IAI XSEL-RA First Step Manual

Field Network Type
(DeviceNet, CC-Link, PROFIBUS-DP,
EtherCAT, EtherNet/IP)
XSEL-RA/SA, RAX/SAX, RAXD/SAXD
First Step Guide Fifth Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.
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
FMC1.5/10-ST-3.5
(Manufacturer: Phoenix Contact)
3 AC Power Supply plug GMSTB2.5/6-STF-7.62
(Manufacturer: Phoenix Contact)
PC4/6-STF-7.62 for XSEL-SAX4-NNN10040 and 12040
(Manufacturer: Phoenix Contact)
4 Brake Power Input Plug FMC1.5/2-ST-3.5-RF
(Manufacturer: Phoenix Contact)
DP-2
5 Dummy plug
6 Absolute Battery (Note 1) AB-5
7 For DeviceNet Type
SMSTB2.5/5-STF-5.08 AU
(Manufacturer: Phoenix Contact)
SMSTB2.5/5-STF-5.08 AU
8 For CC-Link Type
(Manufacturer: Phoenix Contact)
(Terminal resistance 110, 130Ω one unit each)
9 First Step Guide ME0365
10 Operation Manual (DVD)
11 Safety Guide M0194
(Note 1) Attach the absolute battery following Step 4) in 4.2.2 Replace Absolute Battery in Instruction Manual.
2. Teaching tool (Optional accessory)
The PC software or teaching pendant is necessary to perform setup operations such as position and
parameter settings through teaching or other means. Use either of them.
No. Part Name
1 PC Software (with RS232C Cable + Emergency Stop Box) IA-101-X-MW
2 PC Software (with USB Conversion Adapter + RS232C Cable + Emergency Stop Box) IA-101-X-USBMW
3 PC Software (Safety Categories 4 Compliance Cable + Emergency Stop Box) IA-101-XA-MW
4 Touch Panel Teaching Pendant (Standard / with Deadman Switch) TB-01/01D/01DR
5 Touch Panel Teaching Pendant (Standard / with Deadman Switch) TB-02/02D
6 Touch Panel Teaching Pendant TB-03
3. Instruction manuals related to this product, which are contained in the
No. Name
1 SEL Language Programming Manual
2 PC Software IA-101-X-MW/ IA-101-X-USBMW RC Gateway Function Instruction Manual
3
Touch Panel Teaching Pendant TB-01/01D/01DR Applicable for Program Controller Instruction Manual
4 Touch Panel Teaching Pendant TB-02/02D Applicable for Program Controller Instruction Manual
5 Touch Panel Teaching Pendant TB-03 Applicable for Program Controller Instruction Manual
6
DeviceNet Instruction Manual
7 CC-Link Instruction Manual
8 PROFIBUS Instruction Manual
9
EtherNet Instruction Manual
10 EtherCAT Instruction Manual
11
EtherNet/IP Instruction Manual
12 Extension Motion Control Instruction Manual
5A
4. How to read the model plate
■ Those with UL/cUL mark in the name plate are
complied with UL/cUL standards. Refer to the
instruction manual for detail.
5. How to read the model
5.1 Controller for Single-Axis Robots and Orthogonal Robots
XSEL － RA － 8 － 400A － 200A － 100AB － 60A － 400A － 200A － 100AB － 60A － EPEIA － DGN1 － 2 － 3
Model table
Series
Contro ller Number
Motor
type of a xes
wattage
(12W)
(20W)
1
(30W for
(1-axis)
2
(30W for
(2-axis)
3
(60W)
(3-axis)
RA
(100W)
(Standard 4
100S
type) (4-axis) (100W
XSEL
5 linear)
*1
SA (5-axis)
(150W)
(Safety
categories
6
compliance (200W)
(6-axis)
type)
200S
(200W
7
(7-axis)
linear)
8
(300W)
(8-axis)
(400W)
(600W)
Quantity
(750W)
RA/RAX/RAXD SA/SAX/SAXD
*1 Safety categories compliance type: In this type, the safety circuit can be configured with the motor driving power source separated.
Note 1 ● Any of the RCS2-R**7 series, RCS2-SRA7BD/SRGS7BD/SRGD7BD, RCS-RB75 series, RCS-G20, RCS-R* or the linear
motor actuator (LSA), incremental of NS-SXM□/SZM□, RCS2-□□5N, is not connected.
● High-speed type (RCS3-CTZ5C, RCS3-CT8C) actuators are available for connection only with 3-phase type.
The maximum number of connectable axes is three when only RCS3-CT8C is connected.
5.2 SCARA Robot + Controller for Single-Axis Robots and Orthogonal Robots (4 axes Max.)
2 2
XSEL － RAX8 － NNN5020H － 400A － 200A － 100AB － 60A － EPEIA － DGN1 － 2 － 3
1 1 Model table
Series Controller SCARA Robot Model
- 1
type
RAX4
(1unit of SCARA)
1 1 RAX5
(1unit of SCARA +
single axis 1-axis)
RAX6
(1unit of SCARA +
single axis 2-axis)
NNN1205 to 8040H
RAX7
(1unit of SCARA + NNN10040 to 12040
1 1
single axis 3-axis)
NSN5016H to 6016H
RAX8
(High-speed type)
(1unit of SCARA +
single axis 4-axis)
NNC1205 to 8040H
Number of Absolute Number of Absolute
(Clean type)
SAX4 *1
Type Actuators to be Type Actuators to be
(1unit of SCARA
NNW2515H to 8040H
safety categories (Splash proof type)
Connected (except for Connected (except for
XSEL compliance type)
TNN3015H to 3515H
SCARA type ones) SCARA type ones)
SAX5 *1 (Wall-mount type)
(1unit of SCARA +
single axis 1-axis
UNN3015H to 3515H
safety categories
(Wall-mount inverse
compliance type)
1 1
SAX6 *1
HNN5020H to 8040H
(1unit of SCARA +
single axis 2-axis
safety categories mount type)
compliance type)
1 1
INN5020H to 8040H
SAX7 *1
(Inverse type)
(1unit of SCARA +
single axis 3-axis
safety categories
1 1
compliance type)
1 1 SAX8 *1
(1unit of SCARA +
single axis 4-axis
1 1
safety categories
compliance type)
Controller SCARA robot
Series
type
RAX3
(1unit of 3-axis type SCARA)
Applicable Controller
RAX4
Model
(1unit of 4-axis type SCARA,
RA/RAX/RAXD SA/SAX/SAXD
1unit of 3-axis type SCARA +
single axis 1-axis)
×
RAX5
(1unit of 4-axis type SCARA +
×
single axis 1-axis, 1unit of 3-axis
type SCARA + single axis 2-axis)
RAX6
(1unit of 4-axis type SCARA +
single axis 2-axis, 1unit of 3-axis
type SCARA + single axis 3-axis)
RAX7
(1unit of 4-axis type SCARA +
single axis 3-axis, 1unit of 3-axis
manual (DVD).
instruction type SCARA + single axis 4-axis)
RAX8
Manual No. (1unit of 4-axis type SCARA + (Standard type)
single axis 4-axis)
SAX3 *1
ME0224
(1unit of 3-axis type SCARA
XSEL safety categories compliance type )
ME0154
SAX4 *1
(1unit of 4-axis type SCARA,
ME0325
1unit of 3-axis type SCARA +
single axis 1-axis
ME0356
safety categories compliance type)
SAX5 *1
ME0377
(1unit of 4-axis type SCARA +
(High-speed type)
single axis 1-axis, 1unit of 3-axis
ME0124 type SCARA + single axis 2-axis
safety categories compliance type)
ME0123
SAX6 *1
(1unit of 4-axis type SCARA +
ME0153 single axis 2-axis, 1unit of 3-axis
type SCARA + single axis 3-axis
(High-speed type,
safety categories compliance type)
ME0140 Dust-proof/splash-proof
SAX7 *1 specification)
(1unit of 4-axis type SCARA +
ME0309
single axis 3-axis, 1unit of 3-axis
type SCARA + single axis 4-axis
ME0308 safety categories compliance type)
SAX8 *1
ME6364
(1unit of 4-axis type SCARA +
single axis 4-axis
safety categories compliance type)
*1 Safety categories compliance type: In this type, the safety circuit can be configured with the motor driving power source separated.
Model
Serial
number
UL/cUL Marking
(Axis1) (Axis2) (Axis3) (Axis4) (Axis5) (Axis6) (Axis7) (Axis8)
(Note 1),
Details of axis 1 to axis 8 Network Slot I/O slots
I/O flat Power
High Home
Encoder Synchronization cable supply
Brake Creep acceleration/ sensor Slot 1 Slot 2 Slot 1 Slot 2
length voltage
type designation
deceleration
(LS)
E
12 E
(Not for
(Not for use)
use)
20
N1 N1
Extension PIO Extension PIO
30D
Input32/ Input32/
Output16 Output16
DS)
NPN board NPN board
30R WAI
(Battery-
N2 N2
E
less Extension PIO Extension PIO
RS) Not for use 2: Single-
absolute/ Input16/ Input16/
60 E phase
incremental) Output32 Output32
Not for use DV 200V
Not specified NPN board NPN board
100 Not
DeviceNet
Not specified (No
A specified EP 2: 2m 2L: Only for
Not Not
Input256/ N3 N3
(w/o synchronization)
(Absolute) specified specified (w/o home EtherNet/IP (Standard) linear
Extension PIO Extension PIO
Acceleration/
Output256 single-
(w/o (w/o sensor) Input256/ Input48/ Input48/
deceleration)
M phase
G brake) creep) Output48 Output48 3: 3m
for Output256
CC
(Master-axis NPN board NPN board 200V
(Spurious L
HA designation) CC-Link
absolute) 5: 5m
150 B C
(Acceleration/ (with P1 P1 3: 3-phase
Input256/
EC
(with (with home Extension PIO
deceleration S Extension PIO 0: None 200V
AI EtherCAT Output256
sensor)
200 brake) creep) Input32/ Input32/
type) (Slave-axis
(Index
Input256/ Output16 Output16
designation) 3L: Only for
absolute) PR
PNP board PNP board
Output256 linear
ProfiBus
3-phase
AM Input256/ P2 P2
for 200V
(Multiple- Extension PIO Extension PIO
Output256
Input16/
rotation Input16/
300
absolute) Output32 Output32
PNP board PNP board
400
P3
P3
600 Extension PIO
Extension PIO
Input48/
Input48/utput48
Output48
750
PNP board
PNP board
(Axis 5) (Axis 6) (Axis 7) (Axis 8)
Details of axis 5 to axis 8 (Note 1) Network Slot I/O slots
I/O Flat
High Home
Motor Encoder Synchronization cable
Brake Creep acceleration/ sensor Slot 2 Slot 3 Slot 1 Slot 2
length
wattage type designation
deceleration (LS)
12
(12W) E E
(Not for use) (Not for use)
20
(20W)
N1 N1
30D Extension PIO Extension PIO
(30W for
Input32/ Input32/
DS)
Output16 Output16
NPN board NPN board
30R
(30W for
WAI
RS) N2 N2
(Battery-
less Extension PIO Extension PIO
60 E
absolute/ Input16/ Input16/
(60W)
E Not for use
incremental) Output32 Output32
100 Not for use
NPN board NPN board
Not Not Specified DV
(100W)
A Not Specified (No
Not Not EP DeviceNet 2: 2m
Specified N3 N3
100S (Absolute) synchronization)
Specifi Specifi (w/o Input256/
( EtherNet/IP (Standard)
(100W for w/o Extension PIO Extension PIO
ed ed home Output256
linear) Acceleration/ Input256/ Input48/ Input48/
G (w/o (w/o sensor)
) M 3: 3m
deceleration Output48
brake) creep) Output256 Output48
150 (Spurious (Master-axis CC
NPN board NPN board
(150W) absolute) L designation)
CC-Link 5: 5m
HA
B C
(with Input256/
200 ( Acceleration/
EC P1 P1
AI (with (with home Output256 0: None
(200W) S
deceleration EtherCAT Extension PIO Extension PIO
(Index brake) creep) sensor)
) (Slave-axis
type Input32/ Input32/
200S absolute) Input256/
designation) PR
type)
(200W for Output16 Output16
Output256 ProfiBus
linear) PNP board PNP board
AM
Input256/
(Multiple-
(Ceiling- 300 Output256
rotation P2 P2
(300W)
absolute) Extension PIO Extension PIO
300S
Input16/ Input16/
(300W for
Output32 Output32
linear)
PNP board PNP board
400
(400W) P3 P3
Extension PIO Extension PIO
600
Input48/ Input48/
(600W)
Output48 Output48
750 PNP board
PNP board
(750W)
Details of axis 5 to axis 8 (N ote 1) Network slot I/O slots
High Home
Motor Encoder Synchronization
model Brake Creep acceleration/ sensor Slot 1 Slot 2 Slot 1 Slot 2
wattage type designation
deceleration (LS)
E E
(Not for
(Not for
use) use)
3NNN1805
4NNN1805 N1 N1
12
3NNN3015 (12W) Extension Extension
4NNN3015 PIO PIO
3NNN4518 20 Input32/ Input32/
4NNN4518 (20W) Output16 Output16
3NNN4533 NPN board NPN board
30D
4NNN4533
(30W for
N2 N2
3NNN6018 DS) WAI
Extension Extension
4NNN6018 (Battery-
PIO PIO
3NNN6033 30R less
4NNN6033 (30W for absolute/ E Input16/ Input16/
RS)
incremental) Not for use Output32 Output32
E NPN board NPN board
60 Not Not Specified
Not for use DV
(60W) A Not
Specified (No
3NSN3015 DeviceNet N3 N3 2: 2m
(Absolute) Not Not Specified
(w/o synchronzation)
4NSN3015 EP Input256/ Extension Extension (Standard)
100 Specified Specified (w/o
home
3NSN4518 EtherNet/IP Output256 PIO PIO
(100W) (w/o (w/o Acceleration/
sensor)
4NSN4518 G M Input 256/ Input48/ Input48/ 3: 3m
brake) creep) deceleration)
3NSN4533 100S (Spurious (Master-axis Output 256 CC Output48 Output48
(100W for absolute) L designation) CC-Link NPN board NPN board 5: 5m
4NSN4533
linear) B C HA
EC Input256/
3NSN6018 (with
(with (Acceleration/
(with EtherCAT Output256 P1 P1 0: None
4NSN6018 AI home S
150 brake) deceleration
3NSN6033 (Index creep) sensor) (Slave-axis Input 256/ Extension Extension
(150W) type)
4NSN6033 absolute) designation) Output 256 PR PIO PIO
200 ProfiBus Input32/ Input32/
(200W) AM Input256/ Output16 Output16
(Multiple- Output256 PNP board PNP board
4NSW3015 200S rotation
(200W for
4NSW4518 absolute) P2 P2
linear)
4NSW4533 Extension Extension
4NSW6018 PIO PIO
300
Input16/ Input16/
4NSW6033 (300W)
Output32 Output32
PNP board PNP board
400
(400W)
P3 P3
600
Extension Extension
(600W)
PIO PIO
Input48/ Input48/
Output48 Output48
PNP board PNP board
Note 1 Any of the RCS2-R**7 series, RCS2-SRA7BD/SRGS7BD/SRGD7BD, RCS-RB75 series, RCS-G20, RCS-R* or the
linear motor actuator (LSA), incremental of NS-SXM□/SZM□, RCS2-□□5N, is not connected.
[Restrictions on Connected Axes to XSEL-RAX/SAX]
SCARA Model
IX-NNN1205/1505/1805
IX- N 2515H/3015H/3515H
IX- N 5020H/6020H
IX- N 70 H/ 80 H
IX-NSN5016H/6016H
IX-NNN10040/12040
IXA- NNN1805
IXA-3NNN3015/3NNN45 /3NNN60
IXA-4NNN3015/4NNN45
IXA-4NNN60
IXA-3NSN3015/3NSN45 /3NSN60
IXA-4NSN3015/4NSN45 /4NSN60
IXA-4NSW3015/4NSW45 /4NSW60
5.3 Controller for SCARA Robot 2-Unit Connection Dedicated
XSEL － RAXＤ8 － NNN5020H － NNN5020H － EPEIA － DGN1 － 2 － 3
Model table
Controller SCARA Robot Model 1 SCARA Robot Model 2
Series
type
NNN1205 to 1805 NNN1205 to 1805
NNN2515H to 6030H NNN2515H to 6030H
RAXD8
(Standard type) (Standard type)
(For
NNC1205 to 1805 NNC1205 to 1805
connection of
2 units of
NNC2515H to 6030H NNC2515H to 6030H
SCARA)
(Clean type) (Clean type)
NNW2515H to 6030H NNW2515H to 6030H
Power
(Splash proof type) (Splash proof type)
supply SAXD8
*1
voltage
XSEL (For
TNN3015H to 3515H TNN3015H to 3515H
connection of
(Wall-mount type) (Wall-mount type)
2 units of
UNN3015H to 3515H UNN3015H to 3515H
SCARA
(Wall-mount inverse (Wall-mount inverse
safety
type) type)
categories
HNN5020H to 6020H HNN5020H to 6020H
compliance
type) (Ceiling-mount type) (Ceiling-mount type)
INN5020H to 6020H INN5020H to 6020H
(Inverse type) (Inverse type)
3:
3-phase
200V
*1 Safety categories compliance type: In this type, the safety circuit can be configured with the motor driving power source separated.
[Limitations in SCARA Robot Combination in XSEL-RAXD/SAXD]
(1) 3-phase type
First Unit
IX-NNN1205/1505/1805
IX- N 2515H/3015H/3515H
IX- N 5020H/6020H
I/O Flat Power Basic Specifications
cable supply
length voltage
Specifications
Specification Item
XSEL-RA/SA : 1-axis to 4-axis (4-axis specification),
Number of controlled axes XSEL-RAX/SAX : SCARA Robot 1-axis to 4-axis,
XSEL-RAXD/SAXD : SCARA Robot 1-axis to 4-axis , 5-axis to 8-axis
Applicable motor capacity 20W to 750W
3-phase type controller: 2400W
Total connectable wattage
Single-phase type controller: 1600W (RA/SA type only)
Single-phase 200 to 230V AC ±10%
Control Power supply voltage
Motor Driving Source Voltage 3-phase 200 to 230V AC ±10% / Single-phase 200 to 230V AC ±10%
Power Supply Frequency 50Hz/60Hz
Control power supply 60A
3: 3-phase
200V
Rush Current Less than
Motor drive 60A (MAX.)
1200W
(Note 1) power
1200W or
supply 120A (MAX.)
more
Leakage Control power supply 0.4mA
Current (Note 2)
Motor drive power
2mA or less
(Excluding Higher
supply
Harmonic Content)
Heat Generation Refer to the item for the power capacity and heating value.
PIO Power Supply 24V DC ±10% (Supplied from external equipment)
(Note 3)
Electromagnetic Brake Power Supply 24V DC ±10% Per 1 actuator approx. 0.4A
(For the actuator with the brake) (Supplied from external equipment)
10ms (when power source frequency 50Hz is used), 8ms (when power source
Transient Power Cutoff Durability
frequency 60Hz is used)
Total Wattage and Number of Connectable Axes
1500W in total or less 4 axes at max. 750W max. for 1 axis
1500W in total or less 4 axes at max. 750W max. for 1 axis
600W in total or less 4 axes at max. 600W max. for 1 axis
Unavailable
Unavailable
Unavailable
1500W in total or less 4 axes at max. 750W max. for 1 axis
700W in total or less 4 axes at max. 700W max. for 1 axis
600W in total or less 4 axes at max. 600W max. for 1 axis
600W in total or less 3 axes at max. 600W max. for 1 axis
Unavailable
Unavailable
Network Slot I/O slots
I/O Flat Power supply
Slot 1 Slot 2 Slot 1 Slot 2 cable length voltage
E E
(Not for use) (Not for use)
N1 N1
Extension PIO Extension PIO
Input32/ Input32/
Output16 Output16
NPN board NPN board
N2 N2
E
Extension PIO Extension PIO
E Not for use
Input16/ Input16/
Not for use Output32 Output32
DV
NPN board NPN board
EP DeviceNet
N3 N3 2: 2m
EtherNet/IP Input256/
(Standard)
Extension PIO Extension PIO
Output256
Input256/
Input48/ Input48/
Output48 Output48 3: 3m 3: 3-phase
Output256
CC
NPN Board NPN Board 200V
CC-Link
5: 5m
P1 P1
Input256/
EC
Extension PIO Extension PIO
Output256
EtherCAT 0: None
Input32/ Input32/
Input256/ Output16 Output16
PR
PNP Board PNP Board
Output256 ProfiBus
Input256/
P2 P2
Output256
Extension PIO Extension PIO
Input16/ Input16/
Output32 Output32
PNP board PNP board
P3 P3
Extension PIO Extension PIO
Input48/ Input48/
Output48 Output48
PNP board PNP board
Second Unit
IX-NNN1205/1505/1805
IX- N 2515H/3015H/3515H
IX-NNN1205/1505/1805
XSEL-RA/RAX/RAXD XSEL-SA/SAX/SAXD
1-axis to 8-axis (8-axis specification)
Additional 5-axis to 8-axis (8-axis specification)
0.2mA