IAI XSEL-P User manual

X-SEL Controller P/Q Type
First Step Guide Ninth Edition
Controller for Single-Axis Robots and Cartesian Robots: XSEL-P/Q/PCT/QCT
Controller for SCARA robot: XSEL-PX/QX
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.
• Using or copying all or part of this Instruction Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
Product Check
This product is comprised of the following parts if it is of standard configuration:
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts (Options are excluded.)
No. Part Name Model P/PCT PX Q/QCT QX
1 Controller Refer to “How to read the model plate” and “How
to read the model of the controller”.
Accessories
2 I/O Flat cable CB-X-PIO*** ***indicates the cable length ○ ○ ○ ○
3 Battery for the Absolute Data Maintenance AB-5 ○ ○ ○ ○
4 System I/O plug FMC1.5/9-ST-3.5 2 Units (Maker : PHOENIX CONTACT) ○ ○ ○ ○
5 AC Power Supply plug GMSTB2.5/6-STF-7.62 (Maker : PHOENIX CONTACT) ○ ○ ○ ○
6 Brake Power Input Plug*1 MC1.5/2-ST-3.5 (Maker : PHOENIX CONTACT) ○ ○ ○ ○
7 Dummy Plug DP-1 × × ○ ○
8 For DeviceNet specification
SMSTB2.5/5-ST-5.08AU (Maker : PHOENIX CONTACT )
Terminal Resistance : 121Ω ○ ○ ○ ○
9 For CC-Link specification
MSTB2.5/5-ST-5.08AU (Maker : PHOENIX CONTACT)
Terminal Resistance : 130 Ω 1/2W for FANC-SBH cable
110 Ω 1/2W for FANC-SB cable
○ ○ ○ ○
10 First Step Guide ○ ○ ○ ○
11 Operation Manual (DVD) ○ ○ ○ ○
12 Safety Guide ○ ○ ○ ○
*1 This is attached in the case of the unit with the brake.
2. Teaching Tool (Option)
The personal computer application software or teaching pendant is required for operation including
program creation and setup such as position teaching and parameter setting. Use either of them.
Applicable Controller
No. Part Name Model
P/PCT PX Q/QCT QX
1 PC Software (with RS232C Cable + Emergency Stop Box) IA-101-X-MW ○ ○ × ×
2 PC Software (with USB Conversion Adapter + RS232C Cable +
Emergency Stop Box)
IA-101-X-USBMW ○ ○ × ×
3 PC Software (with the cable complying with Safety Category Class
4 specifications + the Emergency Stop Box) IA-101-XA-MW × × ○ ○
4 Teaching pendant SEL-T ○ ○ ○ ○
5 Teaching pendant (with deadman switch) SEL-TD ○ ○ ○ ○
6 Teaching pendant (with deadman switch + TP adapter (IA-LB-TG)) SEL-TG ○ ○ ○ ○
7 Teaching pendant IA-T-X ○ ○ × ×
8 Teaching pendant (with deadman switch) IA-T-XD ○ ○ × ×
3. Operation manuals related to this product, which are contained in the DVD.
No. Name Manual No.
1 XSEL-P/Q/PCT/QCT Controller Operation Manual ME0148
2 XSEL-PX/QX Controller Operation Manual ME0152
3 XSEL Controller P/Q/PX/QX RC Gateway Function Operation Manual ME0188
4 XSEL-P/Q Controller Electronic Cam Control System Operation Manual ME0246
5 PC software IA-101-X-MW/ IA-101-X-USBMW Operation Manual ME0154
6 Teaching pendant SEL-T/TD Operation Manual ME0183
7 Teaching pendant IA-T-X/XD Operation Manual ME0160
8 DeviceNet Operation Manual ME0124
9 CC-Link Operation Manual ME0123
10 PROFIBUS-DP Operation Manual ME0153
11 Ethernet Operation Manual (including Ethernet/IP) ME0140
4. How to read the model plate
5. How to read the model of the controller
Controller for Single-Axis actuator and Cartesian actuator XSEL-P/Q,
Controller for High-Speed Orthogonal Actuator (CT4) XSEL-PCT/QCT
*1 In this type, the safety circuit can be configured with the motor driving power source separated.
*2 Any of the RCS2-R**7 series, RCS-RB75 series unit, RCS-G20, RCS-R* or the linear motor actuator (LSA) is not connected
to the No. 5 axis or No. 6 axis.
*3 Because the one axis of the large size linear actuator (W21H□) with high thrust, uses as much space as that used by two
axes of the usual type, take care about the number of axes being used.
*4 eshows the number of connected axes regardless of the above *3.
*5 “S” shows the case where the expanded I/O is not used at first but added later. In this case, the expanded I/O base uses the empty slot.
Controller for SCARA robot XSEL-PX, QX
*1 In this type, the safety circuit can be configured with the motor driving power source separated.
*2 The maximum number of the added axes is shown in the following table.
Maximum number of the added axes
Type Model 3-phase 200V design Single-phase 200V Type
Standard type NNN1205/1505/1805
NNN3515/2515
NNN50□□/60□□
Standard type with brake (Option) NNN1205B/1505B/1805B
Dustproof/Splash proof type NNW3515/2515
NNW50□□/60□□
Wall-mount type, Wall-mount Inverse type TNN(UNN)3515/2515
Ceiling-mount type, Ceiling-mount Inverse type HNN(INN)50□□/60□□
Clean room type NNC1205/1505/1805
NNC3515/2515
NNC50□□/60□□
Clean room type with brake (Option) NNN1205B/1505B/1805B
2
2
However, the total motor
wattage including that
for the SCARA robot
should be up to 1600 W.
Standard type NNN70□□/80□□
Dustproof/Splash proof type NNW70□□/80□□
Ceiling-mount type, Ceiling-mount Inverse type HNN(INN)70□□/80□□
Clean room type NNC70□□/80□□
1 0
High-speed type NSN5016/6016 0 0
*3 Any of the RCS2-R**7 series, RCS-RB75 series unit, RCS-G20, RCS-R* or the linear motor actuator (LSA) is not connected to the No. 5 axis or No. 6 axis.
*4 “S” shows the case where the expanded I/O is not used at first but added later. In this case, the expanded I/O base uses the empty slot.
*5 No H on end of the model code: current products, With H on end: new releases (applicable for high-speed type)
Basic Specifications
Specifications
Specification Item XSEL-P/PCT XSEL-PX XSEL-Q/QCT XSEL-QX
Max. No. of Connectable Axes*1, *2 6-axis A maximum of
2-axis, are added to
4-axis for the
SCARA Robot.*2
6-axis A maximum of
2-axis, are added to
4-axis for the
SCARA Robot.*2
Single-phase type 1600W Max. Connected Axis
Output*5 3-phase type 2400W
Control Power Capacity Single-phase 200VAC to 230V ±10%
Single-phase type Single-phase 200VAC to 230V ±10% Motor Driving Source
Voltage 3-phase type 3-phase 200VAC to 230V ±10%
Power supply frequency 50Hz/60Hz
Control Power Supply 50A
Less than 1200W of Motor
Driving Power Supply
60A (Max)
Rush current*3
1200W or more of Motor
Driving Power Supply
120A (Max)
Control Power Supply 0.4mA 0.2mA
Leakage Current*3
(Excluding Higher Harmonic Component)
Motor Driving Power Supply 2mA or less
Momentary Power Interruption Tolerance 50Hz : 10msec, 60Hz : 8msec
Insulation Strength 10MΩ or more (Between power terminal and I/O terminal and also all external
terminals and case at the power supply of 500VDC)
Insulation Resistance 1500VAC for 1 min (actuator the time of connection 1000VAC for 1min.)
Axis Control System AC Full –digital Servo
Position detection method Incremental Encoder or Absolute Encoder
For Absolute Date Backup : AB-5 manufactured by our company Battery for Backup
For System Memory Backup : CR2032 manufactured by Toshiba Battery
Program language Super SEL language
Max. Number of program steps 9999 steps
Max. Number of position 20000 positions
Max. Number of programs 128 programs
Max. Number of multitask programs 16 programs
Data storage device Flash ROM + SRAM battery backup
Data input method Teaching pendant or PC software
32 Input Points (Total of Dedicated Input Points + Universal Input Points)
16 Output Points (Total of Dedicated Output Points + Universal Output Points)
Standard I/O Interface
16 Input Points (Total of Dedicated Input Points + Universal Input Points)
32 Output Points (Total of Dedicated Output Points + Universal Output Points)
Expanded I/O Interface (Refer to the Item describing How to read the model of the controller)
Teaching Port RS232C(Special Protocol) D-sub25 pin
Port 1 D-sub9 pin Serial communication
function RS232C Port 2 D-sub9 pin (Connector in using the RC gateway function)
Serial communication cable length RS232C 15m or less
System I/O Various safety circuit I/O including the emergency stop input, safety gate input, system ready output, etc.
Protective functions Motor overcurrent, overload, motor driver temperature check, overload check, encoder
open circuit detection, soft limit over, system abnormality, battery abnormality etc.
Drive-source cutoff method Internal relay External Safety Circuit
Surrounding air temperature 0 to +40°C
Surrounding humidity 10% to 95% RH (non-condensing)
Surrounding environment (Refer to Installation Environment)
Surrounding storage temperature -25 to 70°C
Surrounding storage humidity 10% to 95% RH (non-condensing)
Vibration resistance 10 to 57Hz in XYZ directions/Pulsating amplitude 0.035mm (continuous), 0.075mm (intermittent)
57 to 150Hz 4.9m/s2 (continuous) 9.8m/s2 (intermittent)
Environ-ment
Pollution degree Pollution degree 2
Protection class IP20
Cooling method Forced air-cooling
Axis 1 to axis 4 : 5.2kg Axis 1 to axis 4 : 4.5kg Weight
Axis 5 to axis 6 : 5.7kg Axis 5 to axis 6 : 5.0kg
External dimensions (Refer to the Item for the External Dimensions)
*1 The maximum connection output for the single phase controller is 1600W.
The controller cannot be connected to the SCARA robot with the arm length 700/800, which are NNN70□□/80□□,
NNW70□□/80□□, HNN (INN) 70□□/80□□ and NNC70□□/80□□, or the high-speed type NSN5016/6016. Take the greatest care.
*2 Refer to the item describing how to read the model for the maximum number of added axes.
*3 Rush current at the power connection continues for 3msec. Consider the safety rate at the time when rush current passes.
The rush current value varies depending on the impedance of the power line.
*4 The leakage current is shown as the value indicated in the controller connected to the actuator. The leakage current from
controller power cable or noise filter is not included.
The leakage current varies depending on the surrounding environments.
When the leakage protective measure is taken, measure the leakage current at the leakage breaker installation location.
*5 For ROBO Cylinder High-Speed Type, calculate with twice of the motor wattage described on the model.
XSEL – PX6 － NNN5020 － 750AL － 750ABL － DV － N1 － EEE － 2 － 3
X Y Z [ \ ] ^ _ ` a
Model table
[, \Details of axis 5 to axis 6*2, *3 _Expansion I/O slots
X
Series
Y
Controller
type
Z
IX Robot Model
Motor
Output
Encoder
type
Brake Creep
High Accel/
Decel
Specifi-
cations
Home
Sensor
(LS)
Synchro-
nization
Desig-
nation
]
Network
(Dedicated Slot)
^
Standard I/O
(Slot 1) Slot 2 Slot 3 Slot 4
`
I/O Flat
cable
length
a
Power-
supply
voltage
E
(Not used)
E
(Not used)
E
(Not used)
E
(Not used)
N1
32 inputs/
16 outputs
NPN board
N1
Expansion I/O
NPN32/16
N1
Expansion I/O
NPN32/16
N1
Expansion I/O
NPN32/16
N2
16 inputs/
32 outputs
NPN board
N2
Expansion I/O
NPN16/32
N2
Expansion I/O
NPN16/32
N2
Expansion I/O
NPN16/32
N3
48 inputs/
48 outputs
NPN board
N3
Multipoint I/O
NPN48/48
N3
Multipoint I/O
NPN48/48
N3
Multipoint I/O
NPN48/48
P1
32 inputs/
16 outputs
PNP board
P1
Expansion I/O
PNP32/16
P1
Expansion I/O
PNP32/16
P1
Expansion I/O
PNP32/16
P2
16 inputs/
32 outputs
PNP board
P2
Expansion I/O
PNP16/32
P2
Expansion I/O
PNP16/32
P2
Expansion I/O
PNP16/32
P3
48 inputs/
48 outputs
PNP board
P3
Multipoint I/O
PNP48/48
P3
Multipoint I/O
PNP48/48
P3
Multipoint I/O
PNP48/48
XSEL
PX4
(Large capacity
4-axis type)
PX5
(Large capacity
5-axis type)
PX6
(Large capacity
6-axis type)
QX4*1
(4-axis type
complying with
Safety Category
Specifications)
QX5*1
(5-axis type
complying with
Safety Category
Specifications)
QX6*1
(6-axis type
complying with
Safety Category
Specifications)
NNN1205/1505/1805
NNN3515(H)/2515(H)
NNN50□□(H) /60□□(H)
/70□□(H)/80□□(H)
(Standard type)
NNN1205B/1505B/1805B
(Standard type
with the brake (option))
NSN5016(H)/6016(H)
(High-speed type)
NNW3515(H)/2515(H)
NNW50□□(H)/60□□(H)
/70□□(H)/80□□(H)
(Dustproof/Splash
proof type)
TNN(UNN)3515(H)
/2515(H)
(Wall-mount type,
Wall-mount Inverse type)
HNN(INN)50□□(H)
/60□□(H)/70□□(H)
/80□□(H)
(Ceiling-mount type,
Ceiling-mount Inverse type)
NNC1205/1505/1805
NNC3515(H)/2515(H)
NNC50□□(H)/60□□(H)
/70□□(H)/80□□(H)
(Clean room type)
NNN1205B/1505B/1805B
(Clean type
with the brake (option))
20
(20W)
30D
(30W for RSC2)
30R
(30W for RS)
60
(60W)
100
(100W)
150
(150W)
200
(200W)
300
(300W)
400
(400W)
600
(600W)
750
(750W)
WAI
(Battery-
less
absolute
/ Incre-
mental)
A
(Absolute)
Not
Specified
(w/o
brake)
B
(w/
brake)
Not
Specified
(w/o
creep)
C
(w/
creep)
Not
Specified
(Stand-
ard type)
HA
(High Accel/
Decel type)
Not
Specified
(w/o home
sensor)
L
(w/ home
sensor)
Not
Specified
(No
synchro-
nization)
M
(Master-
axis
designa -
tion)
S
(Slave-
axis
designa
-
tion)
Not
Specified
(w/o network)
DV
DeviceNet
256/256 board
CC
CC-Link
256/256 board
PR
PROFIBUS
256/256 board
ET
Ethernet
Data
communication
board
EP
EtherNet/IP
256/256 board
S*4
With the
Expanded
I/O Base
S*4
With the
Expanded
I/O Base
S*4
With the
Expanded
I/O Base
2 : 2m
(Standard)
3 : 3m
5 : 5m
0 : None
2
(Single-
phase
200V)
3
(3-phase
200V)
XSEL – P － 3 － 400A － 200ACL － 60ABL － DV － N1 － EEE － 2 － 3
X Y Z [ (Axis 1) [(Axis 2) [(Axis 3) \ ] ^ _ `
Model table
[ Details of axis 1 to axis 6*2, *3 ^Expansion I/O slots
X
Series
Y
Controller
type
Z*4
Numbe
r
of axes
Motor
Output
Encoder
type
Brake Creep
High Accel/
Decel
Specifi-
cations
Home
Sensor
(LS)
Synchro-
nization
Desig-
nation
\
Network
(Dedicated Slot)
]
Standard I/O
(Slot 1) Slot 2 Slot 3 Slot 4
_
I/O Flat
cable
length
`
Power-
supply
voltage
E
(Not used)
E
(Not used)
E
(Not used)
E
(Not used)
N1
32 inputs/
16 outputs
NPN board
N1
Expansion I/O
NPN32/16
N1
Expansion I/O
NPN32/16
N1
Expansion I/O
NPN32/16
N2
16 inputs/
32 outputs
NPN board
N2
Expansion I/O
NPN16/32
N2
Expansion I/O
NPN16/32
N2
Expansion I/O
NPN16/32
N3
48 inputs/
48 outputs
NPN board
N3
Multipoint I/O
NPN48/48
N3
Multipoint I/O
NPN48/48
N3
Multipoint I/O
NPN48/48
P1
32 inputs/
16 outputs
PNP board
P1
Expansion I/O
PNP32/16
P1
Expansion I/O
PNP32/16
P1
Expansion I/O
PNP32/16
P2
16 inputs/
32 outputs
PNP board
P2
Expansion I/O
PNP16/32
P2
Expansion I/O
PNP16/32
P2
Expansion I/O
PNP16/32
P3
48 inputs/
48 outputs
PNP board
P3
Multipoint I/O
PNP48/48
P3
Multipoint I/O
PNP48/48
P3
Multipoint I/O
PNP48/48
MC
Pulse I/O
Board
MC
Pulse I/O
Board
MC
Pulse I/O
Board
XSEL
P
(Standard)
Q*1
(Complying
with
Safety
Category)
PCT
： For CT4
(Standard)
QCT
： For CT4
(Complying
with
Safety
Category)
1
(1-axis)
2
(2-axis)
3
(3-axis)
4
(4-axis)
5
(5-axis)
6
(6-axis)
12
(12W)
20
(20W)
30D
(30W for RSC2)
30R
(30W for RS)
60
(60W)
100
(100W)
150
(150W)
200
(200W)
300
(300W)
400
(400W)
600
(600W)
750
(750W)
1000
(1000W)
WAI
(Battery-
less
absolute
/ Incre-
mental)
A
(Absolute)
Not
Specified
(w/o
brake)
B
(w/
brake)
Not
Specified
(w/o
creep)
C
(w/
creep)
Not
Specified
(Standard
type)
HA
(High Accel/
Decel type)
Not
Specified
(w/o
home
sensor)
L
(w/
home
sensor)
Not
Specified
(No
synchro-
nization)
M
(Master-
axis
desig -
nation)
S
(Slave-
axis
desig-
nation)
Not
Specified
(w/o network)
DV
DeviceNet
256/256 board
CC
CC-Link
256/256 board
PR
PROFIBUS
256/256 board
ET
Ethernet
Data
communication
board
EP
EtherNet/IP
256/256 board
S*5
With the
Expanded
I/O Base
S*5
With the
Expanded
I/O Base
S*5
With the
Expanded
I/O Base
2 : 2m
(Standard)
3 : 3m
5 : 5m
0 : None
(*1)
2
(Single-
phase
200V)
3
(3-phase
200V)
Field Bus Specifications
DeviceNet, CC-Link, PROFIBUS, EtherNet/IP
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the DVD Manual included in the box this device was packaged in. It should be retained
with this device at all times.
A hardcopy of the Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cove
r
of the Instruction Manual or on the First Step Guide.
Model
Serial number
UL/cUL marking
■ Those with UL/cUL mark in the name
plate are complied with UL/cUL
standards.
Refer to the instruction manual for
detail.
9A

1. P/Q/PCT/QCT Type
[ Power Capacity and Heating Value ]
Rated Power Capacity [VA] = Motor Drive Power Supply [VA] *1 + Control Power Capacity [VA] *2
Heating Value [W] = Sum Total of Output Loss [W] *3 + (Inner Power Demand [VA] *4 × 0.7 (Efficiency) × 0.6 (Power Factor))
*1 For the Motor Drive Power Factor [VA], select it from Table 1. However, the Motor Drive Power in acceleration or
deceleration reaches a maximum of three times or more than the normal value (Motor wattage of 600W: In the case
of 700W, it reaches a maximum of two times more than the normal value).
*2 For the Control Power Capacity [VA], select the components which are being placed, from the column of “Control Power (Internal
Consumption, External Consumption) in Table 2 and calculate it using the formula “Power × Quantity of the Placement Component”.
*3 For the Total Output Loss [W], select the output losses for all the actuators to be connected from the Table 1 and calculate it.
*4 For the inner power demand (VA) for calculating the heating value (W) in the control unit, select the components
which are being placed, from the columns of Control Power Supply (Internal Consumption) and External Power Supply
(Internal Consumption) in Table 2 and calculate it using the formula “Power × Quantity of the Placement Component”.
Table1 : Motor Drive Power Factor and Output Loss (for P/Q/PCT/QCT Type)
Actuator Motor Ca
p
acit
y
[
W
]
Motor Drive Power Factor
[
VA
]
O
ut
p
ut Loss
[
W
]
20 26 1.58
30 46 2.07
60 138 3.39
60
(
RCS3-CTZ5C-□-60
)
197 3.6
100 234 6.12
150 328 8.30
200 421 9.12
400 796 19.76
400
(
RCS3-CT8C-□-400
)
1230 18.0
600 1164 27.20
750 1521 29.77
100
(
Linear Actuator S6SS
)
101 3.74
100
(
Linear Actuator S8SS
)
159 4.07
100
(
Linear Actuator S8HS
)
216 3.84
200
(
Linear Actuator S10SS
)
343 5.35
200
(
Linear Actuator S10HS
)
417 5.01
200
(
Linear Actuator H8SS
)
189 5.38
200
(
Linear Actuator H8HS
)
376 5.38
200
(
Linear Actuator L15SS
)
189 5.38
300
(
Linear Actuator N19SS
)
662 11.58
400
(
Linear Actuator W21SS
)
920 16.68
1000
(
Linear Actuator W21HS
)
1581 36.50
DD Motor 1462 20.8
Table2 : Power Demand (for P/Q/PCT/QCT Type) in the Control Unit
Control Power Supply External Power Source
Internal
Cti
External
Cti
Internal
Cti
External
Cti
Quantity
Base Unit 31.4 1
Driver Per board 6.26 1 to 3*5
Encoder Unit Per axis 2.38 3.57 1 to 6
Axis Sensor Per axis 5.71 0 to 6
Fan Unit Per fan 4.57 3 to 6*6
DIO (48 points) 5.95 14.52 0 to 4
DIO card DIO (96 points) 8.33 26.81 0 to 4
DeviceNet 2.38 1.71 0 to 1
CC-Link 2.38 1.19 0 to 1
PROFIBUS-DP 4.17 0 to 1
Network Module
Ethernet 5.36 0 to 1
IA-T-X, XD 3.57 0 to 1
Teaching pendant SEL-T, TD 6.67 0 to 1
Brake Per axis 5.95 13.81 0 to 1
Actuator Driving Source*7 CT4 Pick & Rotary Axis 5.95 4 (max) 1
*5 One axis of the large size linear actuator (W21H□) with high thrust uses as much space as that used by two axes of the usual type.
One axis uses one driver board.
*6 The quantity of fan to be used is shown in the following table.
P-type Quantity to be used Q-type Quantity to be used
Expanded I/O Absent 4 3
Axis 1 to axis 4 Expanded I/O Present 5 4
Expanded I/O Absent 5 4
Axis 5 to axis 6 Expanded I/O Present 6 5
*7 Dedicated for CT4 Pick & Rotary Axis: Supply 24V DC to the supplemental power input connector on the front panel
of the controller.
2. PX/QX Type
[Power Capacity and Heating Value]
Rated Power Capacity [VA] = Motor Drive Power Supply [VA] *
1
for the SCARA robot + Motor Drive Power Supply [W] *
1
for the Added Axis + Control Power Capacity [VA] *
2
Heating Value [W] = Sum Total of Output Loss [W] *3 + (Inner Power Demand [VA] *4 × 0.7 (Efficiency) × 0.6 (Power Factor))
*1 For the Motor Drive Power Factor [W] for the SCARA robot and added axis, select them from Table 3. However, the Motor
Drive Power Factor in acceleration or deceleration reaches a maximum of three times more than the normal value.
*2 For the Control Power Capacity [VA], select the components which are being placed, from the column of “Control Power (Internal
Consumption, External Consumption) in Table 4 and calculate it using the formula “Power × Quantity of the Placement Component”.
*3
For the Total Output Loss [W], select the output losses for all the actuators to be connected from the Table 3 and calculate it.
*4 For the inner power demand (VA) for calculating the heating value (W) in the control unit, select the components which are being
placed, from the columns of Control Power Supply (Internal Consumption) and External Power Supply (Internal Consumption) in
Table 4 and calculate it using the formula “Power × Quantity of the Placement Component”.
Table3 : Motor Drive Power Factor and Output Loss (for PX/QX Type)
SCARA Robot Type and
Added Axis Actuator Capacity [W] Motor Drive Power Factor [VA] Output Loss [W]
NN□1205/1505/1805 216.3 8.13
□N□2515/3515, □NN3015 1118 24.75
□N□50□□/60□□ 1963 44.12
□N□70□□/80□□ 3625 78.41
NSN5016/6016 3228 72.21
NN□2515H/3515H
TNN3015H/3515H
UNN3015H/3515H
1863.1 44.8
NN□50□□H/60□□H
HNN5020H/6020H
INN5020H/6020H
3696.7 69.7
NN□70□□H/80□□H
HNN7020H/8020H
INN7020H/8020H
6467.7 93.2
SCARA Robot
NSN5016H/6016H 6838.1 95.2
20 26 1.58
30 46 2.07
60 138 3.39
100 234 6.12
150 328 8.30
200 421 9.12
400 796 19.76
600 1164 27.20
Added Axis
750 1521 29.77
Table4 : Power Demand in the Control Unit (for PX/QX Type)
Control Power Supply External Power Source
Internal
Consumption
[VA]
External
Consumption
[VA]
Internal
Consumption
[VA]
External
Consumption
[VA]
Quantity
Base Unit 31.4 1
Driver Per board 6.26 2 to 3*5
Encoder Unit Per axis 2.38 3.57 4 to 6
Axis Sensor for the Added Axis Per axis 5.71 0 to 2
Fan Unit Per fan 4.57 3 to 6*6
DIO (48 points) 5.95 14.52 0 to 4
DIO card
DIO (96 points) 8.33 26.81 0 to 4
DeviceNet 2.38 1.71 0 to 1
CC-Link 2.38 1.19 0 to 1
PROFIBUS-DP 4.17 0 to 1
Network Module
Ethernet 5.36 0 to 1
IA-T-X, XD 3.57 0 to 1
Teaching pendant SEL-T, TD 6.67 0 to 1
Brake Per axis 5.95 13.81 0 to 4*7
*5 The driver board quantity to be used is shown in the following table.
Quantity
NN□1205/1505/1805 2
□N□2515(H)/3515(H)
□NN3015(H) 2
□N□50□□(H)/60□□(H) 2
□N□70□□(H)/80□□(H) 3
NSN5016(H)/6016(H) 3
When any axis is to be added to the controller of the SCARA robot except for □N□70□□/80□□ and
NSN5016/6016, one more board is added to the driver board.
*6 The fan quantity to be used is shown in the following table.
P Type Q Type
Expanded I/O Absent 4 3
SCARA Robot without Added Axis Expanded I/O Present 5 4
Expanded I/O Absent 5 4
SCARA Robot with Added Axis Expanded I/O Present 6 5
*7 The number of brakes is shown in the following table.
Quantity
NN□1205/1505/1805 1 (In the case of option attached)
□N□2515(H)/3515(H)
□NN3015(H) 1
□N□50□□(H)/60□□(H) 2
□N□70□□(H)/80□□(H) 2
NSN5016(H)/6016(H) 2
External Dimensions
Encoder Incremental Type Absolute Type Incremental Type Absolute Type
Brake None Present None Present
Single
Axis/
Cartesian-
type
Robots
I/O Only for Standard Type Only for Standard Type Standard + Expansion Standard + Expansion
Brake IX-NNN1205/1505/1805
Standard type (w/o brake)
IX-NNN 1205/1505/1805
Model except for Standard
type (w/o brake)
IX-NNN 1205/1505/1805
Standard type (w/o brake)
IX-NNN 1205/1505/1805
Model except for Standard
type (w/o brake)
Controller
Specifications
SCARA
robot
I/O Only for Standard Type Only for Standard Type Standard + Expansion Standard + Expansion
Single Axis/
Cartesian-type
Robots
Axis 1 to axis 4
SCARA robot
added axis
absent
249
265
180
186
195
49.5 7575 49.5
5
3-
φ
5
269
285
0
8
1
68
1
591
59.5757559.5
5
3-
φ
5
322
338
081
6
8
1
591
4112012041
5
3-
φ
5
342
358
0
8
1
68
1
5
9
1
5112012051
5
3-
φ
5
Single Axis/
Cartesian-type
Robots
Axis 5 to axis 6
P Type
PX Type
PCT Type
Single-phase
200VAC
3-phase
200VAC
Q Type
QX Type
QCT Type
Single-phase
200VAC
SCARA robot
added axis
present
284
300
081
681
591
22
120120
22
5
3-
φ
5
324
340
081
681
5
9
1
4212012042
5
3-
φ
5
357
373
0
8
1
68
1
591
58.512012058.5
5
3-
φ
5
397
413
0
8
168
1591
78.512012078.5
5
3-
φ
5
Single Axis/
Cartesian-type
Robots
Axis 1 to axis 4
SCARA robot
added axis
absent
222
206
5
91
681
0
81
28757528
5
3-
φ
5
226
242
081
681
591
38757538
5
3-
φ
5
295
279
591
6
8
1
0
8
1
64.5757564.5
5
3-
φ
5
299
315
0
8
1
6
8
1
591
29.512012029.5
5
3-
φ
5
Single Axis/
Cartesian-type
Robots
Axis 5 to axis 6
Q Type
QX Type
QCT Type
3-phase
200VAC
SCARA robot
added axis
present
241
257
08
1
68
1
5
9
1
45.5757545.5
5
3-
φ
5
281
297
08
1
68
1
591
20.5
12012020.5
5
3-
φ
5
314
330
081
681
591
3712012037
5
3-
φ
5
354
370
081
681
5
9
1
5712012057
5
3-
φ
5
Side View
(80)
125.3 3
Note: The front panel in the figure shows the condition when the controller for the actuator XSEL-P or Q for the single-axis robots and Cartesian robots is used.
Regeneration Resistor Unit (Option) : REU-1
Regenerative Resistor Unit: This unit converts the regenerative current brought at the time of the motor deceleration into heat.
[Installation Standards]
When it is used horizontally When it is used vertically
Connected Actuator
Motor Capacity Total
Added Axis for
XSEL-P/Q, PX/QX,
PCT/QCT
Connected Actuator
Motor Capacity Total
Added Axis for
XSEL-P/Q, PX/QX,
PCT/QCT
0 to 100W Not required 0 to 100W Not required
to 600W 1 Units to 600W 1 Units
to 1200W 2 Units to 1000W 2 Units
to 1800W 3 Units to 1400W 3 Units
to 2400W 4 Units to 2000W 4 Units
to 2400W 5 Units
When there are both horizontal use and vertical use axes, the
required quantity is the total of the horizontal use axes and vertical
use axes based on the sum total of the motor capacity for each use.
[Specification]
Item Specification
Dimensions W34mm × H195mm × D126mm
Weight 0.9kg
Built-in regeneration resistor 220Ω 80W
Accessories Controller link cable (Model : CB-ST-REU010) 1m
[Reference for the Number of Connectable Regenerative Units]
ROBO Cylinder High-Speed Type, High-Speed Orthogonal Robot, SCARA axis, DD Motor
Model External Regenerative Unit
CT4, DD Motor (High-Torque Type) 2
RCS3-CT8C- □ -400, DD Motor (Standard Type) 1 (per 1 axis)
IX-NNN2515H/3515H, IX-NNN2515H/3515H, TNN(UNN)3015H/3515H, IX-NNC2515H/3515H 1
IX-NNN50□□H/60□□H, IX-NNW50□□H/60□□H, IX-HNN(INN)50□□H/60□□H, IX-NNC50□□H/60□□H 3
IX-NNN70□□h/80□□H, IX-NNW70□□H/80□□H, IX-HNN(INN)70□□H/80□□H, IX-NNC70□□H/80□□H 4
IX-NSN5016/6016 3
Installation Environment
Do not use this product in the following environment
• Location where the surrounding air temperature exceeds the range of 0 to 40°C
• Location where condensation occurs due to abrupt temperature changes
• Location where relative humidity smaller than 10% or larger than 85%RH
• Location exposed to corrosive gases or combustible gases
• Location exposed to significant amount of dust, salt or iron powder
• Location subject to direct vibration or impact
• Location exposed to direct sunlight
• Location where the product may come in contact with water, oil or chemical droplets
When using the product in any of the locations specified below, provide a sufficient shield
• Location subject to electrostatic noise
• Location where high electrical or magnetic field is present
• Location with the mains or power lines passing nearby
Installation and Noise Elimination
1. Protective Ground
[Single-phase 200V Type] [3-phase 200V Type]
2. Noise Elimination Grounding (Frame Ground)
3. Precautions Regarding Wiring Method
(1) Use a twisted cable for connection to power supply.
(2) Separate the I/O cable, communication line/encoder line, and power/driving cable each other.
4. Noise Sources and Elimination
Carry out noise elimination measures for power devices on
the same power path and in the same equipment.
The following are examples of measures to eliminate noise
sources.
(1) AC solenoid valves, magnet switches and relays
[Measure] Install a Surge Absorber parallel with the coil.
(2) DC solenoid valves, magnet switches and relays
[Measure] Install a diode parallel with the coil.
Use a DC relay with a built-in diode.
5. Heat Radiation and Installation
Conduct design and manufacture in consideration of the control box size, controller layout and cooling in
such a way that the temperature around the controller will be 40°C or less.
[External Dimensions]
φ 5
RB
RB-
16.6 126
34
5
5
7
1
591
681
RB+
RB-
RB+
OUT
RB IN
150mm or more
50mm or more
50mm
10mm
150mm
or more
Airflow
Regeneration Unit
(Option)
RB
RB-
RB+
RB-
RB+
OUT
RB IN
RB
RB-
RB+
RB-
RB+
OUT
RB IN
Surge
Absorber
+24V
+24V
0V
0V
Relay
coil
Relay coil
R
C
Connect it using a soft copper wire
with the diameter of 1.6mm or more.
Controller power terminal board
L
N
For control
For motor
driving
AC Power
Input
L1 L2
L
N
Class D grounding
(Formerly Class-lll grounding:
Grounding resistance at
100Ω or less)
Connect it using a soft copper wire
with the diameter of 1.6mm or more.
Controller power terminal board
L
N
AC Power
Input
R
S
T
L1 L2 L3
For control
For motor
driving
Class D grounding
(Formerly Class-lll grounding:
Grounding resistance at
100Ω or less)
Attach the grounding cable
to the FG terminal
on the main machine.
Connect it using a soft
copper wire or stand
with 2.0mm
2
(AWG 16). Do not share the ground wire with or connect to
other equipment. Ground each controller.
Controller
Controller Other
equipment Other equipment
Other
equipment
Class D grounding
(Formerly Class-lll grounding:
Grounding resistance st 100 or less)

24V External EMG
reset switch
External
EMG circuit
Emergency stop
Teaching pendant
Dead-man switch Emergency stop switch
Safety gate This is turned ON when
the safety gate safety door is closed
XSEL Controller
ENB TBX1 ENB VCC1 EMG OUT1 EMG IN1
CR2
(10mA or more)
CR1
(120mA or more)
ENBin(IN)
ENBin
ENB1(line+)
ENB1(line-)
RDY(Out+)
RDYOUT
RDY(Out-)
EMGin(IN)
EMGin
EMG1(line+)
EMG1(line-)
SDN(Out+)
SDN(Out-)
ENBin(IN)
ENBin
ENB1(line+)
ENB1(line-)
RDY(Out+)
RDY(Out-)
EMGin(IN)
EMGin
EMG1(line+)
EMG1(line-)
SDN(Out+)
SDN(Out-)
+24V
+24V
CR5
CR4
CR4
CR3
Control power supply
Surge Protector
AC Power Input Circuit
breaker
Noise
filter
Earth
leakage
breaker
Surge Protector
Noise
filter
Earth
leakage
breaker
Moter power supply
Moter Cable
Moter Cable
CR5
CR3
CR3
18
17
16
15
14
13
12
11
10
8
7
6
5
4
3
2
1
9
XSEL Controller
CR2
(10mA or more)
CR1
(120mA or more)
18
17
16
15
14
13
12
11
10
8
7
6
5
4
3
2
1
9
*6
*6
R
S
T
L
N
PE
R
S
T
L
N
PE
*7
*6
*5
*3
*2
*1
*4
Since second unit
Class D grounding
(Formerly Class-lll grounding:
Grounding resistance at 100Ω or less)
Teaching pendant
Connection detection circuit
Teaching pendant
Connection detection circuit
Connection Diagram
[System Diagram]
[XSEL-P, PX, PCT]
*1 Conveyor Encoder Connector used for Conveyor Tracking
The figure shows the built-in relay interrupting using the controller for Single-Axis Robots and Cartesian Robots: XSEL-P.
For the connection between the SCARA robot and the added axis XSEL-PX controller, the same wiring arrangement as for
the first to forth axis for the XSEL-P is applied.
Note: For the SCARA robots except for IX-NNN1205/1505/1805, the power supply of +24V for the main machine and the
controller is required.
[XSEL- Q, QX, QCT]
*1 Conveyor Encoder Connector used for Conveyor Tracking
*2 For the Q/QX/QCT type controllers, use the SEL-T or TD teaching pendant. The IX-T-X or XD teaching pendant can
not be used for them.
*3 When the unit is not connected to the personal computer or teaching pendant, connect the dummy plug (DP-1).
The figure shows the built-in relay interrupting using the controller for Single-Axis Robots and Cartesian Robots: XSEL-Q.
For the connection between the SCARA robot and the added axis XSEL-QX controller, the same wiring arrangement as for
the first to forth axis for the XSEL-Q is applied.
Note: For the SCARA robots except for IX-NNN1205/1505/1805, the power supply of +24V for the main machine and the
controller is required.
CAUTION: In the case of ICSA, ICSPA (Cartesian-type robot) and SCARA robot, each cable has its number. Connect
the cable to the controller connector so that the cable is connected to the connector of the same number.
For the actuator regarded as that for single-axis robot, the connector Nos. are not indicated.
In such case, give a number to each connector to avoid any mistake. If the cable is not correctly connected,
it might cause a damage to or malfunction of the motor or PC board.
WARNING: The internal components of the controller may burn if the standard cable CB-ST-E1MW050(-EB): Black
enclosed in the PC software IA-101-X-MW is used to connect XSEL-Q/QX/QCT to a computer.
Even though the PC software can be used, make sure to use the cable CB-ST-A1MW050(-EB): Gray or
CB-ST-A2MW050(-EB): Black with Yellow Line.
Power Supply and Emergency Stop Circuit
[XSEL-P, PX, PCT]
This shows the example of emergency stop for two or more machines, using the emergency
stop circuit for the entire machine.
To improve the noise resistance performance, it is recommended to mount components *4 to *7.
[XSEL- Q, QX, QCT]
To improve the noise resistance performance, it is recommended to mount components *4 to *7.
[Refer to the Operation Manual for the connection when putting the circuit to the system with Category 3 or 4.]
*1 For the selection of the circuit breaker, perform it according to the following items.
Breaker Rated Current Value > Power Capacity ÷ AC Input Voltage (For the power capacity, refer to the items describing the
power capacity and heating value).
Select a breaker that does not trip with the rush current described in the basic specification.
The current might pass through the controller three times more of the rated current at the acceleration and deceleration.
Select the breaking current value for the circuit breaker leaving some margin. [Refer to the performance characteristic curve
graph described in the manufacturer’s catalog.]
*2 When the leakage breaker is to be installed, it is required to select it with the purpose clarified such as protection from the fire
or human body protection.
For the leakage breaker, measure the leakage current at the location where the leakage breaker is installed to select the
suitable one.
Use the “applicable to higher harmonics type” leakage breaker.
*3 Make sure to install the noise filter and install it within 0.3m of XSEL. (The closer it is, the more the effectiveness is.)
Recommended Noise Filter Model
Source Voltage Specifications Supplier Model
3-phase 200VAC DENSEI-LAMBDA MC1320
*4 It is recommended to connect the serge protector.
Recommended Surge Protector Model No.
Source Voltage Specifications Supplier Model
3-phase 200VAC OKAYA Electric Industries Co., Ltd. R•A•V781BXZ-4
*5 It is recommended to install the ring core.
Recommended Ring Core Model No.
Supplier Model
NEC TOKIN ESD-R-25
*6 It is recommended to install the clamp filter on the control power AC cable and motor cables of all the connected axes.
Recommended Clamp Filter Model No.
Supplier Model
TDK ZCAT3035-1330
*7 It is recommended to install the clamp filter on the motor power AC cable.
Recommended Clamp Filter Model No.
Supplier Model
Kitagawa Industries Co., Ltd. RFC-H13
The length of all the cables connecting to the controller should be 30m or less.
*8 Select the MC capacity based on the same calculation as for the motor driving power supply.
CAUTION: Take care of the following points, otherwise, it may burnout the motor.
•Do not turn ON and OFF the motor driving AC power with the control AC power turned OFF.
•Do not turn ON and OFF the motor driving AC power repeatedly.
When the power is to be connected, connect the power 5 seconds after the power is turned OFF.
•When the controller detects the cold start level error, remove the cause and then connect the
power. Repeating to connect the power without removing the cause may burn out the motor.
In the case of an overload error, connect the power again after a sufficient interval (at least one
minute or more).
I/O Port on X-SEL
I/O port is the area that the data inside the XSEL controller is transferred from.
Data of 1 contact (1 bit) can be transferred in 1 port.
Data is transferred via PIO (24V input and output) or the fieldbus.
Either PIO or fieldbus can be connected to one port.
Set the parameter whether PIO or fieldbus is to be used.
●I/O Map
Shown below is the list of I/O port numbers and their functions of XSEL controller at the delivery.
XSEL port number and the function assignment can be changed with the I/O parameter.
[Refer to the “XSEL Controller Operation Manual” for the details.]
Be careful with the number of input and output ports when using a fieldbus board and I/O board together.
Initial Settings (I/O Parameters)
No. Parameter Name Intial Value
(Reference)
Input
Pange Remarks
1 I/O port assignment type 1 0, 1
0: Fixed assignment
1: Automatic assignment (Priority: fieldbus board
→standard I/O board (slot 1) to
14 Number of ports using network
I/F card remote input 64 0 to 256
Multiple of 8
Enter the number of input ports that are used for the
fieldbus. For the numbers 14 and 15, input the same
number that is bigger than the other between the two.
15 Number of ports using network
I/F card remote output 64 0 to 256
Multiple of 8
Enter the number of input ports that are used for the
fieldbus. For the numbers 14 and 15, input the same
number that is bigger than the other between the two.
16
Input port start number with
fixed network I/F module
assignments
0 -1,
0 to 299
Multiple of 8 (A negative value is invalid)
Enter from which input port the fieldbus is used.
17
Output port start number with
fixed network I/F module
assignments
300 -1,
300 to 599
Multiple of 8 (A negative value is invalid)
Enter from which output port the fieldbus is used.
18 Network I/F module error
monitor 1 0 to 5
0: Not to monitor
1: Monitor
* Refer to the Operation Manual for each fieldbus when using fieldbus and PIO together.
* The occupied address on PLC is determined depending on the number of used inputs and outputs.
Refer to the Operation Manual (CD/DVD) or the Operation Manual of the master unit for the details.
Host System <PLC>
Network
Controller
Network
Controller
24V 0V
ENB TBX1 ENB VCC1 EMG OUT1EMG IN1
ENB
TBX2
ENB
VCC2
EMG
OUT2
EMG
IN2
R
S
T
L
N
PE
CR3
CR3
CR1 CR6
CR6
CR5
CR5
RDYOUT
EMGin(IN)
DET(IN)
EMGin
EMG2(line+)
EMG2(line-)
EMG1(line+)
EMG1(line-)
SDN(Out+)
SDN(Out-)
ENBin(IN)
DET(+24V)
ENBin
ENB2(line+)
ENB2(line-)
ENB1(line+)
ENB1(line-)
RDY(Out+)
RDY(Out-)
+24V
+24V
CR1
(120mA or more)
CR1
(10mA or more)
8
7
6
5
4
3
2
1
9
17
16
15
14
13
12
11
10
18
CR1
CR1
CR2
*7
*8
MC
*
6
*5
*3
*2
*1
*4
External EMG
reset switch
External
EMG circuit
Emergency stop
Teaching pendant
Dead-man switch Emergency stop switch
Safety gate
This is turned ON when
the safety gate safety door is closed
XSEL Controller
Control power supply
Surge Protector
AC Power Input Circuit
breaker Noise
filter
Earth
leakage
breaker
Moter power supply
Driving Source
Shut-off Relay
Teaching pendant
Connection detection circuit
Teaching pendant
Connection detection circuit
Class D grounding
(Formerly Class-lll grounding:
Grounding resistance at 100Ω or less)
Welding Detection
of Relay Contact
Input
Input 000 to 299 (MAX, 300 Point)
Note) Number of input and output ports is:
Output 300 to 599 (MAX, 300 Point)
Output
300 Alarm Output
301 Ready Output
000 Program start
Poart No. Functions Poart No. Functions
001
302 Emergency-stop Output
303
002
003
304
305
004
005
306
307
006
007
Program appointment (PRG No.1)
308
309
008
Program appointment (PRG No.2)
009 Program appointment (PRG No.4)
310
311
010
Program appointment (PRG No.8)
011 Program appointment (PRG No.10)
312
313
012
Program appointment (PRG No.20)
013 Program appointment (PRG No.40)
314
315
014
015
Universal Input
Universal Input
Universal Input
Universal Input
Universal Input
Universal Input
Universal Input
Universal Input
Universal Output
Universal Output
Universal Output
Universal Output
Universal Output
Universal Output
Universal Output
Universal Output
Universal Output
Universal Output
Universal Output
Universal Output
Universal Output
XSEL ControllerPLC (Top)
Data Transfer
indicates the data flow.
Connected inside
(Assignment is set
by parameter)
Data Transfer
Input and
Output Unit
Field Bus
Master unit
000 300
001 301
002 302
003 303
004 304
005 305
006 306
007 307
008 308
009 309
010 310
011 311
012 312
013 313
014 314
015 315
016 316
017 317
018 318
019 319
020 320
321
I/O poart
Input poart Output poart
1 poart
+24V power supply input for brake
Encoder Cable
Motor Cable
Encoder Cable
Motor Cable
Axis 1
Axis 2
Regeneration
Resistor Unit(Option) Connector for Encoder
Connector for conveyor tracking
*1
Absolute Battery Enabling
/Disabling Switch
Control Power Supply
Monitor LED
Motor Connector
Control AC Power Supply
Motor Driving AC
Power Supply
FG terminal
System I/O
Status display
Supplemental Power Input
(for brake or actuator power source)
Brake release switch
AUTO/MANU Mode
Various I/O Boards
(Refer to the Item describing
How to read the model of
the controller.)
Serial Communication Port
Field Network Board:
(Refer to the Item describing
How to read the model of
the controller.)
Class D grounding
Personal Computer
Emergency-stop input,safety gate input,
system-ready output (Dry contact)
Brake Release
Switch Connector
(Contact Input)
Teaching Pendant (Option) Teaching Pendant Type
Toggle Switch
A
x
i
s
1
A
x
i
s
2
A
x
i
s
3
A
x
i
s
4
A
x
i
s
5
A
x
i
s
6
AC
Power
Supply
Serial Communication
Port or RC Gateway
Function Connector
Gateway and 5V Input Switch
A
x
i
s
6
A
x
i
s
5
A
x
i
s
4
A
x
i
s
3
A
x
i
s
2
A
x
i
s
1
PC Software
IA-101-X-MW
PC Connection Cable
CB-ST-E1MW050(-EB)
+24V power supply input for brake
Encoder Cable
Motor Cable
Encoder Cable
Motor Cable
Axis 1
Axis 2
Connector for Encoder
Connector for conveyor tracking
*1
Absolute Battery Enabling/Disabling Switch
Control Power Supply Monitor LED
Control AC Power Supply
Motor Driving AC
Power Supply
FG terminal
Status display
Supplemental Power Input
(for brake or actuator power source)
Brake release switch
AUTO/MANU Mode
Various I/O Boards
A
C
Power
Supply To System I/O
System I/O
Dummy Plug
*3
Safety Circuit
(Relay,
Safety Relay)
Motor Connector
Class D grounding
Regeneration
Resistor Unit(Option)
Personal Computer
SEL-T, TD Teaching Pendant
(Option)
*2
Emergency-stop input,safety gate input,
system-ready output(Dry contact)
Brake Release Switch
Connector (Contact Input)
(Refer to the Item describing
How to read the model of
the controller.)
Serial Communication Port
Field Network Board:
(Refer to the Item describing
How to read the model of
the controller.)
Serial Communication Port
or RC Gateway
Function Connector
Gateway and 5V Input Switch
A
x
i
s
6
A
x
i
s
5
A
x
i
s
4
A
x
i
s
3
A
x
i
s
2
A
x
i
s
1
A
x
i
s
1
A
x
i
s
2
A
x
i
s
3
A
x
i
s
4
A
x
i
s
5
A
x
i
s
6
PC Software
IA-101-XA-MW
PC Connection Cable
CB-ST-A*MW050(-EB)

DeviceNet
● Specifications [Refer to the master unit and Instruction Manual for DeviceNet (ME0124) for detail]
Item Specifications
Communication protocol DeviceNet conformance
Communication speed 500k/250k/125k (Changed by DIP switches)
Communication cable length (*1) Depends on DeviceNet specifications
Communication Power supply 24VDC, 60mA (supplied from DeviceNet)
Occupied nodes 1 Node
Connector Manufactured by PHOENIX CONTACT MSTBA2.5/5-G-5.08AU M (*2)
(*1) Refer to the operation manuals for your master unit and PLC in the case of T-branch communication.
(*2) The cable-side connector is a standard accessory. Manufactured by PHOENIX CONTACT SMSTB2.5/5-ST-5.08AU
● Setting of DIP switch
Set the node address and baud rate on the DIP switch.
(Note) Turn off the X-SEL power before setting the DIP switches.
(1) Setting of node address (MAC ID)
In the DeviceNet, a maximum of 64 nodes can be connected.
Set the node address (MAC ID) following the table below with the hexadecimal
numbers.
1:ON 0:OFF
DIP switch
Node Address
(MAC ID) NA32 NA16 NA8 NA4 NA2 NA1
0 0 0 0 0 0 0
1 0 0 0 0 0 1
2 0 0 0 0 1 0
3 0 0 0 0 1 1
60 1 1 1 1 0 0
61 1 1 1 1 0 1
62 1 1 1 1 1 0
63 (Master Unit) 1 1 1 1 1 1
(Note) Be careful of the setting duplication of the node addresses.
(Refer to the PLC Operation Manual for the details.)
(2) Setting of communications speed
Set the communication speed following the table below.
1:ON 0:OFF
DIP switch
Communication speed DR1 DR0
125kbps 0 0
250kbps 0 1
500kbps 1 0
Setting to prohibited 1 1
● Display of monitor LEDs
LED Color Display condition Description (meaning of indication)
GN Lighting The node is operating normally.
Lighting A hardware error is present. The board must be replaced.
RD
Flashing A minor error, such as a DIP switch setting error or configuration error, is present.
A normal condition can be restored by a reset operation, etc.
MS
― OFF Power is not supplied from X-SEL main unit.
Repair of X-SEL main unit or board replacement is required.
Lighting Connection is established and normally communicating.
GN
Flashing On the line but connection is not established. Communication is stopped.
(Network is normally operating)
Lighting Node addresses are duplicated or busoff is detected.
Communication is disabled.
RD
Flashing Communication error (Communication timeout is detected)
NS
― OFF ● Not on the line.
● DeviceNet power is not supplied.
● Connection
CC-Link
● Specifications [Refer to the master unit and Instruction Manual for CC-Link (ME0123) for detail]
Item Specifications
Communication standard CC-Link Ver1.10
Communication speed 10M/5M/2.5M/525k/156kbps
Number of occupied stations X-SEL : Remote device station Max3 station
Communication cable length (*1) Depends on CC-Link specifications
Connector (*2) Manufactured by PHOENIX CONTACT MSTBA2.5/5-G-5.08AU (X-SEL)
(*1) Refer to the operation manuals for your master unit and PLC in the case of T-branch communication.
(*2) The cable-side connector is a standard accessory. Manufactured by PHOENIX CONTACT MSTB2.5/5-ST-5.08AU
● Rotary switches
Set the station numbers and baud rate on the rotary switch.
(Note) Turn off the X-SEL power before setting the rotary switches.
(1) Setting of station number
In the CC-Link, a maximum of 64 stations can be connected.
The station number is set in the 1 to 64 range by the two rotary switches.
Station number Rotary switch
selection number SA×10
(Digit of ten’s place) SA×1 (Digit of one’s place)
0 (Master Unit) 0 0
1 10 1
2 20 2
3 30 3
4 40 4
5 50 5
6 60 6
7 ― 7
8 ― 8
9 ― 9
(2) Setting of communications speed
The communications speed is set by the rotary switch BR.
Rotary switch selection number Communication speed
0 156kbps
1 825kbps
2 2.5Mbps
3 5Mbps
4 10Mbps
Setting to 5 or more prohibited Error
● Display of monitor LEDs
LED Color Display condition Description (meaning of indication)
RUN GN Lighting Lights when communications start and turns off when communications are interrupted for
a fixed time or longer.
SD GN Lighting Lights during data transmission
RD GN Lighting Lights during data reception
Lighting Local station address receiving data has an error.
ERR RD Flashing A change is made to the rotary switch for baud rate setting or station number setting during
communication.
● Connection
PROFIBUS
● Specifications [Refer to the master unit and Instruction Manual for PROFIBUS (ME0153) for detail]
Item Specifications Remarks
Communication profile PROFIBUS-DP
Number of connected stations 32 stations/segments Available up to 126 stations with utilizing repeater
Communication speed (kbps) 9.6/19.2/93.75/187.5/500
1500/3000/6000/12000
(*1)
Transfer distance Depends on PROFIBUS specifications
Cable Twisted pair cable shield cable Type A Cable
(*1) PROFIBUS-DP network communication speed can be set only in PROFIBUS-DP network setting by the configurator (*2).
● Specification of FROFIBUS-DP Communication Connector Interface
The connector is the 9-pin female D-sub connector that is recommended for
PROFIBUS-DP standard EN50170.
Connector
PinNo. Description Contents
3 B-Line RxD · TxD (Positive signal line)
5 GND Shield
8 A-Line RxD · TxD (Negative signal line)
Housing GND Shield
*1, 2, 4, 6, 7, 9 Not in use (Wiring is not necessary)
● Bus Termination Settings <Setting with Termination Switch>
It is not necessary that the user apply a terminator. Do not apply a terminator
because it may cause an unexpected influence or an error to the communication.
<Bus Terminal Settings>
Termination switch ON Termination is valid.
(If the switch is unexpectedly put on while a device
is connected to locations other than the both ends,
it may cause an unexpected influence or an error
to the bus communication.)
Termination switch OFF Termination is invalid.
● Setting of node address <Setting with address setting dial>
Address setting of PROFIBUS-DP slave stations is to be performed using “×1” and “×10” of the rotary switches shown in the
diagram above.
Setting of node address = (Value set in “× 10” on rotary switch × 10) + (Value set in “× 1” on rotary switch × 1)
Example
Example of rotary switch setting
Target setting station number “×10” Setting (×10) “×1” Setting (×1)
9 0 9
12 1 2
Note 1) For the setting of PROFIBUS-DP station number, PROFIBUS-DP master station is always set to 0,
thus slave stations can be set to 1 to 99.
● Display of monitor LEDs
LED Color Status Definition Description (Cause)
L1 ― Not in use Not defined ―
L2 Online GN ON
Normal communication
condition
● Shows the system being in normal operation (On fieldbus line)
L3 Offline RD ON Offline ● On fieldbus line
OFF No abnormalities ―
1Hz Flashing I/O size error ● LED flashes when an error is detected in the size of the set I/O.
2Hz Flashing Connection not
established ● Equipment setting error (internal error)
L4
Error Status
RD
4Hz Flashing Communication
hardware error
● LED flashes when an error is detected in the communication
related hardwares at the system initializing.
● Connection
EtherNet/IP
● Specifications [Refer to the master unit and Instruction Manual for Ethernet (ME0140) for detail]
Item Specifications
Network specification 10BASE-T/100BASE-T (Auto-negotiation)
Communication standard IEEE802.3
Communication speed 10/100Mbps (Auto-negotiation)
Communication cable length 100mm Max.
Connector RJ-45
Cable Straight cable of Category 5 or more
(double-shielded cable braided with aluminum tape recommended)
(1) IP address, subnet mask, default gateway setting
Setting is established in I/O parameters.
IP address I/O parameter No. 132 to 135 (IP address setting of XSEL)
Subnet mask I/O parameter No. 136 to 139 (Make it matched with your network)
Default gateway I/O parameter No. 140 to 143 (Make it matched with your network)
(2) Setting of communications speed
It is not necessary to set it. (Auto-negotiation is made to 10 or 100Mbps)
(3) Setting of network attribute
Set I/O Parameter No. 129 to 3 (EtherNet/IP).
(Note) Use 44818 for the port number. (2222 is also available)
(Note) Both NS and MS blink in green when only TCP/IP message
communication is used.
● Display of monitor LEDs
LED Color Display condition Description (meaning of indication)
S0 GN Lighting Turned on when connected to Ethernet
S1 GN Lighting Turned on when sending and receiving TCP/IP packet
― OFF No power supply or communication board in initialization or reset
Lighting Adapter in normal startup
GN Flashing The network is not yet established or the system is idle
Lighting A catastrophic, irreparable failure (module error, etc.) was detected
MS
RD Flashing A minor, reparable failure (duplicated IP address, etc.) was detected
― OFF No power supply or IP address not established
Lighting Online, connection established
GN Flashing Online, connection not established
Lighting A duplicated IP address, etc., was detected
NS
RD Flashing A connection timeout was detected
● Connection
PLC (EtherNet/IP master unit)
Ethernet cable*
Hub
XSEL-P/Q XSEL-S
Other Slave
Ethernet
cable*
Ethernet cable*
(Note) There is no need of terminating.
The communication speed cannot be set on each slave station.
… …
…
…
…
…
…
+5V
A-Line
B-Line
GND
+5V
A-Line
B-Line
GND
+5V
A-Line
B-Line
GND
XSEL XSEL
Master unit
Monitor LED
Station number
setting rotary switch
Communications speed
setting rotary switch
CC-Link
Communication
connector
P/Q/PX/QX Type
DA
DB
DG
SLD
FG
DA
DB
DG
SLD
FG
DA
DB
DG
SLD
FG
Terminal
Resistance
Terminal
Resistance
XSEL XSEL
SLD and FG are connected inside SLD and FG are connected inside
Master unit
CC-Link-dedicated cable CC-Link-dedicated cable
L3
L2
L1
L4
PROFIBUS-DP
Communication
connector
Termination switch
Monitor LED
Address Setting Dial
16
P/Q/PX/QX Type
Monitor LED
DeviceNet
Communication connector
Red
White
Blue
Black
P/Q/PX/QX Type
CAN_H
CAN_L
V+
V-
Drain
(Shield)
CAN_H
CAN_L
V+
V-
Drain
(Shield)
CAN_H
CAN_L
V+
V-
Drain
(Shield)
24V Power
Supply
White
Blue
Red
Black
White
Blue
Red
Black
White
Blue
Red
Black
Class D grounding
(Class-lll grounding)
XSEL
Master unit XSEL
Monitor LEDs
EtherNet/IP
connector
DIPSW

Starting Procedures
When using this product for the first time, make sure to avoid mistakes and incorrect wiring
by referring to the procedure below.
Troubleshooting
For X-SEL, the operation status can be checked with the status LEDs on the front panel.
● For DeviceNet ○: Lighting ●: OFF : Flashing
Monitor LED
MS NS
GN RD GN RD
Status Treatment
○ − ○ − In normal operation
○ − ● ●
Waiting for master to
finish node address
duplication check
● Confirm that the communication speed of the mater and all the
slaves are set the same.
After correcting the settings, reboot the system.
● Confirm that the connectors are connected correctly.
○ −  −
Waiting for the completion
of connection with the master
● Confirm if the master is operating with no abnormality.
● Confirm that the controller is registered in the scan list on the master.
− ○ ● ● Hardware error ● Please contact us.
−  ● ● Error in DIP switch
setting
●
Confirm that the communication speed is set the same as the master setting.
● Confirm if the configuration setting is established correctly.
○ − − ○
Node addresses are duplicated
or busoff (communication stop
caused by data error being
repeated) is detected.
● Correct the node address, and then reboot the system.
● Check the influence of noise, e.g. check if there is a source of noise
nearby, or if the communication cable is laid parallel to a power line.
○ − − 
Communication timeout ● Confirm that the communication speed is set the same as the master setting.
NS repeats to light in green
and flash in green. Or, NS
repeats to flash in red and
green.
Communication error ● Confirm that the controller is registered in the scan list on the master.
● Confirm that the I/O area is not duplicated with another slave.
● Confirm that the I/O area is not exceeded over the master unit
allowable area (for fixed assignment).
● For CC-Link ○: Lighting ●: OFF : Flashing
STATUS 1 STATUS 0 Status
○ ○ This status does not exist
○ ● ●
Error occurred (CRC error, station number setting error or communication speed setting error)
● From the power being on or software reset to the completion of CC-Link initializing
● ○ Data exchanged in normal condition
● ●
Short in power supply system, broken remote station power supply or short of communication cable
 ○ This status does not exist
 ● Setting of station number or communication speed is changed during a communication
● For PROFIBUS
LED Color Display condition Description (meaning of indication)
Lighting On the fieldbus line and communication in normal condition
GN Flashing Off the fieldbus line
STATUS 1
OR Flashing Communication error occurred
Lighting In normal operation
GN Flashing Preparing the operation
STATUS 0
OR Lighting Error is detected in communication related hardware while
preparing the operation.
Troubleshooting
The following alarm displays are frequently generated at the start-up operation. Take the measure referring to the following description.
When any of the other alarms is output, refer to the operation manual.
Status display Status contents Cause and Remedy
During emergency-stop It is not an alarm.
• It is generated when the emergency stop switch in the teaching
pendant or the personal computer application software is not
cancelled. In such case, cancel it.
• It is generated when the personal computer cable is not
connected to the emergency stop box.
• Check the emergency stop circuit.
Safety gate remains open.
Deadman switch OFF
It is not an alarm.
• It is generated when the system I/O ENB signal is opened.
Check the ENB signal. (It is generated when the safety gate is
open. Close the safety gate.)
• It is generated when the AUTO/MANU switch has been set to
“MANU” and the personal computer or the teaching pendant is
not connected. Connect the personal computer or the teaching
pendant or set the AUTO/MANU switch to “AUTO”.
• When the actuator is to be started up, hold the deadman switch
on the teaching pendant to turn it on.
AC Power Interruption
Momentary Power Failure
Power Voltage Drop
It is generated when the power voltage is not supplied. It will be
generated, for example, in the case that the 100VAC is supplied to
the controller with 200VAC specified. Check the power supply.
Absolute Data Backup Battery
Voltage Error
It will be generated in the case that the battery has not been
attached, or the battery voltage is dropped.
In the case of the actuator for the single-axis robots or Cartesian
robots with the absolute data specifications, it is generated when
the power is connected for the first time.
Perform the absolute reset.
Encoder Disconnection Error It is generated when the cable is broken or the encoder cable is not
connected to the controller. Check the wiring.
Encoder Reception Time Out It is generated when the encoder is broken, the cable is broken or
the encoder cable is not connected to the controller. Check the
wiring.
24V I/O error
DO output current error
It is generated when the +24V power for I/O is not supplied. Check
the power supply.
(How to start up the controller without connecting the I/O 24V power)
Set the I/O parameter No. 10 to No. 13 corresponding to the
standard or extended I/O board to “0”.
FieldBus Error It is generated when the field bus link connection is not established.
Check the link cable connection, I/O parameter and PLC parameter
settings.
(How to start up the controller without connecting the field bus)
Set the I/O parameter No. 10 to No. 13 corresponding to the
standard or extended I/O board to “0”.
RC Gateway Serious Breakdown
Error
When the RC gateway is used and an error occurs in the controller
connected SIO (serial communication), it is generated.
The following causes are possible.
• All effective RC axes are missing (not recognized).
→ A cable disconnection or broken wire is possible. Check the wiring.
• The power switch on the main CPU shows 0V.
→ Set the +5V power switch to right side (+5V supply side).
• The DPRAM access right can not be obtained for one hour or
more in the connected SIO.
→ Check the parameters for the X-SEL or RC controller.
• A serious error such as a CPU error is caused in the connected SIO.
→ It is caused by the hardware breakdown. Contact IAI.
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL [phone] FAX [phone]
website: www.iai-robot.co.jp/
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL [phone] FAX [phone]
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL [phone] FAX [phone]
website: www.iai-robot.com
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL [phone] FAX [phone]
Chicago Office: 110 East State Parkway, Schaumburg, IL 60173
TEL[phone] FAX [phone]
TEL [phone] FAX [phone]
website: www.intelligentactuator.com
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
825 PhairojKijja Tower 7th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL [phone] FAX [phone]
website:www.iai-gmbh.de
website:www.iai-robot.co.th
Set-up for operation is complete. (Start adjusting the system operation.)
Installation and Wiring
Install the controller and actuator and
perform wiring according to the instruction
manual and the contents in this book.
Point Check Item
• Have you performed the frame grounding (FG) and protective earthing (PE)?
• Has the noise countermeasure been taken?
Ye s
Power Supply and Alarm Check Deal with each condition depending
on the status display.
(Refer to the Treatments in Error
Condition )
Servo ON Check Item
Ye s
Ye s
Check Item
Is shown for
Parameter Setting
Check of Safety Circuit
Check that the emergency stop circuit (or
motor drive power cutoff circuit) operates
normally to turn off the servo.
Check the emergency stop circuit.
Homing Execution
Check of Packed Items
Ye s
Ye s
No
No
Confirming the operation of the actuator
Confirm that the full stroke operation is performed without
any trouble with the jog operation.
Ye s
Ye s
No
No
No
No
Connect the personal computer or teaching
pendant, set the AUTO/MANU switch to the
[MANU] side and inject the power.
Are there all the delivered items?
*1 For the single axis robots and Cartesian-type robots with absolute design and SCARA robots,
the homing operation is not required.
When the unit is set to Vertical and the servo
ON/OFF is repeated, it might descend slightly
due to its own weight. Therefore, be careful
not to catch your hand or damage the work.
•It is recommended to set the safety operation to Enable
for the first movement for safety purposes.
•When it is installed vertically and the brake release switch is set
to [RLS] side, it might descend due to its own weight. Therefore,
be careful not to catch your hand or damage the handle.
Has the motor cable connected?
Connect the motor cable.
Turn ON the servo motor with the personal
computer or teaching pendant operation.
Check on the monitor of the
PC or the teaching pendant
that the servo is ON.
Is the servo ON?
Set the parameters including I/O parameter with the personal
computer or teaching pendant operation.
If the communication is not established, set the I/O parameter
#18 to 0 to cancel the monitoring of the fieldbus error.
When the alarm is output, deal with it
after confirming the alarm description,
using the personal computer or teaching
pendant operation.
Home the actuator with personal computer
or teaching pendant operation.
the status display?
*1
Contact our distributor or us.
Check Item
Is the communication established?
Turn on all the top level systems and confirm the communication
establishment with the LED lights.
Establish the communication.
Refer to the Operation Manual (CD) or the Operation Manual of the master unit.
Check the communication settings again.
(Note) First, check the conditions of station number settings,
communication speed, terminator and the wiring.
Establishing the communication
Manual No.: ME0230-9A