IAI XSEL-R First Step Manual

XSEL-R/S, RX/SX, RXD/SXD
First Step Guide Seventh Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the DVD Manual included in the box this device was packaged in. It should be retained
with this device at all times.
A copy of the DVD Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cover of the Instruction Manual or on the First Step Guide.
• Using or copying all or part of this Instruction Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
Product Check
This product is comprised of the following parts if it is of standard configuration:
If you find any fault in the contained model or any missing parts, contact us or our distributor.

1. Parts (Options are excluded.)

No. Part Name Remarks
Refer to "How to read the model plate" and
1 Controller
"How to read the model of the controller."
Accessories
2 System I/O plug MC1.5/9-ST-3.5 (Maker: PHOENIX CONTACT)
GMSTB2.5/6-STF-7.62
3 AC Power Supply plug
(Maker: PHOENIX CONTACT)
In the case of XSEL-SX4-NNN10040 or 12040
PC4/6- STF-7.62 (Maker: PHOENIX CONTACT)
4 Brake Power Input Plug MC1.5/2-ST-3.5 (Maker: PHOENIX CONTACT)
5 Dummy plug DP-2
6 First Step Guide
7 Operation Manual (DVD)
8 Safety Guide

2. Teaching tool (Optional accessory)

The personal computer application software or teaching pendant is required for the operations
including program creation and setup such as position setting and parameter setting with teaching.
Any of teaching tools needs to be prepared.
No. Part Name
1 PC Software (with RS232C Cable + Emergency Stop Box)
PC Software (with USB Conversion Adapter + RS232C Cable +
2
Emergency Stop Box)
PC Software
3
(Safety Categories 4 compliance cable + Emergency Stop Box)
4 Teaching pendant
5 Teaching pendant (with deadman switch)
Teaching pendant
6
(with deadman switch + TP adapter (IA-LB-TG))
7 Teaching pendant
8 Teaching pendant (with deadman switch)
3. Operation manuals related to this product, which are contained in the operation manual
(DVD).
No. Name
1 XSEL-R/S/RX/SX/RXD/SXD Operation Manual
2 SEL language programming manual
XSEL Controller P/Q/PX/QX/PCT/QCT/R/S/RX/SX/RXD/SXD
3
RC Gateway Function Operation Manual
4 PC Software IA-101-X-MW/IA-101-X-USBMW Operation Manual
5 Teaching pendant SEL-T/TD/TG Operation Manual
6 Teaching pendant IA-T-X/XD Operation Manual
7 DeviceNet Operation Manual
CC-Link Operation Manual
8
9 PROFIBUS Operation Manual
10 EtherNet Operation Manual
11 EtherCAT Operation Manual
12 EtherNet/IP Operation Manual
13 IA Net Operation Manual

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

5. How to read the model

5.1 Controller for Single-Axis Robots and Orthogonal Robots

XSEL － R － 8 － 400A － 200A － 100AB － 60A － 400A － 200A － 100AB － 60A － EPEIA － DGN1 － 2 － 3
(Axis 1)
Model table
Series Controller Number
Motor
type of axes
Wattage
12
(12W)
1
20
(1-axis) (20W)
30D
2
(30W for DS)
(2-axis) 30R
(30W for RS)
3
60
(3-axis) (60W)
R
100
(Standard 4
(100W)
Type)
(4-axis) 100S
(100W for Linear)
XSEL
5
150
S *1
(5-axis) (150W)
(Global
200
Type) 6 (200W)
(6-axis) 200S
Quantity (200W for Linear)
7 300
R/RX/RXD S/SX/SXD
(300W)
(7-axis)
400
8 (400W)
600
(8-axis)
(600W)
2 2
750
(750W)
1 1
- 1
*1 In this type, the safety circuit can be configured with the motor driving power source separated.
Note 1 Any of the RCS2-R**7 series, RCS-RB75 series unit, RCS-G20, RCS-R* or the linear motor actuator
1 1
(LSA) is not connected
- 1
1 1

5.2 SCARA Robot + Controller for Single-Axis Robots and Orthogonal Robots (4 axes Max.)

1 1
XSEL － RX8 － NNN5020H － 400A － 200A － 100AB － 60A － EPEIA － DGN1 － 2 － 3
1 1
Model table
Applicable SCARA Robot
Seri e s Controller
Model
Model Controller
type
R/RX/RXD S/SX/SXD
×
IA-101-X-MW
RX4
IA-101-X-USBMW
×
(1unit of SCARA)
RX5
IA-101-XA-MW (1unit of
SCARA+Single Axis
1Axis)
SEL-T
RX6
(1unit of
SEL-TD
SCARA+Single Axis
SEL-TG 2Axis) NNN1205 to 8040H
RX7
NNN10040 to 12040
(1unit of
(Standard Type)
×
IA-T-X
SCARA+Single Axis
3Axis) NSN5016H to 6016H
×
IA-T-XD
(High-Speed Type)
RX8
(1unit of
NNC1205 to 8040H
SCARA+Single Axis
(Clean Type)
4Axis)
NNW2515H to 8040H
Manual No.
(Splash Proof Type)
SX4 * 1
XSEL
ME0313 (1unit of SCARA) TNN3015H to 3515H
(Wall-Mount Type)
SX5 * 1
ME0224
(1unit of
UNN3015H to 3515H
SCARA+Single Axis
(Wall-Mount Inverse
1Axis Safety
ME0188 Type)
Category Type)
1 HNN5020H to 8040H
SX6 *
ME0154
(Ceiling-Mount Type)
(1unit of
SCARA+Single Axis
ME0183 INN5020H to 8040H
2xis Safety
(Inverse type)
Category Type)
ME0160
1
SX7 *
(1unit of
ME0124
SCARA+Single Axis
3Axis Safety
ME0123
Category Type)
ME0153 SX8 * 1
(1unit of
ME0140
SCARA+Single Axis
4Axis Safety
ME0309
Category Type)
ME0308
*1 In this type, the safety circuit can be configured with the motor driving power source separated.
ME0307
Note 1 RCS2-R**7 Series, RCS-RB75 Series, RCS-G20, RCS-R* and Linear Motor Actuator (LSA) are to be
connected using the relay box.
MADE IN JAPAN
(Axis 2) (Axis 3) (Axis 4) (Axis 5) (Axis 6) (Axis 7) (Axis 8)
(Note 1),
Details of axis 1 to axis 8 Network Slot I/O slots
Synchro-
Home
Encoder nization
Brake Creep Sensor Slot 1 Slot 2 Slot 3 Slot 1
type Desig-
(LS)
nation
E
(Not for use)
N1
Extension PIO
Input32/Output16
NPN Board
N2
Extension PIO
Input16/Output32
E
NPN Board
Not for use
Not
N3
Specified
E
I Extension PIO
DV
(No
E
Not for use Input48/Output48
(Incre- Not
DeviceNet
Synchroni-
IA Net
NPN Board
mental) Specified
Not Not zation) Input256/
EP not
Specified Specified (w/o Home Output256 P1
EtherNet/IP Corresp-
Sensor) Extension PIO
A M
(w/o Brake) (w/o Creep) Communic- onding
CC Input32/Output16
(Abso- (Master-
ation Board
lute) CC-Link PNP Board
L Axis
B C IA
Designation) Input256/
P2
(w/ Home EC IA Net
Output256
G (w/ Brake) (w/ Creep) Extension PIO
Sensor)
EtherCAT Corresp-
S
Input16/Output32
(Spurious onding
Communic-
PR
(Slave- PNP Board
Absolute)
ation Board
Axis PROFIBUS
P3
Designation)
Input256/
Extension PIO
Output256
Input48/Output48
PNP Board
MC
Electronic Cam
Pulse I/O
Board
DG
DV Gateway
Master Board
(Axis 5) (Axis 6) (Axis 7) (Axis 8)
Details of axis 5 to axis 8 (Note 1) Network Slot I/O slots
Synchro-
Home
Motor Encoder nization
Brake Creep Sensor Slot 1 Slot 2 Slot 3 Slot 1
Wattage type Desig-
(LS)
nation
E
(Not for use)
12 N1
(12W) Extension PIO
Input32/Output16
20
NPN Board
(20W)
N2
30D
Extension PIO
(30W for
Input16/Output32
DS)
NPN Board
30R
N3
(30W for
E
Extension PIO
RS)
E
Not for use
Not Input48/Output48
60 Not for
Specified NPN Board
(60W) Not use DV
I (No
E
P1
Specified DeviceNet
100 (Incre- Synchroni-
Not IA Net
Extension PIO
mental) zation) EP Input256/
(100W) Not Specified (w/o
not
Input32/Output16
Specified Home EtherNet/IP Output256
100S PNP Board
(w/o Corres-
Sensor)
A M Communi-
(w/o Brake)
Creep)
(100W for ponding
CC P2
(Master- cation
(Abso-
Linear)
L CC-Link Extension PIO
lute) Axis Board
B C IA
150 Input16/Output32
Designation) Input256/
(w/
IA Net
(150W) PNP Board
(w/ Brake) (w/ EC Output256
G Home
Corres-
Creep)
200 Sensor) S EtherCAT P3
(Spurious
ponding
(Slave- Communi- PR Extension PIO
(200W) Absolute)
Axis cation PROFIBUS Input48/Output48
200S
Designation) Input256/
Board PNP Board
(200W for
Output256
DG
Linear)
DV Gateway
300
Master Board
(300W)
400
(400W)
600
(600W)
750
(750W)
[Restrictions on Connected Axes to XSEL-RX/SX]
SCARA Model
IX-NNN1205/1505/1805 1500W in total or less
4 axes at maximum
750W max. for 1 axis
IX- N 2515H/3015H/3515H
IX- N 5020H/6020H
I/O Flat Power
cable supply
IX- N 70 H/ 80 H
Slot 2
length voltage
IX-NSN5016H/6016H
E
IX-NNN10040/12040
(Not for use)
N1

5.3 Controller for SCARA Robot 2-Unit Connection Dedicated

Extension PIO
Input32/Output16
NPN Board
XSEL － RXＤ8 － NNN5020H － NNN5020H － EPEIA － DGN1 － 2 － 3
N2
Extension PIO
Input16/Output32
NPN Board
2: Single-
N3 Model table
phase 200V
Extension PIO
Input48/Output48
2L: Only for
2 : 2m
NPN Board
Linear SCARA Robot SCARA Robot
(Standard)
Controller
P1 Single-
Series Model 1 Model 2
Extension PIO
phase 200V type
3 : 3m ※1 モータ駆動源を分離した安全保護回路の構成ができるタイプ
Input32/Output16
PNP Board 3: 3-phase
5 : 5m
200V
P2
Extension PIO
0 : None
3L: Only for
Input16/Output32
Linear
PNP Board
3-phase
P3
NNN1205 to 1805 NNN1205 to 1805
200V
Extension PIO
NNN2515H to 6030H NNN2515H to 6030H
Input48/Output48
(Standard Type) (Standard Type)
PNP Board
MC NNC1205 to 1805 NNC1205 to 1805
RXD8
Electronic Cam
NNC2515H to 6030H NNC2515H to 6030H
(For connection
Pulse I/O
(Clean Type) (Clean Type)
of 2 units of
Board
SCARA)
NNW2515H to 6030H NNW2515H to 6030H
(Splash Proof Type) (Splash Proof Type)
XSEL
SXD8 *1
TNN3015H to 3515H TNN3015H to 3515H
(For connection
(Wall-Mount Type) (Wall-Mount Type)
of 2 units of
SCARA UNN3015H to 3515H UNN3015H to 3515H
Safety Category
(Wall-Mount Inverse (Wall-Mount Inverse
Type)
Type) Type)
HNN5020H to 6020H HNN5020H to 6020H
(Ceiling-Mount Type) (Ceiling-Mount Type)
INN5020H to 6020H INN5020H to 6020H
(Inverse type) (Inverse type)
*1 In this type, the safety circuit can be configured with the motor driving power source separated.
I/O Flat Power
[Limitations in SCARA Robot Combination in XSEL-RXD/SXD]
cable supply
Slot 2
length voltage (1) 3-phase type
First Unit
E
IX-NNN1205/1505/1805
(Not for use)
IX- N 2515H/3015H/3515H
N1
IX- N 5020H/6020H
Extension PIO
Input32/Output16
NPN Board
N2

Basic Specifications

Extension PIO
Input16/Output32
NPN Board
Specifications
N3
Extension PIO Specification Item
Input48/Output48
NPN Board
Number of controlled axes
P1
2 : 2m
Extension PIO
Applicable motor capacity
(Standard)
Input32/Output16
PNP Board Total connectable wattage
3:
3 : 3m
Control Power supply voltage
P2 3-phase
Extension PIO 200V Motor Driving Source Voltage
5 : 5m
Input16/Output32
Power Supply Frequency
PNP Board
0 : None Control power supply
P3
Motor
Extension PIO
Rush Current
Less than 1200W
drive
Input48/Output48 (Note 1)
power
PNP Board
1200W or more
supply
Leakage Control power supply
(Note 2)
Current
Motor drive power
(Excluding Higher
supply
Harmonic Content)
Heat Generation
PIO Power Supply (Note 3)
Electromagnetic Brake Power Supply
(For the actuator with the brake)
Transient Power Cutoff Durability
Motor Control System
Applicable Encoder
Speed Setting
Acceleration Setting
Total Wattage and Number of Connectable Axes
Single-phase type 3-phase type
1500W in total or less
4 axes at maximum
750W max. for 1 axis
1500W in total or less
4 axes at maximum
750W max. for 1 axis
600W in total or less
4 axes at maximum
600W max. for 1 axis
unavailable
unavailable
unavailable
Network Slot I/O slots I/O Flat Power
cable supply
Slot 1 Slot 2 Slot 3 Slot 1 Slot 2
length voltage
E E
(Not for use) (Not for use)
N1 N1
Extension PIO Extension PIO
Input32/Output16 Input32/Output16
NPN Board NPN Board
N2 N2
E
Extension PIO Extension PIO
E Not for use
Input16/Output32 Input16/Output32
Not for
NPN Board NPN Board
DV
use
E
N3 N3
DeviceNet
2 : 2m
IA Net Extension PIO Extension PIO
EP Input256/
Input48/Output48 Input48/Output48 (Standard)
not
Output256
EtherNet/IP
NPN Board NPN Board
Corres-
Communi-
3 : 3m 3: 3-phase
ponding
CC P1 P1
cation
200V
CC-Link Extension PIO Extension PIO
Board
IA 5 : 5m
Input256/ Input32/Output16 Input32/Output16
IA Net
EC Output256 PNP Board PNP Board
0 : None
Corres-
EtherCAT
P2 P2
ponding
Communi- PR
Extension PIO Extension PIO
cation
ProfiBus
Input16/Output32 Input16/Output32
Board
Input256/
PNP Board PNP Board
Output256
P3 P3
Extension PIO Extension PIO
Input48/Output48 Input48/Output48
PNP Board PNP Board
DG
DV Gateway
Master Board
Second Unit
IX-NNN1205/1505/1805
IX- N 2515H/3015H/3515H
IX-NNN1205/1505/1805
XSEL-R/RX/RXD XSEL-S/SX/SXD
XSEL-R/S : 1-axis to 8-axis
XSEL-RX/SX : SCARA Robot 1-axis to 4-axis, Additional 5-axis to 8-axis
XSEL-RXD/SXD : SCARA Robot 1-axis to 4-axis , 5-axis to 8-axis
20W to 750W
3-phase type controller: 2400W Single-phase type controller: 1600W
Single-phase AC200V to 230V±10%
3-phase AC200V to 230V±10% / Single-phase AC200V to 230V±10%
50Hz/60Hz
60A
60A (MAX.)
120A (MAX.)
0.4mA 0.2mA
2mA or less
[Refer to the Item for the Power Capacity and Heating Value]
DC24V±10%
DC24V±10% Per 1 actuator Approx. 0.35A
(Supplied from external equipment)
10ms (when power source frequency 50Hz is used),
8ms (when power source frequency 60Hz is used)
AC Full - digital Servo
Incremental Serial Encoder or Absolute Serial Encoder
From 1mm/s The upper limit depends on the specifications of actuator
From 0.01G The upper limit depends on the specifications of actuator