IAI XSEL-RA User manual
XSEL-RA/SA, RAX/SAX, RAXD/SAXD
First Step Guide Fifth 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.)
No. Part Name Remarks Quantity
RA/RAX/RAXD SA/SAX/SAXD
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 FMC1.5/10-ST-3.5
(Manufacturer: Phoenix Contact) 2 2
3 AC Power Supply plug GMSTB2.5/6-STF-7.62
(Manufacturer: Phoenix Contact) 1 1
PC4/6-STF-7.62 for XSEL-SAX4-NNN10040 and 12040
(Manufacturer: Phoenix Contact) - 1
4 Brake Power Input Plug FMC1.5/2-ST-3.5-RF
(Manufacturer: Phoenix Contact)
1 1
5 Dummy plug DP-2
1 1
6 Absolute Battery (Note 1) AB-5
Number of Absolute
Type Actuators to be
Connected (except for
SCARA type ones)
Number of Absolute
Type Actuators to be
Connected (except for
SCARA type ones)
7 For DeviceNet Type SMSTB2.5/5-STF-5.08 AU
(Manufacturer: Phoenix Contact) 1 1
8 For CC-Link Type SMSTB2.5/5-STF-5.08 AU
(Manufacturer: Phoenix Contact)
(
Terminal
r
esistance 110, 130Ω one unit each
)
1 1
9 First Step Guide ME0365 1 1
10 Operation Manual (DVD) 1 1
11 Safety Guide M0194 1 1
(Note 1) Attach the absolute battery following Step 4) in 4.2.2 Replace Absolute Battery in Instruction Manual.
2. Teaching tool (Optional accessory)
The PC software or teaching pendant is necessary to perform setup operations such as position and
parameter settings through teaching or other means. Use either of them.
No. Part Name Model Applicable Controller
R
A
/R
A
X/R
A
XD S
A
/
SAX/S
A
XD
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
(
Safet
y
Cate
g
ories 4 Compliance Cable + Emer
g
enc
y
Stop Box
)
IA-101-XA-MW { {
4 Touch Panel Teachin
g
Pendant
(
Standa
r
d / with Deadman Switch
)
TB-01/01D/01DR
{ {
5 Touch Panel Teachin
g
Pendant
(
Standa
r
d / with Deadman Switch
)
TB-02/02D
{ {
6 Touch Panel Teachin
g
Pendan
t
TB-03
{ {
3. Instruction manuals related to this product, which are contained in the instruction manual (DVD).
No. Name Manual No.
1 SEL Language Programming Manual ME0224
2 PC Software IA-101-X-MW/ IA-101-X-USBMW RC Gateway Function Instruction Manual
ME0154
3
Touch Panel Teaching Pendant TB-01/01D/01DR Applicable for Program Controller Instruction Manual
ME0325
4
Touch Panel Teaching Pendant TB-02/02D Applicable for Program Controller Instruction Manual
ME0356
5
Touch Panel Teaching Pendant TB-03 Applicable for Program Controller Instruction Manual
ME0377
6 DeviceNet Instruction Manual ME0124
7 CC-Link Instruction Manual ME0123
8 PROFIBUS Instruction Manual ME0153
9 EtherNet Instruction Manual ME0140
10 EtherCAT Instruction Manual ME0309
11 EtherNet/IP Instruction Manual ME0308
12 Extension Motion Control Instruction Manual ME6364
4. How to read the model plate
5. How to read the model
5.1 Controller for Single-Axis Robots and Orthogonal Robots
*1
Safety categories compliance type: 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, RCS2-SRA7BD/SRGS7BD/SRGD7BD, RCS-RB75 series, RCS-G20, RCS-R* or the linear
motor actuator (LSA), incremental of NS-SXM□/SZM□, RCS2-□□5N, is not connected.
●High-speed type (RCS3-CTZ5C, RCS3-CT8C) actuators are available for connection only with 3-phase type.
The maximum number of connectable axes is three when only RCS3-CT8C is connected.
5.2 SCARA Robot + Controller for Single-Axis Robots and Orthogonal Robots (4 axes Max.)
*1 Safety categories compliance type: 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, RCS2-SRA7BD/SRGS7BD/SRGD7BD, RCS-RB75 series, RCS-G20, RCS-R* or the
linear motor actuator (LSA), incremental of NS-SXM□/SZM□, RCS2-□□5N, is not connected.
[Restrictions on Connected Axes to XSEL-RAX/SAX]
SCARA Model Total Wattage and Number of Connectable Axes
IX-NNN1205/1505/1805
1500W in total or less 4 axes at max. 750W max. for 1 axis
IX-N2515H/3015H/3515H
1500W in total or less 4 axes at max. 750W max. for 1 axis
IX-N5020H/6020H
600W in total or less 4 axes at max. 600W max. for 1 axis
IX-N70H/80H Unavailable
IX-NSN5016H/6016H Unavailable
IX-NNN10040/12040 Unavailable
IX
A
-NNN1805
1500W in total or less 4 axes at max. 750W max. for 1 axis
IX
A
-3NNN3015/3NNN45/3NNN60
700W in total or less 4 axes at max. 700W max. for 1 axis
IX
A
-4NNN3015/4NNN45
600W in total or less 4 axes at max. 600W max. for 1 axis
IX
A
-4NNN60
600W in total or less 3 axes at max. 600W max. for 1 axis
IX
A
-3NSN3015/3NSN45/3NSN60
IX
A
-4NSN3015/4NSN45/4NSN60 Unavailable
IX
A
-4NSW3015/4NSW45/4NSW60 Unavailable
5.3 Controller for SCARA Robot 2-Unit Connection Dedicated
*1 Safety categories compliance type: In this type, the safety circuit can be configured with the motor driving power source separated.
[Limitations in SCARA Robot Combination in XSEL-RAXD/SAXD]
(1) 3-phase type
First Unit Second Unit
IX-NNN1205/1505/1805
IX-N2515H/3015H/3515H
IX-NNN1205/1505/1805
IX-N2515H/3015H/3515H
IX-N5020H/6020H IX-NNN1205/1505/1805
Basic Specifications
Specifications
Specification Item XSEL-RA/RAX/RAXD XSEL-SA/SAX/SAXD
Number of controlled axes
XSEL-RA/SA : 1-axis to 4-axis (4-axis specification),
1-axis to 8-axis (8-axis specification)
XSEL-RAX/SAX : SCARA Robot 1-axis to 4-axis,
Additional 5-axis to 8-axis (8-axis specification)
XSEL-RAXD/SAXD : 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
Sin
g
le-phase t
y
pe controlle
r
: 1600W
(
RA/SA t
y
pe onl
y)
Control Power supply voltage Single-phase 200 to 230V AC ±10%
Motor Driving Source Voltage 3-phase 200 to 230V AC ±10% / Single-phase 200 to 230V AC ±10%
Power Supply Frequency 50Hz/60Hz
Rush Current
(Note 1)
Control power supply 60A
Motor drive
power
supply
Less than
1200W 60A (MAX.)
1200W or
more 120A (MAX.)
Leakage
Current(Note 2)
(Excluding Higher
Harmonic Content)
Control power supply 0.4mA 0.2mA
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) 24V DC ±10% (Supplied from external equipment)
Electromagnetic Brake Power Supply
(For the actuator with the brake)
24V DC ±10% Per 1 actuator approx. 0.4A
(
Supplied from external equipment
)
Transient Power Cutoff Durability 10ms (when power source frequency 50Hz is used), 8ms (when power source
frequenc
y
60Hz is used
)
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 cover of the Instruction
M
anual or on the
F
irst
S
tep Guide.
Field Network Type
(DeviceNet, CC-Link, PROFIBUS-DP,
EtherCAT, EtherNet/IP)
■ Those with UL/cUL mark in the name plate are
complied with UL/cUL standards. Refer to the
instruction manual for detail.
Model
Serial
number
UL/cUL Marking
5A
XSEL
－
RAX8
－
NNN5020H
－
400A
－
200A
－
100AB
－
60A
－
EPEIA
－
DGN1
－
2
－
3
(Axis 5) (Axis 6) (Axis 7) (Axis 8)
Model table
Series
Controller
type
SCARA Robot Model
Details of axis 5 to axis 8
(Note 1)
Network Slot I/O slots I/O Flat
cable
length
Power
supply
voltage
Motor
watt age
Encoder
type
Brake Creep
High
acceleration/
deceleration
Home
sensor
(LS)
Synchronization
designation Slot 2 Slot
3
Slot 1 Slot 2
X
SEL
RAX4
(1unit of SCARA)
RAX5
(1unit of SCARA +
single axis 1-axis)
RAX6
(1unit of SCARA +
single axis 2-axis)
RAX7
(1unit of SCARA +
single axis 3-axis)
RAX8
(1unit of SCARA +
single axis 4-axis)
SAX4
*1
(1unit of SCARA
safety categories
compliance type)
SAX5
*1
(1unit of SCARA +
single axis 1-axis
safety categories
compliance type)
SAX6
*1
(1unit of SCARA +
single axis 2-axis
safety categories
compliance type)
SAX7
*1
(1unit of SCARA +
single axis 3-axis
safety categories
compliance type)
SAX8
*1
(1unit of SCARA +
single axis 4-axis
safety categories
compliance type)
NNN1205 to 8040H
NNN10040 to 12040
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
type)
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)
300S
(300W for
linear)
400
(400W)
600
(600W)
750
(750W)
WAI
(Battery-
less
absolute/
incremental)
A
(Absolute)
G
(Spurious
absolute)
AI
(Index
absolute)
AM
(Multiple-
rotation
absolute)
Not
Specifi
ed
(w/o
brake)
B
(with
brake)
Not
Specifi
ed
(w/o
creep)
C
(with
creep)
Not
Specified
(
w/o
Acceleration/
deceleration
)
HA
(
Acceleration/
deceleration
type
)
Not
Specified
(w/o
home
sensor)
L
(with
home
sensor)
Not Specified
(No
synchronization)
M
(Master-axis
designation)
S
(Slave-axis
designation)
E
Not for use
EP
EtherN et/IP
Input256/
Output256
EC
EtherCAT
Input256/
Output256
E
Not for use
DV
DeviceNet
Input256/
Output256
CC
CC-Link
Input256/
Output256
PR
ProfiBus
Input256/
Output256
E
(Not for use)
N1
Extension PIO
Input32/
Output16
NPN board
N2
Extension PIO
Input16/
Output32
NPN board
N3
Extension PIO
Input48/
Output48
NPN board
P1
Extension PIO
Input32/
Output16
PNP board
P2
Extension PIO
Input16/
Output32
PNP board
P3
Extension PIO
Input48/
Output48
PNP board
E
(Not for use)
N1
Extension PIO
Input32/
Output16
NPN board
N2
Extension PIO
Input16/
Output32
NPN board
N3
Extension PIO
Input48/
Output48
NPN board
P1
Extension PIO
Input32/
Output16
PNP board
P2
Extension PIO
Input16/
Output32
PNP board
P3
Extension PIO
Input48/
Output48
PNP board
2: 2m
(Standard)
3: 3m
5: 5m
0: None
3:
3-phase
200V
[
Detailsofaxis5toaxis8
(Note 1)
\
Network slot
]
I/O slots
X
Series
Y
Controller
type
Z
SCARA robot
model Motor
wattage
Encoder
type Brake Creep
High
acceleration/
deceleration
Home
sensor
(LS)
Synchronization
designation Slot 1 Slot 2 Slot 1 Slot 2
^
I/O Flat
cable
length
_
Power
supply
voltage
XSEL
RAX3
(1unit of 3-axis type SCARA)
RAX4
(1unit of 4-axis type SCARA,
1unit of 3-axis type SCARA +
single axis 1-axis)
RAX5
(1unit of 4-axis type SCARA +
single axis 1-axis, 1unit of 3-axis
type SCARA + single axis 2-axis)
RAX6
(1unit of 4-axis type SCARA +
single axis 2-axis, 1unit of 3-axis
type SCARA + single axis 3-axis)
RAX7
(1unit of 4-axis type SCARA +
single axis 3-axis, 1unit of 3-axis
type SCARA + single axis 4-axis)
RAX8
(1unit of 4-axis type SCARA +
single axis 4-axis)
SAX3
*1
(1unit of 3-axis type SCARA
safety categories compliance type
)
SAX4
*1
(1unit of 4-axis type SCARA,
1unit of 3-axis type SCARA +
single axis 1-axis
safety categories compliance type
)
SAX5
*1
(1unit of 4-axis type SCARA +
single axis 1-axis, 1unit of 3-axis
type SCARA + single axis 2-axis
safety categories compliance type
)
SAX6
*1
(1unit of 4-axis type SCARA +
single axis 2-axis, 1unit of 3-axis
type SCARA + single axis 3-axis
safety categories compliance type
)
SAX7
*1
(1unit of 4-axis type SCARA +
single axis 3-axis, 1unit of 3-axis
type SCARA + single axis 4-axis
safety categories compliance type
)
SAX8
*1
(1unit of 4-axis type SCARA +
single axis 4-axis
safety categories compliance type
)
3NNN3015
4NNN3015
3NNN1805
4NNN1805
3NNN4518
4NNN4518
3NNN4533
4NNN4533
3NNN6018
4NNN6018
3NNN6033
4NNN6033
(Standard type)
3NSN3015
4NSN3015
3NSN4518
4NSN4518
3NSN4533
4NSN4533
3NSN6018
4NSN6018
3NSN6033
4NSN6033
(High-speed type)
4NSW3015
4NSW4518
4NSW4533
4NSW6018
4NSW6033
(High-speed type,
Dust-proof/splash-proof
specification)
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)
WAI
(Battery-
less
absolute/
incremental)
A
(Absolute)
G
(Spurious
absolute)
AI
(Index
absolute)
AM
(Multiple-
rotation
absolute)
Not
Specified
(w/o
brake)
B
(with
brake)
Not
Specified
(w/o
creep)
C
(with
creep)
Not
Specified
(w/o
Acceleration/
deceleration)
HA
(Acceleration/
deceleration
type)
Not
Specified
(w/o
home
sensor)
L
(with
home
sensor)
Not Specified
(No
synchronzation)
M
(Master-axis
designation)
S
(Slave-axis
designation)
E
Not for use
EP
EtherNet/IP
Input 256/
Output 25 6
EC
EtherCAT
Input 256/
Output 25 6
E
Not for use
DV
DeviceNet
Input256/
Output256
CC
CC-Link
Input256/
Output256
PR
ProfiBus
Input256/
Output256
E
(Not for
use)
N1
Extension
PIO
Input32/
Output16
NPN board
N2
Extension
PIO
Input16/
Output32
NPN board
N3
Extension
PIO
Input48/
Output48
NPN board
P1
Extension
PIO
Input32/
Output16
PNP board
P2
Extension
PIO
Input16/
Output32
PNP board
P3
Extension
PIO
Input48/
Output48
PNP board
E
(Not for
use)
N1
Extension
PIO
Input32/
Output16
NPN board
N2
Extension
PIO
Input16/
Output32
NPN board
N3
Extension
PIO
Input48/
Output48
NPN board
P1
Extension
PIO
Input32/
Output16
PNP board
P2
Extension
PIO
Input16/
Output32
PNP board
P3
Extension
PIO
Input48/
Output48
PNP board
2: 2m
(Standard)
3: 3m
5: 5m
0: None
3: 3-phase
200V
XSEL
－
RAX
Ｄ
8
－
NNN5020H
－
NNN5020H
－
EPEIA
－
DGN1
－
2
－
3
X Y Z [ \ ] ^ _
Model table
X
Series
Y
Controller
type
Z
SCARA Robot Model
1
[
SCARA Robot Model 2
\
Network Slot
]
I/O slots ^
I/O Flat
cable length
_
Power supply
voltage
Slot 1 Slot 2
Slot 1 Slot 2
XSEL
RAXD8
(
For
connection of
2 units of
SCARA)
SAXD8*1
(For
connection of
2 units of
SCARA
safety
categories
compliance
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
type)
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
type)
HNN5020H to 6020H
(Ceiling-mount type)
INN5020H to 6020H
(Inverse type)
E
Not for use
EP
EtherNet/IP
Input256/
Output256
EC
EtherCAT
Input256/
Output256
E
Not for use
DV
DeviceNet
Input256/
Output256
CC
CC-Link
Input256/
Output256
PR
ProfiBus
Input256/
Output256
E
(Not for use)
E
(Not for use)
2: 2m
(Standard)
3: 3m
5: 5m
0: None
3: 3-phase
200V
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
－
RA
－
8
－
400A
－
200A
－
100AB
－
60A
－
400A
－
200A
－
100AB
－
60A
－
EPEIA
－
DGN1
－
2
－
3
(Axis 1) (Axis 2) (Axis 3) (Axis 4) (Axis 5) (Axis 6) (Axis 7) (Axis 8)
Model table
Series
Contro ller
type
Number
of a xes
Detailsofaxis1toaxis 8
(Note 1),
Network Slot I/O slots I/O flat
cable
length
Power
supply
voltage
Motor
wattage
Encoder
type Brake Creep
High
acceleration/
deceleration
Home
sensor
(LS)
Synchronization
designation Slot 1 Slot 2 Slot 1 Slot 2
XSEL
RA
(Standard
type)
SA
*1
(Safety
categories
compliance
type)
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
for
linear)
150
(150W)
200
(200W)
200S
(200W
for
linear)
300
(300W)
400
(400W)
600
(600W)
750
(750W)
WAI
(Battery-
less
absolute/
incremental)
A
(Absolute)
G
(Spurious
absolute)
AI
(Index
absolute)
AM
(Multiple-
rotation
absolute)
Not
specified
(w/o
brake)
B
(with
brake)
Not
specified
(w/o
creep)
C
(with
creep)
Not specified
(w/o
Acceleration/
deceleration)
HA
(Acceleration
/
deceleration
type)
Not
specified
(w/o home
sensor)
L
(with
home
sensor)
Not specified
(No
synchronization)
M
(Master-axis
designation)
S
(Slave-axis
designation)
E
Not for use
EP
EtherNet/IP
Input256/
Output256
EC
EtherCAT
Input256/
Output256
E
Not for u se
DV
DeviceNet
Input256/
Output256
CC
CC-Link
Input256/
Output256
PR
ProfiBus
Input256/
Output256
E
(Not for
use)
E
(Not for use)
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
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/utput48
PNP board
P3
Extension PIO
Input48/
Output48
PNP board
Specification Item XSEL-RA/RAX/RAXD XSEL-SA/SAX/SAXD
Motor Control System AC full-digital servo
Applicable Encoder
Battery-less absolute 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
Serial
Communication
Interface
Teachin
g
por
t
Connector dedicated for teachin
g
tool Connecto
r
: D-sub 25 pin
USB port Applicable for USB2.0
Connecto
r
: Mini-B
EtherNet 10/100/1000BASE-T
Connecto
r
: RJ-45
RS232C
Port 1
RS232C: 1CH
Baud rate: Max. 230.4kbps Connector: D-sub 9 pin
Cable len
g
th: Max.10m
External
Interface
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 of the controller]
Field Network Type
DeviceNet, CC-Link, PROFIBUS-DP, EtherNet/IP, EtherCAT
(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]
Data Setting and Input PC software,
touch panel teachin
g
pendant TB-01/01D/01DR, TB-02/02D o
r
TB-03
Program Specification SEL language
Max. Number of Program Steps 20000 steps
Max. Number of Positions
1-axis t
y
pe : 60000 position 5-axis t
y
pe : 33333 position
2-axis t
y
pe : 50000 position 6-axis t
y
pe : 30000 position
3-axis t
y
pe : 42867 position 7-axis t
y
pe : 27272 position
4-axis t
y
pe : 37500 position 8-axis t
y
pe : 25000 position
Max. Number of Programs 255 programs
Max. Number of Multitask Programs 16 programs
Data Retention Memory Flash ROM + FRAM
Extension Motion Control Master Feature ROBO Cylinder Controllers of MECHATROLINK-Ⅲ type max. 32 axes
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
System I/O Emergency stop input, safety gate input, system ready output and other safety
circuit inputs and outputs, and MANU/AUTO external chan
g
eove
r
Safety Circuit
Configuration
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
)
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 Batter
y
AB-5
(
Enclosed in Product
)
Mounted inside robot for SCARA Robot.
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
Environment
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
Pollution Degree Pollution Degree 2
External Dimensions [Refer to the External dimensions Dimension]
Mass
Four-axis
type frame
Without absolute
batter
y
uni
t
Approx. 4.4kg 3-phase type: Approx. 3.8kg Single-phase type: Approx. 4.4kg
With the absolute
batter
y
uni
t
Approx. 5.0kg 3-phase type: Approx. 4.4kg Single-phase type: Approx. 5.0kg
XSEL-SAX4-NNN10040/12040: Approx. 5.3k
g
Eight-axis
type frame
Without absolute
batter
y
uni
t
Approx. 5.3kg 3-phase type: Approx. 4.7kg Single-phase type: Approx. 5.3kg
With the absolute
batter
y
uni
t
Approx. 6.0kg 3-phase type: Approx. 5.4kg Single-phase type: Approx. 6.0kg
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.
[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]
Wattage of
Actuator Motor [W]
Motor Power
Capacity [VA]
Output loss = Heat
Generation [W]
20 26 1.58 100 (Linear Actuator
LSAS-N10SS) 379 4.48
30 46 2.07
60 138 3.39 200 (Linear Actuator
LSAS-N15SS) 486 4.37
100 234 6.12
150 328 8.30 200 (Linear Actuator
LSAS-N15HS) 773 6.42
200 421 9.12
400 796 19.76 DD/DDA (200W) 503 7.5
600 1164 27.20 DD/DDA (600W) 1462 20.8
750 1521 29.77 RCS3-CTZ5C (60W) (Note 1) 197 3.6
RCS3-CT8C (400W) (Note 1) 1230 18.0
Note 1 Assume 120W for RCS3-CTZ5C and 800W for RCS3-CT8C when performing calculation for those such as the power capacity.
Table: 2 Motor Volt Amperage of SCARA Robot and Output Loss Note 1 Calculated with 0.6 for power factor
SCARA Robot Wattage [W]
(Rated output)
Motor Power Capacity
[VA] (Note 1)
Output loss =
Heat Generation [W]
IX-NN1205/1505/1805 129.8 216.3 8.13
IX-NN2515H/3515H, IX-TNN(UNN)3015H/3515H 1117.9 1863.1 44.8
IX-NN50H/60H, IX-HNN(INN)5020H/6020H 2218.0 3696.7 69.7
IX-NN70H/80H, IX-HNN(INN)7020H/8020H 3880.6 6467.7 93.2
IX-NSN5016H/6016H 4102.9 6338.1 95.2
IX-NNN10040/12040 6412.6 10687.7 131.6
IXA-3NNN1805 319.4 532.3 10.7
IXA-3NNN3015 1330.4 2217.3 34.0
IXA-3NNN45 1178.8 1964.7 33.3
IXA-3NNN60 1469.1 2448.5 43.6
IXA-4NNN1805 356.0 593.4 14.3
IXA-4NNN3015 1582.3 2637.1 40.3
IXA-4NNN45 1370.6 2284.3 38.6
IXA-4NNN60 1660.9 2768.1 48.9
IXA-3NSN3015 2343.0 3905.1 54.0
IXA-3NSN45 2533.6 4222.7 55.3
IXA-3NSN60 2413.5 4022.6 56.3
IXA-4NSN3015 2594.9 4324.8 60.4
IXA-4NSN45 2725.4 4542.3 60.5
IXA-4NSN60 2605.3 4342.2 61.6
IXA-4NSW3015 2555.5 4259.1 61.6
IXA-4NSW45 2399.3 3998.9 60.5
IXA-4NSW60 2496.2 4160.3 61.6
Table: 3 Motor Driving Power and Output Loss
Control power supply External Power Source
(24VDC)
Quantity
Internal
Consumption
[VA]
External
Consumption
[VA]
Internal
Consumption
[VA]
External
Consumption
[VA]
Base Unit 46.64 1
Driver Per Board 6.26
[Refer to Table 4]
Encoder
Section Per axis 2.38 3.57
Fan Unit Per fan 5.71
Axis Sensor Per axis 4.57
I/O Board DIO (48 points) N1, N2
P1, P2 5.95 14.52 0 to 2 Number of PCBs
on I/O slot 1 and
2
DIO (96 points) N3, P3 8.33 26.81 0 to 2
Network
Module
DeviceNet DV 1.98 3.43 0 to 1 Number of PCBs
on Field Network
Board 1
CC-Link CC 5.67 0 to 1
PROFIBUS-DP PR 1.98 0 to 1
EtherNET/IP EP 1.98 0 to 1 Number of PCBs
on Field Network
Board 2
EtherCAT EC 3.93 0 to 1
Teaching
pendant TB-01, TB-02, TB-03 8.57 0 to 1
Brake Per axis 0.12 2.5 7.5 Total number of brake-
equipped actuators 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
Fou
r
-axis t
y
pe frame Ei
g
ht-axis t
y
pe frame
XSEL-RA/RAX : 5 units
XSEL-SA/SAX (three phase type) : 4 units
XSEL-SA (single phase type) : 5 units
XSEL-RA/RAX/RAXD : 6 units
XSEL-SA/SAX/SAXD (three phase type) : 5 units
XSEL-SA (single phase type) : 6 units
XSEL-SAX4-NNN10040
/
12040 : 6 units
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.)
•
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
Four-axis Type Frame Eight-axis Type Frame
RA
(Single-phase/
3-phase type)
290
304
180
186
195
2512012025
5
3-φ5
358
372
180
186
195
5912012059
5
3-φ5
SA
(Single-phase type)
RAX/RAXD
(3-phase type)
SA/SAX/SAXD
(3-phase type)
247
261
180
186
195
48.5757548.5
5
3-φ5
315
329
180
186
195
57.510010057.5
5
3-φ5
Side View
125.3
(80)
3
125.3
(80)
3
* There is only the eight-axis type frame for XSEL-RAXD/SAXD.
2. Absolute Battery Equipped Type
Controller Type
All Types Equipped
Four-axis Type Frame Eight-axis Type Frame
RA
(Single-phase/
3-phase type)
290
333
180
186
195
2512012025
5
3-φ5
(36)
290
333
180
186
195
2512012025
5
3-φ5
(36)
SA
(Single-phase type)
RAX/RAXD
(3-phase type)
XSEL-SAX4-
NNN10040,
NNN12040
SA/SAX/SAXD
(3-phase type)
315
329
180
186
195
57.510010057.5
5
3-φ5
247
290
180
186
195
48.5757548.5
5
3-φ5
(36)
Side View
125.3
(80)
3
125.3
(80)
3
Standard
(3 places)
Standard
(3 places)
Standard
(
3
p
laces
)
Standard
(3 places)
Standard
(3 places)
Standard
(3 places)
* There is onl
y
the ei
g
ht-axis t
y
pe frame for XSEL-RAXD/SAXD.
Standard
(3 places)
Standard
(3 places)
Grounding resistance at
100Ωor less
At tach t he grounding
cable t o the FG t erminal
on the main machine.
St rand or annealed copper wire:
Connect with an eart h line of
2.0mm
2
(AWG14) or more.
Strand or annealed copper wire:
Connect with an earth line of 2.0mm2
(AWGN) or more
It should be 3.5mm2 (AWG12) or more
for XSEL-SAX4-NNN10040 and
12040.
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%
Inpu
t
Powe
r
Suppl
y
Current 1A
Heat Generation 1.2W
Connection Cable Encoder Cables
(Model CB-RCS2-PLA010) 1m
Environment
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
Surrounding storage humidity
85%RH or less (non-condensing)
External Dimensions W162×H94×D65.5mm
Weight 0.8kg
[24V Power Supply Connector]
Item Contents
Connector on
Cable Side
(Enclosed in
standard package)
FMC1.5/2-STF-3.5-RN (PHOENIX CONTACT)
Applicable Cable AWG28 to 16
Terminal
Assignment
Pin No. Signal Information
1 0V Power Supply Grounding for
Brake Excitation
2
24VIN
For Brake Excitation and
24V Power Supply
[Connectors 1 and 2 for external brake release switch connection]
Item Contents
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
Terminal Assignment
Pin No. Signal Information
1
BKMRL
Brake Release Switch Input
2 COM Power Supply Output for Brake Release
Switch Input
(Note) Short circuit of pin No. 1 and 2 of this connector releases the brake compulsorily.
Do not keep the compulsory release condition while in automatic operation.
Regenerative Resistor Unit (Option): RESU-1, RESUD-1
This is a unit that converts the regenerative current to heat when the motor decelerates.
[Specification]
Item Specification
Internal Regenerative Resistor 235Ω/80W
Accessories Controller link cable
(Model CB-ST-REU010) 1m
Environment
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
Surrounding storage humidity 85%RH or less (non-condensing)
External Dimensions W34 × H154 × D106.5mm (RESU-1)
W34 × H158 × D115mm (RESUD-1)
Weight Approx. 0.4kg
[External Dimensions]
Fixing Screw Type (RESU-1) DIN Rails Fixing Type (RESUD-1)
(77mm from
DIN Rail center)
[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
1)
Total capacity of
single-axis
actuator motors in
horizontally
oriented
installation
0 to 100W Not required
to 600W 1 Unit
to 1200W 2 Units
to 1800W 3 Units
to 2400W 4 Units
No. Actuator Type Quantity
2)
Total capacity of
single-axis
actuator motors in
vertically oriented
installation
0 to 100W Not required
to 600W 1 Unit
to 1000W 2 Units
to 1400W 3 Units
to 2000W 4 Units
to 2400W 5 Units
3) SCARA Robot
IX-NNN1205/1505/1805 Not required
IX-NNN2515H/3515H, X-NNW2515H/3515H,
IX-TNN(UNN)3015H/3515H, IX-NNC2515H/3515H 1 Unit / Per controller
IX-NNN50H/60H, IX-NNW50H/60H,
IX-HNN(INN)50H/60H, IX-NNC50H/60H3 Units / Per controller
IX-NNN70H/80H, IX-NNW70H/80H,
IX-HNN(INN)70
H/80
H, IX-NNC70
H/80
H,
IX-NNN10040/12040
4 Units / Per controller
IX-NSN5016H/NSN6016H 3 Units / Per controller
IXA-NNN1805 Not required
IXA-NNN3015, IXA-NNN45,IXA-NNN60 2 Units / Per controlle
r
IXA-NSN3015, IXA-NSN45 3 Units / Per controlle
r
IXA-NSN60 4 Units / Per controlle
r
IXA-4NSW3015, IXA-4NSW45 3 Units / Per controlle
r
IXA-4NSW60 4 Units / Per controlle
r
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
[3-phase type] [Single-phase type]
2. Noise Elimination Grounding (Frame Ground)
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.
100mm
or more
50mm
or more
50mm
or more
50mm
or more
50mm
or more
10mm
or more
50mm or more
10mm or more
Brake Box
50mm
or more
50mm
or more
(
Note 1
)
50mm
or more
(Note 1)
Regeneration
Resistance Unit
150mm or more
150mm
or more
Note 1 Install the devices (controller, regeneration resistance unit and brake box) away from a wall for
50mm or more.
Wiring Layout Diagram
Caution: In the case of ICSB (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.
[Network Wiring]
[Connection to actuator and optional unit]
Warning:
•
In the case PC is connected to XSEL-SA, SAX or SAXD, the standard PC cable
CB-ST-E1MW050(-EB): Black enclosed in the PC software IA-101-X-MW cannot be used.
•
Even though the PC software can be used, make sure to use the cable
CB-ST-A1MW050(-EB): Grey or CB-ST-A2MW050(-EB): Black with Yellow Line.
Brake Box (Option): RCB-110-RA13-0
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
2.0mm2 (AW G14) or more
Safety circuit (Note 4)
Power Supply for
Brake (Note 1) (Note 2)
Regeneration
Resistance Unit
(Option)
Motor Cable
Encoder Cable
Dummy Plug
(DP-2) (Note 3)
Teaching Pendant
(Option)
Host System
PLC (Note 1)
Flat Cable
24V
p
ower su
pp
l
y
Power Supply for
Brake (Note 1) (Note 2)
24V
p
ower su
pp
l
y
Power Supply
3-phase or
Single-phase
AC200V
Drive
Cutoff
Circuit
(Note 4)
Note 1 Please prepare separately.
Note 2 It is necessary to have a power supply for brake for SCARA Robot except for
IX-NNN1205/ 1505/1805 (with brake equipped), IX-NNN10040/12040 and IXA SCARA
Robot. For an actuator equipped with a brake, supply of power +24V to the controller for
the brake operation is required.
Note 3 When the unit is not connected to the personal computer or teaching pendant, connect
the dummy plug (DP-2).
Note 4 Construct a safet
y
circuit for SA, SAX and SAXD T
y
pes.
Network
Controlle
r
Host S
y
stem <PLC>
Network
Controlle
r
PC Software
(Option)
L
N
R
S
T
1L 2L 3L
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 with an eart h line of
2.0mm
2
(AWG14) or more
Strand or annealed copper wire: Connect with
an earth line of 2.0mm2 (AWGN) or more
It should be 3.5mm2 (AWG12) or more for
XSEL-SAX4-NNN10040 and 12040.
Controller
Controller
Other Equipment
Other Equipment
Other Equipment
Do not share the ground wire with or connect to other equipment.
Ground each controller separately.
Monitor
LED
CC-Link
Communication
Connector
Monitor LED
PROFIBUS-DP
Communication
Connector
Wiring for the Power/Emergency Stop Circuit and Brake Forced Release Switch
z Wiring 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 Su
pp
lie
r
Position to
A
ttach
1) Noise Filter TAC-20-683 COSEL Attach in range of 300mm or less
from controller
NF3020C-SV
A
SOSHIN ELECTRIC Co., Ltd.
2
)
Rin
g
Core ESD-R-25 NEC TOKIN
3
)
Clam
p
Filte
r
ZCAT3035-1330 TDK Attach as close as possible to
controller
4
)
Clam
p
Filte
r
RFC-H13 Kita
g
awa Industries Co., Ltd.
5) Surge Protector R·A·V-781BXZ-4 Okaya Denki Attach at the input terminal of
noise filte
r
[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 Su
pp
lie
r
Position to
A
ttach
1
)
Noise Filte
r
NBH-20-432 COSEL Attach in range of 300mm or less
from controller
2
)
Rin
g
Core ESD-R-25 NEC TOKIN
3
)
Clam
p
Filte
r
ZCAT3035-1330 TDK Attach as close as possible to
controller
4
)
Clam
p
Filte
r
RFC-H13 Kita
g
awa Industries Co., Ltd.
5) Surge Protector R·A·V-781BWZ-2A Okaya Denki Attach at the input terminal of
noise filte
r
z Wiring for Emergency Stop Input
[XSEL-RA, RAX, RAXD]
CR1
CR1
0V24V DC
CR2
ENB TBX1
CR5
CR5
ENB VCC1 EMG IN1 EMG OUT1
+24V
+24V
ENBin (IN)
ENBin
ENB1 (line+)
ENB1 (line-)
18
17
19
16
15
14
13
12
11
X
X
RDY (Out+)
RDY (Out-)
EMGin (IN)
EMGin
EMG1 (line+)
EMG1 (line-)
X
X
SDN (Out+)
SDN (Out-)
RDYOUT
CR3
CR3
CR3 CR4
CR4
CR2
CR1
8
7
9
6
5
4
3
2
1
(10mA or more)
RDY Output
DC30V 0.2A or less
Motor Driving Power Supply
(120mA or more)
External EMG
Reset Switch
External
EMG
Circuit
Safety Gate
Safety Gate
This is turned ON
when the safety gate
safety door is closed.
Stop Switch
XSEL Controller
Deadman Switch
Teaching Pendant
System I/O
Connector
SDN Output
DC30V 0.2A or less
Emergency Stop Release
10 AUTO1 IN
AUTO1 OUT
(Note 1)
20 AUTO2 IN
AUTO2 OUT
(Note 1)
Caution: Make sure not to connect 100V or 200V AC accidently to the system I/O. It may destroy the
internal circuit.
[XSEL-SA, SAX, SAXD]
3.3kΩ
3.3kΩ
Contact Solder
Detection
CR1
CR1
CR2
CR5
CR5
ENB TBX1 ENB VCC1
ENB
TBX2 ENB
VCC2
EMG
IN2 EMG
OUT2
EMG IN1 EMG OUT1
+24V
+24V
ENBin (IN)
ENBin
AUTO2 OUT
(Note 1)
ENB1 (line+)
ENB1 (line-)
18
17
19
16
15
14
13
12
11
RDY (Out+)
RDY (Out-)
ENB2 (line+)
ENB2 (line-)
EMGin (IN)
EMGin
DET (OUT)
(Note 2)
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
24V DC 0V
External
EMG
Reset Switch
External
EMG
Circuit
Safety Gate
(120mA or more)
(10mA or more)
RDY Output
DC30V 0.2A
Drive Cutoff Relay
Teaching Pendant
Safety Gate
This is turned ON
when the safety gate
safety door is closed.
Stop Switch
Deadman Switch
XSEL Controller
System I/O
Connector
RDY Output
DC30V 0.2A
Emergency Stop Release
AUTO2 IN20
DET (IN)10
+24V
Caution: Make sure not to connect 100V or 200V AC accidently to the system I/O. It may destroy the
internal circuit.
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-RA/SA/RAX/SAX/RAXD/SAXD]
XSEL I/O Port
I/O port is a point to receive and send data located inside the controller. 1 port can handle data of 1 contact (1 bit).
Data are sent and received via either PIO (24V input and output) or field network. Connection to one port is available from
only one of PIO or field network. Set a parameter to determine which of PIO or field network is to be used.
z I/O Mapping
Shown below are the I/O port numbers and their functions of XSEL Controller at the delivery.
The allocation of the XSEL port numbers or functions, can be changed using the I/O parameter setting.
[Settings of Standard I/O Ports at Delivery]
Port No. Function Port No. Function
000 Pro
g
ram Star
t
300 Alarm Outpu
t
001 Universal Inpu
t
301 Read
y
Outpu
t
002 Universal Inpu
t
302 Emer
g
enc
y
Stop Outpu
t
Inpu
t
003 Universal Inpu
t
Outpu
t
303 Universal Outpu
t
004 Universal Inpu
t
304 Universal Outpu
t
005 Universal Inpu
t
305 Universal Outpu
t
006 Universal Inpu
t
306 Universal Outpu
t
Inpu
t
007 Pro
gr
am Specification
(
PRG No.1
)
Outpu
t
307 Universal Outpu
t
008 Pro
g
ram Specification
(
PRG No.2
)
308 Universal Outpu
t
009 Pro
g
ram Specification
(
PRG No.4
)
309 Universal Outpu
t
010 Pro
g
ram Specification
(
PRG No.8
)
310 Universal Outpu
t
011 Pro
g
ram Specification
(
PRG No.10
)
311 Universal Outpu
t
012 Pro
g
ram Specification
(
PRG No.20
)
312 Universal Outpu
t
013 Pro
g
ram Specification
(
PRG No.40
)
313 Universal Outpu
t
014 Universal Inpu
t
314 Universal Outpu
t
015 Universal Inpu
t
315 Universal Outpu
t
• • •
• • •
• • •
• • •
DeviceNet
[Refer to the instruction manuals for DeviceNet]
Monitor LED ○ Illuminating, ×OFF, ☆Flashing
LED Color Indication
Status Indication Description
NS
green ○ Online, Communication in normal condition
☆ Online, No connection established
Orange Critical link erro
r
☆ Connection timeout
green /
Orange
☆
(Illuminated
b
y
turns
)
Self-testing
- × Offline
/
No power suppl
y
MS
green
○ Normal operation
☆ Configuration setting not established or not
complete → test run required
Orange ○ An error that cannot be recovered
☆ An error that can be recovered
green /
Orange
☆
(Illuminated
b
y
turns
)
Self-testing
- × No power supply
Connector Name DeviceNet Connecto
r
Cable Side MSTB2.5/5-ST-5.08 ABGY AU Enclosed in standard package
Manufactured b
y
PHOENIX CONTACT
Controller Side MSTBA2.5/5-G-5.08 ABGY AU
CC-Link
[Refer to the instruction manuals for CC-Link]
Monitor LED ○Illuminating, ×OFF, ☆Flashing
LED Color Indication
Status Indication Description
STATUS1 Orange
○
Error in reception data to self station
Communication setting error (station setting, baud rate
settin
g
, etc.
)
☆
The station No. and baud rate set values are changed
from ones set at the time of reset cancellation (flashes in
0.4sec c
y
cle
)
× In normal communication
STATUS0 green ○
Turns on when communication is started, and turns off
when communication is disconnected for the specified
time
Connector Name CC-Link Connecto
r
Cable Side MSTB2.5/5-ST-5.08AU Enclosed in standard package
Manufactured b
y
PHOENIX CONTACT
Controller Side MSTBA2.5/5-G-5.08AU
PROFIBUS-DP
[Refer to the instruction manuals for PROFIBUS-DP]
Monitor LED ○Illuminating, ×OFF, ☆Flashing
LED Color Indication
Status Indication Description
Operation
Mode
green ○ Online
(
Communication in normal condition
)
☆ Online (Cleared)
Orange ☆(1HZ) Parameterizing data error
☆(2HZ) Configuration error
- × Online / No power supply
Status
green ○ Completed
☆ Completed (with network check event)
Orange ○ exceptional error
- × No power supply / Initializing not executed
Connector Name PROFIBUS-DP Connecto
r
Cable Side 9-pin D-sub Connecto
r
(
Male
)
Please prepare separatel
y
Controller Side 9-pin D-sub Connecto
r
(
Female
)
L
N
R
S
T
Circuit
breaker
Leakage
Breaker
5) 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
5) Surge Protector
PWR BK
24V DC
Power
Supply
(Note1)
PIO Board
Monitor LED
RD
WT
None
BL
BK
DeviceNet
Communication
Connector
PLC (host)
I/O Unit
Fieldbus
Master Unit
Data Transfer
Data Transfer
I/O Port
(
In
p
ut
)
Por
t
(
Out
p
ut
)
Por
t
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
…
…
1 Port
XSEL Controller
I/O Interface
x Extension I/O
Board
x Multipoint I/O
Board
Fieldbus Interfac
x DeviceNet Board
x CC-Link Board
x PROFIBUS Board
x EtherCAT Board
x EtherNet/IP Board
Connected
internally
(Assignment
done by
parameter
settings)
shows the data flow.
WT (DB)
BL (DA)
Shield (SLD)
YW (DG)
Slave Devices
XSEL
SLD and FG are internally connected.
Terminal Resistance is required
to be mounted on the terminal.
The terminal resistor differs depending on the type
of the dedicated cable for CC-Link.
• Cable FANC-SBH···130Ω1/2W
(High Performance Cable
dedicated for CC-Link)
• Cable FANC-SB······110Ω1/2W
(CC-Link Dedicated Cable)
Master Unit Terminal
Resistance
Terminal
Resistance
Class D grounding
(Formerly Class-III grounding:
Grounding resistance at 100Ωor less)
Shield
BL (CAN L)
RD (V+)
WT (CAN H)
BK (V-)
Slave Devices
XSEL
V+
Drain
(Shield)
CAN_H
CAN_L
V-
RD
WT
BL
BK
RD
WT
BL
BK
V+
Drain
(Shield)
CAN_H
CAN_L
Class D grounding
(Formerly Class-III grounding: Grounding resistance
at 100Ωor less)
V+
Drain
(Shield)
CAN_H
CAN_L
V-
RD
WT
BL
BK
Communication power needs to be
supplied by an external device.
Terminal Resistance is required
to be mounted on the terminal.
V-
Terminal Resistance
121Ω
Master Unit
Terminal Resistance
121Ω
24V
Power Supply
(Note) Number of I/O ports is:
• Input 000 to 299 or 1000 to 3999
• Output 300 to 599 or 4000 to 6999
EtherCAT
[Refer to the instruction manuals for EtherCAT]
Monitor LED ○Illuminating, ×OFF, ☆Flashing
LED colo
r
Indication Status Indication Description
RUN
green
○ Communication in normal condition
(
OPERATION condition
)
☆
ON 0.2sec/OFF
0.2se
c
Under configuration condition in mailbox
communication (PRE-OPERATION condition)
☆
ON 0.2sec/OFF
1se
c
Configuration complete (SAFE-OPERATION
condition)
Oran
g
e ○ An error that
c
annot be recovered
(
Module error
)
- × Initial condition
(
INIT condition
)
/ No power suppl
y
ERR Orange
○ An error that cannot be recovered
(
Module error
)
☆ 0.2sec cycle Network construction error
☆
On 0.2sec 2 times
/ OFF 1se
c
Communication error (Watchdog timeout)
- × No power suppl
y
/ No abnormalit
y
Link/
Activity
green ○ Linked
(
Communication traffic not detected
)
☆ 0.05sec cycle Linked (Communication traffic detected)
- × No link / No power suppl
y
PLC(EtherCAT® Master Unit)
XSEL-R
E th e rne t Cable
Ethernet
XSEL-S
Ethernet
OUT
Connector
IN
OUT
IN
Other Slaves
Cable Cable
*
Connector
Connector
Connector
*
*
* Ethernet Cable: 100m or less of straight cable with Category 5e or more
(Double shielded cable braided with aluminum foil recommended)
EtherNet/IP
[Refer to the instruction manuals for EtherNet/IP]
Monitor LED ○Illuminating, ×OFF, ☆Flashing
(Note) When only TCP/IP messages are used, both NS and MS flash in green.
PLC
(EtherNet/IP Master Unit)
E th e r net Cable Ethernet
Cable
XSEL-R XSEL-S
Hub
Ethernet
Cable
*
*
*
Other Slaves
* Ethernet Cable: 100m or less of straight cable with Category 5 or more
(Double shielded cable braided with aluminum foil recommended)
(Note) There is no need of terminal treatment.
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 avoid an accident caused by the actuator dropped by the self-weight when
setting the brake release switch to releasing (RLS).
•
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.
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL 06196-88950 FAX 06196-889524
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 110 East State Parkway, Schaumburg, IL 60173
TEL(847) 908-1400 FAX (847) 908-1399
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
825 PhairojKijja Tower 7th Floor, Debaratana RD., Bangna-Nuea, Bangna, Bangkok 10260, Thailand
TEL +66-2-361-4458 FAX +66-2-361-4456
website:www.iai-gmbh.de
website:www.iai-robot.co.th
Connector Name EtherCAT Connector
Cable Side 8P8C Modular Plug Straight STP cable with Category 5e or more
Controller Side 8P8C Modular Jack
LED Color Indication
Status Indication Description
NS
green ○ Online, Communication in normal condition
☆ Online, No connection established
Orange ○ IP address duplication, Critical link erro
r
☆ Connection Timeout
- × No power suppl
y
/ No abnormalit
y
MS
green
○ Normal Operation
☆ Configuration setting not established or not
complete, Test run required
Orange ○ An error that cannot be recovered
☆ An error that can be recovered
- × No power suppl
y
Connector Name EtherCAT Connector
Cable Side 8P8C Modular Plug Straight STP cable with Category 5e or
more
Controller Side 8P8C Modular Jack
5 1
9 6
Cable
Shield
Red B line (Positive side)
Green A line (Negative side)
EtherCAT
® Port
(OUT)
Link/Activity
EtherCAT
® Port
(IN)
Link/Activity
Monitor
LED
Monitor
LED
EtherNet/IP
Connector
Note 1 Only the daisy chain is supported in
the network topology.
Note 2
There are IN and OUT designated for
the communication port for EtherCAT.
Be careful not to plug in the
communication cable in the wrong
way.
Note 3 There is no need of terminal
treatment.
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.
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.
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.: ME0365-5A
This manual suits for next models
5
Table of contents
Other IAI Controllers manuals
