IAI XSEL2 Instruction Manual

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XSEL2 Controller

Instruction Manual

First Edition

ME0478-1B

Controller Overview

Specifications

Wiring

Startup/Operation

PIO/Field Network

Special Functions

Parameter

Troubleshooting

Maintenance and

Inspection

Warranty

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Summary of Contents for IAI XSEL2

Page 1 XSEL2 Controller Instruction Manual First Edition ME0478-1B Controller Overview Chapter Specifications Chapter Wiring Chapter Startup/Operation Chapter PIO/Field Network Chapter Special Functions Chapter Parameter Chapter Troubleshooting Chapter Maintenance and Inspection Chapter Warranty Chapter...
Page 3 • This instruction manual is an original document dedicated for this product. • This product cannot be used in ways not shown in this instruction manual. IAI shall not be liable for any result whatsoever arising from the use of the product in any other way than what is noted in the manual.
Page 4 XSEL2_PLC Feature Instruction Manual ME0479 Feature Specifications ME0480 XSEL2_PLC Feature / Command SEL Language ME0224 SEL Language Programming Manual PC Software for X-SEL (XSEL2 Edition) PC Software ME0483 Instruction Manual SEL Program Assistant ME0396 Instruction Manual TB-02/02D Touch Panel Teaching Pendant...
Page 5 Overview (About XSEL2 Controller) ············································· 1-1 Features ················································································ 1-3 System Configuration ································································ 1-7 Part Names and Functions ························································· 1-8 1.4.1 Part Names in XSEL2 Controller ·························································· 1-8 1.4.2 Brake Box: RCB-110-RA13-0 (option) ··················································· 1-17 1.4.3 Brake Box: IA-110-DD-4 (option) ························································· 1-20 Starting Procedures ··································································...
Page 6 Brake Box: RCB-110-RA13-0 ······························································ 2-80 2.5.2 Brake Box: IA-110-DD-4 ···································································· 2-82 2.5.3 External Regenerative Resistance Unit: RESU(D)-1, RESU(D)-2 ················ 2-84 2.5.4 Absolute Battery Box: UT-XSEL2-ABB ·················································· 2-87 2.5.5 Remote I/O Units: EIOU-1 ·································································· 2-90 Chapter 3 Wiring Installation and Storage Environment ··········································· 3-1 3.1.1...
Page 7 3.7.3 Connector Specifications ··································································· 3-49 3.7.4 List of Actuator and Controller Connection Cables ··································· 3-51 3.7.5 Detailed Diagram of Actuator and Controller Connection Cables ················ 3-52 Wiring for PIO Circuit ································································ 3-63 3.8.1 PIO Board Specifications and Assignment ············································· 3-63 3.8.2 Connection Development Diagram ·······················································...
Page 8 How to assignment I/O ······································································ 4-25 Position Data (Position Table) ····················································· 4-28 4.5.1 Overview of Position Data ·································································· 4-28 4.5.2 Position Data Format (XSEL2-TS/TL) ··················································· 4-29 4.5.3 Caution When Handling Position Data ·················································· 4-33 4.5.4 Caution When Handling Position Data ·················································· 4-34...
Page 9 4.11.2 Control Method ················································································ 4-67 4.11.3 Test Run ························································································ 4-70 4.11.4 Input and Output signals ···································································· 4-72 4.11.5 How to Set up ELECYLINDER ···························································· 4-79 4.11.6 XSEL2 Parameter Settings ································································ 4-80 Chapter 5 PIO/Field Network I/O Signals ············································································· 5-1 5.1.1 How to Receive/Send I/O Signals ·························································...
Page 10 Assignment of Field Network ······················································ 5-16 5.4.1 CC-Link ························································································· 5-16 5.4.2 CC-Link IE Field ·············································································· 5-22 5.4.3 DeviceNet ······················································································ 5-27 5.4.4 EtherCAT ······················································································· 5-30 5.4.5 EtherNet/IP ····················································································· 5-34 5.4.6 PROFIBUS-DP ················································································ 5-37 5.4.7 PROFINET IO ················································································· 5-41 5.4.8 IA Net ···························································································· 5-47 Pulse Count Feature ·································································...
Page 11 6.2.4 How to Check ·················································································· 6-18 Preventive Maintenance Function ················································ 6-19 6.3.1 Life Prediction of Electrolytic Capacitor and Calendar Feature Capacitor ······ 6-19 6.3.2 Maintenance Information ··································································· 6-20 Predictive Maintenance Function ················································· 6-22 6.4.1 Fan Unit Rotation Speed Monitoring ····················································· 6-22 6.4.2 Overload Warning ············································································...
Page 12 7.5.10 Want to Make a Home-Return on the All-Single and Orthogonal Axes Actuators Externally ················································· 7-102 7.5.11 Want to Execute the XSEL2 Controller Program Externally ····················· 7-103 7.5.12 Want to Execute a Program Externally by Making an Indication of a Program Number in Binary ·······························································...
Page 13 7.5.15 Want to Release the Actuator Brake Externally ····································· 7-105 7.5.16 Want to Switch Between AUTO and MANU Modes Externally ·················· 7-105 7.5.17 Want to Change Input Port Assignments ············································· 7-106 7.5.18 Want to Output That the All-Single and Orthogonal Axes Actuators are at the Home Position ··········································································...
Page 14 9.4.7 Replacement of CPU Unit ·································································· 9-20 9.4.8 Replacement of Base Unit ································································· 9-24 9.4.9 Replacement of Absolute Battery ························································· 9-28 Absolute Reset on Single and Orthogonal Axes ······························ 9-35 9.5.1 When using the PC Software ······························································ 9-35 9.5.2 When using the Touch Panel Teaching Pendant ······································ 9-40 Absolute Reset on SCARA robot ·················································...
Page 15 Safety Guide Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
Page 16 Safety Guide Operation Description Description Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader”...
Page 17 Safety Guide Operation Description Description Installation and (2) Cable Wiring Start ● Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. ● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
Page 18 Safety Guide Operation Description Description Installation and (4) Safety Measures Start ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers.
Page 19 Safety Guide Operation Description Description Trial Operation ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...
Page 20 Safety Guide Operation Description Description Maintenance ● When the work is carried out with 2 or more persons, make it clear who is to and Inspection be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...
Page 21 Safety Guide Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the instruction manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger Danger product is not handled correctly, will result in death or serious injury.
Page 22 ON/OFF often due to frequent turning ON/OFF of the power supply and input of the emergency stop. Contact IAI in case it is necessary to establish a system to allow frequent turning ON/OFF inevitably. 4. Use the dedicated teaching tool.
Page 23 Precautions for Handling 5. Create a secure data backup for use in case of a breakdown. The data to be registered in this controller such as the position data, programs and parameters are written in the flash ROM and FRAM. Therefore, you will not usually lose the data even if the power is shut down.
Page 24 Precautions for Handling 7. Transference of PIO Signal between Controllers Please note the following when conducting transference of PIO signal between controllers. To certainly transfer the signal between controllers with different scan time, it is necessary to have longer scan time than the one longer than the other controller. To ensure to end the process of signal safely, it is recommended to have more than twice as long as the longer scan time at least.
Page 25 Precautions for Handling 8. PLC Timer Setting (Reference) Do not have the PLC timer setting to be done with the minimum setting. Setting to “1” for 100ms timer turns on at the timing from 0 to 100ms while 10ms timer from 0 to 10ms for some PLC.
Page 26 Precautions for Handling Brake Box Model: IA-110-DD-4 DDA Brake-Equipped Type • Motor Cable □□□ (CB-X2- MA Encoder Cable (CB-X3-PA010) Encoder Cable (CB-X3-PA□□□) Brake Box - Actuator Connection Cable □□□ (CB-DDB-BK Brake Box (IA-110-DD-4) Controller Actuator Example for Brake Box Connection (For IA-110-DD-4) For the detail of each cable, refer to [3.7.1 Wiring for the Brake Box (RCB-110-RA13-0)] or [3.7.2 Wiring for the Brake Box (IA-110-DD-4)].
Page 27 Precautions for Handling Trademark and Patent [1] About Registered Trademark ● CODESYS is a registered trademark of CODESYS Development GmbH. ● ODVA, CIP and EtherNet/IP are a trademark of ODVA, Inc. ● OPC, OPC UA are a trademark of OPC Foundation. ●...
Page 28 International Standards Compliances International Standards Compliances This product complies with the following overseas standard. Refer to [Overseas Standard Compliance Manual (ME0287)] for more detailed information. RoHS3 Directive CE Marking UL Certification Complied with TSCA Planned to Acquire ○ ○ ○ ...
Page 29 International Standards Compliances 5. Precautions for maintenance and inspection Do not touch terminals within 10 minutes after disconnect the power. Risk of electric shock. 6. Regarding Absolute Battery Use the battery described below for the absolute battery. Model AB-5 Classification Thionyl Chloride Lithium Batteries Nominal Voltage 3.6V...
Page 30 ● For models with which change is not possible, the actuator must be replaced. Contact IAI if anything is unclear. The “0” in the figure below shows home. The parentheses show home reverse specification. (1) Rod type...
Page 31 Actuator Coordinate System (2) Slider type (3) Table type (4) Arm type Intro-17 ME0478-1B...
Page 32 Actuator Coordinate System (5) Gripper type (6) Rotary type (300deg rotation specification) (360deg rotation specification) 0deg 300deg (360deg rotation specification) In the home reverse specification for the multi-rotation specification, the +/- directions are the reverse of the figure. Intro-18 ME0478-1B...
Page 33 Actuator Coordinate System (7) Orthogonal Robot (Single-Axis Robot Combined Axes) Z Axis Base Fixed 3rd Axis (Axis Z) (Axis3) 2nd Axis (Axis Y) 1st Axis (Axis X) (Axis2) (Axis1) 0 (Home) 1st Axis 2nd Axis (Axis1) (Axis2) 3rd Axis (Axis3) Z Axis Slider Fixed 3rd Axis (Axis Z) 3rd Axis (Axis Z)
Page 34 Actuator Coordinate System (8) Horizontal Articulated (SCARA) Robot There are three types of coordinate systems, base coordinate system, work coordinate system and tool coordinate system, in Horizontal Articulated (SCARA) Robot. Base Coordinate System Coordinate System Work Coordinate System Tool Coordinate System [Base Coordinate System (= Work Coordinate System No.0)] It is the three-dimensional orthogonal coordinates + rotational axis coordinates defined in the robot at the delivery.
Page 35 Actuator Coordinate System The origin of X and Y axes is the center of the base (center of 1st arm rotation). The origin of Z-axis is the top side of Z-axis effective stroke. The origin of R-axis is the point where the D-cut surface faces –Xb direction. In the base coordinate system, X-axis is expressed as Xb, Y-axis as Yb, Z-axis as Zb and R- axis as Rb.
Page 36 Actuator Coordinate System [Work Coordinate System] It is 32 types of the three-dimensional orthogonal coordinates + rotational axis coordinates defined by the offset of each axis against the base coordinate system. However, Work Coordinate System No. 0 is reserved as the base coordinates (= work coordinate offset = 0) by the system.
Page 37 Actuator Coordinate System [Tool Coordinate System] It is 128 types of the three-dimensional orthogonal coordinates + rotational axis coordinates defined by the dimension (offset) of the tool (e.g. hand) attached on the tool attachment surface. However, Work Coordinate System No. 0 is reserved as the tool coordinates offset 0 by the system.
Page 38 Actuator Coordinate System Intro-24 ME0478-1B...
Page 39 Overview (About XSEL2 Controller) ························· 1-1 Features ···························································· 1-3 System Configuration ··········································· 1-7 Part Names and Functions ···································· 1-8 1.4.1 Part Names in XSEL2 Controller ····································· 1-8 1.4.2 Brake Box: RCB-110-RA13-0 (option) ······························ 1-17 1.4.3 Brake Box: IA-110-DD-4 (option) ····································· 1-20 Starting Procedures ············································· 1-23...
Page 40 CC-Link, CC-Link IE Field, DeviceNet, EtherCAT, EtherNet/IP, PROFIBUS-DP and PROFINET IO. In addition, it is applicable for IA Net in order to establish connection to an extension I/O unit of IAI original. Actuators connected to the driver can be controlled by separating into two groups.
Page 41 * Store this manual to a place available to immediately read again in any occasion that it is necessary. * This manual should be prepared completely. However, if there is any case that you find any mistake or anything to concern, please contact IAI. ME0478-1B...
Page 42 OPC UA is an international standard that enables data exchange among various devices and systems. XSEL2 is applicable for OPC UA Server, and available for smooth link to other systems and devices and data providing high level data collection and analysis.
Page 43 XSEL-RA (4-axis specifications) XSEL2-TS (4-axis specifications) 27％ down ロボポンプ Fig. 1.2-1 Image of XSEL2 (2) Unit Link System As it is a unit combination type, units can be easily replaced when maintenance or actions for troubleshooting is required. Fan Unit Panel Unit REC システム...
Page 44 1.5 times compared to the existing models. Also, as there is a power supply in the 100V AC input specification prepared, the field of use can be expanded. (4) Controllable Devices Almost all of the IAI products equipped with the 200V AC servomotor can be controlled. Battery-less Absolute Encoder ABZ Parallel Encoder...
Page 45 (2) Predictive Maintenance • Features to monitor fan revolution count drop • Features to monitor motor overload status (3) Connection Error Detection Features Features to detect error when connected actuators and axes data written in XSEL2 are not matched. ME0478-1B...
Page 46 1.3 System Configuration 1.3 System Configuration The system configuration of XSEL2 is as follows. PC Software Touch Panel Applicable Field Network Teaching Pendant (P) RS-232 − (C) RS-232 EtherCAT <Model: IA-101-X-MW> Model: TB-02(D)-□ EtherNet/IP (P) USB − (C) RS-232 TB-03-□...
Page 47 1.4.1 Part Names in XSEL2 Controller Below shows the names of each part in XSEL2. Note The figure below shows XSEL2-TS/TSX (4-axis type). Four units of the driver unit should be mounted for the 8-axis type in TL/TLX. （8）（9）（10）...
Page 48 1.4 Part Names and Functions Below explains features for each part. (1) AC Power Supply Input Connector It is a connector for control power supply single-phase input. It is constructed with three terminals, control power supply terminals L, N and PE. Also, the specification of the input power supply should be as shown below.
Page 49 1.4 Part Names and Functions (5) Brake Release Switch Connector Signals of a switch apart from a XSEL2 controller can be connected to a XSEL2 controller, and a brake of an actuator can be released compulsorily in remote. Release of a SCARA Robot brake is also available.
Page 50 1.4 Part Names and Functions (8) Brake Release Switch This is a switch to compulsorily release (excitation release) the brake of the actuator equipped with a brake. The brake can be compulsorily released by putting the switch on RLS side when a manual operation of an actuator is required for the system startup, teaching or in an error occurrence.
Page 51 The following option boards should be equipped to each I/O slot. Refer to [2.4 I/O Interface] for the specifications of each board. Table 1.4-3 Mountable Ooption Boards (I/O Slot 1) Name XSEL2 Model Display PIO Board (NPN) (16/16) Type PIO Board (PNP) (16/16) Type CC-Link Board...
Page 52 1.4 Part Names and Functions  2-Slot Occupying Option Board (I/O Slot 1, I/O Slot2) Two slots of I/O Slot 1 and I/O Slot 2 should be able to occupy, and 50-pin PIO board (48- point PIO board) compatible to XSEL should be able to mount. The boards can be separated into the following specifications.
Page 53 1.4 Part Names and Functions (14) Ethernet Connector It is the connector to have an external Ethernet communication device linked. For the connector specifications and wiring, refer to [3.19 Wiring for Ethernet]. Refer to [Ethernet Instruction Manual (Control Number: ME0140)] provided separately for details of communication setting and how to use it.
Page 54 Switch No. Setting (18) SD Memory Card Slot It should be used for the system update for XSEL2. An SD/SDHC memory card in the marketplace (SD/SDHC memory card with 32GB or less, FAT16/32 file system) should be available to use.
Page 55 It is a connector to connect to a box for data retaining backup battery in an absolute encoder. Refer to [2.5.4 Absolute Battery Box: UT-XSEL2-ABB] for the specifications of an absolute battery box, and [3.15 Wiring for Absolute Battery Box] for wiring.
Page 56 1.4 Part Names and Functions 1.4.2 Brake Box: RCB-110-RA13-0 (option) It is the brake control unit that is necessary when the actuator for the following is the brake equipped type. • MZMS/MZMM/LZMS/LZMM Types in Ball Screw Nut Rotation Type NS Series •...
Page 57 1.4 Part Names and Functions (1) Brake Release Switch Connector 1 ·······Refer to [Section 3.13.1 (2)] Connect the signals of such as a switch mounted externally to the connector, and the brake of the actuator equipped with a brake connected to (6) "Encoder Connector 1-2" can be compulsorily released (excitation release).
Page 58 1.4 Part Names and Functions (5) Encoder Connector 1-1 This is a connector to connect the encoder cable between controller and brake box. Encoder signal of an actuator connected to (6) Encoder Connector 1-2 is output. (6) Encoder Connector 1-2 This is a connector to connect the encoder cable between actuator and brake box.
Page 59 1.4 Part Names and Functions 1.4.3 Brake Box: IA-110-DD-4 (option) It is the brake control unit that is necessary when the actuator for the following is the brake equipped type. • DDA Brake-Equipped Type One brake box can control the brakes for one axis. - Front - - Rear - Fig.
Page 60 1.4 Part Names and Functions (1) Power Supply Input Terminal Block It is a terminal block to supply power to the brake box. Refer to [3.13.2 Wiring for the Brake Box (IA-110-DD-4)] for details. (2) Encoder Input Connector It is a connector to establish connectivity with the encoder cable on the controller side. (3) Encoder Output Connector It is a connector to establish connectivity with the encoder cable on the DD motor side.
Page 61 1.4 Part Names and Functions (5) External Release and Release Signal Output Connector Connect the signals of such as a switch mounted externally to the connector, and the brake of the actuator equipped with a brake connected to (3) Encoder Connector can be compulsorily released (excitation release).
Page 62  Always connect the controller to the robot whose serial number is indicated on the controller. Connecting a robot out of indication may cause a controller burned down or wrong operation. Product Check No → Contact your IAI dealer or IAI. Refer to [Section 2.1] Are all items included? Are all items included? ↓Yes Installation and wiring Refer to Important check items Refer to [Section 3.2]...
Page 63 1.5 Starting Procedures From previous page ↓Yes Check the safety circuit. Refer to [Section 3.5] No → Does the emergency stop circuit Check the emergency stop circuit. (drivesource cutoff circuit) actuate properly to turn OFF the servo? • To ensure safety, it is recommended that safety speed ↓Yes be enabled during initial movements.
Page 64 1.5 Starting Procedures 1-25 ME0478-1B...
Page 65 2.1.3 How to Read the Model Plate ········································· 2-4 2.1.4 How to Read the Model of the Controller ··························· 2-7 Basic Specifications ············································· 2-11 2.2.1 XSEL2-TS/TL Specifications ··········································· 2-11 2.2.2 XSEL2-TSX/TLX Specifications ······································ 2-17 2.2.3 Selection of the Circuit Breaker ······································· 2-23 2.2.4 Selection of the Leakage Breaker ····································...
Page 66 2.4.5 EC Connection Module Boad ·········································· 2-76 Option ······························································· 2-80 2.5.1 Brake box: RCB-110-RA13-0 ·········································· 2-80 2.5.2 Brake box: IA-110-DD-4 ················································· 2-82 2.5.3 External Regenerative Resistance Unit: RESU(D)-1, RESU(D)-2 ················································ 2-84 2.5.4 Absolute Battery Box: UT-XSEL2-ABB ····························· 2-87 2.5.5 Remote I/O units: EIOU-1 ·············································· 2-90...
Page 67 2.1 Product Check 2.1.1 Components (Excluding Options) The standard configuration of this product is comprised of the following parts. If you find any faulty or missing parts, contact your local IAI distributor. Table 2.1-1 Components list Item Model / Remarks...
Page 68 Absolute battery box Battery Model Code: AB-5 * The quantity of batteries should be enclosed for the number indicated in the model code of XSEL2 Controller (-AB◻) DMFC 0,5/5-ST-2,54 (Manufacturer: Phoenix Contact) Connector for pulse train * Enclosed when PIN (pulse train input +...
Page 69 2.1 Product Check 2.1.2 Teaching Tool 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. Table 2.1-2 Applicable Teaching Tool Applicable Item Model Version PC Software...
Page 70 How to Read the Model Plate [1] Check the controller model. The model place of a controller is attached on the front side of the main unit. Fig. 2.1-1 XSEL2 Model Plate Table 2.1-3 Display Description in Model Plate Description...
Page 71 Fig. 2.1-2 Confirming Model Code for Connected Axis to Single and Orthogonal Axes Type Controller Table 2.1-4 Display in Actuator Model Code Label Name Description The model code for the single-axis actuator connected Actuator Model Code Label to XSEL2 and its serial number should be displayed. ME0478-1B...
Page 72 ( ( 2 Fig. 2.1-3 Table 2.1-5 Name Description It is a label attached on XSEL2-TSX/TLX (controller IX/IXA Logo Label applicable for SCARA Robot). The model code of SCARA Robot connected to SCARA Robot Model Plate Label XSEL2-TSX/TLX and its serial number should be described.
Page 73 S1: 200V Servomotor, 1-axis (Minor Frame) 2: 2m Note 5 AB4: Battery Box + (4-axis) PR: PROFIBUS-DP Connection CIE: CC-Link IE Field Connection XSEL2 SH: 200V Servomotor, 1-axis (standard) 2: Single- 4 batteries incleded type type (1000W) Phase 3: 3m...
Page 74 Note 6 It is available to select only in Slot 1. For Slot 2, make sure to select "E; Empty Slot". Caution ● XSEL2 is not capable of connecting two units of SCARA to one unit of a controller including small size types. (Not applicable for Double SCARA)
Page 75 2.1 Product Check Table 2.1-9 IXA SCARA Robot Model Code and Driver Construction Main unit type for Driver type SCARA robot model SCARA robot Slot 1 Slot 2 Slot 3 Slot 4 connection only Added Axis Added Axis IXA-3NNN1805 Available (*1) Available (*1)
Page 76 2.1 Product Check Table 2.1-10 IX SCARA Robot Model Code and Driver Construction Main unit type for Driver type SCARA robot model SCARA robot Slot 1 Slot 2 Slot 3 Slot 4 connection only Added Axis Added Axis IX-NNN1205 Available (*1) Available (*1)
Page 77 2.2 Basic Specifications 2.2 Basic Specifications 2.2.1 XSEL2-TS/TL Specifications [1] Specification List Table 2.2-1 XSEL2-TS/TL Specifications List Specification Item XSEL2-TS XSEL2-TL Number of Controlled Axes 1-axis to 4-axes 1axis to 8-axes Applicable Motor Capacity 12 to 1000W 3-phase 200V type controller: 3,200W...
Page 78 2.2 Basic Specifications Specification Item XSEL2-TS XSEL2-TL Data Setting and Input PC software, Touch panel teaching pendant TB-02/02D, TB-03 Number of Axis Groups 2 (8 axes max. in 1 group) Programming language SEL Language Max. Number of Program Steps 20,000 steps Max.
Page 79 2.2 Basic Specifications [2] Power Capacity and Heating Value Calculate the Power Capacity and Heating Value using the following formulas. Rated Power Capacity [VA] = Total Capacity of Motor Power [VA] + Power Capacity of the control unit [VA] Heating Value [W] = Total Output Loss [W] + Heating Value of the control unit [W] ●...
Page 80 Total Wattage of Max. Connectable Axes 3-Phase 200V AC 3200W Single-Phase 200V AC 2400W Single-Phase 100V AC 800W  Actuators Equipped with 200V AC Servomotor Not Available for Connection to XSEL2 ● Servo press: RCS3/RCS2 series ● ROBO Cylinder: RCS3-RA15R/R20R 2-14 ME0478-1B...
Page 81 2.2 Basic Specifications  Calculation of Connectable Actuator Wattage When Connecting LSA/LSAS The wattage should be figured out referring to "Output for Controller Wattage Calculation" in the table below for LSA/LSAS (linear servo actuator) connected to "Single-Phase 200V AC Type". Also, make selection to have the total wattage of LSA/LSAS and the total wattage of actuators other than LSA/LSAS AT 2400W or less.
Page 82 2.2 Basic Specifications  Calculation of Connectable Actuator Wattage When Connecting DD/DDA Wattage should be calculated referring to "Output for Controller Wattage Calculation" when DD/DDA (Direct Driver Motor) Series is to be connected, and select the number of units to have it at the maximum connectable units or less.
Page 83 2.2 Basic Specifications 2.2.2 XSEL2-TSX/TLX Specifications [1] XSEL2-TSX/TLX Specification List Table 2.2-9 XSEL2-TSX/TLX Specification List Specification Item XSEL2-TSX XSEL2-TLX SCARA ROBOT SCARA ROBOT: 1-axis to 4-axis Number of Controlled Axes 1-axis to 4-axis Added Axes: 5-axis to 8-axis Applicable Motor Capacity...
Page 84 2.2 Basic Specifications Specification Item XSEL2-TSX XSEL2-TLX Programming language SEL Language Max. Number of Program Steps 20,000 steps Max. Number of Programs 512 programs Max. Number of Multitask Programs 16 programs Type Max. Number of Positions FRAM Flash ROM Number of Positions...
Page 85 [2] Number of Connectable Axes to SCARA Robot and Added Axes There is a limit as shown in the table below to the total motor wattage for single-axis actuators available to be added to XSEL2-TSX and TLX. Table 2.2-10 Total Wattage of SCARA Robot and Connectable Added Axes...
Page 86 2.2 Basic Specifications [3] Power Capacity and Heating Value of XSEL2-TSX/TLX Calculate the Power Capacity and Heating Value using the following formulas. Rated Power Capacity [VA] = Total Capacity of Motor Power [VA] + Total of the Power Consumption at the Control Part [VA] Heating Value [W] = Total Output Loss [W] + (Total of internal power consumption [VA] ×...
Page 87 2.2 Basic Specifications Table 2.2-11 Motor Power Capacity of SCARA Robot and Output Loss Wattage [W] Motor Power Output Loss = SCARA Rbot (Rated Output) Capacity [VA] Heating Value [W] (Note 1) IXA-3NNN1805 319.4 532.3 10.7 IXA-3NNN3015 1,330.4 2,217.3 34.0 IXA-3NNN45□□...
Page 88 Table 2.2-13 Power Capacity and Heating Value of the XSEL-TSX/TLX control unit (Note 1) Number of controller Power Capacity of the Heating Value of the Model control axes control unit [VA] control unit [W] XSEL2-TSX-3 147.51 68.73 3-axis type XSEL2-TLX-3 154.94 71.85 XSEL2-TSX-4 163.95 76.55...
Page 89 2.2 Basic Specifications 2.2.3 Selection of the Circuit Breaker For the selection of the circuit breaker, perform it according to the following items.  3 times of the rated current flows to the controller during the acceleration/deceleration. Select one that does not trip when the above current passes. When it trips, select the breaker with a rated current one rank above.
Page 90 2.2 Basic Specifications 2.2.4 Selection of the Leakage Breaker Follow the instruction below when you select a leakage breaker.  Regarding the leakage breaker, it is necessary to have a clear purpose for selection such as a fire protection or protection of human body. ...
Page 91 The absolute battery should be mounted on the main unit when IX SCARA is to be used.  It is necessary to have an absolute battery box (model code: UT-XSEL2-ABB) prepared separately when an actuator in the single and orthogonal axes type using an absolute battery is to be connected.
Page 92 2.3 External Dimensions 2.3.1 XSEL2-TS/TSX Controller Type All Types Equipped Standard (3 places) * Make sure you refer to “Caution to Take Account Before Purchasing described” at the beginning of [2.3 External Dimensions] before purchasing IXA SCARA Robot. Side View...
Page 93 2.3 External Dimensions 2.3.2 XSEL2-TL/TLX Controller Type All Types Equipped Standard (3 places) * Make sure you refer to “Caution to Take Account Before Purchasing described” at the beginning of [2.3 External Dimensions] before purchasing IXA SCARA Robot. Side View...
Page 94 PIO Module, Pulse Train Input + PIO Module, or each field network module should be available to mount to the network interface (I/F) module slots. For the XSEL2 controller, it should be available to mount two types of each IO interface explained in 1. and 2. at the maximum to I/O Slot 1 and 2.
Page 95 The positions of the communication connectors and status LED lamps on each I/O interface should be as shown below. The model code of a mounted module should be as shown below. The position of an interface module mounted in XSEL2 should be as shown below. Network I/F module 1 slot...
Page 96 2.4 I/O Interface 2.4.2 PIO Interface [1] Input 16 points / Output 16 points type For the input 16 points / output 16 points type, mounting to both I/O Slot 1 and I/O Slot 2 should be available. By mounting to the both slots, 32 points of input and 32 points of output should come available. PIO (I/O slot 1) Connector Position PIO (I/O slot 1)
Page 97 2.4 I/O Interface (1) Communication connector, Status LED type Table 2.4-3 Communication connector, Status LED type (Input 16 points / Output 16 points type) Sidnal Sidnal Explanation Pin No. Explanation Name Name (21)(61) (1)(41) Power (+24V Input) OUT0 Output (22)(62) (2)(42) Power (+24V Input) OUT1...
Page 98 2.4 I/O Interface (2) Input/Output Interface Table 2.4-4 Input/Output Interface Specifications (Model: NP / PN) Input Output Input Voltage 24V DC ±10% Load Voltage 24V DC ±10% Input Current 4mA/1 Circuit Min. DC18V Load Current 50mA/1 Circuit ON/OFF Voltage Max. DC6V Insulation Type Photocoupler Insulation Insulation Type Photocoupler Insulation...
Page 99 2.4 I/O Interface [2] Input 32 points / Output 16 points, Input 16 points / Output 32 points and Input 24 points / Output 24 points type As the communication connector positions for both I/O Slot 1 and 2 should be occupied, it is not available to add any other I/O interface.
Page 100 2.4 I/O Interface (1) Communication connector and Status LED type  Input 32 points / Output 16 points type Table 2.4-5 Communication connector and Status LED type (Input 32 points / Output 16 points type) Signal Signal Explanation Pin No. Explanation Name Name...
Page 101 2.4 I/O Interface ●Input 16 points / Output 32 points type Table 2.4-6 Communication connector and Status LED type (Input 16 points /Output 32points type) Signal Signal Explanation Pin No. Explanation Name Name Power (+24V input) (26) OUT8 Output Input (27) OUT9 Output...
Page 102 2.4 I/O Interface ●Input 24 points /Output 24 points type Table 2.4-7 Communication connector and Status LED type (Input 24 points /Output 24 points type) Signal Signal Explanation Pin No. Explanation Name Name Power (+24V Input) (26) OUT0 Output Input (27) OUT1 Output...
Page 103 Min. 16V DC ON/OFF Current 800mA (*1) /Total of all ports Max. 5V DC Voltage Insulation Type Photocoupler Insulation Insulation Type Photocoupler Insulation XSEL2 XSEL2 24V Common 24V Common Surge Absorber Internal Internal +24V Circuit Circuit 10Ω 560Ω Load Input Terminal 3.3kΩ...
Page 104 “slave”, it can have devices controlled in realtime and collect operation data of each device as well as contribute to reducing cables. The field network available to mount to the network I/F module in XSEL2 should be a slave unit (slave station).
Page 105 * For how to make layout for wiring of CC-Link, refer to [3.9.1 Wiring for CC-Link]. * The station information of XSEL2 set to the master station should be set to the remote device station in Ver. 1.00 or V2.00. Also, the version of the station information should be determined by the number of I/O points used in a controller.
Page 106 2.4 I/O Interface (1) Network Specifications The CC-Link interface specifications are as show below. Table 2.4-10 CC-Link Network Specifications Item Specifications Communication CC-Link Ver1.10 or Ver2.00 (Determined by CC-Link used I/O points) standards Station type Remote device station Number of occupied 1 to 4 stations (Determined by CC-Link used I/O points) stations Extended cyclic setting...
Page 107 2.4 I/O Interface (2) Connector and Connection Cable Specifications The CC-Link connector models and Pin Assignment are as follows. Fig. 2.4-5 Pin Assignment of CC-Link (board side) connector Table 2.4-11 CC-Link (board side) Connector Specifications Model code MSTB2.5/5-GF-5.08AU Manufacture Phoenix Contact Pin No.
Page 108 2.4 I/O Interface (3) LED Display Contents With the two LED lamps, ERR and RUN equipped on the front of the controller, status of each slave (each controller) and status of network can be notified. ERR shows the status of the controller, status of the network module and error occurrence in the CC-Link communication.
Page 109 XSEL2 can be used to construct systems with reduced wiring by connecting them to a CC-Link IE Field network. CC-Link IE Field Interface should be available to mount only to the I/O Slot 2 side of XSEL2. For further information on CC-Link IE Field, refer to the [Instruction Manuals for the master unit and the programmable controller (PLC)] to be mounted.
Page 110 Set the "network number" for each single network system, and by the network numbers and station numbers, each device including XSEL2 in the network can be identified uniquely.
Page 111 2.4 I/O Interface (2) Connector Specifications The CC-Link IE Field connector specifications are as follows. L.ER LINK L.ER LINK Fig. 2.4-9 CC-Link IE Field connector Table. 2.4-15 CC-Link IE Field Connector Specifications Connector type 8P8C modular connector (RJ-45 connector) 2 pcs Recommended communication cable Enhanced Category 5 Standard or More...
Page 112 2.4 I/O Interface (3) LED Display Contents With the four LED lamps, NS (Network Status), MS (Module Status), LINK and L.ER equipped on the front of the controller, status of each slave (each controller) and status of network can be notified.
Page 113 It is an open network developed by Rockwell Automation, Inc. in the U.S.A. in 1990s. Currently, ODVA (Open DeviceNet Vendor Association, Inc.) manages and certifies it. DeviceNet Interface should be available to mount only to the I/O Slot 1 side of XSEL2. DeviceNet (I/O slot 1)
Page 114 2.4 I/O Interface (1) Network Specifications The DeviceNet interface specifications are as follows. Table 2.4-17 DeviceNet network specifications Item Specifications DeviceNet 2.0 Communication standard Group 2 only server Network-powered isolation node Communication speed Automatically follows the master Communications system Master-slave system (Polling) Number of occupied Varies depending on number of I/O points to be used.
Page 115 Blue Communication data Low side Black Power supply cable - side Note 1 It is a model code of a connector equipped on the DeviceNet module on the XSEL2 main unit side. Table 2.4-19 DeviceNet Connection Cable Specifications Item Specifications...
Page 116 2.4 I/O Interface (3) LED Display Contents With the two LED lamps, NS (Network Status) and MS (Module Status) equipped on the front of the controller, status of each slave (each controller) and status of network can be notified. NS shows the communication status of DeviceNet. MS shows the status of the controller, status of the network module and error occurrence in the DeviceNet communication.
Page 117 2.4 I/O Interface [Order for Self Test Operation] 1) NS, MS turns off. 2) MS illuminates in steady green (approx. 0.25 s). 3) MS illuminates in steady orange (approx. 0.25 s). 4) MS turns off. 5) NS illuminates in steady green (approx. 0.25 s). 6) NS illuminates in steady orange (approx.
Page 118 IEEE802.3 Ethernet Standard developed by BECKOFF. This network is managed by ETG (EtherCAT Technology Group). A EtherCAT interface is available to mount only to the I/O Slot 2 side of XSEL2. EtherCAT (I/O slot 2) Communication Connector position...
Page 119 2.4 I/O Interface (2) Connector Specifications The EtherCAT connector specifications and Pin Assignment are as follows. Fig. 2.4-15 Table 2.4-22 EtherCAT connector specifications Item Specifications Connector type 8P8C modular connector (RJ-45 connector) Number of connectors 2 (Input side × 1, Output side × 1) Category 5 or above Communications cable (Note 1)
Page 120 2.4 I/O Interface (3) LED Display Contents With the LED (RUN, ERR) lamps allocated on the front of the controller, condition of communication board and network status can be notified. Fig. 2.4-16 EtherCAT status LED display Table 2.4-24 EtherCAT status LED display contents Color (status) Contents Name...
Page 121 2.4 I/O Interface Fig. 2.4-17 LED Flash Timing for EtherCAT Modules 2-55 ME0478-1B...
Page 122 2.4 I/O Interface (4) EtherCAT Communication Status Each state of EtherCAT communication should be as shown below. PRE-OPERATIONAL SAFE-OPERATION OPERATION Fig. 2.4-18 EtherCAT communication state transition diagram [Explanation on EtherCAT communication state transition diagram] Table 2.4-25 Explanation on EtherCAT communication state transition diagram Status Contents INIT...
Page 123 IEC 61158 series of international standards. By connecting to this EtherNet/IP, it is available to construct a system with less cables. A EtherNet/IP interface is available to mount only to the I/O Slot 2 side of XSEL2. EtherCAT (I/O slot 2)
Page 124 2.4 I/O Interface (2) Connector Specifications The EtherNet/IP connector specifications and Pin Assignment are as follows. Table 2.4-27 EtherNet/IP connector specifications Item Specifications Connector type 8P8C modular connector (RJ-45 connector) Number of connectors Ethernet ANSI/TIA/EIA-568-B Category 5 or above Communications cable (*1) (Aluminum tape and braided double-shielded cable are recommended.)
Page 125 2.4 I/O Interface (3) LED Display Contents With the two LED lamps, NS (Network Status) and MS (Module Status) equipped on the front of the controller, status of each slave (each controller) and status of network can be notified. MS shows the status of the controller, status of the network module and error occurrence in the EtherNet/IP communication.
Page 126 By connecting this PROFIBUS-DP, an XSEL2 controller gets capable of constructing a wire- saving system. A PROFIBUS-DP interface is available to mount only to the I/O Slot 1 side of XSEL2. PROFIBUS-DP (I/O slot 1) Communication Connector position...
Page 127 2.4 I/O Interface (2) Connector and Connecting Cable Specificatios The PROFIBUS-DP connector models and Pin Assignment are as follows. Fig. 2.4-23 PROFIBUS-DP (board side) Connector Table 2.4-31 PROFIBUS-DP (board side) connector specifications Connector model XM3B-0922-13 (D-sub Connector 9-pin (socket)) Manufacturer OMRON Pin No.
Page 128 2.4 I/O Interface (3) LED Display Contents With the two LED lamps, NS (Network Status) and MS (Module Status) equipped on the front of the controller, status of each slave (each controller) and status of network can be notified. NS shows the communication status of PROFIBUS-DP. MS shows the status of the controller, status of the network module and error occurrence in the PROFIBUS-DP communication.
Page 129 PROFINET IO. PROFINET IO is a communication system of the input and output data used in a normal control. PROFINET IO interface is available to mount only to the I/O Slot 2 side of XSEL2. EtherCAT (I/O slot 2) Communication Connector position...
Page 130 2.4 I/O Interface (2) Connector Specifications The PROFINET IO connector specifications and Pin Assignment are as follows. Table 2.4-35 PROFINET IOConnector Specifications Item Specifications Connector type 8P8C modular connector (RJ-45 connector) Number of connectors Communications Ethernet ANSI/TIA/EIA-568-B Category 5 or above cable (Aluminum tape and braided double-shielded cable are recommended.) Communications cable...
Page 131 2.4 I/O Interface (3) LED Display Contents With the two LED lamps, NS (Network Status) and MS (Module Status) equipped on the front of the controller, status of each slave (each controller) and status of network can be notified. MS shows the status of the controller, status of the network module and error occurrence in the PROFINET IO communication.
Page 132 2.4 I/O Interface Blinking 1 0.75 Blinking 2 0.75 1.25 Blinking 3 0.75 1.25 1.75 Blinking 4 0.75 1.25 1.75 2.25 Fig. 2.4-28 LED Flash Timing for PROFINET IO 2-66 ME0478-1B...
Page 133 It is necessary when connecting to the remote I/O unit (EIOU-1-□). The remote I/O unit is an extension unit to expand the I/O points by connecting to XSEL2. XSEL2 is capable of connecting eight units at maximum for each of the remote I/O unit IN specification (model code: EIOU-1-□4-□) and OUT specification (model code: EIOU-1-□5-□).
Page 134 2.4 I/O Interface (1) Network Specifications The IA Net interface specifications are as shown below. Table 2.4-38 Item Specifications Communication standard IA Net (CUnet) Communications system Half-Duplex Multi Drop 12Mbps, 3Mbps Communication speed (Software setup by I/O parameters) Total cable length 100m (Communication speed 12Mbps) (IA Net connection) 300m (Communication speed 3Mbps)
Page 135 Although there are two openings for the connection ports of the communication cables, they are not identified for IN/OUT. When the IA Net specification is selected for the I/O slots of XSEL2, two pieces of terminal resistance (model code: EIOU-TR) should be enclosed. Use it when terminate communication cables for the connection ports.
Page 136 2.4 I/O Interface (3) LED Display Contents With the display of the LED lamps (MCARE and MON) equipped on the front of a controller, status of the communication board and the network should be notified. I/O slot 1 I/O slot 2 MCARE MCARE MCARE...
Page 137 It is an interface to perform the following that should be necessary in the conveyor tracking feature (feature to be applied for special specification models): • Pulse Count in Tracking Encoder • Camera Capture Command Output and Initializing Complete Status Input by PIO XSEL2 Initialization Complete Status Capture Command Camera Light...
Page 138 2.4 I/O Interface [1] Communication Connector and Status LED Specifications [In the case of I/O slot 1] (26) (21) (25) (30) (11) (61) (62) (20) (10) [In the case of I/O slot 2] (56) (51) (60) (55) (31) (41) (63) (64) (40) (50)
Page 139 2.4 I/O Interface Table 2.4-43 Pin Assignment of PIO connector NPN Type PNP Type Pin No. Signal Signal Explanation Explanation Name Name (21)(51) OUT3 Output OUT3 Output (22)(52) OUT2 Output OUT2 Output (23)(53) OUT1 Output OUT1 Output (24)(54) OUT0 Output OUT0 Output Power supply...
Page 140 2.4 I/O Interface [2] Specifications of Pulse Train Input Table 2.4-45 Specifications of pulse train input Item Contents RS-422 Complied Differential Signals Signal format Phase A Phase B (/Phase Z) Number of Input Channels 2 channels Response Frequency Max. 1Mpps (Phase A / Phase B), Max. 50kpps (Phase Z) Input Resistance 220Ω...
Page 141 24V DC ±10% Input Current 4mA/1Circuit Min. 18V DC Load Current 50mA/1Circuit ON/OFF Voltage OFF Max. 6V DC Insulation Type Photocoupler Insulation Insulation Type Photocoupler Insulation XSEL2 XSEL2 24V Common Internal Internal +24V Load Circuit Circuit 680Ω Output Terminal 5.6kΩ +24V...
Page 142 2.4 I/O Interface 2.4.5 EC Connection Module Boad It is an interface used when connecting ELECYLINDER to XSEL2. As well as ELECYLINDER, the conveyor control motor (CCM Series) and ROBO PUMP (RP Series) are available to connect (*1) . As an end effector at the tip of a robot or an additional axis around a robot, ELECYLINDER can get easier to use.
Page 143 2.4 I/O Interface The power (24V DC power supply) necessary to activate an ELECYLINDER should be supplied from outside. The "pulse motor mounted type" and "24V AC servomotor mounted type" should be available to activate with the 24V DC power supply that is supplied as the power source. Prepare the drive power supply unit (PSA-200) for the 200V AC servomotor mounted type.
Page 144 2.4 I/O Interface [1] 24V Power Supply Input for ELECYLINDER Supply  Input Power Supply specifications Table 2.4-48 24V Power Supply Input for ELECYLINDER Supply Specifications Item Contents Input power supply 24V DC ± 10% voltage Current for Consumption Inside Board (Control 0.1A or less Power Supply (CP)) Input power supply...
Page 145 2.4 I/O Interface [2] Connectors for ELECYLINDER Connection They are connectors to connect ELECYLINDER. Only ELECYLINDER in the optional "ACR" specification can be connected. Two axes of ELECYLINDER can be connected at the maximum to one unit of the ELECYLINDER connection board. 1st axis Connectors for ELECYLINDER Connection 2nd axis...
Page 146 2.5 Option 2.5 Option 2.5.1 Brake Box: RCB-110-RA13-0 The brake box (model code: RCB-110-RA13-0) is to be used when the actuators shown below are equipped with a brake (“-B” should be described in the actuator model code). • MZMS/MZMM/LZMS/LZMM Types in Ball Screw Nut Rotation Type NS Series •...
Page 147 2.5 Option [2] External Dimensions Fig. 2.5-1 Brake box (RCB-110-RA13-0) external dimensions 2-81 ME0478-1B...
Page 148 2.5 Option 2.5.2 Brake Box: IA-110-DD-4 This is required when the following actuator has the brake. • DDA Brake-Equipped Type One brake box can control the brakes for one axis. Also, for details of how to perform wiring to a brake box, refer to [3.13.2 Wiring for Brake Box (RCB-110-DD-4)].
Page 149 2.5 Option [External Dimensions] Fig. 2.5-2 Brake box (IA-110-DD-4) external dimensions 2-83 ME0478-1B...
Page 150 A regenerative resistance unit is a unit to convert regenerative current into heat and release it when a motor decelerates. Even though XSEL2 is also equipped with a regenerative resistance, it is recommended to have an external regenerative resistance unit installed when the regenerative current from a motor cannot be treated all.
Page 151 2.5 Option [2] External Dimensions Fixing Screw Type (RESU-1, RESU-2) DIN Rails Fixing Type (RESUD-1, RESUD-2) Fig. 2.5-3 Brake box (IA-110-DD-4) external dimensions 2-85 ME0478-1B...
Page 152 To calculate the total number of necessary units, select the suitable conditions from the table below for the actuator type connected to XSEL2 controller and sum up the numbers. Also, the maximum connectable number of regenerative resistance units should be nine units.
Page 153 2.5 Option 2.5.4 Absolute Battery Box: UT-XSEL2-ABB It is necessary when the connected actuator is the absolute type encoder. One unit of battery is required for one unit of connected axis of the absolute type encoder. A battery for eight axes at the maximum can be mounted to one unit of the absolute battery box.
Page 154 Thionyl chloride lithium batteries Battery classification TOSHIBA HOME APPLIANCES CORP, or Battery manufacturer’s name Maxell, Ltd. AB-5 Battery model (IAI model) 3.6V Battery nominal voltage 2,000mAh Battery standard capacity 2 years after use (if left unused without power supply to...
Page 155 2.5 Option Battery voltage 3.6V 3.1V 2.5V Normal Alarm occurrence *BALM signal (PIO) *ALM signal Battery voltage error (error No.914, CA2) Absolute reset is Absolute reset is not necessary required Fig. 2.5-4 Battery Voltage and Alarm, Relation of Alarm Occurrence [3] External Dimensions Fig.
Page 156 2.5 Option 2.5.5 Remote I/O Units: EIOU-1 By connecting this unit, the number of PIO points can be expanded. As it requires IA Net to make connection to this unit, it is necessary to make one of I/O Slot 1 or 2 to IA Net.
Page 157 2.5 Option [1] PIO Connector Specifications Remote I/O Unit (Input 32 points type) Remote I/O Unit (Output 32 points type) Fig. 2.5-7 External view of the Remote I/O unit Table 2.5-8 Input 32 Points Type Output 32 Points Type Input 32 Points Type Output 32 Points Type Signal Signal Signal...
Page 158 2.5 Option [2] Power Supply Connector and Communication Connector Specification Remote I/O unit (Bottom view) (Input 32 points /Output 32 points common type) Symbol Explanation Power supply (0V) Power supply (+24V Input) IA Net Communication Connectors * Although there are two openings for the connection ports of the communication cables, they are not identified for IN/OUT.
Page 159 2.5 Option [3] LED Display Remote I/O unit (Input 32 points type) Remote I/O unit (Output 32 points type) Color/Display Status Green Explanation Name Light Light Light Light Blinking Blinking 1. Reduce of Station Count ○ 2. IA Net Communication Normal ○...
Page 160 2.5 Option 2-94 ME0478-1B...
Page 161 About Grounding ······················································· 3-2 3.2.2 Heat Radiation and Installation ···································· 3-5 Wiring (Connection of devices) Diagram ··················· 3-6 3.3.1 XSEL2-TS/TL ··························································· 3-6 3.3.2 XSEL2-TSX/TLX ······················································· 3-7 Wiring for Power Supply Circuit ······························ 3-8 3.4.1 Connection Development Diagram for Power Supply Part · 3-8 3.4.2...
Page 162 Wiring the Emergecy Stop Circuit (System I/O) ·········· 3-26 3.5.1 Connection Development Diagram ······························· 3-26 3.5.2 Specification the Emergency Stop Circuit (System I/O) ····· 3-29 3.5.3 Assignment and Wiring of System I/O Connector ············· 3-31 3.5.4 Example of Safety Circuit (Safety Category Compatibility) · 3-34 Wiring the Driver Stop Connector ····························...
Page 163 3.11 Wiring for the ELECYLINDER Connection Board ······· 3-100 3.11.1 Connection Development Diagram ······························· 3-100 3.11.2 Specifications of the 24V Power Supply Connector ·········· 3-101 3.11.3 Wiring Method ·························································· 3-102 3.11.4 Connection Cable for ELECYLINDER ··························· 3-104 3.12 Wiring for External Regenerative Resistor Unit ·········· 3-107 3.12.1 Connection Development Diagram ·······························...
Page 164 3.1 Installation and Storage Environment 3.1 Installation and Storage Environment This product is capable for use in the environment of pollution degree 2 (*1) or equivalent. *1 Pollution degree 2: Environment that may cause non-conductive pollution or transient conductive pollution by frost (IEC60664-1). 3.1.1 Installation Environment Do not use this product in the following environment:...
Page 165 3.2 Grounding and Mounting Method 3.2 Grounding and Mounting Method 3.2.1 About Grounding [1] Protective Grounding For the grounding, the grounding resistance should be set to 100Ω or less. The wiring should apply a stranded wire or an annealed copper wire of 3.5mm (AWG12) or more.
Page 166 3.2 Grounding and Mounting Method [2] Noise Elimination Grounding (Frame Ground) For the grounding, the grounding resistance should be set to 100Ω or less. Apply annealed stranded wire or copper wire cables with 3.5mm (AWG12) or more for wiring and connect with solderless ring tongue terminals. Attach the grounding cable to the FG terminal on the main body.
Page 167 3.2 Grounding and Mounting Method [3] Precautions Regarding Wiring Method For the grounding, the grounding resistance should be set to 100Ω or less. 1) Use a twisted cable for connection to the power supply. 2) To reduce the interference to each other, have the I/O line, communication and encoder lines, power and driving supply lines separate from each other.
Page 168 55°C or less. 50mm or more 150mm or more 50mm or more 10mm or more 10mm or more 50mm or more XSEL2 XSEL2 Brake box 50mm or more 50mm or more Regeneration 50mm or more 50mm or more...
Page 169 (Note 5) (Accessories) Encoder Cable Fig. 3.3-1 Wiring Diagram of XSEL2-TS/TL Note 1 Please prepare separately. Note 2 It is necessary to apply a brake power supply (24V DC) to a controller when an actuator equipped with a brake is to be connected.
Page 170 24V DC Power Supply Motor Cable Encoder Cable Fig. 3.3-2 Wiring Diagram of XSEL2-TSX/TLX Note 1 Please prepare separately. Note 2 It is necessary to have +24V power supplied for brake to the actuator main unit for IX-NNN1205/1505/1805 (equipped with brake), IX-NNN10040/12040 and SCARA Robot other than IXA.
Page 171 3.4 Wiring for Power Supply Circuit 3.4.1 Connection Development Diagram for Power Supply Part [1] Example for 3-phase type power supply circuit L1 L2 L3 (*1) Leakage Breaker XSEL2-TS/TL/TSX/TLX Controller Circuit Breaker Control Power Supply Input Connector (CP) Noise Filter HF3030C-SZA...
Page 172 3.4 Wiring for Power Supply Circuit [2] Example for single-phase type power supply circuit L1 L2 Leakage Breaker XSEL2-TS/TL/TSX/TLX Contoroller Circuit Breaker Control Power Supply Input connector (CP) Noise Filter HF3030C-SZA Motor Power Suuply Motor Power Suuply Input connctor Input connctor...
Page 173 3.4 Wiring for Power Supply Circuit [3] Brake Release Power Supply 24V DC XSEL2-TS/TL/TSX/TLX Controller Brake Power Supply Input Connctor BK PWR DC24V Fig. 3.4-3 Connection Development Diagram for Brake Release Power Supply Caution ● When supplying 24V DC and turning it on/off, keep 0V connected and have +24V supplied/cut off (cut off on one end).
Page 174 Wiring for Power Supply Circuit (3-phase 200V AC Power Supply Type) [1] Wiring example of 3-phase 200V AC power supply specification The following power supplies should be supplied to the XSEL2 with a 3-phase 200V AC power supply type. Table 3.4-1 XSEL2 power supply type (3-phase power supply type)
Page 175 ● Make sure to apply a noise filter when CE mark is necessary. For the filter, use a noise filter in [Table 3.4-2 XSEL2 Power Supply Wiring (3-phase 200V AC power supply type) or equivalent.
Page 176 3.4 Wiring for Power Supply Circuit [2] Motor power supply input connector with 3-Phase 200V AC power supply type Table 3.4-3 3-Phase motor power supply connector model Connector Model Remarks BVF7.62HP_04_180MF2 SN BK_BX_PRT Enclosed in standard Cable side (Weidmüller) package SV_7.62HP_04_270MF2_3.5SN_BK_BX Mounted on controller Controller side...
Page 177 3.4 Wiring for Power Supply Circuit [3] Control power supply input connector Table 3.4-5 Control power input connector model Connector Model Remarks BVF 7.62HP/03/180MF2 SN BK BX PRT Enclosed in standard Cable side (Weidmüller) package SV 7.62HP/03/90MF2_3.5SN_BK_BX Mounted on controller Controller side (Weidmüller) side...
Page 178 3.4 Wiring for Power Supply Circuit [4] Brake power supply input connector Table 3.4-7 Brake power supply input connector model Connector Model Remarks FMC1.5/2-ST-3.5-RF Enclosed in standard Cable side (PHOENIX CONTACT) package MC1.5/2-G-3.5-RN Mounted on controller Controller side (PHOENIX CONTACT) side －...
Page 179 Wiring for Power Supply Circuit (Single-phase 200V AC Power Supply Type) [1] Wiring example for single-phase 200V AC power supply type The following power supplies should be supplied to the XSEL2 with a single-phase 200V AC power supply type. Table 3.4-9 XSEL2 power supply type (Single-phase 200V AC power supply type)
Page 180 ● Make sure to apply a noise filter when CE mark is necessary. For the filter, use a noise filter in [Table 3.4-10 XSEL2 Power Supply Wiring (Single- Phase 200V AC Power Supply Type) or equivalent.
Page 181 3.4 Wiring for Power Supply Circuit [2] Motor power supply input connector with single-phase 200V AC power supply type Table 3.4-11 Single-Phase motor power suppl connector model Connector Model Remarks BVF7.62HP_04_180MF2 SN BK_BX_PRT Enclosed in standard Cable side (Weidmüller) package SV_7.62HP_04_270MF2_3.5SN_BK_BX Mounted on controller Controller side...
Page 182 3.4 Wiring for Power Supply Circuit [3] Control power supply input connector Table 3.4-13 Control power input connector model Connector Model Remarks BVF 7.62HP/03/180MF2 SN BK BX PRT Cable side Enclosed in standard package (Weidmüller) SV 7.62HP/03/90MF2_3.5SN_BK_BX Controller side Mounted on controller side (Weidmüller) CP_1 CP_3...
Page 183 3.4 Wiring for Power Supply Circuit [4] Brake power supply input connector Table 3.4-15 Brake power supply input connector model Connector Model Remarks FMC1.5/2-ST-3.5-RF Cable side Enclosed in standard package (PHOENIX CONTACT) MC1.5/2-G-3.5-RN Controller side Mounted on controller side (PHOENIX CONTACT) －...
Page 184 Wiring for Power Supply Circuit (Single-phase 100V AC Power Supply Type) [1] Example of wiring for Single-Phase 100V AC Power Supply type The following power supplies should be supplied to the XSEL2 with a single-phase 100V AC power supply type.
Page 185 ● Make sure to apply a noise filter when CE mark is necessary. For the filter, use a noise filter in [Table 3.4-18 XSEL2 Power Supply Wiring (3-phase power supply type) or equivalent.
Page 186 3.4 Wiring for Power Supply Circuit [2] Motor power supply input connector with single-phase 100V AC power supply type Table 3.4-19 3-Phase motor power supply connector model Connector Model Remarks MPS 7S/03 S F2 TN B B D Cable side Enclosed in standard package (Weidmüller) MHS 7S/03 W T3 B T...
Page 187 3.4 Wiring for Power Supply Circuit [3] Control power supply input connector Table 3.4-21 Control power input connector model Connector Model Remarks BVF 7.62HP/03/180MF2 SN BK BX PRT Cable side Enclosed in standard package (Weidmüller) SV 7.62HP/03/90MF2_3.5SN_BK_BX Controller side Mounted on controller side (Weidmüller) CP_1 CP_3...
Page 188 3.4 Wiring for Power Supply Circuit [4] Brake power supply input connector Table 3.4-23 Brake power supply input connector model Connector Model Remarks FMC1.5/2-ST-3.5-RF Cable side Enclosed in standard package (PHOENIX CONTACT) MC1.5/2-G-3.5-RN Controller side Mounted on controller side (PHOENIX CONTACT) －...
Page 189 3.5 Wiring the Emergency Stop Circuit (System I/O) 3.5 Wiring the Emergecy Stop Circuit (System I/O) 3.5.1 Connection Development Diagram [1] Wiring example 1: For one controller Teaching Pendant +24V Enable Switch Stop Switch XSEL2 CONTROLLER System I/O Connector ENBSW2+ ENBSW2- ENBSW1+ ENBSW1- ENBin+ Enable Signal ENBin- 6.8kΩ...
Page 190 [2] Wiring example 2: When Controlling Several Units of Controllers at Once with Safety Circuit in Equipment Teaching pendant +24V Enable switch Stop Switch TP Connector (22) (25) (24) (23) (12) (9) (5) (6) XSEL2 CONTROLLER (*3) System I/O Connector (13) ENBSW2+ Safety Gate (14) ENBSW2- (15) ENBSW1+ (16) ENBSW1- 6.8kΩ...
Page 191 3.5 Wiring the Emergency Stop Circuit (System I/O) *1 Switchover between AUTO and MANU Modes can be performed with an external switch connected. Make the line short-circuited if not to be used. *2 DETIN/DETOUT can be switched to AUTO1IN/AUTO1OUT in I/O Parameter No. 24. For details, refer to [3.5.2 Specification the Emergency Stop Circuit (System I/O)].
Page 192 Specification the Emergency Stop Circuit (System I/O) The specifications related to the emergency stop circuit (system I/O) are as shown below. Table 3.5-1 Specification the Emergency Stop Circuit (System I/O) Item XSEL2-TS/TL/TSX/TLX Type Drive-source cutoff circuit External circuit, refer to [9.1] Conforming category...
Page 193 3.5 Wiring the Emergency Stop Circuit (System I/O) [System I/O Connector Model] Table 3.5-2 System I/O connector model Connector Model Remarks Enclosed in standard package DFMC1,5/12-ST-3,5 Cable side (Quantity: 1pc, Equipped with (PHOENIX CONTACT) short-circuit line) DMC1,5/12-G1-3,5P26THR Controller side COMBICON (2 rows, 12 pins) (PHOENIX CONTACT) Yellow lines show jumper cables on delivery.
Page 194 3.5 Wiring the Emergency Stop Circuit (System I/O) 3.5.3 Assignment and Wiring of System I/O Connector Caution ● Make sure not to connect 100V or 200V AC accidently to the system I/O. It may destroy the internal circuit. Table 3.5-3 Assignment of System I/O Connector Applicable Signal Name Category...
Page 195 3.5 Wiring the Emergency Stop Circuit (System I/O) Left Side Right Side Emergency Stop Circuit Safety Gate Circuit Relay Switch of Relay Switch of the Emergency Stop Circuit the Safety Gate Circuit Drive-source Cutoff Circuit Fig. 3.5-5 Wiring Example of System I/O Connecter *1 EMG1 (line+) / (line-) and EMG2 (line+) / (line-) are the doubled contact outputs for emergency stop.
Page 196 3.5 Wiring the Emergency Stop Circuit (System I/O)  AUTO1IN / AUTO1OUT signals and AUTO2IN / AUTO2OUT signals An external switch can be connected between AUTO1IN / AUTO1OUT signals and AUTO2IN / AUTO2OUT signals, and the mode can be changed over between AUTO and MANU with the external switch when the mode switch is set to AUTO.
Page 197 3.5 Wiring the Emergency Stop Circuit (System I/O) 3.5.4 Example of Safety Circuit (Safety Category Compatibility) XSE2 is the controllers applicable for the safety categories. In this section, introduces an example for a circuit since the compliance of your system with Safety Category 3 and 4 cannot be checked.
Page 198 Contact 2 Contact 2 Enable control 3 positions Safety Gate SW Enable SW External Enable SW SGATE Contact 1 Contact 1 External Enable SW SGATE Contact 2 Contact 2 Fig. 3.5-7 Examples of XSEL2 Category 4 Equivalent Safety Circuits 3-35 ME0478-1B...
Page 199 3.6.1 Driver Stop Feature XSEL2 is equipped with a drive source cutoff circuit with an internal semiconductor and a driver stop feature to stop the drivers for all axes at once. The driver stop feature (described name: DRV STOP) is a feature to stop the output to a motor by cutting off the motor control signals after the reaction time (8ms or less) in response to the condition of an input signal without cutting off the drive source.
Page 200 3.6 Wiring the Driver Stop Connector 3.6.2 Driver Stop Connector Specifications Shown below is an example of wiring for the driver stop feature. [1] Signals on Driver Stop Connector Connector Name on Main CPU side: 2294417-1(Tyco Electronics) Table 3.6-1 Driver stop connector signals and features Signal Pin No.
Page 201 3.6 Wiring the Driver Stop Connector 3.6.3 Block Diagram for Driver Stop Feature Here, shows a block diagram for the driver stop feature. Fig. 3.6-3 Block Diagram for Driver Stop Feature 3-38 ME0478-1B...
Page 202 Wiring the Driver Stop Connector Shown below is an example of wiring for the diriver stop feature. In this example for wiring, a safety relay unit manufactured by Omron is connected to the XSEL2 driver stop circuit. Fig. 3.6-4 Example of Wiring for the Driver Stop Connector By performing wiring layout as shown above, the driver function can be stopped when the switch gets turned OFF.
Page 203 3.6 Wiring the Driver Stop Connector 3.6.5 Operating Sequence Shown below is an example of wiring for the driver stop feature. Operation in malfunction should be as shown in the diagram below when switches are reduplicated as shown in the example of wiring. When having one switch, the driver stop feature at malfunction should get invalid.
Page 204 3.6.6 I/O Cable for Driver Stop Connection It is a cable to connect to XSEL2 and connect to a safety relay, etc.. (*1) In order to have a free wiring for connection to external devices, the cable end is just cut and not terminated.
Page 205 3.6 Wiring the Driver Stop Connector [Dummy Plug for Driver Stop Connector] (Accessories) It is a short-circuit plug to unable the function by connecting to the driver stop connector when the driver stop feature is not in use. Fig. 3.6-8 Dummy Plug (Model: DP-6) [Driver Stop Connector (Cable Side)] (To be prepared by user) There is the following model code available for a connector unit on the cable side when a cable for driver stop feature is to be built up.
Page 206 3.7 Wiring for Actuator 3.7 Wiring for Actuator 3.7.1 Connection Diagram Below shows an example of connection between actuators and a controller. Encoder Connector XSEL2 Actuator Encoder Cable Motor Cable Motor cable connection connector Motor Cable Encoder Cable Encoder Connector Fig.
Page 207 *1 Single Axis Robot, Orthogonal Robot, Linear Servo (LSAS), ROBO Cylinder (RCS2/RCS3/RCS4) *2 XSEL2-TSX is not capable of connecting added axis. The number of connectable axes should differ depending on the specifications of a used SCARA Robot. For details, refer to [Table 2.2-10 Total Wattage of SCARA Robot and Connectable Added Axes].
Page 208 Motor cable connection connector Motor Cable (Note 1) 8th axis Motor cable connection connector Fig. 3.7-3 XSEL2-TS/TL Motor Cable Connection Note 1 Applicable motor cable model example ( □□□ : cable length, Example) 030 = 3m) Actuator Cable Single and Orthogonal axes CB-X2-MA□□□...
Page 209 Encoder connection connector Encoder Cable (Note 1) 8th axis Encoder connection connector Fig. 3.7-4 XSEL2-TS/TL Encoder Cable Connection Note 1 Applicable encoder cable model example ( □□□ : cable length, Example) 030 = 3m) Actuator Cable Single axis robot CB-X1-PA□□□...
Page 210 Motor cable connection connector Single and Orthogonal axes Fig. 3.7-5 XSEL2-TSX/TLX Motor Cable Connection Note 1 If there is no “option model code: JY” to IX SCARA Robot, there should be a cable equipped to connect a controller directly from the main unit.
Page 211 Encoder connection connector Single and Orthogonal axes Fig. 3.7-6 XSEL2-TSX/TLX Encoder Cable Connection Note 1 If there is no “option model code: JY” to IX SCARA Robot, there should be a cable equipped to connect a controller directly from the main unit.
Page 212 Tabale 3.7-3 Pin Assignment of connector for connecting motor cables Signal Pin No. Contents Applicable Wire Diameter Name Protective grounding wire Motor Driving phase U Cable dedicated for IAI actuators Motor Driving phase V Motor Driving phase W Fig. 3.7-7 Motor Connector (Controller side) 3-49 ME0478-1B...
Page 213 Send/receive differential- (pulse/magnetic pole switching-) Not connected Not connected Not connected 24VOUT Power supply output for sensors 24V power supply GND Cable dedicated for IAI encoders BATT Backup battery power supply BATTGND Battery ground Encoder power supply Not connected Not connected...
Page 214 3.7 Wiring for Actuator 3.7.4 List of Actuator and Controller Connection Cables Table 3.7-6 List of actuator and controller connection cables Motor Motor Encoder Robot Product Model Robot Encoder Cable Cable Cable Cable RCS2 (CR/W) Models other CB-RCS2-PA□□□ CB-X3-PA□□□ RCS3 (CR) than (2) to (4) CB-RCS2-PLA□□□...
Page 215 3.7 Wiring for Actuator 3.7.5 Detailed Diagram of Actuator and Controller Connection Cables [1] Detailed diagram of motor cable and motor robot cable Model: CB-RCC1-MA□□□ CB-X2-MA□□□ F35FDC-04V-K (J.S.T. Mfg.) SLP-04V (J.S.T. Mfg.) Wiring Color signal signal Color Wiring White White 0.75sq 0.75sq (Solderless)
Page 216 3.7 Wiring for Actuator Model: CB-XEU1-MA□□□ F35FDC-04V-K (J.S.T. Mfg.) 99-4222-00-04 (BINDER) Wiring Color Signal No. Signal Color Wiring 1 in White Print in Black 1 in White Print in Black 2 in White Print in Black 2 in White Print in Black 0.75sq 0.75sq (Solderless)
Page 217 3.7 Wiring for Actuator [2] Detailed diagram of encoder cable and encoder robot cable Model: CB-RCS2-PA□□□ (For RCS2/RCS3) CB-X3-PA□□□ (For NS/RCS2/RCS3) Controller side Actuator side 10126-3000PE (Sumitomo 3M) Color Wiring Signal －－－－－－－－ E24V Gray/White White/Green Brown/White...
Page 218 3.7 Wiring for Actuator Model: CB-RCS2-PLA□□□ (For RCS2 rotary) CB-X2-PLA□□□ (For NS LS equipped type and RCS2 rotary) LS side Controller side Actuator side 10126-3000PE (Sumitomo 3M) Color Wiring Signal XMP-06V (J.S.T. Mfg.) Color －－－ Signal Wiring －－...
Page 219 3.7 Wiring for Actuator Model: CB-X1-PA□□□ Controller side Actuator side 10126-3000PE (Sumitomo 3M) Wiring Color Signal －－－－－ E24V －－－ CREEP －－－－－－－－－ ― － AWG26 (Soldering) － ―...
Page 220 3.7 Wiring for Actuator Model: CB-X1-PA□□□-JY1 Controller side Mechanical side XMP-09V (J.S.T. Mfg.) XMP-09V (J.S.T. Mfg.) Wiring Color Signal Signal Color Wiring Purple BAT+ BAT+ Purple Gray BAT－ BAT－ Gray Orange Orange ―― ―― Green Green AWG26 AWG26 (Solderless) (Solderless) Black Black Drain...
Page 221 3.7 Wiring for Actuator Model: CB-X1-PA□□□-AWG24 Controller side Actuator side 10126-3000PE (Sumitomo 3M) Wiring Color Signal －－－－－ E24V －－－ CREEP －－－－－－－－－ ― － AWG24 (Soldering) － ―...
Page 222 3.7 Wiring for Actuator Model: CB-X1-PA□□□-WC Controller side Actuator side 10126-3000PE (Sumitomo 3M) Wiring Color Signal －－－－－ E24V －－－ CREEP －－ 99-4630-00-16(BINDER) －－－－ Signal Color Wiring －－ Orange ―― －...
Page 223 3.7 Wiring for Actuator Model: CB-X1-PLA□□□ LS side Controller side Actuator side 10126-3000PE (Sumitomo 3M) Wiring Color Signal XMP-06V (J.S.T. Mfg.) －－－－ Signal Color Wiring White/Blue E24V E24V White/Blue White/Yellow White/Yellow White/Red White/Red AWG26 White/Black CREEP CREEP White/Black (Solderless) White/Purple...
Page 224 3.7 Wiring for Actuator Model: CB-X1-PLA□□□-JY1 Controller side Actuator side XMP-06V (J.S.T. Mfg.) XMP-06V (J.S.T. Mfg.) Wiring Color Signal Signal Color Wiring White/Blue E24V E24V White/Blue White/Yellow White/Yellow AWG26 White/Red White/Red AWG26 White/Black CREEP CREEP White/Black (Solderless) (Solderless) White/Purple White/Purple White/Gray White/Gray XMP-09V (J.S.T.
Page 225 3.7 Wiring for Actuator Model: CB-X1-PLA□□□-AWG24 LS side Controller side Actuator side 10126-3000PE (Sumitomo 3M) Wiring Color Signal XMP-06V (J.S.T. Mfg.) －－－－ Signal Color Wiring － E24V E24V White/Blue － White/Yellow － White/Red AWG26 － CREEP CREEP White/Black (Solderless) －...
Page 226 PIO Board Specifications and Assignment There are 8 types of PIO board as shown below. Table 3.8-1 List of PIO boards Display of Single Board I/O Slot XSEL2 Polarity No. of I/O Points Model Code Model Code 16 Input Points / 16 Output Points...
Page 227 3.8 Wiring for PIO Circuit [1] I/O port assignment Set the Port No. to be used in the PIO board that is attached to each slot of the controller using the I/O parameter No. 1, 16 to 17 and 233 to 234. Tabale 3.8-2 Parameters Related to Input and Output Port Assignment Setting at Input...
Page 228 3.8 Wiring for PIO Circuit [2] I/O port function setting For the input port No. 000 to 015 and output port No. 300 to 315, the special function can be setup using the I/O parameter setting. For all the other I/O port Nos., they can be used freely as the universal I/O port. The selected port assignment is also available.
Page 229 3.8 Wiring for PIO Circuit Parameter Port Factory Function of an Input Signal Value Setting Name General-purpose input Input Input function selection 000 = Setting 1 Program No. BCD-specified bit 1 ○ function No.38 Input function selection 000 = Setting 2 Program No. Binary-specified bit 1 selection Input function selection 000 = Setting 3 Program No.
Page 230 3.8 Wiring for PIO Circuit [Output Port Assignment] Table 3.8-4 Output port function setting Parameter Port Factory Function of an Output Signal Value Setting Name General-purpose output Error output at the operation cancellation level or more (ON) Error output at the operation cancellation level or more (OFF) ○...
Page 231 3.8 Wiring for PIO Circuit Parameter Port Factory Function of an Output Signal Value Setting Name General-purpose output ○ Output function 3rd axis in-position output (turned OFF when pressing missed) No.53 selection 307 Output during the 3rd axis servo ON (System monitoring task output) General-purpose output ○...
Page 232 3.8 Wiring for PIO Circuit 3.8.2 Connection Development Diagram [1] 16 Input Points, 16 Output Points (Display of XSEL2 Model Code:NP) Pin No. Cable color Category Port No. Function Brown-1 Power +24V Inputs supply Red-1 +24V Inputs Orange-1 Not in use...
Page 233 3.8 Wiring for PIO Circuit [2] 16 Input Points, 16 Output Points (Display of XSEL2 Model Code: PN) Pin No. Cable color Category Port No. Function Brown-1 Power +24V Inputs supply Red-1 +24V Inputs Orange-1 Not in use Yellow-1 Not in use...
Page 234 3.8 Wiring for PIO Circuit [3] NPN Type: 32 Input points, 16 Output points (Display of XSEL2 Model Code: N1) Pin No. Cable color Category Port No. Function Brown-1 Power supply +24V Inputs Red-1 Program start Orange-1 General-purpose input Yellow-1...
Page 235 3.8 Wiring for PIO Circuit [4] NPN Type: 16 Input points, 32 Output points (Display of XSEL2 Model Code: N2) Pin No. Cable color Category Port No. Function Brown-1 Power supply +24V Inputs Red-1 Program start Orange-1 General-purpose input Yellow-1...
Page 236 3.8 Wiring for PIO Circuit [5] NPN Type: 24 Input points, 24 Output points (Display of XSEL2 Model Code: N4) Pin No. Cable color Category Port No. Function Brown-1 Power suply +24V Inputs Red-1 Program start Orange-1 General-purpose input Yellow-1...
Page 237 3.8 Wiring for PIO Circuit [6] PNP Type: 32 Input points, 16 Output points (Display of XSEL2 Model Code: P1) Pin No. Cable color Category Port No. Function Brown-1 Power supply +24V Inputs Red-1 Program start Orange-1 General-purpose input Yellow-1...
Page 238 3.8 Wiring for PIO Circuit [7] PNP Type: 16 Input Points, 32 Output points (Display of XSEL2 Model Code: P2) Pin No. Cable color Category Port No. Function Brown-1 Power supply +24V Inputs Red-1 Program start Orange-1 General-purpose input Yellow-1...
Page 239 3.8 Wiring for PIO Circuit [8] PNP Type: 24 Input points, 24 Output points (Display of XSEL2 Modell Code: P4) Cable Pin No. Category Port No. Function color Brown-1 Power supply +24V Inputs Red-1 Program start Orange-1 General-purpose input Yellow-1...
Page 240 3.8 Wiring for PIO Circuit 3.8.3 PIO Cable The connection of I/O to the controller is to be carried out using the dedicated I/O cable. The cable length is shown in the model code of the controller. Please check the controller model code.
Page 241 3.8 Wiring for PIO Circuit [2] PIO cable for 32 Input points / 16 Output points, 16 Input points / 32 Output points, 24 Input points / 24 Output points Model: CB-X-PIO□□□ (*1) *1 Cable length (L) should be described in □□□, applicable up to 10m max. e.g.): 020 = 2m Cut off (Front view) Flat cable (50 conductors): KFX-50(S) (Kaneko Cord)
Page 242 [1] Example for wiring of CC-Link (CC-Link master unit) Terminal resistance Terminal resistance CC-Link cable XSEL2 XSEL2 Other slave devices Fig. 3.9-1 Example for Wiring of CC-Link Use the dedicated cable for CC-Link applicable for Ver.1.10 (FANC-SBH, FANC-SB etc.) Terminal resister is requred to be connected for CC-Link system both ends unit.
Page 243 3.9 Wiring for Field Network [2] Wiring method Shown below is an example for wiring. XSEL2 Slave devices (CC-Link master unit) Terminal resistance Terminal resistance Class D Grounding (Former Class 3 Grounding with ground resistance 100Ω or below) Fig. 3.9-2 CC-Link Cable Wiring Method [Wiring method] 1) Remove the sheath of the CC-Link dedicated cable.
Page 244 (2) Cable: FANC-SB ························ 110Ω 1/2W (Dedicated cable for CC-Link) 4) Have the connector put to the connector allocated on the CC-Link on the main unit of XSEL2, push the connector till the end, and then tighten it with a flathead screwdriver.
Page 245 For connector specifications, refer to [2.4.3 [2] CC-Link IE Field Interface Specifications (2) Connector Specifications]. [1] Example for wiring of CC-Link IE Field (CC-Link IE Field master unit) Ethernet cable XSEL2 XSEL2 Other slave devices Other slave devices Class D Grounding (Former Class 3 Grounding with ground resistance 100Ω...
Page 246 (1) Connect the CC-Link IE Field cable to the master unit and join the connector on the other side to the P1 connector on XSEL2. (2) Join the connector on the CC-Link IE Field cable to the P2 connector on XSEL2. * Join the connector on the other side to the connector on a slave unit connected next.
Page 247 Terminal resistance DeviceNet Terminal resistance Communication Cables Communication Cables XSEL2 XSEL2 Other slave devices Fig. 3.9-5 Example for Wiring of DeviceNet *1 For the communication cable of DeviceNet, use a dedicated cable (such as DCA1) complied with the DeviceNet standards.
Page 248 *1 Terminal resister is requred to be connected for DeviceNet system both ends unit. A resistor of 121Ω should be connected between the white (CAN_H) and the blue (CAN_L) in the connector. Note that XSEL2 encloses a connector, but a resistor is not enclosed. It is to be prepared by the customer.
Page 249 A resistor of 121Ω (1/4W) should be connected between the white (CAN_H) and the blue (CAN_L) in the connector. (4) Have the connector put to the connector allocated on the DeviceNet on the main unit of XSEL2, push the connector till the end, and then tighten it with a flathead screwdriver. 3-86 ME0478-1B...
Page 250 Specifications]. [1] Example for wiring of EtherCAT Shown below is an example for wiring of EtherCAT. (EtherCAT master unit) Ethernet cable XSEL2 XSEL2 Other slave devices Other slave device Fig. 3.9-7 Example for Wiring of EtherCAT Do not connect anything to the terminal connector on the slave side (terminal resistor is not required).
Page 251 (1) Connect the EtherCAT cable to the master unit and join the connector on the other side to the IN connector on XSEL2. (2) Join the connector on the EtherCAT cable to the OUT connector on XSEL2. * Join the connector on the other side to the connector on a slave unit connected next.
Page 252 Ethernet cable Ethernet cable Ethernet cable Ethernet cable Other slave devices XSEL2 XSEL2 Fig. 3.9-9 Example for Wiring of EtherNet/IP *1 Ethernet cable: Category 5e or more straight cable up to 100m. (Double shielded cable braided with aluminum foil recommended) Also, Cable is to be prepared by the customer.
Page 253 (PROFIBUS-DP master unit) Terminal resistance PROFIBUS-DP communication cable Terminal resistance XSEL2 XSEL2 Other slave devices Fig. 3.9-10 Example for wiring of PROFIBUS-DP communication cable *1 For the communication cable of PROFIBUS-DP, use a dedicated cable complied with the PROFIBUS-DP standards.
Page 254 A resistor of 121Ω (1/4W) should be connected between the white (CAN_H) and the blue (CAN_L) in the connector. Note that XSEL2 encloses a DeviceNet connector, but a resistor is not enclosed. It is to be prepared by the customer.
Page 255 Ethernet cable Ethernet cable Other slave devices Ethernet cable XSEL2 XSEL2 Fig. 3.9-12 Example for Wiring of PROFINET IO Communication Cable *1 Ethernet cable: Category 5e or more straight cable up to 100m. (Double shielded cable braided with aluminum foil recommended) Also, Cable is to be prepared by the customer.
Page 256 Fig. 3.9-13 Example for Wiring of IA Net Cable *1 To the XSEL2 controller and the remote I/O unit that comes to the end of the IA Net connection, a terminal resistance (EIOU-TR) should be connected. *2 For the Ethernet cable, use a straight cable with its performance equivalent to a LAN communication cable (10BASE-T, Category 3 or more, bulk shield) or higher should be used.
Page 257 (1) Insert an Ethernet cable and a terminal resistance to the connector on the IA Net module board on the XSEL2 side. (2) Join the Ethernet cable connected to XSEL2 and the Ethernet cable to be connected to the remote I/O unit on the terminal end to the remote I/O unit.
Page 258 3.9 Wiring for Field Network [3] Setup of Remote I/O Unit Apart from I/O parameters in XSEL2, setup on the remote I/O unit side should be conducted with each switch on the main body. (1) Setup of Station Address The station address should be set up with the SA rotary switch (station address setting switch) on the remote I/O unit.
Page 259 Remote I/O unit (32 Input points type) (32 Output points type) Fig. 3.9-16 Baud Rate Setting The baud rate should be set the same as that set in the XSEL2 parameter (I/O Parameter No. 610 "IA Net Attribute 3"). 3-96 ME0478-1B...
Page 260 3.10 Wiring for Pulse Train Input + PIO Board 3.10 Wiring for Pulse Train Input + PIO Board 3.10.1 Example of Pulse Train + PIO Board Connection An example of the connection of the Pulse Train + PIO board is shown below. Workpiece Detection Sensor Input PIO I/O Connector...
Page 261 3.10 Wiring for Pulse Train Input + PIO Board 3.10.2 Specifications of the Connector for Connection There should be two types of connectors enclosed in the pulse train + PIO board. The specifications for each connector are shown below. [1] PIO I/O connector Table 3.10-1 PIO I/O Connector model Connector Model...
Page 262 3.10 Wiring for Pulse Train Input + PIO Board [2] Pulse train signal connector Table 3.10-3 Pulse train signal connector model Connector Model Remarks DFMC 0,5/10-ST-2,54 Enclosed in Cable side (PHOENIX CONTACT) standard package DMC 0,5/10-G1-2,54 P20THR R44 Controller side (PHOENIX CONTACT) DMC 0,5/10-G1-2,54 P20THR R44 DFMC 0,5/10-ST-2,54...
Page 263 3.11 Wiring for the ELECYLINDER Connection Board 3.11 Wiring for the ELECYLINDER Connection Board 3.11.1 Connection Development Diagram An example of the connection of the ELECYLINDER connection board is shown below. XSEL2 ELECYLINDER Connection Board DC24V Brake release switch ELECYLINDER (1st axis)
Page 264 3.11 Wiring for the ELECYLINDER Connection Board 3.11.2 Specifications of the 24V Power Supply Connector Shown below are the specifications of the connectors enclosed to the ELECYLINDER connection board. Table 3.11-1 Specifications of the 24V power supply connector Connector Model Remarks B2CF 3.50/06/180 SN OR BX Cable side...
Page 265 3.11 Wiring for the ELECYLINDER Connection Board 3.11.3 Wiring Method The wiring method of the ELECYLINDER Connection Board is shown below. [1] Wiring of the 24V power supply connector When connecting the power supply cables to the 24V power supply connector, referring to the connection diagram, connect a drive source cutoff switch to the +24V power supply line (wires at "MP1"...
Page 266 3.11 Wiring for the ELECYLINDER Connection Board [2] Wiring of the ELECYLINDER Join ELECYLINDER to an ELECYLINDER connector. ELECYLINDER in the option "ACR" type is only available for connection. One unit of the ELECYLINDER connection board is capable of connecting two axes of ELECYLINDER at maximum, and the axis number should be determined by the connector position.
Page 267 3.11 Wiring for the ELECYLINDER Connection Board 3.11.4 Connection Cable for ELECYLINDER Below shows the cable connectable to the ELECYLINDER connection board. ◆Model: CB-REC-PWBIO□□□-RB ELECYLINDER side Controller side 1-1871940-6 DF62E-13S-2.2C (18) Color Signal Name Signal Name Color Black (AWG18) Black (AWG18) Red (AWG18) 24V(MP) 24V(MP)
Page 268 * The minimum bending radius of the cable is 58mm (for movable use) * Robot cable is standard for this model. * Have the cable length from ELECYLINDER to XSEL2 at 10m or less when a joint cable is to be used.
Page 269 3.11 Wiring for the ELECYLINDER Connection Board ◆Model: CB-REC2-PWBIO□□□-RB ELECYLINDER side Controller side Connector assembly drawing L Type Cover Cap 1-1871940-6 DF62E-13S-2.2C (18) Color Signal Name Signal Name Color Black (AWG18) Black (AWG18) Red (AWG18) 24V(MP) 24V(MP) Red (AWG18) Light blue (AWG22) 24V(CP) 24V(CP) Light blue (AWG22)
Page 270 3.12 Wiring for External Regenerative Resistor Unit 3.12 Wiring for External Regenerative Resistor Unit 3.12.1 Connection Development Diagram Shown below is when connecting a regenerative resistor unit to an XSEL controller. Regenerative Resistor Unit XSEL2 (RESU-2) CB-SC-REU010 External RB IN...
Page 271 (1) Connecting 1 Unit: Connect RESU(D)-2 with enclosed cable (CB-SC-REU□□□). (2) Connecting 2 or More: Connect RESU(D)-1 with enclosed cable (CB-ST-REU□□□). Refer to [2.5.3 Regenerative Resistance Unit: RESU(D)-1 and RESU(D)-2] for quantity to be connected. ●Wiring Image XSEL2 CB-SC-REU010 CB-ST-REU010 External Regenerative Resistor Unit RESU(D)-2...
Page 272 3.12 Wiring for External Regenerative Resistor Unit (1) External regenerative unit connection cable (Enclosed to RESU(D)-2) Model: CB-SC-REU□□□ (□□□ indicates the cable length) (e.g.) 010＝1m Regenerative Resistor Unit side Controller side Display of Cable Model Code Fig. 3.12-3 External Regenerative Unit Connection Cable (Enclosed to RESU(D)-2) (2) External regenerative resistor unit connection cable (Enclosed to RESU(D)-1) Model: CB-ST-REU□□□...
Page 273 For the specifications and appearance dimensions of the brake box (RCB110-RA13-0), refer to [2.5.1 Brake box: RCB-110-RA13-0]. Below, explains how to wire the brake box (RCB110-RA13-0). [1] Wiring method Apply 24V DC to the brake power supply connector. DC24V XSEL2 CONTROLLER DC24V Brake Power Supply Connector +24V Actuator with brake...
Page 274 3.13 Wiring for Brake Box [2] About the connector (1) ) ) ) ) Front Rear Fig. 3.13-2 Connector Position of Brake Box (RCB-110-RA13-0) (1) Brake release switch connector 1、Brake release switch connector 2 Table 3.13-1 Model of brake release switch connector Connector Model Remarks...
Page 275 3.13 Wiring for Brake Box (2) Brake power supply input connector Table 3.13-3 Brake Power supply input connector model Connector Model Remarks Cable side MC1.5/2-STF-3.5 (PHOENIX CONTACT) Enclosed to brake box Brake box side MC1.5/2-GF-3.5 (PHOENIX CONTACT) Table 3.13-4 Pin Assignment of brake power supply input connector Signal Applicable Wire Pin No.
Page 276 (*2) activating voltage *1 It is not necessary to have a brake box for the battery-less absolute type. *2 The loadcell quipped type cannot be connected to XSEL2. ◆MZMS/MZMM/LZMS/LZMM Types in NS Series Connect the actuator, brake box and controller.
Page 277 3.13 Wiring for Brake Box ◆Series  Incremental Encoder Type DC24V DC24V DC24V RCB-110-RA13-0 CONTROLLER 1 Z axis XSEL2 (CB-X1-PA□□□) ZR-S-I Brake Power Supply Connector R axis (CB-X1-PLA□□□) +24V Limit Switch Connector Z axis R axis +24V For 1st axis...
Page 278 3.13 Wiring for Brake Box ◆ROBO Cylinder Ultra High-Thrust Rod Type RCS2-RA13R DC24V DC24V XSEL2 RCB-110-RA13-0 RCS2-RA13R CONTROLLER 1 Brake Power Supply Connector +24V Limit Switch Connector For 1st axis Encoder connector +24V (CB-RCS2-PLA010) (CB-RCS2-PLA□□□ or CB-X2-PLA□□□) Limit Switch Connector...
Page 279 As shown in the figure below, connect the actuator, brake box and controller. (The figure is an example for connecting to the 1st axis.) DC24V AC100～240V AC100 XSEL2 CONTROLLER DDA (Equipped with brake) Brake Box Brake Power (IA-110-DD-4) Supply Connector...
Page 280 3.13 Wiring for Brake Box [2] About the connector Front Rear Fig. 3.13-11 Connector Position of Brake Box (IA-110-DD-4) (1) Power Supply Input Terminal Block When supplying power to the brake box, make wiring to the power supply input terminal block. Fig.
Page 281 3.13 Wiring for Brake Box (2) External Release & Release Signal Output Connector 1-2 pins are the connectors to release the brake externally. Brake compulsory release can be performed by short-circuiting 1-2 pins. When connecting a switch on the external release connector, it is required that the rating of the switch is 30V DC and 1.5mA or more.
Page 282 3.13 Wiring for Brake Box ◆Model: CB-DDB-BK□□□ [3] Connection cable J11SF-03V-KX (JST) J11SFM-03V-KX (JST) Wiring Color Signal Signal Color Wiring AWG20 AWG20 Black －－ Black (Solderless) (Solderless) White White Fig. 3.7-22 Detailed Diagram of CB-DDB-BK□□□ The □□□ of the model is the cable length (L). Applicable up to 20m max. (e.g.: 080 = 8m) 3-119 ME0478-1B...
Page 283 When it is desired to release the brake externally, equip with a brake release switch shown below. 3.14.2 Connection Development Diagram Shown below is an expanded connection diagram for the brake compulsory release switch. XSEL2 CONTROLLER Brake Release Switch (30V DC, 10mA or more)
Page 284 3.14 Wiring the Brake Forced Release Switch 3.14.3 Wiring method of the Brake Forced Release Switch This connector is used to connect the brake release switch on the actuator (it functions in the same way as the brake switch on the controller). Short-circuiting the COM and BKMRL terminals of this connector releases the brake.
Page 285 3.14.4 External Brake Release Switch Connection Cable It is a connection cable to make a brake release operation at an external switch by connecting to XSEL2. (*1) The cables are left bare cut without connectors so connection to a switch can be freely performed.
Page 286 3.15 Wiring for Absolute Battery Box 3.15 Wiring for Absolute Battery Box Shown below is an expanded connection diagram for the absolute battery box. Absolute Battery Box: XSEL2 UT-XSEL2-ABB 8-axis Absolute Battery 7-axis Absolute Battery 6-axis Absolute Battery 5-axis Absolute Battery...
Page 287 3.16 Wiring for General-purpose SIO Connector 3.16 Wiring for General-purpose SIO Connector 3.16.1 Changeover of Communication Specifications on General-purpose SIO Connector A general-purpose SIO connector is applicable for two types of interface specifications, RS-232C and RS-485. Changeover between the interface specifications should be conducted on the “General-purpose SIO toggle switch”.
Page 288 3.16 Wiring for General-purpose SIO Connector 3.16.2 General-purpose SIO Connector Terminal Assignments Table 3.16-1 General-purpose SIO connector terminal assignments Pin No. Direction Signal Name Contents (CD) (Carrier detection: Not used) Receive data (RXD) Transmit data (TXD) Not used (Short-circuited to Pin No. 6 inside) Signal ground Not used (Short-circuited to Pin No.
Page 289 A communication cable should be either prepared by the user or purchased an SIO communication cable from IAI. For details of an SIO communication cable provided by IAI, refer to [3.16.7 SIO Communication Cable]. Host Master (PLC, PC etc.)
Page 290 When a general-purpose SIO port is used with RS-232C, set the general-purpose SIO toggle switch to the "RS-232C" side before turning on the power supply to XSEL2. For details, refer to [Separate manual, SEL Language Programming Manual (Control number: ME0224)].
Page 291 It is a connection diagram for when having the serial communication using RS-485 from the host controller. A communication cable should be either prepared by the user or purchased an SIO communication cable from IAI. For details of an SIO communication cable provided by IAI, refer to [3.16.7 SIO Communication Cable]. Host Master XSEL2 Controller (PLC, PC etc.)
Page 292 When a general-purpose SIO port is used with RS-485, set the general-purpose SIO toggle switch to the "RS485" side before turning on the power supply to XSEL2. For details, refer to [Separate manual, SEL Language Programming Manual (Control number: ME0224)].
Page 293 3.16 Wiring for General-purpose SIO Connector 3.16.7 SIO Communication Cable It is a cable to connect to XSEL2 and connect to an external serial communication device. (*1) In order to have a free wiring for connection to external devices, the cable end is just cut and not terminated.
Page 294 3.17 Wiring for the Teaching Tool 3.17.1 Connecting the Teaching Port It is a connection diagram of the communication port when a teaching tool is to be connected. The dedicated cable should be used. XSEL2 USB converter PC software Attached cable...
Page 295 3.17 Wiring for the Teaching Tool 3.17.2 Teaching Connector Interface Specifications  Terminal assignmentsh Table 3.17-1 Pin Assignment of Teaching Connector Pin No. Direction Signal Name Contents Signal ground Power supply output (teaching pendant power) Not connected (Short-circuited to Pin No. 17 inside) EMGS2+ Emergency stop contact output 2+ EMGS2-...
Page 296 3.17 Wiring for the Teaching Tool Table 3.17-2 List of Teaching Connector Interface Specifications Specifications Remarks 0.8mm pitch interface HDR-EC26LFDT1-SLD+ (Manufactured by Honda Connector connector Tsushin Kogyo) Signal assignments conform to the DTE terminal Asynchronous half duplex Communication layout specified by the RS-232C standard. communication Method Undefined lines, etc., are assigned to a dedicated...
Page 297 3.17 Wiring for the Teaching Tool 3.17.3 Wiring for the Teaching Tool The teaching connector is used to connect an IAI teaching pendant or PC (PC software) so that the equipment can be operated, set up or otherwise manipulated. Without anything inserted to this connector, an actuator would not activate.
Page 298 3.17 Wiring for the Teaching Tool  Cable Enclosed to PC Teaching Software and Conversion Unit Type 1) PC connection cable 5m + Emergency stop box Model: CB-ST-E1MW050-EB (Cable only model: CB-ST-E1MW050) * Enclosed to IA-101-X-MW, IA-101-X-MW-JS and IA-101-X-USBMW Relay Box Side of Teaching PC side Pendant 5,000...
Page 299 3.17 Wiring for the Teaching Tool 2) PC Connection Cable 5m + Emergency Stop Box Complied with Safety Category 4 Model: CB-ST-A2MW050-EB (Cable only model: CB-ST-A2MW050) 5,000 Teaching port side PC side (Connector conversion cable side) [Wiring view] D-Sub9 pin socket D-Sub25 pin socket Signal Name Wire Color...
Page 300 3.17 Wiring for the Teaching Tool 4) Connector conversion cable Model: CB-SEL-SJS002 (Cable length 0.2m) Enclosed to IA-101-XA-USBMW-JS PC connection cable side Controller side Fig. 3.17-7 Connector Conversion Cable (Model: CB-SEL-SJS002) 5) USB cable (3m) Model: CB-SEL-USB030 Enclosed to IA-101-XA-USBMW-JS 3000 PC Side USB conversion adapter side...
Page 301 Insert the dummy plug (DP-4S) to the teaching connector when it is required to operate an actuator. Prepare a USB cable by the customer. XSEL2 Dummy plug DP-4S Fig. 3.18-1 Example of Wiring Between USB Port and PC in XSEL2  USB Connector Specifications Table 3.18-1 USB Connector Specifications Applied Connector USB mini-B...
Page 302 3.18 Wiring for USB ●Pin Assignment of USB Connector Table 3.18-2 Pin Assignment of USB Connector Pin No. Signal Name Signal Contents Vbus USB Power supply input (+5V) USB Differential transmitted/received data - side USB Differential transmitted/received data + side USB ID (dentification) terminal (Open at cable end) Power supply ground Fig.
Page 303 [XSEL2_PLC Feature Instruction Manual (Control number:ME0479)]. XSEL2 Ethernet cable Dummy plug DP-4S Fig. 3.19-1 Example of Wiring Between Ethernet Port and PC in XSEL2  Ethernet Connector Specifications Table 3.19-1 Ethernet Connector Specifications Appiled Connector RJ-45 connector (8 Pin) 1-2301994-1 (TE)
Page 304 3.19 Wiring for Ethernet ●Pin Assignment of Ethernet Connection Connector Table 3.19-2 Pin Assignment of Ethernet connector Signal Name Pin No. Signal Contents 1000Mbps 10/100Mbps TRD0+ Send/receive differential + (Data 0) / send data + TRD0- Send/receive differential -(Data 0) / send data - TRD1+ Send/receive differential + (Data 1) / send data + TRD2+...
Page 305 XSEL2-TS/TL Chapter Startup/Operation Power ON/OFF the Controller ································ 4-1 4.1.1 Power ON ································································ 4-1 4.1.2 Power OFF ······························································ 4-3 Panel Window Display ·········································· 4-4 4.2.1 Panel Window Display ················································ 4-4 4.2.2 Panel Window Display List ·········································· 4-5 Axis setting ························································ 4-7 4.3.1...
Page 306 How to Assignment I/O ··············································· 4-25 Position Data (Position Table) ································ 4-28 4.5.1 Overview of Position Data ··········································· 4-28 4.5.2 Position Data Format (XSEL2-TS/TL) ···························· 4-29 4.5.3 Caution When Handling Position Data ··························· 4-33 4.5.4 Caution When Handling Position Data ··························· 4-34 SEL Programming ···············································...
Page 307 4.1 Power ON/OFF the Controller 4.1 Power ON/OFF the Controller 4.1.1 Power ON Here, explains how to supply power to the controller.  Power on procedure The following procedure is applied for cases where the parameters are the same as those at delivery, and the unit is not in the error occurrence mode or emergency stop mode.
Page 308 ・Single-Phase Type: 200 to 230V AC ±10%/ Within 2s ・Single-Phase 100V Type: 100 to 115V AC ±10% Fig. 4.1-1 Power ON the XSEL2 Controller Caution ● Basically, the control power supply and the drive power supply should be applied at the same time when a controller is started up.
Page 309 ・Single-Phase 100V Type: 100 to 115V AC±10% Peripheral Device (PLC etc.) Power supply for brake release, I/O power supply Fig. 4.1-2 Power OFF the XSEL2 Controller Caution ● When having the control power supply and the drive power supply turned back on once...
Page 310 4.2 Panel Window Display 4.2 Panel Window Display 4.2.1 Panel Window Display The 4-digit, 7-segment LED shows the controller status. When the unit is started up normally, “ ” is displayed after the initial processing display. If an indication “E***” is displayed, check [Chapter 8 Trouble Shooting]. Refer to [4.2.2 Panel window display list, Table 4.2.2 Panel Window Display List] for other 7-segment displays on CODE.
Page 311 4.2 Panel Window Display 4.2.2 Panel Window Display List The 4-digit, 7-segment LED shows the controller status. Table 4.2-2 Panel window display list Contents Display Priority (Note 1) The AC power is cut off. (Momentary power failure or power-supply voltage drop is also a possibility.) A system-shutdown level error is present.
Page 312 4.2 Panel Window Display Contents Display Priority (Note 1) In updating mode of main CPU firmware In process of main CPU firmware update (*changes in order of 0, 1, …, D, E or draws “8” feature) Main CPU firmware updating process completed The slave is being updated.
Page 313 4.3 Axis Setting 4.3.1 Overview of Axis Setting XSEL2 is applicable for axis groups. Setting of axes should be done in "Axis Setting" in a teaching tool or Axis Group Parameters from No. 1 to No. 8. (Physical axes are to be assigned to logical axes) About "Physical Axes"...
Page 314 4.3 Axis Setting 4.3.2 Simple Setting Method Here, explains to example for PC software. Select “Controller (C)” -> “Axis Setting (G)” in the menu, and Fig. 4.3-2 should be displayed. [Setting method] The logical axes should be assigned in the order of the actually mounted physical axes in the driver unit.
Page 315 4.3 Axis Setting  When “No” Pressed The screen switches to the window shown in Fig. 4.3-4. Drag the actuator figure (hereinafter described as axis figure) located in the physical axis area on the top of the window, drop it in the logical axis area, and the Assignment of the axes can be performed.
Page 316 4.3 Axis Setting 4.3.3 Explanation of Each Areas [1] Physical Axis Area In the physical area, there should be already installed axis figures displayed. (1) Already Installed Axis Figures Fig. 4.3-5 Physical Area Image (1) Already Installed Axis Figures In the Axis figure of the already installed, there should be following information displayed. Table 4.3-1 Already Installed Figures explanation Symbol Explanation...
Page 317 4.3 Axis Setting [2] Logical Axis Area In the logical axis area, the axis figures that was assigned should be displayed. There should always be eight axis slots (Axis 1 to Axis 8), and in the slot with no axis assigned should show “Not Assigned”.
Page 318 4.3 Axis Setting 4.3.4 Special Mechanism Axes The special mechanism axis is a general term of axes that special mechanism is assigned as the function of the actuator. There are three types as shown below for the special mechanism axes. (1) SCARA Robot Fig.
Page 319 4.3 Axis Setting 4.3.5 Axes Group Setting In the axes group setting, multiple axes should be managed in the unit of “Axes Group”, and individual position data can be assigned to each group. With this feature, it is available to move the axes with the same position data when there are two axes with the same structure.
Page 320 4.4.1 How to Receive/Send I/O Signals The I/O port can deliver the data with the XSEL2 controller and external signals through interface. One port can exchange data for one contact (1 bit). Data is exchanged via PIOs (24V I/Os) or over a Field Network.
Page 321 4.4 Receiving and Sending of I/O Signals Necessary for Operation Data for one contact (1 bit) can be sent to one port. One type can be assigned to one port in each I/O interface. (One port cannot be assigned to multiple I/O interfaces) The following dedicated features should be assigned to each input and output ports.
Page 322 4.4 Receiving and Sending of I/O Signals Necessary for Operation Features in each input port can be changed by setting in following I/O parameters Port Function (At the delivery) Parameter name Function General-purpose input Input function Drive-source cutoff reset input (ON edge) (Valid when General-purpose input selection 014 cancelling cause)
Page 323 4.4 Receiving and Sending of I/O Signals Necessary for Operation Features in each input port can be changed by setting in following I/O parameters Port Function (At the delivery) Parameter name Function Specify the port number to be assigned to the function of Port number assigned I/O Parameter No.
Page 324 4.4 Receiving and Sending of I/O Signals Necessary for Operation  Output Table 4.4-3 Features in each output port can be changed by setting in following I/O parameters Port Function (At the delivery) Parameter name Function General-purpose output Error output at the operation cancellation level or more (ON) Error output at the operation cancellation level or more (OFF) Error at the operation cancellation level or more +...
Page 325 4.4 Receiving and Sending of I/O Signals Necessary for Operation Features in each output port can be changed by setting in following I/O parameters Port Function (At the delivery) Parameter name Function General-purpose output Output function 8th axis in-position output General-purpose output Output during the 8th axis servo ON selection 312...
Page 326 4.4 Receiving and Sending of I/O Signals Necessary for Operation Features in each output port can be changed by setting in following I/O parameters Port Function (At the delivery) Parameter name Function General-purpose output Output function 5th axis in-position output selection 309 Output during the 5th axis servo ON (Area 2)
Page 327 4.4 Receiving and Sending of I/O Signals Necessary for Operation Features in each output port can be changed by setting in following I/O parameters Port Function (At the delivery) Parameter name Function Port number Specify the port number to be assigned to the function of I/O assigned to output 4000 General-purpose output...
Page 328 4.4 Receiving and Sending of I/O Signals Necessary for Operation Features in each output port can be changed by setting in following I/O parameters Port Function (At the delivery) Parameter name Function Port number Specify the port number to be assigned to the function of I/O assigned to output Parameter No.
Page 329 4.4 Receiving and Sending of I/O Signals Necessary for Operation 4.4.2 I/O Points The I/O port can deliver the data with the XSEL2 controller and external signals through interface. [1] PIO It differs depending on the PIO (description of controller model code) mounted to a controller.
Page 330 4.4 Receiving and Sending of I/O Signals Necessary for Operation 4.4.3 I/O Assignment Shown below are the I/O assignment specifications of the XSEL2 controllers. Table 4.4-5 Item Specification Remarks The input signals of a mounted I/O interface 0 to 299 Input should be assigned in order from Port No.
Page 331 4.4 Receiving and Sending of I/O Signals Necessary for Operation 4.4.4 How to assignment I/O There are two ways, “automatic assigning” and “fixed assigning”, for how to assign the I/O interface to the input and output I/O port. The “automatic assigning” assigns the input port from No. 0 in a row and the output port from 300. The “fixed assigning”...
Page 332 4.4 Receiving and Sending of I/O Signals Necessary for Operation [2] Fixed assignment It is a way to assign each data of input and output to required port numbers. The start port number should be set to each IO slot in parameters. When both of I/O Slot 1 and I/O Slot 2 are to be used, it is necessary to set the start port number with attention not to duplicate the port number for each I/O slot.
Page 333 4.4 Receiving and Sending of I/O Signals Necessary for Operation [Setting example] When mounting CC-Link to I/O Slot 1, using input 512 points/output 512 points type, and setting the automatic assignment, assignment should be made as follows. Input: Port No.0 to 295, 1000 to 1215 Output: Port No.300 to 595, 3000 to 3215 CC-Link (Input 512 points/Output 512 points used)
Page 334 (current position) in the position table. After registering the coordinates necessary for operation to the position data, the position table should be written in the XSEL2 controller. It is also available to transfer position data created offline and use it.
Page 335 4.5 Position Data (Position Table) 4.5.2 Position Data Format (XSEL2-TS/TL) Here, explains the position data format in XSEL2. The position data format should differ in XSEL2- TS/TL and XSEL2-TSX/TLX. Below, shows an example of display in the XSEL PC teaching software.
Page 336 The velocity should be input in mm/s. Available range is from 1 to 9999. For XSEL2-T, All Axes Common Parameter No. 21 “Operation Velocity Max. for Input Check” should be the maximum value in the set value when All Axes Common Parameter No. 20 “Max.
Page 337 4.5 Position Data (Position Table)  OutFn Set the output function code. There are two ways to establish setting. Without setting, the output operation will be invalid. (1) Bring the cursor to the setting position and click to show the output function code list. Select in the list from ON, OFF, etc.
Page 338 4.5 Position Data (Position Table) Table4.5-4 Settings for Each Output Function Output Function Function Parameter 1 Function Parameter 2 Code Name Turns ON after movement Output Delay Timer Time Output Pulse Timer Time (0.000 to 999.999 second) (0.000 to 999.999 second) Turns OFF after movement Turns ON after passed specified distance...
Page 339 Shown below is a caution when handling position data in XSEL2.  Axis Group • In XSEL2, eight axes available for control can be separate into two groups for control. • Position data should be set for each axis group. The position count should be evenly allocated to the number of groups.
Page 340 4.5 Position Data (Position Table) 4.5.4 Caution When Handling Position Data Shown below is a caution when handling position data in XSEL2. Caution ● Cautions in data transfer and flash writing Never shut OFF the main power while the data is transmitting and writing into flash.
Page 341 RSEL system Number of comment characters 32 half-width characters, 16 full-width characters After creating a program, the program should be written in XSEL2. Caution ● Cautions in data transfer and flash writing Never shut OFF the main power while the data is transmitting and writing into flash.
Page 342 Control Instruction Manual Referred Source Number XSEL PC Software ME0483 Chapter 4 Program Edit (XSEL2 section) Instruction Manual Touch Panel Teaching Pendant TB-02 Applicable for Program Controller ME0356 Chapter 10 Program Edit Instruction Manual Touch Panel Teaching Pendant TB-03 Applicable for Program Controller...
Page 343 For details of each command language, refer to the [separate volume SEL Language Programing Manual (ME0224)]. ○: Applicable, ×:Not Applicable, △: Planned to Apply Table 4.6-4 SEL Command language list Applicable models Category Command Function XSEL2-T□ XSEL2-T□X Assign ○ ○ TRAN Copy ○...
Page 344 4.6 SEL Programming ○: Applicable, ×:Not Applicable, △: Planned to Apply Applicable models Category Command Function XSEL2-T□ XSEL2-T□X BT□□ Output, flag [ON/OF/NT] operation ○ ○ WT□□ Wait for input and output, flag [ON/OF] ○ ○ Input binary number (Max 32 bit) ○...
Page 345 4.6 SEL Programming ○: Applicable, ×:Not Applicable, △: Planned to Apply Applicable models Category Command Function XSEL2-T□ XSEL2-T□X Set speed ○ ○ OVRD Speed coefficient settings ○ ○ Set acceleration ○ ○ Set deceleration ○ ○ VLMX Specify VLMX speed ○...
Page 346 4.6 SEL Programming ○: Applicable, ×:Not Applicable, △: Planned to Apply Applicable models Category Command Function XSEL2-T□ XSEL2-T□X Change the current SCARA arm system to right RIGH × ○ LEFT Change the current SCARA arm system to left arm ×...
Page 347 4.6 SEL Programming ○: Applicable, ×:Not Applicable, △: Planned to Apply Applicable models Category Command Function XSEL2-T□ XSEL2-T□X Center position center angle indicated arc ARCC ○ ○ movement Termination position center angle indicated arc ARCD ○ ○ movement PUSH Move by push motion ○...
Page 348 4.6 SEL Programming ○: Applicable, ×:Not Applicable, △: Planned to Apply Applicable models Category Command Function XSEL2-T□ XSEL2-T□X OPEN Open channel ○ ○ CLOS Close channel ○ ○ READ Input from channel ○ ○ WRIT Output to channel ○ ○...
Page 349 4.6 SEL Programming ○: Applicable, ×:Not Applicable, △: Planned to Apply Applicable models Category Command Function XSEL2-T□ XSEL2-T□X IF□□ Compare [EQ/NE/GT/GE/LT/LE] ○ ○ IS□□ Compare strings [EQ/NE] ○ ○ Declaration of IF Command unsuccessful ELSE ○ ○ execution destination EDIF IF termination declaration ○...
Page 350 4.6 SEL Programming ○: Applicable, ×:Not Applicable, △: Planned to Apply Applicable models Category Command Function XSEL2-T□ XSEL2-T□X ECMD1 Get motor current value ○ ○ ECMD2 Get home sensor status ○ ○ ECMD3 Get overrun sensor status ○ ○ ECMD4 Get creep sensor status ○...
Page 351 4.6 SEL Programming 4.6.3 SEL Data List A List of SEL command is shown below. Function Global area Local area Input port 000-299 (300) Output port 300-599 (300) Extended Input Ports 1,000-3,999 (3,000) Extended Output Ports 4,000-6,999 (3,000) Flag 600-899 (300) 900-999 (100) 200-299 (100) 1,200-1,299 (100)
Page 352 4.6 SEL Programming 4.6.4 Memory Map XSEL2 is equipped with some storage domains by retaining memory and some storage domains by flash memory. Also note that transferring data from the PC software or teaching pendant to the controller will only write the data in the controller’s memory, as illustrated below, and the data will be cleared once the...
Page 353 4.6 SEL Programming Since programs, parameters and symbols are loaded from the flash memory upon restart, these data in the temporary memories will return to the conditions before editing unless written to the flash memory. The controller always operates according to the data in main CPU memory (excluding parameters). (Note) 10% from the top position data should be saved in the non-volatile RAM and the remaining should be saved in the flash memory.
Page 354 4.6 SEL Programming 4.6.5 Virtual I/O Port Virtual I/O ports are provided so that the controller can notify internal information. They are used to warn a low power-supply voltage, notify errors, etc. Use these ports as necessary. Input/Output Port # Function Attributes 7000...
Page 355 4.6 SEL Programming Input/Output Port # Function Attributes 7031 to System Reservation 7042 7043 1st axis home return completion 7044 2nd axis home return completion 7045 3rd axis home return completion 7046 4th axis home return completion 7047 5th axis home return completion 7048 6th axis home return completion 7049...
Page 356 4.6 SEL Programming Input/Output Port # Function Attributes 7102 Program No. 02 is being executed (or paused). 7227 Program No. 127 is being executed (or paused). Input 7228 Program No. 128 is being executed (or paused). 7229 to System Reservation 7299 A latch cancellation signal is output to cancel the latch signal indicating a cause of all-operation cancellation (7011).
Page 357 4.7 Types of Operations The XSEL2 controller is a programming controller that can operate without a host controller. For a program to be used, use the dedicated program language of IAI (SEL language) or the PLC language (complied with International Standard IEC61131-3).
Page 358 No. and the other is to start up with the program No. selected externally. 4.8.1 Auto Start upon Power On After the power is turned ON, the program with its No. registered in the XSEL2 controller, can be automatically started up. Shown below is explanation how to do it.
Page 359 1) Set the parameter No. 33 to “2”. The program starts when input port 003 is turned ON, and stops when the port is turned OFF. 2) Set the mode switch on the XSEL2 to the AUTO position. 3) Turn on the power.
Page 360 4.8 Program Operation 4.8.2 Starting a Program by Specifying its Program Number The program to be started up, can be started with its number specified externally and start-up signal input. Shown below is explanation how to do it. Connect the Teaching tool and perform the setting, referring to the set values in the following table.
Page 361 4.8 Program Operation 2) Input the program No. 0.01s or more after the XSEL2 is started up (After Normal Start-up = RDY signal ON). 3) Set in the input ports set by I/O parameter No. 30, the program number of the program you want to start.
Page 362 4.9 Stopping Method and Recovery 4.9 Stopping Method and Recovery 4.9.1 Stopping Method Actuator operation can be stopped in two methods: normal operation stop and emergency stop. (1) Normal operation stop Normal position control is active: Set a deceleration operation plan and cause the actuator to decelerate to a stop, according to the plan, under normal position control (2) Stop with immediate servo-OFF in case of emergency...
Page 363 4.9 Stopping Method and Recovery Shown below are the errors when having an immediate servo-off stop in an emergency of Stop Process (2). Table 4.9-2 Errors When Immediate Servo-OFF Stop in Emergency Error No. Error Name Driver-side detection synchronization communication error Driver IPM15V voltage drop error Driver current detection A/D offset exceeded Feedback pulse synchronization error (detected on speed loop side)
Page 364 4.9 Stopping Method and Recovery 4.9.2 Recovery [1] Drive-source recovery request (1) Method of drive-source recovery request Recovery of drive source can be requested by one of the following methods: • Set I/O parameter No. 44 to “1 (input selection function 014 = drive-source cutoff reset input)”, and then turn ON input port No.
Page 365 4.9 Stopping Method and Recovery [2] Operation-pause reset request (1) Method of operation-pause reset request Reset of operation pause can be requested by one of the following methods: • Set I/O parameter No. 35 to “1 (input selection function 005 = operation-pause reset signal)”, and then turn ON input port No.
Page 366 4.10 Safety Circuit Operation Timings 4.10 Safety Circuit Operation Timings XSEL2 is a controller available to comply with Safety Categories. This section, shown below are examples of operations based on the following settings: • I/O parameter No. 44 = “0” (Drive-source cutoff reset input enabled) •...
Page 367 4.10 Safety Circuit Operation Timings 4.10.2 Power on During Emergency Stop 200V AC control power supply Successful start of CPU I/O output signal at port No.301, ready signal RDY (system I/O) SDN (system I/O) EMG1, EMG2 (system I/O) RDY, SDN = ON upon cancellation of emergency stop ENB1, ENB2 (system I/O) No error Secret level error...
Page 368 4.10 Safety Circuit Operation Timings 4.10.3 Enable Operation 200V AC control power supply Successful start of CPU I/O output signal at port No.301, ready signal RDY (system I/O) SDN (system I/O) EMG1, EMG2 (system I/O) ENB1, ENB2 (system I/O) Enable switch = ON Enable switch = OFF No error Secret level error...
Page 369 4.10 Safety Circuit Operation Timings 4.10.4 Occurrence of System-shutdown Level Error 200V AC control power supply Successful start of CPU I/O output signal at port No.301, ready signal RDY (system I/O) SDN (system I/O) EMG1, EMG2 (system I/O) ENB1, ENB2 (system I/O) No error Secret level error No error...
Page 370 4.10 Safety Circuit Operation Timings 4.10.5 Occurrence of Cold-start Level Error 200V AC control power supply Successful start of CPU I/O output signal at port No.301, ready signal RDY (system I/O) The timings of SDN and RDY vary slightly depending on the specific nature of the error. SDN (system I/O) SDN turns OFF when cancellation of all the programs, errors that require servo-OFF on all...
Page 371 4.10 Safety Circuit Operation Timings 4.10.6 Occurrence of Operation-cancellation Level Error 200V AC control power supply Successful start of CPU I/O output signal at port No.301, ready signal RDY (system I/O) SDN (system I/O) EMG1, EMG2 (system I/O) ENB1, ENB2 (system I/O) No error Secret level error No error...
Page 372 The ELECYLINDER connection module board is an interface board capable of connecting a product that can be operated simply, such as ELECYLINDER, directly to XSEL2 and controlling it. In order to use this feature, it is necessary to select "EL (ELECYLINDER Connection type" Option in either of I/O Slot 1 or I/O Slot 2, or in both of them.
Page 373 EC connection unit. [Operational image] 1) Input a movement command signal (forward or backward) from the host device to XSEL2. 2) Input the movement command signal from XSEL2 to each unit of ELECYLINDER.
Page 374 [Operational image] 1) A movement command signal (forward or backward) should be input by the SEL program. 2) Input the movement command signal from XSEL2 to each unit of ELECYLINDER. 3) ELECYLINDER units start moving. 4) A position detection signal (Forward end or backward end) gets output from ELECYLINDER.
Page 375 4) A position detection signal (forward end or backward end) gets output from ELECYLINDER. 5) The position detection signal should be output from XSEL2 to a program in the PLC features. (The position detection signal should be passed from SEL system to the software PLC by the...
Page 376 4.11 Operation with EC Connection Module 4.11.3 Test Run In MANU Mode, ELECYLINDER should not receive any command on the input and output ports. When it is required to have a trial run by the input and output ports in MANU Mode, establish the setting in the XSEL PC software or a teaching pendant (TB-02/03).
Page 377 4.11 Operation with EC Connection Module Caution ● In MANU Mode and “Permit EC I/O Command” at the same time, teaching operations of ELECYLINDER from the PC software cannot be performed. Set it to “Prohibit EC I/O Command” when teaching operation needs to be performed. ●...
Page 378 4.11 Operation with EC Connection Module 4.11.4 Input and Output signals [1] I/O Assignment to ELECYLINDER Connection Module Board Same as the field network, PIO and so on, assignment should be made to the input / output port and extension input / output ports. [2] Contents of I/O signals for ELECYLINDER The ELECYLINDER connection module board should occupy input 4 points / output 4 points for one axis of ELECYLINDER, and input 8 points / output 8 points for two axes.
Page 379 4.11 Operation with EC Connection Module (1) ELECYLINDER Tabale 4.11-1 ELECYLINDER I/O signals Signal Category Signal Name Function Overview Abbreviation Turning ON sends it backward. Turning OFF midway through operation will cause a gradual stop. Backward Turning ON when home return is not complete triggers home return operation.
Page 380 4.11 Operation with EC Connection Module (2) Conveyor Control Motor (CCM)  When Parameter No. 7 Select Command System is “0: Rotation/Direction” Table 4.11-2 CCM Input and Output Signals (Select Command System: Rotation/Direction) Signal Category Signal Name Function Overview Abbreviation Turning ON sends it rotates.
Page 381 4.11 Operation with EC Connection Module  When Parameter No. 7 Select Command System is “1: CCW/CW” Table 4.11-3 CCM Input and Output Signals (Select Command System: CCW/CW) Signal Category Signal Name Function Overview Abbreviation Turn it on and rotation should be made in the counterclockwise direction.
Page 382 4.11 Operation with EC Connection Module (3) ROBO PUMP (RP)  When Parameter No. 5 Select PIO pattern is “0: Double solenoid” Table 4.11-4 ROBO PUMP input/output signals (Select PIO Pattern: Double solenoid) Signal Category Signal Name Function Overview Abbreviation It is an input signal for the release command.
Page 383 4.11 Operation with EC Connection Module  When Parameter No. 5 Select PIO pattern is “1: Single solenoid” Table 4.11-5 ROBO PUMP Input and Output Signals (Select PIO Pattern: Single solenoid) Signal Category Signal Name Function Overview Abbreviation It is a signal to make the suction / release commands.
Page 384 4.11 Operation with EC Connection Module  When Parameter No. 5 Select PIO pattern is “2: Double solenoid 2” Table 4.11-6 ROBO PUMP Input and Output Signals (Select PIO Pattern: Double solenoid 2) Signal Category Signal Name Function Overview Abbreviation It is an input signal for the release command.
Page 385 4.11 Operation with EC Connection Module 4.11.5 How to Set up ELECYLINDER Select "EC (E)" → "Teaching Tool (T)" at the menu bar in the XSEL PC software, and connection to the identified ELECYLINDER should be made and the following EC teaching tool should get launched.
Page 386 4.11 Operation with EC Connection Module 4.11.6 XSEL2 Parameter Settings [1] Setting up Control System The control system of ELECYLINDER should be set in Option Board Parameter No. 2. Table 4.11-7 Optional Board Parameter No.2 Input Parameter Name Unit Remarks...
Page 387 (Number of ports depend on unit type) * EC operation by I/O control in the PLC features should be set in the PLC parameters from No. 5 to 8 [Image of I/O assignment] XSEL2 sysytem Top port No. Input (I/O parametor No.16 or 233)
Page 388 4.11 Operation with EC Connection Module [3] Control by I/O in PLC Features The top input and output port numbers to conduct input and output to the software PLC in each module by not using input and output ports assigned to the ELECYLINDER connection module should be set to the parameters.
Page 389 4.11 Operation with EC Connection Module [Image of I/O assignment] XSEL2 sysytem Top port No. Input (I/O parametor No.16 or 233) Number of Points to be Used EC Connection Module (8 points fixed) Board Occupied Domain Software PLC Occupied Domain Top port No.
Page 390 4.11 Operation with EC Connection Module 4-84 ME0478-1B...
Page 391 XSEL2-TS/TL XSEL2-TS/TL 章 Chapter PIO/Field Network I/O Signals ························································· 5-1 5.1.1 How to Receive/Send I/O Signals ···································· 5-1 5.1.2 I/O Points ··································································· 5-10 I/O Assignment Specifications ································ 5-11 How to Assignment I/O ········································· 5-12 5.3.1 Automatic Assignment ··················································· 5-12 5.3.2 Fixed Assignment ························································· 5-13 5.3.3 Divided I/O Assignment ·················································...
Page 392 Pulse Count Feature ············································ 5-48 5.5.1 Input Pulse Count Feature ············································· 5-48 I/O Interface Setting ············································· 5-49 5.6.1 Functional Specifications of the I/O Interface ····················· 5-49 5.6.2 Parallel I/O, Remote I/O ················································· 5-51 5.6.3 I/O Ports and Reading and Writing of Data ························ 5-53 5.6.4 Example of Use of Each Network ····································...
Page 393 5.1.1 How to Receive/Send I/O Signals The I/O port can deliver the data with the XSEL2 controller and external signals through interface. One port can exchange data for one contact (1 bit). Data is exchanged via PIOs (24V I/Os) or over a Field Network.
Page 394 5.1 I/O Signals Data for one contact (1 bit) can be sent to one port. One type can be assigned to one port in each I/O interface. (One port cannot be assigned to several I/O interfaces.) The following dedicated features should be assigned to each input and output ports. These dedicated features can be assigned to other input and output ports by parameters.
Page 395 5.1 I/O Signals Features in each input port can be changed by setting in following I/O parameters Port Function (At the delivery) Parameter name Function General-purpose input Input function Drive-source cutoff reset input (ON edge) (Valid when General-purpose input selection 014 cancelling cause)) Program number specified for program start General-purpose input...
Page 396 5.1 I/O Signals Features in each input port can be changed by setting in following I/O parameters Port Function (At the delivery) Parameter name Function Specify the port number to be assigned to the function of Port number assigned I/O Parameter No. 38, “Input function selectionion 008.” 1000 General-purpose input to input function...
Page 397 5.1 I/O Signals  Output Table 5.1-3 I/O Signal Functions (Output) Features in each output port can be changed by setting in following I/O parameters Port Function (At the delivery) Parameter name Function General-purpose output Error output at the operation cancellation level or more (ON) Error output at the operation cancellation level or more (OFF) Error at the operation cancellation level or more +...
Page 398 5.1 I/O Signals Features in each output port can be changed by setting in following I/O parameters Port Function (At the delivery) Parameter name Function General-purpose output Output function 8th axis in-position output General-purpose output Output during the 8th axis servo ON selection 312 System Reservation General-purpose input...
Page 399 5.1 I/O Signals Features in each output port can be changed by setting in following I/O parameters Port Function (At the delivery) Parameter name Function General-purpose output Output function 5th axis in-position output selection 309 Output during the 5th axis servo ON (Area 2) System Reservation General-purpose output...
Page 400 5.1 I/O Signals Features in each output port can be changed by setting in following I/O parameters Port Function (At the delivery) Parameter name Function Port number Specify the port number to be assigned to the function of I/O assigned to output 4000 General-purpose output Parameter No.
Page 401 5.1 I/O Signals Features in each output port can be changed by setting in following I/O parameters Port Function (At the delivery) Parameter name Function Port number Specify the port number to be assigned to the function of I/O assigned to output Parameter No.
Page 402 5.1 I/O Signals 5.1.2 I/O Points The I/O port can deliver the data with the XSEL2 controller and external signals through interface. [1] PIO It differs depending on the PIO (description of controller model code) mounted to a controller. For the relation between each PIO and I/O point count, refer to the following.
Page 403 5.2 I/O Assignment Specifications 5.2 I/O Assignment Specifications Shown below are the I/O assignment specifications of the XSEL2 controllers. Table 5.2-1 I/O Assignment specifications Item Specification Remarks The input signals of a mounted I/O interface 0 to 299 Input should be assigned in order from Port No. 0, I/O...
Page 404 5.3 How to Assignment I/O 5.3 How to Assignment I/O There are two ways, “automatic assigning” and “fixed assigning”, for how to assign the I/O interface to the input and output I/O port. The “automatic assigning” assigns the input port from No. 0 in a row and the output port from 300. The “fixed assigning”...
Page 405 5.3 How to assignment I/O 5.3.2 Fixed Assignment It is a way to assign each data of input and output to required port numbers. The start port number should be set to each IO slot in parameters. When both of I/O Slot 1 and I/O Slot 2 are to be used, it is necessary to set the start port number with attention not to duplicate the port number for each I/O slot.
Page 406 5.3 How to Assignment I/O 5.3.3 Divided I/O Assignment When all the number of used I/O points cannot be assigned to the input and output port areas (port numbers from No. 0 to 299 (input) and 300 to 599 (output)) cannot be assigned, the remaining I/O that could not be assigned should be automatically assigned to the extension input and output port areas (port numbers from No.
Page 407 5.3 How to assignment I/O [Setting example] When mounting CC-Link to I/O Slot 1, using input 512 points/output 512 points type, and setting the automatic assignment, assignment should be made as follows. Input: Port No.0 to 295, 1000 to 1215 Output: Port No.300 to 595, 3000 to 3215 CC-Link (Input 512 points/Output 512 pointsused)
Page 408 * The last 16 bits of the remote input and output are prohibited to use as they are the CC-Link system area. As CC-Link for XSEL2 is a remote device station, the user area and system area should be specified in the remote input and output areas RX/RY.
Page 409 Register number figured out by top station count n: Last register number in number of occupied points It should be as shown below depending on number of ports used on XSEL2 side Table 5.4-3 Last register number in number of occupied points...
Page 410 [2] Relationship between I/O Port No. and PLC sddress [Configuration example 1] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 0 and output 300 are set for the start port numbers and input 48 points and output 32 points are set for the number of used ports.
Page 411 5.4 Assignment of Field Network [Configuration example 2] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 128 and output 428 are set for the start port numbers and input 256 points and output 256 points are set for the number of used ports.
Page 412 5.4 Assignment of Field Network [Configuration example 3] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 0 and output 300 are set for the start port numbers and input 1024 points and output 1024 points are set for the number of used ports.
Page 413 5.4 Assignment of Field Network XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 1152 to 1167 RWw0 4152 to 4167 RWr0 1168 to 1183 RWw1 4168 to 4183 RWr1 1184 to 1199...
Page 414 5.4 Assignment of Field Network 5.4.2 CC-Link IE Field [1] Specifictions Sizes for the remote input and output areas (RX/RY) and the remote register input and output areas (RWr/RWw) should be set for when configuration to the master is to be conducted. Follow the calculation method below to set up the sizes of the remote input and output areas (RX/RY) and the remote register input and output areas (RWr/RWw).
Page 415 5.4 Assignment of Field Network 3) Search a size for a range that a larger bit count of either the remote input bit count or remote output bit count is included in the table below. The search result should get to the size of the remote input and output areas (RX/RY).
Page 416 [2] Relationship between I/O Port No. and PLC sddress [Configuration example 1] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 0 and output 300 are set for the start port numbers, input 48 points and output 32 points are set for the number of used ports and the remote register input 1 word and output not used.
Page 417 5.4 Assignment of Field Network [Configuration example 3] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 0 and output 300 are set for the start port numbers, input 1024 points and output 1024 points are set for the number of used ports and the remote register input 36 words and output 36 words.
Page 418 5.4 Assignment of Field Network XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 1200 to 1215 RWw3 4200 to 4215 RWr3 1216 to 1231 RWw4 4216 to 4231 RWr4 1232 to 1247...
Page 419 [1] Relationship between I/O Port No. and PLC sddress [Configuration example 1] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 0 and output 300 are set for the start port numbers and input 48 points and output 32 points are set for the number of used ports.
Page 420 5.4 Assignment of Field Network [Configuration example 3] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 0 and output 300 are set for the start port numbers and input 1024 points and output 1024 points are set for the number of used ports.
Page 421 5.4 Assignment of Field Network XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 1184 to 1199 Start CH+30 4184 to 4199 Start CH+30 1200 to 1215 Start CH+31 4200 to 4215...
Page 422 EtherCAT on the XSEL2 (number of input and output ports). In case the number of ports used on the XSEL2 side is not in a unit of 32 bytes, edit the PDO mapping on the master side or set up the parameters (refer to [I/O Parameter No.
Page 423 5.4 Assignment of Field Network [Configuration example 2] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 128 and output 428 are set for the start port numbers and input 256 points and output 256 points are set for the number of used ports.
Page 424 5.4 Assignment of Field Network [Configuration example 3] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 0 and output 300 are set for the start port numbers and input 1024 points and output 1024 points are set for the number of used ports.
Page 425 5.4 Assignment of Field Network XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 1184 to 1199 Start address+30 4184 to 4199 Start address+30 1200 to 1215 Start address+31 4200 to 4215...
Page 426 [1] Relationship between I/O Port No. and PLC sddress [Configuration example 1] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 0 and output 300 are set for the start port numbers and input 48 points and output 32 points are set for the number of used ports.
Page 427 5.4 Assignment of Field Network [Configuration example 3] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 0 and output 300 are set for the start port numbers and input 1024 points and output 1024 points are set for the number of used ports.
Page 428 5.4 Assignment of Field Network XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 1184 to 1199 Start address+60 4184 to 4199 Start address+60 1200 to 1215 Start address+62 4200 to 4215...
Page 429 / special identification. However, it is necessary to match the data size used on the master side and the data size (number of input and output ports) used for PROFIBUS-DP on the XSEL2 side. Notmal ID fomat Special ID format...
Page 430 [2] Relationship between I/O Port No. and PLC sddress [Configuration example 21] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 0 and output 300 are set for the start port numbers and input 48 points and output 32 points are set for the number of used ports.
Page 431 5.4 Assignment of Field Network [Configuration example 3] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 0 and output 300 are set for the start port numbers and input 1024 points and output 1024 points are set for the number of used ports.
Page 432 5.4 Assignment of Field Network XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 1184 to 1199 Start address+60 4184 to 4199 Start address+60 1200 to 1215 Start address+62 4200 to 4215...
Page 433 5.4 Assignment of Field Network 5.4.7 PROFINET IO [1] Specifications Use a 4-word (= 8-byte) or 1-word (= 2-byte) module for setup on the master side (refer to I/O Parameter No. 120 Bit 12-15). However, when using a one-word module, set the number of modules at 64 (total number of input and output used points 1024 points) or less.
Page 434 [2] Relationship between I/O Port No. and PLC sddress [Configuration example 1] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 0 and output 300 are set for the start port numbers and input 48 points and output 32 points are set for the number of used ports.
Page 435 5.4 Assignment of Field Network [Configuration example 2] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 128 and output 428 are set for the start port numbers and input 256 points and output 256 points are set for the number of used ports.
Page 436 5.4 Assignment of Field Network Table 5.4-30 Example of Using 1-word Module XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 128 to 143 Start address 428 to 443 Start address...
Page 437 5.4 Assignment of Field Network [Configuration example 3] The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 0 and output 300 are set for the start port numbers and input 1024 points and output 1024 points are set for the number of used ports.
Page 438 5.4 Assignment of Field Network XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 1152 to 1167 4152 to 4167 1168 to 1183 4168 to 4183 Start address+7 Start address+7 1184 to 1199...
Page 439 IA Net [1] Specifications The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when input 0 and output 300 are set for the start port numbers and input 48 points and output 32 points are set for the number of used ports.
Page 440 5.5 Pulse Count Feature 5.5 Pulse Count Feature In order to use this feature, it is necessary to select the "PIN (Pulse Train Input + PIO)" option on either of I/O Slot 1 or I/O Slot2. 5.5.1 Input Pulse Count Feature It should count the pulse count output from a connected external device such as an encoder.
Page 441 ○ × × (Field Network) Remote I/O Unit Connection × × × ○ × × × × × × × IAI Protocol B × × × × × × × × × × × Serial Communication × × × ×...
Page 442 5.6 I/O Interface Setting The applicable models for each I/O interface should be as follows. A PIO module or each field network module can be mounted on the I/O slots. The model codes of modules available for mounting are as follows. Model Mounted Module Remarks...
Page 443 5.6 I/O Interface Setting 5.6.2 Parallel I/O, Remote I/O [1] I/O Points  PIO Specifications It should be fixed with input 16 points and output 16 points. (Not available to make number of used points variable same as field network) By linking a PIO/SIO/SCON extension unit / PIO unit to a SEL unit in the PIO specification, PIO should become available to use input 144 points and output 144 points at the maximum.
Page 444 PIO/SIO/SCON extension unit / PIO unit are used. Error Monitoring Feature (Line Breakage Detection Feature) Input Port Data Select Feature Selection from XSEL2 input data clear / hold in line in Line Breakage breakage Divided Assignment Feature Reference ...
Page 445 The initial setting in the XSEL2 system is set to conduct reading/writing without swapping the data in the SEL language commands to operate I/O (input and output) ports. Shown below is an example of assignment to the XSEL2 system side and to the master side of each field network (hereinafter described as PLC master).
Page 446 XSEL2 system side Input port No. PLC master side Output word address 1 (High byte) ・・・  Example: Data from the PLC master side (1234h) should become 1234h in the XSEL2 system. PLC muster 0001 0010 0011 0100...
Page 447 PLC master side Output bit address PLC master side Output word address 1(Low byte) ・・・  Example: Data from the PLC master side (1234h) should become 3412h in the XSEL2 system. PLC master 0001 0010 0011 0100 XSEL2 system...
Page 448 * The last 16 bits of remote input and output are prohibited to use as they are system areas for CC-Link. CC-Link in the XSEL2 system is a remote device station, and the user area and system areas are specified in the remote input and output areas RX/RY. The XSEL2 system is applicable only for the remote station ready in the system areas.
Page 449 (m+n) F * The shaded are show the system areas. * m: Register number figured out by top station count * n: Register number figured out by top station count (1, 3, 5, 7, 27 for XSEL2 systems) 5-57 ME0478-1B...
Page 450 The relation between the XSEL2 I/O port numbers and the PLC addresses when it is automatic assignment, input 48 points and output 32 points are as shown below. The XSEL2 I/O port start numbers should be from No. 0 for input and from No. 300 for output, and one station should be occupied (32 bits of the remote input and output (RX/RY) and 4 words of the remote register (RWr/RWw)) on the PLC side.
Page 451 5.6 I/O Interface Setting Example of use (3) The relation between the XSEL2 I/O port numbers and the PLC addresses when it is automatic assignment, input 1024 points and output 1024 points are as shown below. The XSEL2 I/O port start numbers should be from No.
Page 452 5.6 I/O Interface Setting XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 1200 to 1215 RWw3 4200 to 4215 RWr3 1216 to 1231 RWw4 4216 to 4231 RWr4 1232 to 1247...
Page 453 5.6 I/O Interface Setting [2]CC-Link IE Field connection type Set the size of remote input and output areas (RX/RY) and remote resistor input and output areas (RWr/RWw) following the calculation described below in the configuration of the master. [How to Calculate] 1) Substitute the number of ports used for input (I/O Parameter No.
Page 454 5.6 I/O Interface Setting [Table A: Remote input and output area size] Remote Remote Remote Remote Number of Number of Number of Number of Input and Input and Input and Input and Remote Input Remote Input Remote Input Remote Input Output Area Output Area Output Area...
Page 455 5.6 I/O Interface Setting [Example] When number of ports used for input (I/O Parameter No. 14) =128 points, number of ports used for output (I/O Parameter No. 15) = 64 points, number of remote resistor input words (I/O Parameter No. 184) = 2 words and number of remote resistor output words (I/O Parameter No. 185) = 1 word; 1) Calculating the number of remote input bits Number of remote input bits = 128 - 2 ×...
Page 456 48 points, output 32 points, remote register input 1 word and output not used. The XSEL2 I/O port start numbers should be from No. 0 for input and from No. 300 for output. XSEL2 Side...
Page 457 1024 points, output 1024 points, remote register input 36 words and output 36 words. The XSEL2 I/O port start numbers should be from No. 0 for input and from No. 300 for output. XSEL2 Side...
Page 458 5.6 I/O Interface Setting XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 1216 to 1231 RWw4 4216 to 4231 RWr4 1232 to 1247 RWw5 4232 to 4247 RWr5 1248 to 1263...
Page 459 The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when it is automatic assignment, input 48 points and output 32 points. The XSEL2 I/O port start numbers should be from No. 0 for input and from No. 300 for output, and the assignment on the PLC side should be made in order from the Start CH (in 1-word unit).
Page 460 5.6 I/O Interface Setting Example of use (3) The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when it is automatic assignment, input 1024 points and output 1024 points. The XSEL2 I/O port start numbers should be from No.
Page 461 5.6 I/O Interface Setting XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 1216 to 1231 Start CH+32 4216 to 4231 Start CH+32 1232 to 1247 Start CH+33 4232 to 4247...
Page 462 The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when it is automatic assignment, input 48 points and output 32 points. The XSEL2 I/O port start numbers should be from No. 0 for input and from No. 300 for output, and the assignment on the PLC side should be made in order from the Start address (in 1 word unit).
Page 463 5.6 I/O Interface Setting Example of use (3) The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when it is automatic assignment, input 1024 points and output 1024 points. The XSEL2 I/O port start numbers should be from No.
Page 464 5.6 I/O Interface Setting XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 1216 to 1231 Start address+32 4216 to 4231 Start address+32 1232 to 1247 Start address+33 4232 to 4247...
Page 465 The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when it is automatic assignment, input 48 points and output 32 points. The XSEL2 I/O port start numbers should be from No. 0 for input and from No. 300 for output, and the assignment on the PLC side should be made in order from the Start address (in 1 byte unit).
Page 466 5.6 I/O Interface Setting Example of use (3) The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when it is automatic assignment, input 1024 points and output 1024 points. The XSEL2 I/O port start numbers should be from No.
Page 467 5.6 I/O Interface Setting XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 1216 to 1231 Start address+64 4216 to 4231 Start address+64 1232 to 1247 Start address+66 4232 to 4247...
Page 468 The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when it is automatic assignment, input 48 points and output 32 points. The XSEL2 I/O port start numbers should be from No. 0 for input and from No. 300 for output, and the assignment on the PLC side should be made in order from the Start address (in 1 byte unit).
Page 469 5.6 I/O Interface Setting Example of use (3) The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when it is automatic assignment, input 1024 points and output 1024 points. The XSEL2 I/O port start numbers should be from No.
Page 470 5.6 I/O Interface Setting XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 1216 to 1231 Start address+64 4216 to 4231 Start address+64 1232 to 1247 Start address+66 4232 to 4247...
Page 471 5.6 I/O Interface Setting [7] PROFINET IO connection type 4-word (= 8 bytes) module or 1-word (= 2 bytes) module can be selected during the configuration of the master. (Refer to [5.7.1 I/O parameter No.120 ”Network attribute 1” Bits 12-15]). However, when 1-word module is to be used, have the number of modules at 64 (total number of Also, registration is required in the order of Input module ⇒...
Page 472 5.6 I/O Interface Setting [1-Word Module Used] Number of Points Registered Module Number of Points Registered Module Used in Output on PLC Side Used in Input on PLC Side －－ Input 1Word×1 Output 1Word×1 Input 1Word×2 Output 1Word×2 Input 1Word×3 Output 1Word×3 Input 1Word×4 Output 1Word×4...
Page 473 5.6 I/O Interface Setting Number of Points Registered Module Number of Points Registered Module Used in Output on PLC Side Used in Input on PLC Side Input 1Word×38 Output 1Word×38 Input 1Word×39 Output 1Word×39 Input 1Word×40 Output 1Word×40 Input 1Word×41 Output 1Word×41 Input 1Word×42 Output 1Word×42...
Page 474 The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when it is automatic assignment, input 48 points and output 32 points. The XSEL2 I/O port start numbers should be from No. 0 for input and from No. 300 for output, and the assignment on the PLC side should be made in order from the Start address (in 1 words unit).
Page 475 5.6 I/O Interface Setting Example of 1-Word Module Use (3) When set to automatic assignment, input 1024 points and output 1024 points: Number of Input 1-word modules use: 1024 ÷ 16 = 64 Number of outputput 1-word modules use: 1024 ÷ 16 = 64 Therefore, as the number of the registered modules on the PLC side exceeds 64, it cannot be used.
Page 476 The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when it is automatic assignment, input 48 points and output 32 points. The XSEL2 I/O port start numbers should be from No. 0 for input and from No. 300 for output, and the assignment on the PLC side should be made in order from the Start address (in 4 words unit).
Page 477 5.6 I/O Interface Setting Example of 4-Word Module Use (3) The relation between the XSEL2 I/O port numbers and PLC address should be as shown below when it is automatic assignment, input 1024 points and output 1024 points. The XSEL2 I/O port start numbers should be from No.
Page 478 5.6 I/O Interface Setting XSEL2 Side PLC Side Address XSEL2 Side PLC Side Address Input Port No. (OUT) Output Port No. (IN) 1216 to 1231 4216 to 4231 1232 to 1247 4232 to 4247 Start address+8 Start address+8 1248 to 1263...
Page 479 5.7 Parameter Setting 5.7 Parameter Setting 5.7.1 Basic Settings [1] I/O slot Check in I/O Parameter No. 225 for the used module. This parameter is already set at delivery. Item Setting Details / Explanation Type Name I/O Slot Control Input Range 0h to FFFFFFFFh Unit Bits 0-7: I/O slot 1 module type...
Page 480 5.7 Parameter Setting The value in I/O Parameter No. 225 should be as shown in the table below by the IO interfaces mounted on I/O Slot 1 and 2. I/O Slot 1 400h 401h 402h 403h 409h 409h 40Fh available available available available...
Page 481 5.7 Parameter Setting [2] Station number / Node address / TCP/IP setting Set the station number and node address in I/O Parameter No. 226 for CC-Link, DeviceNet, and PROFIBUS-DP. Set the station number and node address in I/O Parameter No. 237 for CC-Link IE Field, EtherCAT.
Page 482 5.7 Parameter Setting For EtherNet/IP, establish the TCP/IP setting (I/P Address, Subnet Mask and Default Gateway) to the I/O parameters from No. 132 to 143. Setting establishment not necessary for other than EtherNet/IP. * Although there are similar parameters in the I/O parameters from No. 172 to 183, they are the TCP/IP setting parameters for the standard Ethernet.
Page 483 5.7 Parameter Setting [3] Setting the baud rate Set the communication speed in I/O Parameter No. 227 “fieldbus communication speed” for CC-Link, DeviceNet. Set the communication speed in I/O Parameter No. 227 for EtherNet/IP. For the IA net (remote I/O unit connection), set the baud rate to I/O Parameter No. 610 bits 0-3. Setting establishment not necessary for other than CC-Link, DeviceNet, EtherNet/IP and IA Net Parameter Name Input Range...
Page 484 5.7 Parameter Setting [4] I/O setting (1) Assignment type / Port No. setting Set up the assignment type in I/O Parameter No. 1. The assignment type should be in common for I/O Slot 1 and 2. Parameter Name Input Range Unit Remarks 0: Fixed Assignment...
Page 485 5.7 Parameter Setting (2) Setting the Number of Ports Used Set up the used input and output port count in the I/O parameters No. 14, 15, 231 and 232 for the field network. Set up the number of connected units of the remote I/O unit to the I/O parameters No. 687 and 688 for the IA net (remote I/O unit connection).
Page 486 For EtherCAT, in addition to the used port count, a method to match with the EterCAT data size in use on the XSEL2 side in the master side setting (To Change / Not to Change PDO Mapping on Master Side) should be set in I/O Parameter No. 121 bits 28-31. Set to 0 when having a change to the PDO mapping on the master side, and set to 1 when not having a change.
Page 487 5.7 Parameter Setting 5.7.2 Pulse Count Settings [1] Setting Use Select To use / not to use for each channel should be set to Bit 0-3 and 4-7 in the I/O parameters No. 242 and 245. Parameter Name Input Range Unit Remarks Pulse Count Feature Use Select...
Page 488 5.7 Parameter Setting [2] Setting the Input Pulse Train Specification The pulse count resolution for each channel should be set in the I/O parameters No. 243, 244, 246 and 247. Parameter Name Input Range Unit Remarks Pulse Count resolution (CH1) Pulse Train Input Feature Use Input range: 0, 1 to 16777216 (1h to FFFFFFh) 0h to...
Page 489 5.7 Parameter Setting 5.7.3 Other Parameters Setting [1] Error monitor Whether to monitor / not to monitor errors such as network communication error and cable line breakage should be set in the I/O parameters 18 and 235 for each of I/O Slot 1 and I/O Slot 2. However, it should be set in I/O Parameter No.
Page 490 5.7 Parameter Setting [2] Input filtering periods The confirmation time of input signals should be set in I/O Parameter No. 20. This parameter should be valid only for the PIO (including pulse train input + PIO input and output (4/4)) and the ELECYLINDER connection module. It should be invalid for the field network and IA net (remote I/O unit connection).
Page 491 5.7 Parameter Setting [3] Link Standby Time Tuning at Controller Startup The link standby time at startup of a controller should be set up in I/O Parameter No. 121 Bits 16-27. The standby time for link to the master at the startup of a controller can be adjusted in the following I/O parameter.
Page 492 5.7 Parameter Setting [4] Input port data select for link error The behavior of the input port data in a link error should be set in I/O Parameter No. 120 bits 28-31 and No. 121 bits 8-11 for each of I/O Slot 1 and 2. Selection can be made whether to clear or hold (maintain) the input port data in the controller in a link error.
Page 493 5.7 Parameter Setting [5] MAC address confirmation The MAC addresses of EtherNet/IP, PROFINET IO, CC-Link IE Field mounted to the I/O slots can be checked in I/O Parameter No. 130 and 131. Parameter Name Input Range Unit Remarks Only lower two bytes are valid. I/O Slot Fieldbus Reference * Valid only for EtherNet/IP, PROFINET IO and...
Page 494 5.7 Parameter Setting 5.7.4 Examples of Parameter Settings at Delivery I/O Slot 1 Default Parameter Value Unit Remarks Name (Reference) I/O port 0: Fixed Assignment assignment 1: Automatic Assignment type I/OSlot 1 Number of ports used for Point Multiple of 8 fieldbus remote input I/O Slot 1...
Page 495 5.7 Parameter Setting Default Parameter Value Unit Remarks Name (Reference) Bits 0-7: I/O Slot 1 module type (0h: Unimplemented, 1h: CC-Link, 2h: DeviceNet、 3h: PROFIBUS-DP, I/O Slot control 4h: IA Net, 9h: PIO (16/16), Eh: PIO (32/16, 16/32, 24/24), Fh: Pulse train input + PIO Input and Output (4/4)) Settable Range: I/O Slot 1...
Page 496 5.7 Parameter Setting Default Parameter Value Unit Remarks Name (Reference) Remote I/O unit fixed assigned input port start Remote I/O Unit fixed assigned output port start No. I/O Slot 1 attribute 9 I/O Slot 1 attribute 10 I/O Slot 1 attribute 11 I/O Slot 1 attribute 12...
Page 497 5.7 Parameter Setting I/O Slot 2 Default Parameter Value Unit Remarks Name (Reference) I/O port 0: Fixed Assignment assignment type 1: Automatic Assignment Input signal is recognized Input filtering when the status is held for periods twice the period set by this parameter.
Page 498 5.7 Parameter Setting Default Parameter Value Unit Remarks Name (Reference) I/O Slot Fieldbus subnet mask (MH) I/O Slot Fieldbus subnet mask (ML) I/O Slot Fieldbus subnet mask (L) I/O Slot Fieldbus default gateway I/O Slot Fieldbus default gateway (MH) I/O Slot Fieldbus default gateway (ML)
Page 499 5.7 Parameter Setting Default Parameter Value Unit Remarks Name (Reference) I/O Slot 2 0+ (Multiples of 8) (0 to 299) Input port start 1000+ (Multiples of 8) (1000 1000 1000 number at fixed to 3999) assignment (Invalid on egative values) 300+ (Multiples of 8) (300 to I/O Slot 2 599)
Page 500 5.7 Parameter Setting Default Parameter Value Unit Remarks Name (Reference) I/O Slot 2 attribute 1 I/O Slot 2 attribute 2 I/O Slot 2 attribute 3 I/O Slot 2 attribute 4 I/O Slot 2 attribute 5 I/O Slot 2 attribute 6 I/O Slot 2 attribute 7 I/O Slot 2...
Page 501 5.8 Network Setting File 5.8 Network Setting File 5.8.1 Network Setting File The XSEL2 network setting files are as shown below. Table 5.8-1 List of Network Setting File Type File Name CC-Link 0x0226_SEL controller_A_ja.cspp DeviceNet EDS_IANP3801_DN0_V_2_3.eds PROFIBUS-DP IAI_0CEF.gsd EtherCAT ESI_IAI_SEL_ECT_V_1_08_Rev_1.xml EtherNet/IP IANP3802-EP0_V_2_1.eds...
Page 502 PROFIBUS-DP The configuration data format is applicable for the both formats of standard and special identifications. However, it is necessary to have the configuration data size in the XSEL2 system and the I/O size used in PROFIBUS-DP aligned.  Normal ID format ...
Page 503 5.8 Network Setting File 5.8.3 EtherCAT In case of use of EtherCAT master supporting only the slave specified fixed PDO mapping such as CJ1W-NC□81 / NC□82 manufactured by Omron, set the bits 28 to 31 to 1 in the parameter below. (Example: C80000 →...
Page 504 5.8 Network Setting File 5-112 ME0478-1B...
Page 505 XSEL2-TS/TL XSEL2-TS/TL 章 Chapter Special Functions Synchro Function ················································ 6-1 6.1.1 Overview of Synchro Functionn ···································· 6-1 6.1.2 Preparation for Operation of Synchro Type ······················ 6-5 6.1.3 Relative Positioning Adjust of Synchro Axis ····················· 6-6 6.1.4 How to Absolute Reset on Synchronizing Type ················ 6-7 6.1.5...
Page 506 Predictive Maintenance Function ···························· 6-22 6.4.1 Fan Unit Rotation Speed Monitoring ······························ 6-22 6.4.2 Overload Warning ······················································ 6-23 6.4.3 Axis Overloaded Warning ············································ 6-27 Serial Communication Multiple Channels Applicable Feature ····························································· 6-31 6.5.1 Feature Details ·························································· 6-32 6.5.2 Related Parameters ··················································· 6-35 Vision System Interface Function ····························...
Page 507 It is available to have two sets of combinations at maximum for the synchro axis of 4-axis type XSEL2-TS/TL controllers. It is available to have four sets of combinations at maximum for the synchro axis of 8-axis type XSEL2-TS/TL controllers, and two sets at maximum for those of 8-axis type XSEL2-TSX/TLX controllers. Controller...
Page 508 6.1 Synchro Function Shown in the figure below is an example for setting two pairs of synchro axes in the system consists of 4 axes. The smaller axis number The smaller axis number is the master axis. is the master axis. Pair of synchro axes Pair of synchro axes Fig.
Page 509 6.1 Synchro Function [2] Incremental Specification With the incremental specification, the relative positioning of the master axis and slave axis sliders remains fixed while the power is ON. (If the sliders were moved while the power was turned OFF, synchro movement will begin from the positions after the movement.) Absolute reset is not performed on an incremental controller.
Page 510 6.1 Synchro Function [5] Reference program Shown below is an example of a program when using the synchronizing feature. This program reads the current positions of the master axis and slave axis after the servo is turned ON, and turns ON global flag 600 when the distance between the two axes becomes 0.3 mm or less.
Page 511 6.1 Synchro Function 6.1.2 Preparation for Operation of Synchro Type Prepare for operation with the steps described below. [1] Positioning of synchro axis Refer to [6.1.3] [2] Absolute reset Refer to [6.1.4] * It is not necessary when both the master and slave axes are the incremental type. ME0478-1B...
Page 512 6.1 Synchro Function 6.1.3 Relative Positioning Adjust of Synchro Axis The relative positions of synchro axis sliders are adjusted (Adjustment of parallelization between two physical axes). (1) With the actuator and controller not connected by cables (controller power is OFF), adjust the relative positioning of the master axis and slave axis moving part and couple the axes.
Page 513 6.1 Synchro Function 6.1.4 How to Absolute Reset on Synchronizing Type The procedure for absolute reset differs in each case of combination of battery-less absolute specification or absolute type for both axes and the combination of one with battery-less absolute specification or absolute type and the other with incremental type.
Page 514 6.1 Synchro Function [1] Procedure for when 2 Axes are Battery-less Absolute Type and Absolute Type Described below is the steps when master axis = 1 and slave axis = 1 in Axis-specific Parameter No. 38 “Encoder ABS/INC Type”. Select “Controller (C)”→”Absolute reset (A)” → “Synchronizing Axis Pair Tuning (P)”. After confirming the warning message, press the OK button and the following window should show up.
Page 515 6.1 Synchro Function (2) Select the master axis No. and perform absolute reset. Select master axis No. Click the Start button. Fig. 6.1-6 Absolute Reset Window (Synchronizing Axis Pair Tuning _2) A series actions such as necessary parameter settings, absolute reset on master axis and slave axes, home preset tuning should be conducted while the pointer moves downwards.
Page 516 6.1 Synchro Function [2] Method for Combination of Battery-less Absolute Type or Absolute Type and Incremental Type Described below is the steps when master-axis = 1 and slave-axis = 0 in Axis-specific Parameter No. 38 “Encoder ABS/INC type”. After completing [6.1.3 Relative Positioning Adjust of Synchro Axis] perform an absolute reset for the master axis only.
Page 517 6.1 Synchro Function 6.1.5 How to Check Check this function by conducting the following operation. (1) Check that the coordinate values of the synchronizing axes are not significantly offset after the home-return operation (for incremental type). (2) Check that an actuator moves in the full stroke when it moves in low velocity with such as the JOG operation.
Page 518 6.2 Multiple-Slider Near-Miss Detection (Collision Prevention) Function 6.2 Multiple-Slider Near-Miss Detection (Collision Prevention) Function 6.2.1 Overview of Multiple-Slider Near-Miss Detection (Collision Prevention) Function When multiple sliders are used, this function prevents jogging or positioning axes from colliding with one other. The parameters are set to detect near-miss situations among multiple sliders. An error is output and the actuator decelerates and stops when the distance of approach between the 1st and 2nd axes exceeds the multi-slider actual position excessive approach detection margin / command position excessive approach margin beyond the minimum distance between the...
Page 519 6.2 Multiple-Slider Near-Miss Detection (Collision Prevention) Function Soft limit - Soft limit + Effective stroke of Multiple-Slider Axis 1 Axis 2 Effective stroke of Multiple-Slider Minimum Distance between Sliders Soft limit + Soft limit - Axis 1 Axis 2 Axis-specific Parameter No107. ”...
Page 520 6.2 Multiple-Slider Near-Miss Detection (Collision Prevention) Function 6.2.2 Setting Method (1) The combination numbers subject for over approach should be set in Axis-specific Parameter No. 234 “Multiple Slider Over Approach Detection Combination Number (Coordinate Positive Side)” and Axis-specific Parameter No. 235 “Multiple Slider Over Approach Detection Combination Number (Coordinate Negative Side)”.
Page 521 6.2 Multiple-Slider Near-Miss Detection (Collision Prevention) Function Refer to [The appearance drawing of the multi-slider type in the instruction manual and the catalog] in the catalogue for LSA Linear Actuator and NS nut rotated double slider type. Fig. 6.2-4 Setting Example for Effective Stroke of Multiple Sliders 6-15 ME0478-1B...
Page 522 6.2 Multiple-Slider Near-Miss Detection (Collision Prevention) Function 6.2.3 Related Parameters The parameters below are the related parameters. It is not necessary to change the initial ttings in the parameters at the delivery. (1) Axis-specific Parameter No.106 “Emergency deceleration margin upon multiple-slider nearmiss detection”...
Page 523 6.2 Multiple-Slider Near-Miss Detection (Collision Prevention) Function Table 6.2-2 Related parameters of Multiple-Slider Near-Miss Detection Function  Axis-specific Parameter Default Input Parameter Name Value Unit Remarks Range (Reference) Set “Allowable furthest distance between sliders” – “Allowable closest distance etween sliders” in the operational range of he two axes applicable for the Effective stroke of multiple 0 to...
Page 524 6.2 Multiple-Slider Near-Miss Detection (Collision Prevention) Function 6.2.4 How to Check Check this function by conducting the following operation after the coordinates are determined for the applicable axes (after home-return operation for incremental type). (1) Get both sliders closer with low speed until an error is issued with the jog operation. (2) Check if the sliders stop before or near a few millimeters of the multi-slider command position excessive approach margin (Initial setting = 1mm).
Page 525 6.3 Preventive Maintenance Function 6.3 Preventive Maintenance Function 6.3.1 Life Prediction of Electrolytic Capacitor and Calendar Feature Capacitor The temperature on the electrolytic capacitor/temperature of the capacitor for calendar function can be monitored and the life can be calculated. There should be a message level alarm (Alarm Code 203 “Presumed Life Passed Warning”) generated when the capacitance of the electrolytic capacitor and the capacitor for the calendar function has decreased to the specified value.
Page 526 6.3 Preventive Maintenance Function 6.3.2 Maintenance Information The following data should be integrated and recorded to the CPU unit. Table 6.3-1 Total moving count (The number of times the actuator has moved) Name Unit Input Range Default Initial Value setting Total travel count time 0 to 999,999,999...
Page 527 6.3 Preventive Maintenance Function [Maintenance Information Setting in Teaching Tool] Maintenance information can be checked and set with the following procedures. • TB-02/TB-03 “Monitor” → “Maintenance” • PC software “Monitor (M)” → “Maintenance Information (I)” → Axis selection As a reference, shown below is how to operate using a teaching pendant TB-02. Refer to [an instruction manual for each teaching tool] for detail.
Page 528 6.4 Predictive Maintenance Function 6.4 Predictive Maintenance Function 6.4.1 Fan Unit Rotation Speed Monitoring The fan rotation speed of the fan unit is monitored. A message level alarm is generated (alarm code 201 “Fan rotation speed drop warning”) when the fan rotation speed decreases 20%.
Page 529 6.4 Predictive Maintenance Function 6.4.2 Overload Warning [1] Functional overview Setting the motor estimated raised temperature that causes the overload error as 100%, the overload warning (message level error) will be detected when the load rate (hereafter described as the overload level) exceeded the value set in the parameter. Also, by indicating the parameter separately, the overload warning can be output to a port.
Page 530 6.4 Predictive Maintenance Function [Operation Image] The current applied to the motor increases by increase of sliding resistance or excess load due Overload Error to lack of maintenance of guide and ball screw. (Operation Stop) As a result, an overload error will occur and it causes a device stop.
Page 531 6.4 Predictive Maintenance Function [2] Check of Overload Level The overload level during the motor operation can be checked in the PC Interface Software for XSEL. (1) Click Monitor → Servo Addition Datamonitor . Fig. 6.4-2 Startup of Servo Addition Datamonitor Window (2) The Servo Addition Datamonitor window will be displayed.
Page 532 6.4 Predictive Maintenance Function [3] Related Parameters List Tablr 6.4-1 Overload warning related parameters  Axis-specific Parameter Setting at Input Parameter Name Unit Remarks Delivery Range Set in % from the driver overload error load level (“Disable” when set to 100) * To prevent motor burnout, the startup initial temperature is assumed high considering the hot start for the controller load ratio calculation (Safety...
Page 533 6.4 Predictive Maintenance Function 6.4.3 Axis Overloaded Warning [1] Functional overview In some IXA SCARA Robot models (refer to [2] Applicable Models in this section), when an encoder exceeds the maximum operation temperature, Error Code 64D “Axis Overheated Error” (cold start level error) should occur. With 0degC as 0% and the maximum operation temperature of an encoder that an axis overheat error occurs as 100%, the axis overheated warning (message error) should be detected when the encoder overheated level exceeds the value set in the parameter (Axis-specific Parameter No.
Page 534 6.4 Predictive Maintenance Function [Operation Image of Axis Overheated Warning] Further load after "Load increase" to Operation Stops Error Output lead to error status Overheat Error Detected Value (100%) Warning Output Operation Continues Axis Overloaded Warning Value (*1) Load increased Normal Condition Time Fig.
Page 535 6.4 Predictive Maintenance Function [3] Check of Encoder Overheat Level The encoder overheat level during the motor operation can be checked in the PC Interface Software for XSEL. (1) Clik Monitor → Servo Addition Datamonitor . Fig. 6.4-5 Startup of Servo Addition Datamonitor Window (2) The Servo addition Datamonitor window will be displayed.
Page 536 6.4 Predictive Maintenance Function [4] Related Parameters List Table 6.4-3 Encoder Overheat Warning related parameters  Axis-specific Parameters Setting at Input Parameter Name Unit Remarks Delivery Range Ratio % to detect axis overheated warning when 0deg set as 0% and axis overheated error occurred 241 EncOvrhtWarnTempLvRatio 50 to 100 temperature set as 100% should be set up...
Page 537 Use with connection of the PC software, teaching pendant, programmable display and so on at the same time cones available. Monitor tool PC software Ethernet TP Port XSEL2 General-purpose SIO Connector Teaching pendant Programmable display Fig. 6.5-1 Image of Serial Communication Multiple Channels Applicable Feature This feature is set “disabled”...
Page 538 (Set 1 in I/O Parameter No. 116 bit 0 to 3) It is inactivated in standard delivery, and one channel is available for communication. While the IAI protocol multiple channel communication is permitted, the operation should differ depending on the protocol command types.
Page 539 Shown below are some images of channels in communication for each operation mode. (1) Status of Execution Command Reception in “MANU” 2) USB 3) Ethernet 1) TP port XSEL2 4) General-purpose SIO Connector * 1) to 4) are priorities in communication channels Figh. 6.5-2 Image of Communication Channel at “MANU”...
Page 540 6.5 Serial Communication Multiple Channels Applicable Feature [2] Example for Setting Setting in I/O Parameter No. 116 “IAI Protocol Communication Attribute” should be established. When having the general-purpose SIO connector for the execution command reception channel in AUTO mode as shown in the following figure, the setting should be established as described below.
Page 541 00h: Teaching connector 01h: General-purpose SIO Connector 0Ah: USB 26h: Ethernet * Valid when IAI protocol multiple channel communication permission select = 1 (Permitted) * Execution commands in MANU mode to be received in priorities when feature disabled 6-35...
Page 542 6.6 Vision System Interface Function 6.6 Vision System Interface Function 6.6.1 About Vision System Interface Function The vision system interface (hereinafter called as Vision System I/F) function is capable of storing the coordinate data sent from the vision system directly to the position data. For details, refer to [separate operation manual for the Vision system I/F Function (ME0269)].
Page 543 6.6 Vision System Interface Function 6.6.2 About Applicable Models This manual is subject to the following controller. • XSEL2-TS/TL * SCARA Robot is not applicable. (1) Applicable vision system Table 6.6-1 Applicable vision system Company Product name Interface Name In-Sight EZ-110...
Page 544 6.6 Vision System Interface Function 6.6.3 Interface Specifications The connection between a controller part and the system vision system should be conducted using both of the parallel communication and serial communication. Table 6.6-2 List of interfaces used in vision systems Item Applications Remarks...
Page 545 6.7 PLC Feature 6.7 PLC Feature In addition to the SEL language interpreter, the PLC feature is capable of control complied with the PLC language international standard IEC 61131-3. Also, the software PLC is equipped with “CODESYS”, and applicable for the EtherNet/IP scanner feature and the OPC UA server feature. For details, refer to [Separate volume / PLC Feature Instruction Manual (ME0479)].
Page 546 6.8 Compliance Control Feature on IXA SCARA Robot 6.8 Compliance Control Feature on IXA SCARA Robot 6.8.1 Overview of Compliance Control Feature Compliance control is a function to support fitting of a workpiece by controlling the robot softly so it follows the external force in order to have the contact force reduced in such a case as when inserting the workpiece.
Page 547 6.8 Compliance Control Feature on IXA SCARA Robot Caution ● The compliance control feature is a supportive function to support such processes as workpiece insertion. It is not a function that ensures 100% success of insertion. There may be a case that workpiece insertion cannot be expectedly performed depending on the type of robot, position, posture, condition of workpiece and so on.
Page 548 6.8 Compliance Control Feature on IXA SCARA Robot 6.8.2 Caution and Restriction for Use • There may be a case that the required operation (such as fitting of workpiece) cannot be expectedly performed depending on the type of robot, position, posture, condition of workpiece and so on.
Page 549 6.8 Compliance Control Feature on IXA SCARA Robot • The compliance mode (compliance control) needs to be used in the tool coordinate system No. 0. Making the compliance mode valid with any number other than “0” selected for the tool coordinate system select number will cause Error No.
Page 550 6.8 Compliance Control Feature on IXA SCARA Robot 6.8.3 Setup for Compliance Control Feature Establish the parameter setting in the order shown in the flowchart. Refer to the following pages for how to set up the compliance control feature. Start Settin up Compliance Control Feature Compliance Mode Option Stting (Searching Operation)
Page 551 6.8 Compliance Control Feature on IXA SCARA Robot [1] Compliance Mode Option Setting (Searching Operation) In case insertion would not succeed with the initial setting at delivery, make the searching operation activated. The searching operation will be activated by executing SCL0 Command in the SEL language below.
Page 552 6.8 Compliance Control Feature on IXA SCARA Robot [2] Setting Compliance Mode Valid / Invalid Valid / invalid of the compliance mode (compliance control) setting should be done with COMP Command in the SEL language below. Table 6.8-4 COMP Command Category Condition Command Operand 1...
Page 553 6.8 Compliance Control Feature on IXA SCARA Robot When it is necessary to check the condition whether the compliance mode (compliance control) is valid or invalid, select Monitor → Axis Status from the menu in the XSEL PC software. It can be checked at “Compliance Mode”...
Page 554 6.8 Compliance Control Feature on IXA SCARA Robot 6.8.4 Example for Programming Below shows an example of when inserting a pin in the vertical (+Zb) direction. Control the robot softly in the directions of X and Y-axes in the base coordinate system with the compliance mode, and conduct the pressing operation (PUSH Command) with the Z-axis.
Page 555 6.8 Compliance Control Feature on IXA SCARA Robot Table 6.8-6 Compliance control feature program example Cmnd Operand1 Operand2 Comment VELS Setting PTP velocity ACCS Setting PTP acceleration DCLS Setting PTP deceleration Setting CP velocity COMP Inactivating Compliance SLTL Selecting Tool Coordinate System 0 SVON 1111 Turning SCARA Robot servo ON...
Page 556 6.8 Compliance Control Feature on IXA SCARA Robot 6.8.5 Related SEL Command Shown below is a list of SEL command language related to compliance functions. Table 6.8-7 List of SEL command language related to compliance functions Category Condition Command Operand 1 Operand 2 Output Function...
Page 557 6.8 Compliance Control Feature on IXA SCARA Robot 6.8.6 Related Virtual I/O Ports Table 6.8-8 List of virtual I/O ports related to compliance control feature Port No. Function In Compliance Mode (Base Coordinate System Compliance Mode) 7059 (1st to 4th axis SCARA Robot) In Compliance Mode (Base Coordinate System Compliance Mode) 7064 (5th to 8th axis SCARA Robot)
Page 558 6.8 Compliance Control Feature on IXA SCARA Robot 6.8.7 Related Parameters List Table 6.8-9 List of Compliance control related parameter (Robot Parameter)  Robot Parameter Default Input Parameter Name Unit Remarks Value Range Bits 0 to 3 : System Reservation Bits 4 to 7 : System Reservation Bits 8 to 11 : SCARA Z position →...
Page 559 6.8 Compliance Control Feature on IXA SCARA Robot Table 6.8-11 List of Compliance control related parameter (Driver Parameter)  Driver Parameters Default Parameter Name Input Range Unit Remarks Value Depended 52 CMPOPTRQL to Actuator 0 to 50 For manufacturer use for adjustment / Robot Depended 1 to...
Page 560 6.8 Compliance Control Feature on IXA SCARA Robot 6.8.8 Related Errors Table 6.8-12 Compliance Control Function Related Error Level Name Operation- Axis pattern error cancellation Operation- Prohibited axis specification error cancellation Operation- No valid specified axis error cancellation Operation- Change prohibition error for coordinate system data in use by cancellation servo Operation-...
Page 561 6.9 Collision Detection Function on IXA SCARA Robot 6.9 Collision Detection Function on IXA SCARA Robot 6.9.1 Overview of Collision Detection Function The collision detection feature is a function that is purposed to reduce damage on the robot, workpiece and peripheral devices by detecting collision and contact with sensitivity higher than the overload error or deviation error and stopping the robot.
Page 562 6.9 Collision Detection Function on IXA SCARA Robot [Applicable models] Arm length [mm] Type IXA-3NNN30□□ / IXA-4NNN30□□ / IXA-3NSN30□□ / IXA-4NSN30□□ / IXA-4NSC30□□ IXA-3NNN45□□ / IXA-4NNN45□□ / IXA-3NSN45□□ / IXA-4NSN45□□ / IXA-4NSC45□□ IXA-3NNN60□□ / IXA-4NNN60□□ / IXA-3NSN60□□ / IXA-4NSN60□□ / IXA-4NSC60□□ * □□: Numbers of applicable Z-axis strokes.
Page 563 6.9 Collision Detection Function on IXA SCARA Robot 6.9.2 Caution and Restriction for Use • Using the collision detection feature all the time will make opportunity of wrong detection higher. It is suggested to focus the use of the collision detection feature only to the operations with possibility of collision or contact.
Page 564 6.9 Collision Detection Function on IXA SCARA Robot 6.9.3 Setup for Collision Detection Function Establish the parameter setting in the order shown in the flowchart. Refer to the following pages for how to set up the collision detection feature. Start Setting up Collision Detection Function Valid / Invalid Setting Collision Detection Level...
Page 565 6.9 Collision Detection Function on IXA SCARA Robot [1] Setting of Collision Detection Function Valid / Invalid Whether to have the feature valid or invalid at the controller startup should be indicated with the parameters below. For example, if it is set as 1011h, the collision detection feature should activate on the J1-axis, J2-axis and R-axis of SCARA Robot.
Page 566 6.9 Collision Detection Function on IXA SCARA Robot When it is required to check whether the collision detection feature is in use, select Monitor → Axis Status from the menu in the XSEL PC software. It can be checked at “Collision Detection Function in Use”...
Page 567 6.9 Collision Detection Function on IXA SCARA Robot [2] Setting of Collision Detection Level It should be judged as collision detected when the collision level gets to the collision detection level or above. Fig. 6.9-3 Image of collision detection level The collision detection level at the controller startup should be indicated individually on each axis with the parameters below.
Page 568 6.9 Collision Detection Function on IXA SCARA Robot [3] How to Determine Collision Detection Level With the robot operated in the actual velocity, acceleration and deceleration, monitor the maximum collision detection level in the process described below. Make sure to check “Maximum collision level [%]”...
Page 569 6.9 Collision Detection Function on IXA SCARA Robot 6.9.4 Example for Programming Shown below is an example to use the collision detection feature in the operation from the current position to Position No. 1 then from Position No. 1 to Position No. 2. Table 6.9-5 Example of a collision detection function program Cmnd Operand 1...
Page 570 6.9 Collision Detection Function on IXA SCARA Robot 6.9.5 Related SEL Commands Shown below is a list of SEL command language related to collision detection functions. Table 6.9-6 List of SEL command language related to collision detection function Category Condition Command Operand 1 Operand 2 Output...
Page 571 6.9 Collision Detection Function on IXA SCARA Robot 6.9.6 Related Virtual I/O Ports Table 6.9-7 Virtual I/O ports for collision detection function Port No. Function 7310 In Use of 1st Axis Collision Detection Function 7311 In Use of 2nd Axis Collision Detection Function 7312 In Use of 3rd Axis Collision Detection Function 7313...
Page 572 6.9 Collision Detection Function on IXA SCARA Robot 6.9.7 Related Parameters List Robot Parameters  Default Parameter Name Input Range Unit Remarks Value Bits 0 to 3 : J1 axis Bits 4 to 7 : J2 axis Bits 8 to 11 : Z axis Bits 12 to 15 : R axis (0H: Disable,...
Page 573 6.9 Collision Detection Function on IXA SCARA Robot 6.9.8 Related Errors Shown below is a list of the collision detection function related errors. Table 6.9-8 List of Collision detection related errors Level Name Operation-cancellation Collision detection Operation-cancellation Unsupported function error Operation-cancellation Axis mode related error 6-67...
Page 574 6.9 Collision Detection Function on IXA SCARA Robot 6-68 ME0478-1B...
Page 575 XSEL2-TS/TL XSEL2-TS/TL 章 Chapter Parameter Overview ··························································· 7-1 Parameter List ···················································· 7-3 7.2.1 I/O Parameter (All types) ············································ 7-3 7.2.2 Parameters Common to All Axes ·································· 7-35 7.2.3 Axis Group Parameter ················································ 7-43 7.2.4 Robot Parameters ····················································· 7-47 7.2.5 Axis-specific Parameters ············································ 7-51 7.2.6...
Page 576 7.5.10 Want to Make a Home-return on the All-Single and Orthogonal Axes Actuators Externally ···························· 7-102 7.5.11 Want to Execute the XSEL2 Controller Program Externally 7-103 7.5.12 Want to Execute a Program Externally by Making an Indication of a Program Number in Binary ·················· 7-103 7.5.13 Want to Pause the XSEL2 Controller Externally ··············...
Page 577 7.5.21 Want to Output that the Single and Orthogonal Axes Actuator Invaded the Area (Zone) which Has Been Set ····· 7-110 7.5.22 Want to Output the Error Level ····································· 7-112 7.5.23 Want to Output the Emergency Stop Status ···················· 7-112 7.5.24 Want to Know the Current Operation Mode ····················...
Page 578 7.1 Overview 7.1 Overview Parameter data should be set appropriately according to the applicaiton requirements. When a change is required to the parameters, make sure to back up the data before the change so the settings can be returned anytime. With using PC software, it is able to store the backup to the PC.
Page 579 7.1 Overview [Parameters Set in Bits] • How to Use Bits Refer below for how to turn on the bits (in case the last digit of the set value is h). Set the “value of hexadecimal number transformed from the binary number”. Binary number ...
Page 580 7.2 Parameter List 1. I/O Parameter (All types) 7.2 Parameter List 7.2.1 I/O Parameter (All types) Table 7.2-1 I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range 0: Fixed assignment Dependent 1: Automatic assignment I/O port assignment type 0 to 20 Construction *Priority of port assignment at automatic assignment...
Page 581 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Bits 0-3: RDY OUT function selection (System I/O) 0: SYSRDY (Software = PIO trigger program can be run) and hardware is normal (emergency stop has not been actuated and hardware error is not present)) 1: Error of operation-cancellation level or...
Page 582 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range 0: General-purpose input 1: Program start signal (ON edge) (Input ports 007 to 014, BCD-specified program number) 2: Program start signal (ON edge) (Input ports 007 to 014, binary-specified program number) 3: Program start signal (ON edge)
Page 583 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range 0: General-purpose input 1: Software reset signal (1s ON) * If continued operation is specified as the action upon emergency stop, enable the software reset signal (to provide a means of canceling Input function selection 001 0 to 5...
Page 584 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range 0: General-purpose input 1: Operation-pause signal (OFF level) (Valid only during automatic operation) * Cancel pause when an operation-pause reset signal is received. Input function selection 006 0 to 5 Note: To change this function assignment port...
Page 585 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range 0: General-purpose input 1: Program number specified for program start Note: ●The assignment changes depending on the value set in I/O Parameter No. 30 “Input Input function selection 011 0 to 5 function selection 000.”...
Page 586 No.32, Each axis Parameter No.11) Input function selection 015 0 to 5 The following setting is the same also for XSEL2-TS/TL and TSX/TLX. 2: Home return for all incremental linear sliding axes (ON edge) (Servo on required in advance = I/O Parameter No.32, Each axis Parameter No.11)
Page 587 Note: To change this function assignment port number, use I/O parameter No.302 “output function selection 303 assignment port number”. XSEL2-TS/TL 0: General-purpose output 1: Output at the time of “All Effective Axes Homing (=0)” 2: Output when all the effective axes homing is...
Page 588 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range 0: General-purpose output 1: 4th axis in-position output (turned OFF when pressing missed) 2: Output when axis-4 servo is ON (System monitor task output) Output function selection 308 0 to 5 3: Reserved by the system...
Page 589 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range 0: General-purpose output 1: Absolute-data backup battery voltage-low warning level or lower (OR check of all axes. Upon detection of abnormal level, the output will be latched until a power-ON reset or software reset is executed.) Output function selection 314 0 to 5...
Page 590 00h: Teaching connector 01h: General-purpose SIO Connector 0Ah: USB 26h: Ethernet * Valid when IAI protocol multiple channel communication permission select = 1 (Permitted) * Execution commands in MANU mode to be received in priorities when feature disabled (For expansion)
Page 591 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Bits 0-3: System Reservation Bits 4-11: I/O Slot 1 fieldbus link error check timer value [10ms] Bits 12-15: Registered module data size type in PROFINET IO configuration 0h to 0: 1 word,...
Page 592 3: Server (Specification of own port number) *Note: Number of clients that can be connected simultaneously to one server port channel Bits 0 to 3: IAI protocol B/TCP (MANU mode) 0h to Bits 4 to 7: IAI protocol B/TCP (AUTO mode)
Page 593 5050214h (IAI protocol B/TCP) [s] FFFFFFFFh Bits 16-23: Send timeout value [s] Bits 24-31: IAI protocol B-SIO non-communication check timer setting [s] (IAI protocol B/TCP connection trigger) EtherNet TCP/IP message communication attribute Bits 0-15: 0h to 128 Network attribute 9...
Page 594 IAI protocol B/TCP: Own port 1025 to 64511 number. (Duplication of port numbers is number (MANU mode) 65535 permitted only in the IAI protocol B/TCP MANU/AUTO modes.) Note: ● Always set a unique number for each port Channel 31 opened to user 1025 to 64512 number.
Page 595 0 to 254 *Setting of “0” and “255” is prohibited. address (L) * Vision System I/F is dedicated for the Vision System I/F Connected specifications of the client on IAI controller side 64613 0 to 65535 Port Number (Self-Port Number Automatic Assignment)
Page 596 FFFFFFFFh Attribute 6 of SIO channel 1 0h to 00000000h opened to user FFFFFFFFh IAI-protocol minimum response delay for SIO channel 1 0 to 999 opened to user Attribute 8 of SIO channel 1 0h to 00000000h...
Page 597 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Bits 0-7: I/O slot 1 module type 0h: Unimplemented 1h: CC-Link 2h: DeviceNet 3h: PROFIBUS-DP, 4h: IA Net, 5 to 8h: System Reservation, 9h: PIO (16/16), A to Dh: System Reservation, Eh: PIO (32/16,16/32,24/24),...
Page 598 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Multiples of 8 Dependent Number of Ports Used for I/O * Setting establishment not necessary for IA Net, 0 to 1024 Construction Slot 2 Fieldbus Remote Output PIO (16/16), Pulse train input + PIO Input and of Controller Output (4/4) and EC connection module...
Page 599 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Pulse Count resolution (CH1) Input range: 0, 1 to 16777216 (1h to FFFFFFh) Pulse Train Input Feature Use 0h to *It should be the setting of 16777216 when “0”. Select 2 FFFFFFFFh * Setting establishment not necessary for other...
Page 600 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Specify the port number to be assigned to the function of I/O Parameter No. 34, “Input function Port number assigned to input -1 to 3,999 selection 004.”...
Page 601 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Specify the port number to be assigned to the function of I/O Parameter No. 41, “Input function selection 011.” ** If “-1” is set, the function will be assigned to input port No.
Page 602 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Specify the port number to be assigned to the function of I/O Parameter No. 48, “Output function Port number assigned to output 0 to 6,999 selection 302.”...
Page 603 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Specify the port number to be assigned to the function of I/O Parameter No. 60, “Output function Port number assigned to output 0 to 6,999 selection 314.”...
Page 604 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Specify the port number to be assigned to the function of I/O Parameter No. 341, “Output function Port number assigned to output 0 to 6,999 selection 310 (area 2).
Page 605 1: AUTO mode output 0 to 5 (area 2) 2: Automatic operation in-progress output (other parameter No. 12) XSEL2-TS/TL 0: General-purpose output 1: Output at the time of “All Effective Axes Homing (=0)” 2: Output when all the effective axes homing is...
Page 606 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range 0: General-purpose output 1: 5th axis in-position output (turned OFF when pressing missed) Output function selection 309 2: Output when axis-5 servo is ON (System monitor 0 to 5 (area 2) task output)
Page 607 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Bits 0-3: Function Select (0: Not to use, 1: Use) Bits 4-7: Communication Device Selection 0: Mount Standard SIO Ch1 1: Mount Standard SIO Ch 2: EtherNet Ch31 3: EtherNet Ch32 4: EtherNet Ch33...
Page 608 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Unaffected general-purpose output area 3 number (MIN) 0 to 6,999 (Same as I/O Parameter No. 70) when all operations/programs are aborted Unaffected general-purpose output area 3 number (MAX) 0 to 6,999 when all operations/programs...
Page 609 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range 0: Do not monitor 1: Monitor 2: Monitor (Only link error related errors to be monitored) 607 IA NET error monitor 0 to 5 * There is some exception * The IA net link error should occur when a network link error status continues for the value of the IA...
Page 610 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range * Set 0 when disabling output Bits 00-03: Output data type 0: Output Disabled 1: System Reservation 2: Axis status 3: System Reservation Bits 04-07: (Reservation) Bits 08-15: Output Data Item •...
Page 611 7.2 Parameter List 1. I/O Parameter (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Data IO Output Setting 05 0h to (Setting should be the same as I/O Parameter Data Type FFFFFFFFh No. 851) Data IO Output Setting 05 0h to (Setting should be the same as I/O Parameter Unit Type...
Page 612 7.2 Parameter List 2. Parameters Common to All Axes (XSEL2-TS/TL) 7.2.2 Parameters Common to All Axes [1] XSEL2-TS/TL Setting at Input Parameter Name Unit Remarks Delivery Range 0b to System Reservation 11111111b Used if not specified in program. Default override...
Page 613 7.2 Parameter List 2. Parameters Common to All Axes (XSEL2-TS/TL) Setting at Input Parameter Name Unit Remarks Delivery Range 0: Operation Cancel Level Errors (Recommended) Process type at constant (non- 0 to 9 1: Cancel operation (SEL command output is off)
Page 614 7.2 Parameter List 2. Parameters Common to All Axes (XSEL2-TS/TL) Setting at Input Parameter Name Unit Remarks Delivery Range Bits 0-3: Selection of use of last PC/TP inching distance 0: Do not use 1: Use * Referenced by Teaching tool...
Page 615 7.2 Parameter List 2. Parameters Common to All Axes (XSEL2-TS/TL) Setting at Input Parameter Name Unit Remarks Delivery Range (For expansion) Bits 0-3: X-deirection axis No. Bits 4-7: Y-deirection axis No. Vision system I/F 1 0h to 4321h Bits 8-11: Z-deirection axis No.
Page 616 7.2 Parameter List 2. Parameters Common to All Axes (XSEL2-TS/TL) Setting at Input Parameter Name Unit Remarks Delivery Range Time period between positioning command sending complete and positioning complete signal on Positioning Complete * Error Code 47A "Servo Error" should occur when...
Page 617 7.2 Parameter List 2. Parameters Common to All Axes (XSEL2-TSX/TLX) [2] XSEL2-TSX/TLX Setting at Input Parameter Name Unit Remarks Delivery Range System Reservation Used when override not indicated in program Default override 1 to 100 (Will not activate if not operated from SIO)
Page 618 7.2 Parameter List 2. Parameters Common to All Axes (XSEL2-TSX/TLX) Setting at Input Parameter Name Unit Remarks Delivery Range Restriction is given on each axis with the setting in Axis-specific Parameter No. 135 “Maximum Operational Deceleration on each Axis” if it is set...
Page 619 7.2 Parameter List 2. Parameters Common to All Axes (XSEL2-TSX/TLX) Setting at Input Parameter Name Unit Remarks Delivery Range * Axis-specific Parameter No. 29 “VLMX Velocity” for all the activated axes should be treated as a value at the minimum value or less.
Page 620 7.2 Parameter List 3. Axis Group Parameters (XSEL2-TS/TL) 7.2.3 Axis Group Parameter [1] XSEL2-TS/TL Setting at Parameter Name Input Range Unit Remarks Delivery Effective setting and driver assignment settings for the 1st axis Bits 0-3: Axis Enabled Settings 0: Disable...
Page 621 7.2 Parameter List 3. Axis Group Parameters (XSEL2-TS/TL) Setting at Parameter Name Input Range Unit Remarks Delivery Bits 0-3: Protect range, Maximum position data No. (10’s place, BCD) Bits 4-7: Protect range, Maximum position data No. (100’s place, BCD) Bits 8-11: Protect range, Maximum position data No.
Page 622 7.2 Parameter List 3. Axis Group Parameters (XSEL2-TSX/TLX) [2] XSEL2-TSX/TLX Setting at No. Parameter Name Input Range Unit Remarks Delivery Effective setting and driver assignment settings for the 1st axis Bits 0-3: Axis Enabled Settings 0: Disable Dependent to 1: Enable (Driver Connection Axis)
Page 623 7.2 Parameter List 3. Axis Group Parameters (XSEL2-TSX/TLX) Setting at No. Parameter Name Input Range Unit Remarks Delivery Bits 0-3: Protect range, Maximum position data No. (10’s place, BCD) Bits 4-7: Protect range, Maximum position data No. (100’s place, BCD) Bits 8-11: Protect range, Maximum position data No.
Page 624 7.2 Parameter List 4. Robot Parameters (XSEL2-TS/TL) 7.2.4 Robot Parameters [1] XSEL2-TS/TL Setting at Input Parameter Name Unit Remarks Delivery Range 0: None Robot type 0 to 99 1: SCARA robot System Reservation 7-47 ME0478-1B...
Page 625 7.2 Parameter List 4. Robot Parameters (XSEL2-TSX/TLX) [2] XSEL2-TSX/TLX Setting at Input Parameter Name Unit Remarks Delivery Range 0: None Robot type 0 to 99 1: SCARA robot System Reservation Depended Scalar Axis Pattern to Actuator 0b to 1111b / Robot...
Page 626 7.2 Parameter List 4. Robot Parameter (XSEL2-TSX/TLX) Setting at Input Parameter Name Unit Remarks Delivery Range Depended Stopper pressing type absolute 0h to Bits 0-3: Effective setting to Actuator reset setting FFFFFFFFh 0: Disable, 1: Enable / Robot Depended SCARA axis PTPSM control...
Page 627 7.2 Parameter List 4. Robot Parameters (XSEL2-TSX/TLX) Setting at Input Parameter Name Unit Remarks Delivery Range Bits 0-3: J1 axis Bits 4-7: J2 axis Bits 8-11: Z axis Bits 12-15: R axis Depended 0h: Disable SCARA collision detection 0h to...
Page 628 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TS/TL) 7.2.5 Axis-specific Parameters [1] XSEL2-TS/TL Setting at Parameter Name Input Range Unit Remarks Delivery Depended 0: Linear movement axis Axis operation type to Actuator 0 to 1 1: Rotation movement axis (angle control) / Robot Acceleration speed when ACMX Command is executed.
Page 629 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TS/TL) Setting at Parameter Name Input Range Unit Remarks Delivery Depended -99999999 to 0.001mm Home preset value to Actuator 99999999 0.001deg / Robot Home-return operation should be executed in the SIO and PIO home-return order 0 to 16 order from small setting.
Page 630 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TS/TL) Setting at Parameter Name Input Range Unit Remarks Delivery Depended Value in rpm when rotary encoder [rpm], Motor max. speed to Actuator 1 to 99999 Value in mm/sec when linear encoder [mm/s] (Change...
Page 631 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TS/TL) Setting at Parameter Name Input Range Unit Remarks Delivery (For expansion) Depended 1 to Valid only when linear sliding axis Screw lead to Actuator 0.001mm 99999999 It is invalid when linear encoder / Robot...
Page 632 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TS/TL) Setting at Parameter Name Input Range Unit Remarks Delivery Bits 0 to 3: Select synchro-slave axis position loop encoder pulse input 0: Slave axis encoder pulse input (normally) 1: Main axis encoder pulse input...
Page 633 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TS/TL) Setting at Parameter Name Input Range Unit Remarks Delivery ↓ (Continued from the previous page) 3: Single → double sensor switchover control * Establish the setting considering the situation only when there is no freedom in “independent”...
Page 634 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TS/TL) Setting at Parameter Name Input Range Unit Remarks Delivery 0h to Each axis setting bit pattern 1 FFFFFFFFh Pressing stop detection Depended movement amount in home- to Actuator 1 to 99999 0.001mm Used in pressing check in home-return operation...
Page 635 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TS/TL) Setting at Parameter Name Input Range Unit Remarks Delivery Maximum speed for slave axis synchronizing Synchro-slave axis adjustment movement synchronizing adjustment max. 0 to 100 mm/s Valid only for synchro-slave axes speed *Note: It cannot be limited by the safety speed.
Page 636 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TS/TL) Setting at Parameter Name Input Range Unit Remarks Delivery Depended Allowable Time for Excess of Not to monitor excess time of continuous operational to Actuator 0 to 300 Continuous Operational Torque torque when set to “0”.
Page 637 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TS/TL) Setting at Parameter Name Input Range Unit Remarks Delivery System Reservation or (For expansion) Forcibly unlock the brake when the applicable port is ON (be aware of a falling load). Brake compulsory release input * Invalid when set to “0”...
Page 638 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TS/TL) Setting at Parameter Name Input Range Unit Remarks Delivery 155 System Reservation Damping characteristic Depended 1/1000 For anti-vibration control coefficient 1 to Actuator 0 to 1000 Rate (shows decline width of notch filter)
Page 639 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TS/TL) Setting at Parameter Name Input Range Unit Remarks Delivery System Reservation or (For expansion) For maintenance information alert function. If set to “0”, the alert feature should be disabled. 0 to 221 Total travel count threshold 99999999 If Maintenance Data “Total trabel count”...
Page 640 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TS/TL) Setting at Parameter Name Input Range Unit Remarks Delivery Output Number During Physical output port or extended output port 0 to 6999 Operation Invalid when set to “0” 239 (For expansion) Device extended data get...
Page 641 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TSX/TLX) [2] XSEL2-TSX/TLX Setting at Delivery Input Parameter Name Unit Remarks SCARA Added Range Axis Axis Depended 0: Linear movement axis Axis operation type to Actuator / 0 to 1 1: Rotation movement axis (angle control)
Page 642 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TSX/TLX) Setting at Delivery Input Parameter Name Unit Remarks SCARA Added Range Axis Axis 0: Z-phase search after end search 1: Current position at 0 home position (available only when INC encoder, pay attention to...
Page 643 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TSX/TLX) Setting at Delivery Input Parameter Name Unit Remarks SCARA Added Range Axis Axis Offset movement amount from the Z-phase ideal position (Positive value = direction to go against the end) * Caution for ABS Encoder...
Page 644 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TSX/TLX) Setting at Delivery Input Parameter Name Unit Remarks SCARA Added Range Axis Axis Absolute value of distance from the mechanical end (stopper or limit switch detection position) to Depended Actual distance between Point 0 of the encoder to Actuator / -1 to 99999 0.001mm...
Page 645 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TSX/TLX) Setting at Delivery Input Parameter Name Unit Remarks SCARA Added Range Axis Axis Bits 0 to 3: Select synchro-slave axis position loop encoder pulse input 0: Slave axis encoder pulse input (normally) 1: Main axis encoder pulse input...
Page 646 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TSX/TLX) Setting at Delivery Input Parameter Name Unit Remarks SCARA Added Range Axis Axis ↓ (Continued from the previous page) 3: Single → double sensor switchover control * Establish the setting considering the situation only when there is no freedom in “independent”...
Page 647 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TSX/TLX) Setting at Delivery Input Parameter Name Unit Remarks SCARA Added Range Axis Axis 0h to Each axis setting bit pattern 1 FFFFFFFFh ABS reset position movement / Depended Depended pressing stop detection It should be used for confirmation of pressing for...
Page 648 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TSX/TLX) Setting at Delivery Input Parameter Name Unit Remarks SCARA Added Range Axis Axis Added Axis ABS synchro-slave Depended Valid only for synchro-slave axes axis coordinate initializing to Actuator / 0 to 5 Note: Valid only on added axis...
Page 649 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TSX/TLX) Setting at Delivery Input Parameter Name Unit Remarks SCARA Added Range Axis Axis (For expansion) Depended Allowable time for excess of Not to monitor excess time of continuous to Actuator / 0 to 300 continuous operational torque operational torque when set to “0”...
Page 650 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TSX/TLX) Setting at Delivery Input Parameter Name Unit Remarks SCARA Added Range Axis Axis Depended Depended 119 PFSG to Actuator to Actuator / 0 to 100 Refer to [7.4 Servo Adjustment] / Robot Robot...
Page 651 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TSX/TLX) Setting at Delivery Input Parameter Name Unit Remarks SCARA Added Range Axis Axis Positive value = direction to go against the end When “3” is indicated in Axis-specific Parameter No. 10 “Home-Return System”,...
Page 652 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TSX/TLX) Setting at Delivery Input Parameter Name Unit Remarks SCARA Added Range Axis Axis System Reservation or (For expansion) * Equal value to PPG (Axis-specific No. 60) when Depended set to “0” PPG2(Position Gain)
Page 653 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TSX/TLX) Setting at Delivery Input Parameter Name Unit Remarks SCARA Added Range Axis Axis A combination number subject to multiple-slider over approach detection should be indicated. * The same combination number should be the subject to over approach detection.
Page 654 7.2 Parameter List 5. Axis-specific Parameters (XSEL2-TSX/TLX) Setting at Delivery Input Parameter Name Unit Remarks SCARA Added Range Axis Axis Depended 256 CMPPPG to Actuator 1 to 9999 For manufacturer use for adjustment / Robot 257 (For expansion) Compliance searching 1 to 1000 0.1Hz...
Page 655 7.2 Parameter List 6. Driver Parameters (All types) 7.2.6 Driver Parameters (All types) Setting Parameter Name Input Range Unit Remarks Delivery Type (upper) Depended Reference For manufacturer use for adjustment (Manufacturing information) to driver Only Type (middle) Depended Reference For manufacturer use for adjustment (Manufacturing information) to driver Only...
Page 656 7.2 Parameter List 6. Driver Parameters (All types) Setting Parameter Name Input Range Unit Remarks Delivery Reference (Function information) 0000h For manufacturer use for adjustment Only Reference (Function information) 0000h For manufacturer use for adjustment Only Reference (Configuration information) 0000h For manufacturer use for adjustment Only Constructed capacity (Motor...
Page 657 7.2 Parameter List 6. Driver Parameters (All types) Setting Parameter Name Input Range Unit Remarks Delivery Depended Push torque limit at home to Actuator 0 to 150 return / Robot Depended Max. torque limit to Actuator 10 to 400 * Setting of upper limit relies on such as motor / Robot Depended Dynamic brake operation...
Page 658 7.2 Parameter List 6. Driver Parameters (All types) Setting Parameter Name Input Range Unit Remarks Delivery 0000h to Current control word 8 For manufacturer use for adjustment FFFFh Depended 0 to COLSLPG to Actuator For manufacturer use for adjustment 99999999 / Robot Depended COLSLIT...
Page 659 7.2 Parameter List 6. Driver Parameters (All types) Setting Parameter Name Input Range Unit Remarks Delivery Current control query Reference For manufacturer use for adjustment information 13 Only Current control query Reference For manufacturer use for adjustment information 14 Only Current control query Reference For manufacturer use for adjustment...
Page 660 7.2 Parameter List 7. Encoder Parameters (All types) 7.2.7 Encoder Parameters (All types) Setting at Parameter Name Input Range Unit Remarks Delivery Depended Type (upper) Reference to Actuator (Manufacturing information) Only / Robot Depended Type (middle) Reference to Actuator (Manufacturing information) Only / Robot Depended...
Page 661 7.2 Parameter List 7. Encoder Parameters (All types) Setting at Parameter Name Input Range Unit Remarks Delivery Depended Reference (Function information) to Actuator For manufacturer use for adjustment Only / Robot Depended Reference (Function information) to Actuator For manufacturer use for adjustment Only / Robot Depended...
Page 662 7.2 Parameter List 8. Optional Board Parameters 7.2.8 Optional Board Parameters [1] Field Network, PIO and Pulse train input + PIO Input and Output (4/4) Setting at Parameter Name Input Range Unit Remarks Delivery Device parameter 0h to (by board type) FFFFFFFFh [2] EC Connection Module Setting at...
Page 663 7.2 Parameter List 9. PLC Parameters 7.2.9 PLC Parameters Setting at Parameter Name Input Range Unit Remarks Delivery 0: Not in use PLC Feature Use Select 0 to 5 1: Used Physical output port or extended output Port RUN signal output port No. 0 to 6999 (Output invalid when set to “0”, invalid when duplicated)
Page 664 7.2 Parameter List 10. Other Parameters (All types) 7.2.10 Other Parameters (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Auto-start program number 0 to 512 It should be disabled when it is set to “0”. The start trigger is determined from the “I/O processing program start type at operation/program abort.”...
Page 665 7.2 Parameter List 10. Other Parameters (All types) Setting at Input Parameter Name Unit Remarks Delivery Range 0: Abort operations/programs 1: Recovery after reset 2: Operation continued (Only during automatic operation *1 However, it should be cut from the teaching tool side when an operation command is conducted from the teaching tool.
Page 666 7.2 Parameter List 10. Other Parameters (All types) Setting at Input Parameter Name Unit Remarks Delivery Range System Reservation or (For expansion) Bits 0 to 3: Enable start from PC/TP in AUTO mode = Used exclusively by the manufacturer (0: Do not enable, 1: Enable) Bits 4 to 7: PIO program start (input port 000) Single Startup selected...
Page 667 7.2 Parameter List 10. Other Parameters (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Bits 0-3: Select if using calendar function 0: Not to use 1: Use 2: Not to use (using passed time after having reset) 3: System Reservation 0h to Other setting bit pattern 2...
Page 668 7.2 Parameter List 10. Other Parameters (All types) Setting at Input Parameter Name Unit Remarks Delivery Range System Reservation or (For expansion) Bit 0: Fan 1 condition monitored (0: Disable, 1: Enable) Bit 1: Fan 2 condition monitored (0: Disable, 1: Enable) Bit 2: Fan 3 condition monitored Dependent to (0: Disable, 1: Enable)
Page 669 7.2 Parameter List 10. Other Parameters (All types) Setting at Input Parameter Name Unit Remarks Delivery Range Bits 0-3: Bits 0 to 3: Protect range maximum number (Program) (1’ s place, BCD) Bits 4 to 7: Protect range maximum number (Program) (10’s place, BCD) Bits 8 to 11: Protect range maximum number (Program)
Page 670 7.3 Parameters for Linear / Rotation Controls 7.3 Parameters for Linear / Rotation Controls 7.3.1 Combinations of Parameters for Linear and Rotation Controls Shown in the list below are the combinations of parameters for linear and rotation controls: Table 7.3-1 List of Combinations of parameters for linear and rotation controls : Available for Indication ×: Not Available for Indication Axis-specific Encoder...
Page 671 7.3 Parameters for Linear / Rotation Controls 7.3.2 Parameters Related to Rotary Axis Movement  Rotation Movement Axis Mode Select (Axis-specific Parameter No.66) Set the rotation axis mode. When Axis Operation Type (Driver Unit Parameter No. 78) is set to “1: Rotary movement Axis” in the rotary axis and Index Mode is selected, the current value expression should be fixed at 0 to 359.999.
Page 672 7.3 Parameters for Linear / Rotation Controls 7.3.3 Operation Example of Shortcut Control in Rotary Axis Movement The shortcut control select can be set valid/invalid in Axis-specific Parameter No. 67 “Rotary Movement Axis Shortcut Control Select”. Movement can be performed in one way when the shortcut select is set valid.
Page 673 7.4 Servo Adjustment 7.4 Servo Adjustment At the delivery from the factory, the parameter settings are established to obtain the stable operational characteristics in an operation within the rated (maximum) transportable weight defined for the actuator. However, the preset setting cannot always be the optimum load condition in the actual use. In such cases, it may be necessary to adjust the servo.
Page 674 7.4 Servo Adjustment Phenomenon that How to Adjust Requires Adjustment Abnormal noise is [Important] generated. This phenomenon is likely to occur when the stiffness of the It is desired to minimize mechanical components is not sufficient. The actuator itself may high noise generated also resonate if its stroke is over 600mm or it is belt-driven type.
Page 675 Section to Desired Operation Pick up Want to Operate the System Tentatively Without Using I/Os 7.5.1 Want to Output an Auto Operation Determination Signal from the XSEL2 7.5.2 Controller Want to Retain Current Output Statuses Even During Emergency Stop 7.5.3 Want to Start an Emergency Program 7.5.4...
Page 676 A signal output to determine auto operation can be set using output port 303. Classification during an automatic operation is changed by the setting in Other Parameter No. 12. Table 7.5-3 Parameter settings (In Automatic Operation to be Output from XSEL2) Parameter No.
Page 677 7.5 Parameter Settings (Applied) 7.5.4 Want to Start an Emergency Program To operate an emergency program when an emergency stop signal is input or the safety gate becomes open, set an emergency program number and range of output ports to be used. * Programs which do not involve actuator operations are the only program that can be operated.
Page 678 7.5 Parameter Settings (Applied) 7.5.6 Want to Enable Auto Recovery (Error Reset) Upon Cancellation of Emergency Stop You can automatically reset the error when the emergency stop is cancelled, and execute the program. Table 7.5-8 Parameter settings (Error Reset After Emergency Stop Cancelled) Parameter No.
Page 679 Want to Restart the XSEL2 Controller Externally You can restart the controller (via software reset) by inputting an ON signal to input port 001 for at least 1 second. Table 7.5-10 Example for Parameter Setting(Restart the XSEL2 Controller Externally) Parameter No. Set Value...
Page 680 OFF (at the ON → OFF edge). The ON status must be retained for at least 100ms to ensure reliable operation. Table 7.5-13 Example for Parameter Setting (Execute the XSEL2 Controller Program Externally) Parameter No. Set Value...
Page 681 The XSEL controller pauses when input port 006 is turned OFF signal. Turn on Input Port 006 when releasing a pause and input the ON (at the OFF → ON edge) to Input Port 005. Table 7.5-15 Parameter settings (Pause the XSEL2 Controller Externally) Parameter No. Set Value...
Page 682 7.5 Parameter Settings (Applied) 7.5.15 Want to Release the Actuator Brake Externally The actuator brake can be forcibly released by setting a brake release signal input port and turning this input port ON. Table 7.5-17 Parameter settings (Actuator brake compulsory release from external) Parameter No.
Page 683 7.5 Parameter Settings (Applied) 7.5.17 Want to Change Input Port Assignments You can select input functions by I/O parameter Nos. 30 to 45 and assign them to desired input ports. Table 7.5-20 Parameter Settings (Change Input Port Assignments) Parameter No. Set Value Contents Input port number to assign input...
Page 684 7.5 Parameter Settings (Applied) 7.5.18 Want to Output That the All-Single and Orthogonal Axes Actuators are at the Home Position It can be confirmed that the all-single and orthogonal Axes actuators are at the home position. * Output as the home position cannot be made for SCARA Robot. Table 7.5-21 Status of signal (Confirmation that all-single and orthogonal axes are in home position) Current Position Output port 304...
Page 685 7.5 Parameter Settings (Applied) 7.5.20 Want to Output a Signal Showing an Axis is in Operation A signal showing operation of an axis is being made by the movement command (MOVP Command) should be able to output. “In Operation” should express the status that all of the conditions shown below are satisfied. ...
Page 686 7.5 Parameter Settings (Applied) * It should be defined as in operation unless all the subject continuous operations are completed on any axis subject to a movement command in the continuous operations even at once when an operation with a continuous operation command (such as PATH) is to be held. Operation Tracking Example of Output PATH...
Page 687 7.5 Parameter Settings (Applied) 7.5.21 Want to Output that the Single and Orthogonal Axes Actuator Invaded the Area (Zone) Which Has Been Set Four areas (zones) and output ports can be set to single and orthogonal axes actuators. It can be confirmed that the actuator invaded the area (zone) which has been set. A signal will not be output (turn ON) unless it pauses for 3ms or more.
Page 688 7.5 Parameter Settings (Applied) [Example for Setting] Below describes an example for how to set the following area (zone) to Zone1. • 1st axis: Output Port No. 311 turns on once getting into 150mm to 200mm • 2nd axis: Output Port No. 312 turns on once getting into 75mm to 125mm 2nd axis 1st axis Fig.
Page 689 7.5 Parameter Settings (Applied) 7.5.22 Want to Output the Error Level With the status of Output Port 300 and 301, an error level being occurred in a controller can be confirmed. Table 7.5-30 Status of signal (Check the Error Level) Error level Output port 300 Output port 301...
Page 690 7.5 Parameter Settings (Applied) 7.5.24 Want to Know the Current Operation Mode The current operation mode can be checked from the status of output port 303. Table 7.5-34 Status of signal (Check the operation mode) Current operation mode Output port 303 AUTO MANU Table 7.5-35 Parameter settings (Output the operation mode)
Page 691 7.5 Parameter Settings (Applied) 7.5.26 Want to Change Output Port Assignments You can select output functions by I/O parameter Nos. 46 to 61 and assign them to desired output ports. Table 7.5-37 Parameter settings (Change Output Port Assignments) Parameter No. Set Value Contents Output port number to assign...
Page 692 By using a general-purpose SIO connector, connection can be established with an external RS- 232C device or RS-485 device. SIO channel number should be Channel 1. The factory-set channel 1 and specifications are as follows. XSEL2 Controller [Channel 1 Specifications] General-purpose SIO Baud rate: 38.4 kbps...
Page 693 7.5 Parameter Settings (Applied) [Parameter Details] Bits 28 to 31: Baud rate type (0: 9.6, 1: 19.2, 2: 38.4, 3: 57.6, 4: 76.8, 5: 115.2, 6: 230.4 kbps) Bits 24 to 27: Data length (7: 7bit, 8: 8bit) Bits 20 to 23: Stop bit length (1: 1bit, 2: 2bit) Bits 16 to 19: Parity type (0: None, 1: Odd, 2: Even)
Page 694 7.5 Parameter Settings (Applied) 7.5.28 Want to Know the Current Value of Electric Current Without Connecting a Teaching Tool Current can be monitored on the panel window. Current can be monitored for up to four axes of consecutive axis numbers. Table 7.5-39 Example for Parameter Setting (Current value monitor in the panel window) Parameter No.
Page 695 7.5 Parameter Settings (Applied) 7.5.29 Want to Monitor Global Integer Variables Without Connecting a Teaching Tool Global integer variables can be displayed on the panel window. Positive integers of 1 to 999 can be displayed. The display shows U--- after 999. Table 7.5-41 Example for Parameter Setting (Global Integer Variables monitor in the panel window) Parameter No.
Page 696 7.6 Permission of SIO/PIO Program Startup with Password 7.6 Permission of SIO/PIO Program Startup with Password By setting to Parameter “Manual Operation Type” (refer to [7.2.10 Other Parameter No. 21]), the parameter can be changed so SIO program startup and PIO program startup cannot be conducted without inputting a password.
Page 697 7.6 Permission of SIO/PIO Program Startup with Password [2] Teaching pendant 1) Setting = 0 (Always enable edit and SIO/PIO start) Table 7.6-3 Operation function in the always enable edit and SIO/PIO start Functions Safety-speed enable Jog, move, Password Safety SIO program PIO program selection...
Page 698 7.6 Permission of SIO/PIO Program Startup with Password 7-121 ME0478-1B...
Page 699 XSEL2-TS/TL XSEL2-TS/TL 章 Chapter Troubleshooting Extension Motion Control ···································· 8-1 Error Level Control ············································ 8-4 Error List ························································ 8-5...
Page 700 8.1 Extension Motion Control 8.1 Extension Motion Control If a problem occurs, check the following points first in order to ensure quick recovery and prevent recurrence of the problem. (1) Check on 7-segment Display Windows and LED Displays on the Controller •...
Page 701 8.1 Extension Motion Control (7) Check on the connection, wire breakage and pinch of cables When checking the electrical conductivity, cut off the main power of the devices mounted to this controller (to prevent electric shock) and remove the cables on the measured part (to avoid conductivity due to sneak circuit) prior to the check.
Page 702 8.1 Extension Motion Control Table 8.1-2 Panel Window Display List Contents Display Priority (Note1) The AC power is cut off. (Momentary power failure or power-supply voltge drop is also possibility.) A system-shutdown level error is present. Flash ROM check process Data is being written to the flach ROM.
Page 703 8.2 Error Level Control 8.2 Error Level Control Alarms are classified into 5 levels depending on the content of the error. • Secret level (*1) • Message level • Operation-cancellation level • Cold-start level • System-down level *1 Secret-level errors are not actual errors. For cause analysis purpose when an error occurs, the internal status gets registered in the error list as the secret level as necessity.
Page 704 Replace the cable connecting between between controller and a connected controller and a connected device. Receive timeout status device. (IAI protocol reception) Malfunction of connected device. Replacement of connected device. Noise applied to cable connecting Take a countermeasure to noise on...
Page 705 8.3 Error List Error Error Name Cause Countermeasure level Fan error Malfunction of Fun. Replacement of fun unit. Fan Revolution Drop Malfunction of Fun. Replacement of fun unit. Warning There is an error in the clock data Indicate the correct time data in the indicated in communication message.
Page 706 8.3 Error List Error Error Name Cause Countermeasure level Data delete in the flash ROM or writing 1 Take proper measures against noise to the flash ROM did not finish in normal on the controller. condition due to the causes below. (such as installing ferrite core) 1.
Page 707 8.3 Error List Error Error Name Cause Countermeasure level Contact error on fieldbus connection Check the connection status of fieldbus cable. connection cable and connect again. Disconnection of fieldbus connection Replacement of fieldbus connection cable. cable. Following data does not match the setting on the PLC side (I/O Parameter) •...
Page 708 32. (flags) does not exceed 32. There is no program when editing, Conduct operation of program edit, inquiring or executing a program in IAI inquiry or execution indicating a protocol. registered program. A number less than 1 was indicated as...
Page 709 (SIO･PIO) control right to an axis already in use. A variable number out of the range was Variable number error indicated in IAI Protocol B Indicate a variable number in the range. communication. Revise the program to secure some Steps used up till the upper limit (20000...
Page 710 Check the sending message and set Simple contact check zone number out of the range was indicated the simple interference check zone error in IAI Protocol. number in the range. Change the operation conditions or Simple contact check zone The specified number of simple contact...
Page 711 A value not supported in the "movement coordinate system" was set in the IAI Positioning operation type Check indication of “movement protocol. error coordinate system” in IAI protocol (Message ID=2D4h, 2D5h, 2D6h, 2D9h etc.)
Page 712 Parameters cannot be changed during Stop an operation before changing operation (Program is running, IAI Protocol B parameters. servo is in use, etc.). unacceptable error An attempt was made to change a...
Page 713 Two or more parameters were changed changed in one time of parameter in one time of parameter change. change. A parameter type not defined in IAI A parameter type not defined in IAI Protocol was indicated. Protocol should not be indicated.
Page 714 Attempt to turn OFF/ON the power to There was an error detected by a the controller. Sensor error detection sensor (such as thermal sensor) inside Contact IAI in case the error occurs CPU unit. again. Driver warning detection An inappropriate operation or setting was attempted in IAI Protocol for Monitoring.
Page 715 Absolute reset execution condition failure error A command including a feature not Check the serial communication IAI protocol nonsupported supported in the IAI protocol was protocol specification to correct the feature error received. indication in the IAI protocol command. Motor Drive control error...
Page 716 Software PLC exception • Address was not set but was indirectly software PLC program. error referred in pointer type variables It could be a malfunction if it occurs Some Kind of System Error. again. Please contact IAI. 8-17 ME0478-1B...
Page 717 8.3 Error List Error Error Name Cause Countermeasure level The software PLC data (program, variable domain) that the flash ROM or backup memory is saved has been 1) Download the application again from damaged. CODESYS Integrated Development The followings can be considered as a Environment or initiate the software Software PLC data error cause.
Page 718 8.3 Error List Error Error Name Cause Countermeasure level A symbol in a type not permitted or out Use a symbol in a permitted type or in of the scope is used in Operand 1. the scope in Operand 1. A symbol in a type not permitted or out Use a symbol in a permitted type or in Operand symbol type error...
Page 719 8.3 Error List Error Error Name Cause Countermeasure level A battery cannot be detected or Connect the battery (AB-7). connected. A battery is in condition unavailable for Battery abnormality (TP) charging at rapid charging (connecting Replace the battery (AB-7). AC adapter). Malfunction of the teaching printed Replace the teaching tool (printed circuit board.
Page 720 8.3 Error List Error Error Name Cause Countermeasure level Check the program step that an error Input conditions were input to a SEL Input condition input occurred and avoid inputting any input command not permitted for input prohibited error condition to a SEL command not condition use.
Page 721 Noise even after rebooting the power, take proper measures against noise. Check the latest version of the teaching TP version is old. tool in IAI homepage. Communication error Malfunction of CPU unit. Replacement of CPU unit. (driver unit related) Check the condition of driver unit Contact error on driver unit.
Page 722 3. Make a change to the setting of the command prohibited error conducted in AUTO Mode. IAI protocol execution command communication receipt in AUTO Mode in I/O Parameter No. 116 "IAI Protocol Communication Attribute". Servo-ON Multiple Rotation Multi-rotation data reset was conducted The multi-rotation data reset should be Data Reset Prohibited Error while servo was ON.
Page 723 8.3 Error List Error Error Name Cause Countermeasure level Establish setting with a safety circuit when connecting a controller. Operation not available to conduct [Caution] Execution prohibited error when there is no safety circuit was Establish setting with a safety circuit without safety circuit made.
Page 724 8.3 Error List Error Error Name Cause Countermeasure level Data delete in the flash ROM or writing 1. Take proper measures against noise to the flash ROM did not finish in normal on the controller. condition due to the causes below: (such as installing ferrite core) 1.
Page 725 8.3 Error List Error Error Name Cause Countermeasure level 1. Check that the value in I/O Parameter No. 129 “Bit 4-7: TCP/IP message communication” is set to 1 (To Use). 2. Check that the values set in I/O Communication response cannot be Parameter No.
Page 726 SIO channel 0 opened to user” and 1: SEL Program Opened the actual way to use. (Common in devices PC/TP connection at CLOSE) 2: IAI protocol B (slave) A supported channel number should be indicated in OPEN Command. User-open communication An unsupported channel number was •...
Page 727 8.3 Error List Error Error Name Cause Countermeasure level Check the program and see if there is an excess number of nesting times or DO, IF, IS over-nesting The number of nests in a DO or IF/IS branch into the grammatical error command exceeds the limit value.
Page 728 GOTO Command. There is no program when editing, Conduct operation of program edit, inquiring or executing a program in IAI inquiry or execution indicating a protocol. registered program. A number less than 1 was indicated as A number less than 1 should not be a program number.
Page 729 8.3 Error List Error Error Name Cause Countermeasure level Decrease the indicated velocity by VEL Speed indicated for operation too high. Command or OVRD Command. Excess command velocity Motor rotation with high speed became error necessary to maintain speed and Change the operating position.
Page 730 Malfunction of CPU unit. If the same phenomenon occurs again Movement-position count even after rebooting the power, please over error contact IAI. Operation failure due to noise or others. 8-31 ME0478-1B...
Page 731 Name Cause Countermeasure level An axis not available for use in a SEL command or IAI protocol command is indicated. There should mainly be some causes as below: • An arc operation command (such as CIR2, ARC2) was conducted to the...
Page 732 8.3 Error List Error Error Name Cause Countermeasure level A palletizing number out of the range Check the program and indicate a Palletizing number error was indicated in a SEL command (such palletizing number in the range (1 to 32) as BGPA, PTNG and PINC).
Page 733 8.3 Error List Error Error Name Cause Countermeasure level Reference-axis/PY/PY-axis Set either of the two axes constructing An axis number indicated in PARG mismatch error at PX and PY axes indicated in the three- Command is not either PX or PY set in palletizing angle point teaching to the axis number set in the 3-point teaching.
Page 734 8.3 Error List Error Error Name Cause Countermeasure level The message received at a controller Check the sending message in the does not match with the message destination of connection. Received message data format. error Noise Take proper measures against noise. EtherNet non-closed Without closing the socket, it was tried Close the socket before opening it...
Page 735 IP address indicated in IPCN command. Check the following parameter so the parameter setting would not be an error condition • I/O parameter No.144 “IAI protocol B/TCP: Own port number (MANU Condition as shown below; mode)” “Own port number” <1025 or “Own port •...
Page 736 8.3 Error List Error Error Name Cause Countermeasure level If the same phenomenon occurs again Malfunction of CPU unit. even after rebooting the power, replacement of CPU unit. Internal Process Error Noise Take measures against noise. Contact error at connector of actuator Check actuator connection cable connection cable.
Page 737 8.3 Error List Error Error Name Cause Countermeasure level An external force was applied to an Revise condition of assembly. actuator. If there is no problem with the payload, The sliding resistance on an actuator is cut off the power and check sliding high.
Page 738 8.3 Error List Error Error Name Cause Countermeasure level Target position of operation or target Revise the target position data so it track of operation got out of the range gets into the soft limit range. 1) Out of Soft Limit Range. Out of SCARA Robot Operation Range Revise the target position data so it (getting into no entry area at back or no...
Page 739 IAI protocol. message Input port debug filter setting data out of Input port debug filter setting data in the the range was indicated in IAI Protocol range should be indicated in IAI Input port debug filter type (Other than those below) Protocol.
Page 740 MOVL Command or PATH Command, not in an arc operation command. Check the SCARA Robot arm system There is an error in the setting for the indication in SEL Command or IAI SCARA Robot arm system. Protocol Command and make correction. Form error...
Page 741 8.3 Error List Error Error Name Cause Countermeasure level Expansion-condition LD There is no input condition before steps Input the input conditions before steps shortage error 1 of Extension Conditions A and O. of Extension Conditions A and O. Expansion-condition LD There is no input condition before steps Input the input conditions before steps shortage error 2...
Page 742 8.3 Error List Error Error Name Cause Countermeasure level (SCARA / added axis Indication in the same timing was made Check the program step that the error simultaneous indication to axes prohibited for indication in the occurred and change the setting not to error) same timing.
Page 743 Check in the SEL command A feature not available in the current programming manual or the serial Invalid feature used error setting is used in a SEL command or IAI communication protocol specification Protocol command. document and correct the SEL program or IAI Protocol Command.
Page 744 Connection axis manufacturer adjustment mode. inconsistency error Contact IAI for detail. The actuator was connected to this Conduct an absolute reset. controller for the first time. Actuator (excluding SCARA Robot) was Conduct an absolute reset.
Page 745 8.3 Error List Error Error Name Cause Countermeasure level The stopper pressing operation was failed in the stopper pressing type absolute reset of SCARA Robot. • The movement distance from the start position of the pressing operation to the position where it hits Check in an instruction manual and the stopper is 10mm (10deg for rotary redo the absolute reset operation.
Page 746 8.3 Error List Error Error Name Cause Countermeasure level There was an error occurred while the gain was changed. • A position gain switchover was tried to be conducted to the axis in move or pressing operation. • The program was finished during the WGHT/WGT2 Commands should be Gain Change Error position gain switchover.
Page 747 8.3 Error List Error Error Name Cause Countermeasure level Data delete in the flash ROM or writing 1. Have a countermeasure for noise to to the flash ROM did not finish in normal the controller (such as installing condition due to the causes below: ferrite core) 1.Noise applied.
Page 748 8.3 Error List Error Error Name Cause Countermeasure level Contact error on fieldbus connection Check the connection status of fieldbus cable. connection cable and connect again. Disconnection of fieldbus connection Replacement of fieldbus connection cable. Cable. Check the following parameters and Following data does not match the establish the controller parameter setting on the PLC side...
Page 749 8.3 Error List Error Error Name Cause Countermeasure level Check the value in I/O Parameter No. 225 to match it to the field network module circuit board actually mounted. Not installed: 0 CC-Link: 1, DeviceNet: 2 Parameter setting error. PROFIBUS-DP: 3 There is a mismatch in the value in I/O IA Net: 4 Parameter No.
Page 750 8.3 Error List Error Error Name Cause Countermeasure level 1) I/O parameter No.299 to 314 “Port number assigned to output function selection 3xx.” I/O parameter No.315 Input and Output Feature Select Port to 330 “Port number assigned to No. (4) used in the CC-Link system output function selection 3xx (Area domain as the system output to the 2)”.
Page 751 No. 3 “SCARA Axis Pattern”. Parameter No. 3 “SCARA Axis Pattern”. A network I/F type not supported was set in I/O Parameter No. 225 “I/O Please contact IAI. Control”. Unsupported card error An I/O module not supported is Check the firmware version.
Page 752 8.3 Error List Error Error Name Cause Countermeasure level When the value set in Axis-specific The pressing time exceeded the Parameter No. 101 is “1” or higher and specified time when the value set in when the pressing operation is Axis-specific Parameter No.
Page 753 8.3 Error List Error Error Name Cause Countermeasure level An external force was applied to an Revise condition of assembly. actuator. If there is no problem with the payload, The sliding resistance on an actuator is cut off the power and check sliding high.
Page 754 8.3 Error List Error Error Name Cause Countermeasure level There is a failure in the multi-slider related parameter settings. Revise the following Axis-specific • An inappropriate axis number was Parameter settings. indicated • No.234 “Multiple-Slider Over • Two slider axis numbers mutual Multi-slider master Approach Detection Combination indication error...
Page 755 8.3 Error List Error Error Name Cause Countermeasure level In the parameter settings, the synchronized matching axis is disabled. Revise the actuator type and establish Setting error in Axis-specific Parameter again the settings in the configuration No. 233 “Synchronizing Combination tool.
Page 756 8.3 Error List Error Error Name Cause Countermeasure level A value other than an output number Input an output port number (from 0 to (other than from 0 to 6999) was input to 6999) to the following parameters. the following parameters. •...
Page 757 8.3 Error List Error Error Name Cause Countermeasure level 1) The input (output) port start number and the input (output) used port count Set the input (output) port start number at the fixed assignment were set as and the input (output) used port count follows: at the fixed assignment to appropriate •...
Page 758 Noise Take proper measures against noise. Belt replacement Belt breaking error Malfunction of actuator (Belt breaking) (Please contact IAI.) There is no response confirmed to the brake operation (release/lock) Supply the brake power Brake power is not supplied. Encoder cable error or breakage Replacement of encorder cable.
Page 759 Name Cause Countermeasure level Axis structure definition There is an error in the parameter Please contact IAI. parameter error setting for the axis structure definition. Coordinate system definition setting error When an error related to the An error was detected in a parameter communication with the driver unit (Axes Group Parameter No.
Page 760 (24V). A motor / encoder not supported by the controller is mounted to an actuator or robot. Please contact IAI. 1) The firmware version in the main application or driver is old Unsupported motor / The version of the control constant table encoder error Please contact IAI.
Page 761 8.3 Error List Error Error Name Cause Countermeasure level The current position has exceeded the Set the current position back in the soft limit. range of the soft limit or do not attempt ● An external force was applied when to move it out of the range.
Page 762 There is a possibility of the power overcurrent. supply unit malfunction if it occurs again Power supply related error after reboot of the power supply. 24V DC is not generated correctly in the Please contact IAI. power supply unit. 8-63 ME0478-1B...
Page 763 Malfunction of CPU unit. Replacement of CPU unit Communication error Disconnection of cable. Cable replacement. TP malfunction. TP replacement. Check the version of the teaching in IAI A controller not supported is connected. homepage. 8-64 ME0478-1B...
Page 764 8.3 Error List Error Error Name Cause Countermeasure level System Down Error A system error was detected. Reboot the power. 8-65 ME0478-1B...
Page 765 XSEL2-TS/TL Chapter Maintenance and Inspection Periodic Inspection ·············································· 9-1 Periodic Inspection Items ······································ 9-2 Consumable Parts ··············································· 9-4 Component Replacement ······································ 9-5 9.4.1 Caution when Replacing Components (Common Item) ······ 9-5 9.4.2 List of Parts for Replacement ········································ 9-6 9.4.3 Panel Unit Replacement ·············································· 9-7 9.4.4 Replacement of Fun Unit ·············································...
Page 766 Absolute Reset on Single and Orthogonal Axes ········· 9-35 9.5.1 When Using the PC Software ········································ 9-35 9.5.2 When Using the Touch Panel Teaching Pendant ··············· 9-40 Absolute Reset on SCARA Robot ··························· 9-45...
Page 767 9.1 Periodic Inspection 9.1 Periodic Inspection In order to use the XSEL Controller functions in the best possible condition, it is necessary to perform daily or periodic inspections. Danger ● Do not touch the terminal while live. This may result in electric shock. ●...
Page 768 9.2 Periodic Inspection Items 9.2 Periodic Inspection Items The XSEL controller contain electronic components that may degrade due to the operating environment and require periodic inspection. It is standard to conduct periodic inspection once every 6 months to one year, but the interval should be shortened in accordance with operating environment.
Page 769 9.2 Periodic Inspection Items Inspection Inspection Details Judgment Criteria Countermeasures Items Mounting Mounting state on the No slack in controller Re-attach and lock. status control panel mounting Wiring connectors loose? (Motor encoder cable, field network cable, No looseness Insert until the lock engages. Connection stop circuit and status...
Page 770 9.3 Consumable Parts 9.3 Consumable Parts The life of components used in this product system is as follows. Refer to [6.4.2 Overload Warning] and [6.4.3 Axis Overloaded Warning] for information about preventive and predictive maintenance. Table 9.3-1 Consumable Parts Preventative Predictive Guidelines Item...
Page 771 9.4 Component Replacement 9.4 Component Replacement 9.4.1 Caution when Replacing Components (Common Item) When replacing a component of XSEL Controller, pay attention to the following things while performing a work. Danger ● Do not touch the terminal while live. This may result in electric shock. ●...
Page 772 9.4 Component Replacement 9.4.2 List of Parts for Replacement Fig. 9.4-1 XSEL2 (4-axis type) (1) Panel unit (5) CPU unit Type Type Model UT-XSEL2-PNL 4-axis type UT-XSEL2-CPU-□□ 8-axis type UT-XSEL2-CPX-□□ (2) Fun unit * Put an I/O slot structure in □.
Page 773 [1] Preparation  Phillips screwdriver  Protection equipment (e.g. Cotton Work Gloves)  Panel unit for replacement: UT-XSEL2-PNL Fig. 9.4-2 Panel Unit [2] Replacement procedure Remove the cross recessed pan head machine screw (1pc) holding the panel unit on the top.
Page 774 9.4 Component Replacement Panel Unit Replacement Apply a panel unit for replacement at the tab on the back side fit to the connector. Panel unit Fix the panel unit with cross-recessed pan head machine screw (1pc) Cross-recessed pan head machine screws M3 × 8 (1pc) Tightening torque: 0.6 to 0.8N･m Tightening torque: 0.6 to 0.8N･m Panel unit...
Page 775 Replacement of Fun Unit 9.4 Component Replacement 9.4.4 Replacement of Fun Unit In case Error No. 404 “Fan Error” is occurred, a fan unit should be replaced in the process shown below. (It is recommended to replace it at the timing of Error No. 201 “Fan Revolution Drop Warning”.) [1] Check for the details of fun error The equipped position can be identified in the “alarm detail data of fan error (Info.1)”.
Page 776 [2] Preparation  Phillips screwdriver  Protection equipment (e.g. Cotton Work Gloves)  Fun unit for replacement Type Model 4-axis type UT-XSEL2-FNS 8-axis type UT-XSEL2-FNL UT-XSEL2-FNS UT-XSEL2-FNL Fig. 9.4-5 Fun Unit [3] Replacement procedure *The picture is for 4-axis. Remove the cross recessed pan head machine screw (1pc) holding the panel unit on the top.
Page 777 Replacement of Fun Unit 9.4 Component Replacement While pressing the snap feature at the bottom of the fan unit (dotted line area), slide the fan unit to take it off. Fun unit Fun unit Snap fit feature Snap fit feature Insert a fan unit for replacement along the controller unit until it makes a “click”...
Page 778 [1] Preparation  Phillips screwdriver  Protection equipment (e.g. Cotton Work Gloves)  Power supply unit for for replacement Type Model 100V AC single-phase input UT-XSEL2-PS1 200V AC single-phase input UT-XSEL2-PS2 200V AC 3-phase input UT-XSEL2-PS3 8-axis type 4-axis type Fig.
Page 779 Replacement of Power Supply Unit 9.4 Component Replacement While pressing the snap feature at the bottom of the fan unit (dotted line area), slide the fan unit to take it off. Fun unit Fun unit Snap fit feature Snap fit feature Remove the pan head machine screws (1pc) Pan head machine screws M3 ×...
Page 780 9.4 Component Replacement Replacement of Power Supply Unit Insert a power supply unit for replacement to the base unit, and put down the levers at the top and bottom to fix the unit. Base unit Power supply unit Power supply unit Power supply unit Lever Lever...
Page 781 Replacement of Power Supply Unit 9.4 Component Replacement Apply the panel unit at the tab on the back side fit to the connector. Panel unit Fix the panel unit with cross-recessed pan head machine screw (1pc). Cross-recessed pan head machine screws M3 × 8 (1pc) Tightening torque: 0.6 to 0.8N･m Tightening torque: 0.6 to 0.8N･m Panel unit...
Page 782 Replacement of Driver Unit [1] Preparation  Phillips screwdriver  Protection equipment (e.g. Cotton Work Gloves)  Driver unit for replacement Type Model 2-axis type UT-XSEL2-DS2 1-axis type UT-XSEL2-DS1 1-axis type (1000W) UT-XSEL2-DSH No axis type UT-XSEL2-DS0 4-axis type 8-axis type...
Page 783 Replacement of Driver Unit 9.4 Component Replacement [2] Replacement procedure *The picture is for 4-axis. Remove the cross recessed pan head machine screw (1pc) holding the panel unit on the top. Cross-recessed pan head machine screws M3 × 8 (1pc) Panel unit Panel unit Pull the panel unit.
Page 784 9.4 Component Replacement Replacement of Driver Unit Put up the levers at the top and bottom of the driver unit. Driver unit Lever Lever Pull the driver unit out of the base unit. Driver unit Base unit Insert a driver unit for replacement to the base unit, and put down the levers at the top and bottom to fix the unit.
Page 785 Replacement of Driver Unit 9.4 Component Replacement Insert a fan unit along the controller unit until it makes a “click” sound. * Confirm that the fan unit is locked. Fun unit Apply the panel unit at the tab on the back side fit to the connector. Panel unit Fix the panel unit with cross-recessed pan head machine screw (1pc).
Page 786 For single and orthogonal axis UT-XSEL2-CPU-□□ For SCARA robot UT-XSEL2-CPX-□□ * Put an I/O slot structure in □. (Example) UT-XSEL2-CPU-NPEP ⇒ PIO(NPN)＋EtherNet/IP 4-axis type 8-axis type Fig. 9.4-8 CPU Unit [2] Replacement procedure *The picture is for 4-axis. Remove the cross recessed pan head machine screw (1pc) holding the panel unit on the top.
Page 787 Replacement of CPU Unit 9.4 Component Replacement Pull the panel unit. Panel unit While pressing the snap feature at the bottom of the fan unit (dotted line area), slide the fan unit to take it off. Fun unit Fun unit Snap fit feature Snap fit feature Take off the pan head machine screws (1pc).
Page 788 9.4 Component Replacement Replacement of CPU Unit Pull the CPU unit out of the base unit. CPU unit Base unit Insert a CPU unit for replacement to the base unit, and put down the levers at the top and bottom to fix the unit. Base unit CPU unit Lever...
Page 789 Replacement of CPU Unit 9.4 Component Replacement Insert a fan unit along the controller unit until it makes a “click” sound. * Confirm that the fan unit is locked. Fun unit Apply the panel unit at the tab on the back side fit to the connector. Panel unit Fix the panel unit with cross-recessed pan head machine screw (1pc).
Page 790  Phillips screwdriver  Protection equipment (e.g. Cotton Work Gloves)  Base unit for replacement Type Model Minor Frame (4-axis) UT-XSEL2-BAS Major Frame (8-axis) UT-XSEL2-BAL 8-axis type 4-axis type Fig. 9.4-9 Base Unit [2] Replacement procedure *The picture is for 4-axis.
Page 791 Replacement of Base Unit 9.4 Component Replacement While pressing the snap feature at the bottom of the fan unit (dotted line area), slide the fan unit to take it off. Fun unit Fun unit Snap fit feature Snap fit feature Remove the pan head machine screw (1pc each) on the power supply unit, driver unit and CPU unit.
Page 792 9.4 Component Replacement Replacement of Base Unit Pull the power supply unit, driver unit and CPU unit off the base unit. CPU unit Base unit Driver unit Driver unit Driver unit Power supply unit Power supply unit Power supply unit Insert the power supply unit, driver unit and CPU unit to a base unit for replacement, and put down the levers at the top and bottom to fix them.
Page 793 Replacement of Base Unit 9.4 Component Replacement Insert a fan unit along the controller unit until it makes a “click” sound. * Confirm that the fan unit is locked. Fun unit Apply the panel unit at the tab on the back side fit to the connector. Panel unit Fix the panel unit with cross-recessed pan head machine screw (1pc).
Page 794  Protection equipment (e.g. Cotton Work Gloves)  PC software *If an error occurs  Absolute battery for replacement Type Model Remarks Absolute battery AB-5 1pc for 1 axis Battery box UT-XSEL2-ABB Connection cable CB-XSEL2-AB002 AB-5 CB-XSEL2-AB002 UT-XSEL2-ABB 9-28 ME0478-1B...
Page 795 Replacement of Absolute Battery 9.4 Component Replacement   Replacement procedure Turn off the power to a controller (both the controller power supply and the motor drive power supply). Loosen the screws affixing the panel on the absolute battery unit and slide the panel to take it off.
Page 796 9.4 Component Replacement Replacement of Absolute Battery Insert the new battery to the holder and plug in the battery connectors. Connector Slide in the panel of the absolute battery unit to mount, and tighten the screw. Screw Turn ON the controller power. When “rdy”...
Page 797 Replacement of Absolute Battery 9.4 Component Replacement (Continued from Step 6. in the previous page) Confirm that the power to the controller is turned off, and then connect the 9-pin D-sub connector on the PC software connection cable to the communication port on a PC. (or plug in the USB connector to the USB port on the PC) Join the 25-pin D-sub connector on the other end to the teaching port on the controller.
Page 798 9.4 Component Replacement Replacement of Absolute Battery Select “Controller” → “Abs. Encoder Reset” on the menu bar. The warning dialog box will appear. Click on the OK . The absolute reset window dialog box will appear. Have the following operations in order of c) from a). a) Set Axis No.
Page 799 Replacement of Absolute Battery 9.4 Component Replacement Select “Controller” → “Software Reset” on the menu bar to reboot the controller. (Note) Without restarting the controller by having the software reset or rebooting the power, it may cause; • Error No. “C70 ABS Coordinate Unconfirmed Error”, or •...
Page 800 9.4 Component Replacement Replacement of Absolute Battery [2] For SCARA Robot Replace the battery by following the replacement process stated in the operation manual of SCARA Robot that you use. Refer to [instruction manual for each SCARA Robot]. 9-34 ME0478-1B...
Page 801 When Using the PC Software 9.5 Absolute Reset on Single and Orthogonal Axes 9.5 Absolute Reset on Single and Orthogonal Axes 9.5.1 When Using the PC Software Caution ● For the battery-less absolute encoder type, it is necessary to conduct the absolute reset when the motor was replaced or an absolute error (Error No.
Page 802 9.5 Absolute Reset on Single and Orthogonal Axes When Using the PC Software “Connection Check” dialog box appears. Change the setting in Communication Port to the PC. Click on OK button. (Baud rate will be automatically identified even if not been set.) PC Software window opens.
Page 803 When Using the PC Software 9.5 Absolute Reset on Single and Orthogonal Axes Make sure to have a backup of the parameters. Select “Parameter” → “Edit” from the menu in the PC software to show the parameter edit window. Press “Save As” in the parameter edit window to save the parameters to file data. Select “Controller”...
Page 804 9.5 Absolute Reset on Single and Orthogonal Axes When Using the PC Software Abs. Encoder Reset window appears. Select a tab that represents the axis that you would like to conduct the absolute reset. Press Start , and a warning window opens. Release the emergency stop, confirm it and click Yes .
Page 805 When Using the PC Software 9.5 Absolute Reset on Single and Orthogonal Axes Once “Absolute Reset” window gets closed, the screen switches to “Do you want to write data to flash ROM?” confirmation window. Put a checkmark on “Parameter” and click Yes , and then conduct the software reset.
Page 806 9.5 Absolute Reset on Single and Orthogonal Axes When Using the Touch Panel Teaching Pendant 9.5.2 When Using the Touch Panel Teaching Pendant [1] Absolute Type Select Absolute Reset from Controller Menu. To have an absolute reset, touch Yes . When not to have an absolute reset, touch No .
Page 807 When Using the Touch Panel Teaching Pendant 9.5 Absolute Reset on Single and Orthogonal Axes Touch Encoder Rotation Data Reset 1 OK . Touch Reset Controller Error OK . Touch Servo-ON OK . Touch Returning Home OK . 9-41 ME0478-1B...
Page 808 9.5 Absolute Reset on Single and Orthogonal Axes When Using the Touch Panel Teaching Pendant Touch Servo-OFF OK . Touch Encoder Rotation Data Reset 2 OK . Return to the axis No. input window. When you want to have another axis conduct absolute reset, input the axis number and touch OK .
Page 809 When Using the Touch Panel Teaching Pendant 9.5 Absolute Reset on Single and Orthogonal Axes [2] Battery Absolute Type Select “Absolute Reset” from the controller menu. Input the axis number to the axis number box using the touch panel numeric keys, and then touch Next .
Page 810 9.5 Absolute Reset on Single and Orthogonal Axes When Using the Touch Panel Teaching Pendant Touch Re-Start controller . Touch Yes and Write the flash ROM. Note: Never turn off the power to the Controller while writing. Touch Yes and restart the controller. Once software reset is finished, the window automatically goes back to the main menu window.
Page 811 9.6 Absolute Reset on SCARA Robot Refer to an instruction manual of a used SCARA Robot. Instruction Manual is available for download from our website. https://www.iai-robot.co.jp/ Download → Instruction Manual → Actuator Instruction Manual Refer to an instruction manual of a used SCARA Robot. Type...
Page 812 9.6 Absolute Reset on SCARA Robot Type Instruction Manual Control Number IX-HNN5020H, IX-HNN6020H IX-HNN7020H, IX-HNN7040H IX-HNN8020H, IX-HNN8040H ME3704 IX-INN5020H, IX-INN6020H IX-INN7020H, IX-INN7040H IX-INN8020H, IX-INN8040H IX-HNN5020, IX-HNN6020 IX-HNN7020, IX-HNN7040 IX-HNN8020, IX-HNN8040 ME3636 IX-INN5020, IX-INN6020 IX-INN7020, IX-INN7040 IX-INN8020, IX-INN8040 IX-NNN2515H, IX-NNN3515H IX-NNC2515H, IX-NNC3515H ME3702 IX-NNW2515H, IX-NNW3515H IX-NNN5020H, IX-NNN6020H...
Page 813 XSEL2-TS/TL Chapter Warranty 10.1 Warranty Period ·················································· 10-1 10.2 Scope of the warranty ·········································· 10-1 10.3 Honoring the warranty ·········································· 10-1 10.4 Limited liability ···················································· 10-2 10.5 Conformance with applicable standards/regulations, etc., and application conditions ······························· 10-2 10.6 Other items excluded from warranty ························ 10-2...
Page 814 Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or malfunction in question pertains to our product as delivered by IAI or our authorized dealer.
Page 815 ● Equipment used to handle cultural assets, art or other irreplaceable items (3) Contact IAI in advance if our product is to be used in any condition or environment that differs from that specified in the catalog or instruction manual.
Page 816 10 Warranty 10-3 ME0478-1B...
Page 817 Revision History Revision History Revision date Revised content 2024.12 First Edition 2025.03 1B Edition • Table 2.1-10 IX SCARA Robot Model Code and Driver Construction correction made • 9.4 Component Replacement Absolute Battery image changed • Correction made Post-1 ME0478-1B...

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