IAI X-SEL User manual

Operation Manual Seventh Edition
X-SEL Controlle
r
P/Q Type

INTELLIGENT ACTUATOR
Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among
others, providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein
to ensure safe use of the product.
The CD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing
them out or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product
can reference it quickly when necessary.
[Important]
This Operation Manual is original.
The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI
shall assume no responsibility for the outcome of any operation not specified herein.
Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
If you have any question or comment regarding the content of this manual, please contact the IAI
sales office near you.
Using or copying all or part of this Operation Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.

CAUTION
Operator Alarm on Low Battery Voltage
This controller is equipped with the following backup batteries for retention of data in the event of power
failure:
[1] System-memory backup battery
For retention of position data, global variables/flags, error list, strings, etc.
[2] Absolute-encoder backup battery (optional)
For retention of rotation data (when an absolute encoder is used)
Since these batteries are not rechargeable, they will be eventually consumed. Unless the batteries are
replaced in a timely manner, the voltage will drop to a level where the data can no longer be retained. If a
power failure occurs in this condition, the data will be lost. (The life of each battery varies depending on
the operating time.)
Once the data is lost, the controller will not operate normally the next time the power is turned on, and
recovery will take time.
(Reference)
System-memory backup battery --- An alarm occurs when the voltage drops to approx. 2.6 V and data
backup becomes no longer possible at a battery voltage of approx.
2.3 V (rated voltage: 3.0 V).
Absolute-encoder backup battery --- An alarm occurs when the voltage drops to approx. 3.2 V and data
backup becomes no longer possible at a battery voltage of approx.
2.7 V (rated voltage: 3.6 V).
To prevent this problem, this controller can output a low battery voltage alarm from its I/O port.
To output this alarm signal from an I/O port, you must set the applicable I/O parameter.
Alarm output for the system-memory backup battery
Set I/O parameter No. 59 to “1” --- Output port No. 313 (*) will be assigned as a dedicated port.
Alarm output for the absolute-encoder backup battery
Set I/O parameter No. 60 to “1” --- Output port No. 314 (*) will be assigned as a dedicated port.
(*) Once set as an alarm output port, the applicable port can no longer be used as a general-
purpose port.
It is recommended that this function be utilized to prevent unnecessary problems resulting from low
battery voltage (consumption of battery life).
In particular, the person in charge of system design should utilize this function to provide a design means
for issuing an operator alarm using an output signal from an I/O port, while the person in charge of
electrical design should provide an electrical means for achieving the same effect.
For the battery replacement procedure, refer to the applicable section in the operating manual.
It is recommended that you always backup the latest data to a PC in case of voltage drop in the system-
memory battery or unexpected controller failure.
About teaching pendant and PC software
Q type controllers only support the following teaching pendant and PC software:
Teaching pendant: IA-T-XA (ANSI type)
PC software: IA-101-XA-MW (Supplied with category 4 cable)

CAUTION
Drive-Source Cutoff Relay Error (Detection of Fused Relay:
E6D)
As a condition limited to X-SEL-P type controllers of standard single-phase specification, a “drive-source
cutoff relay error (E6D)” may generate if the power is turned off and then turned on again (reconnected)
too quickly. This error indicates that the internal relay has fused, and its occurrence has to do with the
specific circuit configuration of the above controller type.
Although the specific wait time varies depending on the input voltage and number of external regenerative
resistors connected, as a general guide wait for at least 40 seconds before reconnecting the power.

CAUTION
Note on Controller with Expanded CPU Unit Memory
* The controller with gateway function comes with an expanded memory in the CPU unit.
For a controller with expanded CPU unit memory, use the PC software or teaching pendant of an
applicable version as specified below.
Teaching tool Version
X-SEL PC software V7.2.0.0 or later
Teaching pendant SEL-T/TD V1.01 or later
[How to check if the controller memory has been expanded]
Check in the PC software (Ver. 6.0.0.0 or later) by displaying the ROM version information (Controller (C)
ROM Version Information (V)), or on the teaching pendant (IA-T-X, IA-T-XD: Ver. 1.21 or later; SEL-T,
SEL-TD: Ver. 1.00 or later) by displaying the main CPU firmware version information (Moni Ver 
Main).
Expanded memory: As shown below, “Main (FROM32M)” is shown in the PC software. On the
teaching pendant screen, “Main (FROM32M)” is shown.
Checking in PC software
Checking on teaching pendant

INTELLIGENT ACTUATOR Table of Contents
Table of Contents
Safety Guide.................................................................................................................... 1
Part 1 Installation......................................................................................................... 3
Chapter 1 Safety Precautions............................................................................................................... 3
Chapter 2 Warranty Period and Scope of Warranty............................................................................. 4
1. Warranty Period................................................................................................................... 4
2. Scope of Warranty............................................................................................................... 4
3. Scope of Service.................................................................................................................. 4
Chapter 3 Installation Environment and Selection of Auxiliary Power Devices.................................... 5
1. Installation Environment....................................................................................................... 5
2. Heat Radiation and Installation............................................................................................ 6
3. Selection of Auxiliary Power Devices................................................................................... 7
4. Noise Control Measures and Grounding........................................................................... 12
Chapter 4 Name and Function of Each Part....................................................................................... 15
1. Front View of Controller..................................................................................................... 15
2. Explanation of Codes Displayed on the Panel Window..................................................... 28
2.1 Application........................................................................................................................ 28
2.2 Core.................................................................................................................................. 29
2.3 Current Monitor and Variable Monitor .............................................................................. 30
Chapter 5 Specifications..................................................................................................................... 32
1. Controller Specifications.................................................................................................... 32
1.1. P Type (Standard Specification) ....................................................................................... 32
1.2 Q Type (Global Specification)........................................................................................... 34
1.3 Differences between Q Type
(Global Specification) and P Type (Standard Specification)............................................. 35
2. External I/O Specifications................................................................................................. 36
2.1. NPN Specification............................................................................................................. 36
2.2. PNP Specification............................................................................................................. 38
3. Power-Source Capacity and Heat Output.......................................................................... 40
4. External Dimensions.......................................................................................................... 43
4.1 P/Q Type (Three-phase Standard Specification, Single-phase Global Specification,
Single-phase Standard Specification) 4-axis Controller................................................... 43
4.2 P/Q Type (Standard Specification) 6-axis Controller (Three-phase Standard Specification,
Single-phase Global Specification, Single-phase Standard Specification) ...................... 45
4.3 Q Type (Three-phase Global Specification) 4-axis Controller.......................................... 47
4.4 Q Type (Three-phase Global Specification) 6-axis Controller.......................................... 49
Chapter 6 Safety Circuit...................................................................................................................... 51
1. Items to Notes.................................................................................................................... 51
2. Safety Circuit for P Type (Standard Specification) Controller............................................ 52
3. Safety Circuit for Q Type (Global Specification) Controller................................................ 54
4. Safety Circuit Timing Charts for Q-type SEL Controller..................................................... 59
Chapter 7 System Setup..................................................................................................................... 68
1. Connection Method of Controller and Actuator.................................................................. 68

INTELLIGENT ACTUATOR Table of Contents
1.1 Connection Diagram for P Type (Standard Specification)................................................ 68
1.2 Connection Diagram for Q Type (Global Specification).................................................... 69
1.3 Startup procedure............................................................................................................. 70
2. I/O Connection Diagram.................................................................................................... 71
2.1 NPN specification............................................................................................................. 71
2.2 PNP specification ............................................................................................................. 72
2.3 I/O Flat Cable ................................................................................................................... 73
2.4 Changing Port NumbersAssigned to I/O Function Selections
(Main (FROM32M) or Later)............................................................................................. 74
3. Multi-point DIO Board ........................................................................................................ 77
3.1 Overview........................................................................................................................... 77
3.2 Specifications ................................................................................................................... 77
3.3 External Interface Specifications...................................................................................... 78
3.4 Connection Cables for Multi-point IO Board..................................................................... 79
3.5 Connection Cables for Multi-point IO Board..................................................................... 80
3.6 Input/Output Circuits......................................................................................................... 81
Chapter 8 How to Perform An Absolute Encoder Reset (Absolute Specification).............................. 83
1. Single Axis, Orthogonal Axis and Rotating Axis................................................................. 83
1.1 Preparation....................................................................................................................... 83
1.2 Procedure......................................................................................................................... 83
2. How to Perform Absolute Reset on ZR Unit (Absolute Type Only) ................................... 88
2.1 Preparing for Absolute Reset ........................................................................................... 88
2.2 Starting the Absolute Reset Menu (Ball-screw Spline Adjustment Window).................... 89
2.3 Absolute Reset (Ball-screw Spline Adjustment) Procedure ............................................. 90
Chapter 9 Maintenance .................................................................................................................... 103
1. Inspection Points.............................................................................................................. 103
2. Spare Consumable Parts................................................................................................. 103
3. Replacement Procedure for System-Memory Backup Battery........................................ 104
4. Replacement Procedure for Absolute-Data Backup Battery............................................ 107
Part 2 Operation...................................................................................................... 109
Chapter 1 Operation......................................................................................................................... 109
1. Starting a Program by Auto-Start via Parameter Setting ..................................................110
2. Starting via External Signal Selection...............................................................................111
3. Drive-Source Recovery Request and Operation-Pause Reset Request..........................113
Part 3 Controller Data Structure ...............................................................................114
Chapter 1 How to Save Data.............................................................................................................115
1. Factory Settings: When the System-Memory Backup Battery is Used ............................115
1.1 Controller without Expanded Memory.............................................................................115
1.2 Controller with Expanded Memory (with Gateway Function)..........................................116
2. When the System-Memory Backup Battery is Not Used..................................................117
2.1 Controller without Expanded Memory.............................................................................117
2.2 Controller with Expanded Memory (with Gateway Function)..........................................118
3. Points to Note ...................................................................................................................119
Chapter 2 X-SEL Language Data..................................................................................................... 121

INTELLIGENT ACTUATOR Table of Contents
1. Values and Symbols Used in SEL Language.................................................................. 121
1.1 List of Values and Symbols Used................................................................................... 121
1.2 I/O Ports ......................................................................................................................... 122
1.3 Virtual I/O Ports.............................................................................................................. 123
1.4 Flags............................................................................................................................... 125
1.5 Variables......................................................................................................................... 126
1.6 Tags................................................................................................................................ 129
1.7 Subroutines .................................................................................................................... 130
1.8 Symbols.......................................................................................................................... 131
1.9 Character-String Literals................................................................................................. 131
1.10 Axis Specification ........................................................................................................... 132
2. Position Part..................................................................................................................... 134
3. Command Part.................................................................................................................135
3.1 SEL language Structure ................................................................................................. 135
3.2 Extension Condition ....................................................................................................... 136
Part 4 Commands ................................................................................................... 137
Chapter 1 List of SEL Language Command Codes ......................................................................... 137
1. By Function...................................................................................................................... 137
2. Alphabetical Order........................................................................................................... 142
Chapter 2 Explanation of Commands............................................................................................... 148
1. Commands....................................................................................................................... 148
1.1 Variable Assignment....................................................................................................... 148
1.2 Arithmetic Operation....................................................................................................... 150
1.3 Function Operation......................................................................................................... 153
1.4 Logical Operation ........................................................................................................... 156
1.5 Comparison Operation ................................................................................................... 159
1.6 Timer............................................................................................................................... 160
1.7 I/O, Flag Operation......................................................................................................... 163
1.8 Program Control............................................................................................................. 174
1.9 Task Management.......................................................................................................... 177
1.10 Position Operation.......................................................................................................... 182
1.11 Actuator Control Declaration.......................................................................................... 197
1.12 Actuator Control Command............................................................................................ 213
1.13 Structural IF.................................................................................................................... 236
1.14 Structural DO.................................................................................................................. 239
1.15 Multi-Branching .............................................................................................................. 241
1.16 System Information Acquisition...................................................................................... 245
1.17 Zone ............................................................................................................................... 248
1.18 Communication .............................................................................................................. 252
1.19 String Operation ............................................................................................................. 258
1.20 Palletizing-Related .........................................................................................................267
1.21 Palletizing Calculation Command .................................................................................. 281
1.22 Palletizing Movement Command ................................................................................... 284
1.23 Building of Pseudo-Ladder Task..................................................................................... 290

INTELLIGENT ACTUATOR Table of Contents
1.24 Extended Commands..................................................................................................... 292
Chapter 3 Key Characteristics of Actuator Control Commands and Points to Note......................... 298
1. Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC,
CIRS, ARCS].................................................................................................................... 298
2. PATH/PSPL Commands .................................................................................................. 300
3. CIR/ARC Commands....................................................................................................... 300
4. CIR2/ARC2/ARCD/ARCC Commands............................................................................ 300
Chapter 4 Palletizing Function.......................................................................................................... 301
1. How to Use ......................................................................................................................301
2. Palletizing Setting ............................................................................................................ 301
A. 3-point teaching method................................................................................................. 303
B. Method to set palletizing positions in parallel with the actuators ................................... 304
3. Palletizing Calculation...................................................................................................... 307
4. Palletizing Movement....................................................................................................... 308
5. Program Examples .......................................................................................................... 310
Chapter 5 Pseudo-Ladder Task........................................................................................................ 318
1. Basic Frame.....................................................................................................................318
2. Ladder Statement Field.................................................................................................... 319
3. Points to Note ..................................................................................................................319
4. Program Example............................................................................................................ 320
Chapter 6 Application Program Examples........................................................................................ 321
1. Operation by Jog Command [Doll-Picking Game Machine]............................................ 321
2. Operation by Point Movement Command [Riveting System] .......................................... 324
3. Palletizing Operation [Palletizing System]....................................................................... 327
Part 5 Multi-Tasking................................................................................................. 330
Chapter 1 Real-Time Multi-Tasking .................................................................................................. 330
1. SEL Language ................................................................................................................. 330
2. Multi-Tasking.................................................................................................................... 331
3. Difference from a Sequencer........................................................................................... 332
4. Release of Emergency Stop............................................................................................ 333
5. Program Switching........................................................................................................... 334
Chapter 2 Example of Building a System......................................................................................... 335
1. Equipment........................................................................................................................ 335
2. Operation......................................................................................................................... 335
3. Overview of the Screw-Tightening System...................................................................... 336
4. Hardware ......................................................................................................................... 337
5. Software........................................................................................................................... 339
Appendix...................................................................................................................... 341
1. Position Table................................................................................................................. 347
2. Programming Format .....................................................................................................348
3. Positioning to Five Positions .......................................................................................... 349
4. How to Use TAG and GOTO.......................................................................................... 350
5. Moving Back and Forth between Two Points................................................................. 351
6. Path Operation ............................................................................................................... 352
7. Output Control during Path Movement........................................................................... 353

INTELLIGENT ACTUATOR Table of Contents
8. Circle/Arc Operation....................................................................................................... 354
9. Home Return Completion Output................................................................................... 355
10. Axis Movement by Input Waiting and Completion Output.............................................. 356
11. Changing the Moving Speed.......................................................................................... 357
12. Changing the Speed during Operation........................................................................... 358
13. Local/Global Variables and Flags................................................................................... 359
14. How to Use Subroutines................................................................................................. 360
15. Pausing the Operation.................................................................................................... 361
16. Canceling the Operation 1 (CANC)................................................................................ 362
17. Canceling the Operation 2 (STOP) ................................................................................ 363
18. Movement by Position Number Specification................................................................. 364
19. Movement by External Position Data Input.................................................................... 365
20. Outputting Coordinates .................................................................................................. 366
21. Conditional Jump............................................................................................................ 367
22. Waiting Multiple Inputs ................................................................................................... 368
23. How to Use Offset ..........................................................................................................369
24. Executing an Operation N times .................................................................................... 370
25. Constant-pitch Feed....................................................................................................... 371
26. Jogging........................................................................................................................... 372
27. Switching Programs ....................................................................................................... 373
28. Aborting a Program........................................................................................................ 374
Battery Backup Function.................................................................................................. 375
1. System-Memory Backup Battery.................................................................................... 375
2. Absolute-Data Backup Battery....................................................................................... 377
Expansion I/O Board (Optional)....................................................................................... 379
Number of Regenerative Resistance Units to Be Connected.......................................... 380
Synchro Function............................................................................................................. 381
1. Common Items (Applicable to both the absolute specification and incremental
specification) ..................................................................................................................381
2. Incremental Specification ............................................................................................... 381
3. Absolute Specification (When both the master axis and slave axis are of the absolute
specification) ..................................................................................................................381
Absolute Reset of A Synchro Controller .......................................................................... 382
1. Synchro Axes ................................................................................................................. 382
2. Position Adjustment of Synchro-Axis Sliders ................................................................. 383
3. Special Absolute-Reset Procedure................................................................................. 383
4. Standard Absolute-Reset Procedure.............................................................................. 386
5. Notes on Use of the Synchro Function .......................................................................... 387
Multiple-Slider Near-Miss Detection (Collision Prevention) Function.............................. 388
General-Purpose RS232 (2-Channel RS232 Unit).......................................................... 390
List of Parameters............................................................................................................ 397
1. I/O Parameters............................................................................................................... 398
2. Parameters Common to All Axes ................................................................................... 423
3. Axis-Specific Parameters ............................................................................................... 426
4. Driver Card Parameters ................................................................................................. 432
5. Encoder Parameters ...................................................................................................... 435

INTELLIGENT ACTUATOR Table of Contents
6. I/O Devices.....................................................................................................................436
7. Other Parameters........................................................................................................... 437
8. Manual Operation Types................................................................................................ 443
9. Use Examples of Key Parameters ................................................................................. 444
Combination Table of X-SEL Linear/Rotary Control Parameters..................................... 450
Error Level Control........................................................................................................... 451
Error List .......................................................................................................................... 453
Troubleshooting of X-SEL Controller............................................................................... 496
Trouble Report Sheet .............................................................................................................. 502
Change History............................................................................................................ 503

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

Pre-2
INTELLIGENT ACTUATOR
Requirements for Industrial Robots under Ordinance on Industrial Safety
and Health
Work area Work
condition Cutoff of drive source Measure Article
Signs for starting operation Article 104Outside
movement
range
During
automatic
operation Not cut off Installation of railings, enclosures,
etc. Article 150-4
Cut off (including
stopping of operation) Sign, etc., indicating that work is in progress Article 150-3
Preparation of work rules Article 150-3
Measures to enable immediate
stopping of operation Article 150-3
Sign, etc., indicating that work is in
progress Article 150-3
Provision of special education Article 36-31
During
teaching, etc. Not cut off
Checkup, etc., before
commencement of work Article 151
To be performed after stopping the
operation Article 150-5
Cut off Sign, etc., indicating that work is in
progress Article 150-5
Preparation of work rules Article 150-5
Measures to enable immediate
stopping of operation Article 150-5
Sign, etc., indicating that work is in
progress Article 150-5
Inside
movement
range
During
inspection,
etc. Not cut off (when
inspection, etc., must
be performed during
operation) Provision of special education
(excluding cleaning and lubrication) Article 36-32

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INTELLIGENT ACTUATOR
Applicable Modes of IAI’s Industrial Robot
Machines meeting the following conditions are not classified as industrial robots according to Notice of
Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No.
340):
(1) Single-axis robo with a motor wattage of 80 W or less
(2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating
part, if any, has the maximum movement range of within 300 mm3including the tip of the rotating
part
(3) Multi-joint robot whose movable radius and Z-axis are within 300 mm
Among the products featured in our catalogs, the following models are classified as industrial robots:
1. Single-axis ROBO Cylinders
RCS2/RCS2CR-SS8whose stroke exceeds 300 mm
2. Single-axis robots
The following models whose stroke exceeds 300 mm and whose motor capacity also exceeds 80 W:
ISA/ISPA, ISDA/ISPDA, ISWA/ISPWA, IF, FS, NS
3. Linear servo actuators
All models whose stroke exceeds 300 mm
4. Cartesian robos
Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3
5. IX SCARA robots
All models whose arm length exceeds 300 mm
(All models excluding IX-NNN1205/1505/1805/2515, NNW2515 and NNC1205/1505/1805/2515)

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INTELLIGENT ACTUATOR
Notes on Safety of Our Products
Common items you should note when performing each task on any IAI robot are explained below.
No. Task Note
1 Model
selection This product is not planned or designed for uses requiring high degrees of safety.
Accordingly, it cannot be used to sustain or support life and must not be used in
the following applications:
[1]Medical devices relating to maintenance, management, etc., of life or health
[2]Mechanisms or mechanical devices (vehicles, railway facilities, aircraft facilities,
etc.) intended to move or transport people
[3]Important safety parts in mechanical devices (safety devices, etc.)
Do not use this product in the following environments:
[1]Place subject to flammable gases, ignitable objects, flammables, explosives, etc.
[2]Place that may be exposed to radiation
[3]Place where the surrounding air temperature or relative humidity exceeds the
specified range
[4]Place subject to direct sunlight or radiated heat from large heat sources
[5]Place subject to sudden temperature shift and condensation
[6]Place subject to corrosive gases (sulfuric acid, hydrochloric acid, etc.)
[7]Place subject to excessive dust, salt or iron powder
[8]Place where the product receives direct vibration or impact
Do not use this product outside the specified ranges. Doing so may significantly
shorten the life of the product or result in product failure or facility stoppage.
2 Transportation
When transporting the product, exercise due caution not to bump or drop the
product.
Use appropriate means for transportation.
Do not step on the package.
Do not place on the package any heavy article that may deform the package.
When using a crane of 1 ton or more in capacity, make sure the crane operators
are qualified to operate cranes and perform slinging work.
When using a crane, etc., never hoist articles exceeding the rated load of the
crane, etc.
Use hoisting equipment suitable for the article to be hoisted. Calculate the load
needed to cut off the hoisting equipment and other loads incidental to equipment
operation by considering a safety factor. Also check the hoisting equipment for
damage.
Do not climb onto the article while it is being hoisted.
Do not keep the article hoisted for an extended period of time.
Do not stand under the hoisted article.
3 Storage/
preservation The storage/preservation environment should conform to the installation
environment. Among others, be careful not to cause condensation.
4 Installation/
startup (1) Installing the robot, controller, etc.
Be sure to firmly secure and affix the product (including its work part).
If the product tips over, drops, malfunctions, etc., damage or injury may result.
Do not step on the product or place any article on top. The product may tip over
or the article may drop, resulting in injury, product damage, loss of/drop in
product performance, shorter life, etc.
If the product is used in any of the following places, provide sufficient shielding
measures:
[1]Place subject to electrical noise
[2]Place subject to a strong electric or magnetic field
[3]Place where power lines or drive lines are wired nearby
[4]Place subject to splashed water, oil or chemicals

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INTELLIGENT ACTUATOR
No. Task Note
(2) Wiring the cables
Use IAI’s genuine cables to connect the actuator and controller or connect a
teaching tool, etc.
Do not damage, forcibly bend, pull, loop round an object or pinch the cables or
place heavy articles on top. Current leak or poor electrical continuity may occur,
resulting in fire, electric shock or malfunction.
Wire the product correctly after turning off the power.
When wiring a DC power supply (+24 V), pay attention to the positive and
negative polarities.
Connecting the wires in wrong polarities may result in fire, product failure or
malfunction.
Securely connect the cables and connectors so that they will not be disconnected
or come loose. Failing to do so may result in fire, electric shock or product
malfunction.
Do not cut and reconnect the cables of the product to extend or shorten the
cables. Doing so may result in fire or product malfunction.
(3) Grounding
Be sure to provide class D (former class 3) grounding for the controller.
Grounding is required to prevent electric shock and electrostatic charges,
improve noise resistance and suppress unnecessary electromagnetic radiation.
4 Installation/
startup
(4) Safety measures
Implement safety measures (such as installing safety fences, etc.) to prevent
entry into the movement range of the robot when the product is moving or can be
moved. Contacting the moving robot may result in death or serious injury.
Be sure to provide an emergency stop circuit so that the product can be stopped
immediately in case of emergency during operation.
Implement safety measures so that the product cannot be started only by turning
on the power. If the product starts suddenly, injury or product damage may result.
Implement safety measures so that the product will not start upon cancellation of
an emergency stop or recovery of power following a power outage. Failure to do
so may result in injury, equipment damage, etc.
Put up a sign saying “WORK IN PROGRESS. DO NOT TURN ON POWER,” etc.,
during installation, adjustment, etc. If the power is accidently turned on, electric
shock or injury may result.
Implement measures to prevent the work part, etc., from dropping due to a power
outage or emergency stop.
Ensure safety by wearing protective gloves, protective goggles and/or safety
shoes, as necessary.
Do not insert fingers and objects into openings in the product. Doing so may
result in injury, electric shock, product damage, fire, etc.
When releasing the brake of the vertically installed actuator, be careful not to let
the actuator drop due to its dead weight, causing pinched hands or damaged
work part, etc.
5 Teaching Whenever possible, perform teaching from outside the safety fences. If teaching
must be performed inside the safety fences, prepare “work rules” and make sure
the operator understands the procedures thoroughly.
When working inside the safety fences, the operator should carry a handy
emergency stop switch so that the operation can be stopped any time when an
abnormality occurs.
When working inside the safety fences, appoint a safety watcher in addition to the
operator so that the operation can be stopped any time when an abnormality
occurs. The safety watcher must also make sure the switches are not operated
inadvertently by a third party.
Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.

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INTELLIGENT ACTUATOR
No. Task Note
5 Teaching When releasing the brake of the vertically installed actuator, be careful not to let
the actuator drop due to its dead weight, causing pinched hands or damaged
load, etc.
* Safety fences --- Indicate the movement range if safety fences are not provided.
6 Confirmation
operation After teaching or programming, carry out step-by-step confirmation operation before switching to automatic operation.
When carrying out confirmation operation inside the safety fences, follow the
specified work procedure just like during teaching.
When confirming the program operation, use the safety speed. Failure to do so
may result in an unexpected movement due to programming errors, etc., causing
injury.
Do not touch the terminal blocks and various setting switches while the power is
supplied. Touching these parts may result in electric shock or malfunction.
7 Automatic
operation Before commencing automatic operation, make sure no one is inside the safety fences.
Before commencing automatic operation, make sure all related peripherals are
ready to operate in the auto mode and no abnormalities are displayed or
indicated.
Be sure to start automatic operation from outside the safety fences.
If the product generated abnormal heat, smoke, odor or noise, stop the product
immediately and turn off the power switch. Failure to do so may result in fire or
product damage.
If a power outage occurred, turn off the power switch. Otherwise, the product may
move suddenly when the power is restored, resulting in injury or product damage.
8 Maintenance/
inspection Whenever possible, work from outside the safety fences. If work must be performed inside the safety fences, prepare “work rules” and make sure the
operator understands the procedures thoroughly.
When working inside the safety fences, turn off the power switch, as a rule.
When working inside the safety fences, the operator should carry a handy
emergency stop switch so that the operation can be stopped any time when an
abnormality occurs.
When working inside the safety fences, appoint a safety watcher in addition to the
operator so that the operation can be stopped any time when an abnormality
occurs. The safety watcher must also make sure the switches are not operated
inadvertently by a third party.
Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.
Use appropriate grease for the guides and ball screws by checking the operation
manual for each model.
Do not perform a withstand voltage test. Conducting this test may result in
product damage.
When releasing the brake of the vertically installed actuator, be careful not to let
the actuator drop due to its dead weight, causing pinched hands or damaged
work part, etc.
* Safety fences --- Indicate the movement range if safety fences are not provided.
9 Modification The customer must not modify or disassemble/assemble the product or use
maintenance parts not specified in the manual without first consulting IAI.
Any damage or loss resulting from the above actions will be excluded from the
scope of warranty.
10 Disposal When the product becomes no longer usable or necessary, dispose of it properly
as an industrial waste.
When disposing of the product, do not throw it into fire. The product may explode
or generate toxic gases.

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INTELLIGENT ACTUATOR
Indication of Cautionary Information
The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution”
and “Note,” as specified below.
Level Degree of danger/loss Symbol
Danger Failure to observe the instruction will result in an
imminent danger leading to death or serious injury. Danger
Warning Failure to observe the instruction may result in death
or serious injury. Warning
Caution Failure to observe the instruction may result in injury
or property damage. Caution
Note The user should take heed of this information to
ensure the proper use of the product, although
failure to do so will not result in injury. Note

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INTELLIGENT ACTUATOR
CE Mark
1. EC Directives
The EC Directives are a new set of directives issued by the European Commission that are intended to
protect the health and safety of users and consumers of products distributed within the EU (European
Union) zone, while ensuring free movements of these products within the EU zone. Companies exporting
to Europe or having a production facility in Europe must comply with the following directives in order to
receive a CE Mark certification for their products.
(1) Low-voltage Directive
The X-SEL-P/Q controllers are designed to comply with the Low-voltage Directive on their own.
(2) EMC Directives
The EMC Directives must be met by the entire equipment, or a combination of IAI’s controller and
other control devices and electrical components used by the equipment. IAI’s approach is to
determine representative connection/installation models (conditions), each combining controller(s),
actuator(s) and peripheral(s), and ensure that each of these models complies with the EMC
Directives. (Refer to 3, “Peripheral Configurations.”)
2. Applicable Standards
<Low-voltage Directive>
EN50178 (Electronic equipment used in electrical installations)
<EMC Directives>
EN55011 (Radio interference characteristics of industrial, scientific and medical equipment
generating radio frequency)
EN61000-6-2 (Immunity in industrial environment)
EN61000-4-2 (Immunity to electrostatic discharge)
EN61000-4-3 (Immunity to electromagnetic field generated by irradiated radio frequency)
EN61000-4-4 (Electrical first transient/burst immunity test)
EN61000-4-5 (Surge immunity test)
EN61000-4-6 (Immunity test against conductive interference induced by radio-frequency
electromagnetic field)
EN61000-4-8 (Immunity test against power-frequency magnetic field)
EN61000-4-11 (Immunity test against voltage dip, momentary power failure and voltage
fluctuation)