IAI R-unit RSEL User manual

System
Instruction Manual Fourth Edition ME0392-4C
RSEL System
System Configuration and
Power Specifications
Specifications of
each unit
Unit connection /
Installation and Wiring
Operation
Field Network,
PIO, SIO
6-axis Cartesian
Robot
Home Return /
Absolute Reset
Special Functions
Parameter
Troubleshooting
Maintenance and
Inspection
Appendix
Warranty
Chapter 1
Chapter 2
Chapter 3
Chapter 4
Chapter 5
Chapter 6
Chapter 7
Chapter 8
Chapter 9
Chapter 10
Chapter 11
Chapter 12
Chapter 13
Chapter 14

ME0392-4C
Please Read Before Use
Thank you for purchasing our product.
This instruction manual explains the handling methods, structure and maintenance of this product,
providing the information you need in order 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.
Please downloaded the user’s manual from our website.
You can download it free of charge. User registration is required for the first time downloading.
URL : www.iai-robot.co.jp/data_dl/CAD_MANUAL/
When using the product, print out of the necessary portions of the relevant manual, or please display
it on your computer, tablet terminal, etc. so that you can check it immediately.
After reading the instruction manual, keep it in a convenient place so that whoever is handling the
product can refer to it quickly when necessary.
[Important]
•This instruction manual is an original document dedicated for this product.
•This product cannot be used in ways not shown in this instruction manual. IAI shall not be
liable for any result whatsoever arising from the use of the product in any other way than
what is noted in the manual.
•The information contained in this instruction manual is subject to change without notice for
the purpose of product improvement.
•If any issues arise regarding the information contained in this instruction manual, contact
our customer center or the nearest sales office.
•Use or reproduction of this instruction manual in full or in part without permission is prohibited.
•The company names, names of products and trademarks of each company shown in the
text are registered trademarks.

ME0392-4C
RSEL System Instruction Manual Configuration
[1] Instruction Manual
Product name Instruction manual name Control
number
SEL Unit First Step Guide ME0393
RCON 24V Driver Unit First Step Guide ME0383
RCON 200V
Power Supply / Driver Unit First Step Guide ME0397
RSEL System Instruction Manual (this document) ME0394
SCON-CB Controller SCON-CB/CGB/LC/LCG
Instruction Manual ME0340
PC Software XSEL PC Software (RSEL)
Instruction Manual ME0398
Touch Panel Teaching Pendant
TB-02
TB-02/02D Program Controller
Applicable Instruction Manual ME0356
Touch Panel Teaching Pendant
TB-03
TB-03 Wired Program Controller
Applicable Instruction Manual ME0377
24V Power Supply Unit PSA-24 Instruction Manual ME0379
SEL Programming Support Tool Instruction Manual ME0396
6-axis Cartesian Robot Instruction Manual ME3792

ME0392-4C
RSEL System Instruction Manual Configuration
[1] Instruction Manual
Product name Instruction manual name Control
number
SEL Unit First Step Guide ME0393
RCON 24V Driver Unit First Step Guide ME0383
RCON 200V
Power Supply / Driver Unit First Step Guide ME0397
RSEL System Instruction Manual (this document) ME0394
SCON-CB Controller SCON-CB/CGB/LC/LCG
Instruction Manual ME0340
PC Software XSEL PC Software (RSEL)
Instruction Manual ME0398
Touch Panel Teaching Pendant
TB-02
TB-02/02D Program Controller
Applicable Instruction Manual ME0356
Touch Panel Teaching Pendant
TB-03
TB-03 Wired Program Controller
Applicable Instruction Manual ME0377
24V Power Supply Unit PSA-24 Instruction Manual ME0379
SEL Programming Support Tool Instruction Manual ME0396
6-axis Cartesian Robot Instruction Manual ME3792
ME0392-4C
[2] Quick Start Guide
“Japanese Only”

ME0392-4C
Contents
Safety Guide ·················································································· Intro-1
Precautions for Handling ··································································· Intro-8
Precautions for PC connection to SEL unit
grounded at positive terminal of 24V DC power supply····················· Intro-14
International Standard Compliance······················································ Intro-15
About UL/cUL ················································································· Intro-16
Actuator Coordinate System ······························································ Intro-17
Chapter 1 RSEL System
1.1 Overview (About RSEL System)·················································· 1-1
1.2 Features ················································································ 1-2
1.3 Specifications·········································································· 1-5
1.3.1 General specifications ··········································································· 1-5
1.3.2 Environmental conditions ········································································ 1-6
1.3.3 Supper source specifications ··································································· 1-6
1.3.4 Specifications at control part ···································································· 1-7
1.3.5 Usage temperature range········································································ 1-8
1.3.6 General specifications ············································································ 1-8
1.4 Installation·············································································· 1-9
1.4.1 Installation conditions ············································································· 1-9
1.4.2 Installation and mounting ········································································ 1-10
1.4.3 Noise countermeasures and mounting method ············································ 1-11
Chapter 2 System Configuration and Power Specifications
2.1 System Configuration································································ 2-1
2.1.1 System configuration diagram ·································································· 2-1
2.1.2 Configuration unit ·················································································· 2-2
2.1.3 Model code ·························································································· 2-5
2.1.4 Unit list ································································································ 2-9
2.1.5 Set model code for 6-axis cartesian robot (CRS series) ································· 2-10
2.1.6 Teaching tool (option) ············································································· 2-11
2.2 Power Supply Capacity ····························································· 2-12
2.2.1 Power Supply Capacity··········································································· 2-14
2.2.2 Unit connection restrictions······································································ 2-17

ME0392-4C
Contents
Safety Guide ·················································································· Intro-1
Precautions for Handling ··································································· Intro-8
Precautions for PC connection to SEL unit
grounded at positive terminal of 24V DC power supply····················· Intro-14
International Standard Compliance······················································ Intro-15
About UL/cUL ················································································· Intro-16
Actuator Coordinate System ······························································ Intro-17
Chapter 1 RSEL System
1.1 Overview (About RSEL System)·················································· 1-1
1.2 Features ················································································ 1-2
1.3 Specifications·········································································· 1-5
1.3.1 General specifications ··········································································· 1-5
1.3.2 Environmental conditions ········································································ 1-6
1.3.3 Supper source specifications ··································································· 1-6
1.3.4 Specifications at control part ···································································· 1-7
1.3.5 Usage temperature range········································································ 1-8
1.3.6 General specifications ············································································ 1-8
1.4 Installation·············································································· 1-9
1.4.1 Installation conditions ············································································· 1-9
1.4.2 Installation and mounting ········································································ 1-10
1.4.3 Noise countermeasures and mounting method ············································ 1-11
Chapter 2 System Configuration and Power Specifications
2.1 System Configuration································································ 2-1
2.1.1 System configuration diagram ·································································· 2-1
2.1.2 Configuration unit ·················································································· 2-2
2.1.3 Model code ·························································································· 2-5
2.1.4 Unit list ································································································ 2-9
2.1.5 Set model code for 6-axis cartesian robot (CRS series) ································· 2-10
2.1.6 Teaching tool (option) ············································································· 2-11
2.2 Power Supply Capacity ····························································· 2-12
2.2.1 Power Supply Capacity··········································································· 2-14
2.2.2 Unit connection restrictions······································································ 2-17
ME0392-4C
2.3 In-Rush Current ······································································· 2-22
2.4 Generated Heat ······································································· 2-24
2.5 Rush Current Sequence ···························································· 2-25
2.6 Drive-Source Cutoff ·································································· 2-26
2.6.1 Drive-source cutoff circuit specifications ····················································· 2-26
2.6.2 Drive-source cutoff circuit wiring example ··················································· 2-27
2.6.3 Category 3 or category 4 configuration example ·········································· 2-29
Chapter 3 Specifications of Each Unit
3.1 SEL Unit, Terminal Unit ····························································· 3-1
3.1.1 Overview ····························································································· 3-1
3.1.2 Model code ·························································································· 3-2
3.1.3 Component ·························································································· 3-4
3.1.4 Part names/Functions············································································· 3-5
3.1.5 External dimensions ··············································································· 3-29
3.2 24V Driver Unit, Fun Unit ··························································· 3-31
3.2.1 Overview ····························································································· 3-31
3.2.2 Model code ·························································································· 3-32
3.2.3 Components ························································································· 3-34
3.2.4 Part names/Functions············································································· 3-35
3.2.5 External dimensions ··············································································· 3-46
3.3 200V Power Supply Unit, for 200V Terminal Unit····························· 3-48
3.3.1 Overview ····························································································· 3-48
3.3.2 Model code ·························································································· 3-50
3.3.3 Components ························································································· 3-53
3.3.4 Part names/Functions············································································· 3-54
3.3.5 External dimensions ··············································································· 3-61
3.4 200V Driver Unit, Fan Unit for 200V Driver ···································· 3-63
3.4.1 Overview ····························································································· 3-63
3.4.2 Model code ·························································································· 3-65
3.4.3 Components ························································································· 3-68
3.4.4 Part names/Functions············································································· 3-69
3.4.5 External dimensions ··············································································· 3-76
3.4.6 Driver stop circuit··················································································· 3-78

ME0392-4C
3.5 SCON Extension Unit, PIO/SIO/SCON Extension Unit, PIO Unit ········ 3-83
3.5.1 Overview ····························································································· 3-83
3.5.2 Model code ·························································································· 3-86
3.5.3 Components ························································································· 3-88
3.5.4 Part names/Functions············································································· 3-91
3.5.5 PIO specifications ·················································································· 3-95
3.5.6 SIO Specifications ················································································· 3-100
3.5.7 External dimensions ··············································································· 3-101
3.6 EC Connection Unit ·································································· 3-102
3.6.1 Overview ····························································································· 3-102
3.6.2 Model code ·························································································· 3-103
3.6.3 Components ························································································· 3-105
3.6.4 Part names/Functions············································································· 3-106
3.6.5 External dimensions ··············································································· 3-113
3.7 Simple Absolute Unit································································· 3-114
3.7.1 Overview ····························································································· 3-114
3.7.2 Model code ·························································································· 3-116
3.7.3 Components ························································································· 3-118
3.7.4 General specifications ············································································ 3-119
3.7.5 Part names/Functions············································································· 3-121
3.7.6 External dimensions··············································································· 3-123
3.7.7 Precautions ·························································································· 3-124
3.8 Unit Connection Restrictions ······················································ 3-125
3.8.1 Motor power / control power capacity restrictions ········································· 3-125
3.8.2 Unit arrangement restrictions ··································································· 3-125
Chapter 4 Unit Connection / Installation and Wiring
4.1 Unit Connection / Installation ······················································ 4-2
4.1.1 Unit connection ····················································································· 4-2
4.1.2 Fan installation······················································································ 4-3
4.1.3 Unit mounting ······················································································· 4-4
4.2 Wiring Diagram········································································ 4-5
4.2.1 Example connection of devices ································································ 4-5

ME0392-4C
3.5 SCON Extension Unit, PIO/SIO/SCON Extension Unit, PIO Unit ········ 3-83
3.5.1 Overview ····························································································· 3-83
3.5.2 Model code ·························································································· 3-86
3.5.3 Components ························································································· 3-88
3.5.4 Part names/Functions············································································· 3-91
3.5.5 PIO specifications ·················································································· 3-95
3.5.6 SIO Specifications ················································································· 3-100
3.5.7 External dimensions ··············································································· 3-101
3.6 EC Connection Unit ·································································· 3-102
3.6.1 Overview ····························································································· 3-102
3.6.2 Model code ·························································································· 3-103
3.6.3 Components ························································································· 3-105
3.6.4 Part names/Functions············································································· 3-106
3.6.5 External dimensions ··············································································· 3-113
3.7 Simple Absolute Unit································································· 3-114
3.7.1 Overview ····························································································· 3-114
3.7.2 Model code ·························································································· 3-116
3.7.3 Components ························································································· 3-118
3.7.4 General specifications ············································································ 3-119
3.7.5 Part names/Functions············································································· 3-121
3.7.6 External dimensions··············································································· 3-123
3.7.7 Precautions ·························································································· 3-124
3.8 Unit Connection Restrictions ······················································ 3-125
3.8.1 Motor power / control power capacity restrictions ········································· 3-125
3.8.2 Unit arrangement restrictions ··································································· 3-125
Chapter 4 Unit Connection / Installation and Wiring
4.1 Unit Connection / Installation ······················································ 4-2
4.1.1 Unit connection ····················································································· 4-2
4.1.2 Fan installation······················································································ 4-3
4.1.3 Unit mounting ······················································································· 4-4
4.2 Wiring Diagram········································································ 4-5
4.2.1 Example connection of devices ································································ 4-5
ME0392-4C
4.3 Circuit Diagram (Example) ························································· 4-6
4.3.1 Single-phase type power supply circuit······················································· 4-6
4.3.2 3-Phase type power supply circuit ····························································· 4-7
4.4 Wiring Method ········································································· 4-8
4.4.1 Power supply wiring to RSEL system························································· 4-8
4.4.2 200V power supply wiring to RSEL system ················································· 4-10
4.4.3 Checking actuator model numbers ···························································· 4-12
4.4.4 RSEL connection cable list ······································································ 4-13
4.4.5 Actuator wiring (Connecting motor/encoder cable)········································ 4-16
4.4.6 Wiring between EC connection unit and ELECYLINDER ······························· 4-18
4.4.7 Simple absolute unit wiring ······································································ 4-26
4.4.8 Field network wiring ··············································································· 4-28
4.5 PIO Circuit·············································································· 4-31
4.6 Regenerative Resistor (Option) ··················································· 4-33
4.6.1 Regenerative resistor unit specifications····················································· 4-33
4.6.2 Wiring for regenerative resistor unit ··························································· 4-34
4.7 Brake Box (Option)··································································· 4-36
4.7.1 Specification for brake box ······································································ 4-36
4.7.2 Wiring for brake box ··············································································· 4-40
4.8 Connection the Teaching Connector············································· 4-45
4.9 Connection the USB Connector ·················································· 4-49
4.10 Connection the Ethernet Connector ············································· 4-50
Chapter 5 Operation
5.1 Startup Procedure ···································································· 5-1
5.2 Turning on the Controller Power and Cutoff ··································· 5-3
5.2.1 Power on ····························································································· 5-3
5.2.2 Power cutoff ························································································· 5-4
5.3 Axis Setting ············································································ 5-5
5.3.1 RSEL axis setting ·················································································· 5-5
5.3.2 Starting method····················································································· 5-5
5.3.3 Simple setting method ············································································ 5-6
5.3.4 Description of each area ········································································· 5-9
5.3.5 Special mechanism axis·········································································· 5-11
5.3.6 Axis group setting ·················································································· 5-12

ME0392-4C
5.4 Receiving and Forwarding of I/O Signals Necessary for Operation ····· 5-13
5.5 I/O Port·················································································· 5-14
5.6 Position Data (Position Table) ····················································· 5-17
5.7 Programming ·········································································· 5-18
5.7.1 SEL command word list ·········································································· 5-18
5.7.2 Symbol extension ·················································································· 5-18
5.7.3 Step comment number of characters ························································· 5-18
5.7.4 Position data comment ··········································································· 5-18
5.7.5 SEL data list ························································································· 5-19
5.7.6 Memory map ························································································ 5-20
5.8 Types of Operations ································································· 5-22
5.9 How to Operate ······································································· 5-23
5.9.1 Auto start upon power on ········································································ 5-23
5.9.2 Starting a program by specifying its program number···································· 5-25
5.10 ELECYLINDER Operation ························································· 5-27
5.10.1 Specification ························································································· 5-28
5.10.2 Applicable version·················································································· 5-28
5.10.3 ELECYLINDER control system································································· 5-29
5.10.4 Input and output signals and features of EC connection unit··························· 5-31
5.10.5 Assignment and operation system of EC signals · ········································ 5-37
5.10.6 Timing for input and output signals ···························································· 5-39
5.10.7 Maintenance bit output for predictive maintenance ······································· 5-40
5.10.8 Configuration example ············································································ 5-41
5.10.9 Caution ······························································································· 5-47
5.10.10 List of related parameters ······································································ 5-48
5.10.11 Related errors ····················································································· 5-51
Chapter 6 Field Network, PIO, SIO
6.1 Interface Specifications ····························································· 6-1
6.1.1 I/O Slot ································································································ 6-3
6.1.2 PIO/SIO/SCON extension unit, PIO unit ····················································· 6-13
6.2 Functional Specifications ··························································· 6-14
6.2.1 List of applicable devices ········································································ 6-14
6.2.2 Parallel I/O and remote I/O ······································································ 6-15
6.2.3 I/O Ports and reading and writing of data ···················································· 6-17