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

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
ME0392-4C
6.2.4 Example of use of each network, PIO, SIO ················································· 6-20
6.3 Parameter Configuration···························································· 6-53
6.3.1 Basic setting ························································································· 6-53
6.3.2 Other settings ······················································································· 6-57
6.3.3 Examples of parameter settings at delivery ················································· 6-58
6.3.4 Example of use of each network and parameter··········································· 6-60
6.4 Caution·················································································· 6-101
6.4.1 Network setting files ··············································································· 6-101
6.4.2 PROFIBUS-DP ····················································································· 6-102
6.4.3 EtherCAT ····························································································· 6-103
6.4.4 EtherNet/IP ·························································································· 6-103
6.5 Example of Connectivity Setting ·················································· 6-104
6.5.1 Downloading setting file for network (ESI file) ·············································· 6-104
6.5.2 Sysmac studio startup and PLC communication connectivity ·························· 6-105
6.5.3 Installing setting file for network (ESI file)···················································· 6-106
6.5.4 Setup of EtherCAT network configuration ··················································· 6-109
6.5.5 Changing PDO mapping setting································································ 6-113
6.5.6 Data Rransfer to PLC ············································································· 6-118
Chapter 7 6-axis Cartesian Robot
7.1 Guideline of Coordinate Systems ················································ 7-1
7.1.1 List of coordinate systems ······································································· 7-1
7.1.2 Applicable robots ··················································································· 7-2
7.1.3 Specific axis coordinate system ································································ 7-3
7.1.4 Orthogonal coordinate system·································································· 7-5
7.2 Caution When Using Orthogonal Coordinate System Features ·········· 7-10
7.2.1 Relation between axis numbers and axis patterns ········································ 7-10
7.2.2 CP operation ························································································ 7-11
7.2.3 PTP operation······················································································· 7-13
7.2.4 Wrist form and singularity ········································································ 7-15
7.2.5 Position data························································································· 7-17
7.2.6 Coordinate system definition data ····························································· 7-19
7.2.7 Positioning in each coordinate system ······················································· 7-21
7.2.8 Jog movement ······················································································ 7-25
7.2.9 Simple contact check zone ······································································ 7-28

ME0392-4C
7.2.10 Restriction···························································································· 7-31
Chapter 8 Home Return / Absolute Reset
8.1 Home-Return / Absolute Reset for Single-axis ································ 8-1
8.1.1 Incremental specification········································································· 8-2
8.1.2 Battery-less absolute specification ···························································· 8-2
8.1.3 Simple absolute specification ··································································· 8-2
8.1.4 Absolute reset (home return) procedure ····················································· 8-3
8.2 Procedures for Wrist Unit Absolute Reset ······································ 8-5
8.2.1 Preparation ·························································································· 8-5
8.2.2 B, T axis ······························································································ 8-6
8.3 Procedures for 6-axis Cartesian Robot Absolute Reset ···················· 8-10
8.3.1 Preparation ·························································································· 8-10
8.3.2 X, Y, Z axis ··························································································· 8-10
8.3.3 R axis·································································································· 8-13
8.3.4 B, T axis ······························································································ 8-17
Chapter 9 Special Functions
9.1 Multi-Slider Excess Approaching Detection (Collision Prevention)
Feature·················································································· 9-1
9.1.1 Setting method······················································································ 9-2
9.1.2 Related parameter ················································································· 9-3
9.1.3 How to check ························································································ 9-5
9.2 PSA-24 Communication Monitor ················································· 9-6
9.3 Preventive Maintenance Function················································ 9-11
9.3.1 Electrolytic Capacitor Life Prediction·························································· 9-11
9.3.2 Capacitor for Calendar Feature Life Prediction ············································ 9-11
9.3.3 Maintenance Information········································································· 9-12
9.4 Predictive Maintenance Function················································· 9-16
9.4.1 Monitoring on fan unit revolution ······························································· 9-16
9.4.2 Overload warning ·················································································· 9-17
9.5 Vision System Interface Function ················································ 9-21
9.5.1 About vision system interface function ······················································· 9-21
9.5.2 Applicable function················································································· 9-21
9.5.3 Interface specification ············································································· 9-22
9.5.4 Related parameters················································································ 9-23

ME0392-4C
7.2.10 Restriction···························································································· 7-31
Chapter 8 Home Return / Absolute Reset
8.1 Home-Return / Absolute Reset for Single-axis ································ 8-1
8.1.1 Incremental specification········································································· 8-2
8.1.2 Battery-less absolute specification ···························································· 8-2
8.1.3 Simple absolute specification ··································································· 8-2
8.1.4 Absolute reset (home return) procedure ····················································· 8-3
8.2 Procedures for Wrist Unit Absolute Reset ······································ 8-5
8.2.1 Preparation ·························································································· 8-5
8.2.2 B, T axis ······························································································ 8-6
8.3 Procedures for 6-axis Cartesian Robot Absolute Reset ···················· 8-10
8.3.1 Preparation ·························································································· 8-10
8.3.2 X, Y, Z axis ··························································································· 8-10
8.3.3 R axis·································································································· 8-13
8.3.4 B, T axis ······························································································ 8-17
Chapter 9 Special Functions
9.1 Multi-Slider Excess Approaching Detection (Collision Prevention)
Feature·················································································· 9-1
9.1.1 Setting method······················································································ 9-2
9.1.2 Related parameter ················································································· 9-3
9.1.3 How to check ························································································ 9-5
9.2 PSA-24 Communication Monitor ················································· 9-6
9.3 Preventive Maintenance Function················································ 9-11
9.3.1 Electrolytic Capacitor Life Prediction·························································· 9-11
9.3.2 Capacitor for Calendar Feature Life Prediction ············································ 9-11
9.3.3 Maintenance Information········································································· 9-12
9.4 Predictive Maintenance Function················································· 9-16
9.4.1 Monitoring on fan unit revolution ······························································· 9-16
9.4.2 Overload warning ·················································································· 9-17
9.5 Vision System Interface Function ················································ 9-21
9.5.1 About vision system interface function ······················································· 9-21
9.5.2 Applicable function················································································· 9-21
9.5.3 Interface specification ············································································· 9-22
9.5.4 Related parameters················································································ 9-23
ME0392-4C
9.5.5 Related error code ················································································· 9-27
9.6 RSEL Serial Communication Multiple Channel Applicable Features ···· 9-32
9.6.1 Applicable version·················································································· 9-32
9.6.2 Function details ····················································································· 9-33
9.6.3 Restriction···························································································· 9-36
9.6.4 Related parameters················································································ 9-37
Chapter 10 Parameter
10.1 Overview················································································ 10-1
10.2 Parameter List (SEL Unit) ·························································· 10-4
10.2.1 I/O parameter ······················································································ 10-4
10.2.2 MC common parameters ······································································· 10-33
10.2.3 Axis group parameters ·········································································· 10-35
10.2.4 Axis parameters··················································································· 10-37
10.2.5 Actuator parameters ············································································· 10-40
10.2.6 Option board parameters ······································································· 10-41
10.2.7 Other parameters ················································································· 10-42
10.3 Parameter List (Driver Unit)························································ 10-46
10.3.1 Driver unit parameter ············································································ 10-46
10.3.2 Details of driver unit parameter ······························································· 10-49
10.4 Parameters for Linear / Rotation Controls······································ 10-80
10.5 Parameter List (ELECYLINDER) ················································· 10-82
10.5.1 Parameter list for ELECYLINDER···························································· 10-82
10.5.2 Parameter details of ELECYLINDER························································ 10-83
10.6 Servo Gain Adjustment······························································ 10-90
10.7 Parameter Configuration (Advanced Use) ····································· 10-93
Chapter 11 Troubleshooting
11.1 Troubleshooting······································································· 11-1
11.2 Error Level Control ··································································· 11-2
11.3 Error List ················································································ 11-3
11.4 Alarm Codes of Driver Unit························································· 11-70
11.5 Causes and Countermeasures for ELECYLINDER Alarms················ 11-86
11.5.1 ELECYLINDER Alarm Group·································································· 11-86
11.5.2 Troubleshooting for ELECYLINDER alarm groups ······································ 11-87

ME0392-4C
Chapter 12 Maintenance and Inspection
12.1 Periodic Inspection ··································································· 12-1
12.2 Periodic Inspection Items··························································· 12-2
12.3 Replacing Units ······································································· 12-4
12.3.1 How to replace absolute battery ······························································ 12-5
12.3.2 How to replace fan unit·········································································· 12-7
12.3.3 How to replace fan unit for 200V driver unit ··············································· 12-8
12.4 Consumable Parts···································································· 12-9
Chapter 13 Appendix
13.1 Stopping Method and Recovery ·················································· 13-1
13.1.1 Stopping method·················································································· 13-1
13.1.2 Recovery···························································································· 13-3
13.2 Connectable Actuators ······························································ 13-4
13.2.1 List of actuator specifications·································································· 13-4
Chapter 14 Warranty
14.1 Warranty Period······································································· 14-1
14.2 Scope of the Warranty ······························································ 14-1
14.3 Honoring the Warranty ······························································ 14-1
14.4 Limited Liability········································································ 14-2
14.5 Conformance with Applicable Standards/Regulations, etc.,
and Application Conditions ························································· 14-2
14.6 Other Items Excluded from Warranty············································ 14-2
Revision History ·············································································· Post-1

ME0392-4C
Chapter 12 Maintenance and Inspection
12.1 Periodic Inspection ··································································· 12-1
12.2 Periodic Inspection Items··························································· 12-2
12.3 Replacing Units ······································································· 12-4
12.3.1 How to replace absolute battery ······························································ 12-5
12.3.2 How to replace fan unit·········································································· 12-7
12.3.3 How to replace fan unit for 200V driver unit ··············································· 12-8
12.4 Consumable Parts···································································· 12-9
Chapter 13 Appendix
13.1 Stopping Method and Recovery ·················································· 13-1
13.1.1 Stopping method·················································································· 13-1
13.1.2 Recovery···························································································· 13-3
13.2 Connectable Actuators ······························································ 13-4
13.2.1 List of actuator specifications·································································· 13-4
Chapter 14 Warranty
14.1 Warranty Period······································································· 14-1
14.2 Scope of the Warranty ······························································ 14-1
14.3 Honoring the Warranty ······························································ 14-1
14.4 Limited Liability········································································ 14-2
14.5 Conformance with Applicable Standards/Regulations, etc.,
and Application Conditions ························································· 14-2
14.6 Other Items Excluded from Warranty············································ 14-2
Revision History ·············································································· Post-1
Safety Guide
ME0392-4C Intro-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.

Safety Guide
Intro-2 ME0392-4C
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 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.
●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

Safety Guide
Intro-2 ME0392-4C
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 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.
●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
Safety Guide
ME0392-4C Intro-3
No.
Operation
Description
Description
4 Installation and
Start
(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 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).
For detail, follow the description in an instruction manual of each controller
or controller built-in actuator.
●Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100Ωor below).

Safety Guide
Intro-4 ME0392-4C
No.
Operation
Description
Description
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.
●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.

Safety Guide
Intro-4 ME0392-4C
No.
Operation
Description
Description
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.
●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.
Safety Guide
ME0392-4C Intro-5
No.
Operation
Description
Description
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.

Safety Guide
Intro-6 ME0392-4C
No.
Operation
Description
Description
8 Maintenance
and Inspection
●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 work out of 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 work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
●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.
●For the grease for the guide or ball screw, use appropriate grease according
to the instruction manual for each model.
●Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
●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.
●The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
●Pay attention not to lose the removed cover or screws, and make sure to
put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection fence,
the movable range should be indicated.
9 Modification
and Dismantle
●Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal ●When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
●When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
●Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ●Do not come close to the product or the harnesses if you are a person who
requires a support of medical devices such as a pacemaker. Doing so may
affect the performance of your medical device.
●See Overseas Specifications Compliance Manual to check whether
complies if necessary.
●For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safety.