IAI XSEL-R User manual

XSEL-R/S, RX/SX, RXD/SXD
First Step Guide Seventh Edition
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.)
Quantity
No. Part Name Remarks
R/RX/RXD S/SX/SXD
1 Controller Refer to “How to read the model plate” and
“How to read the model of the controller.”
Accessories
2 System I/O plug MC1.5/9-ST-3.5 (Maker: PHOENIX CONTACT) 2 2
3 AC Power Supply plug GMSTB2.5/6-STF-7.62
(Maker: PHOENIX CONTACT) 1 1
In the case of XSEL-SX4-NNN10040 or 12040
PC4/6- STF-7.62 (Maker: PHOENIX CONTACT) - 1
4 Brake Power Input Plug MC1.5/2-ST-3.5 (Maker: PHOENIX CONTACT) 1 1
5 Dummy plug DP-2 - 1
6 First Step Guide 1 1
7 Operation Manual (DVD) 1 1
8 Safety Guide 1 1
2. Teaching tool (Optional accessory)
The personal computer application software or teaching pendant is required for the operations
including program creation and setup such as position setting and parameter setting with teaching.
Any of teaching tools needs to be prepared.
Applicable
Controller
No. Part Name Model
R/RX/RXD S/SX/SXD
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
(Safety Categories 4 compliance cable + 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 operation manual
(DVD).
No. Name Manual No.
1 XSEL-R/S/RX/SX/RXD/SXD Operation Manual ME0313
2 SEL language programming manual ME0224
3 XSEL Controller P/Q/PX/QX/PCT/QCT/R/S/RX/SX/RXD/SXD
RC Gateway Function Operation Manual ME0188
4 PC Software IA-101-X-MW/IA-101-X-USBMW Operation Manual ME0154
5 Teaching pendant SEL-T/TD/TG Operation Manual ME0183
6 Teaching pendant IA-T-X/XD Operation Manual ME0160
7 DeviceNet Operation Manual ME0124
8 CC-Link Operation Manual ME0123
9 PROFIBUS Operation Manual ME0153
10 EtherNet Operation Manual ME0140
11 EtherCAT Operation Manual ME0309
12 EtherNet/IP Operation Manual ME0308
13 IA Net Operation Manual ME0307
4. How to read the model plate
5. How to read the model
5.1 Controller for Single-Axis Robots and Orthogonal Robots
*1 In this type, the safety circuit can be configured with the motor driving power source separated.
Note 1 Any of the RCS2-R**7 series, RCS-RB75 series unit, RCS-G20, RCS-R* or the linear motor actuator
(LSA) is not connected
5.2 SCARA Robot + Controller for Single-Axis Robots and Orthogonal Robots (4 axes Max.)
*1 In this type, the safety circuit can be configured with the motor driving power source separated.
Note 1 RCS2-R**7 Series, RCS-RB75 Series, RCS-G20, RCS-R* and Linear Motor Actuator (LSA) are to be
connected using the relay box.
[Restrictions on Connected Axes to XSEL-RX/SX]
Total Wattage and Number of Connectable Axes
SCARA Model Single-phase type 3-phase type
IX-NNN1205/1505/1805 1500W in total or less
4 axes at maximum
750W max. for 1 axis
1500W in total or less
4 axes at maximum
750W max. for 1 axis
IX-N2515H/3015H/3515H 1500W in total or less
4 axes at maximum
750W max. for 1 axis
IX-N5020H/6020H 600W in total or less
4 axes at maximum
600W max. for 1 axis
IX-N70H/80H unavailable
IX-NSN5016H/6016H unavailable
IX-NNN10040/12040 unavailable
5.3 Controller for SCARA Robot 2-Unit Connection Dedicated
※1 モータ駆動源を分離した安全保護回路の構成ができるタイプ
*1 In this type, the safety circuit can be configured with the motor driving power source separated.
[Limitations in SCARA Robot Combination in XSEL-RXD/SXD]
(1) 3-phase type
First Unit Second Unit
IX-NNN1205/1505/1805
IX-N2515H/3015H/3515H
IX-NNN1205/1505/1805
IX-N2515H/3015H/3515H
IX-N5020H/6020H IX-NNN1205/1505/1805
Basic Specifications
Specifications
Specification Item XSEL-R/RX/RXD XSEL-S/SX/SXD
Number of controlled axes
XSEL-R/S : 1-axis to 8-axis
XSEL-RX/SX : SCARA Robot 1-axis to 4-axis, Additional 5-axis to 8-axis
XSEL-RXD/SXD : SCARA Robot 1-axis to 4-axis , 5-axis to 8-axis
Applicable motor capacity 20W to 750W
Total connectable wattage 3-phase type controller: 2400W Single-phase type controller: 1600W
Control Power supply voltage Single-phase AC200V to 230V±10%
Motor Driving Source Voltage 3-phase AC200V to 230V±10% / Single-phase AC200V to 230V±10%
Power Supply Frequency 50Hz/60Hz
Control power supply 60A
Less than 1200W 60A (MAX.)
Rush Current
(Note 1)
Motor
drive
power
supply 1200W or more 120A (MAX.)
Control power supply 0.4mA 0.2mALeakage
Current(Note 2)
(Excluding Higher
Harmonic Content)
Motor drive power
supply 2mA or less
Heat Generation [Refer to the Item for the Power Capacity and Heating Value]
PIO Power Supply (Note 3) DC24V±10%
Electromagnetic Brake Power Supply
(For the actuator with the brake)
DC24V±10% Per 1 actuator Approx. 0.35A
(Supplied from external equipment)
Transient Power Cutoff Durability 10ms (when power source frequency 50Hz is used),
8ms (when power source frequency 60Hz is used)
Motor Control System AC Full - digital Servo
Applicable Encoder Incremental Serial Encoder or Absolute Serial Encoder
Speed Setting From 1mm/s The upper limit depends on the specifications of actuator
Acceleration Setting From 0.01G The upper limit depends on the specifications of actuator
XSEL － R － 8 － 400A － 200A － 100AB － 60A － 400A － 200A － 100AB － 60A － EPEIA － DGN1 － 2 － 3
X Y Z [(Axis 1) [(Axis2) [(Axis 3) [(Axis 4) [(Axis 5) [(Axis 6) [(Axis 7) [(Axis 8) \]^_
Model table
[
Details of axis 1 to axis 8(Note 1),
\
Network Slot
]
I/O slots
X
Series
Y
Controller
type
Z
Number
of axes
Motor
Wattage
Encoder
type Brake Creep
Home
Sensor
(LS)
Synchro-
nization
Desig-
nation
Slot 1 Slot 2 Slot 3 Slot 1 Slot 2
^
I/O Flat
cable
length
_
Power
supply
voltage
E
(
Not for use )
E
( Not for use )
N1
Extension PIO
Input32/Output16
NPN Board
N1
Extension PIO
Input32/Output16
NPN Board
N2
Extension PIO
Input16/Output32
NPN Board
N2
Extension PIO
Input16/Output32
NPN Board
N3
Extension PIO
Input48/Output48
NPN Board
N3
Extension PIO
Input48/Output48
NPN Board
P1
Extension PIO
Input32/Output16
PNP Board
P1
Extension PIO
Input32/Output16
PNP Board
P2
Extension PIO
Input16/Output32
PNP Board
P2
Extension PIO
Input16/Output32
PNP Board
P3
Extension PIO
Input48/Output48
PNP Board
P3
Extension PIO
Input48/Output48
PNP Board
MC
Electronic Cam
Pulse I/O
Board
MC
Electronic Cam
Pulse I/O
Board
XSEL
R
(Standard
Type)
S*1
(Global
Typ e)
1
(1 -axis )
2
(2 -axis )
3
(3 -axis )
4
(4 -axis )
5
(5 -axis )
6
(6 -axis )
7
(7 -axis )
8
(8 -axis )
12
(12W)
20
(20W)
30D
(30W for DS)
30R
(30W for RS)
60
(60W)
100
(100W)
100S
(100W forLinear)
150
(150W)
200
(200W)
200S
(200W for Linear)
300
(300W)
400
(400W)
600
(600W)
750
(750W)
I
(Incre-
mental)
A
(Abso-
lute)
G
(Spurious
Absolute)
Not
Specified
(w/o Brake)
B
(w/ Brake)
Not
Specified
(w/o Creep)
C
(w/ Creep)
Not
Specified
(w/o Home
Sensor
)
L
(w/ Home
Sensor )
Not
Specified
( No
Synchroni-
zation)
M
( Master-
Axis
Designation)
S
( Slave-
Axis
Designation)
E
Not for use
EP
EtherNet/IP
Communic-
ation Board
EC
EtherCAT
Communic-
ation Board
E
Not for use
DV
DeviceNet
Input256/
Output256
CC
CC-Link
Input256/
Output256
PR
PROFIBUS
Input256/
Output256
E
IA Net
not
Corresp-
onding
IA
IA Net
Corresp-
onding
DG
DV Gateway
Master Board
2 : 2m
(Standard
)
3 : 3m
5 : 5m
0 : None
2: Single-
phase 200V
2L: Only for
Linear
Single-
phase 200V
3: 3-phase
200V
3L: Only for
Linear
3-phase
200V
XSEL － RX8 － NNN5020H － 400A － 200A － 100AB － 60A － EPEIA － DGN1 － 2 － 3
X YZ[(Axis 5) [(Axis 6) [(Axis 7) [(Axis 8) \]^_
Model table
[
Details of axis 5 to axis 8(Note 1)
\
Network Slot
]
I/O slots
X
Series
Y
Controller
type
Z
SCARA Robot
Model
Motor
Wattage
Encoder
type Brake Creep
Home
Sensor
(LS)
Synchro-
nization
Desig-
nation
Slot 1 Slot 2 Slot 3 Slot 1 Slot 2
^
I/O Flat
cable
length
_
Power
supply
voltage
E
(
Not for use )
E
( Not for use )
N1
Extension PIO
Input32/Output16
NPN Board
N1
Extension PIO
Input32/Output16
NPN Board
N2
Extension PIO
Input16/Output32
NPN Board
N2
Extension PIO
Input16/Output32
NPN Board
N3
Extension PIO
Input48/Output48
NPN Board
N3
Extension PIO
Input48/Output48
NPN Board
P1
Extension PIO
Input32/Output16
PNP Board
P1
Extension PIO
Input32/Output16
PNP Board
P2
Extension PIO
Input16/Output32
PNP Board
P2
Extension PIO
Input16/Output32
PNP Board
P3
Extension PIO
Input48/Output48
PNP Board
P3
Extension PIO
Input48/Output48
PNP Board
XSEL
RX4
(1unit of SCARA)
RX5
(1unit of
SCARA+Single Axis
1Axis)
RX6
(1unit of
SCARA+Single Axis
2Axis)
RX7
(1unit of
SCARA+Single Axis
3Axis)
RX8
(1unit of
SCARA+Single Axis
4Axis)
SX4*1
(1unit of SCARA)
SX5*1
(1unit of
SCARA+Single Axis
1Axis Safety
Category Type)
SX6*1
(1unit of
SCARA+Single Axis
2xis Safety
Category Type)
SX7*1
(1unit of
SCARA+Single Axis
3Axis Safety
Category Type)
SX8*1
(1unit of
SCARA+Single Axis
4Axis Safety
Category Type)
NNN1205 to 8040H
NNN10040 to 12040
(Standard Type)
NSN5016H to 6016H
(High-Speed Type)
NNC1205 to 8040H
(Clean Type)
NNW2515H to 8040H
(Splash Proof Type)
TNN3015H to 3515H
(Wall-Mount Type)
UNN3015H to 3515H
(Wall-Mount Inverse
Typ e)
HNN5020H to 8040H
(Ceiling-Mount Type)
INN5020H to 8040H
(Inverse type)
12
(12W)
20
(20W)
30D
(30W for
DS)
30R
(30W for
RS)
60
(60W)
100
(100W)
100S
(100W for
Linear)
150
(150W)
200
(200W)
200S
(200W for
Linear)
300
(300W)
400
(400W)
600
(600W)
750
(750W)
I
(Incre-
mental)
A
(Abso-
lute)
G
(Spurious
Absolute)
Not
Specified
(w/o Brake)
B
(w/ Brake)
Not
Specified
(w/o
Creep)
C
(w/
Creep)
Not
Specified
(w/o
Home
Sensor
)
L
(w/
Home
Sensor )
Not
Specified
(No
Synchroni-
zation)
M
(Master-
Axis
Designation
)
S
(Slave -
Axis
Designation)
E
Not for
use
EP
EtherNet/IP
Communi-
cation
Board
EC
EtherCAT
Communi-
cation
Board
E
Not for use
DV
DeviceNet
Input256/
Output256
CC
CC-Link
Input256/
Output256
PR
PROFIBUS
Input256/
Output256
E
IA Net
not
Corres-
ponding
IA
IA Net
Corres-
ponding
DG
DV Gateway
Master Board
2 : 2m
(Standard)
3 : 3m
5 : 5m
0 : None
3:
3-phase
200V
XSEL － RX Ｄ 8 － NNN5020H － NNN5020H － EPEIA － DGN1 － 2 － 3
X Y Z [ \ ] ^ _
Model table
\
Network Slot
]
I/O slots
X
Series
Y
Controller
type
Z
SCARA Robot
Model 1
[
SCARA Robot
Model 2
Slot 1 Slot 2 Slot 3 Slot 1 Slot 2
^
I/O Flat
cable
length
_
Power
supply
voltage
E
(
Not for use )
E
( Not for use )
N1
Extension PIO
Input32/Output16
NPN Board
N1
Extension PIO
Input32/Output16
NPN Board
N2
Extension PIO
Input16/Output32
NPN Board
N2
Extension PIO
Input16/Output32
NPN Board
N3
Extension PIO
Input48/Output48
NPN Board
N3
Extension PIO
Input48/Output48
NPN Board
P1
Extension PIO
Input32/Output16
PNP Board
P1
Extension PIO
Input32/Output16
PNP Board
P2
Extension PIO
Input16/Output32
PNP Board
P2
Extension PIO
Input16/Output32
PNP Board
P3
Extension PIO
Input48/Output48
PNP Board
P3
Extension PIO
Input48/Output48
PNP Board
XSEL
RXD8
(For connection
of 2 units of
SCARA)
SXD8*1
(For connection
of 2 units of
SCARA
Safety Category
Typ e)
NNN1205 to 1805
NNN2515H to 6030H
(Standard Type)
NNC1205 to 1805
NNC2515H to 6030H
(Clean Type)
NNW2515H to 6030H
(Splash Proof Type)
TNN3015H to 3515H
(Wall-Mount Type)
UNN3015H to 3515H
(Wall-Mount Inverse
Typ e)
HNN5020H to 6020H
(Ceiling-Mount Type)
INN5020H to 6020H
(Inverse type)
NNN1205 to 1805
NNN2515H to 6030H
(Standard Type)
NNC1205 to 1805
NNC2515H to 6030H
(Clean Type)
NNW2515H to 6030H
(Splash Proof Type)
TNN3015H to 3515H
(Wall-Mount Type)
UNN3015H to 3515H
(Wall-Mount Inverse
Typ e)
HNN5020H to 6020H
(Ceiling-Mount Type)
INN5020H to 6020H
(Inverse type)
E
Not for
use
EP
EtherNet/IP
Communi-
cation
Board
EC
EtherCAT
Communi-
cation
Board
E
Not for use
DV
DeviceNet
Input256/
Output256
CC
CC-Link
Input256/
Output256
PR
ProfiBus
Input256/
Output256
E
IA Net
not
Corres-
ponding
IA
IA Net
Corres-
ponding
DG
DV Gateway
Master Board
2 : 2m
(Standard)
3 : 3m
5 : 5m
0 : None
3: 3-phase
200V
MODEL XSEL-R-8-400A-200A-100AB-60A-400A-200A-100AB-60A-EPEIA-DGN1-2-3
SERIALNo.200198765 MADEINJAPAN
Model
Serial number
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 copy of the DVD 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.

Specification Item XSEL-R/RX/RXD XSEL-S/SX/SXD
Teaching port Connector dedicated for teaching tool (X-SEL Serial Communication protocol
(Format B)) Connector : D-sub 25 pin
Port 1
RS232C: 1CH
Baud rate: MAX. 38.4kbps Connector: D-sub 9 pin
Control available with serial communication (Cable length Max.10m)
[General-purpose RS232C]
RS232C: 1CH
Baud rate: MAX. 38.4kbps Connector: D-sub 9 pin
Control available with serial communication (Cable length Max.10m)
Serial
Communication
Interface
Port 2 [RC Gateway]
RS485: 1CH (Modbus protocol RTU/ASCII conformance)
Baud rate: MAX. 230.4kbps Connector: D-sub 9 pin
Control available with serial communication (Cable length Max.100m)
PIO Type
PIO Board MAX. 2 pieces
Signal I/O dedicated for 24V DC (Input and output ports, selected from
NPN/PNP) [Refer to How to read the model]
External
Interface
Field Network Type
DeviceNet, CC-Link, PROFIBUS-DP, EtherNet/IP, EtherCAT, EtherNet
(For either of DeviceNet, CC-Link or PROFIBUS-DP and either of EtherNet/IP
or EtherCAT, either of the boards can be inserted at the same time.)
[Refer to each Fieldbus Instruction Manual]
Expanded I/O Unit (option) PIO Board MAX. 4 pieces
Data Setting and Input PC software or teaching pendant
Program Specification Super SEL language
Max. Number of Program Steps 9999 Step
Max. Number of Positions
1-Axis Type: 53332 positions, 5-Axis Type: 22856 positions
2-Axis Type: 40000 positions, 6-Axis Type: 20000 positions
3-Axis Type: 32000 positions, 7-Axis Type: 17776 positions
4-Axis Type: 26666 positions, 8-Axis Type: 16000 positions
Max. Number of Programs 128 programs
Max. Number of Multitask Programs 16 programs
Data Retention Memory Flash ROM + SRAM
Clock Function
Retaining time after power turned off: approximately 10 days
Time for battery charge after power is on after the clock data is lost:
approximately 100 hours
Panel Unit PU-1 (option) Controller status display
System I/O Emergency stop input, safety gate input, system ready output and other safety
circuit inputs and outputs
Drive-source Cutoff Method Internal Relay External Safety Circuit
Emergency-Stop Input b Contact (Normally Closed)
Input (internal power supply)
b Contact (Normally Closed) Input (external
power supply, duplication available)
Safety Circuit
Configuration
Enable Input b Contact (Normally Closed)
Input (internal power supply)
b Contact (Normally Closed) Input (external
power supply, duplication available)
System Ready Output No-voltage contact (relay) output Max.200mA (DC24V)
Protective Functions
Motor over current, overload, motor driver temperature check, overload check,
encoder open circuit detection, soft limit over, system abnormality, battery
abnormality
Regenerative Resistor Equipped with built-in 1kΩ/20W regenerative resistor
Extension available with connecting an external regenerative resistor
Absolute Battery Actuators except for SCARA Robot: Built in controller (AB-5)
SCARA Robot: Built in main body
Protection Function against Electric Shock Class 1 In case grounding conducted on ground terminal in addition to basic
insulation for electric shock proof.
Overvoltage Category Category 2 Voltage durability 2500V at less than 300V AC for input rating
Insulation Resistance 10MΩ or more (Between power terminal and I/O terminal and also all
external terminals and case at the power supply of DC500V)
Insulation strength 1500V AC for 1 min.
Cooling Method Forced Air-Cooling
Surrounding air temperature 0 to +40°C
Surrounding humidity 85% RH or less (non-condensing)
Surrounding environment [Refer to the Item for the Installation Environment]
Surrounding storage
temperature -20 to 70°C (The Absolute Battery is excluded.)
Surrounding storage humidity 85% RH or less (non-condensing)
Maximum Operation Height 1000m
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)
Protection Class IP20
Environment
Pollution Degree Pollution Degree 2
External Dimensions [Refer to the External dimensions Dimension]
Approx. 5.2kg 3-phase type: Approx. 4.7kg
Single-phase type: Approx. 5.2kg
With no Absolute Battery Unit
-XSEL-SX4-NNN10040, 12040: Approx. 5.2kg
Weight
With the Absolute Battery Unit Approx. 5.8kg 3-phase type: Approx. 5.3kg
Single-phase type: Approx. 5.8kg
Note 1 Rush current at the power connection continues for 3 msec. Note that the value of in-rush current differs
depending on the impedance of the power supply line.
Note 2 Leak current varies depending on the capacity of connected motor, cable length and the surrounding
environment. Measure the leak current at the point where a ground fault circuit interrupter is to be
installed when leakage protection is conducted.
Regarding the leakage breaker, it is necessary to have a clear purpose for selection such as a fire
protection or protection of human body. Use the harmonic type (for inverter) for a leakage breaker.
Note 3 Power supply is not necessary if PIO is not to be used.
Note 4 The converter box is to be used for the connection when connecting an actuator of ABZ (UVW) Parallel
Encoder LSA Series or RCS2-RA7/SRA7 Series.
[Power Capacity and Heating Value]
Rated Power Capacity [VA] = Total Capacity of Motor Power [VA] + Total of the power consumption at the control
part [VA]
Heating Value [W] = Total Output Loss [W] + (Total of internal power consumption [VA] × 0.7 (Efficiency) × 0.6
(Power factor))
•Select the Motor Driving Power [VA] from the Table 1 and 2.
•Figure out the total of the power consumption at the control part [VA] with the total of power of the actually
mounted components • quantity, by selecting the applicable ones from Table 3 Control Power Source
(Internal Consumption and External Consumption).
•To calculate the sum total of output loss [W], refer to the “Output Loss” column in Table 1 below and select
the values corresponding to the output losses of each connected actuator.
•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 3 and calculate it using the formula “Power •
Quantity of the Placement Component”
Table: 1 Motor Power Capacity of Single-Axis Actuator and Output Loss
Wattage of Actuator Motor [W] Motor Power Capacity [VA] Output loss = Heat Generation [W]
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
750 1521 29.77
100 (Linear Actuator LSAS-N10SS) 379 4.48
200 (Linear Actuator LSAS-N15SS) 486 4.37
200 (Linear Actuator LSAS-N15HS) 773 6.42
Table: 2 Motor Volt Amperage of SCARA Robot and Output Loss
SCARA Robot Wattage [W]
(Rated output)
Motor Power Capacity
[VA] (Note 1)
Output loss =
Heat Generation
[W]
NN1205, NN1505, NN1805 129.8 216.3 8.13
NN2515H, NN3515H, TNN3015H,
TNN3515H, UNN3015H, UNN3515H 1117.9 1863.1 44.8
NN50H, NN60H,
HNN5020H, HNN6020H,
INN5020H, INN6020H
2218.0 3696.7 69.7
NN70H, NN60H,
HNN7020H, HNN8020H,
INN7020H, INN8020H
3880.6 6467.7 93.2
NSN5016H, NSN6016H 4102.9 6338.1 95.2
NNN10040, NNN12040 6412.6 10687.7 131.6
Note 1 Calculated with 0.6 for power factor
Table: 3 Motor Driving Power and Output Loss
Control power supply External Power Source
(24VDC)
Internal
Consumption
[VA]
External
Consumption
[VA]
Internal
Consumption
[VA]
External
Consumption
[VA]
Quantity
Base Unit 31.4 1
Driver Per Board 6.26
Encoder
Section Per axis 2.38 3.57
Fan Unit Per fan 5.71
Axis Sensor Per axis 4.57
[Refer to Table 4]
DIO (48 points) N1, N2
P1, P2 5.95 14.52 0 to 2
DIO (96 points) N3, P3 8.33 26.81 0 to 2
I/O Board
Electronic Cam MC 16.7 0 to 2
Number of PCBs
on PIO Board 1
and 2
DeviceNet DV 1.98 3.43 0 to 1
CC-Link CC 5.67 0 to 1
PROFIBUS-DP PR 1.98 0 to 1
Number of PCBs
on Field Network
Board 1
EtherNET/IP E 1.98 0 to 1
Network
Module
EtherCAT E 3.93 0 to 1
Number of PCBs
on Field Network
Board 2
IA-T-X/XD 3.57 0 to 1Teaching
pendant SEL-T/TD/TG 6.67 0 to 1
SCARA
Robot
0.28
SCARA
Robot
1.0
Brake Per axis
Added Axis
0.14
2.5
Added Axis
5.8
Total number of brake-
equipped actuators 0 to 8
Connector
terminal Per axis 5.7 0 to 8
Table: 4 Number of Controlled Parts
Number of axes
1-Axis 2-Axis 3-Axis 4-Axis 5-Axis 6-Axis 7-Axis 8-Axis
Driver 1 1 2 2 3 3 4 4
Encoder Section 1 2 3 4 5 6 7 8
Fan Unit
XSEL-R/RX/RXD : 6 Unit
XSEL-S/SX/SXD (3-phase type) : 5 Unit
XSEL-S (Single-phase type), XSEL-SX4-NNN10040, 12040 : 6 Unit
Axis Sensor 1 2 3 4 5 6 7 8
[Selection of Circuit Interrupter]
•3 times of the rated current flows to the controller during the acceleration/deceleration. Select one that does
not trip when the above current passes. When it trips, select the breaker with a rated current one rank
above. (Confirm that Operation Characteristic Curve described in the catalogue of each manufacturer.)
•Select the breaker that does not trip with the rush current.
(Confirm that Operation Characteristic Curve described in the catalogue of each manufacturer.)
•For the rated breaking current, select the current value which can break the current even when a short
circuit occurs.
Rated Breaking Current > Short-circuit Current = Primary Power Supply Capacity/Power Voltage
•Consider margin for the rated current on the circuit breaker.
Rated current of circuit breaker >
rated voltage amperage [VA] / AC input voltage × Margin (1.2 to 1.4 for reference)
[Selection of Leakage Breaker]
•Regarding the leakage breaker, it is necessary to have a clear purpose for selection such as a fire
protection or protection of human body.
•Leak current varies depending on the capacity of connected motor, cable length and the surrounding
environment. Measure the leak current at the point where a ground fault circuit interrupter is to be installed
when leakage protection is conducted.
•Use the applicable to higher harmonics type leakage breaker.
External Dimensions
1. Absolute Battery Non-Equipped Type
Controller Type All Types Equipped
R
(Single-phase/ 3-phase type)
S
(Single-phase type)
RX/RXD
(3-phase type)
XSEL-SX4-NNN10040, 12040
S/SX/SXD
(3-phase type)
Side View
(80)
125.3
3
2. Absolute Battery Equipped Type
Controller Type All Types Equipped
R
(Single-phase/ 3-phase type)
S
(Single-phase type)
RX/RXD
(3-phase type)
S/SX/SXD
(3-phase type)
Side View
(80)
125.3
3

Extension I/O Unit (Option)
It is to be used when the number of I/O points on the controller is not enough.
The connection between the controller and the extension I/O unit is to be established with IA Net
communication.
[Specification] [External Dimensions]
Item Specification
Input Power Supply Voltage DC24V±10％
Current Supplied from
XSEL Controller 0.75A (Max.)
Heat Generation 47W (Max.)
Number of Mounted Extension
I/O Boards 1 to 4
Input 32 Points/Output 16 Points
Input 16 Points/Output 32 Points
NPN type
Input 48 Points/Output 48 Points
Input 32 Points/Output 16 Points
Input 16 Points/Output 32 Points
Mountable PIO Board
PNP type
Input 48Points/Output 48 Points
Connection Cable IA Net Cables (Model CB-RS-IAN)
2m in standard (Max.10m)
Surrounding air temperature 0 to +40°C
Surrounding humidity 85%RH or less (non-condensing)
Surrounding environment (Refer to the Item for the Installation Environment).
Surrounding storage
temperature -20 to 70°C
Environment
Surrounding storage
humidity 85%RH (non-condensing)
External Dimensions 109 × 195 × 125.3mm
Weight Approx. 1.5kg (Max.)
Panel Unit (Option) : PU-1
This is the display board consists of four digits of seven-segment displays and LED lamps.
The status of a controller such as the error codes can be checked on it if it is connected to XSEL
controllers.
Also, if connected to an extension I/O unit, the condition of each I/O unit whether it is in normal or error
condition.
[Specification] [External Dimensions]
Item Specification
Current Consumption 100mA
Cable Length 1, 3, 5m
Surrounding air
temperature 0 to +40°C
Surrounding humidity 10 to 95%RH or less (non-condensing)
Surrounding environment (Refer to the Item for the Installation
Environment).
Surrounding storage
temperature -20 to 70°C
Environment
Surrounding storage
humidity 10 to 95% or less (non-condensing)
External Dimensions 43×17×114mm
Weight 0.3kg (including cables)
Brake Box (Option): RCB-110-RA13-0
Brake Box: A brake release unit dedicated for NS-MZMS, NS-MZMM, NS-LZMS, NS-LZMM, ZR
Brakes for two axes can be controlled with one brake box.
[Specification] [External Dimensions]
Item Specification
Input Power Supply Voltage DC24V/10%
Input Power Supply Current 1A
Heat Generation 1.2W
Connection Cable Encoder Cables
(Model CB-RCS2-PLA010) 1m
Surrounding air temperature 0 to +40°C
Surrounding humidity 85%RH or less (non-condensing)
Surrounding environment
(Refer to the Item for the Installation
Environment).
Surrounding storage
temperature
-20 to 70°C
Environment
Surrounding storage humidity 85%RH or less (non-condensing)
External Dimensions W162×H94×D65.5mm
Weight 0.8kg
[24V Power Supply Connector]
Connector on
Cable Side
(Enclosed in
standard package)
MC1.5/2-STF-3.5 (PHOENIX CONTACT)
Applicable Cable AWG28 to 16
Pin No. Signal Information
1 0V
Power Supply Grounding for
Brake Excitation
Terminal
Assignment
2
24VIN
For Brake Excitation and
24V Power Supply
[Connectors 1 and 2 for external brake release switch connection]
Connected
Equipment Brake Release Switch
Connector on
Cable Side
( Please prepare
separately
)
XAP-02V-1
(Contact BXA-001T-P0.6)(JST)
Switch Rating DC30V Minimum Current 1.5mA
Pin No. Signal Information
1 BKMRL Brake Release Switch Input
Terminal
Assignment 2 COM Power Supply Output for
Brake Release Switch Input
Weight 0.8kg
(Note) Short circuit of pin No. 1 and 2 of this connector releases the brake compulsorily.
Brake release is available in the same manner as the brake release switch equipped on the main body.
Do not keep the compulsory release condition while in automatic operation.
Regenerative Resistor Unit (Option): REU-1
This is a unit that converts the regenerative current to heat when the motor decelerates.
[Specification] [External Dimensions]
Item Specification
Internal Regenerative Resistor 220Ω/80W
Accessories Controller link cable
(Model CB-ST-REU010) 1m
Surrounding air temperature 0 to +40°C
Surrounding humidity 85%RH or less (non-condensing)
Surrounding environment (Refer to the Item for the Installation
Environment).
Surrounding storage
temperature -20 to 70°C
Environment
Surrounding storage humidity 85%RH or less (non-condensing)
External Dimensions W34 × H195 × D126mm
Weight 0.9kg
[Number of Connectable]
To calculate the total number of necessary units, select the suitable conditions from the table below for the
actuator type connected to XSEL controller and sum up the numbers.
Total Number of Connected Units = Number in 1) + Number in 2) + Number in 3)
Calculation Table for Necessary Number of Regenerative Units
No. Actuator Type Quantity
0 to 100W Not required
to 600W 1 Unit
to 1200W 2 Units
to 1800W 3 Units
1)
Total capacity of
single-axis actuator motors
in horizontally oriented
installation
to 2400W 4 Units
0 to 100W Not required
to 600W 1 Unit
to 1000W 2 Units
to 1400W 3 Units
to 2000W 4 Units
2)
Total capacity of
single-axis actuator motors
in vertically oriented
installation
to 2400W 5 Units
IX-NNN1205/1505/1805 Not required
IX-NNN2515H/3515H,
IX-NNW2515H/3515H,
IX-TNN(UNN)3015H/3515H,
IX-NNC2515H/3515H
1 Unit / Per controller
IX-NNN50H/60H,
IX-NNW50H/60H,
IX-HNN(INN)50H/60H,
IX-NNC50H/60H
3 Units / Per controller
IX-NNN70H/80H,
IX-NNW70H/80H,
IX-HNN(INN)70H/80H,
IX-NNC70H/80H
IX-NNN10040/12040
4 Units / Per controller
3) SCARA Robot
IX-NSN5016H/NSN6016H 3 Units / Per controller
Installation Environment
This product is capable for use in the environment of pollution degree 2*1 or equivalent.
*1 Pollution Degree 2: Environment that may cause non-conductive pollution or transient conductive pollution
by frost (IEC60664-1).
1. 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 exceeds 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
•Environment that blocks the air vent [Refer to Heat Radiation and Installation]
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
2. Storage and Preservation Environment
•Storage and preservation environment follows the installation environment. However, the
ambient temperature should be from -20 to 70°C and the relative humidity to be 85%RH at
maximum. Especially in a long-term storage, consider to avoid condensation of surrounding air.
Unless specially specified, moisture absorbency protection is not included in the package when
the machine is delivered. In the case that the machine is to be stored and preserved in an
environment where dew condensation is anticipated, take the condensation preventive
measures from outside of the entire package, or directly after opening the package.
Installation and Noise Elimination
1. Protective Ground
For grounding, make sure to conduct grounding resistance 100Ωor less.
The wiring should apply a twist line or an annealed copper wire of 2.0 mm or more.
Apply 3.5mm2 or more for XSEL-SX4-NNN10040 and 12040.
[3-phase type]
L
N
R
S
T
1
L2
L3
L
For Motor
Driving
AC Power Supply
Input Connector
Grounding resistance
at 100Ωor less For Control
AC Power Supply Input
St rand or annealed copper wire:
Connect wit h an eart h line of
2.0m m
2
(AWGN) or more
A
pply 3.5m m
2
or more for
XSEL-SX4-NNN10040 and 12040.
[Single-phase type]
L
N
L
N
LN
For Motor
Driving
AC Power Supply
Input Connector
Grounding resistance
at 100Ωor less For Control
AC Power Supply Input
St rand or annealed copper wire:
Connect wit h an eart h line of
2.0m m2 (AW GN) or more
A
pply 3.5m m2or more for
XSEL-SX4-NNN10040 and 12040.
2. Noise Elimination Grounding (Frame Ground)
For grounding, make sure to conduct grounding resistance 100Ωor less.
Connect with twist wire or annealed copper wire with 2.0 mm2or more.
3. Precautions regarding wiring method
(1) Use a twisted cable for connection to the power supply.
(2) To reduce the interference to each other, have the I/O line, communication and encoder lines, power
and driving supply lines separate from 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.
Note 1 Install the devices (controller, extension I/O unit, regenerative unit and brake box) away from a wall
for 50mm or more.
I/O1 I/O2 I/O3 I/O4
ALM
C-ERR
PWR
PSE
24V
0V
LINK
PNL
SW
IA-NET ADRS
14 0
4C
8
RDY1 RDY2 RDY3 RDY4
3
125.3
93
109
5
180 186
φ5
195
43
17
114
4
10
6
Controller
Controller
Other Equipment
Other Equipment
Other Equipment
Do not share the ground wire with or connect to other equipment.
Ground each controller separately.
Regeneration Unit
100mm
or more
50mm
or more
50mm
or more
50mm
or more
50mm
or more
50mm
or more
150mm
or more
150mm
or more
10mm
or more
50mm or more
10mm or more
Extension I/O Unit
Brake Box
50mm
or more
50mm
or more
50mm
or more(Note 1)
50mm
or more(Note 1)
Grounding resistance at
100Ωor less
At t ach t he gr ounding
cable to the FG terminal
on the main m achine.
St r and or annealed copper wire:
Connect wit h an eart h line of
2.0mm
2
(AWGN) or more
A
pply 3.5mm
2
or more for
XSEL-SX4-NNN10040 and 12040.

Wiring Layout Diagram
[XSEL-R, RX, RXD]
Note 1 Please prepare separately.
Note 2 For an actuator equipped with a brake, supply of power +24V to the controller for the
brake operation is required.
Caution: In the case of ICSA, ICSPA (Orthogonal Robot) and SCARA robot, a number is attached
to each cable.
Connect it according to the controller connector 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.
[XSEL-S, SX, SXD]
Note 1 Please prepare separately.
Note 2 For the SCARA Robot of those except for IX-NNN1205/1505/1805 (equipped with no
brake), it is necessary to supply power to the controller for the brake operation.
Note 3 Put the dummy plug (DP-2) when a connection of the teaching tool such as PC is not
necessary.
Caution: In the case of ICSA, ICSPA (Orthogonal Robot) and SCARA robot, a number is attached
to each cable.
Connect it according to the controller connector 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.
Warning: • In the case PC is connected to XSEL-S, SX or SXD, internal components of the
controller may get burnt down if the following cable is used.
• Standard PC cable B-ST-E1MW050 (black) enclosed in PC Software IA-101-X-MW
Even though the PC software can be used, use CB-ST-A1MW050 (gray) for the cable.
Wiring for the Power/Emergency Stop Circuit and Brake Forced Release Switch
zWiring for Power Supply (to be prepared by customer)
[3-phase type]
The power consumption and heat generation of X-SEL controller may differ depending how to construct the
options. Select the circuit breaker and leakage breaker that suits to the specification. [Refer to Basic
Specifications]
Note 1 It is not required when there is no actuator with the brake.
Parts Name Model Supplier Position to Attach
TAC-20-683 COSEL
1) Noise Filter NF3020C-SVA SOSHIN ELECTRIC Co., Ltd.
2) Ring Core ESD-R-25 NEC TOKIN
Attach in range of 300mm or less
from controller
3) Clamp Filter ZCAT3035-1330 TDK
4) Clamp Filter RFC-H13 Kitagawa Industries Co., Ltd.
Attach as close as possible to
controller
5) Surge Protector R·A·V-781BXZ-4 Okaya Denki Attach at the input terminal of
noise filter
[Single-phase type]
The power consumption and heat generation of X-SEL controller may differ depending how to construct the
options. Select the circuit breaker and leakage breaker that suits to the specification. [Refer to Basic
Specifications]
Note 1 It is not required when there is no actuator with the brake.
Parts Name Model Supplier Position to Attach
1) Noise Filter NBH-20-432 COSEL
2) Ring Core ESD-R-25 NEC TOKIN
Attach in range of 300mm or less
from controller
3) Clamp Filter ZCAT3035-1330 TDK
4) Clamp Filter RFC-H13 Kitagawa Industries Co., Ltd.
Attach as close as possible to
controller
5) Surge Protector R·A·V-781BWZ-2A Okaya Denki Attach at the input terminal of
noise filter
zWiring for Emergency Stop Input
[XSEL-R, RX, RXD]
This shows of emergency
stop for two or more
machines, using the
emergency stop circuit
for the entire machine.
[XSEL-S, SX, SXD]
Note: •Do not fail to lay out (EMGin, EMG1, SDN, ENBin and ENB1) regardless of the safety
category.
•EMG2 and ENB2 are mandatory to realize Safety Category 3, and they enable the
double layout of the safety circuit.
•DET is an input to detect the operational errors (mainly at soldered contact points of
relay) in the safety circuit, and do not forget to use it if it is required to have XSEL
Controller detect the contact solder. When closing in the safety circuit side to control the
contact solder and other errors, it is possible to realize Safety Category 4 without
connecting to the controller. [Refer to the operation manual of XSEL-R/S/RX/SX/RXD/SXD]
I/O Signals
There are 32 points of input and output on PIO board or 48 points of input and output on the multi-point PIO
board in PIO (24V input and output). There are NPN type and PNP type for both, and selection can be made
to find the suitable one for the specifications.
[Refer to the instruction manual of XSEL-R/S, RX/SX or RXD/SXD for the PIO board terminal assignment.]
XSEL Mode
Display Polarity Input and Output Points Model
N1 Input 32 Points, Output 16 Points IA-103-X-32
N2 Input 16 Points, Output 32 Points IA-103-X-16
N3
NPN
Input 48 Points, Output 48 Points IA-IO-3204-NP
P1 Input 32 Points, Output 16 Points IA-103-X-32-P
P2 Input 16 Points, Output 32 Points IA-103-X-16-P
P3
PNP
Input 48 Points, Output 48 Points IA-IO-3204-PN
zPIO Input and Output Interface
Input Output
Input Voltage 24VDC±10% Load voltage 24VDC±10%
Input Current 7mA/1 Circuit I/O 100mA/1 Circuit,
400mA*1 / 8 Port
ON Min. 16VDC
ON/OFF
Voltage OFF Max. 5VDC
Load
Current Multipoint
I/O
50mA/1 Circuit,
400mA*2 / 24 Port
Specification
Insulation Type Photocoupler Insulation Insulation Type Photocoupler Insulation
NPN
PNP
*1 The total of lead current reaches max. 400mA every 8 ports from output port No. 300.
*2 The total of lead current reaches max. 400mA every 24 ports from output port No. 300.
CONTROLLER
Power Supply
3-phase or
Single-phase
AC200V
Power Supply for
Brake
(Note 1) (Note 2)
Panel Unit
(Option)
Motor Cable
Encoder Cable
24V power supply
24V power supply
Regeneration
Resistor Unit
(Note 1)
Extension I/O Unit
(Option)
Host System
PLC
(Note 1)
Teaching Pendant
(Option)
PC
(Note 1)
PC Software
(Option)
Regeneration Unit
(Option)
Flat Cable
Dummy Plug
(DP-2)
(Note 3)
Power Supply
3-phase or
Single-phase
AC200V
Safety Circuit
24V power supply
Power Supply for
Brake
(Note 1) (Note 2)
Panel Unit
(Option)
Host System
PLC
(Note 1)
Teaching Pendant
(Option)
Extension I/O Unit
(Option)
PC
(Note 1)
PC Software
(Option)
Motor Cable
Encoder Cable
24V power supply
Regeneration
Resistor Unit
(Note 1)
Drive
Cutoff
Circuit
Regeneration Unit
(Option)
Flat Cable
L
N
R
S
T
Circuit
breaker
Leakage
Breaker
Surge Protector
1) Noise
filter
A.
B.Motor
Power Supply
Control
Power Supply
3-phase 200V
+24V
0V
24V DC
Power
Supply
+24V
0V
Brake Power Input Connector
3) Clamp Filter
2) Ring core
PIO Board
(option)
AC Power Supply
Input Connector
4) Clamp
Filter
XSEL Controller
Class D grounding
(Formerly Class-III grounding)
24V DC
Power
Supply
PWR BK
(Note1)
L
N
L
N
A.
B.
Single-phase
200V
+24V
0V
+24V
0V
Circuit
breaker
Leakage
Breaker 1) Noise
filter
3) Clamp Filter
2) Ring core
Motor
Power Supply
Control
Power Supply
Brake Power Input Connector
(option)
AC Power Supply
Input Connector
XSEL Controller
4) Clamp
Filter
Class D grounding
(Formerly Class-III grounding)
24V DC
Power
Supply
Surge Protector
PWR BK
24V DC
Power
Supply
(Note1)
PIO Board
CR1
CR1
0VDC24V
CR2
ENB TBX1
CR6
CR5
CR5
CR6
ENB VCC1 EMG IN1 EMG OUT1
+24V
+24V
+24V
+24V
AUTO:
High
ENBin (IN)
ENBin
ENB1 (line+)
ENB1 (line-)
17
16
18
15
14
13
12
11
10
X
X
X
RDY (Out+)
RDY (Out-)
EMGin (IN)
EMGin
EMG1 (line+)
EMG1 (line-)
X
X
X
SDN (Out+)
SDN (Out-)
RDYOUT
CR3
CR3
CR3 CR4
CR4
CR2
CR1
8
7
9
6
5
4
3
2
1
ENBin (IN)
ENBin
ENB1 (line+)
ENB1 (line-)
17
16
18
15
14
13
12
11
10
X
X
X
RDY (Out+)
RDY (Out-)
EMGin (IN)
EMGin
EMG1 (line+)
EMG1 (line-)
X
X
X
SDN (Out+)
SDN (Out-)
CR2
CR1
8
7
9
6
5
4
3
2
1
(10mA or more)
AUTO/MANU
Mode
(At the Time of
Connection)
RDY Output
DC30V 0.2A or less
Motor Driving Power Supply
(120mA or more)
TeachingPendant
Connection Detection Circuit
External EMG
Reset Switch
External
EMG
Circuit
Safety Gate
Safety Gate
This is turned ON
when the safety gate
safety door is closed.
Emergency Sop
XSEL Controller
Nth unit
Deadman Switch
Teaching Pendant
System I/O
Connector
(10mA or more)
(120mA or more)
SDN Output
DC30V 0.2A or less
SDN Output
DC30V 0.2A or less
Emergency Stop Release
XSEL Controller
RDY Output
DC30V 0.2A or less
3.3kΩ
CR1
CR1
CR2
CR5
CR5
ENB TBX1 ENBVCC1
ENB
TBX2 ENB
VCC2
EMG
IN2 EMG
OUT2
EMG IN1 EMG OUT1
+24V
+24V
ENBin (IN)
ENBin
DET (+24V)
ENB1 (line+)
ENB1 (line-)
17
16
18
15
14
13
12
11
10
RDY (Out+)
RDY (Out-)
ENB2 (line+)
ENB2 (line-)
EMGin (IN)
EMGin
DET (IN)
EMG1 (line+)
EMG1 (line-)
SDN (Out+)
SDN (Out-)
EMG2 (line+)
EMG2 (line-)
RDYOUT
CR3
CR3
CR6
CR6
CR1
CR2
CR1
8
7
9
6
5
4
3
2
1
ENBin (IN)
ENBin
DET (+24V)
ENB1 (line+)
ENB1 (line-)
RDY (Out+)
RDY (Out-)
ENB2 (line+)
ENB2 (line-)
EMGin (IN)
EMGin
DET (IN)
EMG1 (line+)
EMG1 (line-)
SDN (Out+)
SDN (Out-)
EMG2 (line+)
EMG2 (line-)
CR8
CR8
CR1
17
16
18
15
14
13
12
11
10
CR2
CR1
8
7
9
6
5
4
3
2
1
DC24V 0V
External
EMG
Reset Switch
External
EMG
Circuit
Safety Gate
Nth unit
Contact Solder
Detection
(120mA or more)
(10mA or more)
RDY Output
DC30V 0.2A
Drive Cutoff Relay
Emergency Stop Release
Teaching Pendant
Safety Gate
This is turned ON
when the safety gate
safety door is closed.
Emergency Stop Switch
Deadman Switch
XSEL Controller
System I/O
Connector
Drive Cutoff Relay
XSEL Controller
(120mA or more)
(10mA or more)
RDY Output
DC30V 0.2A or less
RDY Output
DC30V 0.2A
RDY Output
DC30V 0.2A

zFor PIO Board (N1, N2, P1 and P2)
Supply 24V to Terminal 1 and 0V to Terminal 50.
Accessory I/O Cable (Model: CB-X-PIO  indicates the cable length. Example 020=2m)
Flat cable : KFX-50(S) (Color) (Supplier: Kaneko Cord)
Socket (with strain relief) : XG4M-5030-T (Supplier: OMRON)
No. Color No. Color No. Color No. Color No. Color
1 Brown-1 11 Brown-2 21 Brown-3 31 Brown-4 41 Brown-5
2 Red-1 12 Red-2 22 Red-3 32 Red-4 42 Red-5
3 Orange -1 13 Orange -2 23 Orange -3 33 Orange -4 43 Orange -5
4 Yellow-1 14 Yellow-2 24 Yellow-3 34 Yellow-4 44 Yellow-5
5 Green-1 15 Green-2 25 Green-3 35 Green-4 45 Green-5
6 Blue-1 16 Blue-2 26 Blue-3 36 Blue-4 46 Blue-5
7 Purple-1 17 Purple-2 27 Purple-3 37 Purple-4 47 Purple-5
8 Gray-1 18 Gray-2 28 Gray-3 38 Gray-4 48 Gra y-5
9 White-1 19 White-2 29 White-3 39 W hite-4 49 White-5
10 Black-1 20 Black-2 30 Black-3 40 Black-4 50 Black-5
zMultipoint PIO Board (N3 and P3)
The power supply line on IN000 to 023/OUT300
to 323 side and the power supply line on IN024 to
047/OUT324 to 347 side are insulated. Connect
an external power source to each power terminal.
Accessory I/O Cable
(Model: CB-X-PION  indicates the
cable length. Example 020=2m)
Flat cable: (50 conductors) UL2651 AWG28×2
Socket: HIF6-100D-1.27R (Supplier: Hirose)
Cable 1 Cable 2
No. Color No. Color No. Color No. Color No. Color No. Color No. Color No. Color No. Color No. Color
1 Brown-1 11 Brown-2 21 Brown-3 31 Brown-4 41 Brown-5 51 Brown-1 61 Brown-2 71 Brown-3 81 Brown-4 91 Brown-5
2 Red-1 12 Red-2 22 Red-3 32 Red-4 42 Red-5 52 Red-1 62 Red-2 72 Red-3 82 Red-4 92 Red-5
3 Orange -1 13 Orange -2 23 Orange -3 33 Orange -4 43 Orange -5 53 Orange -1 63 Orange -2 73 Orange -3 83 Orange -4 93 Orange -5
4 Ye ll o w - 1 1 4 Yel l o w- 2 2 4 Ye l l o w- 3 3 4 Yel l o w - 4 4 4 Yel l o w - 5 5 4 Ye l l o w- 1 6 4 Yel l o w- 2 7 4 Ye ll o w - 3 8 4 Ye ll o w 4 9 4 Ye l l o w - 5
5 Green-1 15 Green-2 25 Green-3 35 Green-4 45 Green-5 55 Green-1 65 Green-2 75 Green-3 85 Green-4 95 Green-5
6 Blue-1 16 Blue-2 26 Blue-3 36 Blue-4 46 Blue-5 56 Blue-1 66 Blue-2 76 Blue-3 86 Blue-4 96 Blue-5
7 Purple-1 17 Purple-2 27 Purple-3 37 Purple-4 47 Purple-5 57 Purple-1 67 Purple-2 77 Purple-3 87 Purple-4 97 Purple-5
8 Gray-1 18 Gray-2 28 Gray-3 38 Gray-4 48 Gray-5 58 Gray-1 68 Gray-2 78 Gray-3 88 Gray-4 98 Gray-5
9 White-1 19 White-2 29 W hite-3 39 White-4 49 White-5 59 W hite-1 69 White-2 79 White- 3 89 White-4 99 W hite-5
10 Black-1 20 Black-2 30 Black-3 40 Black-4 50 Black-5 60 Black-1 70 Black-2 80 Black-3 90 Black-4 100 Black-5
Starting Procedures
When using this product for the first time, make sure to avoid omission and incorrect wiring by referring to
the procedure below. “PC” stated in this section means “PC software” .
Note: • Make sure to put the brake release switch of the controller on the right side (NOM) before
turning ON the power. If on the left (RLS), the actuator may drop with its weight and pinch
yourself or damage the work piece.
•Make sure to connect the robot with the manufacturing number indicated on the
controller.
Connecting a robot not indicated may cause a wrong operation.
Set-up for operation is complete.
Establish the setting that suits to your operation patterns.
zTroubleshooting
Shown below are the alarms that you may often see after power up. Please follow the instructions below.
Please refer to the Operation Manual for other alarms.
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. Please establish the connection.
•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.)
•This occurs when AUTO/MANU switch is on MANU side for
XSEL-R/RX/RXD Controller but PC or 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 100V AC is supplied to the controller with 200V
AC 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 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 "0 ".
FieldBus Error It is generated when the fieldbus 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. 18 or No. 235 corresponding to "0 ".
RC Gateway Serious
Breakdown Error
When the RC gateway is used and an error occurs in the controller mount SIO
(serial communication), it is caused.
The following causes are supposed.
•All effective RC axes are missing (not recognized).
→A cable disconnection or wire breaking is supposed. 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
mount SIO.
→Check the parameters for the X-SEL or RC controller.
•A serious error such as a CPU error is caused in the mount SIO.
→It is caused by the hardware breakdown. Consult with our company.
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: 1261 Hamilton Parkway, Itasca, IL 60143
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 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL [phone] FAX [phone]
No →
No→
Important Check Item
•Have you performed the installation and the connection of the frame ground
and protective ground (PE)?
•Has the noise countermeasure been taken?
↓Yes
No →
↓
→
Power Supply and Alarm Check
Connect the personal computer or teaching pendant,
connect the power.
Is I/O 24V power is supplied for PIO
Type?
Is the power is turned on with the
fieldbus connected for Fieldbus Type?
Turn ON the servo.
Turn on the servo from the PC or teaching
pendant.
Check Item
Check that SV is ON in Position
Edit Window on PC software or
teaching pendant.
If an alarm is generated, operate the PC or teaching tool to
check the details of the alarm contents and have the
appropriate treatment.
→
←Yes
↓
↓Yes
Check Item
Is the status display showing
[] ?
Set parameters.
Set I/O parameters, etc., from the PC or
teaching pendant.
Check the emergency stop circuit.
Product Check
Have all the items been delivered?
Is the motor cable connected? No→
↓Yes
↓Yes
No→
Confirming the operation of the actuator
Confirm that the full stroke operation is performed without any trouble
with the jog operation.
↓Yes
Check of Safety Circuit
Does the emergency stop circuit (drive cutoff circuit) work
properly and turn the servo OFF?
•To ensure safety, it is recommended that safety
speed be enabled during initial movements.
•When the actuator is installed vertically , be
careful so you would not pinch your hand or
damage the robot hand with the actuator
dropped by its own weight when the brake
release switch is put on [RLS] side.
Installation and Wiring
Install the controller and robot and perform installation and
wiring according to the contents in this book.
Contact your local IAI distributor.
Connect the motor cable.
Socket : HIF6-100D-1.27R (Hirose)
Cable 1 (1 to 50 Pin)
Cable 2 (51 to 100 Pin)
No Connecto
r
Flat Cable (50 conductors) UL2651 AWG28×2
The actuator may drop slightly by its own weight as a
result of turning on/off repeatedly if it is installed
vertically. Be careful so you would not pinch your hand
or dama
g
e the robot hand.
For PIO Type, supply I/O 24V power.
For Fieldbus Type, get the fieldbus connected.
[Reference] Set I/O Parameters No. 10 to 11 to 0 (Not to Monitor Errors) if starting up the system
without connecting I/O 24V power supply for PIO Type. Set either of I/O Parameter
No. 18 or 235 to 0 (Not to Monitor Errors) if starting up the system without connecting
Fieldbus for Fieldbus Type.
↓Yes
If an alarm is generated, operate the PC or
teaching tool to check the details of the alarm
contents and have the appropriate treatment.
↓No
Manual No.: ME0312-7A