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IAI XSEL-RA Instruction Manual

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Table of Contents

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XSEL
Controller
RA/SA/RAX/SAX/RAXD/SAXD
Instruction Manual
Ninth Edition
Controller Overview
Specifications
Wiring
Operation
Special Functions
Parameter
Troubleshooting
Maintenance and
Inspection
Appendix
Warranty
ME0359-9E
Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
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Summary of Contents for IAI XSEL-RA

  • Page 1 XSEL Controller RA/SA/RAX/SAX/RAXD/SAXD Instruction Manual Ninth Edition ME0359-9E Controller Overview Chapter Specifications Chapter Wiring Chapter Operation Chapter Special Functions Chapter Parameter Chapter Troubleshooting Chapter Maintenance and Chapter Inspection Appendix Chapter Warranty Chapter...

  • Page 3: Please Read Before Use

    The product cannot be operated in any way unless expressly specified in this Operation • Manual. IAI shall assume no responsibility for the outcome of any operation not specified herein. Information contained in this Operation Manual is subject to change without notice for the •...
  • Page 4 XSEL-RA/SA/RAX/SAX/RAXD/SAXD Instruction Manual Configuration Control Product name Instruction manual name number XSEL-RA/SA/RAX/SAX/RAXD/SAXD Instruction Manual (this document) ME0359 XSEL-RA/SA/RAX/SAX/RAXD/SAXD First Step Guide ME0360 PIO Type XSEL-RA/SA/RAX/SAX/RAXD/SAXD First Step Guide ME0365 Field Network Type Extension Motion Control Extension Motion Instruction Manual ME0364...

  • Page 5: Product Name

    Control Product name Instruction manual name number PC Software ME0154 XSEL PC Software Instruction Manual TB-01/01D/01DR Touch Panel Teaching Pendant Applicable for Program Controller ME0325 TB-01 Instruction Manual TB-02/02D Touch Panel Teaching Pendant Applicable for Program Controller ME0356 TB-02 Instruction Manual TB-03 Wired Link Touch Panel Teaching Pendant Applicable for Program Controller...

  • Page 6: Table Of Contents

    Chapter 1 Controller Overview Overview (About XSEL Controller) ··············································· 1-1 Features ················································································ 1-2 System Configuration ································································ 1-3 1.3.1 System Configuration (XSEL-RA/SA) ······················································· 1-3 1.3.2 System Configuration (XSEL-RAX/SAX) ··················································· 1-4 1.3.3 System Configuration (XSEL-RAXD/SAXD) ·············································· 1-5 Name for Each Parts and Their Functions ····································· 1-6 1.4.1...
  • Page 7 Noise Elimination and Mounting Method ······································· 2-49 2.6.1 Noise Elimination ················································································· 2-49 2.6.2 Heat Radiation and Installation ······························································· 2-52 Chapter 3 Wiring Wiring (Connection of devices) Diagram ······································· 3-1 3.1.1 XSEL-RA ··························································································· 3-1 3.1.2 XSEL-SA ··························································································· 3-2 3.1.3 XSEL-RAX ························································································· 3-3 3.1.4 XSEL-SAX ························································································· 3-4 3.1.5 XSEL-RAXD ·······················································································...
  • Page 8 Wiring for PIO Circuit ································································ 3-44 3.5.1 PIO board specifications and allocation ···················································· 3-44 3.5.2 Connection Development Diagram ·························································· 3-49 3.5.3 PIO Cable ·························································································· 3-55 Wiring for Regenerative Resisance Unit ········································ 3-57 3.6.1 Connection Development Diagram ·························································· 3-57 3.6.2 How to Wiring ····················································································· 3-57 Wiring for Brake Box ·································································...
  • Page 9 Program Operation ··································································· 4-10 4.4.1 Auto Start upon Power On ····································································· 4-10 4.4.2 Starting a Program by Specifying its Program Number ································ 4-12 Chapter 5 Special Functions Extension Motion Control ··························································· 5-1 Vision System Interface Function ················································ 5-2 5.2.1 About Vision System Interface Function ··················································· 5-2 5.2.2 About Applicable models ·······································································...
  • Page 10 5.6.6 Related Virtual I/O Ports ········································································ 5-69 5.6.7 Related Parameters List ········································································ 5-70 5.6.8 Related Errors ····················································································· 5-71 Chapter 6 Parameter Overview ················································································ 6-1 Parameter list ·········································································· 6-3 6.2.1 I/O Parameter (All types) ······································································· 6-3 6.2.2 Parameters Common to All Axes ····························································· 6-42 6.2.3 Axis-Specific Parameters ······································································...
  • Page 11 6.5.19 Want to Output That Home-return Ooperation is Complete on All the Single Axis Actuators ··································································· 6-117 6.5.20 Want to output a signal showing an axis is in operation ······························· 6-118 6.5.21 Want to Output that a Single Axis Actuator Got into the Area (Zone) which Has Been Set ·············································································...
  • Page 12 Absolute Reset ········································································ 8-24 8.7.1 Single and Orthogonal Axes (When using the PC Software) ························· 8-24 8.7.2 Single and Orthogonal Axes (When using the Touch Panel Teaching Pendant) ······································· 8-29 8.7.3 IXA SCARA Robot ··············································································· 8-34 8.7.4 IX SCARA Axis (except for IX-NNN10040 and 12040) ································· 8-48 8.7.5 SCARA robot (for NN10040/12040) ·························································...

  • Page 13: Safety Guide

    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 14: Storage And Preservation

    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 15 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 16 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 17: Operation Description

    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 18 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 19: Alert Indication

    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 20: Caution In Handling

    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 21 Caution in 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 22 Caution in 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 23 Caution in 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 24 Caution in Handling Brake Box Model : IA-110-DD-4 DDA Brake-Equipped Type • Motor Cable Encoder Cable (CB-X- MA□□□) (CB-X3-PA010) Encoder Cable (CB-X3-PA□□□) Brake Box - Actuator Connection Cable (CB-DDB-BK□□□) Brake Box (IA-110-DD-4) Actuator Controller 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 25: International Standards Compliances

    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 ○ ○ (Note 1) ○ (Note) Only XSEL- SA/SAX/SAXD, which are the global specification models, are available for application to Category 4.

  • Page 26: Precautions For Maintenance And Inspection

    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 27 International Standards Compliances 7. Regarding Molded Case Circuit Breaker In order to comply with UL, it is necessary to calculate the power supply input current from the capacity of the motor to be connected, and use a MCCB certificated in UL Listed. ●...

  • Page 28: Actuator Coordinate System

    ● 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 29 Actuator Coordinate System (2) Slider type (3) Table type (4) Arm type Intro-17 ME0359-9E...
  • Page 30 Actuator Coordinate System (5) Gripper type (6) Rotary type (330deg 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 ME0359-9E...
  • Page 31 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) (Axis3)

  • Page 32: Base Coordinate System

    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 33 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 34 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 35: Controller Overview

    Overview (About XSEL Controller) ·························· 1-1 Features ···························································· 1-2 System Configuration ··········································· 1-3 1.3.1 System Configuration (XSEL-RA/SA) ························ 1-3 1.3.2 System Configuration (XSEL-RAX/SAX) ···················· 1-4 1.3.3 System Configuration (XSEL-RAXD/SAXD) ················ 1-5 Name for Each Parts and Their Functions ················· 1-6 1.4.1 XSEL Controller ····················································...

  • Page 36: Overview (About Xsel Controller)

    SEL language and each SEL functions and also applicable for linear / arc interpolation operation in SCARA Robot, Wrist Unit and Cartesian Robot. XSEL-RA/SA/RAX/SAX/RAXD/SAXD mentioned in this manual (hereinafter called as XSEL and XSEL controller) is equipped with Ethernet ports in standard is capable of establishing a construction with a free combination with one set of SEL unit which is an interface for field network connection and multiple units of the driver unit to control eight axes at the maximum.

  • Page 37: Features

    1.2 Features 1.2 Features (1) Application to Orthogonal Coordinate System and Wrist Unit The system supports the operation of the orthogonal wrist unit. In addition, it supports the orthogonal coordinate system. (2) Improved usability Equipped with a USB port as standard. Connection to a PC is possible using a commercial USB cable.

  • Page 38: System Configuration

    1.3 System Configuration 1.3 System Configuration 1.3.1 System Configuration (XSEL-RA/SA) PC Software (P) RS-232 − (C) RS-232 PCON/ACON/DCON/SCON-CB <Model: IA-101-X-MW> MCON (P) USB − (C) RS-232 Extension Motion (MECHATROLINK-III type) <Model: IA-101-X-USBMW> (Prepare a cable by the customer) (P) USB − (C) USB/Ethernet Touch Panel <Model: IA-101-N>...

  • Page 39: System Configuration (Xsel-Rax/Sax)

    1.3 System Configuration 1.3.2 System Configuration (XSEL-RAX/SAX) PC Software (P) RS-232 − (C) RS-232 PCON/ACON/DCON/SCON-CB <Model: IA-101-X-MW> MCON (P) USB − (C) RS-232 Extension Motion (MECHATROLINK-III type) <Model: IA-101-X-USBMW> (Prepare a cable by the customer) (P) USB − (C) USB/Ethernet Touch Panel <Model: IA-101-N>...

  • Page 40: System Configuration (Xsel-Raxd/Saxd)

    1.3 System Configuration 1.3.3 System Configuration (XSEL-RAXD/SAXD) PC Software PC Software (P) RS-232 − (C) RS-232 PCON/ACON/DCON/SCON-CB <Model: IA-101-X-MW> MCON (P) USB − (C) RS-232 Extension Motion (MECHATROLINK-III type) <Model: IA-101-X-USBMW> (Prepare a cable by the customer) (P) USB − (C) USB/Ethernet Touch Panel <Model: IA-101-N>...

  • Page 41: Name For Each Parts And Their Functions

    Motor Cable (22) Brake Release Switch (20) Field Network Board (Option) Mounted Position 2 (21) Teaching Connector Fig. 1.4-1 Name of Each Part in XSEL-RA/RAX/RAXD Type (2) XSEL-SA/SAX/SAXD (8) Field Network Board (Option) (4) Encoder Connector Mounted Position 1 (6) Brake Power...
  • Page 42 When this feature is to be used, it is necessary to indicate the firmware special in the XSEL controller as the special specification. Consult with IAI when it is necessary. * For XSEL-RAXD/SAXD, the conveyer tracking is available on the 1st unit of SCARA Robot only.
  • Page 43 1.4 Name for Each Parts and Their Functions (5) Brake Release Switch Connector ······· Refer to [Section 3.8.1] The signals of such as an external switch mounted externally to the controller are to be connected and the brake of the actuator equipped with a brake can compulsorily be released (Excitation release).
  • Page 44 1.4 Name for Each Parts and Their Functions (9) System Operation Status LED 1 It is the LED lamps showing the status of the system operation (motion control master) and the operational status of Network Interface 1. Table 1.4-2 Display of System Operation Status LED 1 Status Item Description Display of Network 1 status...
  • Page 45 1.4 Name for Each Parts and Their Functions (13) System Operation Setting Switches These are switches to set the operation mode of the system. Establish the setting as stated below in ordinary use. Table 1.4-3 Default of System Operation Setting Switches Switch No.
  • Page 46 1.4 Name for Each Parts and Their Functions (16) I/O Slots 1 ······· Refer to [Section 3.5.3] PIO board (Option) is inserted. Table 1.4-5 Mountable PIO Board XSEL Model Number of Number of Name Polarity Display Input Output PIO Board Multipoint PIO Board (17) I/O Slots 2 ·······...
  • Page 47 1.4 Name for Each Parts and Their Functions (19) General-purpose RS-232C Port Connectors ······· Refer to [Section 3.9.1] This is a port for connections with external RS-232C devices. (20) Field Network Board (option) Mounted Position 2 The field network board for CC-Link, DeviceNet, PROFIBUS-DP or CC-Link IE Field (option) should be mounted.
  • Page 48 1.4 Name for Each Parts and Their Functions Warning  After having a brake compulsory release, make sure to set back on NOM (Automatic Mode) so the automatic control of the brake by the controller can be executed. It is extremely risky to leave it on RLS (brake release) status because the brake would not work when in emergency stop or the servo is turned OFF.

  • Page 49: Brake Box: Rcb-110-Ra13-0 (Option)

    1.4 Name for Each Parts and Their 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 50: Power On Led

    1.4 Name for Each Parts and Their Functions (1) Brake Release Switch Connector 1 ·······Refer to [Section 3.7.1 (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 51: Encoder Connector

    1.4 Name for Each Parts and Their 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 52: Brake Box: Ia-110-Dd-4 (Option)

    1.4 Name for Each Parts and Their 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 brakeequipped type. • DDA Brake-Equipped Type One brake box can control the brakes for one axis. (2) Encoder Input Connector –...
  • Page 53 1.4 Name for Each Parts and Their Functions (1) Power Supply Input Terminal Block It is a terminal block to supply power to the brake box. Refer to [3.7.2 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.
  • Page 54 1.4 Name for Each Parts and Their 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 55: Starting Procedures

    Connecting a robot out of indication may cause a controller burned down or wrong operation. Product Check Product Check No → Contact your IAI dealer or IAI. Refer to [Section 2.1] Are all items included? ↓Yes Installation and wiring Refer to Important check items Refer to [Section 2.6]...
  • Page 56 1.5 Starting Procedures From previous page ↓Yes Check the safety circuit. Refer to [Section 3.3.2] 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 57 2.1.3 How to Read the Model Plate ·································· 2-3 2.1.4 How to read the model of the controller······················ 2-4 Basic Specifications ············································· 2-8 2.2.1 XSEL-RA/SAn Controller Type ································· 2-8 2.2.2 XSEL-RAX/SAX Controller Type ······························ 2-14 2.2.3 XSEL-RAXD/SAXD Controller Type ·························· 2-23 2.2.4 Selection of the Circuit Breaker ································...
  • Page 58 2.4.3 Brake Box: RCB-110-RA13-0 ·································· 2-42 2.4.4 Brake Box: IA-110-DD-4 ········································· 2-43 2.4.5 Regenerative Resistance Unit: RESU-1, RESUD-1 ······ 2-44 2.4.6 Absolute Battery ··················································· 2-46 Installation and Storage Environment ······················· 2-48 2.5.1 Installation Environment ········································· 2-48 2.5.2 Storage and Preservation Environment ······················ 2-48 Noise Elimination and Mounting Method ···················...

  • Page 59: Product Check

    2.1 Product Check 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. Quantity Item Model RA/RAX/ SA/SAX/...

  • Page 60: Teaching Tool

    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. Applicable Controllers Item Model RA/RAX/ SA/SAX/ RAXD SAXD PC Software IA-101-X-MW...

  • Page 61: How To Read The Model Plate

    2.1 Product Check 2.1.3 How to Read the Model Plate The model place of a controller is attached on the top left side of the main unit. ME0359-9E...

  • Page 62: How To Read The Model Of The Controller

    2.1 Product Check 2.1.4 How to read the model of the controller (1) Controller for Single-axis Robots and Cartesian Robots      Details of axis 1 to axis 8 Network slot I/O slots (Note 1)   ...
  • Page 63 2.1 Product Check (2) SCARA Robot + Controller for Single-Axis Robots and Cartesian Robots (4 axes at maximum)      Details of axis 5 to axis 8 Network slot I/O slots (Note 1)   I/O Flat Power ...
  • Page 64 2.1 Product Check      Details of axis 1 to axis 8 Network slot I/O slots (Note 1)   I/O Flat Power  Controller SCARA robot High Home Series cable supply Motor Encoder Synchronization type model Brake Creep acceleration/...
  • Page 65 2.1 Product Check (3) Controller for SCARA Robot 2-unit Connection Dedicated        Network slot I/O slots  SCARA robot Controller I/O Flat cable Power supply SCARA robot model 2 Series model 1 length voltage type Slot 1 Slot 2...

  • Page 66: Basic Specifications

    2.2 Basic Specifications 2.2 Basic Specifications 2.2.1 XSEL-RA/SAn Controller Type (1) Specification List Specification Item XSEL-RA XSEL-SA Number of Controlled Axes 1-axis to 8-axis Applicable Motor Capacity 20 to 750W 3-phase type controller: 2400W Total Connectable Wattage Single-phase type controller: 1600W Control Power Supply Voltage Single-phase 200 to 230V AC ±10%...
  • Page 67 2.2 Basic Specifications Specification Item XSEL-RA XSEL-SA Max. Number of Programs 255 programs Max. Number of Multitask Programs 16 programs Data Retention Memory Flash ROM + FRAM Number of Connectable: 32 axes max. Extension Motion Control Master Feature MECHATROLINK-III controllers in SCON-CB, SCON-CA, PCON-CB, ACON-CB,...
  • Page 68 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] + Total of the Power Consumption at the Control Part [VA] Heating Value [W] = Total Output Loss [W] + (Total of internal power consumption [VA] ×...
  • Page 69 6-axis 7-axis 8-axis Driver Encoder Section Four-axis type frame Eight-axis type frame XSEL-RA : 5 units XSEL-RA : 6 units Fan Unit XSEL-SA (three phase type) : 4 units XSEL-SA (three phase type) : 5 units XSEL-SA (single phase type)

  • Page 70: Calculation Example

    (3) Calculation Example Shown below is an example for how to calculate the power capacity and amount of heat generation when the following actuators are used with XSEL-RA controller. Model: For XSEL-RA-4-200WAI-200WAI-100WAIB-60WAI-EPE-NIE-2-3 ● 1st Axis Actuator 200W 2nd Axis Actuator 200W ●...
  • Page 71 2.2 Basic Specifications 3) I/O (PIO Board) Power Capacity (24V DC) 14.52 × 1 = 14.52 VA 4) Brake Power Capacity (24V DC) (2.5 + 7.5) ×1 = 10.0 VA 5) Motor Power Capacity 421 + 421 + 234 + 138 = 1214 VA 6) Motor Power Supply Heat Generation 9.12 + 9.12 + 6.12 + 3.39 = 27.75 W 7) Rated Power Capacity = 1) Control Power Capacity + 5) Motor Power Capacity...

  • Page 72: Xsel-Rax/Sax Controller Type

    2.2 Basic Specifications 2.2.2 XSEL-RAX/SAX Controller Type (1) Specification List XSEL-SAX4 Specification Item XSEL-RAX XSEL-SAX (High Capacity Type) (Note4) SCARA Robot 1-axis to 4-axis, SCARA Robot Number of Controlled Axes Added Axis 5-axis to 8-axis 1-axis to 4-axis Applicable Motor Capacity 20 to 750W 200 to1000W 3600W...
  • Page 73 2.2 Basic Specifications XSEL-SAX4 Specification Item XSEL-RAX XSEL-SAX (High Capacity Type) (Note4) Max. Number of Programs 255 programs Max. Number of Multitask Programs 16 programs Data Retention Memory Flash ROM + FRAM Number of Connectable: 32 axes max. Extension Motion Control Master Feature MECHATROLINK-III controllers in SCON-CB, SCON-CA, PCON-CB, ACON-CB, DCON-CB and MCON-C Retaining time after power turned OFF: approximately 10 days...
  • Page 74 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] + Total of the Power Consumption at the Control Part [VA] Heating Value [W] = Total Output Loss [W] + (Total of internal power consumption [VA] ×...
  • Page 75 2.2 Basic Specifications Table 2.2-4 Number of Connectable Axes to SCALA Robot and Added Axes SCARA Model Total Wattage and Number of Connectable Axes 1500W in total or less IX-NNN1205/1505/1805 Added Axes: 4 axes at maximum 750W max. for 1 axis 1500W in total or less IX-□N□2515H/3015H/3515H Added Axes: 4 axes at maximum...
  • Page 76 2.2 Basic Specifications Table 2.2-5 Motor Volt Amperage of Actuator and Output Loss Wattage [W] Motor Power Output loss = Heat SCARA Robot (Rated output) Capacity [VA] (Note 1) Generation [W] IX-NN□1205 129.8 216.3 8.13 IX-NN□1505 IX-NN□1805 IX-NN□2515H IX-NN□3515H IX-TNN3015H 1117.9 1863.1 44.8...
  • Page 77 2.2 Basic Specifications Wattage [W] Motor Power Output loss = Heat SCARA Robot (Rated output) Capacity [VA] Generation [W] (Note 1) 5113.6 8522.6 118.5 IXA-4NHN10040 5033.3 8388.8 118.5 IXA-4NHN12040 IXA-4NSC3015 2616.5 4360.8 60.5 IXA-4NSC45□□ 2725.4 4542.3 60.5 IXA-4NSC60□□ 2656.5 4427.5 61.6 2555.5 4259.1...
  • Page 78 2.2 Basic Specifications Power Consumption at the Control Part Table 2.2-7 External Power Supply Control Power Supply (24V DC) Internal External Internal External Quantity Consumption Consumption Consumption Consumption [VA] [VA] [VA] [VA] Base Unit 46.64 Driver Per board 6.26 Encoder Section Per axis 2.38 3.57...
  • Page 79 2.2 Basic Specifications (3) Calculation Example Shown below is an example for how to calculate the power capacity and amount of heat generation when the following actuators are used with XSEL-RAX controller. Model: In the case of XSEL-RAX6-4NNN4518-200WAI-100WAIB-EPE-N1E-2-3 ● SCARA ROBOT: IXA-4NNN4518 (Z-axis with brake) ●...
  • Page 80 2.2 Basic Specifications 3) I/O (PIO Board) Power Capacity (24V DC) 14.52 × 1 = 14.52 VA 4) Brake Power Capacity (24V DC) (2.5 + 1) × 1 + (2.5 + 7.5) × 1 = 13.5 VA 5) Motor Power Capacity SCARA ROBOT: 2284.3 VA Orthogonal Axes: 421 + 234 = 655 VA 2284.3 + 655 = 2939.3 VA...

  • Page 81: Xsel-Raxd/Saxd Controller Type

    2.2 Basic Specifications 2.2.3 XSEL-RAXD/SAXD Controller Type (1) Specification List Specification Item XSEL-RAXD XSEL-SAXD Number of Controlled Axes SCARA Robot 1-axis to 4-axis, 5-axis to 8-axis Applicable Motor Capacity 20W to 750W Total Connectable Wattage 3-phase type controller: 2400W Control Power Supply Voltage Single-phase 200 to 230V AC ±10% Motor Driving Source Voltage 3-phase 200 to 230V AC ±10%...
  • Page 82 2.2 Basic Specifications Specification Item XSEL-RAXD XSEL-SAXD Drive-source cutoff method Internal relay External safety circuit b contact (Normally closed) Input b contact (Normally closed) Input Safety Circuit Emergency-stop input (internal power supply) (external power supply, duplication available) Configuration b contact (Normally closed) Input b contact (Normally closed) Input Enable input (internal power supply)
  • Page 83 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]+Total of the Power Consumption at the Control Part [VA] Heating Value [W] = Total Output Loss [W] + (Total of internal power consumption [VA] ×...

  • Page 84: Motor Power

    2.2 Basic Specifications Table 2.2-10 Motor Volt Amperage of actuator and Output Loss Motor Power Wattage [W] Output Loss = SCARA Robot Capacity (Rated output) Heat Generation [W] [VA] (Note 1) IX-NN□1205 129.8 216.3 8.13 IX-NN□1505 IX-NN□1805 IX-NN□2515H IX-NN□3515H IX-TNN3015H 1117.9 1863.1 44.8...
  • Page 85 2.2 Basic Specifications Table 2.2-11 Motor Driving Power and Output Loss External Power Control Power Supply Supply (24V DC) Quantity Internal External Internal External Consum Consum Consum Consum ption ption ption ption [VA] [VA] [VA] [VA] Base Unit 46.64 Driver Per board 6.26 Encoder...
  • Page 86 2.2 Basic Specifications (3) Calculation Example Shown below is an example for how to calculate the power capacity and amount of heat generation when the following actuators are used with XSEL-RAXD controller. Model: For XSEL-RAXD8-NNN1205-NNN2515H-EPE-N1E-2-3 ● SCARA Robot: First Unit: IX-NNN1505 (without brake) Second Unit: IX-NNN2515H (Z-axis with brake) ●...
  • Page 87 2.2 Basic Specifications 3) I/O (PIO board) Power Capacity (24V DC) 14.52 × 1 = 14.52 VA 4) Brake Power Capacity (24V DC) (2.5+1) × 1 = 3.5 VA 5) Motor Power Capacity SCARA Robot First Unit (IX-NNN1505): 216.3 VA SCARA Robot First Unit (IX-NNN2515H) : 1863.1 VA 216.3 + 1863.1 = 2079.4 VA...

  • Page 88: Selection Of The Circuit Breaker

    2.2 Basic Specifications 2.2.4 Selection of the Circuit Breaker Caution  When it is necessary to comply with UL/cUL, refer to “UL/cUL 7. Regarding Molded Case Circuit Breaker in International Standards Compliances”. For the selection of the circuit breaker, perform it according to the following items. •...

  • Page 89: Selection Of The Leakage Breaker

    2.2 Basic Specifications 2.2.5 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 90: External Dimensions

    2.3 External Dimensions 2.3 External Dimensions Caution Caution to Take Account Before Purchasing The controller of IXA SCARA Robot shown below is an eight-axis specification unit.  High-speed type of three-axis specification and four-axis specification (NSN)  Standard type four-axis specification IXA-4NNN60□□, 4NNN80□□ and 4NNN100□□ ...

  • Page 91: Absolute Battery Unit Non-Equipped Type

    2.3 External Dimensions 2.3.1 Absolute Battery Unit Non-Equipped Type (1) Four-axis Type Frame Controller Type All Types Equipped (Single-phase / 3-phase type) (Single-phase type) Standard (3 places) (3-phase type) * Make sure you refer to Caution to Take Account Before Purchasing described at the beginning of 1.3 External Dimensions before purchasing...
  • Page 92 2.3 External Dimensions (2) Eight-axis Type Frame Controller Type All Types Equipped (Single-phase / 3-phase type) (Single-phase type) RAX/RAXD (3-phase type) XSEL-SAX4- NNN10040, NNN12040, IXA-4NSN80□□, IXA-4NSN100□□, IXA-4NHN10040, Standard (3 places) IXA-4NHN12040, IXA-4NSW80□□, IXA-4NSW100□□, IXA-4NHW12040 SA/SAX/SAXD (3-phase type) Standard (3 places) Side View 2-34 ME0359-9E...

  • Page 93: Absolute Battery Unit Equipped Type

    2.3 External Dimensions 2.3.2 Absolute Battery Unit Equipped Type (1) Four-axis Type Frame All Types Equipped Controller Type (Single-phase / 3-phase type) (Single-phase type) (3-phase type) * Make sure you refer to Caution to Take Account Before Standard Purchasing described at the (3 places) beginning of 1.3 External Dimensions before purchasing...
  • Page 94 2.3 External Dimensions (2) Eight-axis Type Frame All Types Equipped Controller Type (Single-phase / 3-phase type) (Single-phase type) RAX/RAXD Standard (3-phase type) (3 places) SA/SAX/SAXD (3-phase type) Standard (3 places) Side View 2-36 ME0359-9E...

  • Page 95: Pio Board

    2.4 Option 2.4 Option 2.4.1 PIO Board (1) Type XSEL Mode Polarity Input and Output Points Model Display Input 32 Points, Output 16 Points IA-103-X-32 Input 16 Points, Output 32 Points IA-103-X-16 Input 48 Points, Output 48 Points IA-IO-3204-NP Input 32 Points, Output 16 Points IA-103-X-32-P Input 16 Points, Output 32 Points IA-103-X-16-P...
  • Page 96 2.4 Option (3) Input and Output Interfaces Pin Assignment NPN type : N1 PNP type : P1 24V DC Pin No. Pin No. PNP Type: P2 NPN Type: N2 24V DC 24V DC Pin No. Pin No. PNP Tpe: P3 NPN Type: N3 24V DC 24V DC...
  • Page 97 2.4 Option Caution  If a non-contact circuit is connected externally, malfunction may result from leakage current. Use a circuit in which leakage current in a OFF state does not exceed 1mA.  PIO board input signal At the default settings, the system recognizes the ON/OFF durations of input signals if they are approx.

  • Page 98: Field Network Board

     Caution when Using Several Interfacing Modules in Combination As shown in the table below, Ethernet/IP and CC-Link IE Field cannot be mounted together when using several interfacing modules combined in XSEL-RA/SA. Table 2.4-2 Network Available for Mounting on Each Network Module and Availability of Combination Network I/F Module 1 Slot ○...
  • Page 99 2.4 Option Remark  The mounting position of the interfacing module for XSEL-RA/SA is as shown below. Network I/F Module 1 Slot Network I/F Module 2 Slot Fig. 2.4-1 Controller external view (Network connector connection) 2-41 ME0359-9E...

  • Page 100: Brake Box: Rcb-110-Ra13-0

    2.4 Option 2.4.3 Brake Box: RCB-110-RA13-0 This is required when the following actuator has the brake. • Ball Screw Nut Rotary Type NS Series MZMS/MZMM/LZMS/LZMM • Vertical/Rotary Integrated Type ZR Series • ROBO CYLINDER High-Thrust Rod Type RCS2-RA13R • ISB/ISPB actuator in special specification, which uses a motor equipped with a brake in 24V DC for brake activating voltage One brake box can control the brakes for two axes.
  • Page 101 2.4 Option 2.4.4 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. [Specification] Item Specification Input Power Supply Voltage 100-240V AC ±10% Rated Excitation 100V AC: 0.25A / 200V AC: 0.15A Input Power...

  • Page 102: Regenerative Resistance Unit: Resu-1, Resud-1

    2.4 Option 2.4.5 Regenerative Resistance Unit: RESU-1, RESUD-1 Regenerative resistance unit: A unit that converts to heat the regenerative current generated when the motor decelerates. [Specification] Item Specification Internal Regenerative Resistor 235Ω 80W Heat Generation Value Max. 32W (Note1) Accessories Controller connection cable (Model: CB-ST-REU010) 1m Surrounding air 0 to 40°C...
  • Page 103 2.4 Option [Number of Connectable] To calculate the total number of necessary units, select the suitable conditions from the table below for the actuator type connected to XSEL controller and sum up the numbers. Total Number of Connected Units = Number in 1) + Number in 2) + Number in 3) Table.

  • Page 104: Absolute Battery

    Item Specifications Battery classification Thionyl chloride lithium batteries TOSHIBA HOME APPLIANCES CORP, or Battery manufacturer’s name Maxell, Ltd. Battery model (IAI model) AB-5 Battery nominal voltage 3.6V Battery standard capacity 2,000mAh 2 years after use Reference for battery replacing timing...
  • Page 105 2.4 Option Voltage Alarm 3.1V (Reference value) Battery voltage drop warning (error No. A23) 2.5V (Reference value) Battery voltage error (error No.914, CA2) 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...

  • Page 106: Installation And Storage Environment

    2.5 Installation and Storage Environment 2.5 Installation and Storage Environment This product is capable for use in the environment of pollution degree 2 or equivalent. *1 Pollution degree 2: Environment that may cause non-conductive pollution or transient conductive pollution by frost (IEC60664-1). 2.5.1 Installation Environment Do not use this product in the following environment: •...

  • Page 107: Noise Elimination And Mounting Method

    2.6 Noise Elimination and Mounting Method 2.6 Noise Elimination and Mounting Method 2.6.1 Noise Elimination (1) Protective Ground For the grounding, the grounding resistance should be set to 100Ω or less. The wiring should apply a twist line or an annealed copper wire of 2.0 mm (AWG14) or more.
  • Page 108 2.6 Noise Elimination and Mounting Method (2) Noise Elimination Grounding (Frame Ground) Grounding work should be implemented with ground resistance of 100Ω or less. Apply annealed twist wire or copper wire cables with 2.0 mm (AWG14) or more for wiring and connect with solderless ring tongue terminals.
  • Page 109 2.6 Noise Elimination and Mounting Method (3) Precautions Regarding Wiring Method Grounding work should be implemented with ground resistance of 100Ω or less. Use a twisted cable for connection to the power supply. 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 110: Heat Radiation And Installation

    2.6 Noise Elimination and Mounting Method 2.6.2 Heat Radiation and Installation Conduct design and manufacture in consideration of the control box size, controller layout and cooling in such a way that the temperature around the controller will be 40°C or less. Fig.
  • Page 111 XSEL-RA/SA Chapter Wiring Wiring (Connection of devices) Diagram ··················· 3-1 3.1.1 XSEL-RA ····························································· 3-1 3.1.2 XSEL-SA ····························································· 3-2 3.1.3 XSEL-RAX ··························································· 3-3 3.1.4 XSEL-SAX ··························································· 3-4 3.1.5 XSEL-RAXD ························································ 3-5 3.1.6 XSEL-SAXD ························································· 3-6 Wiring for Power Supply Circuit ······························ 3-7 3.2.1 Connection Development Diagram for...
  • Page 112 Wiring the Emergency Stop Circuit (System I/O) ········ 3-22 3.3.1 Connection Development Diagram ··························· 3-22 3.3.2 Specification the Emergency Stop Circuit ··················· 3-24 3.3.3 RA/RAX/RAXD Type System IO Connecter Allocation and Wiring ··························································· 3-26 3.3.4 SA/SAX/SAXD Type System IO Connecter Allocation and Wiring ···························································...
  • Page 113 3.11 Wiring for USB port ·············································· 3-77 3.12 Wiring for Ethernet ··············································· 3-78 3.13 Wiring for Extension Motion ··································· 3-79...

  • Page 114: Wiring (Connection Of Devices) Diagram

    3.1 Wiring (Connection of devices) Diagram 3.1 Wiring (Connection of devices) Diagram 3.1.1 XSEL-RA Note 1 Please prepare separately. Note 2 Supply of +24V power for brake to the controller is necessary if the actuator is equipped with a brake.

  • Page 115: Xsel-Sa

    3.1 Wiring (Connection of devices) Diagram 3.1.2 XSEL-SA Note 1 Please prepare separately. Note 2 Supply of +24V power for brake to the controller is necessary if the actuator is equipped with a brake. Note 3 When a teaching tool such as a PC is not connected to the teaching connector, connect the dummy plug (DP-2).

  • Page 116: Xsel-Rax

    3.1 Wiring (Connection of devices) Diagram 3.1.3 XSEL-RAX 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-NNN10040/12010 and SCARA Robot other than IXA. For the SCARA robots except for IX-NNN1205/1505/1805 (without brake) and brake- equipped Single-Axis actuator, the power supply of +24V for the controller is required.

  • Page 117: Xsel-Sax

    3.1 Wiring (Connection of devices) Diagram 3.1.4 XSEL-SAX 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-NNN10040/12010 and SCARA Robot other than IXA. For the SCARA robots except for IX-NNN1205/1505/1805 (without brake) and brake- equipped Single-Axis actuator, the power supply of +24V for the controller is required.

  • Page 118: Xsel-Raxd

    3.1 Wiring (Connection of devices) Diagram 3.1.5 XSEL-RAXD Note 1 Please prepare separately. Note 2 It is necessary to supply power +24V for brake to the actuator unit for the models except for IX-NNN1205/1505/1805 (equipped with brake). For the SCARA robots except for IX- NNN1205/1505/1805 (without brake), the power supply of +24V for the the controller is required.

  • Page 119: Xsel-Saxd

    3.1 Wiring (Connection of devices) Diagram 3.1.6 XSEL-SAXD 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) and SCARA Robot other than IXA. For the SCARA robots except for IX-NNN1205/1505/1805 (without brake), the power supply of +24V for the the controller is required.

  • Page 120: Wiring For Power Supply Circuit

    3.2 Wiring for Power Supply Circuit 3.2 Wiring for Power Supply Circuit 3.2.1 Connection Development Diagram for Power Supply Part (1) Example for 3-phase Type Power Supply Circuit Note 1 Leakage current varies depending on the capacity of the motor to be connected, cable length and surrounding environment.
  • Page 121 3.2 Wiring for Power Supply Circuit (2) Example for Single-phase Type Power Supply Circuit Note 1 Leakage current varies depending on the capacity of the motor to be connected, cable length and surrounding environment. Therefore, when protective measures from the leakage are taken, measure the leakage current at the locations where the leakage breaker is installed.
  • Page 122 3.2 Wiring for Power Supply Circuit (3) 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). Cutting off on both ends and if 0V gets cut before, the electric potential gets unstable. It could lead to malfunction of components inside a controller.

  • Page 123: Wiring For Power Supply Circuit (3-Phase Power Supply Type)

    3.2 Wiring for Power Supply Circuit 3.2.2 Wiring for Power Supply Circuit (3-phase power supply type) To 3-phase power supply type XSEL controllers, supply the following power supplies. Power Supply Type Specification Remarks Motor Power Supply 3-phase 200 to 230V AC±10% Control Power Supply Single-phase 200 to 230V AC±10% When mounting expansion PIO...
  • Page 124 3.2 Wiring for Power Supply Circuit Parts Name Model Supplier Position to Attach TAC-20-683 COSEL Attach in range of Noise Filter SOSHIN ELECTRIC NF3020C-SVA 300mm or less Co., Ltd. from controller Ring Core ESD-R-25 TOKIN Clamp Filter ZCAT3035-1330 Attach as close as possible to Kitagawa Industries Clamp Filter...
  • Page 125 3.2 Wiring for Power Supply Circuit [AC Power Supply Input Connector] Connector Model Remarks GMSTB2.5/6-STF-7.62 Enclosed in standard Cable Side (PHOENIX CONTACT) package GMSTB2.5/6-GF-7.62 Controller Side (PHOENIX CONTACT) GMSTB2.5/6-STF-7.62 GMSTB2.5/6-GF-7.62 (Cable Side) (Controller Side) Pin No. Signal Name Description Applicable Wire Diameter Protective grounding wire Refer to [2.6] CP_L...
  • Page 126 3.2 Wiring for Power Supply Circuit [Brake Power Connector] 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 Controller Side (PHOENIX CONTACT) +24V FMC1.5/2-ST-3.5-RF MC1.5/2-G-3.5-RN (Cable Side) (Controller Side) Pin No. Signal Name Description Applicable Wire +24V 24V power input 0.14 to 1.5mm...

  • Page 127: Wiring For Power Supply Circuit (Xsel-Sax4･3-Phase Power Supply High Capacity Type)

    3.2 Wiring for Power Supply Circuit 3.2.3 Wiring for Power Supply Circuit (XSEL-SAX4･3-phase power supply high capacity type) To 3-phase power supply high capacity type XSEL controllers, supply the following power supplies. Power Supply Type Specification Remarks 3-phase Motor Power Supply 200 to 230V AC±10% Single-phase Control Power Supply...
  • Page 128 3.2 Wiring for Power Supply Circuit Parts Name Model Supplier Position to Attach Attach in range of Noise Filter NF3030C-SVF Soshin Electric 300mm or less from controller Ring Core ESD-R-25 TOKIN Clamp Filter ZCAT3035-1330 Attach as close as possible to controller Clamp Filter E04SR401938 SEIWA...
  • Page 129 3.2 Wiring for Power Supply Circuit [AC Power Supply Input Connector] Connector Model Remarks PC4/6-STF-7.62 Enclosed in standard Cable Side (PHOENIX CONTACT) package PC4/6-G-7.62 Controller Side (PHOENIX CONTACT) PC4/6-STF-7.62 PC4/6-G-7.62 (Cable Side) (Controller Side) Pin No. Signal Name Description Applicable Wire Diameter Protective grounding wire Refer to [2.6].
  • Page 130 3.2 Wiring for Power Supply Circuit [Brake Power Connector] 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 Controller Side (PHOENIX CONTACT) +24V FMC1.5/2-ST-3.5-RF MC1.5/2-G-3.5-RN Pin No. Signal Name Description Applicable Wire +24V 24V power input 0.14 to 1.5mm (AWG28 to 16) 24V power ground...

  • Page 131: Wiring For Power Supply Circuit (Single-Phase Power Supply Type)

    3.2 Wiring for Power Supply Circuit 3.2.4 Wiring for Power Supply Circuit (Single-phase power supply type) To single-phase power supply type XSEL controllers, supply the following power supplies. Power Supply Type Specification Remarks Single-phase Motor Power Supply 200 to 230V AC±10% Single-phase Control Power Supply 200 to 230V AC±10%...
  • Page 132 3.2 Wiring for Power Supply Circuit Parts Name Model Supplier Position to Attach Attach in range of (1) Noise Filter TAC-20-683 COSEL 300mm or less from (2) Ring Core ESD-R-25 TOKIN controller (3) Clamp Filter ZCAT3035-1330 Attach as close as Kitagawa possible to controller (4) Clamp Filter...
  • Page 133 3.2 Wiring for Power Supply Circuit [AC Power Supply Input Connector] Connector Model Remarks GMSTB2.5/6-STF-7.62 Enclosed in standard Cable Side (PHOENIX CONTACT) package GMSTB2.5/6-GF-7.62 Controller Side (PHOENIX CONTACT) GMSTB2.5/6-STF-7.62 GMSTB2.5/6-GF- 7.62 (Cable Side) (Controller Side) Signal Pin No. Description Applicable Wire Diameter Name Protective grounding wire Refer to [2.6].
  • Page 134 3.2 Wiring for Power Supply Circuit [Brake Power Connector] 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 Controller Side (PHOENIX CONTACT) +24V FMC1.5/2-ST-3.5-RF MC1.5/2-G-3.5-RN (Cable Side) (Controller Side) Pin No. Signal Name Description Applicable Wire +24V 24V power input 0.14 to 1.5mm...

  • Page 135: Wiring The Emergency Stop Circuit (System I/O)

    3.3 Wiring the Emergency Stop Circuit (System I/O) 3.3.1 Connection Development Diagram (1) For XSEL-RA/RAX/RAXD Note 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.
  • Page 136 3.3 Wiring the Emergency Stop Circuit (System I/O) (2) For XSEL-SA/SAX/SAXD The following diagram shows the case when the teaching pendants stop switch is reflected on the machine’s emergency stop circuit design. Note 1 Switchover between AUTO and MANU Modes can be performed with an external switch connected.

  • Page 137: Specification The Emergency Stop Circuit

    3.3 Wiring the Emergency Stop Circuit (System I/O) 3.3.2 Specification the Emergency Stop Circuit The specifications related to the emergency stop circuit (system I/O) are as shown below. Item RA/RAX/RAXD Type SA/SAX/SAXD Type Drive-source cutoff circuit Built-in (Hard-wired configuration) External circuit Refer to [9.1] Conforming category B, 1 to 4 Redundancy in safety...
  • Page 138 3.3 Wiring the Emergency Stop Circuit (System I/O) [System I/O Connector Model] Connector Model Remarks Enclosed in standard package FMC1.5/10-ST-3.5 Cable Side (Quantity: 2pcs, Equipped with (PHOENIX CONTACT) short-circuit line) MCDN1.5/10-G1-3.5P26THR Controller Side COMBICON (2 rows, 10 pins) (PHOENIX CONTACT) Yellow lines show jumper cables on delivery.

  • Page 139: Ra/Rax/Raxd Type System Io Connecter Allocation And Wiring

    3.3 Wiring the Emergency Stop Circuit (System I/O) 3.3.3 RA/RAX/RAXD Type System IO Connecter Allocation and Wiring [System I/O Connecter Allocation] Applicable Signal Name Category Description Wire DETIN/ External contact error (welding) detection input: Not to AUTO1IN (*1) use / External mode changeover switch 1 input 24V power output for external contact error input: Not DETOUT/ +24V...
  • Page 140 Selection is to be made in IO Parameter No. 24 bit 24-27: DET_RAUTO1 Feature Select (0: DET 1: RAUTO1). It is set to DETIN / DETOUT signals at the delivery. DETIN / DETOUT signals are not for use in XSEL-RA/RAX/RAXD controllers.  AUTO1IN / AUTO1OUT Signals and AUTO2IN / AUTO2OUT Signals...

  • Page 141: Sa/Sax/Saxd Type System Io Connecter Allocation And Wiring

    3.3 Wiring the Emergency Stop Circuit (System I/O) 3.3.4 SA/SAX/SAXD Type System IO Connecter Allocation and Wiring [System I/O Connecter Allocation] Applicable Signal Name Category Description Wire External contact error input DETIN/ Connect to contact welding detection contact on safety AUTO1IN (*1) circuit / External mode changeover switch 1 input...
  • Page 142 3.3 Wiring the Emergency Stop Circuit (System I/O) *1 Either of DETIN / DETOUT signals or AUTO1IN / AUTO1OUT signals can be selected in the parameter. Selection is to be made in IO Parameter No. 24 bit 24-27: DET_RAUTO1 Feature Select (0: DET 1: RAUTO1).
  • Page 143 3.3 Wiring the Emergency Stop Circuit (System I/O) *6 ENB1 (line+) / (line-) and ENB2 (line+) / (line-) are the doubled contact outputs for enable signals. *7 RDY (OUT+) / RDY (OUT-) are the contact outputs that are made when the controller is in the normal operation.

  • Page 144: Wiring For Actuator

    3.4 Wiring for Actuator 3.4 Wiring for Actuator 3.4.1 Connection Development Diagram Below shows an example of connection between actuators and a controller. Encoder Cable Encoder Connector Actuator Motor Cable Connector Motor Cable Fig. 3.4-1 The example of connection with a controller 3-31 ME0359-9E...

  • Page 145: Motor Encoder Circuit

    Table 3.4-1 Controller type and cable connection diagram Motor Cable Encoder Cable Controller Type Connectable Actuators Connection Connection Diagram Diagram XSEL-RA/SA Multi-axis (*1) 8-axis or less SCARA robot 1 unit and the XSEL-RAX/SAX added axis (*1) 4-axis or less XSEL-RAXD/SAXD...
  • Page 146 3.4 Wiring for Actuator (1) XSEL-RA/SA Motor Cable Connection XSEL controller Actuator Motor cable (Note1) For 1-axis connector for the motor cable Motor cable (Note1) For 2-axis connector for the motor cable Motor cable (Note1) For 3-axis connector for the motor cable...
  • Page 147 3.4 Wiring for Actuator (2) XSEL-RA/SA Encoder Cable Connection XSEL controller Actuator Encoder cable (Note 1) For 1-axis encoder connector Encoder cable (Note 1) For 2-axis encoder connection connector Encoder cable (Note 1) For 3-axis encoder connection connector Encoder cable...
  • Page 148 3.4 Wiring for Actuator (3) XSEL-RAX/SAX Motor Cable Connection SCARA robot XSEL controller Motor cable (Note 1) (Note 2) For 1-axis motor cable connection connector Motor cable (Note 1) (Note 2) For 2-axis motor cable connection connector Motor cable (Note 1) (Note 2) For 3-axis motor cable connection connector Motor cable...
  • Page 149 3.4 Wiring for Actuator (4) XSEL-RAX/SAX Encoder Cable Connection XSEL controller SCARA robot Encoder cable (Note 1) (Note 2) For 1-axis encoder connector Encoder cable (Note 1) (Note 2) For 2-axis encoder connection connector Encoder cable (Note 1) (Note 2) For 3-axis encoder connection connector Encoder cable...
  • Page 150 3.4 Wiring for Actuator (5) XSEL-RAX/SAX Motor Cable Connection XSEL controller SCARA robot Motor cable (Note 1) For 1-axis motor cable connection connector Motor cable (Note 1) For 2-axis motor cable connection connector Motor cable (Note 1) For 3-axis motor cable connection connector Motor cable (Note 1) For 4-axis...
  • Page 151 3.4 Wiring for Actuator (6) XSEL-RAX/SAX Encoder Cable Connection SCARA robot XSEL controller Encoder cable (Note 1) For 1-axis encoder connector Encoder cable (Note 1) For 2-axis encoder connector Encoder cable (Note 1) For 3-axis encoder connector Encoder cable (Note 1) For 4-axis encoder connector SCARA robot...
  • Page 152 3.4 Wiring for Actuator (7) XSEL-SAX4 (high capacity type) Motor Cable Connection XSEL controller Motor cable (Note 2) For 1-axis motor cable connection connector SCARA robot (Note 1) Motor cable (Note 2) For 2-axis motor cable connection connector Motor cable (Note 2) For 3-axis motor cable connection connector...
  • Page 153 3.4 Wiring for Actuator (8) XSEL-SAX4 (high capacity type) Encoder Cable Connection XSEL controller Encoder cable (Note 2) For 1-axis encoder connector SCARA robot (Note 1) Encoder cable (Note 2) For 2-axis encoder connector Encoder cable (Note 2) For 3-axis encoder connector For 4-axis encoder connector...

  • Page 154: Connector Type

    Cable Side (PHOENIX CONTACT) GIC2.5/4-GF-7.62 Controller Side (PHOENIX CONTACT) Terminal Assignments Signal Pin No. Description Applicable Wire Diameter Name Protective grounding wire Motor Driving phase U Cable dedicated for IAI actuators Motor Driving phase V Motor Driving phase W 3-41 ME0359-9E...
  • Page 155 Send/receive differential- (pulse/magnetic pole switching-) Not connected Not connected Not connected 24VOUT Sensor power output 24V power GND Cable dedicated for IAI encoders BATT Backup battery power BATTGND Battery ground Encoder power Not connected Not connected Brake release output signal- (COM: Common to all axes)

  • Page 156: Connection Cable List

    3.4 Wiring for Actuator 3.4.4 Connection Cable List Product Model Motor Cable Motor Robot Cable Encoder Cable Encoder Robot Cable RCS2 Models other (CR/W) CB-RCS2-PA□□□ CB-X3-PA□□□ than (2) to (4) RCS3 (CR) CB-RCS2-PLA□□□ CB-X2-PLA□□□ RA13R CB-RCS2-PLA□□□ CB-X2-PLA□□□ (No load cell / No brake) CB-RCC- CB-RCC-MA□□□- RCS2...

  • Page 157: Wiring For Pio Circuit

    3.5 Wiring for PIO Circuit 3.5 Wiring for PIO Circuit 3.5.1 PIO board specifications and allocation There are 6 types of I/O Board as shown below. Display of XSEL Polarity No. of I/O Points Model Mode Code 32 Input Points / 16 Output Points IA-103-X-32 16 Input Points / 32 Output Points IA-103-X-16...
  • Page 158 3.5 Wiring for PIO Circuit (2) PIO Board Port Allocation 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 allocation is also available.
  • Page 159 3.5 Wiring for PIO Circuit Parameter At the Port No. Function of an Input Signal Value delivery Name Universal input Input function select 000 = Setting 1 Program No. BCD select bit 1 ○ Input No.38 Function Input function select 000 = Setting 2 Program No.
  • Page 160 Port No. Function of an Input Signal Value delivery Name Universal input ○ In the case of XSEL-RA/SA, all effective axes homing (ON Input edge processing) No.45 Function In the case of XSEL-RAX/SAX, all direct driving axes ABS Select 015...
  • Page 161 3.5 Wiring for PIO Circuit Parameter At the Port No. Function of an Input Signal Value delivery Name Universal output ○ No.51 Output Function Select 305 1st axis in-position output (turned OFF when pressing missed) Output during the first axis servo ON (System Monitoring Task Output) Universal output ○...

  • Page 162: Connection Development Diagram

    3.5 Wiring for PIO Circuit 3.5.2 Connection Development Diagram [NPN Type] ● 32 Input Points / 16 Output Points (Display of XSEL Mode Code: N1) (*) Shown in brackets ( ) are the cable color in the connected flat cable harness (model code: CB-X-PIO□□□...
  • Page 163 3.5 Wiring for PIO Circuit ● 16 Input Points / 32 Output Points (Display of XSEL Mode Code: N2) (*) Shown in brackets ( ) are the cable color in the connected flat cable harness (model code: CB-X-PIO□□□ (□□□ represents cable length). (*) The port numbers on the 2nd PIO board should be assigned depending on the setting in I/O Parameters 1 to 5.
  • Page 164 3.5 Wiring for PIO Circuit ● 48 Input Points / 48 Output Points (Display of XSEL Mode Code: N3) (*) Shown in brackets ( ) are the cable color in the connected flat cable harness (model code: CB-X-PIOH□□□ (□□□ represents cable length). (*) The port numbers on the 2nd PIO board should be assigned depending on the setting in I/O Parameters 1 to 5.
  • Page 165 3.5 Wiring for PIO Circuit [PNP Type] ● 32 Input Points / 16 Output Points (Display of XSEL Mode Code: P1) (*) Shown in brackets ( ) are the cable color in the connected flat cable harness (model code: CB-X-PIO□□□ (□□□ represents cable length). (*) The port numbers on the 2nd PIO board should be assigned depending on the setting in I/O Parameters 1 to 5.
  • Page 166 3.5 Wiring for PIO Circuit ● 16 Input Points / 32 Output Points (Display of XSEL Mode Code: P2) (*) Shown in brackets ( ) are the cable color in the connected flat cable harness (model code: CB-X-PIO□□□ (□□□ represents cable length). (*) The port numbers on the 2nd PIO board should be assigned depending on the setting in I/O Parameters 1 to 5.
  • Page 167 3.5 Wiring for PIO Circuit ● 48 Input Points / 48 Output Points (Display of XSEL Mode Code: P3) (*) Shown in brackets ( ) are the cable color in the connected flat cable harness (model code: CB-X-PIOH□□□ (□□□ represents cable length). (*) The port numbers on the 2nd PIO board should be assigned depending on the setting in I/O Parameters 1 to 5.

  • Page 168: Pio Cable

    3.5 Wiring for PIO Circuit 3.5.3 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 169 3.5 Wiring for PIO Circuit (2) PIO cable for 48 Input Points / 48 Output Points Model: CB-X-PIOH□□□ (*1) Cable length (L) should be described in □□□, applicable up to 10m max. e.g. 020 = 2m Bare Cut Without Connectors (Front view) Flat cable (50 cores): UL2651 AWG28×2 Socket: HIF6-100D1.27R (Manufacturer: Hirose)

  • Page 170: Wiring For Regenerative Resisance Unit

    3.6 Wiring for Regenerative Resisance Unit 3.6 Wiring for Regenerative Resisance Unit 3.6.1 Connection Development Diagram Follow the diagram below when a regenerative resistor unit is to be connected to XSEL Connector. XSEL controller 3.6.2 How to Wiring Connect the regenerative resistance unit with a cable enclosed with it referring to the figure below. The figure below is an example for connecting two units.
  • Page 171 3.6 Wiring for Regenerative Resisance Unit ● Regenerative resistance connector unit type Connector Model Remarks GIC2.5/3-GF-7.62 Controller side (PHOENIX CONTACT) GIC2.5/3-STF-7.62 Cable side (PHOENIX CONTACT) ● Pin placement Signal Pin No. Description Applicable Wire Diameter Name Regenerative resistor+ (motor drive DC voltage) Dedicated cable is enclosed to regenerative...

  • Page 172: Wiring For Brake Box

    3.7 Wiring for Brake Box 3.7 Wiring for Brake Box 3.7.1 Wiring for Brake Box (RCB-110-RA13-0) (1) Wiring example 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). 1) MZMS/MZMM/LZMS/LZMM Types in NS Series 2) ZR Series 3) ROBO Cylinder Ultra High-Thrust Rod Type RCS2-RA13R...
  • Page 173 3.7 Wiring for Brake Box (2) About the connector 1) Brake Release Switch Connector 1, Brake Release Switch Connector 2 Connector Model Remarks Cable side XAP-02V-1 Contact BXA-001T-P0.6 (JST) Applied Connector S02B-XASS-1 (JST) Signal Applicable Wire Pin No. Description Name Diameter BKMRL Brake Release Switch Input...
  • Page 174 3.7 Wiring for Brake Box (3) Wiring example of other actuators 1) ZR Series [Incremental Encoder Type] [Absolute Encoder Type] 3-61 ME0359-9E...
  • Page 175 3.7 Wiring for Brake Box 2) ROBO Cylinder Ultra High-Thrust Rod Type RCS2-RA13R 3) ISB/ISPB (special specification uint): using a motor equipped with a brake in 24V DC for brake activating voltage 3-62 ME0359-9E...

  • Page 176: Wiring For Brake Box (Ia-110-Dd-4)

    3.7 Wiring for Brake Box 3.7.2 Wiring for Brake Box (IA-110-DD-4) The brake box (model code: IA-110-DD-4) is a product dedicated for brake release of DD or DDA. (1) Wiring example As shown in the figure below, connect the actuator, brake box and controller. (the figure is an example for connecting to the 1st axis.) 24V DC 100 to 240V AC...
  • Page 177 3.7 Wiring for Brake Box 1) Power Supply Input Terminal Block When supplying power to the brake box, make wiring to the power supply input terminal block. ● Names and Pin Assignment on Power Supply Input Terminal Terminal Block Name: ML-50-S2FXS-3P (Sato Parts) Pin No.
  • Page 178 3.7 Wiring for Brake Box ● External Release & Release Signal Output Connector Pin Assignment Connector Name: ML-700-NH-4P (Sato Parts) Pin No. Signal Name Description BKRMT+ Brake Release Input Positive Side BKRMT- Brake Release Input Negative Side RLS-C Open Collector Output Collector Side RLS-E Open Collector Output Emitter Side ●...

  • Page 179: Wiring The Brake Forced Release Switch

    3.8 Wiring the Brake Forced Release Switch 3.8 Wiring the Brake Forced Release Switch 3.8.1 Brake Release Switch Connector 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 180: Wiring The Brake Forced Release Switch

    3.8 Wiring the Brake Forced Release Switch 3.8.3 Wiring 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 181: External Brake Release Switch Connection Cable

    3.8 Wiring the Brake Forced Release Switch 3.8.4 External Brake Release Switch Connection Cable It is a connection cable to release a brake with an external switch by connecting XSEL-RA/SA (*1) Controller to a brake board (brake unit). Also, the cables are left bare cut without connectors so connection to a switch can be freely performed.

  • Page 182: Wiring For General-Purpose Rs-232C Port

    3.9 Wiring for General-purpose RS-232C Port 3.9 Wiring for General-purpose RS-232C Port 3.9.1 General-purpose RS-232C Port Connectors The following connecting diagram is for the case that the serial communication is performed from the host controller. Prepare a communication cable by the user. Refer to [3.9.2 Wiring for General-purpose RS-232C Port] for the model codes of the connectors for XSEL Controller.

  • Page 183: Wiring For General-Purpose Rs-232C Port

    3.9 Wiring for General-purpose RS-232C Port 3.9.2 Wiring for General-purpose RS-232C Port This one-channel communication port can be controlled using SEL language commands and lets you set message formats according to different types of host controllers. Refer to [Separate manual, SEL Language Programming Manual (Control number: ME0224)] for detaile.
  • Page 184 3.9 Wiring for General-purpose RS-232C Port Terminal Assignments Pin No. Direction Signal Name Description (CD) (Carrier detection: Not used) Receive data (RXD) Transmit data (TXD) Equipment ready (DTR) Signal ground Data set ready (DSR) (RS) (Request to send (RTS): Not used) (CS) (Clear to send (CTS): Not used) Not for use...

  • Page 185: Wiring For The Teaching Tool

    3.10 Wiring for the Teaching Tool 3.10 Wiring for the Teaching Tool 3.10.1 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. 3-72 ME0359-9E...

  • Page 186: Teaching Connector Interface Specifications

    3.10 Wiring for the Teaching Tool 3.10.2 Teaching Connector Interface Specifications ● Terminal Assignmentsh Pin No. Direction Signal Name Description Frame ground Transmit data Receive data Request to send Clear to send Equipment ready Signal ground Not connected RSVTBX1 Not used RSVTBX2 Not used Not connected...
  • Page 187 3.10 Wiring for the Teaching Tool ● List of Teaching Connector Interface Specifications Specification Remarks Connector D-sub 25 pin XM3B-2542-502L (by Omron) Communication Asynchronous half duplex Signal assignments conform to the DTE terminal Method communication layout specified by the RS-232C standard. conforming to RS-232C Undefined lines, etc., are assigned to a dedicated control wire.

  • Page 188: Wiring For The Teaching Tool

    3.10 Wiring for the Teaching Tool 3.10.3 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 from the teaching pendant/PC.
  • Page 189 3.10 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 Relay Box Side of Teaching PC side Pendant [Wiring view] D-Sub9 pin socket D-Sub9 pin socket Wire Color Wire Color...

  • Page 190: Wiring For Usb Port

    3.11 Wiring for USB port 3.11 Wiring for USB port Connect a PC to the USB port (mini-B) in order to use the PC software. Insert the dummy plug (DP-2) to the teaching connector when it is required to operate an actuator. Prepare a USB cable by the user.

  • Page 191: Wiring For Ethernet

    3.12 Wiring for Ethernet 3.12 Wiring for Ethernet It is a communication port for one channel which is available for control with SEL language and available to set the messaging format suitable for various host controllers. Also, to use the PC software.

  • Page 192: Wiring For Extension Motion

    3.13 Wiring for Extension Motion 3.13 Wiring for Extension Motion The extension motion control is a feature that enables to control the position controllers of IAI that are applicable to MECHATROLINK-III as added axes (32 axes at max.) in addition to the axes connected to the driver on the XSEL controller main unit.

  • Page 193: Operation

    XSEL-RA/SA Chapter Operation 4.1 Types of Operations ·············································· 4-1 4.2 Receiving and Forwarding of I/O Signals Necessary for Operation ························································ 4-2 4.2.1 How to Receive/Send I/O Signals ····························· 4-2 4.2.2 I/O Map ······························································· 4-3 4.3 Starting the Controller ············································ 4-4 4.3.1 Turning on the Power ·············································...

  • Page 194: Types Of Operations

    4.1 Types of Operations The XSEL controller is a programming controller that can operate without a host controller. Programming for this controller uses IAI’s dedicated programming language (SEL language). Refer to separate [SEL Language Programing Manual (ME0224)] for details of SEL language.

  • Page 195: Receiving And Sending Of I/O Signals Necessary For Operation

    4.2 Receiving and Sending of I/O Signals Necessary for Operation 4.2 Receiving and Sending of I/O Signals Necessary for Operation 4.2.1 How to Receive/Send I/O Signals The I/O port can deliver the data with the XSEL controller and external signals through interface. One port can exchange data for one contact (1 bit).

  • Page 196: I/O Map

    4.2 Receiving and Forwarding of I/O Signals Necessary for Operation 4.2.2 I/O Map The factory-set I/O port numbers and functions of the XSEL controller are shown below. The functions of the I/O port can be changed using the I/O parameter setting. Refer to [3.5 Wiring for PIO Circuit] and [Chapter 6 Parameters] for details of features of each I/O port.

  • Page 197: Starting The Controller

    4.3 Starting the Controller 4.3 Starting the Controller 4.3.1 Turning on the Power Turn on the controller power. Below explains the process of it. ● 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 198 4.3 Starting the Controller Brake release power I/O power 200V AC control power Successful start of CPU I/O output signal port No.301 Ready output RDY (system I/O) SDN (system I/O for SA/SAX/SAXD type) EMG1 (system I/O) EMG2 (system I/O for SA/SAX/SAXD type) ENB1 (system I/O) ENB2 (system I/O for SA/SAX/SAXD type) No error...

  • Page 199: Panel Window Display

    4.3 Starting the Controller 4.3.2 Panel Window Display The 4-digit, 7-segment LED shows the controller status. When the unit is started up normally, “rdy” is displayed after the initial processing display. If an indication “E***” is displayed, check “Trouble Shooting in Chapter 7”. Refer to [Table 4.3-1] for other displays.

  • Page 200: Display Priority

    4.3 Starting the Controller Table 4.3-2 Panel window display list Display Priority (Note 1) Description 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. Flash ROM check process Data is being written to the flash ROM.
  • Page 201 4.3 Starting the Controller Display Priority Description (Note 1) The slave is being updated. The slave is being updated. (* changes in a way drawing a shape of “8”) The slave has been updated. A program is running (last started program). The applicable program number is shown.

  • Page 202: Position Table And Program Creation And Writing

    4.3 Starting the Controller 4.3.3 Position Table and Program Creation and Writing Using a teaching tool (refer to [2.1.2]), create the position table and also a program in the SEL language. Conduct such as the numerical settings and direct teaching, and register the necessary coordinates to the position table.

  • Page 203: Program Operation

    4.4 Program Operation 4.4 Program Operation For the operation there are two ways of start-up. One is the automatic start-up of the set program No. and the other is to start up with the program No. selected externally. 4.4.1 Auto Start upon Power On After the power is turned ON, the program with its No.

  • Page 204: Program Execution

    4.4 Program Operation Caution  After the power is turned on, unexpected movements of the robot may create dangerous situations. For safety, provide an interlock whereby the program is started only after a start confirmation signal has been input from a pushbutton switch, etc. An example of operation is given below.

  • Page 205: Starting A Program By Specifying Its Program Number

    4.4 Program Operation 4.4.2 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. 1) Connect the PC software and perform the setting, referring to the set values in the following table.
  • Page 206 4.4 Program Operation Caution  The maximum number of programs is 255. However, the programs able to start up with the BCD Code indication are from No. 1 to No. 99. To start up No. 100 to No. 255 when using BCD Code, start them up with using the automatic start program startup or the program startup command “EXPG”.

  • Page 207: Special Functions

    XSEL-RA/SA Chapter Special Functions Extension Motion Control ······································ 5-1 Vision System Interface Function ···························· 5-2 5.2.1 About Vision System Interface Function ····················· 5-2 5.2.2 About Applicable models ········································· 5-2 5.2.3 Interface Type ······················································· 5-3 5.2.4 Related Parameters ··············································· 5-4 5.2.5 Related Error Code ················································ 5-6 Synchro Function ················································...
  • Page 208 5.4.2 Setting method ····················································· 5-24 5.4.3 Related Parameters ··············································· 5-25 5.4.4 Method to Check ··················································· 5-27 Compliance Control Feature on IXA SCARA Robot ····· 5-28 5.5.1 Overview of Compliance Control Feature on IXA SCARA Robot ················································· 5-28 5.5.2 Caution and Restriction for Use ································ 5-30 5.5.3 Setup for Compliance Control Feature ·······················...

  • Page 209: Extension Motion Control

    5.1 Extension Motion Control 5.1 Extension Motion Control The extension motion control is a feature that enables to control the position controllers of IAI that are applicable to MECHATROLINK-ΙΙΙ as added axes (32 axes at max.) in addition to the axes connected to the driver on the XSEL controller main unit.

  • Page 210: Vision System Interface Function

    5.2 Vision System Interface Function 5.2 Vision System Interface Function 5.2.1 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. Refer to [separate operation manual for the Vision system I/F Function (ME0269)] for details.

  • Page 211: Interface Type

    5.2 Vision System Interface Function 5.2.3 Interface Type The connection between a controller part and the system vision system should be conducted using both of the parallel communication and serial communication. Item Applications Remarks Initialization of Vision System Complete PIO Input 1 point Status Input For handshake with vision system (* Use as necessity)

  • Page 212: Related Parameters

    5.2 Vision System Interface Function 5.2.4 Related Parameters Shown below is a list of the parameters related to Vision System I/F. (1) Vision System I/F 1 Function Selection 1 Channel 2 gets unavailable to use by selecting a communication device. ●...
  • Page 213 5.2 Vision System Interface Function (2) TCP/IP Communication Setting TCP/IP setting (I/P address, subnet mask and default gateway) in the standard Ethernet should be conducted in in I/O Parameters from No. 172 to 183. ● I/O Parameter At the Parameter name Input range Unit Remarks...

  • Page 214: Related Error Code

    5.2 Vision System Interface Function 5.2.5 Related Error Code Shown below is a list of the parameters related to Vision System I/F. ● Operation-cancellation level errors Error name Description, action Vision system response timeout error Communication response from vision system is not obtained. Check such things as the settings of bits 4 to 7 and No.
  • Page 215 5.2 Vision System Interface Function Error name Description, action Ethernet uninitialized device use error The Ethernet system tries to be used while the initialization of the Ethernet devices has not been completed. Check I/O parameters such as No. 123 to 159, 14, 15, and so on depending on the purpose of use.
  • Page 216 5.2 Vision System Interface Function ● Cold-start level errors Error name Description, action There is an error in the parameter settings. • I/O Parameters No. 160 to 164 and 351 to 357. • Check All Axes Parameters No. 121 etc. Example) •...

  • Page 217: Synchro Function

    5.3 Synchro Function 5.3 Synchro Function 5.3.1 Overview of Synchro Functionn (1) Common Items (Applicable to both the Battery-less absolute specification, absolute specification and incremental specification) It is a function to operate two axes of actuators at the same time. By setting one axis the master axis while the other as the slave axis, and by having the slave axis track the master one, two axes operate at the same time.
  • Page 218 5.3 Synchro Function Shown in the figure below is an example for setting two pairs of synchro axes in the system consists of four axes. Movement commands in the program are valid only for the master axis. The position data of the slave axis will be ignored even if it is established.
  • Page 219 5.3 Synchro Function [Caution for when using synchro function] ● In case the current positions of the master axis and the slave axis are not in the right place during the servo is on, an automatic adjustment will be performed in slow speed. ●...

  • Page 220: Incremental Specification

    5.3 Synchro Function (1) 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 221: Preparation For Operation Of Synchro Type

    5.3 Synchro Function 5.3.2 Preparation for Operation of Synchro Type Prepare for operation with the steps described below. (1) Positioning of synchro axes Refer to [5.3.3] (2) Absolute reset Refer to [5.3.4] (*) It is not necessary when both the master and slave axes are the incremental type. 5.3.3 Relative Positioning Adjust of Synchro-Axis Sliders The relative positions of synchro-axis sliders are adjusted (Adjustment of parallelization between two physical axes).

  • Page 222: How To Absolute Reset On Synchronizing Type

    5.3 Synchro Function 5.3.4 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 223 5.3 Synchro Function [Method 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 Each Axis Parameter No. 38 “Encoder ABS/INC Type”. (Note) When having the absolute reset conducted again on a synchronizing axis which is already adjusted, follow the instruction in [5.3.5 Procedure for Re-execution of Absolute Reset].
  • Page 224 5.3 Synchro Function (3) Have the absolute reset conducted, not by following the instruction shown in the screen, but by following the steps stated below. 1) Have only “Encoder Multi-Rotation Data Reset 1” done on the slave axis. Select the axis number of the slave axis. Click the Start button.
  • Page 225 5.3 Synchro Function (4) Set the value recorded in Axis-Specific Parameter No. 83 “ABS Synchronizing Slave Axis Coordinate Initialization Cancelation” in the slave axis in (1), and then perform “Transfer to Controller” → “Writing to Flash ROM” → “Reboot Controller (Software Reset)”. (5) Set home preset values and align the master-axis and slave-axis coordinates.
  • Page 226 5.3 Synchro Function 2) Perform the following calculation. Slave-axis value in Axis-specific parameter No. 12, Home preset value [0.001 mm] + ((Displayed current position of master axis [mm] – Displayed current position of slave axis [mm]) × 1000) In this example: 0 + ((-0.002 –...
  • Page 227 5.3 Synchro Function (6) After turning the servo ON, move the master axis with jog operation Tick the check box. If an Error No. D0A “Driver overload error”, Error No. C6B “Deviation overflow error”, Error No. CA5 “Stop-deviation overflow error” or other error generates, check the following items: ●...
  • Page 228 5.3 Synchro Function [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 [5.3.3 Position Adjustment of Synchro-axis] perform an absolute reset for the master axis only.

  • Page 229: Procedure For Re-Execution Of Absolute Reset

    5.3 Synchro Function 5.3.5 Procedure for Re-execution of Absolute Reset In case that absolute reset has to be conducted again for such reasons as a trouble, follow the instruction below to perform the reset. ● Proceed to Step (1) when the mechanical joint condition is in the same as at the startup of the system (at the 1st absolute reset) (for such cases as cable replacement, cable plug-in/off and battery replacement).
  • Page 230 5.3 Synchro Function 1) Turn the servo OFF on the master axis and the slave axis, and move them manually with hands to the position marked in Step 5.3.4 (6) at the initial startup. 2) Read the coordinates of the master axis and slave axis at this time. The picture below is for when the 1st axis is the master and 2nd is the slave.

  • Page 231: Multiple-Slider Near-Miss Detection (Collision Prevention) Function

    5.4 Multiple-Slider Near-Miss Detection (Collision Prevention) Function 5.4 Multiple-Slider Near-Miss Detection (Collision Prevention) Function 5.4.1 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...

  • Page 232: Setting Method

    5.4 Multiple-Slider Near-Miss Detection (Collision Prevention) Function 5.4.2 Setting method (1) Set the mating axis number for each axis in axis-specific parameter No. 104, “Target axis specification for multiple-slider near-miss detection.” Example 1: 2-axis controller Set the mating axis number for each axis. (The example below assumes that an interlocked slider exists on the positive side of the coordinate system of the target axis) Example 2: When an interlocked slider exists on the negative side of the coordinate system...

  • Page 233: Related Parameters

    5.4 Multiple-Slider Near-Miss Detection (Collision Prevention) Function 5.4.3 Related Parameters The parameters below are the related parameters. It is not necessary to change the initial settings in the parameters at the delivery. (1) Axis-specific Parameter No.106 “Emergency deceleration margin upon multiple-slider near- miss detection”...
  • Page 234 5.4 Multiple-Slider Near-Miss Detection (Collision Prevention) Function Related Parameters (Axis-specific Parameters) Default Value Parameter name Input range Unit Remarks (Reference) Bits 0 to 3: Mating axis number of nearmiss detection target (on the positive side of the coordinate system of the target axis) Bits 4 to 7: Mating axis number of nearmiss detection target (on the negative...

  • Page 235: Method To Check

    5.4 Multiple-Slider Near-Miss Detection (Collision Prevention) Function 5.4.4 Method 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 236: Compliance Control Feature On Ixa Scara Robot

    5.5 Compliance Control Feature on IXA SCARA Robot 5.5 Compliance Control Feature on IXA SCARA Robot 5.5.1 Overview of Compliance Control Feature on IXA SCARA Robot 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 237 5.5 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 238: Caution And Restriction For Use

    5.5 Compliance Control Feature on IXA SCARA Robot 5.5.2 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 239 5.5 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 240: Setup For Compliance Control Feature

    5.5 Compliance Control Feature on IXA SCARA Robot 5.5.3 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. In case a workpiece cannot be inserted with the setting at delivery, activate the searching operation to try it.
  • Page 241 5.5 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 242 5.5 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. Category Condition Command Operand 1 Operand 2 Output Function...
  • Page 243 5.5 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] in the axis status.

  • Page 244: Example For Programming

    5.5 Compliance Control Feature on IXA SCARA Robot 5.5.4 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 245 5.5 Compliance Control Feature on IXA SCARA Robot Cmnd Operand1 Operand2 Comment VELS (1) Setting PTP velocity ACCS (1) Setting PTP acceleration DCLS (1) Setting PTP deceleration (1) Setting CP velocity COMP (2) Inactivating Compliance SLTL (3) Selecting Tool Coordinate System 0 SVON 1111 (4) Turning SCARA Robot servo ON...

  • Page 246: Want To Change Input Port Assignments

    5.5 Compliance Control Feature on IXA SCARA Robot 5.5.5 Want to Change Input Port Assignments Shown below is a list of SEL command language related to compliance functions. Category Condition Command Operand 1 Operand 2 Output Function Optional COMP Mode Type (Axis pattern) Compliance Mode Setting Integer variable...
  • Page 247 5.5 Compliance Control Feature on IXA SCARA Robot ● Operand 1 Indicated Mode Type Setting value Description Compliance Mode Invalid * It will be set invalid on all the axes on the SCARA Robot specified in the axis pattern in Operand 2. Compliance Mode Valid (Base coordinate system compliance mode) (Note 1) Error No.
  • Page 248 5.5 Compliance Control Feature on IXA SCARA Robot (Note 9) It is not available to have an operation command executed on an axis on which the compliance mode is activated. When the compliance mode is valid on the X and Y- axes, no operation command can be executed on the X, Y and R-axes.
  • Page 249 5.5 Compliance Control Feature on IXA SCARA Robot ●SCLG (Dedicated SCARA command - Compliance Gain Setting) Command, declaration Extension condition Input Condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration N, Cnd Cmnd Operand1 Operand2...
  • Page 250 5.5 Compliance Control Feature on IXA SCARA Robot (Note 4) At the controller startup, Axis-Specific Parameter No. 202 “Compliance gain viscous rate initial value” should be the default. (Note 5) After the compliance gain has been set with SCLG Command, it will be remained until the software reset is conducted or the power is turned OFF.
  • Page 251 5.5 Compliance Control Feature on IXA SCARA Robot ● SCLO 0 (Dedicated SCARA command - Compliance Mode Option Feature Setting (Searching Operation Setting)) Command, declaration Extension condition Input Condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration...
  • Page 252 5.5 Compliance Control Feature on IXA SCARA Robot (Note 1) Input an integer variable number in Operand 2. It should be available to indicate from; • Local area : 1 to 98, 1,001 to 1,098 • Global area : 200 to 298, 1,200 to 1,298, 2,000 to 2,798 (Note 2) Executing this command to SCARA Robot which is not applicable for the compliance control feature will not cause error but the command will be ignored.
  • Page 253 5.5 Compliance Control Feature on IXA SCARA Robot ● SCLO 1 (Dedicated SCARA command - Compliance Mode Option Feature Setting (J1 & J2-Axes Torque Limit Mode Setting)) Command, declaration Extension condition Input Condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1...
  • Page 254 5.5 Compliance Control Feature on IXA SCARA Robot (Note 4) SCLO Command cannot be executed during the compliance mode (compliance control). Error No. B47 “Compliance mode operation error” will occur if SCLO Command is executed during the compliance control. (Note 5) At the controller startup, bits from 20 to 23 in All Axes Common Parameter No. 51/228 “SCARA axis control 1”...

  • Page 255: Related Virtual I/O Ports

    5.5 Compliance Control Feature on IXA SCARA Robot 5.5.6 Related Virtual I/O Ports 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) It is available to check in the SEL program whether it is in the compliance mode.

  • Page 256: Related Parameters List

    5.5 Compliance Control Feature on IXA SCARA Robot 5.5.7 Related Parameters List ● Parameters Common to All Axes Default Parameter name Input range Unit Remarks value Bits 0 to 3 : System Reservation Bits 4 to 7 : System Reservation Bits 8 to 11 : SCARA Z position →...
  • Page 257 5.5 Compliance Control Feature on IXA SCARA Robot ● Axis-Specific Parameters Default Parameter name Input range Unit Remarks value Compliance gain viscous rate 0 to 10000 Valid only to J1-axis and J2-axis of SCARA Robot initial value Depended Max. rectangular coordinate 1 to 0.001mm For manufacturer use for adjustment Valid only to...

  • Page 258: Related Errors

    5.5 Compliance Control Feature on IXA SCARA Robot 5.5.8 Related Errors ●Operation-cancellation Level Error name Description and Action [Detail & Cause] Modes that cannot be activated at the same time are indicated. • Quick return mode (QRTN command) and Tracking mode (TRAC/TRMD commands) •...
  • Page 259 [Countermeasure] Check the indication of the coordinate system number and selected coordinate system number in the SEL command and IAI Protocol command and correct the coordinate numbers. [Detail & Cause] (1) Selected work coordinate system number or tool coordinate system number that the servo system was in use was attempted to be changed.
  • Page 260 Description and Action [Detail & Cause] There is an axis that is not available for indication included in the axis pattern or axis number in such a command as SEL command, IAI Protocol command and so on. Specification-prohibited axis error...
  • Page 261 Error name Description and Action [Detail & Cause] There is no valid indicated axis in SEL command, IAI Protocol command or position data. • Axis pattern 0 is indicated in SEL command or IAI Protocol command • An Axis which is not valid (refer to All Axes Common Parameter No. 1 “Valid axis pattern”...

  • Page 262: Collision Detection Feature On Ixa Scara Robot

    5.6 Collision Detection Feature on IXA SCARA Robot 5.6 Collision Detection Feature on IXA SCARA Robot 5.6.1 Overview of Collision Detection Feature 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 263 5.6 Collision Detection Feature on IXA SCARA Robot [Applicable models] • IXA-3NNN3015/4NNN3015/3NSN3015/4NSN3015 • IXA-3NNN45□□/4NNN45□□/3NSN45□□/4NSN45□□ • IXA-3NNN60□□/4NNN60□□/3NSN60□□/4NSN60□□ • IXA-4NNN80□□/4NSN80□□ • IXA-4NNN100□□/4NSN100□□ • IXA-4NHN10040 • IXA-4NHN12040 • IXA-4NSC3015/4NSC45□□/4NSC60□□ • IXA-4NSW80□□/4NSW100□□/4NHW12040 [Applecable XSEL controller main application version] XSEL Controller Main Application : V1.10 or later [Applicable teaching tool] PC Software for XSEL : V13.02.00.00 or later...

  • Page 264: Caution And Restriction For Use

    5.6 Collision Detection Feature on IXA SCARA Robot 5.6.2 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 265: Setup For Collision Detection Feature

    5.6 Collision Detection Feature on IXA SCARA Robot 5.6.3 Setup for Collision Detection Feature 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 Feature Valid / Invalid Setting Collision Detection Level...
  • Page 266 5.6 Collision Detection Feature on IXA SCARA Robot (1) Setting of Collision Detection Feature 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 267 5.6 Collision Detection Feature 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] in the axis status.
  • Page 268 5.6 Collision Detection Feature 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. The collision detection level at the controller startup should be indicated individually on each axis with the parameters below.
  • Page 269 5.6 Collision Detection Feature 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 04: Maximum collision level [%] display in the servo addition data monitor window while setting 07: Collision detection level [%] so the "collision detection feature"...

  • Page 270: Example For Programming

    5.6 Collision Detection Feature on IXA SCARA Robot 5.6.4 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. Cmnd Operand 1 Operand 2...

  • Page 271: Related Sel Language Commands

    5.6 Collision Detection Feature on IXA SCARA Robot 5.6.5 Related SEL Language Commands Shown below is a list of SEL command language related to collision detection functions. Category Condition Command Operand 1 Operand 2 Output Function 8Collision Detection Feature Optional 0 or 1 (Axis pattern) Valid / Invalid Setting...
  • Page 272 5.6 Collision Detection Feature on IXA SCARA Robot (Note 4) Even after the collision detection is unactivated with COL0, the collision detection level set with CLLV Command will be remained until the software reset is conducted or the power is turned OFF. (Note 5) The collision detection cannot be activated while the compliance control is executed.
  • Page 273 5.6 Collision Detection Feature on IXA SCARA Robot ● CLLV (Collision Detection Level Setting) Command, declaration Extension condition Input Condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration N,Cnd Cmnd Operand1 Operand2 Collision Optional Optional...
  • Page 274 5.6 Collision Detection Feature on IXA SCARA Robot ● GCLX (Acquiring Max. Collision Level) Command, declaration Extension condition Input Condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration N,Cnd Cmnd Operand1 Operand2 Variable Optional Optional...
  • Page 275 5.6 Collision Detection Feature on IXA SCARA Robot ● ECMD5 (Get axis operation status) Command, declaration Extension condition Input Condition Output Command, (LD, A, O, AB, OB) (I/O, flag) (Output, flag) Operand 1 Operand 2 declaration N,Cnd Cmnd Operand1 Operand2 Optional Optional ECMD...
  • Page 276 5.6 Collision Detection Feature on IXA SCARA Robot (Example for reference program and reading) Example) Cmnd Operand 1 Operand 2 ECMD Store the status of axis 2 in variable 99. If 28 (decimal value) was stored in variable 99 after the command was executed, the status of axis 2 is interpreted as follows.

  • Page 277: Related Virtual I/O Ports

    5.6 Collision Detection Feature on IXA SCARA Robot 5.6.6 Related Virtual I/O Ports Port No. Function In Use of 1st Axis Collision Detection Feature (Main application V1.10 or later) 7310 In Use of 2nd Axis Collision Detection Feature (Main application V1.10 or later) 7311 In Use of 3rd Axis Collision Detection Feature (Main application V1.10 or later) 7312...

  • Page 278: Related Parameters List

    5.6 Collision Detection Feature on IXA SCARA Robot 5.6.7 Related Parameters List ● Parameters Common to All Axes Default Parameter name Input range Unit Remarks value Bits 0 to 3 : J1 axis SCARA collision detection feature 0 to Bits 4 to 7 : J2 axis initial value FFFFFFFFH...

  • Page 279: Related Errors

    5.6 Collision Detection Feature on IXA SCARA Robot 5.6.8 Related Errors ●Operation-cancellation Level Error name Description and Action [Detail & Cause] Modes that cannot be activated at the same time are indicated. • Quick return mode (QRTN command) and Tracking mode (TRAC/TRMD commands) •...
  • Page 280 5.6 Collision Detection Feature on IXA SCARA Robot 5-72 ME0359-9E...
  • Page 281 XSEL-RA/SA Chapter Parameter Overview ··························································· 6-1 Parameter list ····················································· 6-3 6.2.1 I/O Parameter (All types) ········································ 6-3 6.2.2 Parameters Common to All Axes ······························ 6-42 6.2.3 Axis-Specific Parameters ········································ 6-58 6.2.4 Driver Parameters (All types) ··································· 6-87 6.2.5 Encoder Parameters ·············································· 6-91 6.2.6 I/O Devices Parameters ··········································...
  • Page 282 Parameter Setting (Applied) ··································· 6-109 6.5.1 Want to Operate the System Tentatively Without Using I/Os···························································· 6-110 6.5.2 Want to Output an Auto Operation Determination Signal from the XSEL Controller ········································ 6-110 6.5.3 Want to Retain Current Output Statuses Even during Emergency Stop ···················································...
  • Page 283 6.5.24 Want to Know the Current Operation Mode ················· 6-122 6.5.25 Want to Output an Absolute-encoder Backup Battery Voltage Low Alarm ··························· 6-122 6.5.26 Want to Change Output Port Assignments ·················· 6-123 6.5.27 Want to Use a General-purpose RS-232C Port Connector ····················································· 6-124 6.5.28 Want to Know the Current Value of Electric Current without Connecting a Teaching Tool ·····...

  • Page 284: Overview

    6.1 Overview 6.1 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 285 6.1 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. ■...

  • Page 286: Parameter List

    6.2 Parameter list 1. I/O Parameter 6.2 Parameter list 6.2.1 I/O Parameter (All types) Default Value Parameter name Input range Unit Remarks (Reference) 0: Fixed assignment 1: Automatic assignment * Priority of I/O port assignment at automatic assignment (No.0 to 299 / No.300 to 599) (Network I/F Module 1 →...
  • Page 287 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) 0: Do not monitor 1: Monitor 2: Monitor (Do not monitor 24V I/O power errors) 3: Monitor (Monitor 24V I/O power errors) 4: Monitor (Make 24V I/O power errors to message level) * Some exceptions apply.
  • Page 288 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) Bits 0 to 3 RDY OUT function selection (System IO) 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 higher...
  • Page 289 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) 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) (Input ports.
  • Page 290 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) 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 the Input function selection 001 0 to 5...
  • Page 291 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) 0: General-purpose input 1: Operation-pause signal (OFF level) (Valid only during automatic operation) * Cancel pause when an operation-pause reset Input function selection 006 0 to 5 signal is received.
  • Page 292 I/O Parameter No. 297, “Port number assigned to input function selection 014.” 0: General-purpose input XSEL-RA/SA 1: All Effective Axes Homing (ON edge) (Servo on required in advance = I/O Parameter No.32, Each axis Parameter No.13) XSEL-RAX/SAX...
  • Page 293 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) 0: General-purpose output 1: Output error of operation-cancellation level or higher (ON) 2: Output error of operation-cancellation level or higher (OFF) 3: Output error of operation-cancellation level or higher + emergency stop (ON) 4: Output error of operation-cancellation level or higher + emergency stop (OFF)
  • Page 294 Value Parameter name Input range Unit Remarks (Reference) XSEL-RA/SA 0: General-purpose output 1: Output at the time of “All Effective Axes Homing (=0)” 2: Output when all the effective axes homing is completed (Coordinates determined) 3: Output when all the effective axes home preset...
  • Page 295 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) 0: General-purpose output 1: 3rd axis in-position output (turned OFF when pressing missed) 2: Output when axis-3 servo is ON (System monitor task output) Output function selection 307 0 to 5 3: Reserved by the system * Valid only for standard motion control axes...
  • Page 296 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) 0: General-purpose output 1: 8th axis in-position output (turned OFF when pressing missed) 2: Output when axis-8 servo is ON (System monitor task output) Output function selection 312 0 to 5 3: Reserved by the system * Valid only for standard motion control axes...
  • Page 297 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) Forcibly unlock the brake when the applicable port is ON (be aware of a falling load). * Invalid if “0” is set (Invalid if input port No. 0 is specified) Physical input port number for 0 to 3,999...
  • Page 298 0 to 9 (Connect PC/ Teaching pendant when both (AUTO mode) devices are closed) 2: IAI protocol B (Slave) Station code of SIO channel 0 0 to 255 Valid only with IAI protocol. opened to user Baud rate type of SIO channel 0: 9.6, 1: 19.2, 2: 38.4, 3: 57.6, 4: 76.8, 5: 115.2...
  • Page 299 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) 0h to 101 Reserved by the system FFFFFFFFh 0h to 102 Reserved by the system 28100020h FFFFFFFFh 0h to 103 Reserved by the system FFFFFFFFh 0h to 104 Reserved by the system 28100010h...
  • Page 300 * If the parameter settings for own port number, client/server type, IP address of connection destination and port number of connection destination do not match completely between the IAI protocol B/TCP MANU and AUTO modes, the connection will be cut off when the MANU/AUTO mode is switched. 6-17...
  • Page 301 127 Network attribute 8 5050214h FFFFFFFFh (IAI protocol B/TCP) (s) Bits 16 to 23: Send timeout value (s) Bits 24 to 31: IAI protocol B-SIO non-communication check timer setting (s) (IAI protocol B/TCP connection trigger) EtherNet TCP/IP message communication attribute 0h to...
  • Page 302 1,025 to each port number. (Duplication of port numbers is 64,512 (TCP/IP): Own port number 65,535 permitted only in the IAI protocol B/TCP MANU/AUTO modes.) * Important note: Always set a unique number for Channel 32 opened to user 1,025 to each port number.
  • Page 303 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 64,613 0 to 65,535 Port Number (Self-Port Number Automatic Assignment)
  • Page 304 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) 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 or 8) Bits 20 to 23: Stop bit length (1 or 2) Attribute 1 of SIO channel 1 0h to...
  • Page 305 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) Bits 0 to 7: Type of Network I/F Module 1 （0 to 5H: Reserved by the system, 6H: EtherCAT, 7H: EtherNet/IP, B to FH: Reserved by the system） Bits 8 to 15: Type of Network I/F Module 2 （0h: Reserved by the system, 0h to...
  • Page 306 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) Network I/F module 2 Fieldbus 0 to • At CC-Link IE Field: 1 to 239 network number 99,999,999 (For expansion) Specify the port number to be assigned to the function of I/O Parameter No.
  • Page 307 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) Specify the port number to be assigned to the function of I/O Parameter No. 38, “Input function selection 008.” * If a negative value is set, the function will be assigned to input port No.
  • Page 308 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) Specify the port number to be assigned to the function of I/O Parameter No. 43, “Input function selection 013.” * If a negative value is set, the function will be assigned to input port No.
  • Page 309 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) Specify the port number to be assigned to the function of I/O Parameter No. 52, “Output function Port number assigned to output 0 to 6,999 selection 306.”...
  • Page 310 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) Specify the port number to be assigned to the function of I/O Parameter No. 333, “Output function Port number assigned to output 0 to 6,999 selection 302 (area 2).”...
  • Page 311 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) Specify the port number to be assigned to the function of I/O Parameter No. 345, “Output function Port number assigned to output 0 to 6,999 selection 314 (area 2).”...
  • Page 312 Value Parameter name Input range Unit Remarks (Reference) XSEL-RA/SA 0: General-purpose output 1: Output at the time of “All Effective Axes Homing (=0)” 2: Output when all the effective axes homing is completed (Coordinates determined) 3: Output when all the effective axes home preset...
  • Page 313 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) 0: General-purpose output 1: 6th axis in-position output (turned OFF when pressing missed) Output function selection 310 0 to 5 2: Axis 6 servo currently-ON output (system- (area 2) monitored task output) 3: System Reservation...
  • Page 314 [ms] Bits 24 to 31: Number of Vision System I/F 1 capturing command retries *No retry if 0 Note: Dedicated for XSEL-RA/SA controller Bits 0 to 7: Vision System I/F 1 communication format select (0: Format D...
  • Page 315 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) Reserved by the system 0 to 299 (change is prohibited) Reserved by the system 0 to 599 (change is prohibited) (For expansion) Unaffected general-purpose output area 2 number (MIN) 0 to 6,999 (Same as I/O Parameter No.
  • Page 316 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) Unaffected general-purpose output area 4 number (MAX) when all operations are paused 0 to 6,999 (servo-axis soft interlock + output-port soft interlock) (For expansion) Reserved by the system 0 to 20 (change is prohibited) (For expansion)
  • Page 317 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) (For expansion) 0h to 460 Reserved by the system FFFFFFFFh Reserved by the system 0 to 65535 0h to 464 Reserved by the system FFFFFFFFh Reserved by the system 0 to 65535 0h to...
  • Page 318 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) (For expansion) Reserved by the system 0 to 3999 (For expansion) 0b to 529 Reserved by the system 00111111b 11111111b Number of Extension Motion Control Board Position Data 0 to 512 Maximum number of used position data points Points...
  • Page 319 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) 0h to 546 Reserved by the system 00000000h FFFFFFFFh 547 Reserved by the system 0 to 3,999 548 Reserved by the system 0 to 6,999 0h to 549 Reserved by the system 00000000h...
  • Page 320 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) 587 Reserved by the system 0 to 6,999 For expansion 593 Reserved by the system 0 to 6,999 0h to Reserved by the system FFFFFFFFh Assignable Port: Extension Input Ports (No.
  • Page 321 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) 0h to Reserved by the system FFFFFFFFh 0 to 620 Reserved by the system 99,999,999 0h to Reserved by the system FFFFFFFFh 0 to 624 Reserved by the system 99,999,999 0h to Reserved by the system...
  • Page 322 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) 0 to 664 Reserved by the system 99,999,999 0h to Reserved by the system FFFFFFFFh 0 to 668 Reserved by the system 99,999,999 0h to Reserved by the system FFFFFFFFh 0 to...
  • Page 323 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) Brake compulsorily released (attention needed for drop) when applicable port turns on Extension motion control 0th * Invalid if “0” is set (Invalid if input port No. 0 is axis brake compulsory release 0 to 3,999 specified)
  • Page 324 6.2 Parameter list 1. I/O Parameter Default Value Parameter name Input range Unit Remarks (Reference) Extension motion control 18th axis brake compulsory release 0 to 3,999 Refer to [Remarks in I/O Parameter No. 816]. input port number. Extension motion control 19th axis brake compulsory release 0 to 3,999 Refer to [Remarks in I/O Parameter No.

  • Page 325: Parameters Common To All Axes

    6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RA/SA) 6.2.2 Parameters Common to All Axes (1) XSEL-RA/SA Default Value Parameter name Input range Unit Remarks (Reference) 0b to Valid axis pattern OFF Bit: Setting of driver not mounted 11111111b Used if not specified in program.
  • Page 326 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) 0: Check at input PC/TP checks the input in All Axes Parameter No. 22 “Maximum Acceleration” and No. 23 “Maximum Deceleration”.
  • Page 327 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) Reserved by the system (change is prohibited) 0: Automatic switchover executed (button Select inching → Jog automatic continuous enabled timer) 0 to 5...
  • Page 328 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) Reserved by the system (change is prohibited) (For expansion) Reserved by the system (change is prohibited) (For expansion) Reserved by the system...
  • Page 329 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) Bits 0 to 7: 5th axis driver initial communication type Bits 8 to 15: 6th axis driver initial communication type Bits 16 to 23: 7th axis driver initial communication type...
  • Page 330 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) Bits 0 to 7: Position judgment datum distance in Z-axis direction [0.1mm] (In installation with robot on top, invalid when set to “0”)
  • Page 331 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RAX/SAX, RAXD/SAXD) (2) XSEL-RAX/SAX, RAXD/SAXD Default Value Parameter name Input range Unit Remarks (Reference) OFF Bit: Setting of driver not mounted 0b to Valid axis pattern * SCARA axis should be enabled only when all bits 11111111b of applicable unit axes are on Used when override not indicated in program...
  • Page 332 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RAX/SAX, RAXD/SAXD) Default Value Parameter name Input range Unit Remarks (Reference) 0: Automatic switchover executed (button continuous enabled timer) Select inching → Jog automatic 0 to 5 1: Prohibited switchover forbidden * Referenced by the PC/TP * Valid only on linear sliding axes Bits 0 to 3:...
  • Page 333 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RAX/SAX, RAXD/SAXD) Default Value Parameter name Input range Unit Remarks (Reference) SCARA axis PTPSM control ratio 0 to 50 (1st to 4th axis) SCARA axis tool datum point For simple checking Invasion forbidden diameter 150,000 0 to 999,999 0.001mm...
  • Page 334 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RAX/SAX, RAXD/SAXD) Default Value Parameter name Input range Unit Remarks (Reference) Reserved by the system 0h to 3C000D00h (change is prohibited) FFFFFFFFh Reserved by the system 0h to 10550FAh (change is prohibited) FFFFFFFFh Reserved by the system 0h to...
  • Page 335 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RAX/SAX, RAXD/SAXD) Default Value Parameter name Input range Unit Remarks (Reference) Reserved by the system -9,999,999 to 0.001mm (change is prohibited) 9,999,999 Reserved by the system -299 to 299 (change is prohibited) 0 to 98、...
  • Page 336 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RAX/SAX, RAXD/SAXD) Default Value Parameter name Input range Unit Remarks (Reference) Bits 0 to 7: 1st axis driver initial communication type Bits 8 to 15: 2nd axis driver initial communication type Bits 16 to 23: 3rd axis driver initial communication type Bits 24 to 31: 4th axis driver initial communication type FFh: With initial communication (only for self-axis...
  • Page 337 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RAX/SAX, RAXD/SAXD) Default Value Parameter name Input range Unit Remarks (Reference) 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 SCARA collision detection...
  • Page 338 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RAX/SAX, RAXD/SAXD) Default Value Parameter name Input range Unit Remarks (Reference) (For expansion) Used when not indicated in position data, program or Linear sliding axis acceleration 1 to 200 0.01G SIO message initial setting Note: Valid only on linear sliding axes Used when not indicated in position data, program or...
  • Page 339 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RAX/SAX, RAXD/SAXD) Default Value Parameter name Input range Unit Remarks (Reference) Bits 0 to 3: Reserved by the system Bits 4 to 7: Reserved by the system Bits 8 to 11: SCARA Z position → horizontal movement optimized (PTP) (0: Disable, 1: Enable) (Available only on high-speed improved type (H))
  • Page 340 6.2 Parameter list 2. Parameters Common to All Axes (XSEL-RAX/SAX, RAXD/SAXD) Default Value Parameter name Input range Unit Remarks (Reference) Compliance control limit band Arm 2 (J2-Axis) Angle actual position violation limit 1 to 4,500 0.001deg For manufacturer use for adjustment angle 99,999,999 (Main application V1.13 or later)

  • Page 341: Axis-Specific Parameters

    6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RA/SA) 6.2.3 Axis-Specific Parameters (1) XSEL-RA/SA Default Value Parameter name Input range Unit Remarks (Reference) 0: Linear movement axis Axis operation type 0 to 1 1: Rotation movement axis (angle control) Acceleration speed when ACMX Command is executed.
  • Page 342 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) 0: Not to Use Overrun sensor input polarity 0 to 2 1: contact a 2: contact b 0: Not to Use Creep sensor input polarity...
  • Page 343 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) Absolute value for distance from an end (mech side Actual distance between Z- or LS), automatic acquirement when negative value, -1 to 99,999 0.001mm phase and end recommended to set to automatic acquirement →...
  • Page 344 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) 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 345 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) 3: Single → double sensor switchover control * Establish the setting considering the situation only when there is no freedom in “independent” control in the same coordinate for the master axis and slave axes.
  • Page 346 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) 0h to Each axis setting bit pattern 1 FFFFFFFFh Pressing stop detection movement amount in home- 1 to 99,999 0.001mm Used in pressing check in home-return operation...
  • Page 347 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) Reserved by the system 0h to (change is prohibited) FFFFFFFFh Synchro S pulse 0 to 99,999 Pulse * Related Information:Each Axis Parameter No.52 Maximum flow-up command amount before brake...
  • Page 348 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) Set at the bottom limit in Zone 1 Output Range -99,999,999 Valid only when Max. > Min. Zone 3 MIN 0.001mm * Necessary to secure 3ms or more for domain...
  • Page 349 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) Emergency Deceleration Margin at Multi-Slider 0 to 999 0.01G Overapproach Bits 0 to 3: Multi-slider actual position overapproach detection margin [mm] (Valid only on multi-slider master axis...
  • Page 350 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) <Caution> • The recommended output is network. • Check the network specifications and assign to the domain which is capable to ensure synchronicity (coidentity) for the specified number of bits.
  • Page 351 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) Reserved by the system (change is prohibited) (For expansion) Invalid if “0” is set. Maximum operation 0 to 999 0.01G Limited by All Axes Parameter No. 22 “Maximum acceleration for each axis Acceleration”...
  • Page 352 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) Damping characteristic 1/1000 For anti-vibration control coefficient 2 1,000 0 to 1,000 Rate (shows decline width of notch filter) (parameter set 2) Specific frequency (Parameter...
  • Page 353 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RA/SA) Default Value Parameter name Input range Unit Remarks (Reference) For maintenance information alert function. If set to “0”, the alert feature should be disabled. Total operated distance 0 to If Maintenance Data “Total Distance Traveled”...
  • Page 354 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) (2) XSEL-RAX/SAX, RAXD/SAXD Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) 0: Linear movement axis Axis operation type 1,1,0,1 0 to 1 1: Rotation movement axis (angle control) Acceleration speed when ACMX Command is executed.
  • Page 355 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) 90,000 -99,999,999 to 0.001mm Home preset value 99,999,999 0.001deg -90,000 SIO・PIO home-return order 0 to 16 Executed from smaller 0: Unused Home position check sensor 0 to 2...
  • Page 356 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) Pressing stop confirmation time 1 to 5,000 Used for pressing confirmation in PUSH Command in positioning Reserved by the system (change is prohibited) When rotary encoder [rpm], Motor speed MAX...
  • Page 357 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) Valid only when linear sliding axis (coordinates -99,999,999 to 0.001mm Measurement adjustment except for encoder based Z point are to be changed 99,999,999 in proportion) 0: Not to Use...
  • Page 358 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding 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 * Valid only for synchro-slave axes Bits 4 to 7:...
  • Page 359 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) 3: Single → double sensor switchover control * Establish the setting considering the situation only when there is no freedom in “independent”...
  • Page 360 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) 0h to Each axis setting bit pattern 1 FFFFFFFFh ABS reset position movement / pressing stop detection Used for pressing confirmation in home-return 1 to 99,999 0.001mm movement amount in home-...
  • Page 361 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) Reserved by the system (change is prohibited) Reserved by the system (change is prohibited) Orthogonal Axis synchro S 0 to 99,999 Pulse * Related Information: Each Axis Parameter No.52 pulse...
  • Page 362 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) Physical output port or Global Flag or Extended Output Ports Zone 2 Output No. 0 to 6,999 (Output invalid when set to 0, invalid when duplicated) Note: Valid only on linear sliding axes...
  • Page 363 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) Bits 0 to 3: Mating axis number to apply overapproach detection (self-axis coordinate positive movement side) Bits 4 to 7: Mating axis number to apply overapproach detection (self-axis coordinate negative movement side)
  • Page 364 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) OLWNO Physical output port (Ineffective at 0, duplicated Driver overload warning 0 to 6,999 indication invalid) output No. * Contact B <Caution>...
  • Page 365 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) * Change prohibited unless any indication from the 120 FFF 0 to 100 supplier (For expansion) 125 Reserved by the system 10,000 10,000 126 Reserved by the system...
  • Page 366 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) 0: Rotation movement axis (R) coordinates positive Ball screw spline (Linear sliding direction → linear sliding axis (Z) coordinates axis + rotation movement axis) positive direction adjustment Rotation movement axis →...
  • Page 367 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) 2,900 Reserved by the system 13,100 (change is prohibited) 108,200 Reserved by the system 108,600 (change is prohibited) Reserved by the system (change is prohibited) 36,575...
  • Page 368 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) Linear sliding axis 1 to 999 0.01G Same as Each Axis Parameter No.2 ACMX+Acceleration 4 Linear sliding axis 1 to 999 0.01G Same as Each Axis Parameter No.3 ACMX-Acceleration 4...
  • Page 369 6.2 Parameter list 3. Axis-Specific Parameters (XSEL-RAX/SAX, RAXD/SAXD) Default value Default value Parameter name (Linear Input range Unit Remarks (SCARA axes) sliding axis) Device extended data get 0h to setting FFFFFFFFh Set the ratio to detect the encoder overheat warning in % when 0degC is set as 0% and the temperature 241 EncOvrhtWarnTempLvRatio to generate the encoder overheat error as 100% (It...

  • Page 370: Driver Parameters (All Types)

    6.2 Parameter list 4. Driver Parameters (All types) 6.2.4 Driver Parameters (All types) Default Value Parameter name Input range Unit Remarks (Reference) Type (upper) Space For manufacturer use for adjustment (Manufacturing information) Type (middle) Space For manufacturer use for adjustment (Manufacturing information) Type (lower) Space...
  • Page 371 6.2 Parameter list 4. Driver Parameters (All types) Default Value Parameter name Input range Unit Remarks (Reference) Motor • encoder configuration Motor information (compatible with E, 0000h to Encoder 0000h For manufacturer use for adjustment priority on E) (Configuration FFFFFFFFh Identification information) Number...
  • Page 372 6.2 Parameter list 4. Driver Parameters (All types) Default Value Parameter name Input range Unit Remarks (Reference) 0000h to Current control word 1 For manufacturer use for adjustment FFFFFFFFh 0000h to Current control word 2 For manufacturer use for adjustment FFFFFFFFh 0000h to Current control word 3...
  • Page 373 6.2 Parameter list 4. Driver Parameters (All types) Default Value Parameter name Input range Unit Remarks (Reference) Current control query 0000h to For manufacturer use for adjustment information 13 FFFFFFFFh Current control query 0000h to For manufacturer use for adjustment information 14 FFFFFFFFh Current control query...

  • Page 374: Encoder Parameters

    6.2 Parameter list 5. Encoder Parameters 6.2.5 Encoder Parameters Default Value Parameter name Input range Unit Remarks (Reference) Type (upper) Space (Manufacturing information) Type (middle) Space (Manufacturing information) Type (lower) Space (Manufacturing information) Manufacturing data Space (Manufacturing information) Manufacturing data Space (Manufacturing information) Manufacturing data...
  • Page 375 6.2 Parameter list 5. Encoder Parameters Default Value Parameter name Input range Unit Remarks (Reference) Card parameter 0000h to 0000h For manufacturer use for adjustment (by board type) FFFFFFFFh Card parameter 0000h to 0000h For manufacturer use for adjustment (by board type) FFFFFFFFh Card parameter 0000h to...

  • Page 376: I/O Devices Parameters

    6.2 Parameter list 6. I/O Devices Parameters 6.2.6 I/O Devices Parameters Default Value Parameter name Input range Unit Remarks (Reference) Type (upper) Space For manufacturer use for adjustment (Manufacturing information) Type (middle) Space For manufacturer use for adjustment (Manufacturing information) Type (lower) Space For manufacturer use for adjustment...

  • Page 377: I/O Devices Parameters

    6.2 Parameter list 6. I/O Devices Parameters Default Value Parameter name Input range Unit Remarks (Reference) Device parameter 0000h to 0000h For manufacturer use for adjustment (by board type) FFFFFFFFh Device parameter 0000h to 0000h For manufacturer use for adjustment (by board type) FFFFFFFFh Device parameter...
  • Page 378 6.2 Parameter list 6. I/O Devices Parameters Default Value Parameter name Input range Unit Remarks (Reference) Query information 4 0000h to 0000h For manufacturer use for adjustment (by board type) FFFFFFFFh Query information 5 0000h to 0000h For manufacturer use for adjustment (by board type) FFFFFFFFh Query information 6...

  • Page 379: Other Parameters (All Types)

    6.2 Parameter list 7. Other Parameters (All types) 6.2.7 Other Parameters (All types) Default Value Parameter name Input range Unit Remarks (Reference) Auto-start program number 0 to 255 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 380 6.2 Parameter list 7. Other Parameters (All types) Default Value Parameter name Input range Unit Remarks (Reference) 0: Abort operations/programs 1: Recovery after reset 2: Operation continued (Only during automatic operation. * Operation commands from the PC software/TP will be aborted on the PC software/TP side.) 3: Abort operations/programs (Software reset when the emergency stop is reset.
  • Page 381 6.2 Parameter list 7. Other Parameters (All types) Default Value Parameter name Input range Unit Remarks (Reference) 0h to (For expansion) FFFFFFFFh 0h to Reserved by the system FFFFFFFFh Reference Reserved by the system Only 0h to FFFFFFFFh Reference Reserved by the system Only 0h to FFFFFFFFh...
  • Page 382 6.2 Parameter list 7. Other Parameters (All types) Default Value Parameter name Input range Unit Remarks (Reference) Bits 0-3: Reserved by the system Bits 4 to 7: Decimal-place rounding selection for real-number → integer-variable assignment in LET/TRAN commands (0: Do not round 1: Round) Bits 8-11: Reserved by the system...
  • Page 383 6.2 Parameter list 7. Other Parameters (All types) Default Value Parameter name Input range Unit Remarks (Reference) 0: Display controller status 1: Display motor current indicator The current pattern of each axis is displayed instead of “ready status” or “program run number.” “Minimum indicator-displayed axis number”...
  • Page 384 6.2 Parameter list 7. Other Parameters (All types) Default Value Parameter name Input range Unit Remarks (Reference) Bit 0: Fan 7 condition monitored (0: Disable, 1: Enable) Bit 1: Fan 8 condition monitored (0: Disable, 1: Enable) Bit 2: Fan 9 condition monitored (0: Disable, 1: Enable) Bit 3: Fan 10 condition monitored (0: Disable, 1: Enable)
  • Page 385 6.2 Parameter list 7. Other Parameters (All types) Default Value Parameter name Input range Unit Remarks (Reference) Bits 0 to 3: Protect range maximum number (Position) (10’s place, BCD) Bits 4 to 7: Protect range maximum number (Position) (100’s place, BCD) Bits 8 to 11: Protect range maximum number (Position) (1000’s place, BCD)
  • Page 386 6.2 Parameter list 7. Other Parameters (All types) Default Value Parameter name Input range Unit Remarks (Reference) 0h to Monitoring status of fan 3 444444h For manufacturer use for adjustment FFFFFFFFh 0h to Monitoring status of fan 4 444444h For manufacturer use for adjustment FFFFFFFFh (For expansion) 6-103...

  • Page 387: Parameters For Linear / Rotation Controls

    6.3 Parameters for Linear / Rotation Controls 6.3 Parameters for Linear / Rotation Controls 6.3.1 Combinations of parameters for linear and rotation controls Shown in the list below are the combinations of parameters for linear and rotation controls: : Available for Indication ×: Not Available for Indication Each Encoder Process Axis...

  • Page 388: Parameters Related To Rotary Axis Movement

    6.3 Parameters for Linear / Rotation Controls 6.3.2 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 389: Operation Example Of Shortcut Control In Rotary Axis Movement

    6.3 Parameters for Linear / Rotation Controls 6.3.3 Operation Example of Shortcut Control in Rotary Axis Movement The shortcut control select can be set valid/invalid in Each Axis Parameter No. 67 “Rotary Movement Axis Shortcut Control Select”. Movement can be performed in one way when the shortcut select is set valid.

  • Page 390: Servo Adjustment

    6.4 Servo Adjustment 6.4 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 391 6.4 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 392: Parameter Setting (Applied)

    6.5 Parameter Setting (Applied) 6.5 Parameter Setting (Applied) You can add functions or set dedicated functions to I/O ports by changing parameter values. Setting examples under different operating conditions are explained below. When executing the desired operation, change the parameter settings in the table on the describing section.

  • Page 393: Want To Operate The System Tentatively Without Using I/Os

    6.5 Parameter Setting (Applied) 6.5.1 Want to Operate the System Tentatively Without Using I/Os If you want to perform a test operation before wiring the I/Os and fieldbus, disable the error monitor functions for I/Os and fieldbus. Parameter No. Set Value Description I/O Parameter No.10 I/O Slot 1 Error monitor (I/O 1) disabled...

  • Page 394: Want To Start An Emergency Program

    6.5 Parameter Setting (Applied) 6.5.4 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 395: Want To Enable Auto Recovery (Error Reset) Upon Cancellation Of Emergency Stop

    6.5 Parameter Setting (Applied) 6.5.6 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. Parameter No. Set Value Description Execution Other parameter No.1 program number.

  • Page 396: Want To Turn On The Servo Externally

    RA/SA) Set input port 015 as the Home-Return Signal Input port, All Increment Axes Homing (XSEL- RA/SA) XSEL-RA/SA, RAX/SAX I/O parameter No.45 Set Input Port 015 as the home-return signal input port, and the absolute axis of single axis should...

  • Page 397: Want To Execute A Program Externally By Making An Indication Of A Program Number In Binary

    6.5 Parameter Setting (Applied) 6.5.12 Want to Execute a Program Externally by Making an Indication of a Program Number in Binary Set I/O Parameter No. 30 to “2” and the command to a program number should be made in binary and can be executed. The program number is to be indicated in Input Port No. 007 to 013.

  • Page 398: Want To Release The Actuator Brake Externally

    6.5 Parameter Setting (Applied) 6.5.15 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. (*) Releasing a brake of SCARA Robot cannot be performed. Parameter No.

  • Page 399: Want To Change Input Port Assignments

    6.5 Parameter Setting (Applied) 6.5.17 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. Parameter No. Set Value Description Input port number to assign I/O Parameter No.283 input function selection 000 to Input port number to assign...

  • Page 400: Want To Output That All The Single Axis Actuators Are At The Home Position

    6.5 Parameter Setting (Applied) 6.5.18 Want to Output That All the Single Axis Actuators are at the Home Position It can be confirmed that all the single axis actuators are at the home position. (*) Output as the home position cannot be made for SCARA Robot. Current Position Output port 304 Home...

  • Page 401: Want To Output A Signal Showing An Axis Is In Operation

    6.5 Parameter Setting (Applied) 6.5.20 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 402 6.5 Parameter Setting (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 403: Want To Output That A Single Axis Actuator Got Into The Area (Zone)

    6.5 Parameter Setting (Applied) 6.5.21 Want to Output that a Single Axis Actuator Got into the Area (Zone) which Has Been Set Four areas (zones) and output ports can be set to each axis of single axis actuators. It can be confirmed that the actuator got into the area (zone) which has been set.

  • Page 404: Want To Output The Error Level

    6.5 Parameter Setting (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 Each Axis Parameter...

  • Page 405: Want To Output The Emergency Stop Status

    6.5 Parameter Setting (Applied) 6.5.23 Want to Output the Emergency Stop Status Whether or not an emergency stop status is currently actuated can be checked from the status of output port 302. Current status Output port 302 Emergency stop not actuated Emergency stop actuated Parameter No.

  • Page 406: Want To Change Output Port Assignments

    6.5 Parameter Setting (Applied) 6.5.26 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. Parameter No. Set Value Description Output port number to I/O Parameter No.299 assign input function selection 300 to Output port number to...

  • Page 407: Want To Use A General-Purpose Rs-232C Port Connector

    6.5 Parameter Setting (Applied) 6.5.27 Want to Use a General-purpose RS-232C Port Connector The factory-set channel 1 and specifications are as follows. XSEL Controller System operation setting switch (MODE) Channel 1 (S1) [Channel 1 Specifications] Baud rate : 38.4 kbps Data length : 8 Stop bit Parity type : None...
  • Page 408 6.5 Parameter Setting (Applied) [Initial value Settings] Baud rate 0: 9.6 kbps 1: 19.2 kbps 2: 38.4 kbps 3: 57.6 kbps 4: 76.8 kbps 5: 115.2 kbps 6: 230.4 kbps Data length 7, 8 Stop bit length 1, 2 Parity type 0: None, 1: Odd, 2: Even For future extension For future extension For future extension...

  • Page 409: Want To Know The Current Value Of Electric Current Without Connecting

    6.5 Parameter Setting (Applied) 6.5.28 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. Parameter No.

  • Page 410: Want To Monitor Global Integer Variables Without Connecting

    6.5 Parameter Setting (Applied) 6.5.29 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. Parameter No.

  • Page 411: Permission Of Sio/Pio Program Startup With Password

    6.6 Permission of SIO/PIO Program Startup with Password 6.6 Permission of SIO/PIO Program Startup with Password By setting to Parameter “Manual Operation Type” (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 412 Permission of SIO/PIO Program Startup with Password (2) Teaching pendant 1) Setting = 0 (Always enable edit and SIO/PIO start) Functions Safety-speed enable Jog, move, Password Safety SIO program PIO program selection Edit continuous speed start start move Enable  ...

  • Page 413: Troubleshooting

    XSEL-RA/SA Chapter Troubleshooting 7.1 Extension Motion Control ········································ 7-1 7.2 Error Level Control ················································ 7-5 7.3 Error List ····························································· 7-8...

  • Page 414: Extension Motion Control

    7.1 Action to Be Taken upon Occurrence of Problem 7.1 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 415 7.1 Action to Be Taken upon Occurrence of Problem (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 416: Action To Be Taken Upon Occurrence Of Problem

    7.1 Action to Be Taken upon Occurrence of Problem Table 7.1-2 Panel window display list Display Priority Description (Note1) The AC power is cut off. (Momentary power failure or power-supply voltge drop is also possibility.) [Cause and Countermeasure] It is the condition that the control power voltage has dropped. If there is no problem found on the input cable of power supply or power voltage, there is a concern of malfunction of the controller.
  • Page 417 7.1 Action to Be Taken upon Occurrence of Problem Table 7.1-2 Panel window display list Display Priority (Note1) Description In slave update mode. The slave is being updated. (* changes in a way drawing a shape of “8”) The slave has been updated. A program is running (last started program).

  • Page 418: Error Level Control

    7.2 Error Level Control 7.2 Error Level Control Alarms are classified into 5 levels depending on the content of the error. • Secret level (Note 1) • Message level • Operation-cancellation level • Cold-start level • System-down level Note 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 419 7.2 Error Level Control Display Error LED Program run (Application only) System error Error list Error reset Error Error No. (7-segment output assignment (Application (Application Remarks Other parameter Other parameter level (HEX) display, (MAIN source only) only) No. 4 = 0 No.
  • Page 420 7.2 Error Level Control Display Error LED Program run (Application only) System error Error list Error reset Error Error No. (7-segment output assignment (Application (Application Remarks Other parameter Other parameter level (HEX) display, (MAIN source only) only) No. 4 = 0 No.

  • Page 421: Error List

    (IAI protocol) mode. [Detail & Cause] The name of the update program file selected in the update mode is invalid. Update file name error (IAI protocol) [Countermeasure] Select the correct file and repeat the updating procedure from the beginning. [Detail & Cause] An error is occurred on clock data to be indicated in such as communication.
  • Page 422 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] The message of the control constant table change/query Control constant table command contains error. change/query error [Countermeasure] Check the message that has been sent.
  • Page 423 • Replace the fan if it is a fan equipped on the controller main unit. Refer to [8.4.3 Replacement of Fan] for the replacement method. • Consult with IAI if it is a fan equipped on the brake board. 7-10 ME0359-9E...
  • Page 424 There is a concern of error operation due to noise or malfunction of the flash ROM. Flash busy reset timeout [Countermeasure] Confirm or consider counteraction for noise. If the error occurs again, please contact IAI. [Detail & Cause] The management information regarding the control constant table is invalid. Control constant table...
  • Page 425 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] An encoder control constant relating to power-source voltage Encoder control constant error control is invalid. (Power-source voltage control) The encoder power-source voltage cannot be adjusted.
  • Page 426 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] * It is an alarm when conveyer tracking system in use Error of tracking system being Tracking system is in use by another task.
  • Page 427 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] * It is an alarm when conveyer tracking system in use The number of works received from vision system exceeded the Number of received works error upper limit of the number of works that can be captured in 1 shot.
  • Page 428 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] The expanded position number in the received command is not supported, so a response cannot be sent successfully. Size over error of position The connected PC software or Teaching pendant, etc., may not number data in response...
  • Page 429 2) Malfunction of flash ROM. check error [Countermeasure] SEL program will be initialized. Contact IAI in case the same error occurs even after flash ROM writing is conducted. [Detail & Cause] An error was detected in SEL program data stored in the flash ROM.
  • Page 430 ID error 2) Malfunction of flash ROM. [Countermeasure] SEL program will be initialized. Contact IAI in case the same error occurs even after flash ROM writing is conducted. [Detail & Cause] An error was detected in the position data comment stored in the flash ROM.
  • Page 431 2) When the combination of SCARA Robot and controller is changed, it is necessary to have the unit individual parameters changed in the manufacturer adjustment mode. Contact IAI for detail. 3) Conduct an absolute reset. 4) Conduct an absolute reset.
  • Page 432 Servo packet recalculation timeout error [Countermeasure] If the phenomenon occurs again even after initialization the user data retaining memory, consult with IAI. [Detail & Cause] A MECHATROLINK command error was detected in the slave station. [Countermeasure] Check in the error list if there is another error detected in the axis on which this error was occurred.
  • Page 433 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] The extension motion control axis pattern setting is not Extension motion control axis established.
  • Page 434 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] The actuator has reached the point that it cannot stop in the soft limit range with the indicated deceleration speed while the synchronizing operation was executed.
  • Page 435 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] The master axis started the pressing operation or an axis in pressing operation was chosen as the master axis during the Master synchronizing axis synchronizing operation.
  • Page 436 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] As the condition would not satisfy the operation continuing recovery, recovery after cancelling the stop could not be succeeded.
  • Page 437 3) There is wrong information in the flash ROM data. ROM data error 4) Malfunction of flash ROM. [Countermeasure] In case the error occurs even after power reboot, contact IAI. [Detail & Cause] It is a system construction not supported. System construction definition...
  • Page 438 It is the SPI initialization error SPI initialization error [Countermeasure] If the same phenomenon occurs again even after rebooting the power, please contact IAI. [Detail & Cause] There was an error occurred while reading from FRAM. FRAM reading error [Countermeasure] If the same phenomenon occurs again even after rebooting the power, please contact IAI.
  • Page 439 There was an error detected in the servo control data. Servo I/F data handshaking [Countermeasure] timeout error If the same phenomenon occurs again even after rebooting the power, please contact IAI. [Detail & Cause] There was an error detected in the I/O interface process part. I/O interface error [Countermeasure] If the same phenomenon occurs again even after rebooting the power, please contact IAI.
  • Page 440 [Countermeasure] If the same phenomenon occurs again even after rebooting the power, please contact IAI. [Detail & Cause] There was a communication error detected to the slave SVP in the I/O interface process part. There is a concern of noise or malfunction of the hardware.
  • Page 441 I/O interface control message handling error [Countermeasure] If the same phenomenon occurs again even after rebooting the power, please contact IAI. [Detail & Cause] There was an error occurred in the message process for the I/O control with the I/O interface process part.
  • Page 442 [Countermeasure] In case the phenomenon occurs after rebooting even with the following confirmation of noise and countermeasure conducted, consult with IAI. Slave SVP initialization error 1) Make sure that the FG cable on the controller is connected thick and short.
  • Page 443 Check also the detail of the other error. If the same phenomenon occurs again even after rebooting the power, please contact IAI. [Detail & Cause] There was an error occurred at the initialization of the I/O slot board.
  • Page 444 [Countermeasure] Please contact IAI if this error occurs often. [Detail & Cause] There was an error in the parameter setting for the extension motion control. The following things can be concerned;...
  • Page 445 There was an error occurred during the communication process. Extension motion control fieldbus communication error [Countermeasure] Please contact IAI if this error occurs often. [Detail & Cause] XSEL detected a synchronizing error (WDT Error). The following things can be concerned;...
  • Page 446 Extension motion control interface error [Countermeasure] If the same phenomenon occurs again even after rebooting the power, please contact IAI. [Detail & Cause] There was an operational error detected in the extension motion control interface. Extension motion control interface underrun error...
  • Page 447 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] There was an error detected in the fieldbus interface. The following things can be concerned; 1) Communication error due to noise, cable breakage / connection error, etc.
  • Page 448 Extension motion control communication process. interface command writing incomplete error [Countermeasure] Please contact IAI if this error occurs often. [Detail & Cause] It was failed to release the right of servo use. Servo use right release error [Countermeasure] If the same phenomenon occurs again even after rebooting the power, please contact IAI.
  • Page 449 Encoder Extension Data Acquirement Error [Countermeasure] Confirm or consider counteraction for noise. If the error occurs again, please contact IAI. [Detail & Cause] The encoder temperature acquired from the encoder was an abnormal number. Some causes such as those described below could be concerned.
  • Page 450 Revise the acceleration/deceleration speed or increase the duration of pause and it should get less frequent to occur. • Inspect on the unit to see if the sliding resistance is high. Contact IAI in case no improvement can be confirmed with those above. ----------------------------------------------------------------------------...
  • Page 451 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Power-supply board Power-supply board FRCDCSTR-ON could not be confirmed FRCDCSTR-ON timeout error within the specified time. Power-supply board Power-supply board RBONSTR-ON could not be confirmed within RBONSTR-ON timeout error...
  • Page 452 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Driver synchronous A communication failure occurred between the driver board and communication LRC error FPGA (main). Driver synchronous A communication failure occurred between the driver board and communication toggle error...
  • Page 453 2) Malfunction of the flash ROM [Countermeasure] If the same phenomenon occurs again even after rebooting the power, please contact IAI. [Detail & Cause] An error was detected in the encoder / motor control constant table stored in the flash ROM.
  • Page 454 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Encoder/motor combination mismatch error (encoder Check driver parameter No. 26, encoder parameter No. 11. resolution) Encoder EEPROM read busy The encoder is faulty or an encoder communication failure error occurred.
  • Page 455 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Encoder receive timeout error at serial encoder command An encoder communication failure. issuance Torque limit parameter error Check driver parameter Nos.
  • Page 456 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Driver/encoder communication All Axes Common Parameter No. 101 or 102, “Driver/encoder line channel number communication line channel setting” is invalid (invalid value, specification error duplicate specifications).
  • Page 457 1) The power was turned off during data writing to the flash constant table control domain ROM. sum check error 2) Malfunction of flash ROM. [Countermeasure] If the same phenomenon occurs again even after rebooting the power, please contact IAI. 7-44 ME0359-9E...
  • Page 458 2) Malfunction of flash ROM. [Countermeasure] The parameter will be initialized. Contact IAI in case the same error occurs even after flash ROM writing is conducted. [Detail & Cause] An error was detected in the parameter data stored in the flash ROM.
  • Page 459 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure UBM data construction The data construction of the user data retaining memory was change error changed. Initialize the memory. A setting is established exceeding the user data retaining memory capacity.
  • Page 460 [Countermeasure] SEL global data will not be initialized even if an error is detected. To cancel the error, have the data initialized. Contact IAI in case the same error occurs even after initializing. [Detail & Cause] There was an error detected in the SEL global data stored in the backup memory.
  • Page 461 Switch the communication channel open and close for several times and if TCP/IP message communication cannot be established, report the content in the error list and the symptoms to IAI. [Detail & Cause] Ethernet control information (for analysis) (This is not an error.) 1) The connection request output from SEL controller in TCP/IP message communication was rejected by the mating device.
  • Page 462 Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] Communication failure. SIO overrun status [Countermeasure] (IAI protocol reception) Check for noise, connected equipment and communication setting. [Detail & Cause] Communication failure. SIO Parity ER Status [Countermeasure] (IAI protocol reception) Check for noise, shorted/disconnected communication cable, connected equipment and communication setting.
  • Page 463 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] Startup of several programs attempted while in condition of multiple programs simultaneous startup prohibited condition. Only one program is allowed to be started up while in condition of Multiple-program simultaneous multiple programs simultaneous startup prohibited condition.
  • Page 464 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] User System Error Output Command (ECMD 300) has been executed. User System Error [Countermeasure] Check in the SEL program using commands.
  • Page 465 Message station number error The station number in the received message is invalid. (IAI protocol reception) Message ID error (IAI protocol The ID in the received message is invalid. reception) The transmitted message does not match the message format or Message conversion error contains invalid data.
  • Page 466 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Servo-control-right non- An attempt to retain the servo control right has failed. acquisition error (SIO  PIO) It can be considered the voltage of the absolute data backup Absolute-data backup battery battery has dropped, or there is an error in the encoder cable or...
  • Page 467 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Parameter change value error The value of parameter changed is invalid. Parameter type error The parameter type is invalid. Parameter number error The parameter number is invalid.
  • Page 468 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Data change refusal error Data cannot be changed while the flash ROM is being written. during flash ROM write Duplicate flash-ROM write Another flash-ROM write command was received while the flash commands refusal error...
  • Page 469 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Drive-source recovery request The drive-source cutoff factor (error, deadman switch, safety gate, refusal error emergency stop, etc.) has not been removed. The all-operation-pause factor (drive-source cutoff, operation- Operation-pause reset request pause signal, deadman switch, safety gate, emergency stop, etc.)
  • Page 470 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Fieldbus error (HERROR-ON) A HERROR-ON was detected. Fieldbus error (HERROR- A HERROR-BLINK was detected. BLINK) Data change refusal error An attempt was made to change data whose change is prohibited during operation during operation (program is running, servo is in use, etc.).
  • Page 471 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] The output timer used in the SEL program has exceeded the upper limit of use. The following causes may be considered.
  • Page 472 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Input port debug filter type error There is an error in the input port debug filter type setting. There is an error in the SEL command language operand SEL operand indication error indication.
  • Page 473 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Initializing for the vision system I/F is incomplete. Vision system I/F initializing Check I/O parameters No. 165 to 169 and 351 to 367, All Axes incomplete error Common Parameters No.
  • Page 474 COMP1 command was executed [Countermeasure] Check the indication of the coordinate system number and selected coordinate system number in the SEL command and IAI Protocol command and correct the coordinate numbers. The coordinate system type is invalid. Coordinate system type error *It is an error only for SCARA [Detail &...
  • Page 475 IAI Protocol command and so on. Specification-prohibited axis error [Countermeasure] Check the indicated value in the axis pattern and axis number in such a command as SEL command, IAI Protocol command and so on, and correct them to appropriate values. 7-62 ME0359-9E...
  • Page 476 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Axis-specific PTP operation was specified for multiple axes. Axis- Axis-specific PTP multiple-axis specific PTP operation can be specified only for one axis. specification error *It is an error only for SCARA Jog/inching was specified for multiple axes.
  • Page 477 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Servo-off axis detection error It was detected that the servo has turned off for the adjustment during structure adjustment axis during the structure adjustment process.
  • Page 478 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure The tag specified as the jump destination of a GOTO statement is Tag non-definition error not defined. The branching command syntax is invalid.
  • Page 479 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Expansion-condition LD There is not enough LD when expansion condition A or O is used. shortage error 1 Expansion-condition LD There is not enough LD when expansion condition AB or OB is shortage error 2...
  • Page 480 • Only one of X-axis or Y-axis indicated in COMP1 command [Countermeasure] Check the indicated value in the axis pattern in such a command as SEL command, IAI Protocol command and so on, and correct them to appropriate values. An operation axis of the position data was added during the...
  • Page 481 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Tag number error The tag number is invalid. Subroutine number error The subroutine number is invalid. User-open communication The channel number of the communication channel opened to the channel number error...
  • Page 482 [Countermeasure] The SEL program source symbol will be initialized. Contact IAI in case the same error occurs even after flash ROM writing is conducted. [Detail & Cause] There was an error detected in the SEL program source symbol stored in the flash ROM.
  • Page 483 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Timing limit over error Error writing the flash ROM (Flash ROM write) Flash-ROM verify error Error writing the flash ROM (Flash ROM write) Flash-ROM ACK timeout error Error writing the flash ROM...
  • Page 484 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Pressing Operation Flag Logic It is the pressing process internal logic error. Error The command cannot be followed. Deviation overflow error Check for operation restriction, wiring, encoder, motor, etc.
  • Page 485 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure The target position or target locus exceeds a soft limit. Target-locus soft limit over error * In the case of a SCARA specification, position data may not exist for the applicable axis.
  • Page 486 There is no valid indicated axis in SEL command, IAI Protocol command or position data. • Axis pattern 0 is indicated in SEL command or IAI Protocol command • An Axis which is not valid (refer to All Axes Common Parameter No.
  • Page 487 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Acceleration/deceleration The specified acceleration/deceleration is invalid. specification error Circle/arc calculation logic error The arc calculation logic is invalid. Position data that cannot be used in arc movement was specified.
  • Page 488 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Creep sensor non-detection The creep sensor cannot be detected. error Check the wiring and sensor. Phase Z cannot be detected. Check the wiring and encoder.
  • Page 489 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Palletizing PASE/PAPS non- Neither PASE nor PAPS palletizing-setting command is set. Set declaration error either command. Palletizing position number The specified palletizing position number is invalid.
  • Page 490 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure PX/PY-axis indeterminable Angle cannot be calculated because there are too many valid error at palletizing angle axes in the 3-point teaching position data and thus PX/PY-axes acquisition cannot be specified.
  • Page 491 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure SEL data error The SEL data is invalid. Positioning boundary pull-out An attempt was made to execute a command not permitted error outside the positioning boundary.
  • Page 492 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Faulty encoder or defective encoder assembly condition is Encoder count error suspected. Encoder one-revolution reset The encoder is faulty or has turned. error Encoder-EEPROM write The encoder is faulty or failure occurred in the encoder...
  • Page 493 Initialization of the absolute encoder could not be completed. ABS encoder error detection 2 [Countermeasure] Reboot the power.In case the error occurs even after power reboot for several times, contact IAI. Coordinate system data control Coordinate system data is destroyed. domain sum check error Initialize the coordinate system data.
  • Page 494 • Replace the fan if it is a fan equipped on the controller main unit. • Consult with IAI if it is a fan equipped on the brake board. [Detail & Cause] An access to the Secure Digital memory card was failed.
  • Page 495 Also, if the error has occurred after transferring a backup parameter file, check if the file that was transferred is the correct file. Contact IAI in case those above are not to be applied or no problem is found in those above. Overrun error The overrun sensor was actuated.
  • Page 496 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure The optional function specified for use requires an optional Optional password error password. Check other parameter Nos. 30 to 32, etc., depending on the function to be used.
  • Page 497 3-Axis SCARA. [Countermeasure] Please contact IAI. An error was detected in the parameter at the calculation of the Parameter error at effective effective target data. Check Each Axes Parameters No. 7, 8, 138 target data calculation and so on.
  • Page 498 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Driver request data There is an error on the driver CPU and I/F. acquirement timeout error There is an error in the way to indicate the simple interference Simple Interference check zone check zone defined coordinate.
  • Page 499 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] There is a mistake in the setting in Axis-Specific Parameter No. 88, 91, 94 or 97 “Zone (1-4) Output Number”. The following causes can be considered.
  • Page 500 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] The I/O assignments exceed the specified range. [Countermeasure] Check the number of PIO board input/output points (can be confirmed from the model number) and the input and output used port count and input and output port start number set in the following parameters to make sure the assignment is not...
  • Page 501 Parameter sum check error 2) Malfunction of flash ROM. [Countermeasure] The parameter will be initialized. Contact IAI in case the same error occurs even after flash ROM writing is conducted. The setting of “Axis-specific parameter No. 60, Position gain,” Gain parameter error etc., is invalid.
  • Page 502 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure [Detail & Cause] There was an error detected in a parameter stored in the flash ROM. The following causes can be considered.
  • Page 503 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Encoder overspeed error An encoder overspeed error was detected. Slave no normal response Normal response cannot be received from the slave. reception error Sending-slave CPU type error The CPU type of the sending slave is invalid.
  • Page 504 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Encoder resolution mismatch The encoder resolution in the system’s axis-specific parameter error and that of the installed encoder do not match. Encoder division ratio The encoder division ratio in the system’s axis-specific parameter mismatch error...
  • Page 505 2) Malfunction of flash ROM. error [Countermeasure] The SEL program will be initialized. Contact IAI in case the same error occurs even after flash ROM writing is conducted. [Detail & Cause] An error was detected in the symbol definition table data stored in the flash ROM.
  • Page 506 7.3 Error List In the panel window, the error numbers follow E in the display. Error No. Error name Detail & Cause / Countermeasure Interpreter-task end task ID An interpreter-task end task ID error was detected. error Abnormal standby power Abnormal standby power was detected.
  • Page 507 Servo core shutdown error [Countermeasure] If the same phenomenon occurs again even after rebooting the power, please contact IAI. Undefined NMI error An undefined NMI interruption occurred. Shutdown error (hi_sysdwn() A shutdown error (hi_sysdwn() definition) was detected.
  • Page 508 7.3 Error List 7-95 ME0359-9E...

  • Page 509: Maintenance And Inspection

    XSEL-RA/SA Chapter Maintenance and Inspection 8.1 Periodic Inspection ················································ 8-1 8.2 Periodic Inspection Items ········································ 8-2 8.3 Consumable Parts ················································ 8-4 8.4 Component replacement ········································ 8-5 8.4.1 Caution when Replacing Components (Common Item) ····················································· 8-5 8.4.2 Replace Absolute Battery ········································ 8-6 8.4.3 Replacement of Fan ··············································...
  • Page 510 8.6 Encoder Overheat Warning Function ························· 8-20 8.6.1 Overview of Encoder Overheat Warning Function ········ 8-20 8.6.2 Check of Encoder Overheat Level ···························· 8-22 8.6.3 Related Parameters List ········································· 8-23 8.7 Absolute Reset ····················································· 8-24 8.7.1 Single and Orthogonal Axes (When using the PC Software) ·································...

  • Page 511: Periodic Inspection

    8.1 Periodic Inspection 8.1 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 512: Periodic Inspection Items

    8.2 Periodic Inspection Items 8.2 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 513 8.2 Periodic Inspection Items Inspection Judgment Inspection details Countermeasures items criteria No slack in Mounting Mounting state on the controller Re-attach and lock. status control panel mounting The connector Units firmly connected? should be Tighten so that it is no longer loose. tightened firmly Check if the cable between the simple...

  • Page 514: Consumable Parts

    8.3 Consumable Parts 8.3 Consumable Parts The life of components used in this product system is as follows. Refer to [8.5 Driver Overload Warning Function] and [8.6 Encoder Overheat Warning Function] for information about preventive and predictive maintenance. Table 8.3-1 Consumable Parts Preventative Predictive Guidelines...

  • Page 515: Component Replacement

    8.4 Component replacement 8.4 Component replacement 8.4.1 Caution when Replacing Components (Common Item) When replacing a component of XSEL Controller, pay attention to the following things while performing a work. Caution When an abnormality is found on a unit in an inspection and replacement of the unit is necessary, pay attention to the following things.

  • Page 516: Replace Absolute Battery

    8.4 Component replacement 8.4.2 Replace Absolute Battery There is life to a battery. Replace it regularly. Refer to [2.4.6 Absolute Battery] for the specifications of the absolute battery. (1) For Single and Orthogonal Axes The process to replace components should differ depending on the content of an error being occurred.
  • Page 517 8.4 Component replacement 3) Unplug the connectors on the battery and pull out the battery. Connector Caution  Insert a new battery within 15 minutes after the connector is pulled off. If more time is passed and the absolute position data is lost, the absolute reset becomes necessary.
  • Page 518 8.4 Component replacement 5) Slide in the panel of the absolute battery unit to mount, and tighten the screw. Screw 6) Turn ON the controller power. When “rdy” is displayed on the 7-segment LED display after initializing of the controller, the replacement work is finished.
  • Page 519 8.4 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 520 8.4 Component replacement 11) Select Controller → Abs. Encoder Reset on the menu bar. 12) The warning dialog box will appear. Click on the OK. 13) The absolute reset window dialog box will appear. Have the following operations in order of c) from a). a) Set Axis No.
  • Page 521 8.4 Component replacement 14) 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 522 8.4 Component replacement (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]. 8-12 ME0359-9E...

  • Page 523: Replacement Of Fan

    (10000000h = 1 0000 0000 0000 0000 0000 0000 0000b) → As it is Bit 28, the fan equipped on the brake board is subject. * When there is an error occurred on the fan equipped on the brake board, consult with IAI. 8-13...
  • Page 524 8.4 Component replacement (2) Checking Fan Equipped Position The fan should be replaced in the procedures below for the fan equipped on the frame. • Fan Model Code: MGT4024YB-010 (XSEL) 1) Using a slotted screwdriver, release the snap feature (pointed with the arrow) on the fan cover and take off the fan together with the fan cover.
  • Page 525 8.4 Component replacement 4) Join the connectors. 5) Confirm the layout of the cables so they would not get pinched on the fan, hook the snap feature and attach the fan. Snap 6) Push in the snap feature (pointed with the arrow) on the fan cover to hook it on the top. Fan cover (Note) In case the snap feature would not snap in properly, there may be a concern that the fan cables are getting pinched.

  • Page 526: Driver Overload Warning Function

    8.5 Driver Overload Warning Function 8.5 Driver Overload Warning Function 8.5.1 Overview of Driver Overload Warning Function Setting the motor estimated raised temperature that causes the driver overload error as 100%, the driver 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.
  • Page 527 8.5 Driver Overload Warning Function [Operation Image] The current applied to the motor increases by Overload Error increase of sliding resistance or excess load due (Operation Stop) to lack of maintenance of guide and ball screw. Error As a result, an overload error will occur and Detection it causes a device stop.

  • Page 528: Check Of Overload Level

    8.5 Driver Overload Warning Function 8.5.2 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. (2) Set the “Monitor Type” in Servo addition Datamonitor window to “01: Motor load factor.” 8-18 ME0359-9E...

  • Page 529: List Of Related Parameters

    8.5 Driver Overload Warning Function 8.5.3 List of Related Parameters  Axis-Specific Parameters Setting at Parameter name Input range Unit Remarks Delivery Set in % from the driver overload error load level (“Disable” when set to 100) OLWL (used be OVLD) * To prevent motor burnout, the startup initial Driver overload warning load level 50 to 100...

  • Page 530: Encoder Overheat Warning Function

    8.6 Encoder Overheat Warning Function 8.6 Encoder Overheat Warning Function 8.6.1 Overview of Encoder Overheat Warning Function High-speed type (NSN/NSW) of IXA SCARA Robot generates Error No. 5C7 “Encoder Overheated Error” (Cold Start Level Error) when the encoder has exceeded the maximum operation temperature.
  • Page 531 8.6 Encoder Overheat Warning Function [Practice : Prevention Maintenance] When the load condition changes due to dry-up of grease or abrasion on components, the temperature of the motor will rise. In such a case, it can be set to notice with an alarm output before the equipment stops with an error.

  • Page 532: Check Of Encoder Overheat Level

    8.6 Encoder Overheat Warning Function 8.6.2 Check of Encoder Overheat Level The encoder overheat level during the motor operation can be checked in the PC Interface Software for XSEL. (1) Click Monitor → Servo addition Datamonitor. (2) Set the “Monitor Type” in Servo addition Datamonitor window to “05: Encoder overheat level [%]”.

  • Page 533: Related Parameters List

    8.6 Encoder Overheat Warning Function 8.6.3 Related Parameters List Axis-Specific Parameters Setting at Parameter name Input range Unit Remarks Delivery Set the ratio to detect the encoder overheat warning in % when 0°C is set as 0% and the 241 EncOvrhtWarnTempLvRatio 50 to 100 temperature to generate the encoder overheat error as 100%...

  • Page 534: Absolute Reset

    8.7 Absolute Reset 8.7 Absolute Reset 8.7.1 Single and Orthogonal Axes (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. B0E or AE9) has been occurred.
  • Page 535 8.7 Absolute Reset 5) “Connection Check” dialog box appears. Change the setting in Communication Port to the PC. Click on OK. (Baud rate will be automatically identified even if not been set.) 6) PC Software window opens. Click on OK and the error message will close. Complement) Select Monitor →...
  • Page 536 8.7 Absolute Reset 7) Make sure to have a backup of the parameters before conducting. 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. 8) Select Controller →...
  • Page 537 8.7 Absolute Reset 10) Abs. Encoder Reset window appears. Select a tab that represents the axis that you would like to conduct the absolute reset. 11) Press Start, and a warning window opens. Release the emergency stop, confirm it and click Yes. Home-return operation on the indicated axis starts.
  • Page 538 8.7 Absolute Reset 13) 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. After the absolute reset on each axis is finished, it is available to have the flash ROM writing at once.

  • Page 539: Single And Orthogonal Axes (When Using The Touch Panel Teaching Pendant)

    8.7 Absolute Reset 8.7.2 Single and Orthogonal Axes (When using the Touch Panel Teaching Pendant) When Error No. 233 or D43 “Fan Error” is occurred, replace the fan in the procedures below. (1) Absolute Type Select Absolute Reset from Controller Menu. To have an absolute reset, touch Yes.
  • Page 540 8.7 Absolute Reset 1) Encoder Rotation Data Reset 1 Touch OK. 2) Reset Controller Error Touch OK. 3) Servo-ON Touch OK. 4) Returning Home Touch OK. 8-30 ME0359-9E...
  • Page 541 8.7 Absolute Reset 5) Servo-OFF Touch OK. 6) Encoder Rotation Data Reset 2 Touch OK. Return to the axis No. input screen. When you want to have another axis conduct absolute reset, input the axis number and touch To finish absolute reset, touch Re-Start controller . Restart the controller.
  • Page 542 8.7 Absolute Reset (2) Battery Absolute Type Select Absolute Reset from the controller menu. 1) Input the axis number to the axis number box using the touch panel numeric keys, and then touch Next. 2) Touch Absolute Reset OK. After touching OK, the process is carried out in order from Encoder Multi-Rotation Data Reset 1 till it stops.
  • Page 543 8.7 Absolute Reset 4) Touch Re-Start controller. Flash ROM writing confirmation screen opens. 5) Touch Yes. 6) While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.

  • Page 544: Ixa Scara Robot

    8.7 Absolute Reset 8.7.3 IXA SCARA Robot Conduct “Stopper Pressing Type Absolute Reset” if the motor was replaced. → Refer to [This section (1) Stopper Pressing System Absolute Reset Operation]. In the following case, conduct “Stopper pressing position acquirement” before having the absolute reset.
  • Page 545 8.7 Absolute Reset In order to conduct the absolute reset, use corresponding XSEL PC Software version below. Model XSEL PC Software Version IXA-4NNN1805 V13.02.24.00 IXA-4NNN3015/4NSN3015 IXA-4NNN45/4NSN45 V13.02.20.00 IXA-4NNN60/4NSN60 IXA-4NNN80/4NSN80 IXA-4NNN100/4NSN100 V13.02.20.00 IXA-4NHN10040/4NHN12040 8-35 ME0359-9E...
  • Page 546 8.7 Absolute Reset (1) Stopper Pressing System Absolute Reset Operation 1) Backup the parameters so that they can be put back anytime to those before changing them. Select “Parameter” → “Edit” from PC Software Menu to show the Edit Parameter window. Press the Save As in the Edit Parameter window to store the parameters in the file.
  • Page 547 8.7 Absolute Reset [When Performing Stopper Pressing Type Absolute Reset to All Axes at Once] To have the push stopper type absolute reset for all the axes at once, follow the steps shown below. 1) Select “All axes”. * The screenshot shows the screen for the four-axis type. Some contents should not be displayed in the three-axis type.
  • Page 548 8.7 Absolute Reset Caution  Make sure the cables and air tubes on the chucks and hands are not twisted before attaching the absolute reset jig.  The rotary axis resets the coordinates at the position that the absolute reset jig is attached.
  • Page 549 8.7 Absolute Reset [IXA-4NNN3015/4NSN3015/4NNN45    /4NSN45    /4NNN60    /4NSN60    ] Attach the rotary axis pressing absolute reset tool for the four-axis type. (It is not necessary for the three-axis type.) Have the work during the emergency stop condition.
  • Page 550 8.7 Absolute Reset [IXA-4NNN1805] Remove the spline cover attaching bolt (M3 × 25) on the bottom of the J2 main arm and attach Jig (C). Put Jig (A) along the flat face of the D-cut surface on the spline shaft and bolt it with Jig (B). The position where Jig (A) hit Jig (C) should be the home position for the R-axis.

  • Page 551: Absolute Reset

    8.7 Absolute Reset [IXA-4NNN80    /4NNN100    /4NSN80    /4NSN100    /4NHN10040/4NHN12040] Jig (B) D-cut Surface Jig Attached Jig (A) 2-M4×25 3) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load.
  • Page 552 8.7 Absolute Reset 4) By referring to the displayed movement direction for each axis, adjust the axes to the initial posture. The posture differs depending on the movement direction. Make sure the work is conducted with the emergency stop activated when moving the axes by hand. Click on the OK after the work is finished.
  • Page 553 8.7 Absolute Reset [Initial posture]  Arm1 and Arm 2 Considering the stopper pressing position, adjust the posture to either of right arm system or left arm system. When the product is delivered, it is set to the right arm system. Adjust to the right arm system.
  • Page 554 8.7 Absolute Reset  Vertical Axis For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more. Setting it at 10mm or less, Error No. B0D “Stopper Pressing Operation Start Position Error” may occur at operation. ...
  • Page 555 8.7 Absolute Reset 5) Click on the Execution . <For 4-Axis Type> <For 3-Axis Type> 6) A Warning window shows up. Click on the Yes. Each operation for the push type absolute reset starts. 8-45 ME0359-9E...
  • Page 556 8.7 Absolute Reset 7) For the four-axis type, press Execute and proceed to “Removing”, and then take off the rotary axis pressing absolute reset jig. At this time, make sure the work is conducted with the emergency stop activated. Click on the OK after the work is finished. 8) For the four-axis type, a warning window will be displayed.
  • Page 557 8.7 Absolute Reset 10) Close the Push stopper position acquisition window by clicking × on the upper right side of the window. Once the window is closed, the parameters start to be written automatically to the flash ROM, and controller is rebooted by the software reset. 8-47 ME0359-9E...

  • Page 558: Scara Axis (Except For Ix-Nnn10040 And 12040)

    8.7 Absolute Reset 8.7.4 IX SCARA Axis (except for IX-NNN10040 and 12040) (1) Absolute Reset Preparation In order to conduct the absolute reset, it is necessary to have the jigs shown in the table below. • Absolute Reset Adjustment jigs Type Remarks JG-1...

  • Page 559: Scara Axis

    8.7 Absolute Reset (2) Starting the Absolute Reset Menu 1) Open the Abs. Encoder reset window from PC software. (Note) In the case of XSEL-PX/QX, RX/SX, and RXD/SXD select “Abs. Encoder Reset] (SCARA Axis)”. 2) The Abs. Encoder reset window will be displayed. (*) One of three Abs.
  • Page 560 8.7 Absolute Reset (3) Absolute Reset Procedure for Arm 1 or 2 1) Click the Encoder Rotation Data Reset 1. 2) Click the Reset Controller Error. 8-50 ME0359-9E...
  • Page 561 8.7 Absolute Reset 3) Click the Servo ON. 4) Jog the arm to near the reference position (see reference [position drawing in step 7]), and click the Jog end. 5) Click the Servo-OFF. 8-51 ME0359-9E...
  • Page 562 8.7 Absolute Reset 6) Press the EMERGENCY STOP switch. 7) When performing an absolute reset for Arm 1, set an adjustment jig (pin) in Arm 1 to fix the arm at the reference position. When performing an absolute reset for Arm 2, set an adjustment jig (pin) in Arm 2 to fix the arm at the reference position.
  • Page 563 8.7 Absolute Reset [IX SCARA robot for arm length 500/600, 700/800] Arm 1 (Arm length 500/600, 700/800) Arm 2 (Arm length 500/600, 700/800) Arm length 500/600, 700/800 Reference Position Warning Be sure to press the EMERGENCY STOP switch before setting an adjusting jig. ...
  • Page 564 8.7 Absolute Reset [IX SCARA robot for arm length for 250/300/350] Arm 1 (Arm length 250/300/350) Arm 2 (Arm length 250/300/350) Arm length 250/300/350 Reference Position (Note) When performing an absolute reset for Arm 1 of IX-NNN2515, rotate Arm 2 slightly then set with an adjustment jig (pin) to set it.
  • Page 565 8.7 Absolute Reset [IX SCARA robot for arm length for 120/150/180] Absolute reset jig Arm 1 Positioning mark Arm 2 Positioning mark Absolute reset jig Arm 1 (Arm length 120/150/180) Arm length 120 /150/180 Reference Position *1 When an absolute reset is performed for arm 1 (arm length: 120) Arm 2 (Arm length 150/180) Arm length 120 Reference Position...
  • Page 566 8.7 Absolute Reset 8) Click the OK. 9) Click the Encoder Rotation Data Reset 2. 8-56 ME0359-9E...
  • Page 567 8.7 Absolute Reset 10) Remove the adjustment jig. (*) Install the cover and secure it with the setscrews for Arm 1 only. 11) Release the EMERGENCY STOP switch. 12) Click the OK. Caution  An arrow is shown next to the Home pos. automatic update. Do not this item. (In particular, be sure this item is not set when performing an absolute reset without using a jig.) ...
  • Page 568 8.7 Absolute Reset (4) Absolute Reset Procedure for Rotation Axis + Vertical Axis 1) Click the Encoder Rotation Data Reset 1. 2) Click the Reset Controller Error. 8-58 ME0359-9E...
  • Page 569 8.7 Absolute Reset 3) Click the Servo ON. 4) Click the Temp. Standard posture standby. (Note) Please note that the vertical axis returns to its home position. 5) Jog the rotation axis to the reference position (see reference position drawing in step 8), and click the Jog end.
  • Page 570 8.7 Absolute Reset 6) Click the Servo-OFF. 7) Press the EMERGENCY STOP switch. 8) Affix the rotation axis at the reference position by setting the plate and pin of the adjustment jig as illustrated below. Reference  Set the jig after confirming that the EMERGENCY STOP switch is pressed. ...

  • Page 571: Absolute Reset

    8.7 Absolute Reset [IX SCARA robot for arm length for 500/600, 700/800] D-cut surface Positioning mark label for rotation axis Contact with the pin lightly The top face of the stopper should align with the bottom face Arm 2. (Bottom view) D-cut surface Warning Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
  • Page 572 8.7 Absolute Reset [IX SCARA robot for arm length for 250/300/350] The top face of the stopper should align with the bottom face of arm 2 so that clearance will be approx. 4 mm D-cut surface Contact the jig with the pin lightly.
  • Page 573 8.7 Absolute Reset [IX SCARA robot for arm length for 120] Warning Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.  Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death.
  • Page 574 8.7 Absolute Reset [IX SCARA robot for arm length for 150/180] Warning Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.  Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death.
  • Page 575 8.7 Absolute Reset 9) Click the OK. 10) Click the Encoder Rotation Data Reset 2 8-65 ME0359-9E...
  • Page 576 8.7 Absolute Reset 11) Click the Home pos. automatic update. 12) Remove the adjustment jig. 13) Release the EMERGENCY STOP switch. 14) Click the OK. 8-66 ME0359-9E...
  • Page 577 8.7 Absolute Reset 15) Click the Servo ON. 16) Click the Standard posture standby. (Note) Please note that the vertical axis returns to its home position. 17) Click the Servo-OFF. 8-67 ME0359-9E...
  • Page 578 8.7 Absolute Reset 18) Click the Encoder Rotation Data Reset 3. 19) Click the Home pos. automatic update, and then click x in the top right-hand corner to exit the Abs. Encoder Reset window. (Note) Be sure to perform “Software Reset” upon completion. 8-68 ME0359-9E...

  • Page 579: Scara Robot (For Nn10040/12040)

    8.7 Absolute Reset 8.7.5 SCARA robot (for NN10040/12040) In case the absolute data is lost, conduct “Push Type Absolute Reset”. Refer to [this section (1) How to Operate the Push Type Absolute Reset]. In the following case, conduct “Stopper pressing position acquirement” before having the absolute reset.
  • Page 580 8.7 Absolute Reset (1) How to Operate the Push Type Absolute Reset 1) Backup the parameters so that they can be put back anytime to those before changing them. Select Parameter → Edit from PC Software Menu to show the Edit Parameter window. Press the Save As in the Edit Parameter window to store the parameters in the file.
  • Page 581 8.7 Absolute Reset If conducting on “All axes”, have the process of [When Performing Push Stopper Type Absolute Reset to All Axes at Once]. When not all the axes, but having one or some of the 4 axes to be conducted, have the process of [When Performing Push Stopper Type Absolute Reset on Each Axis One by One].
  • Page 582 8.7 Absolute Reset 3) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load. Have the work during the emergency stop condition. After the work is finished, click on the OK. 4) By referring to the displayed movement direction for each axis, adjust the axes to the initial posture.
  • Page 583 8.7 Absolute Reset [Initial posture]  Arm1 and Arm 2 Considering the stopper pressing position, adjust the posture to either of right arm system or left arm system. (When the product is delivered, it is set to the right arm system. Adjust to the right arm system.) In case the arm interferes with the peripheral in the right arm system, set it to the left arm system in advance, conduct “Push stopper position acquisition”...
  • Page 584 8.7 Absolute Reset 5) Click Execution 6) A Warning window shows up. Click Yes. Each operation for the push type absolute reset starts. 7) Once the push type absolute reset for all the axes is finished, the Information window will appear.
  • Page 585 8.7 Absolute Reset [When Performing Push Stopper Type Absolute Reset on Each Axis One by One] To have the push stopper type absolute reset for each axis one by one, follow the steps shown below.  1st Arm and 2nd Arm 1) Select “Individual axis”...
  • Page 586 8.7 Absolute Reset 4) By referring to the displayed movement direction for each axis, adjust the axes to the initial posture. The posture differs depending on the movement direction. Click on Display the explanation of initial posture to check the explanations. When you move the axis by hand, always press the emergency stop switch.
  • Page 587 8.7 Absolute Reset 5) Click Execution. 6) A Warning window shows up. Click Yes. Each operation for the push type absolute reset starts. 7) Once the push type absolute reset, the Information window will appear. Click OK. 8) If it is necessary to have the push type absolute reset for another axis, move on to the axis selection.
  • Page 588 8.7 Absolute Reset  Vertical Axis and Rotation Axis 1) Select “Individual axis” in the Push type absolute reset window, and set Axis to “Vert. Axis + Rot. Axis”. 2) Click Encoder Rotation Data Reset / Reset Controller Error (Step 1/4). 3) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load.
  • Page 589 8.7 Absolute Reset 4) By referring to the displayed movement direction for each axis, adjust the axes to the initial posture. The posture differs depending on the movement direction. Click on Display the explanation of initial posture to check the explanations. Make to work on with the emergency stop activated when moving the axes with hand.
  • Page 590 8.7 Absolute Reset 6) A Warning window shows up. Click Yes. The operation for the push type absolute reset starts. 7) Once the push type absolute reset for the axis is complete, the Information window will appear. Click OK. 8) When finishing the process, click x on the upper right side of the window. Once the window is closed, the parameters start to be written automatically to the flash ROM, and controller is rebooted by the software reset.
  • Page 591 8.7 Absolute Reset (2) How to Acquire the Stopper Interfering Point In the following case, conduct “Stopper pressing position acquirement ” before having the (Note 1) absolute reset. • When the absolute reset cannot be performed in the direction of the stopper interfering movement with the initial posture at the delivery from the factory due to such reasons as interference to the peripheral equipment •...
  • Page 592 8.7 Absolute Reset Push stopper position acquisition with the process shown below. 1) Backup the parameters so that they can be put back anytime to those before changing them. Select Parameter → Edit from PC Software Menu to show the Edit Parameter window. Press the Save As in the Edit Parameter window to store the parameters in the file.
  • Page 593 8.7 Absolute Reset 4) A Confirmation window shows up. Click Yes. If conducting on “All axes”, have the process of [When Acquiring Push Stopper Position for All Axes at Once]. When not all the axes, but having one or some of the 4 axes to be conducted, have the process of [When Acquiring Push Stopper Position on Each Axis One by One].
  • Page 594 8.7 Absolute Reset [When Acquiring Push Stopper Position for All Axes at Once] To acquire the push stopper position for all the axes at once, follow the steps shown below. 1) Select “All axes” in the Push stopper position acquisition window. 2) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load.
  • Page 595 8.7 Absolute Reset 3) Adjust each axis to the initial posture. The posture differs depending on the movement direction. Click on Display the explanation of initial posture to check the explanations. When you move the axis by hand, always press the emergency stop switch. Click on the OK after the work is finished.
  • Page 596 8.7 Absolute Reset 4) Select the direction to move for the vertical axis and rotation axis. It is not necessary to change the direction to move for the vertical axis and rotation axis. Make the vertical axis is in the coordinates minus direction. Once the selection is made, click on the OK.
  • Page 597 8.7 Absolute Reset 7) Once the push stopper position acquirement for all the axes is complete, the Information window will appear. Click OK. 8) Close the Push stopper position acquisition window by clicking x on the upper right side of the window.
  • Page 598 8.7 Absolute Reset [When Acquiring Push Stopper Position on Each Axis One by One] To have an acquirement on each axis, follow the steps below.  1st Arm and 2nd Arm 1) Select “Individual axis” in the Push stopper position acquisition window, and set Axis to “Arm 1” (or Arm 2).
  • Page 599 8.7 Absolute Reset 3) Adjust 1st Arm and 2nd Arm to the initial posture. The posture differs depending on the movement direction. Click on Display the explanation of initial posture to check the explanations. When you move the axis by hand, always press the emergency stop switch. Click on the OK after the work is finished.
  • Page 600 8.7 Absolute Reset 4) Select the movement method. Make to select “Motor drive” on the selection of Motor drive/Hand. Change the movement direction if necessary. If clicking on Auto. Select, the direction of movement from the current position of the initial posture is automatically selected. Once the selection is made, click on the OK.
  • Page 601 8.7 Absolute Reset 8) If it is necessary to have the push stopper position an acquisition for another axis, move on to the axis selection. When finishing the process, click x on the upper right side of the window. Once the window is closed, the parameters start to be written automatically to the flash ROM, and controller is rebooted by the software reset.
  • Page 602 8.7 Absolute Reset  Vertical Axis and Rotation Axis 1) Click “Individual axis” tab in the Push stopper position acquisition window, and set Axis to “Vert. Axis + Rot. Axis”. 2) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load.
  • Page 603 8.7 Absolute Reset 3) Adjust vertical axis to the initial posture. The posture differs depending on the movement direction. Click on Display the explanation of initial posture to check the explanations. When you move the axis by hand, always press the emergency stop switch. Click on the OK after the work is finished.
  • Page 604 8.7 Absolute Reset 6) A Warning window shows up. Click Yes. Process to acquire the push stopper position will start. 7) Once the push stopper position acquisition is complete, the Information window will appear. Click OK. 8) When finishing the process, click x on the upper right side of the window. Once the window is closed, the parameters start to be written automatically to the flash ROM, and controller is rebooted by the software reset.

  • Page 605: Ixs Cara Robot (When Using The Touch Panel Teaching Pendant)

    8.7 Absolute Reset 8.7.6 IXS CARA robot (When using the Touch Panel Teaching Pendant) (1) Absolute Reset Preparation In order to conduct the absolute reset, it is necessary to have the jigs shown in the table below. • Absolute Reset Adjustment jigs Type Remarks JG-1...
  • Page 606 8.7 Absolute Reset There are three types of absolute reset, Arm1, Arm2 and Z-axis + R-axis. (2) Absolute Reset on Arm1 and Arm2 Select Absolute Reset from Controller Menu. To have an absolute reset, touch Yes. When not to have an absolute reset, touch No. The display returns to the previous screen.
  • Page 607 8.7 Absolute Reset 1) Encoder Rotation Data Reset 1 Touch OK. 2) Reset Controller Error Touch OK. 3) Servo-ON Touch OK. 4) Jog Movement Move the actuator with jog to a point near the datum posture (refer to the figures for datum posture in the following pages), and touch OK.
  • Page 608 8.7 Absolute Reset 5) Servo-OFF Touch OK. 6) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button and set an adjusting jig. Fix at the datum posture described in the next page, and touch OK. Inputting emergency stop displays the screen at the left.
  • Page 609 8.7 Absolute Reset Check that the “EMERGENCY STOP” button has been pressed. When performing an absolute reset for Arm1, set an adjustment jig (pin) in Arm1 to fix the arm at the reference position. In that case, Arm2 may be moved. When performing an absolute reset for Arm2, set an adjustment jig (pin) in Arm2 to fix the arm at the reference position.
  • Page 610 8.7 Absolute Reset Warning Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.  Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death. (Note) When performing an absolute reset for Arm 1 of IX-NNN2515, rotate Arm2 slightly then set with an adjustment jig (pin) to set it.
  • Page 611 8.7 Absolute Reset Warning Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.  Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death. 8-101 ME0359-9E...
  • Page 612 8.7 Absolute Reset 7) Encoder Rotation Data Reset 2 Touch OK. 8) Home pos. automatic update Touch Page Up. Make sure not to touch OK. Caution  Do not execute the item of “Home pos. automatic update” Be careful especially when performing an absolute reset without a jig. In case the home position preset automatic update is conducted accidentally, do not write in the flash ROM and conduct the software reset.
  • Page 613 8.7 Absolute Reset The display returns to the first screen. Touch CANCEL. Touch Re-Start controller. Restart the controller. Touch Yes. The display returns to the main menu when the reboot is finished. Caution  Be careful not to perform reset using an incorrect sequence, since it may cause the arm position to become offset.
  • Page 614 8.7 Absolute Reset (2) Absolute reset on Z-axis + R-axis Select Absolute Reset from Controller Menu. To have an absolute reset, touch Yes. When not to have an absolute reset, touch No. The display returns to the previous screen. Axis No. input Input 3 on the touch panel numeric keys to indicate the axis number to have the absolute reset conducted, and touch ENT for confirmation.
  • Page 615 8.7 Absolute Reset 1) Encoder Rotation Data Reset 1 Touch OK. 2) Reset Controller Error Touch OK. 3) Servo-ON Touch OK. 4) Temp. standard posture standby Touch OK. Caution: The Z-axis returns to the home position. 8-105 ME0359-9E...
  • Page 616 8.7 Absolute Reset 5) Jog Movement Move the R-axis with the jog button to a place around the basic posture (refer to the figures of basic posture in the next page and after), and touch OK. 6) Servo-OFF Touch OK. 7) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button.
  • Page 617 8.7 Absolute Reset Place the adjusting jig plate and pin as shown below and fix the standard posture. • After checking that the EMERGENCY STOP switch has been pressed, set the jig. • Set the jig by referring to the positioning mark. •...
  • Page 618 8.7 Absolute Reset Warning Be sure to press the EMERGENCY STOP switch before setting an adjusting jig. Failure  to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death. 8-108 ME0359-9E...
  • Page 619 8.7 Absolute Reset 8-109 ME0359-9E...
  • Page 620 8.7 Absolute Reset Warning Be sure to press the EMERGENCY STOP switch before setting an adjusting jig. Failure  to do so may cause a robot malfunction, which may lead to a serious accident resulting in injury or death. Pay attention to the orientation of the D-cut surface of the plate jig. ...
  • Page 621 8.7 Absolute Reset 8) Encoder Rotation Data Reset 2 Touch OK. 9) Home pos. automatic update Touch OK. 10) Adjusting jig removal and emergency off Remove the adjusting jig. Turn off the brake release switch to enable the brake. Turn off the EMERGENCY STOP switch. Touch OK.
  • Page 622 8.7 Absolute Reset 12) Standard posture standby Touch OK. Caution: The Z-axis returns to the home position. 13) Servo-OFF Touch OK. 14) Encoder Rotation Data Reset 3 Touch OK. 15) Home pos. automatic update Touch OK. 8-112 ME0359-9E...
  • Page 623 8.7 Absolute Reset The display returns to the first screen. Touch CANCEL. The display returns to the previous screen. Do not fail to conduct Flash ROM Writing → Software Reset after the home preset automatic updating. While in writing process to flash ROM, the screen shown in the left will be displayed.
  • Page 624 8.7 Absolute Reset The screen shown on the left is displayed during the software reset. Once the software reset is complete, the display returns to the main menu screen. 8-114 ME0359-9E...

  • Page 625: Zr Unit (When Using The Pc Software)

    8.7 Absolute Reset 8.7.7 ZR Unit (When using the PC software) (1) Absolute Reset on ZR Unit (Absolute Type Only) Under certain conditions such as when the ZR unit is connected to the controller for the first time, absolute encoder battery voltage is abnormal, or encoder cable has been disconnected, an encoder battery error will generate and absolute reset will be required.
  • Page 626 8.7 Absolute Reset  Starting the Absolute Reset Menu (Ball-screw Spline Adjustment Window) 1) Start the “ball-screw spline adjustment” window from the PC software. 2) The “ball-screw spline adjustment” window starts. When a “Lnr Axis No (linear movement axis number)” is selected, “Encoder Type” are displayed.
  • Page 627 8.7 Absolute Reset  Absolute Reset (Ball-screw Spline Adjustment) Procedure For absolute reset (ball-screw spline adjustment) for the ZR unit, a series of operations of the vertical axis and rotary axis is performed. Since the adjustment procedure includes items that require robot operation, confirm the range of operation of the actuator, absence of obstructions, etc., to make sure the robot can be operated.
  • Page 628 8.7 Absolute Reset 3) When the dialog box appears, click the Yes. 4) When the dialog box appears, click the Yes. 8-118 ME0359-9E...
  • Page 629 8.7 Absolute Reset 5) Click the Reset Controller Error. 6) Click the Servo ON (Lnr. Axis, Rot. Axis). 8-119 ME0359-9E...
  • Page 630 8.7 Absolute Reset 7) Click the Temp. Standard posture standby (Lnr. Axis). Caution  The vertical axis returns to the home position 8) Jog the rotational movement axis (R-axis) to the reference posture position (refer to the [Illustration of reference posture in the figure below]), and then click the Jog end. Illustration of reference posture 8-120 ME0359-9E...
  • Page 631 8.7 Absolute Reset 9) Click the Servo-OFF (Lnr. Axis, Rot. Axis) 10) Press the EMERGENCY STOP switch (EMERGENCY STOP button on the PC cable). 11) Release the brake. Release the brake using the switch on the controller side. 8-121 ME0359-9E...
  • Page 632 8.7 Absolute Reset [Jig Installation method] a) Insert the ball-screw spline into the hole in the jig from below. b) Cause the D-cut surface of the ball-screw spline to contact the surface a. c) Cause the side surface of the ball-screw spline to contact the surface b. d) Tighten the screw c to secure the jig onto the ball-screw spline.
  • Page 633 8.7 Absolute Reset 12) Click the OK. 13) Click the Encoder Rotation Data Reset 2 (Rot. Axis) 8-123 ME0359-9E...
  • Page 634 8.7 Absolute Reset 14) When the dialog box appears, click the Yes. 15) When the dialog box appears, click the Yes. 8-124 ME0359-9E...
  • Page 635 8.7 Absolute Reset 16) Click the Home pos. automatic update (Indispensability) (Rot. Axis) 17) Remove the adjustment jig. 18) Lock the brake (on the front panel of the controller). 19) Cancel the emergency stop (by releasing the EMERGENCY STOP button on the PC cable). 20) Click the OK.
  • Page 636 8.7 Absolute Reset 21) Click the Servo ON (Lnr. Axis, Rot. Axis) 22) Click the Standard posture standby (Lnr. Axis) (Rot. Axis → 0) Caution  Up-down axis starts home-return operation after the rotary axis finishes moving to 0 point. 8-126 ME0359-9E...
  • Page 637 8.7 Absolute Reset 23) Click the Servo-OFF (Lnr. Axis, Rot. Axis) 24) Click the Encoder Rotation Data 3 (Lnr. Axis) 8-127 ME0359-9E...
  • Page 638 8.7 Absolute Reset 25) When the dialog box appears, click the Yes. 26) Click the Home pos. automatic update (Indispensability) (Lnr. Axis), and then click x in the top right-hand corner of the window to close the window. 8-128 ME0359-9E...
  • Page 639 8.7 Absolute Reset 27)Closing the ball-screw spline adjustment window following the ball-screw spline adjustment opens the following screen. Click the Yes. 28) When all data has been written to the flash ROM, the following screen appears. Click the Yes. 8-129 ME0359-9E...
  • Page 640 8.7 Absolute Reset (2) Ball-screw spline adjustment on ZR unit (incremental type) Normally, adjustment of the ball-screw spline s not required. Perform it only when the combination of the main unit and the controller is changed because the ZR unit or controller is changed. ...
  • Page 641 8.7 Absolute Reset  Starting the Ball-screw Spline Adjustment Window 1) Start the “Ball-screw spline adjustment” window from the PC software. 2) The “Ball-screw spline adjustment” window starts. When a “Lnr. Axis No. (linear movement axis number)” is selected, “Encoder Type” are displayed.
  • Page 642 8.7 Absolute Reset  Ball-screw Spline Adjustment Procedure For ball screw spline adjustment for the ZR unit, a series of operations of the vertical axis and rotary axis is performed. Since the adjustment procedure includes items that require robot operation, confirm the range of operation of the actuator, absence of obstructions, etc., to make sure the robot can be operated.
  • Page 643 8.7 Absolute Reset 3) Click the Servo ON (Lnr. Axis, Rot. Axis). 4) Click the Temp. Standard posture standby (Lnr. Axis). Caution  The vertical axis returns to the home position. 8-133 ME0359-9E...
  • Page 644 8.7 Absolute Reset 5) Click on Returning Home (Rotary Axis). Caution  The rotation axis returns to the home position. 6) Jog the rotational movement axis to the reference posture position (refer to the [Illustration of reference posture in the figure below]), and then click the Jog end. Illustration of reference posture 8-134 ME0359-9E...
  • Page 645 8.7 Absolute Reset 7) Click the Servo-OFF (Lnr. Axis, Rot. Axis). 8) Press the EMERGENCY STOP switch (emergency stop button on the PC cable). 9) Release the brake. Release the brake using the switch on the controller side. 8-135 ME0359-9E...
  • Page 646 8.7 Absolute Reset [Jig Installation method] a) Insert the ball-screw spline into the hole in the jig from below. b) Cause the D-cut surface of the ball-screw spline to contact the surface a. c) Cause the side surface of the ball-screw spline to contact the surface b. d) Tighten the screw c to secure the jig onto the ball-screw spline.
  • Page 647 8.7 Absolute Reset 10) Click the OK. 11) Click the Home pos. automatic update (Indispensability) (Rot. Axis). 8-137 ME0359-9E...
  • Page 648 8.7 Absolute Reset 12) Remove the adjustment jig. 13) Lock the brake (on the front panel of the controller). 14) Cancel the emergency stop (by releasing the emergency stop button on the PC cable). 15) Click the OK, and then click x in the top right-hand corner of the window to close the window. 16) Closing the ball-screw spline adjustment window following the ball-screw spline adjustment opens the following screen.
  • Page 649 8.7 Absolute Reset 17) When all data has been written to the flash ROM, the following screen appears. Click the Yes. 8-139 ME0359-9E...

  • Page 650: Zr Unit (When Using The Touch Panel Teaching Pendant)

    8.7 Absolute Reset 8.7.8 ZR Unit (When using the Touch Panel Teaching Pendant) (1) Perform Absolute Reset on ZR Unit (Absolute Type) Under certain conditions such as when the ZR unit is connected to the controller for the first time, absolute encoder battery voltage is abnormal, or encoder cable has been disconnected, an encoder battery error will generate and absolute reset will be required.
  • Page 651 8.7 Absolute Reset  Absolute Reset Procedures For absolute reset for the ZR unit, a series of operations of the vertical axis and rotation axis is performed. Because there is an item for operating the robot in the adjustment procedure, perform the adjustment in the condition where the actuator is available by setting the appropriate moving range of the actuator and arranging it so there are no obstacles etc.
  • Page 652 8.7 Absolute Reset 1) Encoder Rotation Data Reset 1 Touch OK. 2) Reset Controller Error Touch OK. 3) Servo-ON Touch OK. 4) Temp. standard posture standby Touch OK. Caution: The vertical axis returns to the home position 8-142 ME0359-9E...
  • Page 653 8.7 Absolute Reset 5) Jog Movement Move the rotary axis with the jog button to a place around the basic posture (refer to the figures of basic posture in the next page and after), and touch OK. 6) Servo-OFF Touch OK. 7) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button.
  • Page 654 8.7 Absolute Reset [Jig Attachment Procedure] a) Insert the ball screw spline shaft into the jig hole from the lower side. b) Put the D-cut surface of the ball screw spline shaft onto the surface “a”. c) Put the ball screw spline shaft side surface onto the surface “b”. d) Fasten the screw “c”...
  • Page 655 8.7 Absolute Reset 8) Encoder Rotation Data Reset 2 Touch OK. 9) Home pos. automatic update Touch OK. 10) Adjusting jig removal and emergency off Remove the adjusting jig. Turn off the brake release switch to enable the brake. Turn off the EMERGENCY STOP button. Touch OK.
  • Page 656 8.7 Absolute Reset 12) Standard posture standby Touch OK. Caution: The vertical axis returns to the home position 13) Servo-OFF Touch OK. 14) Encoder Rotation Data Reset 3 Touch OK. 15) Home pos. automatic update Touch OK. 8-146 ME0359-9E...
  • Page 657 8.7 Absolute Reset Touch CANCEL. Touch Re-Start controller. Do not fail to conduct Flash ROM Writing → Software Reset after the home preset automatic updating. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 658 8.7 Absolute Reset After flash ROM writing is complete, the display changes to the software reset screen. To activate the parameters that you had changed, it is necessary to have a software reset. Touch Yes. The screen shown on the left is displayed during the software reset.
  • Page 659 8.7 Absolute Reset (2) Perform Ball Screw Spline Shaft Adjusting on ZR Unit (Incremental Type) Normally, adjustment of the ball screw spline shaft adjusting is not required. Perform it only when the combination of the main unit and the controller is changed because the ZR unit or controller is changed.
  • Page 660 8.7 Absolute Reset  Ball Screw Spline Shaft Adjusting Procedure For ball screw spline shaft adjusting for the ZR unit, a series of operations of the vertical axis and rotation axis is performed. Because there is an item for operating the robot in the adjustment procedure, perform the adjustment in the condition where the actuator is available by setting the appropriate moving range of the actuator and arranging it so there are no obstacles etc.
  • Page 661 8.7 Absolute Reset 1) Reset Controller Error Touch OK. 2) Servo-ON Touch OK. 3) Temp. standard posture standby Touch OK. Caution: The vertical axis returns to the home position 4) Returning Home Touch OK. Caution: The rotation axis returns to the home position.
  • Page 662 8.7 Absolute Reset 5) Jog Movement Move the rotation axis to the vicinity of the basic position with jog button (see the “Standard Posture Drawing” on the next page). Touch OK. 6) Servo-OFF Touch OK. 7) Emergency stop input and adjusting jig set Press the EMERGENCY STOP button.
  • Page 663 8.7 Absolute Reset [Jig Attachment Procedure] a) Insert the ball screw spline shaft into the jig hole from the lower side. b) Put the D-cut surface of the ball screw spline shaft onto the surface “a”. c) Put the ball screw spline shaft side surface onto the surface “b”. d) Fasten the screw “c”...
  • Page 664 8.7 Absolute Reset 8) Home pos. automatic update Touch OK. 9) Adjusting jig removal and emergency off Remove the adjusting jig. Turn off the brake release switch to enable the brake. Touch OK. Touch CANCEL. Touch Re-Start controller. 8-154 ME0359-9E...
  • Page 665 8.7 Absolute Reset Do not fail to conduct Flash ROM Writing → Software Reset after the home preset automatic updating. While in writing process to flash ROM, the screen shown in the left will be displayed. Never turn off the power to the Controller at this time.
  • Page 666 8.7 Absolute Reset The screen shown on the left is displayed during the software reset. Once the software reset is complete, the display returns to the main menu screen. 8-156 ME0359-9E...

  • Page 667: Chapter 9 Appendix

    XSEL-RA/SA Chapter Appendix Example of Safety Circuit for SA/SAX/SAXD Type (Conforming to Safety Category) ···························· 9-1 9.1.1 Example of Safety Circuit ········································ 9-1 9.1.2 Safety Circuit Operation Timings ······························ 9-2 Stopping Method and Recovery ······························ 9-8 9.2.1 Stopping Method ··················································· 9-8 9.2.2 Recovery ·····························································...

  • Page 668: Example Of Safety Circuit For Sa/Sax/Saxd Type (Conforming To Safety Category)

    9.1 Example of Safety Circuit for SA/SAX/SAXD Type (Conforming to Safety Category) 9.1 Example of Safety Circuit for SA/SAX/SAXD Type (Conforming to Safety Category) 9.1.1 Example of Safety Circuit SA/SAX/SAXD types (global specifications) are the controllers applicable for the safety categories.

  • Page 669: Safety Circuit Operation Timings

    9.1 Example of Safety Circuit for SA/SAX/SAXD Type (Conforming to Safety Category) 9.1.2 Safety Circuit Operation Timings SA/SAX/SAXD types (global specifications) are the controllers applicable for the safety categories. Shown below are examples of operations based on the following settings: •...
  • Page 670 9.1 Example of Safety Circuit for SA/SAX/SAXD Type (Conforming to Safety Category) (2) Power on during emergency stop 200V AC control power Successful start of CPU I/O output signal at port No.301, ready signal RDY (system I/O) SDN (SA/SAX/SAXD type) (system I/O) EMG1, EMG2 (SA/SAX/SAXD type)

  • Page 671: Enable Operation

    9.1 Example of Safety Circuit for SA/SAX/SAXD Type (Conforming to Safety Category) (3) Enable operation 200V AC control power Successful start of CPU I/O output signal at port No.301, ready signal RDY (system I/O) SDN (SA/SAX/SAXD type) (system I/O) EMG1, EMG2 (SA/SAX/SAXD type) (system I/O) ENB1, ENB2...
  • Page 672 9.1 Example of Safety Circuit for SA/SAX/SAXD Type (Conforming to Safety Category) (4) Occurrence of system-shutdown level error 200V AC control power Successful start of CPU I/O output signal at port No.301, ready signal RDY (system I/O) SDN (SA/SAX/SAXD type) (system I/O) EMG1, EMG2 (SA/SAX/SAXD type)
  • Page 673 9.1 Example of Safety Circuit for SA/SAX/SAXD Type (Conforming to Safety Category) (5) Occurrence of cold-start level error 200V AC control power 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 SDN (SA/SAX/SAXD type) depending on the specific nature of the error.
  • Page 674 9.1 Example of Safety Circuit for SA/SAX/SAXD Type (Conforming to Safety Category) (6) Occurrence of operation-cancellation level error 200V AC control power Successful start of CPU I/O output signal at port No.301, ready signal RDY (system I/O) SDN (SA/SAX/SAXD type) (system I/O) EMG1, EMG2 (SA/SAX/SAXD type)

  • Page 675: Stopping Method And Recovery

    9.2 Stopping Method and Recovery 9.2 Stopping Method and Recovery 9.2.1 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...
  • Page 676 9.2 Stopping Method and Recovery Error of stop with immediate servo OFF in (2) 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) Feedback pulse synchronization error (detected on position loop side) Serial encoder command control JOB error Encoder control JOB logic error...

  • Page 677: Recovery

    9.2 Stopping Method and Recovery 9.2.2 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 678 9.2 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 679: Connectable Actuators

    9.3 Connectable Actuators 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 960(at 50 to 450st) SA4C:1.2 875(at 500st) SA4R:1...
  • Page 680 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1800(at 50 to 600st) 1620(at 650st) SA7C:1.2 1420(at 700st) SA7R:1...
  • Page 681 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1200(at 50 to 600st) 1090(at 650st) 960(at 700st) 860(at 750st) 770(at 800st)
  • Page 682 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1200(at 50 to 600st) 1090(at 650st) 960(at 700st) 860(at 750st) 770(at 800st)
  • Page 683 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 360(at 50 to 500st) 305(at 550st) 265(at 600st) 230(at 650st) 200(at 700st)
  • Page 684 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 600(at 50 to 600st) 540(at 650st) 480(at 700st) 430(at 750st) 385(at 800st)
  • Page 685 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1200(at 50~600st) 1090(at 650st) 960(at 700st) 860(at 750st) 770(at 800st) 695(at 850st)
  • Page 686 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 720(at 50 to 450st) 610(at 500st) 535(at 550st) 465(at 600st) WSA12C:1.2...
  • Page 687 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 480(at 50 to 450st) 460(at 500st) 400(at 550st) 350(at 600st) 305(at 650st)
  • Page 688 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 300(at 50 to 550st) 280(at 600st) 240(at 650st) 220(at 700st) 195(at 750st)
  • Page 689 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1440(at 50 to 450st) 1420(at 500st) 1220(at 550st) 1060(at 600st) 930(at 650st)
  • Page 690 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 300(at 50 to 550st) 280(at 600st) 240(at 650st) 220(at 700st) [Cleanroom...
  • Page 691 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1500(at 50 to 300st) 1230(at 350st) 970(at 400st) 790(at 450st) 650(at 500st)
  • Page 692 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 550(at 50 to 250st) 520(at 300st) 400(at 350st) 310(at 400st) 250(at 450st)
  • Page 693 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1000(at 50 to 250st) 880(at 300st) 700(at 350st) 570(at 400st) 470(at 450st)
  • Page 694 9.3 Connectable Actuators RCS4 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 960(at 40 to 290st) 730(at 340st) 600(at 390st) TA7C 480(at 40 to 290st)
  • Page 695 9.3 Connectable Actuators RCS3 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1800(at 50 to 650st) 1610(at 700st) 1420(at 750st) 1260(at 800st) 1120(at 850st)
  • Page 696 9.3 Connectable Actuators RCS3 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1200(at 50 to 600st) 1105(at 650st) 970(at 700st) 860(at 750st) 770(at 800st)
  • Page 697 9.3 Connectable Actuators RCS3 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 300(at 50 to 650st) 250(at 700st) 220(at 750st) 190(at 800st) Horizontal/...
  • Page 698 9.3 Connectable Actuators RCS2 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] High Accel/Decel Type: 0.8 Horizontal/ SA4C 16384 High Accel/Decel...
  • Page 699 9.3 Connectable Actuators RCS2 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] (at 50 to 450st) 760 (at 500st) 640 (at 550st) 540 (at 600st) (at 50 to 450st)
  • Page 700 9.3 Connectable Actuators RCS2 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1000(at 50 to 550st) 830(at 600st) 600(at 50 to 500st) Horizontal/ SS7C...
  • Page 701 9.3 Connectable Actuators RCS2 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 800(at 50 to 250st) 755(at 300st) 400(at 50 to 250st) 377(at 300st) 200(at 50 to 250st)
  • Page 702 9.3 Connectable Actuators RCS2 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 380(at 75st) Horizontal 280(at 50st) 330(at 75st) Vertical RN5N...
  • Page 703 9.3 Connectable Actuators RCS2 Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] RCS2 Gear (Gripper 16384 Ratio －...
  • Page 704 9.3 Connectable Actuators ISB/ISPB Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 960(at 100 to 600st) 655(at 700st) Horizontal:1.2 515(at 800st) Vertical:0.8...
  • Page 705 9.3 Connectable Actuators ISB/ISPB Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1800(at 100 to 700st) 1290(at 800st) 1045(at 900st) 860(at 1000st) 690(at 1100st)
  • Page 706 9.3 Connectable Actuators ISB/ISPB Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1800(at 120 to 670st) 1290(at 770st) 1045(at 870st) 860(at 970st) 690(at 1070st)
  • Page 707 9.3 Connectable Actuators ISB/ISPB Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1800(at 800 to 1100st) 1650(at 1150st) 1500(at 1250st) 1425(at 1350st) 1200(at 1450st)
  • Page 708 9.3 Connectable Actuators ISB/ISPB Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 2400(at 100 to 800st) 1840(at 900st) 1530(at 1000st) 1290(at 1100st) 1100(at 1200st)
  • Page 709 9.3 Connectable Actuators ISB/ISPB Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 2400(at 1000 to 1200st) 2300(at 1300st) 2000(at 1400st) 1900(at 1500st) 1660(at 1600st)
  • Page 710 9.3 Connectable Actuators ISB-W Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 2500(at 100 to 900st) 2260(at 1000st) Horizontal:1.2 1840(at 1100st) Vertical:1.0...
  • Page 711 9.3 Connectable Actuators ISDA/ISPDA Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 800(at 100 to 500st) Horizontal:1 760(at 600st) Vertical:0.7 Horizontal/...
  • Page 712 9.3 Connectable Actuators ISDA/ISPDA Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 2000(at 100 to 700st) 1965(at 800st) 1605(at 900st) 1335(at 1000st) 1130(at 1100st)
  • Page 713 9.3 Connectable Actuators ISDA/ISPDA Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 2000(at 900 to 1700st) 1930(at 1800st) 1740(at 1900st) 1580(at 2000st) 1440(at 2100st)
  • Page 714 9.3 Connectable Actuators ISWA/ISPWA Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 800(at 100 to 500st) 760(at 600st) 400(at 100 to 500st) 16384 Horizontal...
  • Page 715 9.3 Connectable Actuators SSPA/SSPADACR/IF/IFA/FS/RS Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1800(at 100 to 600st) 1680(at 650st) 1480(at 700st) 1320(at 750st) 1180(at 800st)
  • Page 716 9.3 Connectable Actuators SSPA/SSPADACR/IF/IFA/FS/RS Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 2400(at 100 to 700st) 2150(at 750st) 1930(at 800st) 1740(at 850st) 1580(at 900st)
  • Page 717 9.3 Connectable Actuators SSPA/SSPADACR/IF/IFA/FS/RS Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1600(at 100 to 600st) 1450(at 650st) 1290(at 700st) 1160(at 750st) 1040(at 800st)
  • Page 718 9.3 Connectable Actuators SSPA/SSPADACR/IF/IFA/FS/RS Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1600(at 100 to 800st) 1540(at 850st) 1410(at 900st) 1290(at 950st) 1180(at 1000st)
  • Page 719 9.3 Connectable Actuators SSPA/SSPADACR/IF/IFA/FS/RS Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 16384 Horizontal 1750 16384 Horizontal 1750 Equivalent 131072...
  • Page 720 9.3 Connectable Actuators NS/NSA series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] 1800 MXMS 16384 Horizontal MXMM 1200 1800 MXMXS...
  • Page 721 9.3 Connectable Actuators LSAS Series Max. Acceleration/ Min. Max. Rated Motor No. of Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing Type output Encoder series [mm] direction [mm/s] Speed Force Force Speed Pluses [mm/s] N10SS 100S 50000 Horizontal 2500 N10SM N15SS LSAS...
  • Page 722 9.3 Connectable Actuators 9-55 ME0359-9E...

  • Page 723: Chapter 10 Warranty

    XSEL-RA/SA 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 724: Warranty Period

    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 725: Limited Liability

    ● 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 726 10 Warranty 10-3 ME0359-9E...

  • Page 727: Revision History

    Revision History Revision History Revision date Revised content 2016.06 First Edition 2016.12 1B edition Contents for Error No. 452, 4B0, 4B8, 4B9, 4BA, 4BC, 5A5, 5A6, 5AE, 5B3, 5B4, 5B5, 5B6, 5B7 and B0F added or corrected 2017.01 Second Edition Pg.
  • Page 728 Revision History Revision date Revised content 2018.03 3C Edition Pg. 31, 51 Figures added for eight-axis specification unit of controller for IXA SCARA Robot 2018.05 3D Edition Pg. 614 to 616, 620 to 622 Max. velocity in stroke 500mm added Pg.
  • Page 729 Revision History Revision date Revised content 2019.09 4D Edition • 1.6 (5) Added description of upper and lower space when installing • 8.3 Added RCS3-CTZ5C and RCS3-CT8C to the “Specifications List for Connectable Single Axis Actuator” and correction made 2019.10 Fifth Edition •...
  • Page 730 Revision History Revision date Revised content 2021.12 Eighth Edition • IXA SCARA Robot (IXA Cleanroom Specifications / Arm Length 300/450/600) added • 1.5 [1] Where the altitude exceeds 1,000m added • 6.3 Contents and measures revised in Error No. 233 and D43 •...
  • Page 731 Revision History Revision date Revised content 2024.02 9D Edition • 6.5.20 “Want to output a signal showing an axis is in operation” added and later numbers moved down • 7.3 Alarm No. B00 to B02E added Correction made of Error level •...

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