IAI X-SEL K First Step Manual

Field Bus Specifications
X-SEL Controller J/K Type
First Step Guide
Second Edition
Controller for Single-Axis Robots and Cartesian Robots: XSEL-J, K, KE, KT, KET
Controller for SCARA Robot: XSEL-JX, KX, KETX
DeviceNet, CC-Link, PROFIBUS
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual as well as this First
Step Guide to ensure correct use. This Instruction Manual is original.
* Using or copying all or a part of this Operation Manual without permission is prohibited.
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
Refer to "How to read the model plate" and
1 Controller
"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 IA-XAB-BT
4 Connector terminal IA-LB-KT
5 Connector terminal dummy plug
6 Connector terminal cable Length : 1 m
7 Noise filter MXB-1210-33 (Maker : DENSEI-LAMBDA)
8 System I/O plug MC1.5/6-ST-3.5 (Maker : PHOENIX CONTACT)
9 AC Power Supply plug GMSTB2.5-/3-STF-7.62 (Maker : PHOENIX CONTACT)
10 I/O24V Power Supply plug MC1.5/2-ST-3.5 (Maker : PHOENIX CONTACT)
SMSTB2.5/5-ST-5.08AU (Maker : PHOENIX CONTACT)
11 For DeviceNet specification
Terminal Resistance : 121Ω
MSTB2.5/5-ST-5.08AU (Maker : PHOENIX CONTACT)
Terminal Resistance :
12 For CC-Link specification
130Ω1/2W for FANC-SBH cable
110Ω1/2W for FANC-SB cable
13 AC Power Supply plug for Motor drive PC4/2-ST-7.62 (Maker : PHOENIX CONTACT)
14 First Step Guide ME0231
15 Safety Guide M0194
*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 the
operations including program creation and setup such as position teaching and
parameter setting. Use either of them.
No. Part Name
1 PC Software (with RS232C Cable + Emergency Stop Box)
2 PC Software (with USB Conversion Adapter + RS232C Cable + Emergency Stop Box)
3 PC Software (for XSEL-KT, KET, KETX RS232C Cable + Emergency Stop Box)
4 Teaching pendant
5 Teaching pendant (with deadman switch)
6 Teaching pendant (with deadman switch + TP adapter (IA-LB-TG))
7 Teaching pendant
8 Teaching pendant (with deadman switch)
*1: The SEL-T/TD Teaching Pendant can not be used with the XSEL-J/JX controller.
3. Operation manuals related to this product
No. Name
1 XSEL-J/K Controller Operation Manual
2
XSEL-JX/KX Controller Operation Manual
3 PC software IA-101-X-MW/ IA-101-X-USBMW Operation Manual
4
Teaching pendant SEL-T/TD/TG Operation Manual
5
Teaching pendant IA-T-X/XD Operation Manual
6
DeviceNet Operation Manual
7
CC-Link Operation Manual
8 PROFIBUS Operation Manual
9
X-SEL Ethernet Operation Manual
10 Multi-Point I/O Board Operation Manual
11
Multi-Point I/O Board Dedicated Terminal Board Operation Manual
2A
4. How to read the model plate
Model
Serial number
5. How to read the model of the controller
Controller for Single-Axis actuator and Cartesian actuator XSEL-J, K, KE, KT, KET
XSEL – K – 3 – 400A – 200ACL – 60ABL – N1 – EEE – 2 – 2
  
Model table

 

Controller Number Motor Encoder
Series
type of axes
Output type
20
(20W)
J 30D
(Compact (30W
type) for DS)
J JK K KE KT KET KX KETX
30R
K (30W
1
(General- for RS)
(1-axis)
Purpose 60
type) (60W)
2 (Incre-
One unit is attached per
100
(2-axis) mental)
installed PIO board.
KE (100W)
XSEL
○ ○ ○ ○ ○
(CE- 150
3
compliant) (150W)
○ ○ ○
(3-axis) (Abso-
200
lute)
○ ○ ○
KT (200W)
4
(*1) 300
○ ○ ○
(4-axis)
(300W)
○ ○ ○
KET 400
(CE- (400W)
○ ○ ○ ○ ○ ○ ○ ○
compliant) 600
○ ○ ○ ○ ○ ○ ○ ○
*1 (600W)
750
○ ○ ○ ○ ○ ○
(750W)
○ ○ ○ ○ ○ ○ ○ ○
○ ○ ○ ○ ○ ○ ○ ○
Controller for SCARA robot XSEL-JX, KX, KETX
○ ○ ○
XSEL – KX – NNN5020 – N1 – EEE – 2 – 2
○ ○ ○ ○ ○ ○ ○ ○
  
○ ○ ○ ○ ○ ○ ○ ○
Model table

 
Controller
IX Robot Model
Series
type
NNN2515 to 8040
Model
(Standard type)
IA-101-X-MW
NSN5016 to 6016
IA-101-X-USBMW
(High-speed type)
IA-101-XA-MW
NNW2515 to 8040
* JX
SEL-T 1
(Dustproof/
(Compact
* Splash proof type)
SEL-TD 1
type)
SEL-TG
TNN3015 to 3515
KX
IA-T-X (Wall-mount type)
(General-
IA-T-XD
XSEL Purpose
UNN3015 to 3515
type)
(Wall-mount Inverse
type)
KETX
(CE-
Manual No.
HNN5020 to 8040
compliant)
(Ceiling-mount type)
ME0116 *1
ME0119
INN5020 to 8040
(Ceiling-mount
ME0154
Inverse type)
ME0183
NNC2515 to 8040
ME0160
(Clean room type)
ME0124
ME0123
*1 In this type, the safety circuit can be configured with the motor driving power source separated.
ME0153
*2 N3 and P3 that can be inserted into the standard I/O (slot 1), are used for J and JX types.
ME0140
*3 N3 and P3 that can be inserted into the extended I/O (slots 2 to 4), are used for K, KE, KT, KET, KX and
KETX types.
ME0138
*4 SA, SB and SC can not be used for J or JX type.
ME0139
    
(Axis 1) (Axis 2) (Axis 3)
Details of axis 1 to axis 4  Expansion I/O slots

Synchro-
Home Standard
nization
I/O
Brake Creep Sensor Slot 2 Slot 3 Slot 4
Desig-
(LS) (Slot 1)
nation
N1 E E E
(Not used) (Not used) (Not used)
32 inputs/
16 outputs C C C
NPN board
CC-Link CC-Link CC-Link
connection connection connection
N3 16/16 board 16/16 board 16/16 board
48 inputs/ N1 N1 N1
48 outputs Expansion I/O Expansion I/O Expansion I/O
NPN board
NPN32/16 NPN32/16 NPN32/16
N2 N2 N2
P1
Expansion I/O Expansion I/O Expansion I/O
Not 48 inputs/ NPN16/32 NPN16/32 NPN16/32
Specified 48 outputs
N3 N3 N3
PNP board
Not (No Expansion I/O Expansion I/O Expansion I/O
NPN48/48 NPN48/48 NPN48/48
Not Not Specified synchro-
I P3
Specified Specified (w/o nization)
P1 P1 P1
48 inputs/
(w/o (w/o home Expansion I/O Expansion I/O Expansion I/O
48 outputs
PNP32/16 PNP32/16 PNP32/16
brake) creep) sensor) M
PNP board
(Master-
P2 P2 P2
A
B C L axis Expansion I/O Expansion I/O Expansion I/O
DV
PNP16/32 PNP16/32 PNP16/32
(w/ (w/ (w/ designation)
DeviceNet
P3 P3 P3
brake) creep) home 256/256 board
Multipoint Multipoint Multipoint
sensor) S
I/O I/O I/O
CC
(Slave-axis
PNP48/48 PNP48/48 PNP48/48
CC-Link
designation)
SA SA SA
256/256 board
Expansion I/O Expansion I/O Expansion I/O
Type A Type A Type A
PR
SB SB SB
PROFIBUS
Expansion I/O Expansion I/O Expansion I/O
256/256 board
Type B Type B Type B
SC SC SC
ET
Expansion I/O Expansion I/O Expansion I/O
Ethernet
Type C Type C Type C
Data
communication
board
   
  Expansion I/O slots
Standard I/O
Slot 1 Slot 2 Slot 3 Slot 4
E E E
N1
(Not used) (Not used) (Not used)
32 input/16 output
NPN board
C C C
CC-Link connection CC-Link connection CC-Link connection
16/16 board 16/16 board 16/16 board
N3(*3)
N1 N1 N1
48 input/48 output
Expansion I/O Expansion I/O Expansion I/O
NPN board
NPN32/16 NPN32/16 NPN32/16
P1 N2 N2 N2
Expansion I/O Expansion I/O Expansion I/O
32 input/16 output
NPN16/32 NPN16/32 NPN16/32
PNP board
N3(*3) N3(*3) N3(*3)
P3(*2) Multipoint I/O Multipoint I/O Multipoint I/O
NPN 48/48 NPN 48/48 NPN 48/48
48 input/48 output
PNP board P1 P1 P1
Expansion I/O Expansion I/O Expansion I/O
DV PNP32/16 PNP32/16 PNP32/16
DeviceNet P2 P2 P2
256/256 board Expansion I/O Expansion I/O Expansion I/O
PNP16/32 PNP16/32 PNP32/32
CC P3(*3) P3(*3) P3(*3)
CC-Link Multipoint I/O Multipoint I/O Multipoint I/O
256/256 board PNP48/48 PNP48/48 PNP48/48
SA(*4) SA(*4) SA(*4)
PR Expansion SIO Expansion SIO Expansion SIO
type A type A type A
PROFIBUS
256/256 board
SB(*4) SB(*4) SB(*4)
Expansion SIO Expansion SIO Expansion SIO
ET type B type B type B
Ethernet SC(*4) SC(*4) SC(*4)
Data communication Expansion SIO Expansion SIO Expansion SIO
board
type C type C type C
Basic Specifications
Specifications
Specification Item XSEL-J
Max. No. of Connectable Axes 4-axis
Max. Connected Axis Output 100VAC Type 400W
*
200VAC Type 800W 1
Supply voltage 100VAC Type Single-phase 100V to 115V ±10 %
200VAC Type Single-phase 200V to 230V ±10 %
Power frequency 50Hz/60Hz
 
*
2
Rush Current 90A (MAX)
* 3
Leakage Current 1-axis the time of connection : 0.7mA 2-axis the time of connection : 1.0mA
(Excluding Higher Harmonic Content) 3-axis the time of connection : 1.3mA 4-axis the time of connection : 1.6mA
 
Momentary Power Interruption Tolerance 50Hz : 10msec, 60Hz : 8msec
I/O Flat Power-
10MΩ or more (Between power terminal and I/O terminal and also all external
Insulation Resistance
cable supply
terminals and case at the power supply of 500VDC).
length voltage
Insulation Strength 1500VAC for 1 min. (Note 1) (actuator the time of connection 1000VAC for 1 min.)
Axis Control System AC Full – digital Servo
Position detection method Incremental Encoder or Absolute Encoder
Battery for Backup For Absolute Data Backup: IA-XAB-BT manufactured by our company
For System Memory Backup: CR2032
Program language Super SEL language
Max. Number of program steps 6000 steps
Max. Number of position 3000 positions
Max. Number of programs 64 programs
Max. Number of multitask programs 16 programs
Data storage device Flash ROM + SRAM battery backup
1:
2 : 2m Single-
Data input method Teaching pendant or PC software
(Standard) phase
32 Input Points (Total of Dedicated Input Points + Universal Input Points)
Standard I/O Interface
100V
16 Output Points (Total of Dedicated Output Points + Universal Output Points)
3 : 3m
2:
Expanded I/O Interface (Refer to the Item for the How to read the model)
5 : 5m Single-
Teaching Port RS232C (Special Protocol) D-sub 25 Pin
phase
0 : None 200V
Serial communication function RS232C
Expanded serial communication function
RS232C, RS485, RS422
Serial communication cable RS232C 15 m or less
length
RS485 100m or less
RS422 100m or less
System I/O Emergency-stop input, enable input, system ready output
Motor overcurrent, overload, motor driver temperature check, encoder open circuit
Protective functions
detection, soft limit over, system abnormality, battery abnormality etc.
Drive-source cutoff method Internal
Semiconductor
Circuit protector for power supply None
Environment Surrounding air temperature 0 to +40°C
Surrounding humidity 30% to 85%RH (non-condensing)
Surrounding environment (Refer to the Item for the Installation Environment).
Surrounding storage temperature -10 to 65°C
Surrounding storage humidity 90%RH or less (non-condensing)
Vibration resistance 10 to 57 Hz in XYZ directions/Pulsating amplitude 0.035 mm (continuous), 0.075 mm (intermittent)
 
57 to 150 Hz in XYZ directions/4.9 m/s
I/O Flat cable Power supply
Protection class IP10
length voltage
Cooling method Forced air cooling
Weight For 1-axis : 2.6kg For 1, 2-axis : 6.0kg
For 2-axis : 3.3kg
For 3, 4-axis : 5.0kg
External dimensions (Refer to the Item for the External Dimensions).
*1 When the vertical type actuator is included, the watt amount of the vertical type actuator should be smaller than 600W in total.
*2 Rush current at the power connection continues for about 20msec. Consider the safety rate at the time when rush current passes.
Take the greatest care because the rush current value varies depending on the impedance in the power.
*3 The leakage current is shown as the value indicated in the controller connected to the actuator.
The leakage current from 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
2: the leakage current at the leakage breaker installation location.
2 : 2m
Single-
3 : 3m
phase
5 : 5m
Table 1: Motor Drive Power Factor and Output Loss
200V
0 : None
Actuator Motor Capacity [W] Motor Drive Power Factor [W]
20
30
60
100
150
200
400
600
750
Table 2: Control Power Capacity*
Brake None
1-axis controller [W] 17.5
2-axis controller [W] 23.4
3-axis controller [W] 29.3
4-axis controller [W] 35.3
*4 For the control power capacity, the amount as much as for the total number of connectable axes is required even when
some axes are not connected to the controller.
XSEL-K XSEL-KE XSEL-KT XSEL-KET
800W
1600W
180A (MAX)
D-sub 9 Pin
Addition of Expansion I/O slots available
(Refer to the Item for the Product Check).
Internal relay External Cut off
None Internal None Internal
(continuous), 9.8 m/s (intermittent)
2 2
For 3, 4-axis : 7.0kg
Output Loss [W]
15.6 1.58
27.6 2.07
83.0 3.93
140.1 6.12
196.1 8.30
252.6 9.12
477.5 19.76
698.2 27.20
912.8 29.77
4
1-axis 2-axis 3-axis 4-axis
27.3 - - -
33.2 42.9 - -
39.1 48.8 58.6 -
45.0 54.8 64.5 74.3