IAI XSEL-RA Manuals

Manuals and User Guides for IAI XSEL-RA. We have 4 IAI XSEL-RA manuals available for free PDF download: Instruction Manual, Operation Manual, First Step Manual

IAI XSEL-RA Instruction Manual (734 pages)

Brand: IAI | Category: Controller | Size: 37 MB

Please Read before Use
3
Product Name
5
Table of Contents
6
Safety Guide
13
Storage and Preservation
14
Installation and Start
14
Operation Description
17
Automatic Operation
17
Alert Indication
19
Caution in Handling
20
International Standards Compliances
25
Ul/Cul
25
Precautions for Maintenance and Inspection
26
Actuator Coordinate System
28
Base Coordinate System
32
Controller Overview
35
Overview (about XSEL Controller)
36
Features
37
System Configuration
38
System Configuration (XSEL-RA/SA)
38
System Configuration (XSEL-RAX/SAX)
39
System Configuration (XSEL-RAXD/SAXD)
40
Name for each Parts and Their Functions
41
XSEL Controller
41
Brake Box: RCB-110-RA13-0 (Option)
49
Power on Led
50
Encoder Connector
51
Brake Box: IA-110-DD-4 (Option)
52
Starting Procedures
55
Product Check
59
Components (Excluding Options)
59
Teaching Tool
60
How to Read the Model Plate
61
How to Read the Model of the Controller
62
Basic Specifications
66
XSEL-Ra/San Controller Type
66
Specification List
66
Calculation Example
70
XSEL-RAX/SAX Controller Type
72
XSEL-RAXD/SAXD Controller Type
81
Motor Power
84
Selection of the Circuit Breaker
88
Selection of the Leakage Breaker
89
External Dimensions
90
Absolute Battery Unit Non-Equipped Type
91
Side View
91
Absolute Battery Unit Equipped Type
93
PIO Board
95
Field Network Board
98
Brake Box: RCB-110-RA13-0
100
Specification
100
Regenerative Resistance Unit: RESU-1, RESUD-1
102
Absolute Battery
104
Installation and Storage Environment
106
Installation Environment
106
Storage and Preservation Environment
106
Noise Elimination and Mounting Method
107
Noise Elimination
107
Protective Ground
107
Heat Radiation and Installation
110
Wiring (Connection of Devices) Diagram
114
Xsel-Ra
114
Xsel-Sa
115
Xsel-Rax
116
Xsel-Sax
117
Xsel-Raxd
118
Xsel-Saxd
119
Wiring for Power Supply Circuit
120
Connection Development Diagram for Power Supply Part
120
Wiring for Power Supply Circuit (3-Phase Power Supply Type)
123
Specification
123
Wiring for Power Supply Circuit (XSEL-SAX4･3-Phase Power Supply High Capacity Type)
127
Wiring for Power Supply Circuit (Single-Phase Power Supply Type)
131
Wiring the Emergency Stop Circuit (System I/O)
135
Connection Development Diagram
135
Specification the Emergency Stop Circuit
137
RA/RAX/RAXD Type System IO Connecter Allocation and Wiring
139
SA/SAX/SAXD Type System IO Connecter Allocation and Wiring
141
Wiring for Actuator
144
Connection Development Diagram
144
Motor Encoder Circuit
145
Connector Type
154
Connection Cable List
156
Wiring for PIO Circuit
157
PIO Board Specifications and Allocation
157
Connection Development Diagram
162
PIO Cable
168
Wiring for Regenerative Resisance Unit
170
Connection Development Diagram
170
How to Wiring
170
Wiring for Brake Box
172
Wiring for Brake Box (RCB-110-RA13-0)
172
Wiring for Brake Box (IA-110-DD-4)
176
About the Connector
176
Wiring the Brake Forced Release Switch
179
Brake Release Switch Connector
179
Connection Development Diagram
179
Wiring the Brake Forced Release Switch
180
External Brake Release Switch Connection Cable
181
Wiring for General-Purpose RS-232C Port
182
General-Purpose RS-232C Port Connectors
182
Wiring for General-Purpose RS-232C Port
183
Wiring for the Teaching Tool
185
Teaching Port
185
Teaching Connector Interface Specifications
186
Wiring for the Teaching Tool
188
Wiring for USB Port
190
Communication Protocol
190
Wiring for Ethernet
191
Connector Name
191
Wiring for Extension Motion
192
Operation
193
Types of Operations
194
Receiving and Sending of I/O Signals Necessary for Operation
195
How to Receive/Send I/O Signals
195
I/O Map
196
Starting the Controller
197
Turning on the Power
197
Panel Window Display
199
Display Priority
200
Position Table and Program Creation and Writing
202
Program Operation
203
Auto Start Upon Power on
203
Program Execution
204
Starting a Program by Specifying Its Program Number
205
Special Functions
207
Extension Motion Control
209
Vision System Interface Function
210
About Vision System Interface Function
210
About Applicable Models
210
Interface Type
211
Standard Ethernet
211
Related Parameters
212
Related Error Code
214
Synchro Function
217
Overview of Synchro Functionn
217
Incremental Specification
220
Preparation for Operation of Synchro Type
221
Relative Positioning Adjust of Synchro-Axis Sliders
221
How to Absolute Reset on Synchronizing Type
222
Procedure for Re-Execution of Absolute Reset
229
Multiple-Slider Near-Miss Detection (Collision Prevention) Function
231
Overview of Multiple-Slider Near-Miss Detection
231
Setting Method
232
Related Parameters
233
Method to Check
235
Compliance Control Feature on IXA SCARA Robot
236
Overview of Compliance Control Feature on IXA SCARA Robot
236
IXA SCARA Robot
236
Caution and Restriction for Use
238
Setup for Compliance Control Feature
240
Example for Programming
244
Want to Change Input Port Assignments
246
Applicable Models
246
Related Virtual I/O Ports
255
Related Parameters List
256
Related Errors
258
Collision Detection Feature on IXA SCARA Robot
262
Overview of Collision Detection Feature
262
Caution and Restriction for Use
264
Setup for Collision Detection Feature
265
Example for Programming
270
Related SEL Language Commands
271
Applicable Models
271
Related Virtual I/O Ports
277
Related Parameters List
278
Related Errors
279
Overview
284
Parameter List
286
I/O Parameter (All Types)
286
Parameters Common to All Axes
325
Axis-Specific Parameters
341
Driver Parameters (All Types)
370
Encoder Parameters
374
I/O Devices Parameters
376
I/O Devices Parameters
377
Other Parameters (All Types)
379
Parameters for Linear / Rotation Controls
387
Combinations of Parameters for Linear and Rotation Controls
387
Rotation Controls
387
Parameters Related to Rotary Axis Movement
388
Operation Example of Shortcut Control in Rotary Axis Movement
389
Movement
389
Servo Adjustment
390
Parameter Setting (Applied)
392
Want to Operate the System Tentatively Without Using I/Os
393
Want to Output an Auto Operation Determination Signal from the XSEL Controller
393
Want to Retain Current Output Statuses Even During Emergency Stop
393
Want to Start an Emergency Program
394
Want to Enable Auto Recovery (Restart) Upon Cancellation of Emergency Stop
394
Emergency Stop
394
Want to Enable Auto Recovery (Error Reset) Upon Cancellation of Emergency Stop
395
Want to Return to the Condition Immediately before Emergency Stop
395
Want to Restart the XSEL Controller Externally
395
Want to Turn on the Servo Externally
396
Want to Make a Home-Return on All the Single Axis Actuators Externally
396
Want to Execute the XSEL Controller Program Externally
396
Want to Execute a Program Externally by Making an Indication of a Program Number in Binary
397
Want to Pause the XSEL Controller Externally
397
Want to Reset Errors Externally
397
Want to Release the Actuator Brake Externally
398
Want to Switch between AUTO and MANU Modes Externally
398
Want to Change Input Port Assignments
399
Want to Output that All the Single Axis Actuators Are at the Home Position
400
At the Home Position
400
Want to Output that Home-Return Ooperation Is
400
Want to Output a Signal Showing an Axis Is in Operation
401
Want to Output that a Single Axis Actuator Got into the Area (Zone)
403
Want to Output the Error Level
404
Want to Output the Emergency Stop Status
405
Want to Know the Current Operation Mode
405
Want to Output an Absolute-Encoder Backup Battery Voltage Low Alarm
405
Want to Change Output Port Assignments
406
Want to Use a General-Purpose RS-232C Port Connector
407
Want to Know the Current Value of Electric Current Without Connecting
409
Teaching Tool
409
Want to Monitor Global Integer Variables Without Connecting
410
Permission of SIO/PIO Program Startup with Password
411
Troubleshooting
413
Extension Motion Control
414
Action to be Taken Upon Occurrence of Problem
416
Error Level Control
418
Error List
421
Maintenance and Inspection
509
Periodic Inspection
511
Periodic Inspection Items
512
Consumable Parts
514
Component Replacement
515
Caution When Replacing Components (Common Item)
515
Caution When Replacing Components
515
Replace Absolute Battery
516
Replacement of Fan
523
Driver Overload Warning Function
526
Overview of Driver Overload Warning Function
526
Check of Overload Level
528
List of Related Parameters
529
Axis-Specific Parameters
529
Encoder Overheat Warning Function
530
Overview of Encoder Overheat Warning Function
530
Check of Encoder Overheat Level
532
Related Parameters List
533
Absolute Reset
534
Single and Orthogonal Axes (When Using the PC Software)
534
Single and Orthogonal Axes
534
Single and Orthogonal Axes (When Using the Touch Panel Teaching Pendant)
539
Single and Orthogonal Axes
539
IXA SCARA Robot
544
Absolute Reset
551
SCARA Axis (Except for IX-NNN10040 and 12040)
558
SCARA Axis
559
Absolute Reset
571
SCARA Robot (for NN10040/12040)
579
IXS CARA Robot (When Using the Touch Panel Teaching Pendant)
605
ZR Unit (When Using the PC Software)
625
ZR Unit (When Using the Touch Panel Teaching Pendant)
650
Chapter 9 Appendix
667
Example of Safety Circuit for SA/SAX/SAXD Type (Conforming to Safety Category)
668
Example of Safety Circuit
668
Safety Circuit Operation Timings
669
Emergency Stop
669
Enable Operation
671
Stopping Method and Recovery
675
Stopping Method
675
Recovery
677
Connectable Actuators
679
Chapter 10 Warranty
723
Warranty Period
724
Scope of the Warranty
724
Honoring the Warranty
724
Limited Liability
725
Conformance with Applicable Standards/Regulations, Etc., and Application Conditions
725
Other Items Excluded from Warranty
725
Revision History
727
Revision Date
727

IAI XSEL-RA Operation Manual (96 pages)

EtherCAT Programming Type Controller Edition

Brand: IAI | Category: Controller | Size: 4 MB

Please Read before Use
3
Table of Contents
5
Safety Guide
7
Operation Description
8
Alert Indication
13
Caution in Handling
14
Overview
15
Ethercat ® Specifications
17
Xsel-R(A)/S(A)/R(A)X/S(A)X/R(A)XD/S(A)XD
19
Operation Modes and Functions
19
Model
20
Ethercat ® Interface
21
Names of the Parts
21
Monitor LED Indications
22
Wiring
23
Wiring (Example)
23
Connector Pin Layout
23
Setting
24
Parameter Setting
24
Example for Parameter Settings
27
Standard I/O Ports of XSEL Controller
33
I/O Port and Data Reading and Writing
34
Operation Modes and Functions
37
Model
38
Ethercat ® Interface
39
Names of the Parts
39
Monitor LED Indications
40
Wiring
41
Wiring (Example)
41
Connector Pin Layout
41
Setting
42
Parameter Setting
42
Example for Parameter Settings
45
I/O Ports of TTA
51
I/O Port and Data Reading and Writing
53
Msel
55
Operation Modes and Functions
55
Model
56
Ethercat ® Interface
56
Name of the Parts
56
Monitor LED Indications
57
Wiring
58
Wiring (Example)
58
Connector Pin Layout
58
Setting
59
Parameter Setting
59
Example for Parameter Settings
62
I/O Ports of MSEL
64
I/O Port and Data Reading and Writing
66
Appendix
69
Troubleshooting
69
List of Ethercat ® Related Parameters
71
Network Setting File
76
Example for Connectivity Setting
77
Sysmac Studio Startup and PLC Communication Connectivity
77
Installing Setting File for Network (ESI File)
79
Setup of Ethercat Network Configuration
82
Changing PDO Mapping Setting
86
Data Transfer to PLC
91
Change History
93

IAI XSEL-RA First Step Manual (5 pages)

Brand: IAI | Category: Controller | Size: 2 MB

IAI XSEL-RA First Step Manual (5 pages)

Brand: IAI | Category: Controller | Size: 2 MB

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