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Intelligent XSEL-R Operation Manual

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Table of Contents

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XSEL Controller
R/S/RX/SX/
RXD/SXD Type
Operation Manual
Forth Edition

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Summary of Contents for Intelligent XSEL-R

  • Page 1 XSEL Controller R/S/RX/SX/ RXD/SXD Type Operation Manual Forth Edition...
  • Page 3 Please Read Before Use Thank you for purchasing our product. This Operation Manual describes all necessary information items to operate this product safely such as the operation procedure, structure and maintenance procedure. Before the operation, read this manual carefully and fully understand it to operate this product safely.

  • Page 5: Table Of Contents

    1.1.4 How to read the model plate ················································································ 32 1.1.5 How to read the model························································································· 33 Basic Specifications ···································································································· 36 1.2.1 XSEL-R/S Controller Type ··················································································· 36 1.2.2 XSEL-RX/SX Controller Type ·············································································· 41 1.2.3 XSEL-RXD/SXD Controller Type ········································································· 48 1.2.4 Selection of the Circuit Breaker ··········································································· 53 1.2.5 Selection of the Leakage Breaker········································································...
  • Page 6 2.2.9 Brake release switch Connector Layout is to be established for single axis actuator equipped with a brake)······ 100 2.2.10 Extension I/O unit (Option)················································································· 101 2.2.11 Brake Box (RCB-110-RA13-0) (Option) ····························································· 114 2.2.12 General-purpose RS232C Port Connectors ······················································ 115 2.2.13 Teaching Tool ····································································································· 115 Wiring Method···········································································································...
  • Page 7 Chapter 6 Parameter ····································································································277 I/O Parameter (All types) ·························································································· 279 Parameters Common to All Axes ·············································································· 326 6.2.1 For XSEL-R/S ···································································································· 326 6.2.2 For XSEL-RX/SX, RXD/SXD ············································································· 335 Axis-Specific Parameters ·························································································· 346 6.3.1 For XSEL-R/S ··········································································································· 346 6.3.2 For XSEL-RX/SX, RXD/SXD ············································································· 356 Driver Parameters (All types)····················································································...
  • Page 8 Chapter 8 Appendix ······································································································473 Example of Safety Circuit for S/SX/SXD type (Conforming to Safety Category) ·············································································· 473 8.1.1 Safety Circuit Operation Timings ······································································· 474 Stopping method and Recovery················································································ 480 8.2.1 Stopping method ································································································ 480 8.2.2 Recovery ············································································································ 481 Specifications List for Connectable Single Axis Actuator·········································· 483 Chapter 9 Warranty·······································································································531 Warranty Period ········································································································...

  • Page 9: Safety Guide

    Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
  • Page 10 Operation Description Description Transportation � When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. � When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
  • Page 11 Operation Description Description Installation (2) Cable Wiring and Start � Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. � Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
  • Page 12 Operation Description Description Installation (4) Safety Measures and Start � When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. �...
  • Page 13 Operation Description Description Trial � When the work is carried out with 2 or more persons, make it clear who Operation is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. �...
  • Page 14 Operation Description Description Maintenance � When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well Inspection with each other to ensure the safety of the workers. �...
  • Page 15 Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger Danger product is not handled correctly, will result in death or serious...

  • Page 16: Controller's Model And Corresponding Actuator

    Controller’s model and corresponding actuator The controllable actuator may differ depending on the model for this controller. Model Type Controllable Actuator XSEL-R Standard Type Multi-Axis 8 axes or less Safety Categories XSEL-S Compliance Type XSEL-RX Standard Type SCARA Robot 1 unit and Multi-Axis...

  • Page 17: Caution In Handling

    Caution in Handling � Make sure to follow the usage condition, environment and specification range of the product. Operation out of the guarantee could cause a drop in performance or malfunction of the product. 2. Have 2 minutes or more for single-phase type and 20 seconds or more for three-phase type before rebooting the unit.�...
  • Page 18 6. Transference of PIO Signal between Controllers Please note the following when conducting transference of PIO signal between controllers. To certainly transfer the signal between controllers with different scan time, it is necessary to have longer scan time than the one longer than the other controller. To ensure to end the process of signal safely, it is recommended to have more than twice as long as the longer scan time at least.

  • Page 19: International Standards Compliances

    International Standards Compliances This product complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information. RoHS Directive CE Marking ANSI Preparing for Only for Special order� compliance XSEL-S/SX/SXD � �...

  • Page 20: Name For Each Parts And Their Functions

    Name for Each Parts and Their Functions [1] XSEL Controller � R/RX/RXD Type 7) System I/O 4) Encoder 6) Brake Power 5) Brake Release 3) Connector for Conveyor Connector Input Connector Connector Switch Connector 8) Panel Tracking (Option) Window (R type is an option) 9) Panel Unit Connector 2) External...
  • Page 21 AC Power Input Connector ······· [Refer to 2.3.1] An input connector for the 200VAC to 230V, 3-phase main power supply. This connector consists of six terminals including motor power terminals, control power terminals and PE terminal. Warning: To prevent electric shock, do not touch this connector and wiring while the power is supplied.
  • Page 22 Panel Window ······· [Refer to 7.1] This shows the controller status with four digits of seven-segment displays and six LED lamps. Panel Unit Connector ······· [Refer to 2.3.6] This is a connector to connect Panel Unit PU-1 (option) for controller status display and error number display.
  • Page 23 12) I/O slots 1 ······· [Refer to 2.3.4, For RC Gateway Function Fieldbus type, refer to the operation manual provided separately.] Either of PIO board (Option) or RC Gateway fieldbus board (Option) is to be inserted. Mountable PIO Board XSEL Mode Name Number of Input Number of Output...
  • Page 24 17) Field network Board (Option) Mounted Position 2 The CC-Link, DeviceNet or PROFIBUS-DP field network board (option) is to be mounted. [Refer to the separate operation manual for field network.] Mountable Field Network Boards Name XSEL Mode Display CC-Link Board DeviceNet Board PROFIBUS-DP Board 18) IA Net Connector·······...
  • Page 25 IA Net Connector (2 systems) ······· [Refer to 2.3.5] Either of IA Net dedicated communication cable or terminal resistor is to be connected. As the terminal resistor, connect an XSEL-R/S related controller that is available for the terminal of a network.
  • Page 26 Status LED Display 1·······[Refer to Chapter 7] This shows the current condition of the power. � : Illuminating, × : OFF, � : Flashing Name Lamp Color Description condition Green Power ON � × Power OFF Orange Internal power � supply error Status LED Display 2 ×...
  • Page 27 Panel Unit Connector······· [Refer to 2.3.6] This is a connector to plug in the panel unit PU-1(option). [For the detail of panel unit, refer to 1.4.4 Panel Unit: PU-1.]� 8) to 11) I/O slot (slot 1 to 4) ······· [Refer to 2.3.5] One PIO board can be inserted to each slot.
  • Page 28 [3] Panel Unit: PU-1 (Option) This is a display device consists of four digits of seven-segment displays and LED lamps. The status of controller, such as error codes, can be checked if connected to XSEL controller. Also, if connected to an extension I/O unit, the condition of each I/O unit whether it is in normal or error condition.
  • Page 29 [4] Brake Box: RCB-110-RA13-0 (Option) It is the brake control unit that is necessary when the actuator for the following is the brake-equipped type.� � MZMS/MZMM/LZMS/LZMM Types in Ball Screw Nut Rotation Type NS Series � Vertical/Rotary Integrated Type ZR Series�...
  • Page 30 2) Power Supply Input Connector······· [Refer to 2.3.8] It is the connector to connect the power supply. Supply 24V DC (19.76VA per axis). 3) POWER ON LED It turns on (in green) once 24V DC power is supplied.� 4) Brake release switch connector 2······· [Refer to 2.3.8] Connect the signals of such as a switch mounted externally to the connector, and the brake of the actuator equipped with a brake connected to 7) Encoder Connector 2-1 can be compulsorily released (excitation release).

  • Page 31: Actuator Axes

    Actuator Axes Refer to the pictures below for the actuator axes that can be controlled. 0 defines the home position, and items in ( ) are for the home-reversed type (option). Caution: There are some actuators that are not applicable to the origin reversed type. Check further on the catalog or the Instruction Manual of the actuator.
  • Page 32 (5) Gripper Type Finger Attachment (6) Rotary Type � � (300-degree Rotation Specification)� � (360-degree Rotation Specification) � � (360-degree Rotation Specification) For Multiple Rotation Type with the origin reversed type, the directions of + and – are the other way around...
  • Page 33 (7) Orthogonal Robot (Combinations Axis of Single Axis Robot ) Axes (Z Axis) (Axes 3) axes (Y axis) (Axes 2)� � � 0(Home) axis (X axis) axes (Axes 1) � (Axes 2)� � � � axis (Axes 1) axis (Axes 3) Z-axis Base Fixture�...
  • Page 34 (8) Horizontal Articulated (SCARA) Robot There are three types of coordinate systems, base coordinate system, work coordinate system and tool coordinate system, in Horizontal Articulated (SCARA) Robot. Base Coordinate System Coordinates Work Coordinate System Tool Coordinate System [Base Coordinate System (= Work Coordinate System No.0)] It is the three-dimensional orthogonal coordinates + rotational axis coordinates defined in the robot at the delivery.
  • Page 35 [Work Coordinate System] It is 32 types of the three-dimensional orthogonal coordinates + rotational axis coordinates defined by the offset of each axis against the base coordinate system. However, Work Coordinate System No. 0 is reserved as the base coordinates (= work coordinate offset = 0) by the system.
  • Page 36 [Tool Coordinate System] It is 128 types of the three-dimensional orthogonal coordinates + rotational axis coordinates defined by the dimension (offset) of the tool (e.g. hand) attached on the tool attachment surface. However, Work Coordinate System No. 0 is reserved as the tool coordinates offset 0 by the system.

  • Page 37: Starting Procedures

    Starting Procedures When using this product for the first time, work while making sure to avoid omission and incorrect wiring by referring to the procedure below. Warning: • Make sure to put the brake release switch on the controller on the right �...

  • Page 39: Chapter 1 Specifications Check

    Chapter 1 Specifications Check 1.1 Product Check The standard configuration of this product is comprised of the following parts. If you find any faulty or missing parts, contact your local IAI distributor. 1.1.1 Components (Excluding Options) Quantity Item Model R/RX/RXD S/SX/SXD Refer to “How to read the model plate”, “How to read the �...

  • Page 40: The Operation Manual (Dvd)

    CC-Link Operation Manual ME0123 PROFIBUS Operation Manual ME0153 EtherNet Operation Manual ME0140 EtherCAT Operation Manual� ME0309� EtherNet/IP Operation Manual� ME0308� IA Net ME0307� Operation Manual� 1.1.4 How to read the model plate Model MODEL XSEL-R-8-400A-200A-100AB-60A-400A-200A-100AB-60A-EPEIA-DGN1-2-3 Serial number SERIAL No.200198765 MADE IN JAPAN...

  • Page 41: How To Read The Model

    1.1.5 How to read the model [1] Controller for Single-Axis Robots and Orthogonal Robots � � � (Note 1) Details of axis 1 to axis 8 Network Slot I/O slots � � �� � � I/O Flat Power Synchro- Series Controller Number High...
  • Page 42 [2] SCARA Robot + Controller for Single-Axis Robots and Orthogonal Robots (4 axes at maximum) � �� �� �� � (Note 1) Details of axis 5 to axis 8 Network Slot I/O slots � � � �� �� I/O Flat Power ��...
  • Page 43 � [3] Controller for SCARA Robot 2-Unit Connection Dedicated � � �� �� � � � �� �� SCARA Robot SCARA Robot Network Slot I/O slots � I/O Flat cable Power supply Controller � Series Model 1 Model 2 length� voltage�...

  • Page 44: Basic Specifications

    1.2 Basic Specifications 1.2.1 XSEL-R/S Controller Type [1] Specification List Specification Item XSEL-R XSEL-S Number of Controlled Axes 1-axis to 8-axis Applicable Motor Capacity 20W to 750W 3-phase type controller: 2400W� Total Connectable Wattage Single-phase type controller: 1600W Control Power Supply Voltage Single-phase AC200V to 230V�10%...
  • Page 45 Specification Item XSEL-R XSEL-S Retaining time after power turned OFF: approximately 10 days Clock Function Time for battery charge after the clock data is lost: approximately 100 hours Panel Unit PU-1 (option) Controller status display Emergency stop input, safety gate input, system ready output and other...
  • Page 46 [2] Power Capacity and Heating Value Calculate the Power Capacity and Heating Value using the following formulas. 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)) �...
  • Page 47 Table: 3 Number of Controlled Parts Number of axes 1-Axis 2-Axis 3-Axis 4-Axis 5-Axis 6-Axis 7-Axis 8-Axis Driver Encoder Section XSEL-R : 6 Unit Fan Unit XSEL-S (three phase type)� : 5 Unit XSEL-S (single phase type) � : 6 Unit Axis Sensor...
  • Page 48 [Calculation Example] Shown below is an example for how to calculate the power capacity and amount of heat generation when the following actuators are used. Axis 1 Actuator 200W� Axis 2 Actuator 200W� Axis 3 Actuator 100W�w/ brake� Axis 4 Actuator 60W� Standard type Controller�Option: PIO Board 1 sheet,, Device Net Teaching Pendant (IAI Standard Type)�...

  • Page 49: Xsel-Rx/Sx Controller Type

    1.2.2 XSEL-RX/SX Controller Type [1] Specification List Specification Item XSEL-RX XSEL-SX Number of Controlled Axes SCARA Robot 1-axis to 4-axis, Added Axis 5-axis to 8-axis Applicable Motor Capacity 20W to 750W Total Connectable Wattage 3-phase type controller: 2400W� Control Power Supply Voltage Single-phase AC200V to 230V�10% Motor Driving Source Voltage 3-phase AC200V to 230V�10%...
  • Page 50 Specification Item XSEL-RX XSEL-SX Panel Unit PU-1 (option) Controller status display Emergency stop input, safety gate input, system ready output and other System I/O safety circuit inputs and outputs Drive-source cutoff Internal Relay External Safety Circuit method b Contact (Constant time closed) Input b Contact (Constant time closed) Safety Circuit Emergency-stop input...
  • Page 51 [2] Power Capacity and Heating Value Calculate the Power Capacity and Heating Value using the following formulas. 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)) �...
  • Page 52 Table: 2 Motor Volt Amperage of SCARA Robot and Output Loss Wattage [W] Motor Power Capacity Output loss = SCARA Robot (Note 1) (Rated output) [VA] Heat Generation [W] NN�1205 NN�1505 129.8 216.3 8.13 NN�1805 NN�2515H NN�3515H TNN3015H 1117.9 1863.1 44.8 TNN3515H UNN3015H...
  • Page 53 Table 3 Motor Volt Amperage of Single-Axis Actuator and Output Loss Wattage of Actuator Motor Motor Power Capacity [VA] Output loss = Heat Generation [W] 1.58 2.07 3.39 6.12 8.30 9.12 19.76 1164 27.20 1521 29.77 100 (Linear Actuator LSAS-N10SS) 200 (Linear Actuator LSAS-N15SS) 200 (Linear Actuator...
  • Page 54 Table: 4 Motor Driving Power and Output Loss External Power Source Control power supply (24VDC) Quantity Internal External Internal External Consumption Consumptio Consumption Consumption [VA] [VA] [VA] [VA] Base Unit 31.4 Driver Per Board 6.26 Encoder Per axis 2.38 3.57 Section [Refer to Table 5] Fan Unit...
  • Page 55 [Calculation Example] Shown below is an example for how to calculate the power capacity and amount of heat generation when the following actuators are used. SCARA Robot: IX-NNN5020H Short-Axis Actuator: Axis 5 Actuator 200W � � � � � � � � � Axis 6 Actuator 100W w/ brake� Standard Type Controller �Option: PIO Board 1 sheet, Device Net�...

  • Page 56: Xsel-Rxd/Sxd Controller Type

    � 1.2.3 XSEL-RXD/SXD Controller Type [1] Specification List Specification Item XSEL-RXD XSEL-SXD Number of Controlled Axes 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� Control Power Supply Voltage Single-phase AC200V to 230V�10% Motor Driving Source Voltage 3-phase AC200V to 230V�10%...
  • Page 57 Specification Item XSEL-RXD XSEL-SXD Panel Unit PU-1 (option) Controller status display Emergency stop input, safety gate input, system ready output and other System I/O safety circuit inputs and outputs Drive-source cutoff Internal Relay External Safety Circuit method b Contact (Constant time closed) Input b Contact (Constant time closed) Safety Circuit Emergency-stop input...
  • Page 58 [2] Power Capacity and Heating Value Calculate the Power Capacity and Heating Value using the following formulas. 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)) �...
  • Page 59 Table: 3 Motor Driving Power and Output Loss External Power Source Control power supply (24VDC) Quantity Internal External Internal External Consumption Consumptio Consumption Consumption [VA] [VA] [VA] [VA] Base Unit 31.4 Driver Per Board 6.26 Encoder Per axis 2.38 3.57 Section [Refer to Table 4] Fan Unit...
  • Page 60 [Calculation Example] Shown below is an example for how to calculate the power capacity and amount of heat generation when the following actuators are used. SCARA Robot: IX-NNN1505H (without brake) IX-NNN2515H Standard Type Controller �Option: PIO Board 1 sheet, Device Net� Teaching Pendant (IAI Standard Type)�...

  • Page 61: Selection Of The Circuit Breaker

    1.2.4 Selection of the Circuit Breaker For the selection of the circuit breaker, perform it according to the following items. � 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.

  • Page 62: External Dimensions

    1.3 External Dimensions 1.3.1 Absolute Battery Unit Non-Equipped Type Controller Type All Types Equipped (Single-phase/ 3-phase type) EMGin ENBin ENB1 EMG1 EMG2 ENB2 SYSTEM IO (Single-phase type) RX/RXD (3-phase type) Details (Three Locations) XSEL-SX4- NNN10040, 12040 57.5 EMGin ENBin ENB1 EMG1 EMG2 ENB2...

  • Page 63: Absolute Battery Unit Equipped Type

    1.3.2 Absolute Battery Unit Equipped Type Controller Type All Types Equipped (36) (Single-phase/ 3-phase type) EMGin ENBin EMG1 ENB1 EMG2 ENB2 SYSTEM IO (Single-phase type) RX/RXD Details (Three Locations) (3-phase type) (36) 57.5 57.5 ENBin EMGin EMG1 ENB1 EMG2 ENB2 SYSTEM IO S/SX/SXD (3-phase type)

  • Page 64: Pio Board

    1.4 Option � 1.4.1 PIO Board [1] Type� XSEL Mode Display Polarity Input and Output Points Model Input 32 Points, Output 16 Points IA-103-X-32 Input 16 Points, Output 32 Points IA-103-X-16 Input 48 Points, Output 48 Points IA-IO-3204-NP Input 32 Points, Output 16 Points IA-103-X-32-P Input 16 Points, Output 32 Points IA-103-X-16-P...
  • Page 65 NPN type : N2 PNP type : P2 � � DC24V DC24V � Pin No. Pin No. � � � � � � � � � � � � PNP type : P3 � NPN type : N3 � DC24 DC24V �...

  • Page 66: Field Network Board

    1.4.2 Field Network Board Type Overview Details DeviceNet DeviceNet Field Network Board Refer to the This board communicates the I/O data as the separate Instruction remote I/O terminal. Manual. (ME0124) CC-Link CC-Link Field Network Board Refer to the This board communicates the I/O data as the separate Instruction Ver1.10 remote device station.

  • Page 67: Extension I/O Unit

    1.4.3 Extension I/O Unit 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. A single extension I/O unit can be shared by two or more XSELs. [Refer to the IA Net Instruction Manual] [Specification] Item...

  • Page 68: Panel Unit: Pu-1

    1.4.4 Panel Unit: 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 controller.

  • Page 69: Brake Box: Rcb-110-Ra13-0

    1.4.5 Brake Box: RCB-110-RA13-0 This is required when the following actuator has the brake.� � Ball Screw Nut Rotary Type NS Series��MZMS/MZMM/LZMS/LZMM� � Vertical/Rotary Integrated Type ZR Series� � ROBO CYLINDER��High-Thrust Rod Type RCS2-RA13R� One brake box can control the brakes for two axes.�...

  • Page 70: Regenerative Unit: Reu-1

    1.4.6 Regenerative Unit: REU-1 Regenerative resistance unit: A unit that converts to heat the regenerative current generated when the motor decelerates. [Specification]� Item Specification Internal Regenerative Resistor 235� 80W (Note1) Accessories Controller Connection Cable (ModelCB-ST-REU010) 1m Surrounding air temperature 0 to +40�C 85%RH or less (non-condensing) Surrounding humidity�...
  • Page 71 [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) �...

  • Page 72: Installation And Storage Environment

    1.5 Installation and Storage Environment This product is capable for use in the environment of pollution degree 2 equivalent.� 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: �...

  • Page 73: Noise Prevention And The Installation

    1.6 Noise Prevention and the Installation Protective Ground For the grounding, the grounding resistance should be set to 100� or less. The wiring should apply a twist line or an annealed copper wire of 2.0 mm (AWG14) or more. Apply 3.5mm2 or more for XSEL-SX-NNN10040 and 12040. [3-Phase Type] Strand or annealed copper wire: Connect with an earth line of...
  • Page 74 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. �...
  • Page 75 Heat R�������������������������� 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. 10mm or more 50mm 50mm or more 150mm or more 50mm 50mm...
  • Page 76 Panel Unit (Option) Installation Utilize the hook hole on the back side to hang on a tool such as L-shaped hook. � � Such as L-shaped hook � � � Hook hole � � � � � � � � �...

  • Page 77: Chapter 2 Wiring

    Chapter 2 Wiring 2.1 Wiring (Connection of devices) Diagram 2.1.1 XSEL-R Panel Unit Power Supply for (Option) Brake (Note 1) (Note 2) 24V power supply Power Supply 3-phase or Single-phase AC200V CONTROLLER Flat Cable Host System (Note 1) Teaching Pendant...

  • Page 78: Xsel-S

    2.1.2 XSEL-S Panel Unit Power Supply for (Option) Power Supply Brake (Note 1) (Note 2) 3-phase or 24V power supply Single-phase Safety Circuit AC200V (Note 1) (Note 4) Drive Cutoff Flat Cable Circuit Host System (Note 1) Regeneration Unit (Option) Teaching Pendant (Option) Extension I/O Unit...

  • Page 79: Xsel-Rx

    2.1.3 XSEL-RX Panel Unit Power Supply for (Option) Brake (Note 1) (Note 2) 24V power supply Power Supply 3-phase or Single-phase AC200V CONTROLLER Flat Cable Host System (Note 1) Teaching Pendant Regeneration Unit (Option) (Option) Extension I/O Unit (Option) Motor Cable Encoder Cable (Note 1) PC Software...

  • Page 80: Xsel-Sx

    2.1.4 XSEL-SX � Panel Unit Power Supply for (Option) Power Supply Brake (Note 1) (Note 2) 3-phase or 24V power supply Single-phase Safety Circuit AC200V Drive Cutoff Flat Cable Circuit Host System (Note 1) Teaching Pendant Regeneration Unit (Option) (Option) Extension I/O Unit (Option) Motor Cable...

  • Page 81: Xsel-Rxd

    2.1.5 XSEL-RXD Panel Unit Power Supply for (Option) Brake (Note 1) (Note 2) 24V power supply Power Supply 3-phase or Single-phase AC200V CONTROLLER Flat Cable Host System (Note 1) Teaching Pendant Regeneration Unit (Option) (Option) Extension I/O Unit (Option) 24V power supply Regeneration Resistor Unit (Note 1)

  • Page 82: Xsel-Sxd

    2.1.6 XSEL-SXD � Panel Unit (Option) Power Supply for Power Supply Brake (Note 1) (Note 2) 3-phase or 24V power supply Single-phase Safety Circuit AC200V (Note 1) Drive (Note 4) Cutoff Circuit Flat Cable Panel Unit (Option) Regeneration Unit Teaching Pendant (Option) (Option) Extension I/O Unit...

  • Page 83: Circuit Diagram (Example)

    2.2 Circuit Diagram (Example) 2.2.1 3-phase type power supply circuit L1 L2 L3 Circuit Breaker XSEL-R/RX/RXD Controller AC Power Supply Input Connector) Noise filter CP-L Control Power Supply Leakage Breaker (Note1) MC1320 CP-N MP-R Driving Power Supply MP-S MP-T 1 2 3...

  • Page 84: Single-Phase Type Power Supply Circuit

    2.2.2 Single-phase type power supply circuit Circuit Breaker XSEL-R Controller AC Power Supply Input Connector) Noise Filter CP-L Control Power Supply Leakage Breaker (Note1) MXB-1220-33 CP-N MP-L Driving Power Supply MP-N Surge Protector R/A/V-781BWZ-2A Grounding resistance at 100Ω or less...

  • Page 85: Brake Release Power Supply

    2.2.3 Brake Release Power Supply � 24V DC XSEL Controller Brake Power Input Connector) BK PWR DC24V � �...

  • Page 86: Emergency Stop Circuit (For R/Rx/Rxd Type)

    2.2.4 Emergency Stop Circuit (For R/RX/RXD Type) The following diagram shows the case when the teaching pendants emergency stop switch is reflected on the machine’s emergency stop circuit design. DC24V Teaching Pendant � Emergency Sop Deadman Switch � ENB TBX1 ENB VCC1 EMG IN1 EMG OUT1...

  • Page 87: Emergency Stop Circuit (For S/Sx/Sxd Type)

    2.2.5 Emergency Stop Circuit (For S/SX/SXD Type) The following diagram shows the case when the teaching box’s emergency stop switch is reflected on the machine’s emergency stop circuit design.� � DC24V Teaching Pendant � Emergency Stop Switch Deadman Switch ENB TBX1 ENB VCC1 EMG IN1 EMG OUT1...

  • Page 88: Motor Encoder Circuit

    Motor Cable Encoder Cable No.� Controller Type� Connectable Actuators� Connection Connection diagram diagram� XSEL-R/S Multi-axis 8-axis or less� [1]� [2]� SCARA robot 1 unit and the added XSEL-RX/SX [3]� [4]� 4-axis or less� axis XSEL-RXD/SXD SCARA robot 2 units�...
  • Page 89 [1] XSEL-R/S Motor Cable Connection XSEL Controller For axis 1 (Note1) Motor Cable Connector for the motor cable) (Note1) For axis 2 Motor Cable Connector for the motor cable) (Note1) For axis 3 Motor Cable Connector for the motor cable)
  • Page 90 [2] XSEL-R/S Encoder Cable Connection XSEL Controller (Note1) For axis 1 Encoder Cable Encoder Connector) For axis 2 (Note1) Encoder Cable Encoder Connector) For axis 3 (Note1) Encoder Cable Encoder Connector) For axis 4 (Note1) Encoder Cable Encoder Connector) For axis 5...
  • Page 91 [3] XSEL-RX/SX Motor Cable Connection XSEL Controller For axis 1 Motor Cable Connector for the motor cable) For axis 2 Motor Cable Connector for the motor cable) Motor Cable For axis 3 Connector for the motor cable) Motor Cable For axis 4 Connector for the motor cable) Motor Cable...
  • Page 92 [4] XSEL-RX/SX Encoder Cable Connection � XSEL Controller For axis 1 Encoder Cable Encoder Connector) For axis 2 Encoder Cable Encoder Connector) For axis 3 Encoder Cable Encoder Connector) Encoder Cable For axis 4 Encoder Connector) For axis 5 (Note1) Encoder Cable Encoder Connector)
  • Page 93 [5] XSEL-RXD/SXD Motor Cable Connection XSEL Controller Motor Cable For axis 1 Connector for the motor cable) For axis 2 Motor Cable Connector for the motor cable) Motor Cable For axis 3 Connector for the motor cable) For axis 4 Motor Cable Connector for the motor cable)
  • Page 94 [6] XSEL-RXD/SXD Encoder Cable Connection XSEL Controller Encoder Cable For axis 1 Encoder Connector) For axis 2 Encoder Cable Encoder Connector) Encoder Cable For axis 3 Encoder Connector) For axis 4 Encoder Cable Encoder Connector) For axis 5 Encoder Cable Encoder Connector) For axis 6...

  • Page 95: Pio Circuit

    2.2.7 PIO Circuit There are 6 types of I/O Board as shown below. Display of XSEL Polarity No. of I/O points Model Mode Code 32 Input Points / 16 Output Points IA-103-X-32 16 Input Points / 32 Output Points IA-103-X-16 48 Input Points / 48 Output Points IA-IO-3204-NP 32 Input Points / 16 Output Points...
  • Page 96 (1) Input Port Allocation Port Parameter At the Function of an Input Signal Value delivery Name Universal Input Program Start (Program No. selectIntput Port=007 to 013 BCD Select) Input � No.30 Function Program Start (Program No. selectIntput Port=007 to 013 Binary Setup)�...
  • Page 97 Program No.� Binary Input Function Select 000=Setting 4 Setup� 6 bit Universal Input � In the case of XSEL-R/S, All Effective Axes Homing (ON Edge Processing) In the case of XSEL-RX/SX, All Direct Driving Axes ABS Reset Position Input Move/Homing (ON Edge) No.45...
  • Page 98 (2) Output Port Allocation Port Parameter At the Function of an Input Signal Value Delivery Name Universal output Error Output at the Operation Cancellation Level or more (ON)� � Error Output at the Operation Cancellation Level or more (OFF)� �� Error Output at the Operation Cancellation Level or more + �...
  • Page 99 [3] Wiring (1) NPN Type � 32 Input Points / 16 Output Points (Display of XSEL Mode Code: N1) I/O Board 24 V (Red-1) (Yellow-4) Load (Orange-1) (Green-4) (Yellow-1) (Blue-4) (Green-1) (Purple-4) (Blue-1) (Gray-4) (Purple-1) (White-4) (Gray-1) (Black-4) Input function (White-1) (Brown-5) is parameter...
  • Page 100 � 16 Input Points / 32 Output Points (Display of XSEL Mode Code: N2) I/O Board 24 V (Red-1) (Gray-2) Load (Orange-1) (White-2) (Yellow-1) (Black-2) (Green-1) (Brown-3) (Blue-1) (Red-3) (Purple-1) (Orange-3) (Gray-1) (Yellow-3) Input function (White-1) (Green-3) is parameter setup (Black-1) (Blue-3) (Brown-2)
  • Page 101 � 48 Input Points / 48 Output Points (Display of XSEL Mode Code: N3) I/O Board 24 V (Red-1 ) (Brown-1) Load (Orange-1) (Red-1) (Yellow-1) (Orange-1) (Green-1) (Yellow-1) (Blue-1) (Green-1) (Purple-1) (Blue-1) (Gray-1) (Purple-1) Input function (White-1) (Gray-1) is parameter (Black-1) (White-1) setup...
  • Page 102 � Use the attached cable for the I/O connection. Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m) Brown -1 (1) Black -5 (50) Brown -1 (51) Socket: HIF6-100D-1.27 Black -5 (100) (Manufacturer: Hirose) Flat cable: UL2651 (50 cores), AWG28 × 2...
  • Page 103 (2) PNP Type � 32 Input Points / 16 Output Points (Display of XSEL Mode Code: P1) 24 V I/O Board (Red-1) (Yellow-4) Load (Orange-1) (Green-4) (Yellow-1) (Blue-4) (Green-1) (Purple-4) (Blue-1) (Gray-4) (Purple-1) (White-4) (Gray-1) (Black-4) Input function (White-1) (Brown-5) is parameter setup (Black-1)
  • Page 104 � 16 Input Points / 32 Output Points (Display of XSEL Mode Code: P2) I/O Board 24 V (Gray-2) (Red-1) Load (White-2) (Orange-1) (Black-2) (Yellow-1) (Brown-3) (Green-1) (Red-3) (Blue-1) (Orange-3) (Purple-1) (Yellow-3) (Gray-1) Input function (Green-3) (White-1) is parameter (Blue-3) (Black-1) setup (Purple-3)
  • Page 105 � 48 Input Points / 48 Output Points (Display of XSEL Mode Code: P3) 24 V I/O Board (Red-1) (Brown-1) Load (Orange-1) (Red-1) (Yellow-1) (Orange-1) (Green-1) (Yellow-1) (Blue-1) (Green-1) (Purple-1) (Blue-1) (Gray-1) (Purple-1) Input function (White-1) (Gray-1) is parameter (Black-1) (White-1) setup (Brown-2)
  • Page 106 � Use the attached cable for the I/O connection. Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m) Brown -1 (1) Black -5 (50) Brown -1 (51) Socket: HIF6-100D-1.27 Black -5 (100) (Manufacturer: Hirose) Flat cable: UL2651 (50 cores), AWG28 × 2...

  • Page 107: Connection Of Regenerative Unit (Option)

    2.2.8 Connection of Regenerative Unit (Option) Regenerative Unit (REU-1) CB-ST-REU010 External RB IN Regenerative Unit Connector CB-ST-REU010 RB OUT Regenerative Unit (REU-1) RB IN RB OUT � �...

  • Page 108: Brake Release Switch Connector Layout Is To Be Established For Single Axis Actuator Equipped With A Brake)

    2.2.9 Brake release switch Connector (Layout is to be established for single axis actuator equipped with a brake) XSEL Controller (DC24V and 100mA or (Brake Release Switch Connector) BK RMT1 less) (Note1) 1-Axis Brake Release Switch Input 2-Axis Brake Release Switch Input 3-Axis Brake Release Switch Input 4-Axis Brake Release Switch Input Switch Input Common...

  • Page 109: Extension I/O Unit (Option)

    2.2.10 Extension I/O unit (Option) [1] Connection to the XSEL 24V DC Extension I/O Unit +24V Power Line Input Connector XSEL Controller IA Net IA Net Connection Connection Plug Plug...
  • Page 110 [2] PIO Circuit (1) Unit No. and System Setting This section describes for the limited case where the extension I/O unit is connected and used to add XSEL controller’s I/Os. Refer to IA Net Instruction Manual (ME0307) for connecting the extension I/O unit on the network using the IA Net.
  • Page 111 System Setting The system setting is performed for using it as extension I/O using the I/O parameter setting. Set them to the set values as shown in the following table. Set in Parameter name Details of Parameters Delivery Value This parameter sets the Head Occupied IA Net Top Occupied Station Number Station No.
  • Page 112 (2) Connection of PIO There are six types of PIO board which are the identical to the ones to be attached in the XSEL main machine. Polarity No. of I/O points Model 32 Input Points / 16 Output Points IA-103-X-32 16 Input Points / 32 Output Points IA-103-X-16 48 Input Points / 48 Output Points...
  • Page 113 Set in Parameter name Details of Parameters Delivery Value 4000+n (Multiples of 16) When it is not to be used, set it to “-1”. Set the address following to the slot No.1’s input address. Refer Set Value = (Slot No. 1’s Input Address) + Extension output Port Start Number at to the (No.
  • Page 114 (3) Wiring NPN Type � � 32 Input Points / 16 Output Points (Display of XSEL Mode Code: N1) I/O Board 24 V (Red-1) (Yellow-4) Load 1000 4000 (Orange-1) (Green-4) 1001 4001 (Yellow-1) (Blue-4) 1002 4002 (Green-1) (Purple-4) 1003 4003 (Blue-1) (Gray-4) 1004...
  • Page 115 � 16 Input Points / 32 Output Points (Display of XSEL Mode Code: N2) I/O Board 24 V (Red-1) (Gray-2) Load 1000 4000 (Orange-1) (White-2) 1001 4001 (Yellow-1) (Black-2) 1002 4002 (Green-1) (Brown-3) 1003 4003 (Blue-1) (Red-3) 1004 4004 (Purple-1) (Orange-3) 1005 4005...
  • Page 116 � 48 Input Points / 48 Output Points (Display of XSEL Mode Code: N3) I/O Board 24 V (Red-1 ) (Brown-1) Load 1000 4000 (Orange-1) (Red-1) 4001 1001 (Yellow-1) (Orange-1) 4002 1002 (Green-1) (Yellow-1) 4003 1003 (Blue-1) (Green-1) 4004 1004 (Purple-1) (Blue-1) 1005...
  • Page 117 � Use the attached cable for the I/O connection. Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m) Brown -1 (1) Black -5 (50) Brown -1 (51) Socket: HIF6-100D-1.27 Black -5 (100) (Manufacturer: Hirose) Flat cable: UL2651 (50 cores), AWG28 × 2...
  • Page 118 PNP Type � � 32 Input Points / 16 Output Points (Display of XSEL Mode Code: P1) 24 V I/O Board (Red-1) (Yellow-4) Load 4000 1000 (Orange-1) (Green-4) 4001 1001 (Yellow-1) (Blue-4) 4002 1002 (Green-1) (Purple-4) 4003 1003 (Blue-1) (Gray-4) 4004 1004 (Purple-1)
  • Page 119 � 16 Input Points / 32 Output Points (Display of XSEL Mode Code: P2) I/O Board 24 V (Gray-2) (Red-1) Load 4000 1000 (White-2) (Orange-1) 4001 1001 (Black-2) (Yellow-1) 4002 1002 (Brown-3) (Green-1) 4003 1003 (Red-3) (Blue-1) 4004 1004 (Orange-3) (Purple-1) 4005 1005...
  • Page 120 � 48 Input Points / 48 Output Points (Display of XSEL Mode Code: P3) 24 V I/O Board (Red-1) (Brown-1) Load 4000 1000 (Orange-1) (Red-1) 4001 1001 (Yellow-1) (Orange-1) 4002 1002 (Green-1) (Yellow-1) 4003 1003 (Blue-1) (Green-1) 4004 1004 (Purple-1) (Blue-1) 4005 1005...
  • Page 121 � Use the attached cable for the I/O connection. Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m) Brown -1 (1) Black -5 (50) Brown -1 (51) Socket: HIF6-100D-1.27 Black -5 (100) (Manufacturer: Hirose) Flat cable: UL2651 (50 cores), AWG28 × 2...

  • Page 122: Brake Box (Rcb-110-Ra13-0) (Option)

    2.2.11 Brake Box (RCB-110-RA13-0) (Option) Brake Box 24V DC 24V DC (RCB-110-RA13) CB-X3- CONTROLLER1 □□□ XSEL Controller Encoder Input Connector Brake Power Supply Connector Limit Switch Connector +24V ACTUATOR1 Encoder Output Connector 24VIN For axis 1 CONTROLLER2 Encoder Encoder Input CB-X1- Connector) Connector...

  • Page 123: General-Purpose Rs232C Port Connectors

    2.2.12 General-purpose RS232C Port Connectors The following connecting diagram is for the case that the serial communication is performed from the Host Controller. Prepare a communication cable by the user. XSEL Controller Host Master (PLC, PC etc.) General-purpose RS232C Port Connectors 1 and 2 S1,S2 �...

  • Page 124: Wiring Method

    2.3 Wiring Method 2.3.1 Wiring for Power Supply Circuit [1] 3-phase power supply type To X-SEL controllers, supply the following power supplies. Power Supply Type Specification Remarks Motor power supply 3-phase AC200V to 230V±10% Control power supply Single-phase AC200V to 230V±10% I/O power supply 24V DC±10% When mounting expansion I/O boards on...
  • Page 125 Parts Name Model Supplier Position to Attach Noise Filter MC1320 Densei Lambda Attach in range of 300mm or less from Ring Core ESD-R-25 NEC TOKIN controller� Clamp Filter ZCAT3035-1330 Attach as close as possible to controller Clamp Filter RFC-H13 Kitagawa Industries Co., Ltd. Attach at the input Surge Protector R·A·V-781BXZ-4...
  • Page 126 [2] Single-phase power supply type To X-SEL controllers, supply the following power supplies. Power Supply Type Specification Remarks Motor power supply Single-phase AC200V to 230V±10% Control power supply Single-phase AC200V to 230V±10% I/O power supply 24V DC±10% When mounting expansion I/O boards on I/O slot Brake power supply 24V DC±10%...
  • Page 127 Parts Name Model Supplier Position to Attach Noise Filter MXB-1220-33 Densei Lambda Attach in range of 300mm or less from Ring Core ESD-R-25 NEC TOKIN controller� Clamp Filter ZCAT3035-1330 Attach as close as possible to controller Clamp Filter RFC-H13 Kitagawa Industries Co., Ltd. Attach at the input Surge Protector R·A·V-781BWZ-2A...

  • Page 128: Wiring The Emergency Stop Circuit (System I/O )

    2.3.2 Wiring the Emergency Stop Circuit (System I/O ) Item R/RX/RXD Type S/SX/SXD Type Drive-source cutoff Built-in External circuit circuit (Hard-wired configuration) [Refer to Section 8.1] Conforming category B, 1 to 4 Redundancy in safety Achieved by an external circuit. circuit [Refer to Section 8.1] Operation upon...
  • Page 129 [1] R/RX/RXD type System I/O Connector Connector Model Remarks Cable side FMC1.5/9-ST-3.5 (PHOENIX CONTACT) Enclosed in standard package Controller side MCD1.5/9-G1-3.5P26THR�(PHOENIX CONTACT) COMBICON (2 rows, 9 pins) Signal Applicable Category Description name wire Not used Emergency stop detection input (relay switch of the emergency stop circuit) EMGin 24-V power output for emergency stop...
  • Page 130 Once it is disconnected between EMGin (IN) / EMGin (+24V), actuator will decelerate and stop and have a servo-off operation, and then the power to the motor drive will shut. EMG1 (line+) / (line -) are the contact output for emergency stop. SDN (OUT+) / SDN (OUT-) contact outputs are the contacts that come to the break status if the controller prohibits the supply of the motor power from outside.
  • Page 131 [2] S/SX/SXD type System I/O Connector Connector Model Remarks Cable side FMC1.5/9-ST-3.5 (PHOENIX CONTACT) Enclosed in standard package Controller side MCD1.5/9-G1-3.5P26THR�(PHOENIX CONTACT) COMBICON (2 rows, 9 pins) Signal Applicable Category Description name wire External contact error input (signal paired with No. 18) Connect to a fused contacts detection contact of the safety circuit.
  • Page 132 DET (IN) / DET (+24V) inputs are the terminals for dry contact input consists of the photocoupler. It enables the controller to detect the failure of the external safety circuit by inputting the detection signals of contact welding on the drive source cutoff safety circuit. Once it is disconnected between EMGin (IN) / EMGin (+24V), actuator will decelerate and stop and have a servo-off operation, and then the power to the motor drive will shut.

  • Page 133: Wiring For Actuator

    2.3.3 Wiring for Actuator Encoder Cable Encoder Connector Actuator CONTROLLER ��� � �� � �� ����� ����� � �� � �� ���� ���� ���� ��� ��� ��� ��� ��� ��� ��� ��� � �� � �� ���� ���� � �� ���...
  • Page 134 (2) Encoder Connector Specifications Connector Model Remarks 10126-3000VE(Sumitomo 3M) / Cable side Hood (10326-52F0-008) Controller side 10226-6202JL(Sumitomo 3M) Half-Pitch I/O Connector 26 pins Applicable Pin No. Signal name Description Wire Diameter Not connected Not connected Not connected Not connected Not connected Not connected SRD+ Send/receive differential+ (pulse/magnetic pole switching+)

  • Page 135: Wiring For Pio

    2.3.4 Wiring for PIO The connection of I/O to the controller is to be carried out using the dedicated I/O cable. The cable length is shown in the model code of the controller. Please check the controller model code. There are 2m for standard, 3m and 5m as an option. 10m is also applicable at maximum [Refer to “1.1.5 How to read the model”] Also, the end of the cable harness to be connected to the host controller (PLC, etc.) is just cut and no treatment is conducted so the wiring layout can be performed freely.
  • Page 136 [2] 48 Input Points / 48 Output Points Model : CB-X-PIOH��� (��� indicates the cable length L. Example. 020 = 2m) Brown -1 (1) Black -5 (50) Brown -1 (51) Socket: HIF6-100D-1.27 Black -5 (100) (Manufacturer: Hirose) Flat cable: UL2651 (50 cores), AWG28 × 2 Cable color Wiring Cable color...

  • Page 137: Wiring For Extension I/O Units

    2.3.5 Wiring for extension I/O units Connect the extension I/O unit using the IA network cable as shown in the figure. Connect the terminal resistance on the ends (Both ends).� Supply 24V DC power to the extension I/O unit. Extension XSEL Controller I/O Unit 24V Power...
  • Page 138 (1) Connection of IA Net � Connector Connector Model Remarks Cable side FMC1.5/3-ST-3.5 (PHOENIX CONTACT) Controller side MCV1.5/3-G-3.5 (PHOENIX CONTACT) Pin No. Signal Name Description Applicable Wire Diameter Shield Grounding Data sending B Cable dedicated for IAI products Data sending A �...
  • Page 139 (3) Connection of PIO The connection of I/O to the controller is to be carried out using the dedicated I/O cable. The cable length is shown in the model code of the controller. Please check the controller model code. There are 2m for standard, 3m and 5m as an option. 10m is also applicable at maximum [Refer to “1.1.5 How to read the model”] Also, the end of the cable harness to be connected to the host controller (PLC, etc.) is just cut and no treatment is conducted so the wiring layout can be performed freely.
  • Page 140 � 48 Input Points / 48 Output Points Model : CB-X-PIOH ��� (��� indicates the cable length L. Example. 020 = 2m) Brown -1 (1) Black -5 (50) Brown -1 (51) Socket: HIF6-100D-1.27 Black -5 (100) (Manufacturer: Hirose) Flat cable: UL2651 (50 cores), AWG28 × 2 Cable color Wiring Cable color...

  • Page 141: Wiring For Panel Unit

    2.3.6 Wiring for Panel Unit Panel Unit (option) can be used by connecting to XSEL Controller or Extension I/O Unit. � � � XSEL Controller � � � Panel Unit (Option) � � � � � � Extension I/O Unit Panel Unit (option) �...

  • Page 142: Wiring For Regeneration Unit (Reu-1) (Option)

    2.3.7 Wiring for Regeneration Unit (REU-1) (Option) Connect the regenerative unit with a cable enclosed with it referring to the figure below. The figure below is an example for connecting two units. XSEL Controller Connecting Cable (CB-ST-REU010) Connecting Cable (CB-ST-REU010) Regenerationt Unit Regenerationt Unit (REU-1)

  • Page 143: Wiring For Brake Box (Rcb-110-Ra13-0)

    2.3.8 Wiring for Brake Box (RCB-110-RA13-0) As shown in the figure below, connect the actuator, brake box and controller. (the figure is an example for connecting to the 1 axis.) Motor Cable (CB-X-MA□□□) Encoder Cable (CB-X1-PLA□□□) Encoder Cable Rear View (CB-X3-PA□□□) Actuator External Brake Connector Box...
  • Page 144 (2) Brake Power Input Connector Connector Model Remarks MC1.5/2-ST-3.5 Cable side (PHOENIX CONTACT) MC1.5/2-G-3.5 Brake Box side (PHOENIX CONTACT) Signal Pin No. Description Applicable wire name 24V Power Ground 0.08 to 1.25mm (AWG28 to AWG16) +24VIN +24V Power Input 1) Brake Power Input Connector 24VIN 0V...

  • Page 145: Wiring For The Teaching

    2.3.9 Wiring for the Teaching The teaching connector is used to connect an IAI teaching pendant or PC (PC software) so that the equipment can be operated, set up or otherwise manipulated from the teaching pendant/PC. If you are using S/SX/SXD type controller with the mode switch set to AUTO, connect the supplied dummy plug to the teaching connector.
  • Page 146 Terminal Assignments� Pin No. Direction Signal name Description Frame ground Transmit data Receive data Request to send Clear to send Equipment ready Signal ground Not connected RSVTBX1 Not used RSVTBX2 Not used Not connected EMGOUT1 Emergency stop contact 1 EMGIN1 Not connected RSVVCC 24-V teaching pendant power...

  • Page 147: Wiring The Brake Forced Release Switch

    2.3.10 Wiring the Brake Forced Release Switch This connector is used to connect the brake release switch on the actuator (it functions in the same way as the brake switch on the controller). Short-circuiting the COM and BKRMT terminals of this connector releases the brake. Use this method if you want to manually move the actuator while the controller power is cut off or a controller error is present.

  • Page 148: Wiring For General-Purpose Rs232C Port

    2.3.11 Wiring for General-purpose RS232C Port This two-channel communication port can be controlled using SEL language commands and lets you set message formats according to different types of host controllers. [Separate manual, SEL Language Programming Manual] Host Master CONTROLLER RS232C RC232C Connector Specifications Appiled Connector D-sub9 Pin (DTE)

  • Page 149: Chapter 3 Operation

    Chapter 3 Operation 3.1 Types of Operations The XSEL controller is a programming controller that can operate without a host controller. Programming for this controller uses IAI’s dedicated programming language (SEL language). [Refer to the separate SEL Language Programming Manual.] Operation method Operation in a standalone...

  • Page 150: I/O Ports

    3.2 I/O Ports The I/O port can deliver the data with the XSEL controller and external signals through interface. One port can exchange data for one contact (1 bit). Data is exchanged via PIOs (24-V I/Os) or over a field network. Either a PIO or field network can connect to each port at a time.
  • Page 151 (1) I/O map The factory-set I/O port numbers and functions of the XSEL controller are shown below. The functions of the I/O port can be changed using the parameter setting. [Refer to 2.2.7 PIO Circuit and Chapter 6. Parameters] Port Port Function Function...

  • Page 152: Starting The Controller

    3.3 Starting the Controller 3.3.1 Turning on the Power Turn on the controller power. � Power on procedure The following procedure is applied for cases where the parameters are the same as those at delivery, and the unit is not in the error occurrence mode or emergency stop mode. Also, the number allocation for the I/O ports is shown as the same as the delivery in this description.

  • Page 153: Panel Window Display

    3.3.2 Panel Window Display The 4-digit, 7-segment LED shows the controller status. When the unit is started up normally, “ ” is displayed after the initial processing display. If an indication other than “ ” is displayed, check “Trouble Shooting” in Chapter 7. �...
  • Page 154 Table 1 Panel window display list (1/2) Application control codes Display Priority (*1) Description The AC power is cut off. (Momentary power failure or power-supply voltage drop is also a possibility.) A system-shutdown level error is present. Data is being written to the flash ROM. An emergency stop is currently actuated (other than in the update mode).
  • Page 155 Table 1 Panel window display list (2/2) Application control codes Display Priority (*1) Description A cold-start level error is present. An operation-cancellation level error is present. A message level error is present. In updating mode The application is in the update mode. The application is being updated.

  • Page 156: Position Table And Program Creation And Writing

    3.3.3 Position Table and Program Creation and Writing Create a position table and create a program using the SEL language. Perform the teaching, etc., and register the required coordinates in the position table. Also, create the program using the SEL language. [Refer to the separate SEL language programming manual.] Write the position table and program data in the controller.

  • Page 157: Program Operation

    3.4 Program Operation For the operation there are two ways of start-up. One is the automatic start-up of the set program No. and the other is to start up with the program No. selected externally. 3.4.1 Auto Start upon Power On After the power is turned ON, the program with its No.
  • Page 158 [Recommendation] After the power is turned on, unexpected movements of the robot may create dangerous situations. For safety, provide an interlock whereby the program is started only after a start confirmation signal has been input from a pushbutton switch, etc. An example of operation is given below.

  • Page 159: Starting A Program By Specifying Its Program Number

    3.4.2 Starting a Program by Specifying its Program Number The program to be started up, can be started with its number specified externally and start-up signal input. [1] Preparation Connect the personal computer software and perform the setting, referring to the set values in the following table.
  • Page 160 [2] Input the program No. 0.01sec or more after the XSEL controller is started up (After Normal Start-up = RDY signal ON). [3] Set in the input ports set by I/O parameter No. 30, the program number of the program you want to start.

  • Page 161: Chapter 4 Absolute Reset And Absolute Battery

    Chapter 4 Absolute Reset and Absolute Battery 4.1 Absolute Reset 4.1.1 For PC Software [1] Single and Orthogonal Axes 1) Turn OFF the controller power. 2) Plug in the 9-pin D-sub connector on the connection cable to the communication port on the PC (or plug in the USB connector to the USB port on the PC), and joint the 25-pin D-sub connector to the 25-pin on the controller.
  • Page 162 7) Select [Monitor (M)] � [Error Details (E)] menu to check the current error status. For the encoder battery error, the display is as shown below. (example of using an absolute encoder on the 4th axis) after checking, close [Error Details] window. 8) Select [Controller (C)] �...
  • Page 163 10) [Abs. Encoder Reset] dialog box appears. Click hear and the axis number changes. Select an axis that requires an absolute reset. 11) Click on the Encoder Rotation Data Reset 1 button, and [Warning] dialog box appears. Click Yes (Y). 12) [Warning] dialog box pops up again.
  • Page 164 13) Once the process of Encoder Multi Rotation Data Reset is finished, the red arrow moves to the next item. Click on the buttons for the following processes one by one. (After completing every process, the red arrow moves to the next.) 1) Reset Controller Error 2) Servo ON 3) Returning Home...
  • Page 165 19) Now the process for absolute reset is complete. If a redo of the absolute reset is required, end the X-SEL PC Software once and conduct the whole process from the beginning again. (Note) In some actuator, the current value does not show 0mm after the absolute reset is finished.
  • Page 166 [2] Scara Axis (Excluding IX-NNN10040 and 12040) (1) Absolute Reset Preparation The following jigs are required to perform an absolute reset: � Absolute Reset Adjustment jigs Type Remarks JG-1 Arm length 500/600 JG-2 Arm length 250/300/350 JG-3 Arm length 700/800 JG-4 Arm length 500/600 high-speed type JG-5...
  • Page 167 (2) Starting the Absolute Reset Menu 1) Open the Abs. Encoder Reset window from PC software. (Note) In the case of X-SEL-PX/QX, RX/SX, and RXD/SXD select Abs. Encoder Reset (A) (Scara Axis). 2) The Abs. Encoder Reset window will open. �...
  • Page 168 (3) Absolute Reset Procedure for Arm 1 or 2 1) Click the Encoder Rotation Data Reset1 button. 2) Click the Reset Controller Error button.
  • Page 169 3) Click the Servo ON button. 4) Jog the arm to near the reference position (see reference position drawing in step 7), and click the Jog end button. 5) Click the Servo-Off button.
  • Page 170 6) Press the EMERGENCY STOP switch. 7) When performing an absolute reset for arm 1, set an adjustment jig (pin) in arm 1 to fix the arm at the reference position. When performing an absolute reset for arm 2, set an adjustment jig (pin) in arm 2 to fix the arm at the reference position.
  • Page 171 Arm 1 (Arm length 250/300/350) Arm 2 (Arm length 250/300/350) Arm length 250/300/350 Reference Position (Note) When performing an absolute reset for arm 1 of IX-NNN2515, rotate arm 2 slightly then set with an adjustment jig (pin) to set it. Warning �...
  • Page 172 Absolute reset jig Arm 1 Positioning mark Arm 2 Positioning mark Absolute reset jig Arm 1 (Arm length 120/150/180) Arm length 120/150/180 Reference Position * When an absolute reset is performed for arm 1 (arm length: 120) Arm 2 (Arm length 150/180) Arm length 120 Reference Position Arm 2 (Arm length 120) * When an absolute reset is performed for arm 2 (arm length: 120)
  • Page 173 8) Click the OK button. 9) Click the Encoder Rotation Data Reset2 button.
  • Page 174 10) Remove the adjustment jig. � Install the cover and secure it with the setscrews for arm 1 only. 11) Release the EMERGENCY STOP switch. 12) Click the OK button. • An arrow is shown next to the Home pos. automatic update button. Do not this item (In particular, be sure this item is not set when performing an absolute reset without using a jig.) •...
  • Page 175 (4) Absolute Reset Procedure for Rotation Axis + Vertical Axis 1) Click the Encoder Rotation Data Reset1 button. 2) Click the Reset Controller Error button.
  • Page 176 3) Click the Servo ON button. 4) Click the Temp. Standard posture standby button. • Please note that the vertical axis returns to its home position. 5) Jog the rotation axis to the reference position (see reference position drawing in step 8), and click the Jog end button.
  • Page 177 6) Click the Servo-OFF button. 7) Press the EMERGENCY STOP switch. 8) Affix the rotation axis at the reference position by setting the plate and pin of the adjustment jig as illustrated below. • Set the jig after confirming that the EMERGENCY STOP switch is pressed. •...
  • Page 178 (Bottom view) Warning � Be sure to press the EMERGENCY STOP switch before setting an adjusting jig. Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death.
  • Page 180 (Bottom view) Warning � Be sure to press the EMERGENCY STOP switch before setting an adjusting jig. Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death. � Pay attention to the orientation of the D-cut surface of the plate jig.
  • Page 181 9) Click the OK button. 10) Click the Encoder Rotation Data Reset2 button.
  • Page 182 11) Click the Home pos. automatic update button. 12) Remove the adjustment jig. 13) Release the EMERGENCY STOP switch. 14) Click the OK.
  • Page 183 15) Click the Servo ON button. 16) Click the Standard posture standby button. • Please note that the vertical axis returns to its home position. 17) Click the Servo-OFF button.
  • Page 184 18) Click the Encoder Rotation Data Reset3 button. 19) Click the Home pos. automatic update button, and then click “�” in the top right-hand corner to exit the Abs. Encoder Reset window. • Be sure to perform "Software Reset" upon completion.
  • Page 185 [3] X-NNN10040 and 12040 SCARA Axes In case the absolute data is lost, conduct “Push type absolute reset”. [Refer to (1) How to Operate the Push Type Absolute Reset] In the following case, conduct “Stopper pressing position acquirement” before having the absolute reset Do not execute it after it comes to a circumstance that requires the absolute reset.
  • Page 186 (1) How to Operate the Push Type Absolute Reset 1) Backup the parameters so that they can be put back anytime to those before changing them. Select “Parameter (P)” � “Edit (E)” from PC Software Menu to show the Edit Parameter window.
  • Page 187 [When Performing Push Stopper Type Absolute Reset to All Axes at Once] To have the push stopper type absolute reset for all the axes at once, follow the steps shown below. 1) Select “All axes”. 2) Click “Encoder Rotation Data Reset / Reset Controller Error (Step 1/4)”. 3) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load.
  • Page 188 4) By referring to the displayed movement direction for each axis, adjust the axes to the initial posture. The posture differs depending on the movement direction. Click on “Display the explanation of initial posture” to check the explanations. Make to work on with the emergency stop activated when moving the axes with hand.
  • Page 189 For the position, put it apart from the stopper position for 10deg or more. Setting it too close to the stopper, Error No. B0D “Push Stopper Operation Start Position Error” may occur at operation. � Vertical Axis For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more. Setting it at 10mm or less, Error No.
  • Page 190 [When performing Push Stopper Type Absolute Reset on Each Axis One by One] To have the push stopper type absolute reset for each axis one by one, follow the steps shown below. � 1 Arm and 2 1) Select “Individual axis” in the push type absolute reset window, and set Axis to “Arm 1” (or Arm 2).
  • Page 191 4) By referring to the displayed movement direction for each axis, adjust the axes to the initial posture. The posture differs depending on the movement direction. Click on “Display the explanation of initial posture” to check the explanations. Make sure to work on with the emergency stop activated when moving the axes with hand.
  • Page 192 For the position, put it apart from the stopper position for 10deg or more. Setting it too close to the stopper, Error No. B0D “Push Stopper Operation Start Position Error” may occur at operation. 5) Click ”Execution” button. 6) A Warning window shows up. Click “Yes”. Each operation for the push type absolute reset starts.
  • Page 193 � Vertical Axis, Rotation Axis 1) Select “Individual axis” in the Push stopper type absolute reset window, and set Axis to “Vert. Axis + Rot. Axis”. 2) Click “Encoder Rotation Data Reset / Reset Controller Error (Step 1/4)”. 3) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load.
  • Page 194 4) By referring to the displayed movement direction for each axis, adjust the axes to the initial posture. The posture differs depending on the movement direction. Click on “Display the explanation of initial posture” to check the explanations. Make to work on with the emergency stop activated when moving the axes with hand.
  • Page 195 7) Once the push type absolute reset for the axis is complete, the information window will appear. Click “OK” button. 8) When finishing the process, click “�” on the upper right side of the window. Once the window is closed, the parameters start to be written automatically to the flash ROM, and controller is rebooted by the software reset.
  • Page 196 (2) How to Acquire the Stopper Interfering Point In the following case, conduct “Stopper pressing position acquirement (Note 1)” before having the absolute reset. � When the absolute reset cannot be performed in the direction of the stopper interfering movement with the initial posture at the delivery from the factory due to such reasons as interference to the peripheral equipment �...
  • Page 197 Push stopper position acquisition with the process shown below. 1) Backup the parameters so that they can be put back anytime to those before changing them. Select “Parameter (P)” � “Edit (E)” from PC Software Menu to show the Edit Parameter window.
  • Page 198 4) A Confirmation window shows up. Click “Yes”. If conducting on all the axes at once, have the process of [1]. When not all the axes, but having one or some of the 4 axes to be conducted, have the process of [2].
  • Page 199 [When Acquiring Push Stopper Position for All Axes at Once] To acquire the push stopper position for all the axes at once, follow the steps shown below. 1) Select “All axes” in the Push stopper position acquisition window. 2) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load.
  • Page 200 [Initial posture] � Arm1, Arm 2 Remove all the interferences of the peripheral devices, and set the posture to either of the left arm system or the right arm system. It is set to right arm system when the unit is shipped out.
  • Page 201 4) Select the direction to move for the vertical axis and rotation axis. It is not necessary to change the direction to move for the vertical axis and rotation axis. Make the vertical axis is in the coordinates minus direction. Once the selection is made, click on the “OK”...
  • Page 202 7) Once the push stopper position acquirement for all the axes is complete, the Information window will appear. Click “OK” button. 8) Close the Push stopper position acquisition window by clicking “�” on the upper right side of the window. Once the window is closed, the parameters start to be written automatically to the flash ROM, and controller is rebooted by the software reset.
  • Page 203 [When Acquiring Push Stopper Position on Each Axis One by One] To have an acquirement on each axis, follow the steps below. � 1 Arm and 2 1) Select “Individual axis” in the Push stopper position acquisition window, and set Axis to “Arm 1”...
  • Page 204 [Initial posture] � Arm1, Arm 2 Remove all the interferences of the peripheral devices, and set the posture to either of the left arm system or the right arm system. It is set to right arm system when the unit is shipped out.
  • Page 205 5) Click “Execution” button. 6) A Warning window shows up. Click “Yes”. Process to acquire the push stopper position will start. 7) Once the push stopper position acquisition is complete, the Information window will appear. Click “OK” button. 8) If it is necessary to have the push stopper position a acquisition for another axis, move on to the axis selection.
  • Page 206 � Vertical Axis, Rotation Axis 1) Select “Individual axis” in the Push stopper position acquisition window, and set Axis to “Vert. Axis + Rot. Axis”. 2) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load.
  • Page 207 [Initial posture] � Vertical Axis For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more. Setting it at 10mm or less, Error No. B0D “Push Stopper Operation Start Position Error” may occur at operation. �...
  • Page 208 7) Once the push stopper position acquisition is complete, the Information window will appear. Click “OK” button. 8) When finishing the process, click “�” on the upper right side of the window. Once the window is closed, the parameters start to be written automatically to the flash ROM, and controller is rebooted by the software reset.
  • Page 209 [4] ZR Unit (1) Absolute Reset on ZR Unit (Absolute Type Only) Under certain conditions such as when the ZR unit is connected to the controller for the first time, absolute encoder battery voltage is abnormal, or encoder cable has been disconnected, an encoder battery error will generate and absolute reset will be required.
  • Page 210 � Starting the Absolute Reset Menu (Ball-screw Spline Adjustment Window) 1) Start the ball-screw spline adjustment window from the PC software. 2) The ball-screw spline adjustment window starts. When a "Lnr Axis No (linear movement axis number)" is selected, "Rot. Axis No. (Rotational Movement Axis Number) (Mating Axis Number)"...
  • Page 211 � Absolute Reset (Ball-screw Spline Adjustment) Procedure For absolute reset (ball-screw spline adjustment) for the ZR unit, a series of operations of the vertical axis and rotary axis is performed. Since the adjustment procedure includes items that require robot operation, confirm the range of operation of the actuator, absence of obstructions, etc., to make sure the robot can be operated.
  • Page 212 3) When the dialog box appears, click the [Yes (Y)] button. 4) When the dialog box appears, click the [Yes (Y)] button.
  • Page 213 5) Click the [Reset Controller Error] button. 6) Click the [Servo ON (Lnr. Axis, Rot. Axis] button.
  • Page 214 7) Click the [Temp. Standard posture standby (Lnr. Axis)] button. Note: Up-down axis will have a home-return operation. 8) Jog the rotational movement axis (R-axis) to the reference posture position (refer to the illustration of reference posture), and then click the [Jog end] button. Illustration of reference posture...
  • Page 215 9) Click the [Servo-OFF (Lnr. Axis, Rot. Axis)] button. 10) Press the emergency stop switch (emergency stop button on the PC cable). 11) Release the brake. Release the brake using the switch on the controller side.
  • Page 216 Jig Installation method [1] Insert the ball-screw spline into the hole in the jig from below. [2] Cause the D-cut surface of the ball-screw spline to contact the surface a. [3] Cause the side surface of the ball-screw spline to contact the surface b. [4] Tighten the screw c to secure the jig onto the ball-screw spline.
  • Page 217 12) Click the [OK] button. 13) Click the [Encoder Rotation Data Reset 2 (Rot. Axis)] button.
  • Page 218 14) When the dialog box appears, click the [Yes (Y)] button. 15) When the dialog box appears, click the [Yes (Y)] button.
  • Page 219 16) Click the [Home pos. automatic update (Indispensability) (Rot. Axis)] button. 17) Remove the adjustment tool. 18) Lock the brake (on the front panel of the controller). 19) Cancel the emergency stop (by releasing the emergency stop button on the PC cable). 20) Click the [OK] button.
  • Page 220 21) Click the [Servo ON (Lnr. Axis, Rot. Axis)] button. 22) Click the [Standard Posture standby (Lnr. Axis) (Rot. Axis�0)] button. Note: Up-down axis starts home-return operation after the rotary axis finishes moving to 0 point.
  • Page 221 23) Click the [Servo-OFF (Lnr. Axis, Rot.Axis)] button. 24) Click the [Encoder Rotation Data 3 (Lnr. Axis)] button.
  • Page 222 25) When the dialog box appears, click the [Yes (Y)] button. 26) Click the [Home pos. automatic update (Indispensability) (Lnr. Axis)] button, and then click “�” in the top right-hand corner of the window to close the window.
  • Page 223 27) Closing the ball-screw spline adjustment window following the ball-screw spline adjustment opens the following screen. Click the [Yes] button. 28) When all data has been written to the flash ROM, the following screen appears. Click the [Yes] button.
  • Page 224 (2) Ball-screw spline adjustment on ZR unit (incremental type) Normally, adjustment of the ball-screw spline s not required. Perform it only when the combination of the main unit and the controller is changed because the ZR unit or controller is changed. �...
  • Page 225 � Starting the Ball-screw Spline Adjustment Window 1) Start the ball-screw spline adjustment window from the PC software. 2) The ball-screw spline adjustment window starts. When a "Lnr. Axis No. (linear movement axis number)" is selected, "Rot. Axis No. (Rotational Movement Axis Number) (Mating Axis Number)" and "Encoder Type" are displayed.
  • Page 226 � Ball-screw Spline Adjustment Procedure For ball screw spline adjustment for the ZR unit, a series of operations of the vertical axis and rotary axis is performed. Since the adjustment procedure includes items that require robot operation, confirm the range of operation of the actuator, absence of obstructions, etc., to make sure the robot can be operated.
  • Page 227 3) Click the [Servo ON (Lnr. Axis, Rot. Axis)] button. 4) Click the [Temp. Standard posture standby (Lnr. Axis)] button. Note: vertical axis will have a home-return operation.
  • Page 228 5) Click on “Home Return (Rotary Axis)” button. Note: Rotary axis starts home-return operation. 6) Jog the rotational movement axis to the reference posture position (refer to the illustration of reference posture), and then click the [Jog end] button. Illustration of reference posture...
  • Page 229 7) Click the [Servo-OFF (Lnr. Axis, Rot. Axis)] button. 8) Press the emergency stop switch (emergency stop button on the PC cable). 9) Release the brake. Release the brake using the switch on the controller side.
  • Page 230 Jig Installation method [1] Insert the ball-screw spline into the hole in the jig from below. [2] Cause the D-cut surface of the ball-screw spline to contact the surface a. [3] Cause the side surface of the ball-screw spline to contact the surface b. [4] Tighten the screw c to secure the jig onto the ball-screw spline.
  • Page 231 10) Click the [OK] button. 11) Click the [Home pos. automatic update (Indispensability) (Rot. Axis)] button. 12) Remove the adjustment tool. 13) Lock the brake (on the front panel of the controller). 14) Cancel the emergency stop (by releasing the emergency stop button on the PC cable).
  • Page 232 15) Click the [OK] button, and then click “�” in the top right-hand corner of the window to close the window. 16) Closing the ball-screw spline adjustment window following the ball-screw spline adjustment opens the following screen. Click the [Yes] button. 17) When all data has been written to the flash ROM, the following screen appears.

  • Page 233: For Teaching Pendant

    4.1.2 For Teaching Pendant [1] Single and Orthogonal Axes Executes absolute data reset. Select the F1 (RAbs) key on the controller item screen. Mode Transition: Ctl-RAbs To execute absolute reset, press the F1 (Yes) key. If not, press the F2 (No) key. Return to the previous screen.
  • Page 234 (3) Servo ON F1 (OK) key. (4) Homing F1 (OK) key. (5) Servo OFF After executing absolute reset, be sure to reset software or reconnect the power. Do not press the F1 (OK) key but press the PAGE UP key. Then move to "(6) Encoder multi-rotation data reset 2."...
  • Page 235 Return to the axis No. input screen. To execute absolute reset on other axes, input axis No. here and press the F1 (OK) key. Repeat (1) ~ (6). To finish absolute reset, press the ESC key. Move to the software reset screen. Press F1 (Yes) key to execute software reset.
  • Page 236 [2] The SCARA Axis (Excluding IX-NNN10040 and 12040) Absolute Reset Preparation The following jigs are required to perform an absolute reset: � Absolute Reset Adjustment jigs Type Remarks JG-1 Arm length 500/600 JG-2 Arm length 250/300/350 JG-3 Arm length 700/800 JG-4 Arm length 500/600 high-speed type JG-5...
  • Page 237 An absolute reset is performed on the following 3 types: arm 1, arm 2 and Z-axis + R-axis. (1) Absolute reset on arm 1 and arm 2 Select the F1 (RAbs) key on the controller item screen. Mode Transition: Ctl-RAbs When performing an absolute reset, press the F1 (Yes) key.
  • Page 238 (3) Servo ON Press the F1 (OK) key. (4) Jog movement Jog the arm to the vicinity of the basic position (see the "Standard Posture Drawing" on the following page) and press the F1 (OK) key. (5) Servo OFF Press the F1 (OK) key. (6) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button and set an adjusting jig.
  • Page 239 Check that the EMERGENCY STOP button has been pressed. When performing an absolute reset for arm 1, set an adjustment jig (pin) in arm 1 to fix the arm at the reference position. In that case, arm 2 may be moved. When performing an absolute reset for arm 2, set an adjustment jig (pin) in arm 2 to fix the arm at the reference position.
  • Page 240 Arm 1 (Arm length 250/300/350) Positioning mark label for arm 1 Positioning mark label for arm 2 Arm 2 (Arm length 250/300/350) Arm length 250/300/350 Reference Position (Note) When performing an absolute reset for arm 1 of IX-NNN2515, rotate arm 2 slightly then set with an adjustment jig (pin) to set it.
  • Page 241 Absolute reset jig (Pin) Positioning mark label for arm 1 Positioning mark label for arm 2 Arm 1 (Arm length 120/150/180) Absolute reset jig (Pin) Arm Length 120 /150/180 Reference Position *1: When an absolute reset is performed for arm 1 (arm length: 120) Adjust both arm 1 and 2 Arm 2 (Arm length 150/180)
  • Page 242 (7) Encoder multi-rotation data reset Press the F1 (OK) key. (8) Home preset value auto refresh Press the PAGE UP key and do not press the F1 (OK) key. � Do not execute the item of "Home preset value auto refresh." (Be careful especially when performing an absolute reset without a jig.) �...
  • Page 243 Press the ESC key. Restart the controller. Press the F1 (Yes) key. The screen returns to the Mode Selection screen. Note: Be careful not to perform reset using an incorrect sequence, since it may cause the arm position to become offset. Execute "home preset value auto refresh"...
  • Page 244 (2) Absolute reset on Z-axis + R-axis Select the F1 (RAbs) key on the controller item screen. Mode Transition: Ctl-RAbs When performing an absolute reset, press the F1 (Yes) key. When not performing an absolute reset, press the F2 (No) key. The display returns to the previous screen.
  • Page 245 (3) Servo ON Press the F1 (OK) key. (4) Temporary standard posture standby Press the F1 (OK) key. Note: The Z-axis returns to the home position. (5) Jog movement Move the R-axis to the vicinity of the basic position with jog keys (see the Standard Posture Drawing"...
  • Page 246 (7) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button. Press the brake release switch to release the brake. After fixing the standard posture as shown below, press the F1 (OK) key. Inputting emergency stop displays the screen at the left.
  • Page 247 The top face of the stopper should align with the bottom face of arm 2 so that clearance will be approx. 4 mm. D-cut surface Contact the jig with the pin lightly. Positioning mark label for rotation axis D-cut surface (Bottom view) Arm Length 250/300/350 Reference Position Warning...
  • Page 249 Warning � Be sure to press the EMERGENCY STOP switch before setting an adjusting jig. Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death. � Pay attention to the orientation of the D-cut surface of the plate jig.
  • Page 250 (8) Encoder multi-rotation data reset (2) Press the F1 (OK) key. (9) Home preset value auto refresh Press the F1 (OK) key. (10) Adjusting jig removal and emergency off Remove the adjusting jig. Turn off the brake release switch to enable the brake.
  • Page 251 (13) Servo OFF Press the F1 (OK) key. (14) Encoder multi-rotation data reset (3) Press the F1 (OK) key. (15) Home preset value auto refresh Press the F1 (OK) key. Return to the previous screen with the ESC key. Note: If "Write Flash ROM?" is displayed, exit the screen with "No".
  • Page 252 [3] ZR Unit (Absolute Type) Under certain conditions such as when the ZR unit is connected to the controller for the first time, absolute encoder battery voltage is abnormal, or encoder cable has been disconnected, an encoder battery error will generate and absolute reset will be required. (1) Preparing for Absolute Reset You also need a special jig to perform an absolute reset.
  • Page 253 (2) Absolute Reset Procedures For absolute reset for the ZR unit, a series of operations of the vertical axis and rotation axis is performed. Because there is an item for operating the robot in the adjustment procedure, perform the adjustment in the condition where the actuator is available by setting the appropriate moving range of the actuator and arranging it so there are no obstacles etc.
  • Page 254 (3) Servo ON Press the F1 (OK) key. (4) Temporary standard posture standby Press the F1 (OK) key. Note: The vertical axis returns to the home position. (5) Jog movement Move the rotation axis to the vicinity of the basic position with jog keys (see the “Standard Posture Drawing”...
  • Page 255 Jig Attachment Procedure D-shaped surface [1] Insert the ball screw spline shaft into the jig hole from the lower side. [2] Put the D-cut surface of the ball screw spline shaft onto the surface “a”. [3] Put the ball screw spline shaft side surface onto the surface “b”. [4] Fasten the screw “c”...
  • Page 256 (8) Encoder multi-rotation data reset (2) Press the F1 (OK) key. (9) Home preset value auto refresh Press the F1 (OK) key. (10) Adjusting jig removal and emergency off Remove the adjusting jig. Turn off the brake release switch to enable the brake.
  • Page 257 (13) Servo OFF Press the F1 (OK) key. (14) Encoder multi-rotation data reset (3) Press the F1 (OK) key. (15) Home preset value auto refresh Press the F1 (OK) key. Return to the previous screen with the ESC key. If “Write Flash ROM?” is displayed, exit the screen with “Yes.”...
  • Page 258 [4] Perform Ball Screw Spline Shaft Adjusting on ZR Unit (Incremental Type) Normally, adjustment of the ball screw spline shaft adjusting is not required. Perform it only when the combination of the main unit and the controller is changed because the ZR unit or controller is changed.
  • Page 259 (2) Ball-screw Spline Adjustment Procedure For ball screw spline shaft adjusting for the ZR unit, a series of operations of the vertical axis and rotation axis is performed. Because there is an item for operating the robot in the adjustment procedure, perform the adjustment in the condition where the actuator is available by setting the appropriate moving range of the actuator and arranging it so there are no obstacles etc.
  • Page 260 (3) Temporary standard posture standby Press the F1 (OK) key. Note: The vertical axis returns to the home position. (4) Move to home position Press the F1 (OK) key. Note: The rotation axis returns to the home position. (5) Jog movement Move the rotation axis to the vicinity of the basic position with jog keys (see the “Standard Posture...
  • Page 261 Jig Attachment Procedure D-shaped surface [1] Insert the ball screw spline shaft into the jig hole from the lower side. [2] Put the D-cut surface of the ball screw spline shaft onto the surface “a”. [3] Put the ball screw spline shaft side surface onto the surface “b”. [4] Fasten the screw “c”...
  • Page 262 (8) Home preset value auto refresh Press the F1 (OK) key. (9) Adjusting jig removal and emergency off Remove the adjusting jig. Turn off the brake release switch to enable the brake. Turn off the EMERGENCY STOP button. Press the F1 (OK) key. Return to the previous screen with the ESC key.

  • Page 263: Absolute Battery

    4.2 Absolute Battery 4.2.1 Absolute Encoder Backup Type The backup for the absolute position data is conducted by the battery. The absolute encoder position data will be maintained even if the power to the robot is turned OFF. Batteries have a life, so it is recommended that you replace them at regular intervals. Replacement Cycle (reference) 2 years Replace the battery immediately if the absolute data backup battery voltage drop warning...

  • Page 264: Replace Absolute Battery

    4.2.2 Replace Absolute Battery [1] For Single and Orthogonal Axes The replacement process may differ depending on the error (No. A23, 914, CA2) occurred during replacement.� •� Have from (1) to (6) conducted when there is no error has occurred or Absolute Data Backup Battery Voltage Drop Warning (Error No.
  • Page 265 4) Insert the new battery to the holder and plug in the battery connectors. � � � Connector � � � � � � � � � � � � � � � 5) Attach the panels on the absolute battery unit with screws. �...
  • Page 266 7) Plug in the 9-pin D-sub connector on the PC software connection cable to the communication port on the PC (or plug in the USB connector to the USB port on the PC), and joint the 25-pin D-sub connector to the 25-pin communication port on the controller.� 8) Turn on the power to the controller.
  • Page 267 14) Select Controller (C) � Software Reset (R) in the menu to reboot the controller.� � � � (Note) Restart the controller by having the software reset or rebooting the power. Without doing so, it may cause; Error No. C70 ABS Coordinate Unconfirmed Error, or Error No.
  • Page 268 �...

  • Page 269: Chapter 5 Special Functions

    Chapter 5 Special Functions 5.1 RC Gateway Function There are 2 types in RC Gateway Function. (1) SIO function (standard) (2) Fieldbus Type (option) This function enables the operator to connect it to the RC (ROBO Cylinder) controller so that the RC actuator control is available using the SEL language.

  • Page 270: Vision System I/F Function

    5.2 Vision system I/F Function This function enables the operator to save the coordinate data for work sent from the vision system, directly on the position data. [Refer to the separate operation manual for the Vision system I/F Function (ME0269).] XSEL controller Actuator coordinate values...

  • Page 271: Synchro Function

    5.3 Synchro Function 5.3.1 Overview [1] Common Items (Applicable to both the absolute specification and incremental specification) Synchro axes consist of a master axis and a slave axis. The axis with the smaller axis number becomes the master axis. For the synchronizing band between Single-Axis and Cartesian in RX/SX controllers and R/S Controllers, it is necessary to have 4 pairs at the most of combinations.
  • Page 272 [2] Incremental Specification With the incremental specification, the relative positioning of the master-axis and slave-axis sliders remains fixed while the power is on. (If the sliders were moved while the power was turned off, synchro movement will begin from the positions after the movement.) Absolute reset is not performed on an incremental controller.

  • Page 273: How To Absolute Reset On Synchronizing Type

    5.3.2 How to Absolute Reset on Synchronizing Type [1] Absolute Reset on Synchronizing Axis The way how to perform the absolute reset differs in case the two axes are both absolute type and in case it is the combination of absolute type and incremental type. Which procedure to use is determined by the values set for the master axis and slave axis in “Axis-specific parameter No.
  • Page 274 [2] Position Adjustment of Synchro-Axis Sliders The positions of synchro-axis sliders are adjusted (Adjustment of parallelization between two physical axes) � (1) With the axes and controller not connected by cables (controller power is off), adjust the relative positioning of the master axis and slave axis and couple the axes. (2) If position adjustment cannot be performed with the axes and controller not connected by cables (when a brake is equipped, etc.), follow the steps below: Decouple the sliders and connect the axes and controller using cables.
  • Page 275 [3] Method for when 2 Axes are Absolute Type Described below is the steps when master axis = 1 and slave axis = 1 in “Each Axis Parameter No. 38 Encoder ABS/INC Type”. �Note� When having the absolute reset conducted again on a synchronizing axis which is already adjusted, follow the instruction in 8.5.4 Preparation and Method for Having Absolute Reset Again.
  • Page 276 (3) Have the absolute reset conducted, not by following the instruction shown in the screen, but by following the steps stated below. Have only “Encoder Multi-Rotation Data Reset 1” done on the slave axis. � � � � Select the axis number of the slave axis. �...
  • Page 277 (4) Set the value of the slave axis recorded in (1) in “Axis-specific parameter No. 83, ABS synchro slave-axis coordinate initialization cancellation.” � � � � � � � Select [Transfer to Controller] � [Write to Flash ROM] � [Restart Controller] (software reset). �...
  • Page 278 Perform the following calculation. Slave-axis value in “Axis-specific parameter No. 12, Home preset value” [0.001 mm] + ((Displayed current position of master axis [mm] – Displayed current position of slave axis [mm]) x 1000) In this example, the above formula is rewritten as follows: 0 + ((-0.002 –...
  • Page 279 If an “Error No. D0A, Driver overload error,” “Error No. C6B, Deviation overflow error,” “Error No. CA5, Stop-deviation overflow error” or other error generates, check the following items: • If the current position of the master axis deviates significantly from that of the slave axis, the setting in (5) may be incorrect.
  • Page 280 [4] Preparation for and Process of Re-execution of Absolute Reset [Important] In case that absolute reset has to be conducted again for such reasons as a trouble, follow the instruction below to perform the reset. (1) Home preset in Step 8.5.3 (5) is not necessary if the connection of the mechanical links is in the same condition as when the device is booted (at 1st absolute reset) (for cable replacement, cable disconnect/insert or battery replacement, etc.).
  • Page 281 (3) As a reason of the position misalignment, it can also be considered that the mechanical distortion of the linking condition may have changed due to the time-dependent change. In such a case, have the absolute reset process same as the one for the initial startup. In this case it is also necessary to conduct the teaching of the position data again.
  • Page 282 [5] Method for Combination of Absolute Type and Incremental Type Described below is the steps when master axis = 1 and slave axis = 0 in “Each Axis Parameter No. 38 Encoder ABS/INC Type”. After completing 8.5.2, “Position Adjustment of Synchro-Axis Sliders,” perform an absolute reset for the master axis only.

  • Page 283: Multiple-Slider Near-Miss Detection (Collision Prevention) Function

    5.4 Multiple-Slider Near-Miss Detection (Collision Prevention) Function When multiple sliders are used, this function prevents jogging or positioning axes from colliding with one other. The following parameters are set to detect near-miss situations among multiple sliders. Setting method [1] Set the mating axis number for each axis in axis-specific parameter No. 104, “Target axis specification for multiple-slider near-miss detection.”...
  • Page 284 Related Parameters (Axis-specific Parameters) Default Value Parameter name Input range Unit Remarks (Reference) Bits 0 to 3: Mating axis number of near-miss detection target (on the positive side of the coordinate system of the target axis) Bits 4 to 7: Mating axis number of near-miss detection target (on the negative side of the coordinate system of the...

  • Page 285: Chapter 6 Parameter

    Chapter 6 Parameter Parameter data should be set appropriately according to the applicaiton requirements. When a change is required to the parameters, make sure to back up the data before the change so the settings can be returned anytime. With using PC software, it is able to store the backup to the PC. Leave a memo if using the teaching pendant.
  • Page 286 �Parameters Set in Bits � How to Use Bits Refer below for how to turn on the bits (in case the last digit of the set value is H). Set the value of hexadecimal number transformed from the binary number. �...

  • Page 287: I/O Parameter (All Types)

    6.1 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) 0: Fixed assignment 1: Automaticassignment * Priority of I/O port assignment at automatic assignment (No.0 to 299/No.300 to 599) (Network I/F Module 1 � I/O slot 1 (I/O1) Mounting board to) * Assigned for the range of continuous I/O port assignment type...
  • Page 288 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Network I/F Module 1 300+(Multiples of 8)(300 to 599) Fix-Allocated Output Port Start -1 to 6999 4000+(Multiples of 8)(4000 to 6999)(Invalid if a negative value is set.) 0: Do not monitor Network I/F module error 0 to 5...
  • Page 289 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Bits 0 to 3: RDY OUT function selection (System IO) (0: SYSRDY (Software = PIO trigger program can be run) and hardware is normal (emergency stop has not been actuated and hardware error is not present) 1: Error of operation-cancellation level or higher is not present...
  • Page 290 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) 0: General-purpose input 1: Program start signal (ON edge) (Input ports 007 to 013, BCD-specified program number) 2: Program start signal (ON edge) (Input ports 007 to 013, binary-specified program number) 3: Program start signal (ON edge) (Input ports.
  • Page 291 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) 0: General-purpose input 1: Servo ON * ON edge: Equivalent to the all-valid-axis servo ON command,OFF edge: Equivalent to the all-valid-axis servo OFF command (A minimum interval of 1.5 seconds is required) Input function selection 002 0 to 5 (Must be executed in non-operating...
  • Page 292 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) 0: General-purpose input, 1: Program number specified for program start Note: The assignment changes depending on the value set in “I/O parameter No. 30, Input function selection 008 0 to 5 Input function selection 000.”...
  • Page 293 No.32, Each axis Parameter No.13) Input function selection 015 0 to 5 The following setting is the same also for XSEL-R/S and RX/SX. 2: Home return for all incremental linear sliding axes (ON edge) (Servo on required in advance = I/O Parameter No.32, Each axis Parameter No.13)
  • Page 294 Note: The port number assigned to this function can be changed using I/O parameter No. 302, “Port number assigned to output function selection 303.” XSEL-R/S 0: General-purpose output 1: Output at the time of “All Effective Axes Homing (=0)” 2: Output when all the effective axes homing is...
  • Page 295 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) 0: General-purpose output 1: 1 axis in-position output (turned OFF when pressing missed) 2: Output when axis-1 servo is ON (System monitor task output) Output function selection 305 0 to 5 3: Reserved by the system Note: The port number assigned to this function...
  • Page 296 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) 0: General-purpose output 1: 7 axis in-position output (turned OFF when pressing missed) 2: Output when axis-7 servo is ON (System monitor task output) Output function selection 311 0 to 5 3: Reserved by the system Note: The port number assigned to this function...
  • Page 297 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Forcibly unlock the brake when the applicable port is ON (be aware of a falling load). * Invalid if “0” is set (Invalid if input port No. 0 is Physical input port number for specified) 0 to 3999...
  • Page 298 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) AUTO mode physical output 0 to 6999 (Invalid if “0” is set) port number Input port number permitted to * Important: Invalid once operation is started. receive PC/TP servo 0 to 3999 (Invalid if “0”...
  • Page 299 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) System mode = MANU if specified DI = ON or Input port number for remote AUTO/MANU-SW = MANU. (Invalid if “0” is set) 0 to 3999 mode control * Debug filter is invalid for the remote-mode control input port (PC/TP SIO usage)
  • Page 300 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Reserved by the system 0H to 28100020H (change is prohibited) FFFFFFFFH Reserved by the system 0H to (change is prohibited) FFFFFFFFH Reserved by the system 0H to 28100030H (change is prohibited) FFFFFFFFH...
  • Page 301 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Bits 0 to 3: Ethernet TCP/IP message communication Selection whether to permit 0.0.0.0 (IP address of connection destination can be ignored) as IP address of connection destination on server (0: Do not permit 1: Permit (not recommended))
  • Page 302 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) EtherNet TCP/IP message communication attribute Ethernet client/server type (0: Not in use 1: Client (Automatic assignment of own port number) 2: Client (Specification of own port number) �...
  • Page 303 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Network I/F Module 1 Referenceonly Own MAC address (L) ( HEX) Network I/F Module 1 *Setting of “0” and “127” is prohibited. 1 to 255 Own IP address (H) Network I/F Module 1 0 to 255 Own IP address (MH)
  • Page 304 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) * “0” can be set in the case of a server. IAI protocol B/TCP: Port 0 = Port number of connection destination is number of connection 64611 0 to 65535 ignored (only the IP address is checked) destination (AUTO mode)
  • Page 305 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Bits 28 to 31: Baud rate type (0: 9.6 kbps, 1: 19.2 kbps, 2: 38.4 kbps, 3: 57.6 kbps, 4: 76.8 kbps, 5: 115.2 kbps) 7.3.2 low control is performed, select 38.4 kbps or below.
  • Page 306 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Attribute 4 of SIO channel 1 0H to opened to user (standard 00000000H FFFFFFFFH mount) Attribute 5 of SIO channel 1 0H to opened to user (standard 00000000H FFFFFFFFH mount)
  • Page 307 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Bits 28 to 31: Flow control type (0: None, 1: Xon/Xoff, 2: Hardware) * Valid only in full-duplex communication. * If flow control is performed, select 38.4 kbps or below.
  • Page 308 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Bits 0 to 3: Type of Network I/F Module Control 1 (0: Not mounted, 1: CC-Link, 2: DeviceNet, 3: Profibus, 4 to 5: System Reservation, 6: EtherCAT, 0H to 7: EtherNet/IP) 225 NetworkI/FModule Controller...
  • Page 309 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) 239 (For expansion) 240 (For expansion) 241 (For expansion) 242 (For expansion) 243 (For expansion) 244 (For expansion) 245 (For expansion) 246 (For expansion) 247 (For expansion) 248 (For expansion) 249 (For expansion) 250 (For expansion)
  • Page 310 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Specify the port number to be assigned to the function of I/O parameter No. 33, “Input function Port number assigned to input -1 to 3999 selection 003.” function selection 003 * If a negative value is set, the function will be assigned to input port No.
  • Page 311 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Specify the port number to be assigned to the function of I/O parameter No. 41, “Input function selection 011.” * If a negative value is set, the function will be assigned to input port No.
  • Page 312 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Specify the port number to be assigned to the function of I/O parameter No. 49, “Output function Port number assigned to output 0 to 6999 selection 303.” function selection 303 * If 0 is set, the function will be assigned to output port No.
  • Page 313 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Specify the port number to be assigned to the function of I/O parameter No. 331, “Output Port number assigned to output 0 to 6999 function selection 300 (area 2).” function selection 300 (area 2) * If 0 is set, the function will not be assigned to any port.
  • Page 314 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Specify the port number to be assigned to the function of I/O parameter No. 344, “Output Port number assigned to output 0 to 6999 function selection 313 (area 2).” function selection 313 (area 2) * If 0 is set, the function will not be assigned to any port.
  • Page 315 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) 0: General-purpose output 1: 3 axis in-position output (turned OFF when Output function selection 307 pressing missed) 0 to 5 (area 2) 2: Axis 3 servo currently-ON output (system-monitored task output) 3: System Reservation 0: General-purpose output...
  • Page 316 (msec) Bits 24 to 31: Number of Vision System I/F 1 capturing command retries *No retry if 0 Note: Dedicated for XSEL-R/S controller Bits 0 to 7: Vision System I/F 1 communication format select (0: Format D...
  • Page 317 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Reserved by the system 0 to 299 (change is prohibited) Reserved by the system 0 to 599 (change is prohibited) 368 (For expansion) 369 (For expansion) 370 (For expansion) 371 (For expansion) 372 (For expansion) 373 (For expansion)
  • Page 318 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Unaffected general-purpose (Same as I/O parameter No. 72) output area 4 number (MIN) when all operations are paused 0 to 6999 (servo-axis soft interlock + output-port soft interlock) Unaffected general-purpose output area 4 number (MAX) when all operations are paused...
  • Page 319 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Reserved by the system (change is prohibited) Reserved by the system (change is prohibited) Reserved by the system 4000 (change is prohibited) Bits 0 to 3: Function Select (0: Disable, 1: RC Gateway) Fieldbus Master Function 0H to...
  • Page 320 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Bits 0 to 3: Applicable data type (0 = Disable, 1 = Input and output, plugs) Bits 4 to 7: User-defined address construction type (0 = No H/L Byte Swap Assignment User-Defined Memory Block 0H to 1 = H/L Byte Swap Assignment)
  • Page 321 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) User-Defined Memory Block Attribute 3 (Memory Block No. 0 to 65535 (Same as I/O parameter No. 462) User-Defined Memory Block Attribute 4 (Memory Block No. 0 to 65535 (Same as I/O parameter No.
  • Page 322 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Top Extension Input Port 1000 to Number Occupied by RC 1000 1000+(Multiples of 16) 3999 Gateway PLC Through Mode Top Extension Output Port 4000 to Number Occupied by RC 4000 4000+(Multiples of 16) 6999...
  • Page 323 Axis Pattern = 0: extension motion control board synchronizing main axis not selectable Note: Dedicated for XSEL-R/S controller Number of Extension Motion Maximum number of used position data points Control Board Position Data 0 to 512...
  • Page 324 Port Number” * n = setting of Parameter No. 536 “Extension Motion Control Board 0 Axis Control Top Output Port Number” Note: Dedicated for XSEL-R/S controller Extension Motion Control Board 0 Axis Control Top Input 0 to 3999 Note: Dedicated for XSEL-R/S controller...
  • Page 325 Remarks range (reference) Extension Motion Control Board 1 Axis Control Top Input 0 to 3999 Note: Dedicated for XSEL-R/S controller Port Number Extension Motion Control Board 1 Axis Control Top 0 to 6999 Note: Dedicated for XSEL-R/S controller Output Port Number...
  • Page 326 Extension Motion Control 0H to (*Same as I/O parameter No. 534) 00000000H Board 9 Axis Control Attribute FFFFFFFFH Note: Dedicated for XSEL-R/S controller Extension Motion Control Board 9 Axis Control Top Input 0 to 3999 Note: Dedicated for XSEL-R/S controller Port Number...
  • Page 327 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) 585 (For expansion) 586 (For expansion) 587 (For expansion) 588 (For expansion) 589 (For expansion) 590 (For expansion) 591 (For expansion) 592 (For expansion) 593 (For expansion) 594 (For expansion) 595 (For expansion) 596 (For expansion)
  • Page 328 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Bits 0 to 7: IAI Protocol B/SIO, IAI Protocol B/TCP non-communication confirmation timer value (sec) (Time to become receivable condition via IAI Protocol B/IA Net and other controllers) Bits 8 to 15: IAI Protocol B/IA Net non-communication confirmation 0H to...
  • Page 329 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Reserved by the system 0H to (change is prohibited) FFFFFFFFH Reserved by the system 0H to (change is prohibited) FFFFFFFFH Reserved by the system 0H to (change is prohibited) FFFFFFFFH Reserved by the system 0 to...
  • Page 330 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Reserved by the system 0 to (change is prohibited) 99999999 Reserved by the system 0H to (change is prohibited) FFFFFFFFH Reserved by the system 0H to (change is prohibited) FFFFFFFFH Reserved by the system 0H to...
  • Page 331 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) Communication Shared Memory Reference Work 0H to (Same as I/O parameter No. 693) Pattern among IA Net FFFFFFFFH Controllers (127-96) Communication Shared Memory Reference Work 0H to (Same as I/O parameter No.
  • Page 332 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) 0: No Monitoring, 1: Monitoring 2: Monitoring (Not to monitor 24V I/O power related error) 3: Monitoring (To monitor only 24V I/O power related error) 4: Monitoring (makes 24V I/O Power Supply Related Error message level) Extension I/O Unit error 0 to 5...
  • Page 333 I/O Parameter (All types) Default Input Parameter name value Unit Remarks range (reference) 744 (For expansion) 745 (For expansion) 746 (For expansion) 747 (For expansion) 748 (For expansion) 749 (For expansion) 750 (For expansion)

  • Page 334: Parameters Common To All Axes

    Parameters Common to All Axes 6.2.1 For XSEL-R/S Default Parameter name value Input range Unit Remarks (reference) 00B to OFF Bit: Setting of driver not mounted Valid axis pattern 111111B 11111111B Used if not specified in program. Default override 1 to 100...
  • Page 335 Parameters Common to All Axes (XSEL-R/S) Default Parameter name value Input range Unit Remarks (reference) Reserved by the system (change is prohibited). 0: Check at input PC/TP checks the input in All Axes Parameter No. 22 “Maximum Acceleration” and “No. 23 “Maximum Deceleration”.
  • Page 336 Parameters Common to All Axes (XSEL-R/S) Default Parameter name value Input range Unit Remarks (reference) Restriction is given on each axis with the setting in Minimum Emergency Each Axis Parameter No. 136 “Minimum 1 to 300 0.01G Deceleration Emergency Deceleration on each Axis” if it is set effective.
  • Page 337 Parameters Common to All Axes (XSEL-R/S) Default Parameter name value Input range Unit Remarks (reference) 0: Automatic switchover executed (button Select Inching � Jog continuous enabled timer) Automatic Switchover 0 to 5 1: Prohibited Forbidden *Referenced by the PC/TP Bits 0 to 3:...
  • Page 338 Parameters Common to All Axes (XSEL-R/S) Default Parameter name value Input range Unit Remarks (reference) Reserved by the system (change is prohibited) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion)
  • Page 339 Parameters Common to All Axes (XSEL-R/S) Default Parameter name value Input range Unit Remarks (reference) Reserved by the system (change is prohibited) Reserved by the system (change is prohibited) Reserved by the system (change is prohibited) Reserved by the system...
  • Page 340 Parameters Common to All Axes (XSEL-R/S) Default Parameter name value Input range Unit Remarks (reference) Bits 0 to 7: axis driver initial communication type Bits 8 to 15: axis driver initial communication type Bits 16 to 23: 3 axis driver initial communication...
  • Page 341 Parameters Common to All Axes (XSEL-R/S) Default Parameter name value Input range Unit Remarks (reference) Robot coordinate X on Vision System I/F 1 Vision System I/F 1 -99999999 0.001 coordinate (X = 0, Y = 0) Coordinate Datum Point Offset...
  • Page 342 Parameters Common to All Axes (XSEL-R/S) Default Parameter name value Input range Unit Remarks (reference) Reserved by the system (change is prohibited) Reserved by the system (change is prohibited) Reserved by the system (change is prohibited) Reserved by the system...

  • Page 343: For Xsel-Rx/Sx, Rxd/Sxd

    6.2.2 For XSEL-RX/SX, RXD/SXD Default Parameter name value Input range Unit Remarks (reference) 00B to OFF Bit: Setting of driver not mounted Valid axis pattern 111111B 11111111B Used if not specified in program. Default override 1 to 100 (Invalid for SIO operation) (For expansion) (For expansion) (For expansion)
  • Page 344 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) Default Parameter name value Input range Unit Remarks (reference) Reserved by the system (change is prohibited) 0: Automatic switchover executed (button Select Inching � Jog continuous enabled timer) Automatic Switchover 0 to 5 1: Prohibited Forbidden * Referenced by the PC/TP...
  • Page 345 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) Default Parameter name value Input range Unit Remarks (reference) SCARA Axis Cpxy Check Tolerance 2000 100 to 9999 0.001mm to 4 Axis) SCARA Axis PTP Acceleration Used when not indicated in position data, 1 to 100 Initial Value program or SIO message...
  • Page 346 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) Default Parameter name value Input range Unit Remarks (reference) Reserved by the system 340000 (change is prohibited) Reserved by the system 360000 (change is prohibited) Reserved by the system 30379 (change is prohibited) Reserved by the system (change is prohibited) Reserved by the system...
  • Page 347 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) Default Parameter name value Input range Unit Remarks (reference) Reserved by the system (change is prohibited) 100 (For expansion) Bits 0 to 7: Primary Axis Driver / Encoder Communication Line Channel Number Bits 8 to 15: Second Axis Driver / Encoder Communication Line Channel Number...
  • Page 348 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) Default Parameter name value Input range Unit Remarks (reference) Bits 0 to 7: axis driver initial communication type Bits 8 to 15: axis driver initial communication type Bits 16 to 23: 7 axis driver initial communication type Bits 24 to 31: 8 axis driver initial communication...
  • Page 349 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) Default Parameter name value Input range Unit Remarks (reference) Reserved by the system (change is prohibited) Reserved by the system (change is prohibited) SCARA Tip Load Max. 1 to Transportable Weight 10000 99999999 to 4 Axis) SCARA Tip Load Max.
  • Page 350 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) Default Parameter name value Input range Unit Remarks (reference) Restriction is made for each axis with the setting values above if Each Axis Parameter No. 135 Linear Sliding Axis Max. 1 to 999 0.01G “Maximum Operation Deceleration for Each Axis”...
  • Page 351 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) Default Parameter name value Input range Unit Remarks (reference) Bits 0 to 3: System Reservation Bits 4 to 7: System Reservation Bits 8 to 11: SCARA Z position � horizontal movement optimized (PTP) (0: Disable 1: Enable) (Available only on high-speed...

  • Page 352: For Xsel-R/S

    6.3 Axis-Specific Parameters 6.3.1 For XSEL-R/S Default value Parameter name Input range Unit Remarks (reference) 0: Linear movement axis Axis operation type 0 to 1 1: Rotation movement axis (angle control) Acceleration speed when ACMX Command is executed. • Acceleration of movement in positive...
  • Page 353 Axis-Specific Parameters (XSEL-R/S) Default value Parameter name Input range Unit Remarks (reference) SIO and PIO Home-Return Executed from smaller 0 to 16 Order Home position check 0: Not to Use, 1: contact a, 2: contact b 0 to 2 sensor input polarity...

  • Page 354: Axis-Specific Parameters

    Axis-Specific Parameters (XSEL-R/S) Default value Parameter name Input range Unit Remarks (reference) Brake equipped: Time after receiving a servo-ON start response until start of brake unlocking Servo ON check time 0 to 5000 msec Brake not equipped: Time after receiving a servo...
  • Page 355 Axis-Specific Parameters (XSEL-R/S) Default value Parameter name Input range Unit Remarks (reference) Bits 0 to 3: Select synchro-slave axis position loop encoder pulse input (0: Slave axis encoder pulse input (normally) 1: Main axis encoder pulse input) *Valid only for synchro-slave axes...
  • Page 356 Axis-Specific Parameters (XSEL-R/S) Default value Parameter name Input range Unit Remarks (reference) 3: Single � double sensor switchover control * Establish the setting considering the situation only when there is no freedom in “independent” control in the same coordinate for the master axis and slave axes.
  • Page 357 Axis-Specific Parameters (XSEL-R/S) Default value Parameter name Input range Unit Remarks (reference) (2) Turn the servo off by emergency stop. (3) Align the physical position relation of the synchro-master axis and slave axis to read the current position coordinates. (4) Calculate “Synchro-slave axis current position coordinates –...
  • Page 358 Axis-Specific Parameters (XSEL-R/S) Default value Parameter name Input range Unit Remarks (reference) 0: Normal, 1: Infinite stroke mode (Note: Linear Sliding Axis Mode Positioning boundary is to exist. 0 to 5 Select Selection is available only when INC encoder.) No limit when set to 0. Valid only for Torque Limitation at synchro-slave axes.
  • Page 359 Axis-Specific Parameters (XSEL-R/S) Default value Parameter name Input range Unit Remarks (reference) Valid only when Max. > Min. -99999999 to Zone 1 MIN 0.001mm * Necessary to secure 3msec or more 99999999 for domain going-through time Physical output port or Global Flag or Extended Output Ports Zone 1 Output No.

  • Page 360: Select

    Axis-Specific Parameters (XSEL-R/S) Default value Parameter name Input range Unit Remarks (reference) Bits 0 to 3: Mating axis number to apply overapproach detection (self-axis coordinate positive movement side) Bits 4 to 7: Mating axis number to apply overapproach detection (self-axis coordinate negative...
  • Page 361 Axis-Specific Parameters (XSEL-R/S) Default value Parameter name Input range Unit Remarks (reference) * Change prohibited unless any 0 to 100 indication from the supplier Reserved by the system (change is prohibited) Reserved by the system (change is prohibited) Reserved by the system...
  • Page 362 Axis-Specific Parameters (XSEL-R/S) Default value Parameter name Input range Unit Remarks (reference) (For expansion) Damping characteristic For anti-vibration control (shows decline coefficient 1 (Parameter Set 0 to 1000 1/1000Rate width of notch filter) Damping characteristic For anti-vibration control (shows decline...
  • Page 363 Axis-Specific Parameters (XSEL-R/S) Default value Parameter name Input range Unit Remarks (reference) (For expansion) (For expansion) ACMX+acceleration3 1 to 999 0.01G Same as Each Axis Parameter No. 2 ACMX-acceleration3 1 to 999 0.01G Same as Each Axis Parameter No. 3...

  • Page 364: For Xsel-Rx/Sx, Rxd/Sxd

    6.3.2 For XSEL-RX/SX, RXD/SXD Default value Parameter name Input range Unit Remarks (reference) 0: Linear movement axis Axis operation type 1, 1, 0, 1 0 to 1 1: Rotation movement axis (angle control) Acceleration speed when ACMX Command is executed. •...
  • Page 365 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) Default value Parameter name Input range Unit Remarks (reference) ABS Reset Position 0: Coordinate negative end Movement / 1: Coordinate positive end 0 to 1 Home-Return End Search Direction Select 90000, -99999999 0.001mm Home preset value 0.001deg 99999999 -90000...
  • Page 366 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) Default value Parameter name Input range Unit Remarks (reference) ABS Reset Position Used for pressing confirmation in ABS Movement / Pressing 1 to 5000 msec reset position movement / home-return Stop Confirmation Time operation in Home-Return Pressing Stop Used for pressing confirmation in PUSH Confirmation Time in...
  • Page 367 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) Default value Parameter name Input range Unit Remarks (reference) (For expansion) 1 to Valid only when linear sliding axis Screw Lead 20000 20000 0.001mm 99999999 Invalid when linear encoder (For expansion) (For expansion) 1 to Gear Ratio Numerator 1, 1, 11, 1 Invalid when linear encoder 99999999...

  • Page 368: Synchro-Slave Axis Stop = 0/0

    Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) Default value Parameter name Input range Unit Remarks (reference) Bits 0 to 3: Select synchro-slave axis position loop encoder pulse input (0: Slave axis encoder pulse input (normally) 1: Main axis encoder pulse input) *Valid only for synchro-slave axes Bits 4 to 7: Synchronizing control type (0: Double sensor control (normally)

  • Page 369: Offset

    Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) Default value Parameter name Input range Unit Remarks (reference) 3: Single � double sensor switchover control * Establish the setting considering the situation only when there is no freedom in “independent” control in the same coordinate for the master axis and slave axes.
  • Page 370 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) Default value Parameter name Input range Unit Remarks (reference) (2) Turn the servo off by emergency stop. (3) Align the physical position relation of the synchro-master axis and slave axis to read the current position coordinates. (4) Calculate “Synchro-slave axis current position coordinates –...

  • Page 371: Reserved By The System (Change Is Prohibited)

    Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) Default value Parameter name Input range Unit Remarks (reference) Necessity of mutual input (The smaller axis number in a pair is the master axis. Axes with same characteristics on resolution related are available to select. Command issuance to slave axis is Linear Sliding Axis unavailable.) Synchronized Mating...
  • Page 372 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) Default value Parameter name Input range Unit Remarks (reference) To shorten finishing time. Linear Sliding Axis (Range invalid when set to 0) Maximum Compulsory 0 to 9999 0.001mm (Approx. 1.000mm as a reference) Feed Range Note: Valid only on linear sliding axes Linear Sliding Axis Max.
  • Page 373 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) Default value Parameter name Input range Unit Remarks (reference) Valid only when Max. > Min. Linear Sliding Axis Zone -99999999 * Necessary to secure 3msec or more for 0.001mm 4 MIN to 99999999 domain going-through time Note: Valid only on linear sliding axes Physical output port or Global Flag or Extended Output Ports...
  • Page 374 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) Default value Parameter name Input range Unit Remarks (reference) Reserved by the system (change is prohibited) Reserved by the system (change is prohibited) Reserved by the system (change is prohibited) 113 (For expansion) 114 (For expansion) 115 (For expansion) 116 (For expansion) * Change prohibited unless any indication...
  • Page 375 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) Default value Parameter name Input range Unit Remarks (reference) 100000, Intrusion Forbidden Area -99999999 For simple checking behind SCARA Axis 0.001mm to 99999999 * Used only for Arm 1 Axis (Xb) MAX (Xb) -100000, Intrusion Forbidden Area -99999999 For simple checking behind SCARA Axis MIN...
  • Page 376 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) Default value Parameter name Input range Unit Remarks (reference) Reserved by the system 9950 9950 (change is prohibited) Reserved by the system (change is prohibited) Reserved by the system (change is prohibited) Reserved by the system 1000 1000 (change is prohibited)
  • Page 377 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) Default value Parameter name Input range Unit Remarks (reference) 8000, Reserved by the system 15000, (change is prohibited) 460, 17000 8000, Reserved by the system 15000, (change is prohibited) 460, 17000 Reserved by the system (change is prohibited) 188 (For expansion) 189 (For expansion) 190 (For expansion)

  • Page 378: Driver Parameters (All Types)

    6.4 Driver Parameters (All types) Default Parameter name value Input range Unit Remarks (reference) Type (upper) Space (Manufacturing information) Type (middle) Space (Manufacturing information) Type (lower) Space (Manufacturing information) Manufacturing data Space (Manufacturing information) Manufacturing data Space (Manufacturing information) Manufacturing data Space (Manufacturing information) Manufacturing data...
  • Page 379 Driver Parameters (All types) Default Parameter name value Input range Unit Remarks (reference) High-order: motor identification number (converted to motor identification bit number) Motor Low-order: motor identification number Motor • Encoder Configuration Encoder (converted to encoder identification bit information (compatible with E, 0000H 0000H to FFFFH Identificati...
  • Page 380 Driver Parameters (All types) Default Parameter name value Input range Unit Remarks (reference) (For expansion) (For expansion) (For expansion) (For expansion) Bits 0 to 3: Operation Mode 0: Torque control 1: Griping operation Bits 4 to 7: Current feedback data switchover (CURMON) 0: q-axis (Use ECMD 1 Command)
  • Page 381 Driver Parameters (All types) Default Parameter name value Input range Unit Remarks (reference) Current control query 0000H to FFFFH information 14 Current control query 0000H to FFFFH information 15 Current control query 0000H to FFFFH information 16 Current control query 0000H to FFFFH information 17 Current control query...

  • Page 382: Encoder Parameters (All Types)

    6.5 Encoder Parameters (All types) Default Parameter name value Input range Unit Remarks (reference) Type (upper) Space (Manufacturing information) Type (middle) Space (Manufacturing information) Type (lower) Space (Manufacturing information) Manufacturing data Space (Manufacturing information) Manufacturing data Space (Manufacturing information) Manufacturing data Space (Manufacturing information) Manufacturing data...
  • Page 383 Encoder Parameters (All types) Default Parameter name value Input range Unit Remarks (reference) (Function information) 0000H 0000H to FFFFH (Function information) 0000H 0000H to FFFFH (Function information) 0000H 0000H to FFFFH (Function information) 0000H 0000H to FFFFH Card parameter 0000H 0000H to FFFFH (by board type) Card parameter...

  • Page 384: I/O Devices Parameters (All Types)

    6.6 I/O Devices Parameters (All types) Default Parameter name value Input range Unit Remarks (reference) Type (upper) Space (Manufacturing information) Type (middle) Space (Manufacturing information) Type (lower) Space (Manufacturing information) Manufacturing data Space (Manufacturing information) Manufacturing data Space (Manufacturing information) Manufacturing data Space (Manufacturing information)
  • Page 385 I/O Devices Parameters (All types) Default Parameter name value Input range Unit Remarks (reference) 0000H to Device parameter (by board type) 0000H FFFFH 0000H to Device parameter (by board type) 0000H FFFFH 0000H to Device parameter (by board type) 0000H FFFFH 0000H to Device parameter (by board type)
  • Page 386 I/O Devices Parameters (All types) Default Parameter name value Input range Unit Remarks (reference) 0000H to Query information 11 (by board type) 0000H FFFFH 0000H to Query information 12 (by board type) 0000H FFFFH 0000H to Query information 13 (by board type) 0000H FFFFH 0000H to...

  • Page 387: Other Parameters (All Types)

    6.7 Other Parameters (All types) Default Parameter name value Input range Unit Remarks (reference) Auto-start program number 0 to 128 (Invalid if “0” is set) The start trigger is determined from the “I/O processing program start type at operation/program abort.” I/O processing program (Note: This program will be started before number at...
  • Page 388 Other Parameters (All types) Default Parameter name Input range Unit Remarks value (reference) 0: Abort operations/programs 1: Recovery after reset Enable switch 2: Operation continued (Only during automatic (deadman/enable switch) 0 to 2 operation. recovery type * Operation commands from the PC/TP will be aborted on the PC/TP side.) 0: Program is running and all-operation-cancellation Automatic operation...
  • Page 389 Other Parameters (All types) Default Parameter name Input range Unit Remarks value (reference) Bits 0 to 3: Protect type (0: Read/write, 1: Read only, 2: No read/write) Bits 4 to 7: Protect release method (0: Special operation) Bits 8 to 11: Protect range maximum number (1’s place, BCD) Bits 12 to 15:...
  • Page 390 Other Parameters (All types) Default Parameter name Input range Unit Remarks value (reference) Bits 0 to 3: Protect type (tool coordinate offset) (0: Read/write, 1: Read only, 2: No read/write) Bits 4 to 7: Protect release method (tool coordinate offset) (0: Special operation) Bits 8 to 11: Protect type (work coordinate...
  • Page 391 Other Parameters (All types) Default Parameter name Input range Unit Remarks value (reference) Bits 0 to 3: Variable-value format type in response message to real-number/variable query (0: Big endian with four upper/lower binary-converted bytes reversed, 1: Big endian) Bits 4 to 7: Decimal-place rounding selection for real-number �...
  • Page 392 Other Parameters (All types) Default Parameter name Input range Unit Remarks value (reference) 0: Display controller status 1: Display motor current indicator The current pattern of each axis is displayed instead of “ready status” or “program run number.” “Minimum indicator-displayed axis number” (far-right column) is specified by “Other parameter No.
  • Page 393 Other Parameters (All types) Default Parameter name Input range Unit Remarks value (reference) Bit 0:Fan 7 condition monitored (0: Disable, 1: Enable) Bit 1: Fan 8 condition monitored (0: Disable, 1: Enable) Bit 2: Fan 9 condition monitored (0: Disable, 1: Enable) Fan Condition Monitoring 0H to Bit 3: Fan 10 condition monitored...
  • Page 394 Other Parameters (All types) Default Parameter name Input range Unit Remarks value (reference) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion) (For expansion)

  • Page 395: Parameters For Linear / Rotation Controls

    6.8 Parameters for Linear / Rotation Controls Shown in the list below are the combinations of parameters for linear and rotation controls:...

  • Page 396: Manual Operation Types

    6.9 Manual Operation Types By setting to Parameter “Manual Operation Type” (Other Parameter No. 21), the parameter can be changed so SIO program startup and PIO program startup cannot be conducted without inputting a password. (1) PC software [1] Setting = 0 (Always enable edit and SIO/PIO start) Functions Jog, move, Operation type...

  • Page 397: Parameter Setting (Applied)

    6.10 Parameter Setting (Applied) You can add functions or set dedicated functions to I/O ports by changing parameter values. Setting examples under different operating conditions are explained below. Before changing each parameter, be sure to read the applicable section in the parameter list. Section to Desired Operation Pick up...

  • Page 398: Want To Operate The System Tentatively Without Using I/Os

    6.10.1 Want to Operate the System Tentatively Without Using I/Os If you want to perform a test operation before wiring the I/Os and fieldbus, disable the error monitor functions for I/Os and fieldbus. (The I/Os and fieldbus whose error monitor function was disabled cannot be used.) Parameter No.

  • Page 399: Want To Enable Auto Recovery (Restart)

    6.10.5 Want to Enable Auto Recovery (Restart) upon Cancellation of Emergency Stop You can automatically restart the system (via software reset) when the emergency stop is cancelled, and execute the program. Parameter No. Set Value Description Execution Other parameter No.1 program number Restart (via software reset) upon...

  • Page 400: Want To Turn On The Servo Externally

    However, home-return operation cannot be conducted in SCARA Robot. Parameter No. Set Value Description Set input port 015 as the Home-Return XSEL-R/S I/O Parameter Signal Input port, All axes have returned No.45 home XSEL-R/S I/O Parameter Set input port 015 as the Home-Return No.45...

  • Page 401: Want To Reset Errors Externally

    6.10.14 Want to Reset Errors Externally Errors other than cold-start level errors are reset when input port 013 is turned ON (errors are reset at the OFF�ON edge). Parameter No. Set Value Description Set input port 013 as the error reset signal I/O parameter No.43 input port 6.10.15 Want to Release the Actuator Brake Externally...

  • Page 402: Want To Change Input Port Assignments

    6.10.17 Want to Change Input Port Assignments You can select input functions by I/O parameter Nos. 30 to 45 and assign them to desired input ports. Parameter No. Set Value Description Input port number to I/O parameter No.283 assign input function selection 000 to Input port number to I/O parameter No.284...

  • Page 403: Want To Output That A Single Axis Actuator Got Into The Area (Zone)

    6.10.20 Want to output that a single axis actuator got into the area (zone) which has been set Four areas (zones) and output ports can be set to each axis of single axis actuators. It can be confirmed that the actuator got into the area (zone) which has been set. It is necessary to secure 3msec or more for zone going-through time for the process of output signal.

  • Page 404: Maximum And Minimum Values Can Be Set In 0.001Mm Unit

    [Example for Setting] Below describes an example for how to set the following area (zone) to Zone1. axis: Output Port No. 311 turns on once getting into 150mm to 200mm axis: Output Port No. 312 turns on once getting into 75mm to 125mm axis axis Each Axis Parameter...

  • Page 405: Want To Know The Current Operation Mode

    6.10.23 Want to Know the Current Operation Mode The current operation mode can be checked from the status of output port 303. Current operation mode Output port 303 AUTO MANU Parameter No. Set Value Description I/O parameter No.48 Turn ON output port 302 in the AUTO mode 6.10.24 Want to Output an Absolute-encoder Backup Battery Voltage Low Alarm Output port 314 can be turned ON when the battery voltage drops.

  • Page 406: Reserved By The System (Change Is Prohibited)

    I/O Parameter Settings (Reference) Parameter name Default value Input range Unit 201 Attribute 1 of SIO channel 1 opened to user (standard mount) 28100001H 0H to FFFFFFFFH None 213 Attribute 1 of SIO channel 2 opened to user (standard mount) 28100001H 0H to FFFFFFFFH None...

  • Page 407: Want To Know The Current Value Of Electric Current Without Connecting A

    Bits 20 to 23: Enable selection for sending with port open (0: Disable, 1: Enable) * This setting is valid in full duplex communication and only when Xon/Xoff flow control is performed. Bits 16 to 19: Selection for Xon/Xoff send with port closed (0: Do not send, 1: Xon send, 2: Xoff send) * This setting is valid in full duplex communication and only when Xon/Xoff flow control is performed.

  • Page 408: Want To Monitor Variables Without Connecting A Teaching Tool

    6.10.28 Want to Monitor Variables without Connecting a Teaching Tool Global integer variables can be displayed on the panel window. Positive integers of 1 to 999 can be displayed. Parameter No. Set Value Description Other parameter No.49 Variable number of the Other parameter No.50 global integer variable to be monitored...

  • Page 409: Servo Adjustment

    6.11 Servo Adjustment At the delivery from the factory, the parameter settings are established to obtain the stable operational characteristics in an operation within the rated (maximum) transportable weight defined for the actuator. However, the preset setting cannot always be the optimum load condition in the actual use. In such cases, it may be necessary to adjust the servo.
  • Page 410 Phenomenon that How to adjust requires adjustment Abnormal noise is � Input Driver Parameter No. 45 “Torque Filter Time Constant”. Try generated / Especially, to increase by 50 as a reference for the setting. If the setting is when stop and too large, it may cause a loss of control system stability and lead operation in low speed the generation of vibration.

  • Page 411: Chapter 7 Troubleshooting

    Chapter 7 Troubleshooting 7.1 Action to Be Taken upon Occurrence of Problem When a trouble is occurred, take an action following the steps described below in order to have a rapid recovery and to avoid the recurrence of the same trouble. Check on 7-Segment Display Windows and LED Displays on Controller �...
  • Page 412 LED Check when Connecting Extension I/O Unit (Option) Check the LED lamps on the extension I/O unit (option). � Status LED Display 1 Displayed Contents of 6 LED Lamps on Controller Name Lamp Color Description condition Green Power ON � ×...
  • Page 413 Establish the clock setting using a teaching tool such as the PC software at the first time the power is supplied to the controller. [Refer to an instruction manual of a teaching tool such as the PC software for how to establish the clock setting.] Once the clock setting is established, the data can be retained for approximately ten days with the power to the controller being off.
  • Page 414 Table 1 Panel window display list (1/2) Application control codes Display Priority (*1) Description The AC power is cut off. (Momentary power failure or power-supply voltage drop is also a possibility.) A system-shutdown level error is present. Data is being written to the flash ROM. An emergency stop is currently actuated (other than in the update mode).
  • Page 415 Table 1 Panel window display list (2/2) Application control codes Display Priority (*1) Description A cold-start level error is present. An operation-cancellation level error is present. A message level error is present. In updating mode The application is in the update mode. The application is being updated.

  • Page 416: Error Level Control

    7.2 Error Level Control Display Error Error Program run (Application only) System error (7-segme Error list Error Error No. reset assignment (Applicati output Remarks level (HEX) (Applicat source display, on only) (MAIN Other parameter Other parameter ion only) etc.) only) No.
  • Page 417 Display Error Error Program run (Application only) System error (7-segme Error list Error No. reset assignment (Applicati output Remarks Error (HEX) (Applicat source display, on only) (MAIN Other parameter Other parameter level ion only) etc.) only) No. 4 = 0 No.

  • Page 418: Error List (Main Application)

    7.3 Error List (MAIN application) In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Encoder parameter data version The version of encoder parameter data is not supported by mismatch warning this controller. Update the encoder parameters. EMG logic error A broken pin in the controller is suspected ENB logic error...
  • Page 419 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. RC-axis multiple use error (SIO) An attempt was made to acquire the right to use a RC-axis which is already in use. RC-axis right-to-use acquisition There is no free RC-axis use management area.
  • Page 420 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Mounted-SIO unopen error (S) An attempt was made to use a channel that is not open. Mounted-SIO in-use error An attempt was made to open a channel that has already been opened by other task.
  • Page 421 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Tracking system initializing Initializing of vision system is not complete. incomplete error Check if the tracking system classification in all-axes parameter No. 61 is not set to system not used. Error of tracking system being Tracking system is in use by another task.
  • Page 422 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Multi-slider command position It is detected that an actuator got into the multi-slider servo overapproach error command position overapproach area. Get the actuator out of the area with such operation as jog, and then move onto the next operation.
  • Page 423 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. RC gateway RC axis operation The operation disabled error has generated on RC axis. disabled error � The specified RC position number is outside the allowable range.
  • Page 424 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Right to use extension motion There is no blank in the extension motion control board control board axis acquirement axis use control area. error�...
  • Page 425 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Slave driver servo-on signal cutoff It was detected the servo-on signal of the slave driver error (SCON, ACON, PCON, etc.) was turned off during the servo-on control of the extension motion control board axis.
  • Page 426 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Extension motion control board Cancel of a pause was tried while in synchronizing input channel synchro-slave axis process with the extension motion control board input reboot error channel as the master axis.
  • Page 427 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Extension motion control board The target position or the movement track exceeds the soft target data soft limit violation error limit. Extension motion control board An error has occurred during controller inside packet command operand error communication.
  • Page 428 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Slave communication error There was an error generated in the slave communication process. If a communication related error is occurred on other slaves at the same time on the error list, it is concerned a communication problem due to noise, short-circuit or circuit problem.
  • Page 429 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. SEL program source symbol SEL program is destroyed. management domain ID error Initialize the SEL program. Symbol definition table Symbol definition table is destroyed. management domain sum check Initialize the symbol definition table.
  • Page 430 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Slave board flash ROM writing There is a failure in the flash ROM writing in the slave error� board. A malfunction of the slave board can be concerned. Check the mounted slave board.�...
  • Page 431 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Extension motion control board Standby has turned off on the extension motion control CPU standby cutoff error� board CPU. Extension motion control board Servo control underflow error was detected in the extension slave CPU servo underflow motion control board.
  • Page 432 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Extension motion control board There is a concern that the data is not written properly to parameter flash ROM status error the flash ROM, or data is written with an old version which is not compatible.
  • Page 433 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Extension motion control board An error has occurred during controller inside DPRAM hand shake logic error communication.The followings are concerned as the cause; (Slave CPU detection) Communication problem caused by noise, short-circuit, circuit problem, etc.
  • Page 434 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Extension motion control board There is a mistake in the parameter setting for when main CPU axis control parameter conducting the main CPU axis control with the pulse input error and output board.
  • Page 435 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. IA Net link error� IA Net link error was detected. Confirm that all the controllers occupying the stations indicated in I/O parameters No. 603 and 604 are connected properly to IA Net.
  • Page 436 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. CC-Link system domain use error CC-Link system domain cannot be used as the system input and output port of X-SEL. It can be considered as the cause that CC-Link system domain is used as a system output as shown below.
  • Page 437 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Driver synchronous communication A communication failure occurred between the driver board toggle error and FPGA (main). Mounted-SIO watchdog timer error The mounted-SIO CPU system is abnormal. Mounted-SIO parameter data error There is an invalid mounted-SIO parameter.
  • Page 438 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Speed control parameter setting Completion of the speed control parameter setting command timeout error command cannot be confirmed after the specified time. ABZ encoder logic error An encoder phase-A/B electrical level pattern error was detected.
  • Page 439 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Encoder receive timeout error at An encoder communication failure. serial encoder command issuance Torque limit parameter error Check driver parameter Nos. 38, 39, 40, etc. Unsupported encoder ID error The encoder is not supported.
  • Page 440 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Invalid driver initialization Initialization communication line channel number is not communication line specification specified for a valid axis. error at specification of valid axis Check all-axis parameter No.
  • Page 441 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Brake power supply error� Servo was tried to be turned on without inputting the brake power.� Check the brake power supply.� I/O function selection port number Invalid setting of I/O port number specified for I/O function error selection.
  • Page 442 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. RC-gateway link initialization A timeout occurred while initializing the RC-axis link. timeout error RC-gateway DPRAM access The DPRAM access permission could not be obtained for permission timeout error the specified time or longer.
  • Page 443 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Position data parameter setting There is an error in the position data definition numbers of error axes parameter. Position data sum check error Position data is destroyed.
  • Page 444 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. SCIF overrun status (IAI protocol Communication failure. reception) Check for noise, connected equipment and communication setting. SCIF receive ER status (IAI Communication failure. protocol reception) Check for noise, shorted/disconnected communication cable, connected equipment and communication setting.
  • Page 445 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Mounted-SIO parity ER status (SEL Communication failure. reception) Check for noise, shorted/disconnected communication cable, connected equipment and communication setting. Mounted-SIO framing ER status Communication failure.
  • Page 446 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Blank step shortage error There are not enough blank steps to save step data. Provide enough blank steps needed to save step data. Step number error The step number is invalid.
  • Page 447 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Extension motion control board There is a mistake in the indication of the extension motion axis position number error control board axis position number. Extension motion control board An inappropriate parameter type was indicated in the parameter type indication...
  • Page 448 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Specification error for number of The specified number of coordinate system definition data coordinate system definition data is invalid. * It is an error only for SCARA Axis number error The axis number is invalid.
  • Page 449 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Core-code sector block ID erase The number of times the flash ROM can be erased was count Over exceeded. Flash-ROM write request error When updating, a flash-ROM write command was received when erase is incomplete before a flash-ROM erase command.
  • Page 450 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Program-run command refusal Programs cannot be run from the TP/PC software error in AUTO mode connector in the AUTO mode. Program number error The program number is invalid.
  • Page 451 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Monitoring-record count The specified number of records for monitoring data query specification error is invalid. Monitoring-operation special The driver special command ACK generated a timeout command register busy error during monitoring operation.
  • Page 452 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. SCI framing error (SIO bridge) Communication failure. Check for noise, shorting, circuit failure and slave card. SCI parity error (SIO bridge) Communication failure. Check for noise, shorting, circuit failure and slave card.
  • Page 453 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. SCHA setting error The setting of SCHA command is invalid. TPCD setting error The setting of TPCD command is invalid. SLEN setting error The setting of SLEN command is invalid.
  • Page 454 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. register busy error in Driver special command ACK has timed out in the slave Parameter command issuance. slave command issuance Device number error There is an error in the device number Unit type error There is an error in the unit type.
  • Page 455 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Vision system I/F initializing Initializing for the vision system I/F is incomplete. incomplete error� Check I/O parameters No. 165 to 169 and 351 to 367, All Axes parameters No.
  • Page 456 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Target track error in back side The target position or the movement track is in the keep-out area keep-out area at the back side. Target track error in CP operation The target position or the movement track is in the CP restriction band...
  • Page 457 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Executable program count over Execution requests were received for programs exceeding error the number that can be executed simultaneously. Non-registered program A number not yet registered among program Nos. 1 to 128 specification error was specified via an I/O or in a program.
  • Page 458 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Create stack failed Initialization of the input-condition-status storage stack has failed. Expansion-condition code error Input program step error. The expansion condition code is invalid.
  • Page 459 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. User-open communication channel The channel number of the communication channel number error opened to the user is invalid. Parameter number error The parameter number is invalid. Variable number error The variable number is invalid.
  • Page 460 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Head sector number specification Error erasing the flash ROM error (Flash ROM erase) Sector count specification error Error erasing the flash ROM (Flash ROM erase) Timing limit over error (Flash ROM Error writing the flash ROM...
  • Page 461 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Absolute coordinate Absolute coordinates have not been confirmed. The power non-confirmation error must be reconnected. This error may also occur if operation is performed immediately after changing an encoder parameter, performing an absolute encoder reset or resetting an encoder error, without first executing a software reset or...
  • Page 462 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Acceleration/deceleration The specified acceleration/deceleration is invalid. specification error Circle/arc calculation logic error The arc calculation logic is invalid. Circle/arc calculation error Position data that cannot be used in arc movement was specified.
  • Page 463 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Slave error response An error response was returned from the slave. Stop deviation overflow error Movement may have occurred during stopping due to external force or operation may have been restricted during deceleration.
  • Page 464 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Reference-point/PX-axis end-point Angle cannot be calculated because the reference point of duplication error at palletizing 3-point teaching is the same as the PX-axis end-point data angle acquisition other than the PZ-axis component and thus arc tangent cannot be calculated.
  • Page 465 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Encoder EEPROM-write timeout The encoder is faulty or failure occurred in the encoder error communication. Encoder EEPROM-read timeout The encoder is faulty or failure occurred in the encoder error communication.
  • Page 466 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Coordinate system data control Coordinate system data is destroyed. domain sum check error Initialize the coordinate system data.� Coordinate system data control Coordinate system data is destroyed.
  • Page 467 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Fieldbus error (TOGGLE timeout) A TOGGLE timeout was detected. Check the statuses of monitor LEDs on the front panel of the board by referring to the operation manual for the field network board.
  • Page 468 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. External terminal block overcurrent Overcurrent or power-supply error in the external terminal or power-supply error block Hardware unsupported function An attempt was made to use a function not supported by error the hardware.
  • Page 469 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Absolute track switchover error The encoder did not succeed to switch to the absolute track output. Encoder malfunction can be concerned. Absolute track reading error The absolute track signal has changed at the same point.
  • Page 470 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. SCI overrun error Communication failure. Check for noise, shorting, circuit failure and slave card. Program end confirmation timeout The program cannot be ended. error I/O-processing-program start logic The I/O-processing-program start logic is invalid.
  • Page 471 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Receive-data checksum error The checksum of receive data is invalid when a when sending EEPROM slave-EEPROM information acquisition command is sent. information acquisition command No required power stage error The required power stage is not installed for the valid axes.
  • Page 472 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Command error (DRVESR) Error notification from the driver Motor temperature error Error notification from the driver (DRVESR) Servo ON/OFF timeout error Servo ON/OFF cannot be confirmed. Brake ON/OFF timeout error Brake ON/OFF cannot be confirmed.
  • Page 473 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Encoder resolution mismatch error The encoder resolution in the system’s axis-specific parameter and that of the installed encoder do not match. Encoder division ratio mismatch The encoder division ratio in the system’s axis-specific error parameter and that of the installed encoder do not match.
  • Page 474 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Parameter flash-ROM status error Data is not written to the flash ROM correctly or written in an old, incompatible application version. Fieldbus logic error Invalid logic during Fieldbus initialization.
  • Page 475 �Error List (MAIN core) In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. SCIF overrun error Communication error. Check for noise, connected equipment and communication setting. (When updating the application, connect to a PC and use IAI’s update tool.) SCIF framing error Communication error.
  • Page 476 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. FROM write request error before When updating, a flash-ROM write command was received erase is complete before a flash-ROM erase command. Confirm that the update program file is valid and then perform update again.
  • Page 477 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Drive error (Driver detection) Error notification from the driver Encoder error (Driver detection) Error notification from the driver Driver CPU error (Driver detection) Error notification from the driver Servo control error (Driver Error notification from the driver detection)
  • Page 478 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Core code flash-ROM status error The core program is invalid. Contact the manufacturer. Application code flash-ROM status The application program is invalid. Contact the error manufacturer.
  • Page 479 In the panel window, the error numbers follow E in the display. Error Error name Description, action, etc. Installed flash ROM type mismatch The flash ROM type anticipated in the software does not (Core) match the flash ROM type actually installed. Check the combination of software and hardware.

  • Page 481: Chapter 8 Appendix

    Chapter 8 Appendix 8.1 Example of Safety Circuit for S/SX/SXD type (Conforming to Safety Category) S/SX/SDX types (global specifications) are the controllers applicable for the safety categories. In this section, shows samples of circuit diagrams for Categories 3 and 4, however, it is not possible for us to confirm the conformation to the safety categories in the system that you construct.

  • Page 482: Safety Circuit Operation Timings

    8.1.1 Safety Circuit Operation Timings Shown below are examples of operations based on the following settings: I/O parameter No. 44 = 0 (Drive-source cutoff reset input enabled) I/O parameter No. 24, bits 0 to 3 = 0 (RDY = ON when the system is normal) I/O parameter No.
  • Page 483 [2] Power on during emergency stop 200-VAC control power Successful start of CPU I/O output signal at port No.301, ready output RDY (system I/O) SDN (QAR Type) (system I/O) EMG1, EMG2 (S Type) (system I/O) RDY, SDN = ON upon cancellation of emergency stop ENB1, ENB2 (S Type) (system I/O) No error...
  • Page 484 [3] Enable operation 200-VAC control power Successful start of CPU I/O output signal at port No.301, ready output RDY (system I/O) SDN (S Type) (system I/O) EMG1, EMG2 (S Type) (system I/O) ENB1, ENB2 (S Type) (system I/O) Enable switch = ON Enable switch = OFF Secret level error No error...
  • Page 485 [4] Occurrence of system-shutdown level error 200-VAC control power Successful start of CPU I/O output signal at port No.301, ready output RDY (system I/O) SDN (S Type) (system I/O) EMG1, EMG2 (S Type) (system I/O) ENB1, ENB2 (S Type) (system I/O) No error Secret level error No error...
  • Page 486 [5] Occurrence of cold-start level error 200-VAC control power Successful start of CPU I/O output signal at port No.301, ready output RDY (system I/O) The timings of SDN and RDY vary slightly SDN (S Type) depending on the specific nature of the error. (system I/O) SDN turns OFF when cancellation of all the programs,...
  • Page 487 [6] Occurrence of operation-cancellation level error 200-VAC control power Successful start of CPU I/O output signal at port No.301, ready output RDY (system I/O) SDN (S Type) (system I/O) EMG1, EMG2 (QAR Type) (system I/O) ENB1, ENB2 (QAR Type) (system I/O) No error Secret level error No error...

  • Page 488: Stopping Method And Recovery

    8.2 Stopping method and Recovery 8.2.1 Stopping method Actuator operation can be stopped in two methods: normal operation stop and emergency stop. (1) Normal operation stop Normal position control is active: Set a deceleration operation plan and cause the actuator to decelerate to a stop, according to the plan, under normal position control (2) Stop with immediate servo-off Cancel the operation plan and immediately turn off the servo (power supply to the motor is...

  • Page 489: Recovery

    8.2.2 Recovery [1] Drive-source recovery request (1) Method of drive-source recovery request Recovery of drive source can be requested by one of the following methods: � Set I/O parameter No. 44 to “1” (input selection function 014 = drive-source cutoff reset input), and then turn ON input port No.
  • Page 490 [2] Operation-pause reset request (1) Method of operation-pause reset request Reset of operation pause can be requested by one of the following methods: � Set I/O parameter No. 35 to “1” (input selection function 005 = operation-pause reset signal), and then turn ON input port No. 5 (a request is issued at the ON edge). �...

  • Page 491: Specifications List For Connectable Single Axis Actuator

    8.3 Specifications List for Connectable Single Axis Actuator The specifications stated in this specifications list are focused only to those necessary for operational condition settings. Please refer to the Catalog or Instruction Manual for the actuator for other more detailed specifications. Max.
  • Page 492 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] – – – – – – – – – Horizontal/ RA4R Vertical – – –...
  • Page 493 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] (at 50 to 250st) – – – 755 (at 300st) Horizontal/ (at 50 to 250st) –...
  • Page 494 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] – – – High Accel/ Deceleration Type: – – – Horizontal/ SA4C – – –...
  • Page 495 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1300 – – – (at 50 to 500st) High Accel/ Horizontal 1160 (at 550st) Deceleration Type: –...
  • Page 496 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] – – – (at 50 to 600st) High Accel/ 640 (at 700st) Deceleration Type: –...
  • Page 497 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1000 (at 50 to 600st) (at to 700st) – – – (at to 800st) (at to 900st) (at to 1000st) (at 50 to 600st)
  • Page 498 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] – – – Horizontal/ SA4C – – – Vertical – – – 1000 (at 50 to 550st) Horizonta –...
  • Page 499 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] (at 50 to 500st) – – – Horizontal/ (at to 600st) SS7C Vertical (at 50 to 500st) –...
  • Page 500 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] (at 50 to 650st) (at to 700st) (at to 750st) (at to 800st) (at to 850st) –...
  • Page 501 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1200 (at 50 to 650st) 1070 (at to 700st) (at to 750st) (at to 800st) Horizontal/ (at to 850st) –...
  • Page 502 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1200 (at 50 to 650st) 1070 (at to 700st) (at to 750st) (at to 800st) Horizontal/ (at to 850st) –...
  • Page 503 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] (at 50 to 600st) (at to 650st) (at to 700st) (at to 750st) – –...
  • Page 504 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] (at 50 to 600st) (at to 650st) (at to 700st) (at to 750st) – –...
  • Page 505 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] (at 50 to 650st) (at to 700st) (at to 750st) (at to 800st) (at to 850st) –...
  • Page 506 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1800 (at 50 to 650st) 1510 (at to 700st) 1340 Horizontal – – – (at to 750st) 1190 (at to 800st)
  • Page 507 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1800 (at 50 to 650st) 1510 (at to 700st) 1340 Horizontal – – – (at to 750st) 1190 (at to 800st)
  • Page 508 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1200 (at 50 to 600st) 1105 (at to 650st) (at to 700st) (at to 750st) Horizontal/ –...
  • Page 509 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1200 (at 50 to 600st) 1105 (at to 650st) (at to 700st) (at to 750st) Horizontal/ –...
  • Page 510 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] Deceleration ratio 500mm/s – – – � � 1/18 Deceleration RT6R ratio 500mm/s – –...
  • Page 511 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] Horizontal – – – Vertical – – – Horizontal – – – Vertical – –...
  • Page 512 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] (at 100 to 700st) (at 800st) Vertical – – – (at 900st) (at 1000st) (at 100 to 700st) (at 800st) Vertical...
  • Page 513 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1800 (at 800 to 1100st) 1650 (at 1200st) 1500 (at 1300st) 1425 (at 1400st) 1200 (at 1500st) Horizontal...
  • Page 514 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1200 (at 100 to 800st) Horizontal – – – (at to 900st) (at to 1000st) (at to 1100st) Vertical –...
  • Page 515 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1200 (at 1000 to 1200st) 1150 (at 1300st) 1000 (at 1400st) (at 1500st) (at 1600st) (at 1700st) (at 1800st) Horizontal...
  • Page 516 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1200 (at 1000 to 1200st) 1150 (at 1300st) 1000 (at 1400st) (at 1500st) (at 1600st) (at 1700st) (at 1800st) LXMX...
  • Page 517 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 2400 (at 1000 to 1200st) 2300 (at 1300st) 2000 (at 1400st) 1900 (at 1500st) 1660 (at 1600st) 1480...
  • Page 518 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 2400 (at 100 to 800st) 1840 Horizontal – – – (at 900st) 1530 (at 1000st) 1290 (at 1100st) 1100...
  • Page 519 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 2400 (at 900 to 1200st) 2200 (at 1300st) 1965 (at 1400st) 1725 (at 1500st) 1530 (at 1600st) 1365...
  • Page 520 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 2000 (at 900 to 1700st) 1930 (at 1800st) 1740 (at 1900st) 1580 (at 2000st) 1440 Horizontal –...
  • Page 521 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 2000 (at 100 to 700st) 1965 (at to 800st) Horizontal – – – 1605 (at to 900st) 1335 (at to 1000st)
  • Page 522 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 2000 (at 1000 to 1300st) 1965 (at 1400st) 1725 (at 1500st) 1530 (at 1600st) 1365 (at 1700st) 1225...
  • Page 523 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 2000 (at 1000 to 1700st) 1930 (at 1800st) 1740 (at 1900st) 1580 (at 2000st) 1440 Horizontal –...
  • Page 524 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] (at 100 to 600st) Horizontal (at to 700st) – – – (at to 800st) Vertical (at to 900st) (at 50 to 600st)
  • Page 525 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] (at 100 to 700st) Horizontal (at to 800st) – – – (at to 900st) (at to 1000st) Vertical (at to 1100st)
  • Page 526 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] (at 120 to 670st) Horizontal (at to 770st) – – – (at to 870st) (at to 970st) Vertical (at to 1070st)
  • Page 527 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1200 (at800 to 1100st) 1100 (at to 1200st) 1000 (at to 1300st) (at to 1400st) (at to 1500st) Horizontal –...
  • Page 528 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] (at 100 to 800st) Horizontal (at to 900st) (at to 1000st) – – – (at to 1100st) Vertical (at to 1200st)
  • Page 529 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] (at 120 to 770st) Horizontal (at to 870st) (at to 970st) – – – (at to 1070st) Vertical (at to 1170st)
  • Page 530 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1200 (at 1000 to 1200st) 1150 (at to 1300st) 1000 (at to 1400st) (at to 1500st) (at to 1600st) (at to 1700st) (at to 1800st)
  • Page 531 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1080 (at 50 to 100st) 1250 (at to 900st) Horizontal 1160 (at to 1000st) (at to 1100st) –...
  • Page 532 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] (at to 500st) Horizontal (at to 550st) (at to 600st) – – – (at to 170st) (at to 700st) Vertical (at to 750st)
  • Page 533 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] (at to 600st) (at to 650st) Horizontal (at to 700st) (at to 750st) (at to 800st) –...
  • Page 534 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1200 (at to 600st) 1085 (at to 650st) Horizontal (at to 700st) (at to 750st) (at to 800st) –...
  • Page 535 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1200 (at to 1100st) 1100 (at to 1200st) 1000 (at to 1300st) Horizontal – –...
  • Page 536 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] 1200 (at to 650st) 1165 (at to 700st) 1045 (at to 750st) Horizontal (at to 800st) (at to 850st) (at to 900st) (at to 950st)
  • Page 537 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] SXMS-A – – – Horizontal SXMS-I – – – SXMM-A – – – Horizontal SXMM-I –...
  • Page 538 Max. Acceleration/ Min. Max. Rated Motor Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output series direction Speed Force Force Speed [mm] [mm/s] [mm/s] Decelera tion ratio – – – 1/50 � Decelera tion ratio – – – 1/100 �...

  • Page 539: Chapter 9 Warranty

    Chapter 9 Warranty 9.1 Warranty Period � One of the following periods, whichever is shorter: � 18 months after shipment from our company � 12 months after delivery to the specified location � 9.2 Scope of the Warranty � Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.

  • Page 540: Conditions Of Conformance With Applicable

    9.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.

  • Page 541: Trouble Report Sheet

    Trouble Report Sheet...

  • Page 542: Change History

    Change History Revision Date Revision Description 2012.09 First Edition 2012.10 Edition 1B Note corrected 2012.11 Second Edition Construction change � 2.3.4 Connection of PIO moved into 2.2.7 PIO Circuit in 2.2 Circuit Diagram (Example) � [3] Connection of PIO and [4] Wiring in 2.3.5 Connection of Extension I/O Units moved into 2.2.10 Extension I/O Unit (Option) in 2.2 Circuit Diagram (Example) �...
  • Page 543 �...
  • Page 544 Manual No.: ME0313-4A (January 2013) � 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/ 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: 1261 Hamilton Parkway, Itasca, IL 60143 TEL (630) 467-9900 FAX (630) 467-9912 Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066...

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