IAI XSEL-R First Step Manual

Field Network Type
(DeviceNet, CC-Link, PROFIBUS-DP, EtherCAT,
EtherNet/IP)
XSEL-R/S, RX/SX, RXD/SXD
First Step Guide
First Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (CD/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 CD/DVD Manual included in the box this device was packaged in. It should be
retained with this device at all times.
A hard copy of 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)
3 AC Power Supply plug GMSTB2.5/6-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 For DeviceNet Type SMSTB2.5/5-STF-5.08AU (Maker: PHOENIX CONTACT)
7 For CC-Link Type MSTB2.5/5-ST-5.08AU (Maker: PHOENIX CONTACT)
8 First Step Guide
Operation Manual
9
(CD/DVD)
10 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) IA-101-X-MW
PC Software (with USB Conversion Adapter + RS232C Cable + IA-101-X-USBMW
2
Emergency Stop Box)
PC Software IA-101-XA-MW
3
(Safety Categories 4 compliance cable + Emergency Stop Box)
4 Teaching pendant SEL-T
5 Teaching pendant (with deadman switch) SEL-TD
Teaching pendant SEL-TG
6
(with deadman switch + TP adapter (IA-LB-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 operation manual
(CD/DVD).
No. Name
SEL language programming manual
1
XSEL Controller P/Q/PX/QX/PCT/QCT/R/S/RX/SX/RXD/SXD
2
RC Gateway Function Operation Manual
PC Software IA-101-X-MW/IA-101-X-USBMW Operation Manual
3
4 Teaching pendant SEL-T/TD/TG Operation Manual
Teaching pendant IA-T-X/XD Operation Manual
5
6 DeviceNet Operation Manual
CC-Link Operation Manual
7
8 PROFIBUS-DP Operation Manual
9 Ethernet Operation Manual
10 EtherCAT Operation Manual
11 EtherNet/IP Operation Manual
12 IA Net Operation Manual
4. How to read the model plate
Model
Serial number
5. How to read the model
5.1 Multi-Axis Type Controller
XSEL － R － 8 － 400A － 200A － 100AB － 60A － 400A － 200A － 100AB － 60A － EPEIA － DGN1 － 2 － 3
(Axis 1)
Model table
Numbe
Series Controller
r
Motor Encoder
type
of axes
Wattage type
12
(12W)
1 20
(20W)
(1-axis)
30D
2 (30W for DS)
(2-axis) 30R
(30W for RS)
3 60
(3-axis) (60W)
(Incre-
R
100
mental)
(Standard
4 (100W)
Type)
(4-axis) 100S
A
(100W for Linear)
XSEL (Abso-
Quantity 5 150
lute)
*1
S (5-axis) (150W)
R/RX/RXD S/SX/SXD
200
(Global
G
6 (200W)
Type)
(Spurious
(6-axis) 200S
Absolute)
(200W for Linear)
7 300
(7-axis) (300W)
2 2
400
1 1 8 (400W)
(8-axis) 600
1 1
(600W)
750
- 1
(750W)
1 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 5.2 SCARA Robot + Additional Axes (4 axes Max.) Type Controller
1 1
XSEL － RX8 － NNN5020H － 400A － 200A － 100AB － 60A － EPEIA － DGN1 － 2 － 3
Model table
Applicable
SCARA
Model Controller
Series Controller
Robot Model
Motor
type
R/RX/RXD S/SX/SXD
Wattage
×
×
RX4
(1unit of SCARA)
12
RX5
(12W)
(1unit of
SCARA+Single 20
NNN1205 to
Axis 1Axis)
(20W)
8040H
RX6 30D
NSN5016H to
(1unit of
(30W for
6016H
SCARA+Single
Axis 2Axis) (High-Speed DS)
Type)
30R
RX7
×
(1unit of (30W for
NNC1205 to
SCARA+Single
× 8040H RS)
Axis 3Axis)
(Clean Type)
60
RX8
(60W)
NNW2515H to
(1unit of
8040H 100
SCARA+Single
(Splash Proof
Axis 4Axis) (100W)
Manual No. Type)
100S
TNN3015H to
ME0224 1 (100W for
XSEL SX4 *
3515H
Linear)
(1unit of SCARA)
(Wall-Mount
150
SX5 * 1
ME0188 Type)
(1unit of (150W)
SCARA+Single
UNN3015H to
200
ME0154 Axis 1Axis Safety
3515H
(200W)
Category Type)
(Wall-Mount
ME0183
Inverse Type) 200S
SX6 * 1
(1unit of (200W for
ME0160
HNN5020H to
SCARA+Single
Linear)
8040H
Axis 2xis Safety
ME0124 300
Category Type) (Ceiling-Mount
Type) (300W)
1
ME0123 SX7 *
400
(1unit of INN5020H to
SCARA+Single (400W)
ME0153 8040H
Axis 3Axis Safety
(Inverse type)
600
Category Type)
ME0140
(600W)
1
SX8 *
ME0309 750
(1unit of
SCARA+Single (750W)
ME0308
Axis 4Axis Safety
Category Type)
ME0307
*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
(LSA) is not connected.
MODEL XSEL-R-8-400A-200A-100AB-60A-400A-200A-100AB-60A-EPEIA-DGN1-2-3
SERIAL No.200198765 MADE IN JAPAN
(Axis 2) (Axis 3) (Axis 4) (Axis 5) (Axis 6) (Axis 7) (Axis 8)
Details of axis 1 to axis 8 (Note 1), Network Slot I/O slots
Synchro-
Home
nization
Brake Creep Sensor Slot 1 Slot 2 Slot 3 Slot 1 Slot 2
Desig-
(LS)
nation
E E
(Not for use) (Not for use)
N1 N1
Extension PIO Extension PIO
Input32/Output16 Input32/Output16
NPN Board NPN Board
N2 N2
Extension PIO Extension PIO
Input16/Output32 Input16/Output32
E
NPN Board NPN Board
Not for use
Not
N3 N3
Specified E
DV Extension PIO Extension PIO
I
(No Not for use
DeviceNet Input48/Output48 Input48/Output48
Not E
Synchroni-
Input256/ NPN Board NPN Board
Specified IA Net
zation)
Not Not EP
Output256
not P1 P1
(w/o Home
Specified Specified EtherNet/IP
Corresp-
Extension PIO Extension PIO
Sensor) M
(w/o Brake) (w/o Creep) Communic- onding
CC Input32/Output16 Input32/Output16
(Master-
ation Board
PNP Board PNP Board
L Axis CC-Link
IA
B C
(w/ Home Designation) Input256/
IA Net P2 P2
EC
(w/ Brake) (w/ Creep)
Sensor)
Output256 Corresp-
Extension PIO Extension PIO
EtherCAT
S onding
Input16/Output32 Input16/Output32
Communic-
(Slave-
PR PNP Board PNP Board
ation Board
Axis
PROFIBUS
P3 P3
Designation)
Input256/ Extension PIO Extension PIO
Output256 Input48/Output48 Input48/Output48
PNP Board PNP Board
MC MC
Electronic Cam Electronic Cam
Pulse I/O Pulse I/O
Board 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
Encoder nization
Brake Creep Sensor Slot 1 Slot 2 Slot 3 Slot 1
type Desig-
(LS)
nation
E
(Not for use) (Not for use)
N1
Extension PIO Extension PIO
Input32/Output16 Input32/Output16
NPN Board NPN Board
N2
Extension PIO Extension PIO
Input16/Output32 Input16/Output32
NPN Board NPN Board
N3
E
Extension PIO Extension PIO
Not for use
Not Input48/Output48 Input48/Output48
Specified NPN Board NPN Board
E
Not DV
I
(No
Not for use E P1
Specified DeviceNet
(Incre- Synchroni-
Not IA Net
Extension PIO Extension PIO
Not
mental) zation) Input256/
(w/o
Specified EP not
Specified Input32/Output16 Input32/Output16
Home Output256
(w/o (w/o
EtherNet/IP Corres- PNP Board PNP Board
Sensor)
A M
Brake) Creep)
Communi- ponding
P2
CC
(Abso- (Master-
cation Board
CC-Link Extension PIO Extension PIO
lute) L Axis
B C IA
Input256/ Input16/Output32 Input16/Output32
Designation)
(w/
(w/ EC IA Net
(w/ Output256 PNP Board PNP Board
G
Brake) Home
EtherCAT Corres-
Creep)
Sensor) S P3
(Spurious
Communi- ponding
PR
Absolute) (Slave- Extension PIO Extension PIO
cation Board
Axis PROFIBUS
Input48/Output48 Input48/Output48
Designation) Input256/ PNP Board PNP Board
Output256
DG
DV Gateway
Master Board
[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
IX- N 70 H/ 80 H
IX-NSN5016H/6016H
I/O Flat Power 5.3 SCARA Robot 2-Unit Connection Dedicated Controller
cable supply
length voltage
XSEL － RXＤ8 － NNN5020H － NNN5020H － EPEIA － DGN1 － 2 － 3
Model table
SCARA Robot SCARA Robot
Controller
Series Model 1 Model 2
type
2: Single-
phase 200V
2 : 2m
2L: Only for
(Standard)
Linear
Single-
3 : 3m
phase 200V NNN1205 to 1805 NNN1205 to 1805
NNN2515H to 6030H NNN2515H to 6030H
5 : 5m
3: 3-phase (Standard Type) (Standard Type)
200V
0:None
NNC1205 to 1805 NNC1205 to 1805
(*1) RXD8
3L: Only for NNC2515H to 6030H NNC2515H to 6030H
(For connection
Linear of 2 units of (Clean Type) (Clean Type)
3-phase 200V SCARA)
NNW2515H to 6030H NNW2515H to 6030H
(Splash Proof Type) (Splash Proof Type)
XSEL
*1
SXD8 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.
[Limitations in SCARA Robot Combination in XSEL-RXD/SXD]
(1) 3-phase type
First Unit
IX-NNN1205/1505/1805
IX- N 2515H/3015H/3515H
I/O Flat Power
cable supply IX- N 5020H/6020H
Slot 2
length voltage
E
Basic Specifications
N1
Specifications
Specification Item
XSEL-R/S : 1-axis to 8-axis
N2
Number of controlled axes 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
Applicable motor capacity 20W to 750W
N3
3-phase type controller: 2400W
Total connectable wattage
Single-phase type controller: 1600W (Only for R/S)
Abnormal control supply voltage Single-phase AC200V to 230V±10%
Motor Driving Source Voltage 3-phase AC200V to 230V±10% / Single-phase AC200V to 230V±10%
P1
2 : 2m
Power Supply Frequency 50Hz/60Hz
(Standard)
Control power supply 60A
Motor
3 : 3m 3:
Rush Current 60A (MAX.)
Less than 1200W
P2
3-phase drive
(Note 1)
5 : 5m 200V
power
120A (MAX.)
1200W or more
supply
0:None
Leakage Control power supply 0.4mA
(*1)
P3
(Note 2)
Current
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 (Note 3) DC24V±10% (Supplied from external equipment)
Electromagnetic Brake Power Supply DC24V±10% Per 1 actuator Approx. 0.35A
(For the actuator with the brake) (Supplied from external equipment)
10ms (when power source frequency 50Hz is used),
Transient Power Cutoff Durability
8ms (when power source frequency 60Hz is used)
Motor Control System AC Full - digital Servo
Applicable Encoder Incremental Serial Encoder or Absolute Serial Encoder
Speed Setting From 1mm/s The upper limit depends on the specifications of actuator
Acceleration Setting From 0.01G The upper limit depends on the specifications of actuator
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
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
Not for use
E
Input16/Output32 Input16/Output32
Not for
NPN Board NPN Board
DV
use
E N3 N3
DeviceNet 2 : 2m
IA Net Extension PIO Extension PIO
Input256/
EP (Standard)
not Input48/Output48 Input48/Output48
Output256
EtherNet/IP
Corres- NPN Board NPN Board
3 : 3m
Communi-
3: 3-phase
ponding
cation CC P1 P1
200V
Board CC-Link Extension PIO Extension PIO 5 : 5m
IA
Input256/ Input32/Output16 Input32/Output16
IA Net
EC
Output256 PNP Board PNP Board 0:None
Corres-
(*1)
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
0.2mA