IAI XSEL-P First Step Manual

Controller p/q type

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Field Bus Specifications
X-SEL Controller P/Q Type
First Step Guide
Ninth Edition
Controller for Single-Axis Robots and Cartesian Robots: XSEL-P/Q/PCT/QCT
Controller for SCARA robot: XSEL-PX/QX
Devicenet, CC-Link, PROFIBUS, EtherNet/IP
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 hardcopy of the 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
Model
1
Controller
Refer to "How to read the model plate" and "How
to read the model of the controller".
Accessories
2
I/O Flat cable
CB-X-PIO*** ***indicates the cable length
3
Battery for the Absolute Data Maintenance AB-5
4
System I/O plug
FMC1.5/9-ST-3.5 2 Units (Maker : PHOENIX CONTACT)
5
AC Power Supply plug
GMSTB2.5/6-STF-7.62 (Maker : PHOENIX CONTACT)
6
Brake Power Input Plug*
MC1.5/2-ST-3.5 (Maker : PHOENIX CONTACT)
1
7
Dummy Plug
DP-1
SMSTB2.5/5-ST-5.08AU (Maker : PHOENIX CONTACT )
8
For DeviceNet specification
Terminal Resistance : 121Ω
MSTB2.5/5-ST-5.08AU (Maker : PHOENIX CONTACT)
9
For CC-Link specification
Terminal Resistance : 130Ω1/2W for FANC-SBH cable
110Ω1/2W for FANC-SB cable
10
First Step Guide
11
Operation Manual (DVD)
12
Safety Guide
*1
This is attached in the case of the unit with the brake.

2. Teaching Tool (Option)

The personal computer application software or teaching pendant is required for operation including
program creation and setup such as position teaching and parameter setting. Use either of them.
No.
Part Name
Model
1
PC Software (with RS232C Cable + Emergency Stop Box)
IA-101-X-MW
2
PC Software (with USB Conversion Adapter + RS232C Cable +
IA-101-X-USBMW
Emergency Stop Box)
3
PC Software (with the cable complying with Safety Category Class
IA-101-XA-MW
4 specifications + the Emergency Stop Box)
4
Teaching pendant
SEL-T
5
Teaching pendant (with deadman switch)
SEL-TD
6
Teaching pendant (with deadman switch + TP adapter (IA-LB-TG))
SEL-TG
7
Teaching pendant
IA-T-X
8
Teaching pendant (with deadman switch)
IA-T-XD

3. Operation manuals related to this product, which are contained in the DVD.

No.
Name
1
XSEL-P/Q/PCT/QCT Controller Operation Manual
2
XSEL-PX/QX Controller Operation Manual
3
XSEL Controller P/Q/PX/QX RC Gateway Function Operation Manual
4
XSEL-P/Q Controller Electronic Cam Control System Operation Manual
5
PC software IA-101-X-MW/ IA-101-X-USBMW Operation Manual
6
Teaching pendant SEL-T/TD Operation Manual
7
Teaching pendant IA-T-X/XD Operation Manual
8
DeviceNet Operation Manual
9
Cc-Link Operation Manual
10
Profibus-DP Operation Manual
11
Ethernet Operation Manual (including Ethernet/IP)

4. How to read the model plate

Model
■ Those with UL/cUL mark in the name
Serial number
plate are complied with UL/cUL
standards.
UL/cUL marking
Refer to the instruction manual for
detail.
9A

5. How to read the model of the controller

Controller for Single-Axis actuator and Cartesian actuator XSEL-P/Q,
Controller for High-Speed Orthogonal Actuator (CT4) XSEL-PCT/QCT
XSEL – P - 3 - 400A - 200ACL - 60ABL - DV - N1 - EEE - 2 - 3
(Axis 1)
Model table
Details of axis 1 to axis 6*
*
4
Controller
Number
Motor
Encoder
Series
Brake Creep
type
of axes
Output
type
12
(12W)
20
P
(20W)
(Standard)
30D
1
(30W for RSC2)
(1-axis)
Q*
1
30R
(Complying
(30W for RS)
2
with
60
(2-axis)
WAI
Safety
(60W)
Not
(Battery-
Category)
100
Specified
3
less
(100W)
(w/o
(3-axis)
absolute
PCT
150
brake)
XSEL
/ Incre-
:For CT4
(150W)
4
mental)
(Standard)
200
B
(4-axis)
(200W)
(w/
A
QCT
300
brake)
5
(Absolute)
:For CT4
(300W)
(5-axis)
(Complying
400
with
(400W)
6
Safety
600
(6-axis)
Category)
(600W)
P/PCT
PX
Q/QCT
QX
750
(750W)
1000
(
1000W
)
*1
In this type, the safety circuit can be configured with the motor driving power source separated.
*2
Any of the RCS2-R**7 series, RCS-RB75 series unit, RCS-G20, RCS-R* or the linear motor actuator (LSA) is not connected
to the No. 5 axis or No. 6 axis.
*3
Because the one axis of the large size linear actuator (W21H
axes of the usual type, take care about the number of axes being used.
×
×
*4
shows the number of connected axes regardless of the above *3.
*5
"S" shows the case where the expanded I/O is not used at first but added later. In this case, the expanded I/O base uses the empty slot.
Controller for SCARA robot XSEL-PX, QX
XSEL – PX6 - NNN5020 - 750AL - 750ABL - DV - N1 - EEE - 2 - 3
Model table
,
Details of axis 5 to axis 6*
Controller
IX Robot Model Motor
Encoder
Series
type
Output
type
NNN1205/1505/1805
Applicable Controller
NNN3515(H)/2515(H)
NNN50□□(H) /60□□(H)
P/PCT
PX
Q/QCT
QX
/70□□(H)/80□□(H)
×
×
(Standard type)
PX4
(Large capacity
NNN1205B/1505B/1805B
×
×
(Standard type
20
4-axis type)
with the brake (option))
(20W)
×
×
PX5
30D
(Large capacity
NSN5016(H)/6016(H)
(30W for RSC2)
5-axis type)
(High-speed type)
30R
PX6
(30W for RS)
NNW3515(H)/2515(H)
(Large capacity
60
NNW50□□(H)/60□□(H)
6-axis type)
/70□□(H)/80□□(H)
(60W)
WAI
×
×
(Dustproof/Splash
100
(Battery-
QX4
*
1
×
×
proof type)
less
(4-axis type
(100W)
absolute
complying with
150
/ Incre-
XSEL
TNN(UNN)3515(H)
Safety Category
(150W)
mental)
/2515(H)
Manual No.
Specifications)
200
(Wall-mount type,
*
1
QX5
Wall-mount Inverse type)
(200W)
A
ME0148
(5-axis type
(Absolute)
300
ME0152
complying with
HNN(INN)50□□(H)
(300W)
Safety Category
/60□□(H)/70□□(H)
400
ME0188
Specifications)
/80□□(H)
(400W)
(Ceiling-mount type,
ME0246
*
1
QX6
600
Ceiling-mount Inverse type)
(6-axis type
(600W)
ME0154
complying with
NNC1205/1505/1805
750
Safety Category
ME0183
NNC3515(H)/2515(H)
(750W)
Specifications)
NNC50□□(H)/60□□(H)
ME0160
/70□□(H)/80□□(H)
(Clean room type)
ME0124
NNN1205B/1505B/1805B
ME0123
(Clean type
with the brake (option))
ME0153
*1
In this type, the safety circuit can be configured with the motor driving power source separated.
ME0140
*2
The maximum number of the added axes is shown in the following table.
(Axis 2)
(Axis 3)
*
2
,
3
Expansion I/O slots
High Accel/
Synchro-
Home
Network
Standard I/O
Decel
nization
Sensor
Slot 2
Slot 3
Slot 4
(Dedicated Slot)
(Slot 1)
Specifi-
Desig-
(LS)
cations
nation
E
E
E
E
(Not used)
(Not used)
(Not used)
(Not used)
N1
N1
N1
N1
32 inputs/
Not
Expansion I/O
Expansion I/O
Expansion I/O
16 outputs
Specified
NPN32/16
NPN32/16
NPN32/16
NPN board
(w/o network)
N2
Not
N2
N2
N2
16 inputs/
Specified
Expansion I/O
Expansion I/O
Expansion I/O
DV
32 outputs
(No
DeviceNet
NPN16/32
NPN16/32
NPN16/32
NPN board
synchro-
256/256 board
N3
Not
N3
N3
N3
nization)
48 inputs/
Not
Not
Specified
Multipoint I/O
Multipoint I/O
Multipoint I/O
CC
48 outputs
Specified
Specified
(w/o
CC-Link
NPN48/48
NPN48/48
NPN48/48
NPN board
M
(w/o
(Standard
home
256/256 board
P1
(Master-
creep)
type)
sensor)
P1
P1
P1
32 inputs/
axis
PR
Expansion I/O
Expansion I/O
Expansion I/O
16 outputs
desig-
PROFIBUS
PNP32/16
PNP32/16
PNP32/16
C
HA
L
PNP board
256/256 board
nation)
(w/
(High Accel/
(w/
P2
P2
P2
P2
creep)
Decel type)
home
16 inputs/
ET
S
Expansion I/O
Expansion I/O
Expansion I/O
32 outputs
sensor)
Ethernet
PNP16/32
PNP16/32
PNP16/32
(Slave-
PNP board
Data
axis
P3
communication
P3
P3
P3
desig-
48 inputs/
board
Multipoint I/O
Multipoint I/O
Multipoint I/O
nation)
48 outputs
PNP48/48
PNP48/48
PNP48/48
PNP board
EP
MC
MC
MC
256/256 board
Pulse I/O
Pulse I/O
Pulse I/O
Board
Board
Board
S*
5
S*
5
S*
5
With the
With the
With the
Expanded
Expanded
Expanded
I/O Base
I/O Base
I/O Base
) with high thrust, uses as much space as that used by two
2
,
*
3
Expansion I/O slots
Hi g h Accel /
Synchro-
Home
Network
Standard I/O
Decel
nization
Brake Creep
Sensor
Slot 2
Slot 3
Slot 4
(Dedicated Slot)
(Slot 1)
Specifi-
Desig-
(LS)
cations
nation
E
E
E
E
(Not used)
(Not used)
(Not used)
(Not used)
N1
N1
N1
N1
32 inputs/
Expansion I/O
Expansion I/O
Expansion I/O
16 outputs
Not
NPN32/16
NPN32/16
NPN32/16
NPN board
Specified
N2
(w/o network)
N2
N2
N2
16 inputs/
Expansion I/O
Expansion I/O
Expansion I/O
32 outputs
DV
NPN16/32
NPN16/32
NPN16/32
Not
NPN board
DeviceNet
Specified
N3
256/256 board
(No
N3
N3
N3
48 inputs/
synchro-
Multipoint I/O
Multipoint I/O
Multipoint I/O
CC
48 outputs
nization)
NPN48/48
NPN48/48
NPN48/48
NPN board
Not
Not
Not
Not
CC-Link
Specified
Specified
Specified
Specified
256/256 board
P1
M
P1
P1
P1
(w/o
(w/o
(Stand-
(w/o home
32 inputs/
(Master-
Expansion I/O
Expansion I/O
Expansion I/O
brake)
creep)
ard type)
sensor)
PR
16 outputs
axis
PNP32/16
PNP32/16
PNP32/16
PROFIBUS
PNP board
designa-
B
C
HA
L
256/256 board
tion)
P2
(w/
(w/
(High Accel/
(w/ home
P2
P2
P2
16 inputs/
brake)
creep)
Decel type)
sensor)
Expansion I/O
Expansion I/O
Expansion I/O
ET
S
32 outputs
Ethernet
PNP16/32
PNP16/32
PNP16/32
(Slave-
PNP board
axis
Data
P3
P3
P3
P3
designa-
communication
48 inputs/
Multipoint I/O
Multipoint I/O
Multipoint I/O
tion)
board
48 outputs
PNP48/48
PNP48/48
PNP48/48
PNP board
EP
EtherNet/IP
256/256 board
S*
4
S*
4
S*
With the
With the
With the
Expanded
Expanded
Expanded
I/O Base
I/O Base
I/O Base
Type
Model
Standard type
NNN1205/1505/1805
NNN3515/2515
NNN50□□/60□□
Standard type with brake (Option)
NNN1205B/1505B/1805B
Dustproof/Splash proof type
NNW3515/2515
NNW50□□/60□□
Wall-mount type, Wall-mount Inverse type
TNN(UNN)3515/2515
Ceiling-mount type, Ceiling-mount Inverse type
HNN(INN)50□□/60□□
Clean room type
NNC1205/1505/1805
NNC3515/2515
NNC50□□/60□□
I/O Flat
Power-
Clean room type with brake (Option)
NNN1205B/1505B/1805B
cable
supply
Standard type
NNN70□□/80□□
length
voltage
Dustproof/Splash proof type
NNW70□□/80□□
Ceiling-mount type, Ceiling-mount Inverse type
HNN(INN)70□□/80□□
Clean room type
NNC70□□/80□□
High-speed type
NSN5016/6016
*3
Any of the RCS2-R**7 series, RCS-RB75 series unit, RCS-G20, RCS-R* or the linear motor actuator (LSA) is not connected to the No. 5 axis or No. 6 axis.
*4
"S" shows the case where the expanded I/O is not used at first but added later. In this case, the expanded I/O base uses the empty slot.
*5
No H on end of the model code: current products, With H on end: new releases (applicable for high-speed type)
Basic Specifications
Specifications
Specification Item
XSEL-P/PCT
Max. No. of Connectable Axes*
1
, *
2
6-axis
2 : 2m
(Standard)
2
(Single-
3 : 3m
phase
Max. Connected Axis
Single-phase type
1600W
200V)
Output*
5
5 : 5m
3-phase type
2400W
3
Control Power Capacity
Single-phase 200VAC to 230V ±10%
0 : None
(3-phase
Single-phase 200VAC to 230V ±10%
Motor Driving Source
Single-phase type
200V)
Voltage
3-phase 200VAC to 230V ±10%
3-phase type
(*1)
Power supply frequency
50Hz/60Hz
Rush current*
3
Control Power Supply
50A
Less than 1200W of Motor
60A (Max)
Driving Power Supply
1200W or more of Motor
120A (Max)
Driving Power Supply
Control Power Supply
0.4mA
Leakage Current*
3
(Excluding Higher Harmonic Component)
Motor Driving Power Supply
2mA or less
Momentary Power Interruption Tolerance
50Hz : 10msec, 60Hz : 8msec
Insulation Strength
10MΩ or more (Between power terminal and I/O terminal and also all external
terminals and case at the power supply of 500VDC)
Insulation Resistance
1500VAC for 1 min (actuator the time of connection 1000VAC for 1min.)
Axis Control System
AC Full –digital Servo
Position detection method
Incremental Encoder or Absolute Encoder
Battery for Backup
For Absolute Date Backup : AB-5 manufactured by our company
For System Memory Backup : CR2032 manufactured by Toshiba Battery
Program language
Super SEL language
Max. Number of program steps
9999 steps
Max. Number of position
20000 positions
Max. Number of programs
128 programs
Max. Number of multitask programs
16 programs
Data storage device
Flash ROM + SRAM battery backup
Data input method
Teaching pendant or PC software
Standard I/O Interface
32 Input Points (Total of Dedicated Input Points + Universal Input Points)
16 Output Points (Total of Dedicated Output Points + Universal Output Points)
16 Input Points (Total of Dedicated Input Points + Universal Input Points)
I/O Flat
Power-
32 Output Points (Total of Dedicated Output Points + Universal Output Points)
cable
supply
Expanded I/O Interface
(Refer to the Item describing How to read the model of the controller)
length
voltage
Teaching Port RS232C(Special Protocol)
D-sub25 pin
Serial communication
Port 1
D-sub9 pin
function RS232C
Port 2
D-sub9 pin (Connector in using the RC gateway function)
Serial communication cable length
RS232C
15m or less
System I/O
Various safety circuit I/O including the emergency stop input, safety gate input, system ready output, etc.
Protective functions
Motor overcurrent, overload, motor driver temperature check, overload check, encoder
open circuit detection, soft limit over, system abnormality, battery abnormality etc.
Drive-source cutoff method
Internal relay
Environ-ment
Surrounding air temperature
0 to +40°C
Surrounding humidity
10% to 95% RH (non-condensing)
Surrounding environment
(Refer to Installation Environment)
Surrounding storage temperature
-25 to 70°C
Surrounding storage humidity
10% to 95% RH (non-condensing)
Vibration resistance
10 to 57Hz in XYZ directions/Pulsating amplitude 0.035mm (continuous), 0.075mm (intermittent)
2 : 2m
2
57 to 150Hz 4.9m/s
(Standard)
(Single-
Pollution degree
Pollution degree 2
phase
Protection class
IP20
3 : 3m
200V)
Cooling method
Forced air-cooling
5 : 5m
3
Weight
Axis 1 to axis 4 : 5.2kg
(3-phase
Axis 5 to axis 6 : 5.7kg
0 : None
200V)
(Refer to the Item for the External Dimensions)
*1
The maximum connection output for the single phase controller is 1600W.
The controller cannot be connected to the SCARA robot with the arm length 700/800, which are NNN70□□/80□□,
NNW70□□/80□□, HNN (INN) 70□□/80□□ and NNC70□□/80□□, or the high-speed type NSN5016/6016. Take the greatest care.
*2
Refer to the item describing how to read the model for the maximum number of added axes.
*3
Rush current at the power connection continues for 3msec. Consider the safety rate at the time when rush current passes.
The rush current value varies depending on the impedance of the power line.
*4
The leakage current is shown as the value indicated in the controller connected to the actuator. The leakage current from
4
controller power cable or noise filter is not included.
The leakage current varies depending on the surrounding environments.
When the leakage protective measure is taken, measure the leakage current at the leakage breaker installation location.
*5
For ROBO Cylinder High-Speed Type, calculate with twice of the motor wattage described on the model.
Maximum number of the added axes
3-phase 200V design
Single-phase 200V Type
2
2
However, the total motor
wattage including that
for the SCARA robot
should be up to 1600 W.
1
0
0
0
XSEL-PX
XSEL-Q/QCT
XSEL-QX
A maximum of
6-axis
A maximum of
2-axis, are added to
2-axis, are added to
4-axis for the
4-axis for the
SCARA Robot.*
2
SCARA Robot.*
2
0.2mA
External Safety Circuit
2
(continuous) 9.8m/s
2
(intermittent)
Axis 1 to axis 4 : 4.5kg
Axis 5 to axis 6 : 5.0kg

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Summary of Contents for IAI XSEL-P

  • Page 1 Specification Item XSEL-P/PCT XSEL-PX XSEL-Q/QCT XSEL-QX synchro- 256/256 board A hardcopy of the Manual can be requested by contacting your nearest IAI Sales Office listed at with Max. No. of Connectable Axes* 6-axis A maximum of 6-axis A maximum of...
  • Page 2 29.77 125.3 150mm or more Note: The front panel in the figure shows the condition when the controller for the actuator XSEL-P or Q for the single-axis robots and Cartesian robots is used. 50mm 50mm or more Airflow Regeneration Unit...
  • Page 3 Surge Protector Conveyor Encoder Connector used for Conveyor Tracking indicates the data flow. The figure shows the built-in relay interrupting using the controller for Single-Axis Robots and Cartesian Robots: XSEL-P. Class D grounding (Formerly Class-lll grounding: For the connection between the SCARA robot and the added axis XSEL-PX controller, the same wiring arrangement as for [XSEL- Q, QX, QCT] ●...
  • Page 4 Setting of node address = (Value set in “× 10” on rotary switch × 10) + (Value set in “× 1” on rotary switch × 1) (*1) Refer to the operation manuals for your master unit and PLC in the case of T-branch communication. XSEL-P/Q XSEL-S...
  • Page 5 For X-SEL, the operation status can be checked with the status LEDs on the front panel. • A serious error such as a CPU error is caused in the connected SIO. → It is caused by the hardware breakdown. Contact IAI. ○...

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