IAI XSEL-P First Step Manual

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
Ethernet/Ip
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)
External Dimensions (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