IAI XSEL-RA First Step Manual

XSEL-RA/SA, RAX/SAX, RAXD/SAXD
First Step Guide Tenth Edition
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.
Warning: Read the instruction manual carefully and follow instruction manual when handling
this product.
Please downloaded instruction manual from our website.
You can download it free of charge. User registration is required for the first time
downloading.
URL www.iai-robot.co.jp/data_dl/CAD_MANUAL/
Keep a printout of the introduction manual near the equipment in which this product
is installed so that it can be checked at all times, or display it on your computer,
tablet terminal, etc. so that you can check it immediately.
If you need a bound copy of the instruction manual, order it from the nearest sales
office listed in the First Step Guide or at the end of the instruction manual. It will be
provided for a fee.
• 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
1 Controller Refer to "How to read the model plate" and
"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)
For XSEL-SAX4 high capacity type : PC4/6-STF-7.62
(Manufacturer: Phoenix Contact)
4 Brake Power Input Plug
FMC1.5/2-ST-3.5-RF
(Manufacturer: Phoenix
Contact)
5 Dummy plug DP-2
6 Absolute Battery (Note 1)
AB-5
For N1/N2/P1/P2: Model: CB-X-PIO□□□
For N3/P3: Model: CB-X-PIOH□□□
7 PIO cable
* indicates the cable length
8 First Step Guide ME0360
9 Safety Guide M0194
Note 1 Attach the absolute battery following (Step 4 in 8.4.2 Replace Absolute Battery) in Instruction Manual.
2. Teaching tool (Optional accessory)
The PC software or teaching box 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 RS-232C Cable + Emergency Stop Box)
2 PC Software (with USB Conversion Adapter + RS-232C Cable + Emergency Stop Box) IA-101-X-USBMW
3 PC Software (Safety Categories 4 Compliance Cable + Emergency Stop Box)
4 Touch Panel Teaching Pendant (Standard / with Dead-man Switch)
5 Touch Panel Teaching Pendant (Standard / with Dead-man Switch)
6 Touch Panel Teaching Pendant
10A
3. Instruction manuals related to this product, which are contained in the instruction manual.
No.
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
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 CC-Link IE Field Instruction Manual
13 Extension Motion Control Instruction Manual
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 -400WAI -200WAI -100WAIB -60AL -200A -100A -60AB -30RAL -EPCC -N1E
➊ ➋ ➌
❹
(Axis1)
Model table
  
Series Controller Number
type of axes
wattage
(30W for
DS/RCS2)
Quantity 1
(1-axis) (30W for
RA/RAX/RAXD SA/SAX/SAXD
2
(2-axis)
3
(3-axis)
RA
(Standard 4
(4-axis)
type)
(100W for
5
XSEL SA *1
(5-axis)
(Safety
categories
6
compliance
2 2 (6-axis)
type)
7
(7-axis)
8
(200W for
(8-axis)
1 1
- 1
1 1
*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, RCS2-□□5N (Incremental), RCS-RB75 series,
RCS-G20, RCS-R* or the linear motor actuator (LSA), incremental of NS-SXM□/SZM□ is not connected.
● High-speed type (RCS3-CTZ5C, RCS3-CT8C) actuators are available for connection only with 3-phase type.
1 1 The maximum number of connectable axes is three when only RCS3-CT8C is connected.
Note 2 Equipping CC-Link IE Field and EtherNet/IP in parallel should not available.
Number of Absolute Number of Absolute
Type Actuators to be Type Actuators to be
5.2 SCARA Robot + Controller for Single-Axis Robots and Orthogonal Robots (4 axes Max.)
Connected (except for Connected (except for
XSEL -RAX8 -NNN5020H
SCARA type ones) SCARA type ones)
➊ ➋
Number of Number of
Model table
extension I/O extension I/O
boards boards


Controller SCARA robot
1 1 Series
type model
1 1
RAX4
(1unit of SCARA)
RAX5
(1unit of SCARA +
single axis 1-axis)
NNN1205 to
RAX6
8040H
(1unit of SCARA +
NNN10040 to
single axis 2-axis)
12040
RAX7
(Standard type)
(1unit of SCARA +
NSN5016H to
single axis 3-axis)
6016H
Applicable Controller RAX8
(High-speed type)
(1unit of SCARA +
Model single axis 4-axis) NNC1205 to
RA/RAX/ SA/SAX/ 8040H
SAX4 *1
(Clean type)
RAXD SAXD (1unit of SCARA
NNW2515H to
safety categories
8040H
IA-101-X-MW  × compliance type)
(Splash proof type)
XSEL
SAX5 *1
 × TNN3015H to
(1unit of SCARA +
single axis 1-axis 3515H
IA-101-XA-MW   (Wall-mount type)
safety categories
compliance type)
UNN3015H to
TB-01/01D/01DR  
3515H
SAX6 *1
(Wall-mount
(1unit of SCARA +
TB-02/02D  
single axis 2-axis inverse type)
safety categories HNN5020H to
TB-03  
compliance type)
8040H
(Ceiling-
SAX7 *1
mount type)
(1unit of SCARA +
single axis 3-axis
INN5020H to
safety categories
8040H
compliance type)
(Inverse type)
SAX8 *1
(1unit of SCARA +
single axis 4-axis
safety categories
compliance type)
Name
Model
❹ ❹ ❹ ❹ ❹ ❹ ❹ ❺
(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
High Home
Motor Encoder Synchronization
Brake Creep acceleration/ sensor Slot 1 Slot 2 Slot 1 Slot 2
type designation
deceleration (LS)
E E
(Not for (Not for
12 use) use)
(12W)
N1 N1
20 Extension Extension
(20W) PIO PIO
Input32/ Input32/
30D
Output16 Output16
NPN board NPN board
E
WAI
30R N2 N2
Not for use
(Battery- Extension Extension
less PIO PIO
RS)
absolute/ DV
Input16/ Input16/
DeviceNet
incremental)
60 Output32 Output32
E Input256/
(60W) NPN board NPN board
Not for use Output256
A
Not Not specified
100
(Absolute) Not specified specified (No N3 N3
Not Not
(100W) CC
(w/o synchronization) (Note 2) Extension Extension
specified specified
(w/o home EP CC-Link
G Acceleration/ PIO PIO
100S
(Spurious (w/o (w/o sensor) EtherNet/ Input256/
deceleration) M Input48/ Input48/
IP Output256
absolute) brake) creep)
(Master-axis Output48 Output48
linear) L Input 256/
HA designation) NPN board NPN board
Output 256 PR
AI B C
150 (Acceleration/ (with
PROFIBUS
(150W) (Index (with (with home S P1 P1
deceleration
EC -DP
absolute) brake) creep) sensor) Extension Extension
type) (Slave-axis
200 EtherCAT Input256/
PIO PIO
designation) Output256
(200W) AM Input 256/
Input32/ Input32/
(Multiple- Output 256
Output16 Output16
200S
rotation (Note 2)
PNP board PNP board
CIE
absolute)
linear) CC-Link IE
P2 P2
Field
300 Extension Extension
Input1024/
(300W) PIO PIO
Output1024
Input16/ Input16/
400
Output32 Output32
(400W)
PNP board PNP board
600
P3
(600W) P3
Extension
Extension
750 PIO
PIO
(750W) Input48/
Input48/
Output48 Output48
PNP board PNP board
-400WAI -200WAI -100WAIB -60AL -EPCC -N1E
➌
❹ ❹ ❹ ❹ ❺ ❻
(Axis5) (Axis6) (Axis7) (Axis8)
  
Details of axis 5 to axis 8 (Note 1) Network slot I/O slots

High Home
Motor Encoder Synchroni z ati o n
Brake Creep acceleration/ sensor Slot 1 Slot 2 Slot 1
wattage type designation
deceleration (LS)
E
(Not for (Not for
use)
N1
12
Extension Extension PIO
(12W)
PIO Input32/
20 Input32/ Output16
Output16 NPN board
(20W)
NPN board
30D
(30W for
N2 Extension PIO
DS/RCS2)
E
Extension Input16/
30R Not for use
WAI PIO Output32
(30W for Input16/ NPN board
(Battery-
RS) DV Output32
less absolute/
60 DeviceNet NPN board
incremental) Input256/
E Extension PIO
(60W)
Output256
Not for N3 Input48/
100 Not
A Not Not Specified use
Extension Output48
(100W) Specified
CC PIO NPN board
(Absolute) Not Not Specified (No synchroni z ati o n)
100S (w/o
CC-Link Input48/
Specified Specified (w/o (Note 2)
(100W for home EP Input256/ Output48
G (w/o (w/o Acceleration/ M
linear) sensor) EtherNet/ Output256 NPN board Extension PIO
(Spurious brake) creep) deceleration) (Master-axis
150 IP Input32/
absolute) designation) Input 256/ PR
(150W) L P1 Output16
B C HA Output 256 PROFIBUS-
Extension PNP board
200 (with
AI (with (with (Acceleration/ S DP PIO
(200W) home
EC Input256/ Input32/
(Index absolute) brake) creep) deceleration (Slave-axis
200S sensor)
EtherCAT Output256 Output16 Extension PIO
type) designation)
(200W for
Input 256/ PNP board Input16/
AM
linear) Output 256 (Note 2) Output32
(Multiple-
CIE
300 P2 PNP board
rotation CC-Link IE Extension
(300W)
absolute) Field PIO
300S
Input1024/ Input16/
Extension PIO
(300W for
Output32
Output1024 Input48/
linear)
PNP board
Output48
400
(400W) PNP board
P3
600 Extension
(600W) PIO
750
Input48/
(750W)
Output48
PNP board
Model table
Manual No.
 

Controller SCARA robot
ME0224
Series Motor Encoder
type model
wattage type
ME0154
3NNN1805
4NNN1805
ME0325
3NNN3015
4NNN3015
ME0356
3NNN4518
4NNN4518
ME0377
3NNN4533
4NNN4533
RAX3
ME0124 3NNN6018
(1unit of 3-axis type SCARA)
4NNN6018
RAX4
3NNN6033
ME0123
(1unit of 4-axis type SCARA,
4NNN6033
1unit of 3-axi s type SCARA + single axis
4NNN8020
1-axis)
ME0153
4NNN8040
RAX5
4NNN10020 12
(1unit of 4-axis type SCARA + single axis
ME0140 (12W)
4NNN10040
1-axis, 1unit of 3-axi s type SCARA +
20
(Standard type)
single axis 2-axi s )
ME0309 (20W)
RAX6
3NSN3015 30D
(1unit of 4-axis type SCARA + single axis
4NSN3015 (30W for
ME0308 2-axis, 1unit of 3-axi s type SCARA +
3NSN4518 DS/RCS2)
single axis 3-axi s ) WAI
4NSN4518
30R
RAX7 (Battery-
ME0454
3NSN4533 (30W for
(1unit of 4-axis type SCARA + single axis less absolute/
4NSN4533 RS)
3-axis, 1unit of 3-axi s type SCARA + incremental)
ME0364 3NSN6018
60
single axis 4-axi s )
4NSN6018
(60W)
RAX8 A
3NSN6033 100
(1unit of 4-axis type SCARA + single axis (Absolute)
4NSN6033 (100W)
4-axis)
4NSN8020
100S
SAX3 *1 G
4NSN8040
(100W
(1unit of 3-axis type SCARA (Spurious
XSEL 4NSN10020 for linear)
safety categories compliance type) absolute)
4NSN10040 150
SAX4 *1
(High-speed type)
(150W)
(1unit of 4-axis type SCARA, AI
200
1unit of 3-axi s type SCARA + single axis (Index absolute)
4NHN10040
(200W)
1-axis safety categories compliance type) 4NHN12040
200S
SAX5 *1 (High payload type) AM
(200W
(1unit of 4-axis type SCARA + single axis (Multiple-
for linear)
1-axis, 1unit of 3-axi s type SCARA + 4NSW3015 rotation
300
4NSW4518
single axis 2-axi s safety categories absolute)
(300W)
compliance type) 4NSW4533
300S
SAX6 *1 4NSW6018
(300W
4NSW6033
(1unit of 4-axis type SCARA + single axis
for linear)
4NSW8020
2-axis, 1unit of 3-axi s type SCARA +
400
single axis 3-axi s safety categories 4NSW8040
(400W)
compliance type) 4NSW10020
600
-2 -3 *1 4NSW10040
SAX7
(600W)
(High-speed type,
(1unit of 4-axis type SCARA + single axis
3-axis, 1unit of 3-axi s type SCARA + Dust proof/splash
❻ ❼ ❽
single axis 4-axi s safety categories proof specifications)
compliance type)
4NHW12040
SAX8 *1
(High payload type,
(1unit of 4-axis type SCARA + single axis 4-
Dust proof/splash
axi s safety categories compliance type)
proof specifications)


I/O flat 4NSW3015
Power supply
4NSW4518
cable
voltage
4NSW4533
length
4NSW6018
4NSW6033
(Clean room type)
*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, RCS2-□□5N (Incremental), RCS-RB75 series,
RCS-G20, RCS-R* or the linear motor actuator (LSA), incremental of NS-SXM□/SZM□ 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.
Note 2 Equipping CC-Link IE Field and EtherNet/IP in parallel should not available.
[Restrictions on Connected Axes to XSEL-RAX/SAX]
SCARA Model
2:
Single-
IX-NNN1205/1505/1805
phase 200V
2: 2m
(Standard)
2L IX-□N□2515H/3015H/3515H
Only for linear
3: 3m single-
IX-□N□5020H/6020H
phase 200V
5: 5m
IX-□N□70□□H/□80□□H
3
0: None
3-phase 200V
IX-NSN5016H/6016H
3L
Only for linear
IX-NNN10040/12040
3-phase 200V
IXA-□NNN1805
IXA-3NNN3015/3NNN45□□/3NNN60□□
IXA-4NNN3015/4NNN45□□
IXA-4NNN60□□
IXA-4NNN80□□/IXA-4NNN100□□
IXA-3NSN3015/3NSN45□□/3NSN60□□
IXA-4NSN3015/4NSN45□□/4NSN60□□
IXA-4NSN80□□/IXA-4NSN100□□
IXA-4NHN100□□/IXA-4NHN120□□
IXA-4NSW3015/4NSW45□□/4NSW60□□/
4NSW80□□/4NSW100□□
IXA-4NHW12040
IXA-4NSC3015/4NSC45□□/4NSC60□□
5.3 Controller for SCARA Robot 2-Unit Connection Dedicated
XSEL -RAXD8 -NNN5020H
-2 -3
➊ ➋ ➌
❼ ❽
Model table
 

 
Controller SCARA Robot Model 1 SCARA Robot Model 2
I/O Flat cable Power supply
Series
length voltage
Slot 2 type
E
use)
NNN1205 to 1805
NNN1205 to 1805
N1
NNN2515H to 6030H
NNN2515H to 6030H
(Standard type)
(Standard type)
RAXD8
NNC1205 to 1805
(For connection
N2
NNC1205 to 1805
of 2 units of
NNC2515H to 6030H
NNC2515H to 6030H
SCARA)
(Clean type)
2: (Clean type)
Single-
N3
NNW2515H to 6030H
phase 200V
NNW2515H to 6030H
(Splash proof type)
SAXD8 *1 (Splash proof type)
2L
2: 2m
Only for XSEL
(For connection
(Standard) linear TNN3015H to 3515H
TNN3015H to 3515H
single-
P1 of 2 units of (Wall-mount type)
phase 200V (Wall-mount type)
3: 3m
SCARA
UNN3015H to 3515H
3
5: 5m safety
UNN3015H to 3515H
3-phase
(Wall-mount inverse
200V categories (Wall-mount inverse type)
0: None
P2
compliance
3L
HNN5020H to 6020H
Only for
type) HNN5020H to 6020H
linear (Ceiling-mount type)
(Ceiling-mount type)
3-phase
200V INN5020H to 6020H
P3
INN5020H to 6020H
(Inverse type)
(Inverse type)
*1 Safety categories compliance type: In this type, the safety circuit can be configured with the motor driving power source separated.
Note 1 Equipping CC-Link IE Field and EtherNet/IP in parallel should not available.
[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
  
Details of axis 5 to axis 8 (Note 1) Network slot I/O slots  
I/O Flat cable Power supply
High
Home sensor Synchroni z ati o n
length voltage
Brake Creep acceleration/ Slot 1 Slot 2 Slot 1 Slot 2
(LS) designation
deceleration
E
(Not for
use)
E
N1
(Not for
Extension use)
PIO
Input32/ N1
Output16 Extension PIO
NPN board Input32/
E Output16
N2
Not for use NPN board
Extension
PIO N2 2:
DV
Input16/ Extension PIO Single-
DeviceNet
Input256/ Output32 Input16/ phase 200V
E
Not for Output256 NPN board Output32
Not Specified
Not use NPN board 2L
(No N3 2: 2m
CC Only for
Not Specified Not Specified
synchroni z ati o n) Extension N3 (Standard) linear
CC-Link
Specified Not Specified (w/o (w/o home (Note 2)
PIO Extension PIO single-
EP Input256/
(w/o (w/o creep) Acceleration/ sensor)
Output256 Input48/ Input48/ phase 200V
M EtherNet/ 3: 3m
brake) deceleration)
Output48 Output48
(Master-axis IP
C L Input 256/ PR NPN board NPN board 3
designation) 5: 5m
B (with HA (with home Output 256 PROFIBUS- 3-phase
P1 P1 200V
(with creep) (Acceleration/ sensor) DP
S Extension Extension PIO 0: None
brake) deceleration EC Input256/
(Slave-axis PIO Input32/ 3L
EtherCAT Output256
type)
designation) Input32/ Output16
Input 256/ Only for
Output16 PNP board
Output 256 (Note 2) linear
PNP board
CIE
3-phase
CC-Link IE P2
P2 Extension PIO 200V
Field
Extension Input16/
Input1024/
PIO Output32
Output1024
Input16/ PNP board
Output32
PNP board
P3
Extension PIO
P3
Input48/
Extension
Output48
PIO
PNP board
Input48/
Output48
PNP board
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. 600W max. for 1 axis
600W in total or less 4 axes at max. 600W max. for 1 axis
600W in total or less 4 axes at max. 600W max. for 1 axis
Unavailable
Unavailable
Unavailable
Unavailable
Unavailable
Unavailable
Unavailable
-NNN1805 -EPCC -N1E -2 -3
❹ ❺ ❻ ❼ ❽
 
  
Network Slot I/O slots
I/O Flat Power supply
cable length voltage
Slot 1 Slot 2 Slot 1 Slot 2
E E
(Not for use) (Not for use)
E
N1 N1
Not for use
Extension PIO Extension PIO
Input32/ Input32/
Output16 Output16
DV
NPN board NPN board
DeviceNet
N2 N2
E
Input256/ Extension PIO Extension PIO
Not for use
Input16/ Input16/
Output256
Output32 Output32
NPN board NPN board 2: 2m
EP (Note1)
CC N3 N3 (Standard)
EtherNet/IP
Extension PIO Extension PIO
CC-Link
Input48/ Input48/
Input256/
3: 3m 3: 3-phase
Input256/ Output48 Output48
Output256
NPN board NPN board
200V
Output256
P1 P1
5: 5m
Extension PIO Extension PIO
EC
PR Input32/ Input32/
EtherCAT
Output16 Output16
ProfiBus 0: None
PNP board PNP board
Input256/
type) Input256/
P2 P2
Output256 Output256
Extension PIO Extension PIO
Input16/ Input16/
Output32 Output32
CIE (Note1)
PNP board PNP board
CC-Link IE
P3
P3
Field
Extension PIO Extension PIO
Input 1024/ Input48/ Input48/
Output48 Output48
Output 1024
PNP board PNP board
Second Unit
IX-NNN1205/1505/1805
IX-□N□2515H/3015H/3515H
IX-NNN1205/1505/1805