IAI X-SEL User manual

Ethernet
Operation Manual Third Edition

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 or DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
xThis Operation Manual is original.
xThe 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.
xInformation contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
xIf you have any question or comment regarding the content of this manual, please contact the IAI
sales office near you.
xUsing or copying all or part of this Operation Manual without permission is prohibited.
xThe company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.

Table of Contents
Safety Guide 1
1. Overview 11
2. Interface Specifications 13
3. Interface Board 14
3.1 Name of Each Part 14
3.2 Monitor LED Indications 15
4. Remote I/O (Modbus/TCP
y
EtherNet/IP) 16
4.1 Setup of Ethernet Environment 16
4.2 Remote I/O Setup Procedure 17
4.3 Setup Procedure for Exception Status Support 21
4.4 Correspondence of Modbus/TCP Address and X-SEL I/O 22
4.5 Installation to a Modbus/TCP System 27
4.6 Installation to an EtherNet/IP System 27
5. IAI Protocol B/TCP 28
5.1 Setup of Ethernet Environment 28
5.2 Ethernet Connection of X-SEL PC Software 32
6. Transmission by SEL Program 36
6.1 Setup of Ethernet Environment 36
6.2 Ethernet Option SEL Commands 39
7. Common Items to Note (Be Sure to Read This Section.) 47
Appendix: X-SEL (Cartesian/IX SCARA) Ethernet Option Parameters 49

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

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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 104
Outside
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

-3-
Applicable Models of IAI’s Industrial Robots
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 robot with a motor wattage of 80 W or less
(2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating part, if any,
has the maximum movement range of within 300 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 robots
Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3 and CT4
5. IX SCARA robots
IX-NNN (NNW, NNC) 3515 (H)
IX-NNN (NNW, NNC) 50 (H) /60 (H) /70 (H) /80 (H)
IX-NSN5016(H) /6016 (H)
IX-TNN (UNN) 3015(H) /3515 (H)
IX-HNN (INN) 50 (H) /60 (H) /70 (H) /80 (H)

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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 ƔThis 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.)
ƔDo not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
ƔDo 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
ƔFor an actuator used in vertical orientation, select a model which is equipped with a
brake. If selecting a model with no brake, the moving part may drop when the
power is turned OFF and may cause an accident such as an injury or damage on
the work piece.
2 Transportation ƔWhen carrying a heavy object, do the work with two or more persons or utilize
equipment such as crane.
ƔWhen 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.
ƔWhen 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.
ƔTransport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts attached or
there are tapped holes to attach bolts. Follow the instructions in the Operation
manual for each model.
ƔDo not step or sit on the package.
ƔDo not put any heavy thing that can deform the package, on it.
ƔWhen using a crane capable of 1t or more of weight, have an operator who has
qualifications for crane operation and sling work.
ƔWhen using a crane or equivalent equipments, make sure not to hang a load that
weighs more than the equipment’s capability limit.
ƔUse a hook that is suitable for the load. Consider the safety factor of the hook in
such factors as shear strength.
ƔDo not get on the load that is hung on a crane.
ƔDo not leave a load hung up with a crane.
ƔDo not stand under the load that is hung up with a crane.

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No. Operation
Description Description
3 Storage and
Preservation
ƔThe storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
ƔStore 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.
ƔMake 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.
ƔDo 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.
ƔWhen using the product in any of the places specified below, provide a sufficient
shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or chemical
droplets
(2) Cable Wiring
ƔUse our company’s genuine cables for connecting between the actuator and
controller, and for the teaching tool.
ƔDo 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.
ƔPerform the wiring for the product, after turning OFF the power to the unit, so that
there is no wiring error.
ƔWhen 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.
ƔConnect 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.
ƔNever 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.
4 Installation and
Start
(3) Grounding
ƔThe grounding operation should be performed to prevent an electric shock or
electrostatic charge, enhance the noise-resistance ability and control the
unnecessary electromagnetic radiation.
ƔFor the ground terminal on the AC power cable of the controller and the grounding
plate in the control panel, make sure to use a twisted pair cable with wire thickness
0.5mm2(AWG20 or equivalent) or more for grounding work. For security
grounding, it is necessary to select an appropriate wire thickness suitable for the
load. Perform wiring that satisfies the specifications (electrical equipment technical
standards).
ƔPerform Class D Grounding (former Class 3 Grounding with ground resistance
100:or below).

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No. Operation
Description Description
4 Installation and
Start
(4) Safety Measures
ƔWhen 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.
ƔWhen 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.
ƔMake sure to install the emergency stop circuit so that the unit can be stopped
immediately in an emergency during the unit operation.
ƔTake 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.
ƔTake 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.
ƔWhen 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.
ƔTake the measure so that the work part is not dropped in power failure or
emergency stop.
ƔWear protection gloves, goggle or safety shoes, as necessary, to secure safety.
ƔDo 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.
ƔWhen 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 ƔWhen 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.
ƔPerform 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.
ƔWhen 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.
ƔWhen 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.
ƔPlace a sign “Under Operation” at the position easy to see.
ƔWhen 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.

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No. Operation
Description Description
6 Trial Operation ƔWhen 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.
ƔAfter the teaching or programming operation, perform the check operation one step
by one step and then shift to the automatic operation.
ƔWhen 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.
ƔMake 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.
ƔDo 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
ƔCheck before starting the automatic operation or rebooting after operation stop that
there is nobody in the safety protection fence.
ƔBefore starting automatic operation, make sure that all peripheral equipment is in
an automatic-operation-ready state and there is no alarm indication.
ƔMake sure to operate automatic operation start from outside of the safety
protection fence.
ƔIn 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.
ƔWhen 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.
8 Maintenance
and Inspection
ƔWhen 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.
ƔPerform 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.
ƔWhen the work is to be performed inside the safety protection fence, basically turn
OFF the power switch.
ƔWhen 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.
ƔWhen 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.
ƔPlace a sign “Under Operation” at the position easy to see.
ƔFor the grease for the guide or ball screw, use appropriate grease according to the
Operation Manual for each model.
ƔDo not perform the dielectric strength test. Failure to do so may result in a damage
to the product.
ƔWhen 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.
ƔThe 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.
ƔPay attention not to lose the cover or untightened 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.

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No. Operation
Description Description
9 Modification and
Dismantle
ƔDo not modify, disassemble, assemble or use of maintenance parts not specified
based at your own discretion.
10 Disposal ƔWhen the product becomes no longer usable or necessary, dispose of it properly
as an industrial waste.
ƔWhen removing the actuator for disposal, pay attention to drop of components
when detaching screws.
ƔDo not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ƔDo 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.
ƔSee Overseas Specifications Compliance Manual to check whether complies if
necessary.
ƔFor the handling of actuators and controllers, follow the dedicated Operation
manual of each unit to ensure the safety.

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Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level,
as follows, and described in the Operation Manual for each model.
Level Degree of Danger and Damage Symbol
Danger This indicates an imminently hazardous situation which, if the product is not
handled correctly, will result in death or serious injury. Danger
Warning This indicates a potentially hazardous situation which, if the product is not
handled correctly, could result in death or serious injury. Warning
Caution This indicates a potentially hazardous situation which, if the product is not
handled correctly, may result in minor injury or property damage. Caution
Notice This indicates lower possibility for the injury, but should be kept to use this
product properly. Notice

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-11-
1. Overview
This option allows the X-SEL controller to perform control in an open network environment using the
Ethernet infrastructure, the de-facto standard and most common form of communication media for linking
PCs and host computers.
(1) Remote I/O control (Modbus/TCP yEtherNet/IP)
The X-SEL controller supports remote I/O control (a maximum of 256 input points and 256 output
points) via Modbus/TCP.
Modbus/TCP is an Ethernet application of the Modbus protocol used in serial communication.
* EtherNet/IP is supported only by P/Q types (main application version 1.05 or later) and PX/QX
types (main application version 0.51 or later). Also note that to use EtherNet/IP, you need an
interface board compatible with EtherNet/IP.
(2) Message communication
The communication capabilities supported by the RS232C communication function of the X-SEL
controller can be implemented via Ethernet.
xIAI protocol B/TCP
IAI protocol B for serial communication is supported.
The X-SEL controller can be connected to PC software.
xTransmission by SEL program (4 channels)
Four channels of ASCII-based, delimiter-controlled communication are supported, using a set of
transmission commands in a system roughly equivalent to that used in the X-SEL controller’s serial
communication.
{
Substitute programs
{
Send work data
(IAI protocol)
{
Send/receive I/O signals
(Modbus/TCP
y
EtherNet)

- 12 -
A hierarchy of the functions provided by the X-SEL Ethernet option is shown below.
Functions are selected by parameters. Additionally, the network environment parameters must be set.
EXCEPTION status invalid
EXCEPTION status (upper two digits of the error number) valid
Client (PC software connection enabled)
Server
Client
Server
EtherNet/IP (XSEL-P/Q/PX/QX)
Message communication
IAI protocol B/TCP
Adapter (equivalent to a slave)
Transmission by SEL program (4 channels)
Ethernet option
Remote I/O
Server (slave unit)
Modbus/TCP

- 13 -
2. Interface Specifications
Item Specification
Network
specification 10BASE-T/100BASE-T (Auto-negotiation)
Communication
standard IEEE802.3
Communication
speed 10/100 Mbps (Auto-negotiation)
Remote I/O
Open Modbus/TCP EtherNet/IP
TCP/IP message
communication
Class 1 Read Coil
Class 1 Read Input Discretes
Class 0 Read multiple registers
Class 1 Read Input registers
Class 1 Write Coils
Class 1 Write Single register
Class 1 Read Exception status
Class 2 Force multiple Coils
Class 0 Force multiple registers
Class 2 Mask Write register
Protocol
Supported commands
Class 2 Read/Write registers
Class 1
Class 3
UCMM
Cyclic
communication
Connection type
Non-connection
type
1. IAI protocol B/TCP
2. Transmission by
SEL program
(4 channels)
Connector RJ-45
Cable Category 5 UTP twisted cable (see note)
(Note) Use a straight or crossed Ethernet cable according to the connection environment.
[Normal]
Controller HUB: Straight
Controller Controller: Crossed
Controller PC: Crossed

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3. Interface Board
3.1 Name of Each Part
(Note) The DIP switches are used to set the least significant byte of the IP address. With
the X-SEL system, however, the IP address is set by a controller parameter without
the use of DIP switches.
Set all switches to OFF. (Setting the switches in any other pattern will have no
effect.)
S1
/S0
NS
/MS
Communication connector
DIP switches
Monitor LEDs