IAI DeviceNet MSEL Series Installation manual

Operation Manual Twenty Fourth Edition
XSEL TT
MSEL TTA
SSEL SCON-C
ASEL E-Con
PSEL RCS-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 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.

Note
Notes on DeviceNet Products
Please note that the IAI products and Omron PLCs listed below cannot be connected via DeviceNet:
[IAI’s products subject to this limitation]
Controller: All XSEL models
Tabletop actuator: TT series
Gateway unit: RCM-GW-DV
* Units shipped on or after July 30, 2008
[Omron’s products subject to this limitation]
DeviceNet master unit C200HW-DRM21-V1
CVM1-DRM21-V1
* Units manufactured in or before September 2008
Units manufactured in or after October 2008 can be connected to the above-listed products by IAI.
[Cause]
Communication disharmony
[Action]
Use a PLC of other type, or use a DeviceNet master unit C200HW-DRM21-V1 or CVM1-DRM21-V1
manufactured in or after October 2008. If changing the PLC is difficult, contact the IAI sales office
near you or our customer center “Eight.”

Caution: The following functions are described in the separate operation manual.
Title of operation manual/Overview Control number
1
DeviceNet Operation Manual
Refer to this operation manual if you are using an
ACON, DCON, PCON or SCON (excluding SCON-C)
controller(s).
ME0256

Table of Contents
Safety Guide.................................................................................................................................. 1
1. Overview ................................................................................................................................ 9
2. XSEL-J/K/P/Q/JX/KX/PX/QX .................................................................................................10
2.1 Models ................................................................................................................................10
(1) Compact type (J type).................................................................................................11
(2) General-purpose type (K type)....................................................................................11
(3)P/Q types.................................................................................................................... 12
2.2 Interface Specifications...................................................................................................... 13
2.3 DeviceNetboard................................................................................................................ 14
2.3.1 Name of Each Part..................................................................................................... 14
2.3.2 DIP Switch Settings.................................................................................................... 15
(1) Setting the node address (MAC ID)........................................................................... 15
(2) Setting the baud rate.................................................................................................. 15
2.3.3 Monitor LED Indicators............................................................................................... 16
2.4 Setting of I/O Parameters (Assignment of I/O Ports)......................................................... 17
2.4.1 Board Installation Position (Slot) and I/O Parameter Numbers................................. 17
(1) J type.......................................................................................................................... 17
(2)K type......................................................................................................................... 17
2.4.2 Factory-set Parameters.............................................................................................. 18
(1)Factory-set parameters for J/K types......................................................................... 18
(2)Factory-set parameters for P/Q types........................................................................ 19
(3)P/Q types.................................................................................................................... 20
2.5 Parameter Setting Examples............................................................................................. 21
2.5.1 Setting Example for J/K Types................................................................................... 21
(1) Setting example when only a DeviceNet board is installed....................................... 21
(2) Setting example when a DeviceNet board is used together
with an expansion I/O board...................................................................................... 23
2.5.2 Setting Example for P/Q Types.................................................................................. 27
(1) Setting example when only a DeviceNet board is installed....................................... 27
(2) Setting example when a DeviceNet board is used together
with a standard I/O board........................................................................................... 30
2.6 I/O Port Numbers for XSEL ............................................................................................... 36
3. XSEL-R(A)/S(A)/R(A)X/S(A)X/R(A)XD/S(A)XD....................................................................38
3.1 Models ......................................................................................................................................... 38
3.2 Interface Specifications ............................................................................................................... 39
3.3 DeviceNet Interface ..................................................................................................................... 40
3.4 Parameter Settings ...................................................................................................................... 41
3.5 Setting Example ........................................................................................................................... 45
(1) Name of Each Part .............................................................................................................. 40
(2)Monitor LED Indications ....................................................................................................... 40
3.6 Standard I/O Ports of XSEL Controller ........................................................................................ 51
3.7 Troubleshooting ........................................................................................................................... 53
(1) Example for when using only DeviceNet ............................................................................45
(2)Example for when using DeviceNet and I/O Board 1 together ...........................................47
(3)Example for when using DeviceNet and I/O Board 1 together ...........................................49

7. RCS-C and E-Con................................................................................................................99
7.1 Model................................................................................................................................. 99
(1)RCS-C........................................................................................................................ 99
(2)E-Con......................................................................................................................... 99
5.2 Interface Specifications........................................................................................................ 71
70
70
72
72
72
77
79
77
83
86
81
73
6. Tabletop Robot TT............................................................................................................... 88
6.1 Model................................................................................................................................. 88
6.2 Interface Specifications...................................................................................................... 89
6.3 DeviceNetboard................................................................................................................ 90
6.3.1 Name of Each Part..................................................................................................... 90
6.3.2 DIP Switch Settings.................................................................................................... 91
(1) Setting the node address (MAC ID)........................................................................... 91
(2) Setting the baud rate.................................................................................................. 91
6.3.3 Monitor LED Indicators............................................................................................... 92
6.4 Setting of I/O Parameters (Assignment of I/O Ports)......................................................... 93
(1) Board Installation Position (Slot) and I/O Parameter Numbers................................. 93
(2) Factory-set parametersfor TT type........................................................................... 94
(3) Parameter setting example for tabletop robot TT...................................................... 95
6.5 I/O Port Numbers for TT Robots........................................................................................ 97
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5. Tabletop Robot TTA·····························································································
5.1 Model···········································································································
5.3 DeviceNetInterface··························································································
5.4 Parameter Settings
(1) Name of Each Part ·················································································
(2) Monitor LED indications
5.5 Setting Example
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···········································································
(1) Example for when using only DeviceNet (I/O2)
(2) Example for when using DeviceNetand I/O Board 1 together
(3) Example for when using DeviceNet(I/O2 and I/O3) together
5.6 I/O Ports of the TTA
5.7 Troubleshooting
4.2 Interface Specifications........................................................................................................ 56
55
55
57
57
57
61
63
61
65
68
58
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4. ···············································································································
4.1 Model···········································································································
4.3 DeviceNetInterface·························································································
4.4 Parameter Settings
(1) Communication Connector········································································
(2) Monitor LED indications
4.5 Setting Example
··············································
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···········································································
(1) Example for when using only DeviceNet (I/O2)
(2) Example for when using DeviceNetand I/O Board 1 together
4.6 I/O Ports of the MSEL
4.7 Troubleshooting
MSEL

11. Common Items and Others .................................................................................................. 130
11.1 Communication Cable....................................................................................................... 130
11.2 Connection of Communication Cable Connector.............................................................. 131
11.3 Power Supply Connection and Terminal Resistor............................................................. 131
11.3.1 Power Supply Connection.......................................................................................... 131
11.3.2 Terminal Resistor....................................................................................................... 131
11.4 Useful Functions You Should Know When Adjusting an XSEL Controller........................ 131
12. EDS File ...............................................................................................................................132
Change History............................................................................................................................133
9.4 Setting of I/O Parameters.................................................................................................. 121
(1)Networktype setting................................................................................................... 121
(2)Node address............................................................................................................. 121
(3)I/O port assignments.................................................................................................. 121
(4)Networkerror monitor................................................................................................ 121
9.5 Assignment of I/O Port Numbers and DeviceNet Addresses ............................................ 124
(1)Basic example............................................................................................................ 124
(2) Using in the positioner mode...................................................................................... 125
10. Troubleshooting.................................................................................................................... 129
8. SCON-C ...............................................................................................................................107
8.1 Model.................................................................................................................................107
8.2 Interface Specifications......................................................................................................108
8.3 DeviceNet Interface...........................................................................................................109
8.3.1 Name of Each Part.....................................................................................................109
8.3.2 DIP Switch Settings....................................................................................................110
(1) Setting the node address (MAC ID)...........................................................................110
(2) Setting the baud rate..................................................................................................110
8.3.3 Monitor LED Indicators...............................................................................................111
8.4 Assignment of I/O Signals.................................................................................................112
8.5 Assignment of DeviceNet Addresses ................................................................................114
9. ASEL, PSEL and SSEL........................................................................................................115
9.1 Models ............................................................................................................................... 115
9.1.1 ASEL, PSEL...............................................................................................................115
9.1.2 SSEL..........................................................................................................................116
9.2 Interface Specifications......................................................................................................117
9.3 DeviceNet Interface...........................................................................................................118
(1) Name of Each Part.....................................................................................................118
(2)StatusLED indications...............................................................................................119
(3)DeviceNet connectors................................................................................................120
7.2 Interface Specifications.....................................................................................................100
7.3 DeviceNet Interface..........................................................................................................101
7.3.1 Name of Each Part....................................................................................................101
7.3.2 DIP Switch Settings...................................................................................................102
(1) Setting the node address (MAC ID)..........................................................................102
(2) Setting the baud rate.................................................................................................102
7.3.3 Monitor LED Indicators..............................................................................................103
7.4 Input/Output (I/O)..............................................................................................................104
(1) RCS-C signal assignments.......................................................................................104
(2) E-Con signal assignments........................................................................................105

1
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No. Operation
Description Description
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.
8

2
8
No. Operation
Description Description
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 operation 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.
●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.
4 Installation
and Start
(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