Software (Product Components)......................................................................15
1.2 System Requirements..............................................................................................................................17
1.3 Installing the Software..............................................................................................................................18
1.3.1 How to Install the PC Interface Software for X-SEL .........................................................................18
1.3.2 How to Install the USB Conversion Adapter Driver Software ...........................................................22
1.3.3 How to Install Driver Software for USB Connection of XSEL-RA/SA/RAX/SAX/RAXD/SAXD ........33
1.3.4 How to change the USB COM port...................................................................................................40
1.4 Connection to Controller ..........................................................................................................................42
1.5 Starting the Software (Online Connection)...............................................................................................57
1.6 Operation System Command Restriction.................................................................................................60
2. How to Save Data.............................................................................................................63
2.1 Factory Setting – When a Backup Battery Is Used (When the X-SEL controller is shipped) ..................63
2.2 When a Backup Battery Is Not Used (Table Top Actuator [TT], SSEL, ASEL, PSEL) .............................65
2.3 XSEL-R/S/RX/SX/RXD/SXD ....................................................................................................................67
2.4 XSEL-RA/SA/RAX/SAX/RAXD/SAXD .....................................................................................................68
2.5 TTA...........................................................................................................................................................69
2.6 MSEL........................................................................................................................................................70
2.7 Notes ........................................................................................................................................................71
3. Menu Window...................................................................................................................73
3.1 Explanation of the Menu ..........................................................................................................................73
3.1.1 Online Screen ...................................................................................................................................73
3.1.2 Offline Screen ...................................................................................................................................77
3.2 Explanation of the Commands.................................................................................................................78
3.3 Explanation of the Toolbar........................................................................................................................93
3.4 Tree View .................................................................................................................................................95

4. Program Edit Window.......................................................................................................97
4.1 Explanation of the Items Displayed in the Program Edit Window............................................................97
4.2 Saving a Program, Transferring and Closing the Edit Window............................................................. 105
4.2.1 Saving a Program Online, Transferring and Closing the Edit Window .......................................... 105
4.2.2 Transferring a Program Created Offline......................................................................................... 108
4.3 Saving All Programs to a File .................................................................................................................110
4.4 Running the Program .............................................................................................................................113
4.5 Cycle Time Measurement ......................................................................................................................114
4.5.1 How to Measure Cycle Time...........................................................................................................114
5. Copying/Moving/Clearing a Program..............................................................................120
5.1 Program Copy/Move Window ............................................................................................................... 120
5.2 Program Clear Window ......................................................................................................................... 122
6. Position Data Edit Window .............................................................................................124
6.1 Explanation of the Items Displayed in the Position Data Edit Window ................................................. 124
6.2 Saving Position Data, Transferring and Closing the Edit Window ........................................................ 144
6.2.1 Saving a Program Online, Transferring and Closing the Edit Window .......................................... 144
6.2.2 Transferring a Position Created Offline.......................................................................................... 148
7. Copying/Moving/Clearing Position Data .........................................................................150
7.1 Copying/Moving Position Data .............................................................................................................. 150
7.2 Clearing Position Data .......................................................................................................................... 152
8. Parameter Edit Window..................................................................................................154
8.1 Explanation of the Parameter Edit Window .......................................................................................... 154
8.2 Saving Parameter Data and Closing the Edit Window.......................................................................... 156
8.3 Transferring a Parameter File ............................................................................................................... 159
8.3.1 Selecting Categories of Parameters to Be Transferred ................................................................. 160
8.3.2 Default Specifications..................................................................................................................... 163
8.4 Easy Parameter Setup .......................................................................................................................... 164
8.4.1 Explanation of Easy Parameter Setup........................................................................................... 164
8.5 How to Initialize XSEL-R/S, RX/SX, RXD/SXD, RA/SA, RAX/SAX, RAXD/SAXD, SSEL, ASEL, PSEL,
MSEL high resolution type, TTA AC servo type / high resolution type Parameters
(at the time of shipment) ....................................................................................................................... 169
8.6 Parameter Comparison ......................................................................................................................... 171
8.6.1 How to Compare Parameters ........................................................................................................ 171
9. Symbol Edit Window.......................................................................................................174
9.1 About Symbols ...................................................................................................................................... 174
9.2 Explanation of the Symbol Edit Window ............................................................................................... 175
9.3 Saving Symbol Data and Closing the Edit Window .............................................................................. 178
10. Coordinate System Definition Data Edit Window............................................................182
10.1 Explanation of Coordinate System Definition data Edit Window .......................................................... 182
10.2 Work Coordinate System ...................................................................................................................... 184
10.3 Tool Coordinate System ........................................................................................................................ 188
10.4 Simple Interference Check Zone .......................................................................................................... 192
10.5 Coordinate System Definition Data Clear Window ............................................................................... 196
10.6 Printing of Coordinate System Definition Data...................................................................................... 198

11. Monitor ...........................................................................................................................199
12. RC Gateway Function Setting ........................................................................................223
13. How to Reset an Absolute Encoder ................................................................................224
13.1 Orthogonal Axis (Absolute Specification) (excluding XSEL-RA/SA, RAX/SAX) ................................... 224
13.2 Orthogonal Axis (Battery-less Absolute Specification and XSEL-RA/SA, RAX/SAX) ........................... 227
13.3 Scara Axis ............................................................................................................................................. 230
13.3.1 Absolute Reset Preparation ......................................................................................................... 230
13.3.2 Starting the Absolute Reset Menu................................................................................................ 231
13.3.3 Absolute Reset Procedure for Arm 1 or 2 .................................................................................... 232
13.3.4 Absolute Reset Procedure for Rotation Axis + Vertical Axis ........................................................ 239
13.4 IX-NNN10040 and 12040 SCARA Axes................................................................................................ 249
13.4.1 How to Operate the Push Type Absolute Reset ............................................................................ 250
13.4.2 How to Acquire the Stopper Interfering Point................................................................................. 262
13.5 IXP SCARA Axis.................................................................................................................................... 275
13.6 ZR Unit .................................................................................................................................................. 284
13.6.1 Absolute Reset on ZR Unit (Absolute Type Only).......................................................................... 284
13.6.2 Ball-screw spline adjustment on ZR unit (Incremental type) ......................................................... 299
13.7 Simple absolute Unit for PSEL Controller (Option) ............................................................................... 308
13.7.1 Instructions of Absolute Reset ....................................................................................................... 308
13.8 IXA SCARA Axes................................................................................................................................... 312
13.8.1 Stopper Pressing System Absolute Reset Operation .................................................................... 313
13.8.2 Procedure for Stopper Pressing Position Acquirement Operation................................................. 329
14. Supplemental Information on Controller Menu Items......................................................349
14.1 Software Reset...................................................................................................................................... 349
14.2 Reset Error ............................................................................................................................................ 349
14.3. Drive-source Recovery Request and Operation-pause Reset Request ............................................... 350
14.3.1 In the cases of Controllers Other Than SSEL, ASEL or PSEL Controllers.................................... 350
14.3.2 In the cases of SSEL, ASEL or PSEL Controllers.......................................................................... 351
14.4 Setting Time .......................................................................................................................................... 352
14.5 SEL Global Data Backup....................................................................................................................... 352
14.6 Control Constant Table Management Information ................................................................................ 354
14.7 Execution Stop of Positioner Mode of SSEL, ASEL or PSEL Controller............................................... 355
14.8 Getting Positioner Mode Information from SSEL, ASEL and PSEL Controllers ................................... 356
14.9 Positioner Mode Management Information for SSEL, ASEL or PSEL Controller ................................. 357
14.10 Excel File Save and Readout (Version V13.01.00.00 and later)........................................................... 358
14.10.1 Excel File Save .............................................................................................................................. 358
14.10.2 Excel File Readout......................................................................................................................... 360
14.10.3 Excel File Create and Edit ............................................................................................................. 361
14.10.4 Caution........................................................................................................................................... 361
15. Tool.................................................................................................................................362
16. Appendix ........................................................................................................................366
16.1 Parameter Recovery Method for X-SEL-P/Q, PX/QX, R/S, RX/SX, RXD/SXD, RA/SA, RAX/SAX,
RAXD/SAXD Controllers ....................................................................................................................... 366
16.2 Error Level Control ................................................................................................................................ 372
16.3 X-SEL PC Software Error Table............................................................................................................ 373
Change History .....................................................................................................................379

1
Support Models
Various data file extensions
Model Name
Program
(Individually)
Program
(Batch)
Position Parameter Symbol Coordinate
Global
data
Backup
Data
Support
Started
Version
XSEL-J/K xpg xpa Xpt xpm xsm - xgd xbk V1.0.0.0
XSEL-JX/KX spg spa spt spm ssm scd sgd sbk V2.0.0.0
XSEL-P/Q x2pg x2pa x2pt x2pm x2sm - x2gd x2bk V3.0.0.0
XSEL-P/Q
(compatible with
increased memory)
(w/gateway function)
Extended Format
x2pg2 x2pa2 x2pt2 x2pm x2sm2 - x2gd x2bk2 V7.2.0.0
TT tpg tpa tpt tpm tsm - tgd tbk V4.0.0.0
TTA t2pg t2pa
t2pt
t2pt2
(Position
Output
Operation
Function
enable)
t2pm t2sm t2cd t2gd
t2bk
t2bks
(Position
Output
Operation
Function
enable)
V10.00.00.00
XSEL-PX/QX s2pg s2pa s2pt s2pm s2sm s2cd s2gd s2bk V5.0.0.0
XSEL-PX/QX
(compatible with
increased memory)
(w/gateway function)
Extended Format
s2pg2 s2pa2 s2pt2 s2pm s2sm2 s2cd s2gd s2bk2 V7.2.0.0
XSEL-R/S x4pg x4pa x4pt x4pm x4sm - x4gd x4bk V9.00.00.00
XSEL-RX/SX s4spg s4spa s4spt s4spm s4ssm s4scd s4sgd s4sbk V9.00.00.00
XSEL-RXD/SXD s4dpg s4dpa s4dpt s4dpm s4dsm s4dcd s4dgd s4dbk V9.00.00.00
XSEL-RA/SA .x6pg .x6pa .x6pt .x6pm .x6sm - .x6gd x6bk V13.00.00.00
XSEL-RAX/SAX .s6spg .s6spa .s6spt .s6spm .s6ssm s6scd .s6sgd s6sbk V13.00.00.00
XSEL-RAXD/SAXD .s6dpg .s6dpa .s6dpt .s6dpm .s6dsm s6dcd .s6dgd s6dbk V13.00.00.00
SSEL sspg sspa sspt sspm sssm - ssgd ssbk V6.0.0.0
SSEL
(applicable for
memory increase)
sspg2 sspa2 sspt sspm sssm2 - ssgd ssbk2 V7.00.06.00
ASEL aspg aspa aspt aspm assm - asgd asbk V7.0.0.0
PSEL pspg pspa pspt pspm pssm - psgd psbk V7.0.0.0
MSEL-PCX/PGX s5pg s5pa s5pt s5pm s5sm s5cd s5gd S5bk V11.00.00.00
MSEL-PC/PG m5pg m5pa m5pt m5pm m5sm m5cd m5gd M5bk V12.00.01.00
* Extension for RC-axis position data of X-SEL-P/Q, PX/QX, R/S, RX/SX, RXD/SXD with gateway function: rpt
(Note) SSEL and ASEL Controllers version applicable for battery-less absolute type: V12.02.05.03 and later
XSEL-P/Q Controllers version applicable for battery-less absolute type: V12.02.06.00 and later
Model name Supported version Remarks
IA Super SEL Controller E/G Types
DS Controller
V6.0.0.0 (Note 1)
V7.07.12.00 (Note 2)
Refer to the following page for
more information on how to
install V6.0.0.0. and V7.07.12.00
(Note 1) Supported OS: Windows 95, Windows 98, Windows NT, Windows Me, Windows 2000
(Note 2) Supported OS: Windows 98, Windows Me, Windows 2000, Windows XP

2
Installing V6.0.0.0 Compatible with the IA Super SEL Controller
E/G Types and the DS Controller
V6.0.0.0 compatible with the IA Super SEL Controller E/G Types and the DS Controller is included in the CD-ROM
and can be installed based on the following procedure.
(Note) V6.0.0.0 runs with the following Windows operating systems.
Windows 95, Windows 98, Windows NT, Windows Me and Windows 2000
[Installing V7.07.12.00 Compatible]
V7. 07. 12. 00 applicable for IA Super SEL Controller E Type, G Type and DS Controller is also stored in the
CD-ROM.
Install it in the same manner as V6.0.0.0.
The applicable OS are Windows 98, Windows Me, Windows 2000 and Windows XP.
[1] Insert the CD-ROM containing the software into the CD-ROM drive.
[2] A screen to select the data to be installed will appear.
Click Browse CD.
[3] The folder containing the operation manual will open.
Click Folders.

3
[4] Click TOOL.
[5] The PC SOFT V6.0.0.0 folder containing the V6.0.0.0 installer will appear.
Click PC SOFT V6.0.0.0 folder.
[6] Click the ENGLISH folder.

4
[7] Double-click PC Interface Software….
The PC Interface Software for X-SEL installation screen will appear.
Install the software based on the step [3] and thereafter described in 1.3.1 How to Install the PC
Interface Software for X-SEL.

5
Software License Agreement
Before opening the software package, please read this Software License Agreement (hereinafter referred to as
“Agreement”).
This Agreement is applied to the PC interface software for this product (hereinafter referred to as “this Software”,
and also includes updated versions.).
Regardless of the reason, opening the this Software package will be regarded as your acknowledgement of
consenting to this Agreement. You may not use this software if you do not agree to the terms of this Agreement.
IAI Corporation (hereinafter referred to as “IAI”) shall grant to the user (hereinafter referred to as “the User”), and
the User shall accept, a non-transferable, non-exclusive right to use the Licensed Software supplied with this
Agreement, based on the following terms and conditions.
Witnesseth
1. Term of the Agreement
This Agreement shall take effect the moment the User opens the Licensed Software and remain effective until the
User submits a termination request to IAI in writing or the Agreement is otherwise terminated pursuant to the
provision of Section 3.
2. Licensing
If the User owns an electronic medium, such as CD-R, which is sold by IAI and which this Software is recorded to,
or if user registration has been held to this Software, it should be allowed that the User uses this Software on
multiple computers.
The user should not be allowed to have himself or a third party performs modification, reverse engineering,
disassembly, decompile, translation or adaptation entirely or partially in this Software.
If the User violates anything in the agreement and causes any loss to IAI, the User is to compensate the loss
caused to IAI.
3. Termination of the Agreement
In the event of breach by the User of any of the terms and conditions hereunder, or upon discovery of a material
cause that makes continuation of this Agreement impossible, IAI may immediately terminate this Agreement
without serving any prior notice to the User.
In this case, the User should delete or dispose everything of this Software (including software copies) and
dedicated connection cables within ten days after the day when the Agreement is terminated.
4. Range of Guarantee
IAI does not guarantee that this Software works in normal condition in every operational environment.
IAI may change all the specifications related to this Software without serving any prior notice. Also, IAI should not
take any responsibility to any loss or damage caused as a result of use of this Software.
The User or a third party agrees not to claim compensation for damage from IAI for any loss suffered by the User or
a third party as a result of installing and using the Licensed Software.
Based on this Agreement, the upper limit of the responsibility that IAI may take should be the amount of money that
the User has actually paid to purchase this Software.

6
A Word of Caution
[1] This software is copyrighted by IAI Corporation (IAI).
[2] The software and the manual can only be used under the terms and conditions of the license agreement.
[3IAI cannot assume responsibility for any damage or loss resulting from the use of this software or the manual.
[4] Please note that the version or edition number printed on the face of this manual does not correspond to the
software version number.
[5] The content of this manual is subject to change without notice.
[6] The software runs with the Windows operation systems listed in the table below. Accordingly, it is a
prerequisite to have a basic Windows operating environment to use this software.
(Note, however, that Windows is not included with the software.)
Port used Type Operable Windows
RS-232C
IA-101-X-MW-JS
IA-101-X-MW
IA-101-XA-MW
Windows 7*1, Windows 8, 8.1*2 , or Windows 10*3
USB
IA-101-X-USBS
IA-101-X-USBMW
IA-101-TT-USB
IA-101-TTA-USB
IA-101-N(Note 1)
Windows 7*1, Windows 8, 8.1*2 , or Windows 10*3
*1: Supported by software version V8.01.00.00 or later.
*2: Supported by software version V12.01.00.00 or later.
*3: Supported by software version V13.01.00.00 or later.
Note 1 There is no cable enclosed. Please prepare yourself an USB cable to connect to the USB connector on
XSEL-RA/SA/RAX/SAX/RAXD/SAXD Controllers.
Microsoft, MS, MS-DOS, Windows, Windows 3.1, Windows 95, Windows 98, Windows NT, Windows 2000,
Windows Me, Windows XP, Windows Vista, and Windows 7, Windows 8, Windows 8.1, Windows 10 are
registered trademarks of Microsoft Corporation.
Copyright© 2001 Jun. IAI Corporation. All rights reserved.

7
Safety Guide
Before using the product, ensure safety by following the safety precautions provided below and taking
the necessary measures.
Regulations and Standards Governing Industrial Robots
Safety measures on mechanical devices are generally classified into four categories under the International
Industrial Standard ISO/DIS 12100, “Safety of machinery,” as follows:
Safety measures Inherent safety design
Protective guards ----------------- Safety fence, etc.
Additional safety measures ---- Emergency stop device, etc.
Information on use ---------------- Danger sign, warnings, operation manual
Based on this classification, various standards are established in a hierarchical manner under the
International Standards ISO/IEC.
The safety standards that apply to industrial robots are as follows:
Type C standards
(individual safety standards) ISO10218 (Manipulating industrial robots – Safety)
JIS B 8433
(Manipulating industrial robots – Safety)
Also, Japanese laws regulate the safety of industrial robots, as follows:
Industrial Safety and Health Law Article 59
Workers engaged in dangerous or harmful operations must receive special education.
Ordinance on Industrial Safety and Health
Article 36 --- Operations requiring special education
No. 31 (Teaching, etc.) ------ Teaching and other similar work involving industrial robots
(exceptions apply)
No. 32 (Inspection, etc.) ---- Inspection, repair, adjustment and similar work involving industrial
robots (exceptions apply)
Article 150 --- Measures to be taken by the user of an industrial robot

8
Requirements for Industrial Robots by Ordinance on Industrial Safety and Hygiene
Work area Work condition Drive-source
cutoff Measure Article
Signs for starting operation Article 104
Outside the
movement range
During automatic
operation Not cut off Installation of railings,
enclosure, etc. Article 150-4
Cut off
(including stopping
of operation)
Sign, etc. saying “WORK
IN PROGRESS” Article 150-3
Preparation of working
rules Article 150-3
Measures to enable
immediate stopping of
operation
Article 150-3
Sign, etc. saying “WORK
IN PROGRESS” Article 150-3
Provision of special
education
Article 36
No. 31
During teaching,
etc.
Not cut off
Checkup, etc. before
commencement of work Article 151
To be preformed after
stopping the operation Article 150-5
Cut off Sign, etc. saying “WORK
IN PROGRESS” Article 150-5
Preparation of working
rules Article 150-5
Measures to enable
immediate stopping of
operation
Article 150-5
Sign, etc. saying “WORK
IN PROGRESS” Article 150-5
Inside movement
range
During an
inspection, etc. Not cut off
(when inspection,
etc., must be
performed during
operation)
Provision of special
education
Article 36
No. 32

9
Applicable Models of IAI’s Industrial Robots
According to Notice of Ministry of Labor No. 51 and Labor Standards Bureau Director notice (No. 340),
machines meeting the following conditions are not classified as industrial robots:
(1) Single-axis robot with a motor wattage of 80 W or less
(2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating part, if
any, has the maximum movement range of within 300 mm3 including the end of the rotating part
(3) Multi-joint robot whose movable radius and Z-axis are within 300 mm
Among the products featured in our catalogs, the following models are classified as industrial robots:
1. Single-axis ROBO Cylinders
RCS2/RCS2CR-SS8 , RCS3/RCS3CR/RCS3P/RCS3PCR whose stroke exceeds 300 mm
2. Single-axis robots
The following models whose stroke exceeds 300 mm and whose motor capacity exceeds 80 W:
ISA/ISPA, ISB/ISPB, SSPA, ISDA/ISPDA, ISWA/ISPWA, IF, FS, NS
3. Linear servo actuators
All models whose stroke exceeds 300 mm
4. Cartesian robots
Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3
5. IX SCARA robots, IXA SCARA robots
All models whose arm length exceeds 300 mm
(All models excluding IX-NNN1205/1505/1805/2515, NNW2515 and NNC1205/1505/1805/2515)

10
Safety Pre cautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
NO. Work Description Precautions
1 Model
Selection
 This product has not been planned and designed for the application where high level of
safety is required, so the guarantee of the protection of human life is impossible.
Accordingly, do not use it in any of the following applications.
1) Medical equipment used to maintain, control or otherwise affect human life or physical
health.
2) Mechanisms and machinery designed for the purpose of moving or transporting people
(For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
 Do not use the product outside the specifications. Failure to do so may considerably
shorten the life of the product.
 Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding the specification
range
4) Location where radiant heat is added from direct sunlight or other large heat source
5) Location where condensation occurs due to abrupt temperature changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
 For an actuator used in vertical orientation, select a model which is equipped with a brake.
If selecting a model with no brake, the moving part may drop when the power is turned
OFF and may cause an accident such as an injury or damage on the work piece.
2 Transportation  When carrying a heavy object, do the work with two or more persons or utilize equipment
such as crane.
 When 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.
 When in transportation, consider well about the positions to hold, weight and weight
balance and pay special attention to the carried object so it would not get hit or dropped.
 Transport it using an appropriate transportation measure. The actuators available for
transportation with a crane have eyebolts attached or there are tapped holes to attach
bolts. Follow the instructions in the instruction manual for each model.
 Do not step or sit on the package.
 Do not put any heavy thing that can deform the package, on it.
 When using a crane capable of 1t or more of weight, have an operator who has
qualifications for crane operation and sling work.
 When using a crane or equivalent equipments, make sure not to hang a load that weighs
more than the equipment’s capability limit.
 Use a hook that is suitable for the load. Consider the safety factor of the hook in such
factors as shear strength. Also, check to make sure that the hook is free of damages.
 Do not get on the load that is hung on a crane.
 Do not leave a load hung up with a crane.
 Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
 The storage and preservation environment conforms to the installation environment.
However, especially give consideration to the prevention of condensation.
 Store the products with a consideration not to fall them over or drop due to an act of God
such as earthquake.

11
NO. Work Description Precautions
(1) Installation of Robot Main Body and Controller, etc.
 Make 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.
Also, be equipped for a fall-over or drop due to an act of God such as earthquake.
 Do 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.
 When 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
(2) Cable Wiring
 Use our company’s genuine cables for connecting between the actuator and controller,
and for the teaching tool.
 Do 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.
 Perform the wiring for the product, after turning OFF the power to the unit, so that there is
no wiring error.
 When 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.
 Connect 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.
 Never 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) Grounding
 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.
 For the ground terminal on the AC power cable of the controller and the grounding plate in
the control panel, make sure to use a twisted pair cable with wire thickness 0.5mm2
(AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary
to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies
the specifications (electrical equipment technical standards).
 Perform Class D Grounding (former Class 3 Grounding with ground resistance 100Ω or
below).
4 Installation and
Start
(4) Safety Measures
 When 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.
 When 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
the robot’s movable range. When the robot under operation is touched, it may result in
death or serious injury.
 Make sure to install the emergency stop circuit so that the unit can be stopped immediately
in an emergency during the unit operation.
 Take 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.
 Take 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.
 When the installation or adjustment operation is to be performed, give clear warnings such
as “Under Operation; Do not turn ON the power!” etc. Sudden power input may cause an
electric shock or injury

12
NO. Work Description Precautions
4 Installation and
Start
 Take the measure so that the work part is not dropped in power failure or emergency stop.
 Wear protection gloves, goggle or safety shoes, as necessary, to secure safety.
 Do 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.
 When 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.
5 Teaching  When 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.
 Perform 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,
prepare the “Stipulations for the Operation” and make sure that all the workers
acknowledge and understand them well.
 When 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.
 When 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.
 Place a sign “Under Operation” at the position easy to see.
 When 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.
* Safety protection fence : In the case that there is no safety protection fence, the movable
range should be indicated.
6 Trial Operation  When 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.
 After the teaching or programming operation, perform the check operation one step by one
step and then shift to the automatic operation.
 When 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.
 Make sure to perform the programmed operation check at the safety speed. Failure to do
so may result in an accident due to unexpected motion caused by a program error, etc.
 Do not touch the terminal block or any of the various setting switches in the power ON
mode. Failure to do so may result in an electric shock or malfunction.
7 Automatic
Operation
 Check before starting the automatic operation or rebooting after operation stop that there
is nobody in the safety protection fence.
 Before starting automatic operation, make sure that all peripheral equipment is in an
automatic-operation-ready state and there is no alarm indication.
 Make sure to operate automatic operation start from outside of the safety protection fence.
 In the case that there is any abnormal heating, smoke, offensive smell, or abnormal noise
in the product, immediately stop the machine and turn OFF the power switch. Failure to do
so may result in a fire or damage to the product.
 When a power failure occurs, turn OFF the power switch. Failure to do so 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.