IAI X-SEL QX, X-SEL PX Operation Manual

Download

X-SEL Controlle

PX/QX Type

Operation ManualSeventh Edition

Tenth Edition

Please Read Before Use

Thank you for purchasing our product.

This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely.

Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products. When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC.

After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when ne

cessary.

• This Operation Manual is original.

• 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 purpose of product improvement.

• If you have any question or comment regarding the content of this manual, please contact the IAI sales office near you.

• Using or copying all or part of this Operation Manual without permission is prohibited.

• The company names, names of products and trademarks of each company shown in the sentences

are registered trademarks.

[Important]

CAUTION

Operator Alarm on Low Battery Voltage

This controller is equipped with the following backup batteries for retention of data in the event of power failure:

[1] System-memory backup battery For retention of position data, global variables/flags, error list, strings, etc. [2] Absolute encoder backup battery

For retention of encoder rotation data.

Since these batteries are not rechargeable, they will eventually be consumed. Unless the batteries are replaced in a timely manner, the voltage will drop to a level where the data can no longer be retained. If a power failure occurs in this condition, the data will be lost (The life of each battery varies depending on the operating time). turned on.

(Reference) System-memory backup battery --- An alarm occurs when the voltage drops to approximately 2.6 V.

Absolute-encoder backup battery --- An alarm occurs when the voltage drops to approximately 3.2 V.

Once the data is lost, the controller will not operate normally the next time the power is

Data backup becomes impossible at a battery voltage of approximately 2.3 V (rated voltage: 3.0 V).

Data backup becomes impossible at a battery voltage of approximately 2.7 V (rated voltage: 3.6 V).

To prevent this problem, the controller can output a low battery voltage alarm from its I/O port.

Output port No. 313 is assigned as an alarm output for low system-memory backup battery voltage. Output port No. 314 is assigned as an alarm output for low absolute-encoder backup battery voltage.

It is recommended that this function be utilized to prevent unnecessary problems resulting rom low battery voltage (consumption of battery life).

The person in charge of system design should utilize this function to provide a method for issuing an operator alarm using an output signal from an I/O port, while the person in charge of electrical design should provide a circuit implementation that has the same effect. Refer to the applicable section in the operating manual for the batter replacement.

It is recommended that you always backup the latest data to a PC in case of voltage drop in teh systemmemory backup battery or unexpected controller failure.

Compatible Teaching Pendant/PC Software

QX controllers only support the following teaching pendant/PC software:

Teaching pendant: IA-T-XA (ANSI type) PC software: IA-101-XA-MW (with category 4 cable)

CAUTION

Notes on Supply of Brake Power (+24 V)

Besides connecting the brake power cable from the SCARA robot, the brake power must also be supplied to the controller. Follow the illustration below to supply the brake power (+24 V) also to the controller.

200 to 230 VAC

power supply

Auxiliary power

circuit

Top: 0 V Bottom: 24 V

Example of X-SEL-PX controller (4-axis SCARA robot of 250 to 600 mm in arm length, without expansion I/Os)

Brake power

+24-V power

supply

Power-supply capacity 45 W: Arm length 500 to 800 23 W: Arm length 250 to 350 14 W: Arm length 120 to 150

SCARA robot

(Note) When the arm length is

120 to 180, the brake power need not be supplied to the robot.

CAUTION

Drive-source Cutoff Relay Error (Detection of Fused Relay: E6D)

Because of their circuit configuration, XSEL-PX controllers of single-phase, standard specification are the only class of controllers that may generate a “drive-source cutoff relay error (E6D),” notifying fusion of an internal relay, when the time after the power is turned off until it is turned back on (= until the power is reconnected) is too short. Although the specific time varies depending on the input voltage and number of external regenerative resistance boxes being connected, as a guide wait for at least 40 seconds before reconnecting the power.

CAUTION

Note on Controllers with Increased CPU Unit Memory Size

* Controllers with gateway function come with an increased memory size in their CPU unit.

If you are using a controller with increased CPU unit memory size, use PC software and teaching pendants of the versions specified below.

Teaching tool Version

X-SEL PC software V7.2.0.0 or later

Teaching pendant SEL-T/TD V1.01 or later

[How to Check if Controller Has Increased Memory Size] Check the ROM version information in the PC software (Version 6.0.0.0 or later) (by selecting

Controller (C) 

teaching pendant (IA-T-X, IA-T-XD: Version 1.121 or later / SEL-T, SEL-TD: Version 1.00 or later) (by selecting Moni   If the memory size has been increased: On the PC software screen, you will see “Main

About ROM (V)), or check the main CPU firmware version information on the

Ver  Main).

(FROM32M),” as shown below. On the teaching pendant screen, you will see “Main (FROM32M),” as shown below.

Checking in PC Software

Checking on Teaching Pendant

Table of Contents

Safety Guide.................................................................................................................................. 1

Introduction.................................................................................................................................... 1

Part 1 Installation ....................................................................................................................... 4

Chapter 1 Safety Precautions............................................................................................................... 4

Chapter 2 Warranty Period and Scope of Warranty ............................................................................. 5

1. Warranty Period........................................................................................................................... 5

2. Scope of Warranty....................................................................................................................... 5

3. Scope of Service ......................................................................................................................... 5

Chapter 3 Installation Environment and Selection of Auxiliary Power Devices.................................... 6

1. Installation Environment .............................................................................................................. 6

2. Heat Radiation and Installation.................................................................................................... 7

3. Selection of Auxiliary Power Devices .......................................................................................... 8

4. Noise Control Measures and Grounding................................................................................... 13

Chapter 4 Name and Function of Each Part....................................................................................... 16

1. Front View of Controller............................................................................................................. 16

2. Explanation of Codes Displayed on the Panel Window ............................................................ 30

2.1 Application....................................................................................................................... 30

2.2 Core................................................................................................................................. 31

2.3 Current Monitor and Variable Monitor ............................................................................. 32

Chapter 5 Specifications ..................................................................................................................... 34

1. Controller Specifications............................................................................................................ 34

2. External I/O Specifications......................................................................................................... 38

2.1. NPN Specification............................................................................................................ 38

2.2. PNP Specification............................................................................................................ 40

3. Power Source Capacity and Heat Output ................................................................................. 42

4. External Dimensions.................................................................................................................. 48

Chapter 6 Safety Circuit...................................................................................................................... 57

1. Items to Notes ........................................................................................................................... 57

2. Safety Circuit for PX Type (Standard Specification) Controller ................................................. 58

3. Safety Circuit for QX Type (Global Specification) Controller ..................................................... 60

4. Timing Chart of Safety Circuit for QX-type SEL Controller........................................................ 65

Chapter 7 System Setup..................................................................................................................... 74

1. Connection Method of Controller and Actuator ......................................................................... 74

2. I/O Connection Diagram............................................................................................................ 78

3. Multipoint DIO Board ................................................................................................................. 81

3.1 Overview ......................................................................................................................... 81

3.2 Specifications .................................................................................................................. 81

3.3 External Interface Specifications..................................................................................... 82

Multipoint I/O Board Connection Cables......................................................................... 83

3.4

3.5 Multipoint I/O Board Connection Cables......................................................................... 84

3.6 I/O Circuits....................................................................................................................... 85

Table of Contents

Chapter 8 How to Perform An Absolute Encoder Reset of A Direct Movement Axis (Absolute

Specification)...................................................................................................................... 87

1. Preparation ................................................................................................................................ 87

2. Procedure .................................................................................................................................. 87

Chapter 9 Maintenance ...................................................................................................................... 93

1. Inspection Points ....................................................................................................................... 93

2. Spare Consumable Parts........................................................................................................... 94

3. Replacement Procedure for System Memory Backup Battery.................................................. 95

4. Replacement Procedure for Absolute-Encoder Backup Battery for Linear Movement Axis ..... 98

Part 2 Operation..................................................................................................................... 101

Chapter 1 Operation ......................................................................................................................... 101

1. Starting a Program by Auto Start via Parameter Setting ......................................................... 102

2. Starting via External Signal Selection...................................................................................... 103

3. Drive Source Recovery Request and Operation Pause Reset Request................................. 105

Chapter 2 Specoal Function..............................................................................................................106

1. Driver Overload Warning Function................................................................................................ 106

Part 3 Controller Data Structure............................................................................................. 109

Chapter 1 How to Save Data............................................................................................................ 110

1. Factory Settings: When the System Memory Backup Battery is Used ................................... 110

1.1 Controller without Increased Memory Size ................................................................... 110

1.2 Controller with Increased Memory Size (with Gateway Function) ................................ 111

2. When the System Memory Backup Battery is Not Used......................................................... 112

2.1 Controller without Increased Memory Size ................................................................... 112

2.2 Controller with Increased Memory Size (with Gateway Function) .................................113

3. Points to Note ...........................................................................................................................114

Chapter 2 X-SEL Language Data......................................................................................................116

1. Values and Symbols Used in SEL Language...........................................................................116

1.1 List of Values and Symbols Used...................................................................................116

1.2 I/O Ports .........................................................................................................................117

1.3 Virtual I/O Ports ..............................................................................................................118

1.4 Flags...............................................................................................................................120

1.5 Variables.........................................................................................................................121

1.6 Tags ............................................................................................................................... 124

1.7 Subroutines ................................................................................................................... 125

1.8 Symbols......................................................................................................................... 126

1.9 Character String Literals................................................................................................ 126

1.10 Axis Specification .......................................................................................................... 127

2. Position Part ............................................................................................................................ 129

3. Command Part ........................................................................................................................ 130

3.1 SEL language Structure ................................................................................................ 130

3.2 Extension Condition ...................................................................................................... 131

Table of Contents

Part 4 Commands .................................................................................................................. 132

Chapter 1 List of SEL Language Command Codes ......................................................................... 132

Chapter 2 Explanation of Commands............................................................................................... 144

1. Commands .............................................................................................................................. 144

1.1 Variable Assignment...................................................................................................... 144

1.2 Arithmetic Operation...................................................................................................... 147

1.3 Function Operation........................................................................................................ 149

1.4 Logical Operation .......................................................................................................... 154

1.5 Comparison Operation .................................................................................................. 157

1.6 Timer ............................................................................................................................. 158

1.7 I/O, Flag Operation........................................................................................................ 161

1.8 Program Control ............................................................................................................ 172

1.9 Task Management ......................................................................................................... 175

1.10 Position Operation......................................................................................................... 180

1.11 Actuator Control Declaration ......................................................................................... 195

1.12 Actuator Control Command........................................................................................... 232

1.13 Structural IF ................................................................................................................... 264

1.14 Structural DO................................................................................................................. 267

1.15 Multi-Branching ............................................................................................................. 269

1.16 System Information Acquisition ..................................................................................... 273

1.17 Zone .............................................................................................................................. 277

1.18 Communication ............................................................................................................. 281

1.19 String Operation ............................................................................................................ 287

1.20 Palletizing-Related ........................................................................................................296

1.21 Palletizing Calculation Command ................................................................................. 311

1.22 Palletizing Movement Command ...................................................................................314

1.23 Building of Pseudo-Ladder Task ................................................................................... 320

1.24 Extended Commands .................................................................................................... 322

Chapter 3 Key Characteristics of Horizontal Articulated Robot (SCARA) Operation ....................... 327

1. CP Operation and PTP Operation ........................................................................................... 327

2. Arm System ............................................................................................................................. 330

3. SCARA Coordinate System..................................................................................................... 338

4. Simple Interference Check Zone (Dedicated SCARA Function) ............................................. 348

5. Soft Limits of SCARA Axes ...................................................................................................... 351

6. PTP Optimal Acceleration/Deceleration Function for SCARA Robot ...................................... 355

7. Horizontal move optimization function based on Z position for SCARA Robot....................... 357

Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note......................... 359

1. Continuous Movement Commands [PATH, PSPL, CIR2, ARC2, CIRS, ARCS, ARCD, ARCC,

CIR, ARC]................................................................................................................................ 359

2. PATH/PSPL Commands .......................................................................................................... 361

3. CIR/ARC Commands .............................................................................................................. 361

4. CIR2/ARC2/ARCD/ARCC Commands.................................................................................... 361

Chapter 5 Palletizing Function.......................................................................................................... 362

Table of Contents

1. How to Use .............................................................................................................................. 362

2. Palletizing Setting.................................................................................................................... 362

3. Palletizing Calculation ............................................................................................................. 368

4. Palletizing Movement .............................................................................................................. 369

5. Program Examples.................................................................................................................. 371

Chapter 6 Pseudo-Ladder Task ........................................................................................................ 375

1. Basic Frame............................................................................................................................. 375

2. Ladder Statement Field ........................................................................................................... 376

3. Points to Note .......................................................................................................................... 376

4. Program Example.................................................................................................................... 377

Chapter 7 Multi-Tasking .................................................................................................................... 378

1. Difference from a Sequencer................................................................................................... 378

2. Release of Emergency Stop.................................................................................................... 379

3. Program Switching .................................................................................................................. 380

Appendix ................................................................................................................................... 381

List of Additional Linear Movement Axis Specifications........................................................... 381

How to Write Programs ........................................................................................................... 387

1. Position Table.............................................................................................................. 387

2. Program Format.......................................................................................................... 388

3. Positioning to 5 Positions (for Linear Axes) ................................................................ 389

4. How to Use TAG and GOTO....................................................................................... 390

5. Back-and-Forth Operation between 2 Points (for Linear Axes).................................. 391

6. Path Operation............................................................................................................ 392

7. Output Control during Path Movement....................................................................... 393

8. Circular, Arc Operation................................................................................................ 394

9. Output of Home Return Complete Signal (for Linear Axes) ....................................... 395

10. Axis Movement by Input Waiting and Output of Complete Signal.............................. 396

11. Change of Moving Speed (for Linear Axes)................................................................ 397

12. Speed Change during Operation ................................................................................ 398

13. Local/Global Variables and Flags ............................................................................... 399

14. How to Use Subroutines ............................................................................................. 400

15. Pausing of Operation .................................................................................................. 401

16. Aborting of Operation 1 (CANC) ................................................................................. 402

17. Aborting of Operation 2 (STOP) ................................................................................. 403

18. Movement by Position Number Specification ............................................................. 404

19. Movement by External Position Data Input (for Linear Axes)..................................... 405

20. Output of Coordinate Values....................................................................................... 406

21. Conditional Jump ........................................................................................................ 407

22. Waiting for Multiple Inputs........................................................................................... 408

23. How to Use Offsets (for Linear Axes) ......................................................................... 409

24. Execution of Operation n Times ................................................................................. 410

25. Constant Pitch Feed Operation (for Linear Axes)....................................................... 411

26. Jogging (for Linear Axes)............................................................................................ 412

27. Program Switching...................................................................................................... 413

28. Aborting of Program.....................................................................................................414

General-purpose RS232 (2-channel RS232 Unit)................................................................... 415

Table of Contents

Battery Backup Function ......................................................................................................... 422

1. System-Memory Backup Battery................................................................................ 422

2. Absolute-Encoder Backup Battery.............................................................................. 424

Expansion I/O Board (Optional)............................................................................................... 427

Number of Regenerative Units to be Connected..................................................................... 427

List of Parameters ................................................................................................................... 429

1. I/O Parameters ........................................................................................................... 430

2. Parameters Common to All Axes................................................................................ 447

3. Axis-Specific Parameters............................................................................................ 451

4. Driver Card Parameters.............................................................................................. 462

5. Encoder Parameters................................................................................................... 465

6. I/O Device Parameters ............................................................................................... 466

7. Other Parameters ....................................................................................................... 467

8. Manual Operation Types............................................................................................. 473

9. Use Examples of Key Parameters.............................................................................. 474

Combination Table of X-SEL PX/QX Axis 5/6 Linear/Rotary Control Parameter (Other than SCARA

Axes).................................................................................................................................480

Error Level Control .......................................................................................................................... 481

Error List ......................................................................................................................................... 524

Troubleshooting of X-SEL Controller............................................................................................... 528

Servo Gain Adjustment for Linear Movement Axis.......................................................................... 531

Trouble Report Sheet...................................................................................................................... 533

Change History.......................................................................................................................... 534

Safety Guide

This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to read this section before using your product.

Regulations and Standards Governing Industrial Robots

Safety measures on mechanical devices are generally classified into four categories under the International Industrial Standard ISO/DIS 12100, “Safety of machinery,” as follows:

Safety measures Inherent safety design

Protective guards --- Safety fence, etc. Additional safety measures --- Emergency stop device, etc. Information on use --- Danger sign, warnings, operation manual

Based on this classification, various standards are established in a hierarchical manner under the International Standards ISO/IEC. The safety standards that apply to industrial robots are as follows:

Type C standards (individual safety standards) ISO10218 (Manipulating industrial robots – Safety)

JIS B 8433 (Manipulating industrial robots – Safety)

Also, Japanese laws regulate the safety of industrial robots, as follows:

Industrial Safety and Health Law Article 59

Workers engaged in dangerous or harmful operations must receive special education.

Ordinance on Industrial Safety and Health Article 36 --- Operations requiring special education

No. 31 (Teaching, etc.) --- Teaching and other similar work involving industrial robots

(exceptions apply)

No. 32 (Inspection, etc.) --- Inspection, repair, adjustment and similar work involving industrial

robots (exceptions apply)

Article 150 --- Measures to be taken by the user of an industrial robot

Pre-1

Requirements for Industrial Robots under Ordinance on Industrial Safety

and Health

Work area

movement

range

Inside

movement

range

Work

condition

During

automatic

operation

During

teaching, etc.

During

inspection,

etc.

Cutoff of drive source Measure Article

Signs for starting operation Article 104 Outside

Not cut off

Cut off (including

stopping of operation)

Not cut off

Cut off

Not cut off (when

inspection, etc., must

be performed during

operation)

Installation of railings, enclosures, etc. Sign, etc., indicating that work is in progress Preparation of work rules Article 150-3 Measures to enable immediate stopping of operation Sign, etc., indicating that work is in progress Provision of special education Article 36-31 Checkup, etc., before commencement of work To be performed after stopping the operation Sign, etc., indicating that work is in progress Preparation of work rules Article 150-5 Measures to enable immediate stopping of operation Sign, etc., indicating that work is in progress Provision of special education (excluding cleaning and lubrication)

Article 150-4

Article 150-3

Article 151

Article 150-5

Article 36-32

Pre-2

Applicable Modes of IAI’s Industrial Robot

Machines meeting the following conditions are not classified as industrial robots according to Notice of Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No.

340): (1) Single-axis robo with a motor wattage of 80 W or less (2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating

part, if any, has the maximum movement range of within 300 mm part

(3) Multi-joint robot whose movable radius and Z-axis are within 300 mm

Among the products featured in our catalogs, the following models are classified as industrial robots:

1. Single-axis ROBO Cylinders RCS2/RCS2CR-SS8 whose stroke exceeds 300 mm

2. Single-axis robots The following models whose stroke exceeds 300 mm and whose motor capacity also exceeds 80 W: ISA/ISPA, ISDA/ISPDA, ISWA/ISPWA, IF, FS, NS

3. Linear servo actuators All models whose stroke exceeds 300 mm

4. Cartesian robos Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3

5. IX SCARA robots

All models whose arm length exceeds 300 mm (All models excluding IX-NNN1205/1505/1805/2515, NNW2515 and NNC1205/1505/1805/2515)

including the tip of the rotating

Pre-3

Notes on Safety of Our Products

Common items you should note when performing each task on any IAI robot are explained below.

No. Task Note

1 Model

selection

2 Transportation

3 Storage/

preservation

4 Installation/

startup

 This product is not planned or designed for uses requiring high degrees of safety.

Accordingly, it cannot be used to sustain or support life and must not be used in

the following applications: [1]Medical devices relating to maintenance, management, etc., of life or health [2]Mechanisms or mechanical devices (vehicles, railway facilities, aircraft facilities,

etc.) intended to move or transport people [3]Important safety parts in mechanical devices (safety devices, etc.)  Do not use this product in the following environments: [1]Place subject to flammable gases, ignitable objects, flammables, explosives, etc. [2]Place that may be exposed to radiation [3]Place where the surrounding air temperature or relative humidity exceeds the

specified range [4]Place subject to direct sunlight or radiated heat from large heat sources [5]Place subject to sudden temperature shift and condensation [6]Place subject to corrosive gases (sulfuric acid, hydrochloric acid, etc.) [7]Place subject to excessive dust, salt or iron powder [8]Place where the product receives direct vibration or impact  Do not use this product outside the specified ranges. Doing so may significantly

shorten the life of the product or result in product failure or facility stoppage.  When transporting the product, exercise due caution not to bump or drop the

product.

 Use appropriate means for transportation.  Do not step on the package.  Do not place on the package any heavy article that may deform the package.  When using a crane of 1 ton or more in capacity, make sure the crane operators

are qualified to operate cranes and perform slinging work.  When using a crane, etc., never hoist articles exceeding the rated load of the

crane, etc.  Use hoisting equipment suitable for the article to be hoisted. Calculate the load

needed to cut off the hoisting equipment and other loads incidental to equipment

operation by considering a safety factor. Also check the hoisting equipment for

damage.

 Do not climb onto the article while it is being hoisted.  Do not keep the article hoisted for an extended period of time.  Do not stand under the hoisted article.

 The storage/preservation environment should conform to the installation

environment. Among others, be careful not to cause condensation. (1) Installing the robot, controller, etc.

 Be sure to firmly secure and affix the product (including its work part).

If the product tips over, drops, malfunctions, etc., damage or injury may result.  Do not step on the product or place any article on top. The product may tip over

or the article may drop, resulting in injury, product damage, loss of/drop in

product performance, shorter life, etc.  If the product is used in any of the following places, provide sufficient shielding

measures: [1]Place subject to electrical noise [2]Place subject to a strong electric or magnetic field [3]Place where power lines or drive lines are wired nearby [4]Place subject to splashed water, oil or chemicals

Pre-4

No. Task Note

4 Installation/

startup

(2) Wiring the cables  Use IAI’s genuine cables to connect the actuator and controller or connect a

teaching tool, etc.  Do not damage, forcibly bend, pull, loop round an object or pinch the cables or

place heavy articles on top. Current leak or poor electrical continuity may occur,

resulting in fire, electric shock or malfunction.

 Wire the product correctly after turning off the power.  When wiring a DC power supply (+24 V), pay attention to the positive and

negative polarities.

Connecting the wires in wrong polarities may result in fire, product failure or

malfunction.  Securely connect the cables and connectors so that they will not be disconnected

or come loose. Failing to do so may result in fire, electric shock or product

malfunction.  Do not cut and reconnect the cables of the product to extend or shorten the

cables. Doing so may result in fire or product malfunction. (3) Grounding

 Be sure to provide class D (former class 3) grounding for the controller.

Grounding is required to prevent electric shock and electrostatic charges,

improve noise resistance and suppress unnecessary electromagnetic radiation. (4) Safety measures

 Implement safety measures (such as installing safety fences, etc.) to prevent

entry into the movement range of the robot when the product is moving or can be

moved. Contacting the moving robot may result in death or serious injury.  Be sure to provide an emergency stop circuit so that the product can be stopped

immediately in case of emergency during operation.  Implement safety measures so that the product cannot be started only by turning

on the power. If the product starts suddenly, injury or product damage may result.  Implement safety measures so that the product will not start upon cancellation of

an emergency stop or recovery of power following a power outage. Failure to do

so may result in injury, equipment damage, etc.  Put up a sign saying “WORK IN PROGRESS. DO NOT TURN ON POWER,” etc.,

during installation, adjustment, etc. If the power is accidently turned on, electric

shock or injury may result.  Implement measures to prevent the work part, etc., from dropping due to a power

outage or emergency stop.  Ensure safety by wearing protective gloves, protective goggles and/or safety

shoes, as necessary.  Do not insert fingers and objects into openings in the product. Doing so may

result in injury, electric shock, product damage, fire, etc.  When releasing the brake of the vertically installed actuator, be careful not to let

the actuator drop due to its dead weight, causing pinched hands or damaged

work part, etc.

5 Teaching

 Whenever possible, perform teaching from outside the safety fences. If teaching

must be performed inside the safety fences, prepare “work rules” and make sure

the operator understands the procedures thoroughly.  When working inside the safety fences, the operator should carry a handy

emergency stop switch so that the operation can be stopped any time when an

abnormality occurs.  When working inside the safety fences, appoint a safety watcher in addition to the

operator so that the operation can be stopped any time when an abnormality

occurs. The safety watcher must also make sure the switches are not operated

inadvertently by a third party.  Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.

Pre-5

No. Task Note

5 Teaching  When releasing the brake of the vertically installed actuator, be careful not to let

the actuator drop due to its dead weight, causing pinched hands or damaged

load, etc. * Safety fences --- Indicate the movement range if safety fences are not provided.

6 Confirmation

operation

 After teaching or programming, carry out step-by-step confirmation operation

before switching to automatic operation.  When carrying out confirmation operation inside the safety fences, follow the

specified work procedure just like during teaching.  When confirming the program operation, use the safety speed. Failure to do so

may result in an unexpected movement due to programming errors, etc., causing

injury.  Do not touch the terminal blocks and various setting switches while the power is

supplied. Touching these parts may result in electric shock or malfunction.

7 Automatic

operation

 Before commencing automatic operation, make sure no one is inside the safety

fences.  Before commencing automatic operation, make sure all related peripherals are

ready to operate in the auto mode and no abnormalities are displayed or

indicated.

 Be sure to start automatic operation from outside the safety fences.  If the product generated abnormal heat, smoke, odor or noise, stop the product

immediately and turn off the power switch. Failure to do so may result in fire or

product damage.  If a power outage occurred, turn off the power switch. Otherwise, the product may

move suddenly when the power is restored, resulting in injury or product damage.

8 Maintenance/

inspection

 Whenever possible, work from outside the safety fences. If work must be

performed inside the safety fences, prepare “work rules” and make sure the

operator understands the procedures thoroughly.

 When working inside the safety fences, turn off the power switch, as a rule.  When working inside the safety fences, the operator should carry a handy

emergency stop switch so that the operation can be stopped any time when an

abnormality occurs.  When working inside the safety fences, appoint a safety watcher in addition to the

operator so that the operation can be stopped any time when an abnormality

occurs. The safety watcher must also make sure the switches are not operated

inadvertently by a third party.

 Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.  Use appropriate grease for the guides and ball screws by checking the operation

manual for each model.  Do not perform a withstand voltage test. Conducting this test may result in

product damage.  When releasing the brake of the vertically installed actuator, be careful not to let

the actuator drop due to its dead weight, causing pinched hands or damaged

work part, etc. * Safety fences --- Indicate the movement range if safety fences are not provided.

9 Modification  The customer must not modify or disassemble/assemble the product or use

maintenance parts not specified in the manual without first consulting IAI.  Any damage or loss resulting from the above actions will be excluded from the

scope of warranty.

10 Disposal  When the product becomes no longer usable or necessary, dispose of it properly

as an industrial waste.  When disposing of the product, do not throw it into fire. The product may explode

or generate toxic gases.

Pre-6

Indication of Cautionary Information

The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and “Note,” as specified below.

Level Degree of danger/loss Symbol

Danger

Warning

Caution

Note

Failure to observe the instruction will result in an imminent danger leading to death or serious injury.

Failure to observe the instruction may result in death or serious injury.

Failure to observe the instruction may result in injury or property damage.

The user should take heed of this information to ensure the proper use of the product, although failure to do so will not result in injury.

Danger

Warning

Caution

Note

Pre-7

CE Marking

If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

Pre-8

Prohibited Handling of Cables

Caution

When designing an application system using actuators and controllers, incorrect wiring or connection of each cable may cause unexpected problems such as a disconnected cable or poor contact, or even a runaway system. This section explains prohibited handling of cables. Read the information carefully to connect the cables properly.

Ten Rules for Handling Cables (Must be Observed!)

1. Do not let the cable flex at a single point.

Steel band (piano wire)

Bundle loosely.

2. Do not let the cable bend, kink or twist. 3. Do not pull the cable with a strong force.

4. Do not let the cable receive a turning force at a single point.

5. When fixing the cable, provide a moderate slack and do not tension it too tight.

Use a curly

cable.

6. Do not pinch, drop a heavy object onto or cut the cable.

Do not use a spiral tube where the cable flexes frequently.

Pre-9

7. Do not let the cable got tangled or kinked in a cable track or flexible tube. When bundling the cable, keep a certain degree of flexibility (so that the cable will not become too taut when bent).

8. Do not cause the cables to occupy more than 60% of the space in the cable track.

Cable track

Cable

10. Always use a robot cable

if the cable is likely to flex significantly.

9. Do not lay signal lines together with circuit lines that create a strong electric field.

Power line

Signal lines (flat cable)

Duct

[Standard structure of cable] The standard structure of cable will vary depending on the manufacturer and type of cable.

Cover

Shield

Protective layer

Signal line (copper + tin)

Absorbing material (When the cable is bent, this material is crushed by the surrounding signal lines to maintain the shape of the signal lines.)

Need for Robot Cables

A cable connected to a moving part of an actuator system will inevitably receive repeated bending loads at the base of the cable. As a result, the cores in the cable may break over time. To minimize the risk of cable breakage, we strongly recommend that a robot cable

offering significantly higher flexibility

be used in this type of application.

Pre-10

Introduction

)

Standard

Introduction

Thank you for purchasing the X-SEL controller.

Inappropriate use will prevent this product from operating at its full potential, and may even cause unexpected failure or result in a shortened service life. Please read this manual carefully, and handle the product with due care and operate it correctly. Keep this manual in a safe place and reference relavent items when needed.

The controller types covered by this manual are listed below.

Type Specification XSEL-PX Standard XSEL-QX Global

Refer to the following table for details on type specification.

Type

[High speed model]

[1] [2] [3] [4] [5] [6] [7] [8] [9] [10]

[1]

Series

[2]

Controller type

(Large-capacity 4-axis

type)

(Large-capacity 5-axis

type)

(Large-capacity 6-axis

type)

(Large-capacity global 4-

axis type)

(Large-capacity global 5-

axis type)

(Large-capacity global 6-

axis type)

[3]

IX actuator type

(Standard type)

(High-speed type)

(Dustproof/splash-proof

type)

(Wall-mount type)

(Wall-mount inverse type)

(Ceiling-mount type)

(Inverse type)

(Cleanroom type)

[4] Axis 5 motor

wattage

Blank

(No single

axis)

[5]

Axis 6

motor

wattage

Blank

(No single

axis)

[6]

Network

(dedicated

slot

Blank

(No network

support)

(DeviceNet

type)

(CC Link type)

(ProfiBus

type)

(Ethernet

type)

[7]

Standard I/O

Slot 1 Slot 2 Slot 3 Slot 4

(Not used)

I/O board

(Not used) (Not used) (Not used)

I/O board

[8] Expansion I/O

I/O board

[9]

I/O flat

cable

length

specification

(None)

* The number of axes that are connectable as axis 5 and/or axis 6, and the total motor wattages, are

shown below.

Type Number of connectable axes Total motor wattage for axes 5/6

*N*2515H/*N*3515H 2 1500

*N*50**H/*N*60**H 2 600 *N*70**H/*N*80**H 0 -

NSN5016H/NSN6016H 0 -

* RCS2-RA7** / LSA series models cannot be connected for axes 5 and 6.

[10] Powersource voltage

3-phase,

)

ype)

Type

[Conventional models]

[1] [2] [3] [4] [5] [6] [7] [8] [9] [10]

[1]

Series

[2]

Controller type

(Large-capacity 4-axis

type)

(Large-capacity 5-axis

type)

(Large-capacity 6-axis

type)

(Large-capacity global 4-

axis type)

(Large-capacity global 5-

axis type)

(Large-capacity global 6-

axis type)

[3]

IX actuator type

(Standard type)

(High-speed type)

(Dustproof/splash-proof

(Wall-mount type)

(Wall-mount inverse type)

(Ceiling-mount type)

(Inverse type)

(Cleanroom type)

[4] Axis 5 motor

wattage

Blank

(No single

axis)

[5] Axis 6 motor

wattage

Blank

(No single

axis)

[6]

Network

(dedicated

slot

Blank

(No network

support)

(DeviceNet

type)

(CC Link type)

(ProfiBus

type)

(Ethernet

type)

[7]

Standard I/O

Slot 1 Slot 2 Slot 3 Slot 4

(Not used) (Not used) (Not used) ( Not used)

I/O board

[8] Expansion I/O

* RCS2-RA7** / LSA series models cannot be connected for axes 5 and 6.

The Axis 5 [4] and Axis 6 [5] portions of the model number are explained below.

750 A L

I/O board

[9]

I/O flat

cable

length

Standard

specification:

(None)

[10] Powersource voltage

Single-

phase

3-phase

20: 20 W 30D: 30 W for RCS2 30R: 30 W for RS 60: 60 W 100: 100 W 150: 150 W

B: With brake C: Creep sensor HA: High-acceleration/deceleration

specification L: Home sensor/LS type M: Master axis specification S: Slave axis specification

200: 200 W 300: 300 W 400: 400 W 600: 600 W 750: 750 W

I: Incremental A: Absolute G: Quasi-absolute

Introduction

This controller receives power in order to drive the actuator motor(s) (three-phase/single-phase, 200 to 220 V) and to operate the controller itself (200 to 220 V). (*The single-phase power specification is applicable only to single-phase controllers.) The actuator motor drive power supply is controlled independently of the control power supply, and the internal operations of the controller are different depending on whether it is of the global specification or standard specification. With the standard controller, the main CPU in the system performs all self-diagnosis checks and supplies power to the drive part only when the system can operate properly. With the global controller, the user must provide a separate circuit that cuts off the three phase 200 VAC motor power supplied to the controller. If this drive power cutoff circuit is not provided, safe operation of the controller cannot be guaranteed.

With the global controller, always configure a safety circuit (drive-source cutoff circuit).

 Turn on the controller power before or simultaneously with the motor power.  Turn off the controller power after or simultaneously with the motor power.  Before performing a check or inserting/removing a connector, turn off the power and wait for at least 10

minutes. Even after the power is turned off, the internal circuits will continue to carry high voltages for a short period.

 Duty of cartesian-axis actuators

IAI recommends that our cartesian-axis actuators be used at a duty of 50% or less as a guideline in view of the relationship of service life and accuracy. The duty is calculated by the formula specified below:

Duty (%) =

Inactivity time Motion



Time onDecelerati / onAccelerati

X 100

 After turning off the control power, be sure to wait for at least 5 seconds (or 40 seconds in the case of a

P type controller of single-phase specification) before turning it back on. Any shorter interval may generate “E6D: Drive-source cutoff error.”

 Do not insert or remove connectors while the controller power is on. Doing so may cause a malfunction.  Precautions for when introducing the linear movement axis absolute specification:

Follow the steps below to initialize the absolute data backup battery circuit and thereby prevent early

consumption of the battery:

[1] Set the absolute data backup battery enable/disable switch to

the bottom position. (The controller is shipped with this switch set to the bottom position.)

[2] Connect the encoder cable. [3] Turn on the power. [4] Set the absolute data backup battery enable/disable switch to

the top (ENB) position. If the encoder cable of a linear movement axis was removed to relocate the actuator, etc., you must always perform the above steps.

Read the operation manual for each actuator. If you have purchased our optional PC software and/or teaching pendant, read the respective operation manuals, as well.

* Utmost effort has been made to ensure that the information contained in this manual is true and

correct. However, should you find any error or if you have any comment regarding the content, please contact IAI.

Part 1 Installation

Caution

Chapter 1 Safety Precautions

The X-SEL PX/QX Controller can support a combination of a SCARA robot and linear movement axes to perform integrated control of all axes including peripheral equipment. In other words, the controller has the ability to control systems of all sizes ranging from a small system to a large factory automation system. In general, however, the occurrence rate of accidents due to incorrect operation or carelessness will rise as the system becomes larger and more complex. Please give due consideration to safety measures.

This system product was developed as a drive unit for an automated machine, and as such the maximum torque and speed are limited to levels acceptable for an automatically driven machine. However, strict observance of the following items is required to prevent accidents. Also read the appendix entitled, “Safety Rules and Others.”

1. Do not handle this product in a manner not specified in this manual. If you have any question regarding the content of this manual, please contact IAI.

2. Always use the specified, genuine IAI cables for wiring between the controller and the actuator.

3. Do not enter the operation area of the machine while the machine is operating or ready to operate (the controller power is on). If the machine is used in a place accessible to other people, provide an appropriate safety measure such as enclosing the machine with a cage.

4. When assembling/adjusting or maintaining/inspecting the machine, always turn off the controller power at the source beforehand. The operator should display in a conspicuous place a sign saying that operation is in progress and that the power should not be turned on. The operator should keep the entire power cable beside him or her to prevent another person from inadvertently plugging in the cable.

5. When two or more operators are to work together, they should communicate to ensure safety of all personnel during the work. In particular, a person turning on/off the power or moving an axis—either via a motor or manually—must always say what he or she is going to do and confirm the responses from the others first before actually performing the operation.

Part 1 Installation

Chapter 2 Warranty Period and Scope of Warranty

The X-SEL Controller you have purchased passed our strict outgoing inspection. This unit is covered by the following warranty:

1. Warranty Period

The warranty period shall be either of the following periods, whichever ends first:

 18 months after shipment from our factory  12 months after delivery to a specified location

2. Scope of Warranty

The warranty is valid only for the IAI product you have purchased, provided that the failure occurred during the aforementioned warranty period despite proper use of the product. If the failure is clearly caused by defective material or poor workmanship, IAI will repair the product free of charge. Take note, however, that the following items are excluded from the scope of warranty:

 Discoloration of paint or other normal aging  Wear of consumable parts due to use  Subjective imperfection, such as noise not affecting mechanical function  Defect caused by inappropriate handling or use by the user  Defect caused by inappropriate or erroneous maintenance/inspection  Defect caused by use of a part other than IAI’s genuine part  Defect caused by unauthorized modification, etc., not approved by IAI or its agent  Defect due to an act of God, accident, fire, etc.

Only the product itself, without accessories, cables, etc., is covered by the warranty. The warranty does not cover any losses arising from a failure of the delivered product. The user must bring the defective product to our factory to receive a warranty repair.

3. Scope of Service

The price of the delivered product does not include costs incurred in association with program generation, dispatch of technician, etc. Therefore, a separate fee will be chargeable in the following cases even during the warranty period:

 Guidance on installation/adjustment and witnessing of test operation  Maintenance/inspection  Technical guidance and training on operation, wiring method, etc.  Technical guidance and training regarding programs, such as program generation  Other services and operations where IAI finds a need to charge a separate fee

Part 1 Installation

Chapter 3 Installation Environment and Selection of Auxiliary Power

Devices

1. Installation Environment

(1) When installing and wiring the controller, do not block the ventilation holes provided for cooling

(insufficient ventilation will not only prevent the product from functioning fully, but it may also result in damage).

(2) Prevent foreign matter from entering the controller through the ventilation holes. Since the controller

is not designed as dustproof or waterproof, avoid using it in a dusty place or a place subject to water

mist, oil, or cutting fluid. (3) Do not expose the controller to direct sunlight or radiant heat from a high heat source. (4) Use the controller in a non-condensing environment free from corrosive or inflammable gases. (5) Use the controller in an environment where it will not receive external vibration or impact. (6) Prevent electrical noise from entering the controller or its cables.

Environmental Condition of Controller

Item Specification and description

Surrounding Air Temperature

Range

Surrounding Humidity Range 10% ~ 95% (non-condensing; conforming to JIS C3502 RH-2)

Storage Temperature Range Maximum Operating Altitude 2000 m

Protection Class IP20

Vibration

Impact

0 ~ 40C

-25C ~ 70C (excluding the battery)

10  f < 57: 0.035 mm (continuous), 0.075 mm (intermittent) 57  f  150: 4.9 m/s

(continuous), 9.8 m/s2 (intermittent)

X, Y and Z directions 147 mm/s

, 11 ms, half-sine pulse, 3 times each in X, Y and Z

directions

Electrical Specifications of Controller

Item Specification

Power-source Voltage

Power-source Frequency

Momentary Power Failure

Resistance

Three-phase, 200 ~ 230 VAC  10%

50/60 Hz  5% (conforming to JIS C3502 RH-2)

0.5 cycle (phase independent)

Single-phase, 200 ~ 230 VAC  10%

Electric Shock Protection Class I: Basic insulation, grounding by ground terminal

Overvoltage Class

Class II: Withstand voltage of 2500 V at voltage inputs below 300

VAC (rated input)

Pollution Degree Pollution degree 2

120 A max. for motor power, 50 A max. for control power (at 40C, 200-VAC input)

Rush Current

The level of rush current will vary depending on the power-source environment. The above values are provided for reference purpose only.

Leak current 2 mA max. (controller only without any axes connected)

Part 1 Installation

2. Heat Radiation and Installation

Design the control panel size, controller layout and cooling method so that the surrounding air temperature around the controller will be kept at or below 40C. Install the controller vertically on a wall, as illustrated below. The controller will be cooled by forced ventilation (exhaust air will be discharged from the top). Be sure to install the controller in the aforementioned direction and provide a minimum clearance of 150 mm above and 150 mm below the controller. If multiple controllers are to be installed side by side, providing additional fans on top of the controllers will help maintain a uniform surrounding air temperature. Provide a minimum clearance of 150 mm between the front side of the controller and a wall (enclosure).

Airflow direction

Fan

Regenerative resistors

150 mm min.

Airflow

If multiple controllers are to be connected on top of one another, prevent the controller above from taking in the exhaust air from the controller below. Provide a clearance of approximately 50 mm between the regenerative resistor and the controller, and a clearance of approximately 10 mm between the regenerative resistors.

Part 1 Installation

3. Selection of Auxiliary Power Devices

This section provides selection guidelines for breakers, earth leakage breakers, contactors, surge absorbers and noise filters that can be used with the AC power supply line of the X-SEL controller. These devices must be selected by taking into consideration the power consumption, rush current and maximum motor drive current of the controller.

(1) Power supply capacity Calculate the power supply capacity according to 3, “Power Supply Capacity and Heat Output” in Part 1, “Installation.” Power supply capacity indicates the rated power supply capacity. The motor current of a given axis may increase to as much as three times the rated current during high acceleration. Although all four axes of a SCARA robot will not reach three times the rated current at the same time, consider the possibility of any one axis reaching three times the rated current and select breakers and other components based on a power supply capacity of 1.5 times the rated power supply capacity.

(2) Leak current When installing the controller, always provide an inverter-type earth leakage breaker. The table below lists the controller leak currents excluding the currents leaked from the servo system.

Model

PX type (Standard specification) 0.4 mA (200-VAC input) 2 mA or less (200-VAC input)

QX type (Global specification) 0.2 mA (200-VAC input) 2 mA or less (200-VAC input)

Leak current (control power supply)

Leak current (Motor power)

(3) Rush current The table below lists reference rush currents that may be observed in the control power supply and motor power supply. As for the motor power supply system, the capacitor volume will vary depending on the number of driver boards installed. However, the maximum current that can flow through the motor power supply remains the same.

Control power

supply

Less than 1200 W 1200 W or above

Motor power supply

Rush current 50 A 60 A max.* 120 A max.*

Rush current duration 3 ms

* At 40C, 200-VAC input

Part 1 Installation

(4) Auxiliary power devices

[1] Circuit breaker Install a circuit breaker or earth leakage breaker in the AC power-supply line (primary side) of the controller in order to prevent damage due to power switching and short current. One circuit breaker or earth leakage breaker can be used to protect both the motor power supply and control power supply.

 While the actuator is accelerating or decelerating, the controller current increases to three times

the rated current. Select an appropriate circuit breaker that will not trip when this higher current flows. If the circuit breaker you have selected trips, change it to one with the next higher level of rated current.

 Select a circuit breaker that will not trip due to rush current. [Refer to the graph of operating

characteristics in the manufacturer’s catalog.]

 The rated cutoff current of the selected circuit breaker must be enough to cut off any short-circuit

current, should it flow, without fail. Rated cutoff current > Short-circuit current = Power-supply capacity on primary side / Powersupply voltage

 The rated current of the selected circuit breaker should have an ample allowance.

Rated current of circuit breaker > (Rated motor power-supply capacity [VA] + Control power-supply capacity [VA]) / AC input voltage x Safety factor (rough guide: 1.2 to 1.4)

[2] Earth leakage breaker Install an earth leakage breaker on the AC power-supply line side (primary side) of the controller to cut off earth leakage current. One earth leakage breaker may be used to serve both the motor power and plant power.

 You must select an appropriate earth leakage breaker that can meet your specific purpose, be it

fire protection, protection of human life, or the like. Also measure the earth leakage current at the location where the earth leakage breaker is to be installed.

 The earth leakage current changes according to the capacity of the motor to be connected,

lengths of cables, and surrounding environment. So that proper earth leakage protection can be provided, measure the earth leakage current at the location where the earth leakage breaker is to be installed.

 Use an earth leakage breaker of harmonic type.

[3] Electromagnetic contactor If your controller is of the global specification, an electromagnetic contactor must be installed in front of the motor power input port on the controller so that the motor drive source can be cut off. Select a product that meets your requirement for safety category. Refer to Chapter 6, “Safety Circuit,” for the configuration of the safety circuit.

Part 1 Installation

[4] Noise filter, ring core and clamp filters The global specification has no built-in noise filters in the motor power supply. If your controller is of the global specification, therefore, be sure to install noise filters and ring cores for the motor drive power supply externally to the controller. Even with the standard controller, noise filters and ring cores must be installed if noise-sensitive external equipment will be used.

With both the global specification and standard specification, use the same noise filters and ring cores to protect both the motor power supply and control power supply.

Install clamp filters to ensure compliance with the EC Directives or if necessary for other reasons.

 Clamp filter A

Install this clamp filter to the control power cable and motor cable (if there are multiple axes, connect to the cables of all axes).

 Clamp filter B

Install this clamp filter to the motor power cable.

Caution: Be sure to use the following noise filter, ring core and clamp filters to ensure compliance with

the EC Directives (IAI uses the following filters in the evaluation certification tests under the EMC Directives).

Recommended Noise Filter, Ring Core and Clamp Filters

Supplier Model

Noise filter Densei-Lambda

MC1320 (for three-phase power supply)

MXB-1220-33 (for single-phase power supply) Ring core NEC Tokin ESD-R-25 Clamp filter A TDK ZCAT3035-1330 Clamp filter B Kitagawa Industries RFC-H13

[5] Surge absorber With both the global specification and standard specification, the motor drive part of the X-SEL controller has no built-in surge absorber to protect the equipment against surge noises that may generate in the controller due to lightning, etc.

Therefore, a surge absorber must be installed externally to the controller if you want to increase the surge resistance of your equipment.

Caution: Besure to use the following surge absorber to ensure compliance with the EC Directives.

Recommended surge absorber:

R/A/V-781BXZ-4 (Three-phase) by Okaya Electric Industries R/A/V-781BXZ-2A (Single-phase) by Okaya Electric Industries

Peripheral configurations for the global and standard specifications are shown on the following pages.

Peripheral Configurations

3-phase Power Supply Specification

PX Type (Standard Specification)

Part 1 Installation

Encoder cable

Actuator

Motor cable

200-VAC 3-phase power supply bus

Control panel

Circuit

breaker

QX Type (Global Specification)

200-VAC 3-phase power supply bus

Control panel

Circuit

breaker

Earth leakage breaker

protector

Earth leakage breaker

protector

Surge

Single-

phase

noise

filter

Single-

phase

noise

filter

Ring

core

Ring

core

Electromagnetic contactor

Safety

relay

Clamp

filters

Clamp

filters

Safety circuit

Controller

System

I/Os

Controller

System

I/Os

Brake

Emergency stop switch

Encoder cable

Motor cable

Brake

24-VDC

power supply

Actuator

24-VDC

power

supply

Emergency stop switch

Peripheral Configurations

Single-phase Power Supply Specification

PX Type (Standard Specification)

Part 1 Installation

Encoder cable

Actuator

Motor cable

200-VAC singlephase power supply bus

Control panel

Circuit

breaker

leakage breaker

QX Type (Global Specification)

Earth

Surge

protector

Three-

phase

noise

filter

Ring core

Clamp

filters

Controller

System

I/Os

Encoder cable

Brake

Emergency stop switch

Motor cable

24-VDC

power supply

Actuator

200-VAC singlephase power supply bus

Control panel

Circuit

breaker

Earth leakage breaker

Surge

protector

Three-

phase

noise

filter

Ring core

Electromagnetic contactor

Safety

relay

Safety circuit

Clamp

filters

Emergency stop switch

Controller

System

I/Os

Brake

24-VDC

power supply

Part 1 Installation

4. Noise Control Measures and Grounding

(1) Wiring and power source

PE on the power terminal block is used for protective grounding. Provide Class D grounding from this terminal. Use a grounding cable with a wire size of 1.0 mm than the AC power cable.

Class D grounding

(protective grounding)

[1] Notes on wiring method

Use twisted cables for the AC power cable and 24-VDC external power cable. Wire the controller cables separately from lines creating a strong electric field such as power circuit lines (by not bundling them together or placing in the same cable duct). If you wish to extend the motor cable or encoder cable beyond the length of each supplied cable, please contact IAI’s Technical Service Section or Sales Engineering Section.

(#AWG17) or more, which should not be smaller

(2) Noise-elimination grounding

Class D

grounding

Metal enclosure

Provide dedicated grounding for the FG and PE.

X-SEL

Controller

Other

equipment

X-SEL

Controller

Other

equipment

Do not connect as above.

Part 1 Installation

(3) Noise sources and noise elimination

There are many noise sources, but solenoid valves, magnet switches and relays are of particular concern when building a system. Noise from these parts can be eliminated using the measures specified below:

[1] AC solenoid valve, magnet switch, relay

Measure --- Install a surge killer in parallel with the coil.

Surge killer

 Point

Wire from each coil over the shortest distance. Installing a surge killer on the terminal block, etc., will be less effective because of a longer distance from the coil.

[2] DC solenoid valve, magnet switch, relay

Measure --- Install a diode in parallel with the coil. Determine the diode capacity in accordance with the

load capacity.

In a DC circuit, connecting a diode in reversed polarity will damage the diode, internal parts of the controller and DC power supply. Exercise due caution.

Diode

The above noise elimination measures are particularly important when a 24-VDC relay is driven directly by a controller output and there is also a 100-VAC solenoid valve, etc.

Reference Circuit Diagram

Controller

Part 1 Installation

Surge absorber

0 V

Solenoid valve

Chapter 4 Name and Function of Each Part

1. Front View of Controller

PX Type (Standard Specification), 4 axes (SCARA axes only)

Part 1 Installation

PX Type (Standard Specification), expanded by 2 additional linear movement axes, with I/O brake unit

QX Type (Global Specification), 4 axes (SCARA axes only)

Part 1 Installation

QX Type (Global Specification), expanded by 2 additional linear movement axes, with I/O brake unit

Part 1 Installation

[1] FG terminal

[2] External regenerative

unit connector (Linear movement axis only)

This terminal is used to ground FG on the enclosure. The enclosure is

connected to PE in the AC input part inside the controller.

FG Terminal Specifications

Item Description

M4 3-point SEMS screw, 5 mm Name FG Cable size 2.0 ~ 5.5 mm2 min. Grounding method Class D grounding

When a linear movement axis decelerates or moves downward, regenerative energy is produced. The capacitor and resistor in the controller alone may not be able to absorb this regenerative energy (in which case an “Error No. 60C, Power-system overhear error” will generate). In this case, connect a regenerative unit or units. Whether or not your system needs one or more regenerative units depends on the specific application such as the configuration of linear movement axes. Refer to Appendix, “Number of Regenerative Units to be Connected.” If all axes are SCARA axes, no regenerative unit is required.

External Regenerative Unit Connector Specifications

Item Overview Details

Connector

3-pin 2-piece connector by

Phoenix Contact

GIC2.5/3-STF-7.62

Connector name RB

Size of supplied cable

1.0 mm2 (equivalent to

AWG17)

The cable is supplied with the external regenerative

unit. Connected unit External regenerative box Terminal assignments

RB+

Regenerative resistance +

(Motor-driving DC voltage)

RB– Regenerative resistance –

Grounding terminal

Part 1 Installation

[3] AC-power input

connector

A 200-VAC, single-phase/three-phase input connector consisting of six terminals including motor power terminals, control power terminals and a PE terminal. Note) Select the single-phase input specification or three-phase input

specification, whichever is applicable, for motor drive power. The standard type only comes with a terminal block. Caution To prevent electric shock, do not touch this connector when the

controller is receiving power.

snoitacificepS rotcennoC rewoP CA

Item Overview Details

Connector

6-pin 2-piece connector by Phoenix Contact

GMSTB 2.5/6-7.62

Connector name PWR Connected

unit Terminal assignments

Single-phase specification

Terminal assignments

Three-phase specification

Single-phase 200/230 VAC power supply, 50/60 Hz

6 PE Protective grounding wire

5 IN CP_L

4 IN CP_N

3 NC

2 IN MP_L

1 IN MP_N

Control power 200 VAC, phase L Control power 200 VAC, phase N

Cable size

0.75 mm (AWG18)

Do not connect anything to this terminal. Motor power 200 VAC, phase L Motor power 200 VAC, phase N

Cable size

2 mm (AWG14)

6 PE Protective grounding wire

5 IN CP_L

4 IN CP_N

3 IN MP_R

2 IN MP_S

1 IN MP_T

Control power 200 VAC, phase L Control power 200 VAC, phase N Motor power 200 VAC, phase R Motor power 200 VAC, phase S Motor power 200 VAC, phase T

Cable size

0.75 mm (AWG18)

Cable size

2 mm (AWG14)

[4] Control-power monitor

LED

[5] Absolute-data backup

battery enable/disable switch (Linear movement axis only)

A green light illuminates when the control power supply is providing the correct amount of power.

This switch is used to change the backup operation setting; i.e., whether or not to back up the encoder using the absolute-encoder backup battery for the linear movement axis. This function is disabled when the controller is shipped. After connecting the encoder and axis-sensor cables, turn on the power, and then set this switch to the top position. This switch is not provided for SCARA axes.

Set to the bottom position to disable.

Part 1 Installation

[6] Encoder/axis-sensor

connector

This connector is used to connect the actuator encoder and axis sensors such as LS, CREEP and OT. * LS, CREEP and OT sensors are optional.

The connectors are assigned to axis 1, axis 2, and so on, from the right.

Encoder/Axis-sensor Connector Specifications

Item Overview Details

Connector

Half-pitch, 26-pin I/O connector Cable-end connector

10226-6202JL (by Sumitomo 3M)

10126-3000VE (by Sumitomo 3M)

(Hood: 10326-52F0-008) Connector name PG1 ~ 6 Encoder/axis-sensor connector Maximum wiring distance

Signal table

30 m

No.

Signal

name

Description

2 3 4 5 6

7 SRD+

8 SRD–

Send/receive differential +

(pulse/magnetic pole switching +)

Send/receive differential -

(pulse/magnetic pole switching -) 9 NC Not connected 10 NC Not connected 11 NC Not connected

12 24VOUT Sensor power output

13 0V 24-V power ground 14 BATT Backup battery 15 BATTGND Battery ground 16 VCC Encoder power 17 GND GND 18 NC Not connected 19 NC Not connected

20 BK–

Brake open output signal - (COM: Common to all axes)

21 BK+ Brake open output signal + 22 NC Not connected

23 *RSV Sensor input RSV

24 *OT Sensor input OT

25 *CLEEP Sensor input CLEEP

26 *LS Sensor input LS

Part 1 Installation

[7] Motor connector

This connector is used to drive the motor inside the actuator.

Motor Connector Specifications

Item Overview Details

Connector GIC2.5/4-STF-7.62

Connector name M1 to 6 Motor connector

Cable size

0.75 mm to AWG18)

(equivalent

4-pin, 2-piece connector by Phoenix Contact

Supplied with the actuator.

Connected unit Actuator Terminal assignments

1 2 3 4

PE Protective grounding wire Out U Motor drive phase U Out V Motor drive phase V Out W Motor drive phase W

The position of the motor connector for each axis varies depending on the SCARA type, as shown below.

Arm length 700/800 High-speed type (NSN**----)

dditional linear movement axis SCARA axis

[8] Teaching-pendant type

switch (P type only)

SCARA axis

Other than the above

This switch is used to change the type of the teaching pendant connected to the teaching connector [9]. It switches between “IAI’s standard teaching pedant” and “ANSI teaching pendant.” The switch is located on the front side of the board. Select the applicable setting in accordance with the teaching pendant used.

Left: PC cable ( conforming to safety category 4) SEL-T, SEL-TD, SEL-TG teaching pendant IA-T-XA teaching pendant

Switch

Right: PC cable IA-T-X, IA-T-XD

teaching pendant

Note 1: The safety gate switch will not function if this switch is not set

correctly.

Note 2: IAI’s standard teaching pendants cannot be used with Q type

controllers.

Note 3: TP-SW is not available on QX type controllers.

Part 1 Installation

[9] Teaching connector

The teaching interface connects IAI’s teaching pendant or a PC to enable

operation and setting of your equipment from the teaching pendant/PC. The physical interface consists of a RS232C system based on a 25 pin D-sub connector. The signal level conforms to RS232C, and a desired baud rate (up to 115.2 kbps) can be selected depending on the program. RS232C communication is possible only when the mode switch (12) is set to the MANU position. You can also use an ANSI teaching pendant equipped with an ANSIcompliant double-action enable switch. Whether the controller supports an ANSI teaching pendant or IAI’s standard teaching pendant can be set using the selector switch (8) provided above the teaching pendant connector. (P type only) * With Q-type controllers, connect the supplied dummy plug to the teaching

connector during the AUTO mode.

Interface Specifications of Teaching Serial Interface

Connector DSUB-25 XM3B-2542-502L (by Omron) Connector name T.P. Teaching connector Communication method

Baud rate Up to 115.2 kbps Half-duplex communication speeds of

Maximum wiring distance Interface standard RS232C Connected unit Dedicated teaching

Connection cable Dedicated cable Power supply 5 VDC or 24 VDC A multi-fuse (MF-R090) is installed to

Protocol X-SEL teaching

Emergency-stop control

Enabling control Enable switch line (24 V)A line for connecting an enable

[12] Mode switch AUTO/MANU switch Whether or not the teaching pendant

Item Overview Details

RS232C-compliant, start-stop synchronous halfduplex communication

10M At 38.4 kbps

pendant

protocol

Series emergencystop relay drive (24 V)

Signal assignments conform to the RS232C DTE terminal layout. Assign dedicated control lines to undefined lines, etc.

up to 115.2 kbps are supported.

IAI’s standard teaching pendant for X-SEL, or ANSI teaching pendant

protect each line against short current (the fuse will trip with currents of between 1.1 A and 2.2 A). The connector supports the X-SELJ/K teaching pendant interface protocol. An emergency-stop relay drive line is provided in the interface connector. This line is connected in series with other emergency-stop contact. Two independent emergency stop input circuits are provided as a redundant safety design.

switch is provided as an operator interlock. Two independent enable input circuits are provided as a redundant safety design.

can be used is set by the AUTO/MANU mode switch. The controller establishes a handshake with the teaching pendant only when this switch is set to the MANU mode. Note, however, that the teaching pendant displays the monitor screen regardless of the AUTO/MANU setting.

Part 1 Installation

Interface Specifications of Teaching Serial Interface

Item No. Direction Signal name Details

1 FG Frame ground 2 Out TXD Transmitted data 3 In RXD Received data 4 Out RTS Request to send 5 In CTS Clear to send 6 Out DSR Equipment ready 7 SG Signal ground 8 NC Not connected 9 In RSVTBX1 RSV signal line for generic

teaching pendant

10 In RSVTBX2 RSV signal line for generic

teaching pendant 11 NC Not connected 12 Out EMGOUT1 Emergency stop contact 1

Terminal

assignments

13 In EMGIN1 14 NC Not connected 15 Out RSVVCC 24-V power supply for IA-T-

XA, SEL-T (D) teaching

pendant 16 Out EMGOUT2 Emergency stop contact 2 17 Out ENBVCC1 Enable drive power 1 18 Out VCC Power output

(Power supply for IA-T-X (D)

teaching pendant) 19 In ENBTBX1 Enable input 1 20 In DTR Terminal ready 21 Out ENBVCC2 Enable drive power 2 22 In ENBTBX2 Enable input 2 23 Out EMGS Emergency stop status 24 In EMGIN2 Emergency stop contact 2 25 SG Signal ground

Shading indicates that the signal is used only with an ANSI teaching pendant.

Part 1 Installation

[10] System I/O connector

This I/O connector is used to control the safety actions of the controller. With the global specification, a safety circuit conforming to a desired safety category of up to level 4 can be configured using this connector and an external safety circuit.

System I/O Connector Specifications

Item Overview Details

Connector 2-piece COMBICON

connector (18 pins)

MCD1.5/9-G1-3.5P26THR (by Phoenix Contact)

Cable end connector FMC1.5/9-ST-3.5

Applicable cable size 0.2 ~ 1.3 mm2 (AWG24-16) Connector name SYSTEM IO Connected unit External safety circuit Emergency stop, safety gate,

ready out, external relay cutoff

Overview of Terminal Assignments

Left

No.

9 8

6 5 4 3 2 1

18 DET +24V

Signal

name

Description

DET IN External contact error input

IN Emergency stop detection input

EMGin

EMG1

EMG2

SDN

+24V

line+

line-

line+

line-

Out+

Out-

24 V power output for emergency stop detection input Emergency stop switch 1 8 mA (PX type) Emergency stop switch 2 8 mA (PX type) External relay drive cutoff contact output 24 V power output for external contact error input

17 IN Enable detection input

Right

15 line+ 14 13 line+ 12 11 Out+ 10

ENBin

ENB1

ENB2

RDY

+24V

line-

Out-

24 V power output for enable detection input Enable switch (safety gate, etc.) 8 mA (PX type)

Enable gate switch 2 8 mA (PX type) Ready signal contact output

Only a terminal block is supplied without a cable (EMG and ENB are shorted by a cable). Do not supply power other than from a 24 VDC power supply to the RDY and SDN contacts.

Part 1 Installation

[11] Panel window

[12] Mode switch

[13] Standard I/O connector

This window consists of a 4-digit, 7 segment LED display and five LED

lamps that indicate the status of the equipment. For the information shown on the display, refer to 2, “Explanation of Codes Displayed on the Panel Window” or the “Error Code Table.”

Meanings of Five LEDs

Name Status when the LED is lit

RDY CPU ready (program can be run)

ALM CPU alarm (system down level error), CPU hardware error

EMG

Emergency stop has been actuated, CPU hardware error, power

system hardware error PSE Power system hardware error CLK System clock error

This alternate switch with lock is used to command a controller operation

mode. To operate the switch, pull it toward you and tilt. Tilting the switch upward will select MANU (manual mode), while tilting it downward will select AUTO (auto mode). Teaching can be performed only in the MANU mode, but auto program start is not enabled in the MANU mode. * If you are using a QX type controller, connect the supplied dummy plug to

the teaching connector [9] during the AUTO mode.

This connector consists of a 50 pin flat connector and comprises 32 input output DIOs.

/16

Overview of Standard I/O Interface Specifications

Item Description Connector name I/O Connector Flat connector, 50 pin Power supply Supplied from connector pin Nos. 1 and 50 Input 32 points (including general purpose and dedicated

inputs)

Output 16 points (including general purpose and dedicated

outputs)

Connected to External PLC, sensor, etc.

Part 1 Installation

I/O Interface List

Pin No. Category Port No. Function Cable color

1 - +24 V input Brown-1 The functions are at the time of shipment. The functions assigned to port Nos. 000 to 015, 300 to 310, 313 and 314 can be changed via I/O parameters. (Refer to Nos. 30 to 56, No. 59 and 60 in 1, “I/O Parameters,” of Appendix, “List of Parameters.”)

2 000 Program start Red-1

3 001 General purpose input Orange-1

4 002 General purpose input Yellow-1

5 003 General purpose input Green-1

6 004 General purpose input Blue-1

7 005 General purpose input Purple-1

8 006 General purpose input Gray-1

9 007 Program specification (PRG No. 1) White-1

10 008 Program specification (PRG No. 2) Black-1 11 009 Program specification (PRG No. 4) Brown-2 12 010 Program specification (PRG No. 8) Red-2 13 011 Program specification (PRG No.

Orange-2

10)

14 012 Program specification (PRG No.

Yellow-2

20)

15 013 Program specification (PRG No.

Green-2

40)

16 014 General purpose input Blue-2

Input 17 015 General purpose input Purple-2 18 016 General purpose input Gray-2 19 017 General purpose input White-2 20 018 General purpose input Black-2 21 019 General purpose input Brown-3 22 020 General purpose input Red-3 23 021 General purpose input Orange-3 24 022 General purpose input Yellow-3 25 023 General purpose input Green-3 26 024 General purpose input Blue-3 27 025 General purpose input Purple-3 28 026 General purpose input Gray-3 29 027 General purpose input White-3 30 028 General purpose input Black-3 31 029 General purpose input Brown-4 32 030 General purpose input Red-4

031 General purpose input Orange-4 34 300 Alarm output Yellow-4 35 301 Ready output Green-4

36 302 Emergency stop output Blue-4 37 303 General purpose output Purple-4 38 304 General purpose output Gray-4 39 305 General purpose output White-4 40 306 General purpose output Black-4 41 307 General purpose output Brown-5 42 308 General purpose output Red-5 43 309 General purpose output Orange-5

Output

44 310 General purpose output Yellow-5 45 311 General purpose output Green-5 46 312 General purpose output Blue-5 47 313 Alarm output for low system-

Purple-5

memory backup battery voltage

48 314 Alarm output for low absolute-

Gray-5

encoder backup battery voltage

315 General purpose output White-5 50 - 0V Black-5

Part 1 Installation

[14] General RS232C port

connector 1

[15] General RS232C port

connector 2

Channel 1 of the two-channel RS232C port provided for connection of general RS232C equipment. (Refer to I/O parameter Nos. 201 to 203.) Channel 2 of the two-channel RS232C port provided for connection of general RS232C equipment. (Refer to I/O parameter Nos. 213 to 215.) General RS232C Connector Specifications

Item Overview Details Connector D-sub, 9 pin (DTE) XM2C-0942-502L (OMRON) Connector name S1/S2 Maximum wiring

10 M At 38400 bps distance Interface standard RS232C Connected unit AT-compatible PC,

Half-duplex communication

etc. Connection cable PC-AT standard 232C cross-

cable Terminal assignments

1 2 3 4 5 6 7

In (CD) (Carrier detection: Not used)

In RD Received data (RXD) Out SD Transmitted data (TXD) Out ER Equipment ready (DTR)

In SG Signal ground

In DR Data set ready (DSR) Out (RS) (Request to send (RTS): Not

used)

8 9

In (CS) (Clear to send (CTS): Not used)

NC Not used

Use a cross-cable to connect to the RS232C port of a PC.

[16] Installation position of

field network board

[17] Optional board

[18] Expansion I/O board

(optional)

This is where a Fieldbus interface module is installed. In this example, this position is left unoccupied (no module is installed).

An optional field network board is installed. A DeviceNet board is installed in

this example.

Optional expansion I/O boards are installed in the example.

Part 1 Installation

[19] Brake power input

connector (SCARA axis only)

[20] Brake power input

connector

This connector is used to input the power for SCARA brake control. 24 VDC must be supplied externally. Connect the SCARA-axis brake power to both the brake power cable from the SCARA robot and this connector.

A power input connector for driving the brake of a linear axis, high-speed SCARA robot (NSN**…) or actuator with an arm length of 700 or 800. 24 VDC must be supplied externally. If the specified power is not supplied, the actuator brake cannot be released. Be sure to supply the power to this connector if you are using a high-speed SCARA robot (NSN**…), actuator with an arm length of 700 or 800 or linear axis with brake. As for the brake power cable, use a shielded cable and connect the shield on the 24-V power-supply side. The bottom side of the connector connects to +24 V.

Brake Power Connector Specifications

Item Overview Details Connector Phoenix Contact MC1.5/2-G-3.5 Cable-end connector

Phoenix Contact MC1.5/2-ST-3.5

Applicable cable size: 0.1 ~ 2.0

(AWG28-14)

mm Connector name BK PWR Input voltage

24 VDC  10% 0 V 24 V power ground Terminal

assignments

+24 V 24 V power input

[21] Brake release switch

connector (Linear movement axis only)

This connector accepts a switch that releases the brake of a linear movement axis externally from the controller. Shorting the COM and BKRMT* terminals of this connector will release the brake. Use this connector if you want to operate the linear movement axis manually in the event of a power failure or error in the controller.

Brake-release Switch Connector Specifications

Item Overview Details Connector Hirose DF11-6DP-2DS (*) Connector name BK RMT Connected unit Brake-release switch Terminal assignments

BKRMT5 Brake release switch input for

axis 5

BKRMT6 Brake release switch input for

axis 6

3 4

COM (COM) Switch input common

*) Mating connector --- Hirose socket: DF11-6DS-2C, crimp terminal: DF11-

2428SC

Part 1 Installation

[22] Brake switch (Linear

movement axis only)

[23] Conveyor tracking

connector

This alternate switch with lock is used to release the axis brake. To operate the switch, pull it toward you and tilt. Tilting the switch upward (RLS side) will release the brake forcibly, while tilting it downward (NOM) will enable the controller to release the brake. Note: The SCARA-axis brake switch is located on the panel of the SCARA

robot.

This connector is used only when the controller is of conveyor tracking specification. Normally this connector is not used.

Part 1 Installation

2. Explanation of Codes Displayed on the Panel Window

2.1 Application

Display Priority (*1) Description

1 System down level error

2 Writing data to the flash ROM.

3 Emergency stop is being actuated (except during the update mode).

4 Enable switch (deadman switch/safety gate) OFF (except in the update mode)

5 Cold start level error

5 Operation cancellation level error

AC power is cut off (including momentary power failure or drop in power source voltage).

6 Waiting for a drive source cutoff reset input (except during the update mode).

Operation is paused and waiting for a restart signal (except during the update mode)

7 All servo axes are interlocked (except during the update mode)

8 Message level error

9 Core update mode

9 Core update is in progress

9 Core update has completed

9 Slave update mode

9 Slave update is in progress

9 Slave update has completed

A program is running (last started program). *** indicates the program number. (Controller with increased memory size (with gateway function)) A program is running (last started program). ** indicates the program number. (Controller with increased memory size)

9 Initialization sequence number

9 Debug mode

9 Ready status (auto mode)

9 Ready status (manual mode)

(*1) The priority increases as the number decreases.

2.2 Core

Display Priority (*1) Description

1 Coldstart level error

1 Operationcancellation level error

2 Message level error

2 Application update mode

2 Application update is in progress

2 Application update has completed

AC power is cut off (including momentary power failure or drop in power source voltage)

Part 1 Installation

2 Hardware test mode process

2 Clearing the application flash ROM

2 Application flash ROM has been cleared

2 Jump to the application

2 Core flash ROM check process

2 Application flash ROM check process

2 SDRAM check process

(*1) The priority increases as the number decreases.

Part 1 Installation

2.3 Current Monitor and Variable Monitor

Other parameter Nos. 49 and 50 can be set up to monitor currents or variables on the panel window. (1) Current monitor Currents of up to four axes having continuous axis numbers can be monitored. Parameter settings Other parameter No. 49 = 1 Other parameter No. 50 = Smallest axis number among the axes to be monitored Example) If other parameter No. 49 is set to “1” and other parameter No. 50 to “3” for a 6 axis controller,

the far right segment digit will show the current for axis 3.

Axis 6 Axis 5 Axis 4 Axis 3

When data is written to the flash ROM or a software reset (restart) is executed after the parameter values have been input, the panel window will show the motor current to rating ratio (%) by a segment pattern, instead of “ready status” or “program run number.” The segment display patterns and corresponding motor current to rating ratios (%) are shown below.

0 < Motor current to rating ratio (%)  25

25 < Motor current to rating ratio (%)  50

50 < Motor current to rating ratio (%)  75

75 < Motor current to rating ratio (%)  100

Thick lines indicate illuminated segments.

100 < Motor current to rating ratio (%)  150

150 < Motor current to rating ratio (%)  200

200 < Motor current to rating ratio (%)

Part 1 Installation

(2) Variable monitor The contents of global integer variables can be displayed on the panel window. Positive integers of 1 to 999 can be displayed. Parameter settings Other parameter No. 49 = 2 Other parameter No. 50 = Variable number of the global integer variable to be monitored

When data is written to the flash ROM or a software reset (restart) is executed after the parameter values have been input, the panel window will show the content of the global integer variable, instead of “ready status” or “program run number.” The far-left segment digit should read “U.”

Display example)

Part 1 Installation

Chapter 5 Specifications

1. Controller Specifications

1.1. PX Type (Standard Specification)

1-axis to 6-axis controller Total output when maximum number of axes are connected Control power input Motor power input Single-phase specification: 200 to

Power source frequency 50/60 Hz Insulation resistance

Withstand voltage 1500 VAC for 1 minute Surrounding air temperature range Surrounding humidity range 10% to 95% (Non-condensing; conforming to JIS C3502 RH-2) Storage temperature range Protection class IP20 Drive-source cutoff method Internal relay Emergency stop input Contact B input (Internal power-supply type) Emergency stop action Deceleration stop + Regenerative brake by timer (failsafe) Enable input Contact B input (Internal power-supply type) System ready output No voltage contact (relay) output; for generation of equipment ready signal

Axis control method AC full digital servo Position detection methods 17 bit incremental encoder (Wire-saving type)

Batteries Absolute-data backup battery: AB-5 made by IAI

Speed setting 1 mm/sec to 3000 mm/sec (Varies according to the applicable model.) Acceleration/deceleration setting Programming language Super SEL language Program steps

Number of positions

Single-phase specification: 1600 W Three-phase specification: 2400 W

Single phase, 200 to 230 VAC  10%

Three-phase specification: 200 to

230 VAC  10%

10 M min. (measured at 500 VDC between the power terminal and I/O terminals and between the external terminals and case)

0 to 40C

-25C to 70C (Excluding the battery)

based on the wired-OR logic among multiple equipment. Max. 500 mA (24 VDC).

17 bit rotation data backup absolute encoder Resolution: 14 bits under both methods (16384 pulses)

System-memory backup battery: CR2032

0.01 G to 3 G (Varies according to the applicable model.)

Controller with increased memory size (with gateway function) Controller without increased memory size Controller with increased memory size (with gateway function)

Controller without increased memory size

Note 1)

9999 steps (total)

6000 steps (total)

20000 positions (total) Position Nos. 1 to 10000 can be saved to the battery backup memory. Position Nos. 10001 to 20000 can be saved to the flash memory. 4000 positions (total) All position data can be saved to the battery backup memory.

230 VAC  10%

Part 1 Installation

Number of programs

Controller with increased memory size

128 programs (with gateway function) Controller without increased memory size

64 programs

Multi-tasking 16 programs Storage device Flash ROM + SRAM battery backup Data input methods Teaching pendant or PC software Absolute brake unit (brake type or absolute specification actuator only)

Built-in brake drive circuit Driven by over-excitation at 90 V, released at 45 V (steady state) There are no limitation on the number of brake axes (A 5/6-axis system with brake can be supported.)

Protective functions Motor overcurrent, overload, motor driver temperature check, overload

check, encoder open detection.

Regenerative resistance

Built-in (1 k, 20 W); expandable by external unit

Accessory I/O flat cable Standard inputs 32 points or 16 points, NPN or PNP (set before shipment) Standard outputs 16 points or 32 points, NPN or PNP (set before shipment) RS232C port for teaching serial interface

Enabled only in the manual operation mode. IAI’s dedicated teaching pendant or ANSI teaching pendant (selected by a switch)

RS232C port for general PC connection

Expanded inputs/outputs

Dedicated 2 channel RS232C, 9 pin DTE specification Half-duplex at speeds up to 115.2 kbps (1 channel) or up to 76.8 kbps (simultaneous communication with 2 channels)

Note 3)

Expandable to 3 slots

(optional) Fieldbus interface (optional) Profibus-DP (IN: 32 bytes max./OUT: 32 bytes max.)

DeviceNet (IN: 32 bytes max./OUT: 32 bytes max.) CC-Link (IN: 32 bytes max./OUT: 32 bytes max.)

Ethernet interface (optional) Packet communication (client-server communication) by TCP/IP using SEL

language X-SEL PC software connection MODBUS/TCP remote I/O (IN: 32 bytes max./OUT: 32 bytes max.)

Note 1) The withstand voltage of the actuator motor is 1000 V for 1 minute.

When performing a withstand voltage test with the controller and actuator connected, make sure the test voltage and duration will not exceed 1000 V and 1 minute, respectively.

Note 2) If one RS232C channel is used at a communication speed of 115.2 kbps, use the other channel at 38.4

kbps or below. If these speeds are exceeded, an overrun error or other problems will occur and successful communication cannot be guaranteed.

* RCS2-R**7, LS and LSA-series actuators cannot be connected as axis 5 or 6.

Part 1 Installation

1.2 QX Type (Global Specification)

1-axis to 6-axis controller Total output when maximum number of axes are connected Control power input Motor power input Single-phase specification: 200 to

Power source frequency 50/60 Hz Insulation resistance

Withstand voltage 1500 VAC for 1 minute Surrounding air temperature range Surrounding humidity range 10% to 95% (Non-condensing; conforming to JIS C3502 RH-2) Storage temperature range Protection class IP20 Drive-power cutoff method External safety circuit Emergency stop input Contact B input (Internal power-supply type, redundant) Emergency stop action Deceleration stop + Regenerative brake by timer (failsafe) Enable input Contact B input (Internal power-supply type) System ready output No voltage contact (relay) output; for generation of equipment ready signal

Axis control method AC full digital servo Position detection methods 17 bit incremental encoder (Wire-saving type)

Batteries Absolute-data backup battery: AB-5 made by IAI

Speed setting 1 mm/sec to 3000 mm/sec (Varies according to the applicable model.) Acceleration/deceleration setting Programming language Super SEL language Program steps

Number of positions

Number of programs

Multi-tasking 16 programs Storage device Flash ROM + SRAM battery backup

Single-phase specification: 1600 W Three-phase specification: 2400 W

Single phase, 200 to 230 VAC  10%

Three-phase specification: 200 to

230 VAC  10%

10 M min. (measured at 500 VDC between the power terminal and I/O terminals and between the external terminals (together) and case)

Note 1)

0 to 40C

-25C to 70C (Excluding the battery)

based on the wired-OR logic among multiple equipment. Max. 500 mA (24 VDC).

17 bit rotation data backup absolute encoder Resolution: 14 bits under both methods (16384 pulses)

System-memory backup battery: CR2032

0.01 G to 3 G (Varies according to the applicable model.)

Controller with increased memory size

9999 steps (total) (with gateway function) Controller without increased memory size Controller with increased memory size (with gateway function)

6000 steps (total)

20000 positions (total)

Position Nos. 1 to 10000 can be saved to the

battery backup memory.

Position Nos. 10001 to 20000 can be saved to

the flash memory. Controller without increased memory size

4000 positions (total)

All position data can be saved to the flash

memory. Controller with increased memory size

128 programs (with gateway function) Controller without increased memory size

64 programs

Part 1 Installation

Data input methods Teaching pendant or PC software Absolute brake unit (brake type or absolute specification actuator only)

Built-in brake drive circuit Driven by over-excitation at 90 V, released at 45 V (steady state) There are no limitation on the number of brake axes (A 6-axis system with all axes equipped with a brake can be supported.)

Protective functions Motor overcurrent, overload, motor driver temperature check, overload

check, encoder open detection

Regenerative resistance

Built-in (1 k, 20 W); expandable by external unit

Enabled only in the manual operation mode. IAI’s dedicated teaching pendant or ANSI teaching pendant (selected by a switch)

RS232C port for general PC connection

Expanded inputs/outputs

Dedicated 2 channel RS232C, 9 pin DTE specification Half-duplex at speeds up to 115.2 kbps (1 channel) or up to 76.8 kbps (simultaneous communication with 2 channels)

Note 3)

Expandable to 3 slots

(optional) Fieldbus interface (optional) Profibus-DP (IN: 32 bytes max./OUT: 32 bytes max.)

DeviceNet (IN: 32 bytes max./OUT: 32 bytes max.) CC-Link (IN: 32 bytes max./OUT: 32 bytes max.)

Ethernet interface (optional) Packet communication (client-server communication) by TCP/IP using SEL

language X-SEL PC software connection MODBUS/TCP remote I/O (IN: 32 bytes max./OUT: 32 bytes max.)

Note 1) The voltage protection rating of the actuator motor is 1000 V for 1 minute.

When performing a voltage test with the controller and actuator connected, make sure the test voltage and duration will not exceed 1000 V and 1 minute, respectively.

Note 2) If one RS232C channel is used at a communication speed of 115.2 kbps, use the other channel at 38.4

kbps or below. If these speeds are exceeded, an overrun error or other problems will occur and successful communication cannot be guaranteed.

* RCS2-R**7, LS and LSA-series actuators cannot be connected as axis 5 or 6.

1.3 Differences between QX Type (Global Specification) and PX Type (Standard Specification)

Users require different safety categories in accordance with the overall configuration of their equipment. The QX type (global specification) controller has no built-in drive source cutoff circuit so that the user can design their equipment to a desired safety category. The PX type (standard specification) controller has a built-in circuit for cutting off the drive source inside the controller using a relay. The differences between these two specifications are summarized below. Items not specified in the table are basically the same between the two specifications.

Differences between Global Specification and Standard Specification

Item QX type (global specification) PX type (standard specification)

Power input part Motor power supply and control power supply are separated.

Safety circuit configuration Redundant circuits are supported

Drive source cutoff circuit Installed externally. Built-in motor power cutoff relay Highest safety category supported

Safety category 4 (The user is responsible

for demonstrating conformance)

System I/O connector 18 pin, 2 row/2 piece connector by Phoenix Contact

ANSI TP Supported (redundant safety circuits)

TP: Teaching pendant

Redundant circuits are not

supported.

Safety category B

Supported (redundant safety

circuits are not supported)

2. External I/O Specifications

2.1. NPN Specification

(1) Input part

External Input Specifications (NPN Specification)

Item Specification

Input voltage

Input current 7 mA per circuit

ON/OFF voltage

Insulation method Photocoupler insulation

External devices

24 VDC 10%

ON voltage --- 16.0 VDC min. OFF voltage --- 5.0 VDC max.

[1] No voltage contact (minimum load of approximately 5 VDC/1 mA) [2] Photoelectric/proximity sensor (NPN type) [3] Sequencer transistor output (open-collector type) [4] Sequencer contact output (minimum load of approximately 5 VDC/1

mA)

Part 1 Installation

[Input circuit]

560 

P24*

External power supply 24 VDC 10%

Internal circuit

3.3 k

Input terminal

* P24: I/O interface pin No. 1

Caution

If a non-contact circuit is connected externally, malfunction may result from leakage current. Use a circuit in which leakage current in a switch-off state does not exceed 1 mA.

 X-SEL controller’s input signal

ON duration

At the default settings, the system recognizes the ON/OFF durations of input signals if they are approximately 4 msec or longer. The ON/OFF duration settings can also be changed using I/O parameter No. 20 (input filtering frequency).

OFF duration

Part 1 Installation

(2) Output part

External Output Specifications (NPN Specification)

Item Specification

Load voltage 24 VDC

Maximum load current 100 mA per point, 400 mA per 8 ports Note)

Leakage current 0.1 mA max. per point

Insulation method Photocoupler insulation

External devices

Note) 400 mA is the maximum total load current of every eight ports from output port No. 300 (the maximum total

load current of output port No. 300 + n to No. 300 + n + 7 is 400 mA, where n is 0 or a multiple of 8).

[1] Miniature relay [2] Sequencer input unit

TD62084 (or equivalent)

[Output circuit]

P24*

Surge absorber

Load

Internal circuit

Output terminal

External power supply 24 VDC  10%

* P24: I/O interface pin No. 1 * N: I/O interface pin No. 50

Caution

In the event that the load is short-circuited, the overcurrent protection circuit will cut the power. However, give due consideration to the circuit connection layout to prevent a short-circuit or overcurrent.

2.2. PNP Specification

(1) Input part

External Input Specifications (PNP Specification)

Item Specification

Input voltage

Input current 7 mA per circuit

ON/OFF voltage

Insulation method Photocoupler insulation

External devices

24 VDC 10%

ON voltage --- 8 VDC max. OFF voltage --- 19 VDC min.

[1] No-voltage contact (minimum load of approx. 5 VDC/1 mA) [2] Photoelectric/proximity sensor (PNP type) [3] Sequencer transistor output (open-collector type) [4] Sequencer contact output (minimum load of approx. 5 VDC/1 mA)

Part 1 Installation

[Input circuit]

Input terminal

External power

560 

supply 24 VDC 10%

Internal circuit

3.3 K

* N: I/O interface pin No. 50

Caution

If a non-contact circuit is connected externally, malfunction may result from leakage current. Use a circuit in which leakage current does not exceed 1 mA.

 X-SEL controller’s input signal

ON duration

OFF duration

Part 1 Installation

(2) Output part

External Output Specifications

Item Specification

Load voltage 24 VDC

Maximum load current 100 mA per point, 400 mA per 8 ports Note)

Leakage current 0.1 mA max. per point

Insulation method Photocoupler insulation

External devices

Note) 400 mA is the maximum total load current of every eight ports from output port No. 300 (the maximum total

load current of output port No. 300 + n to No. 300 + n + 7 is 400 mA, where n is 0 or a multiple of 8).

[1] Miniature relay [2] Sequencer input unit

TD62784 (or equivalent)

Internal circuit

Caution

[Output circuit]

10 

* P24: I/O interface pin No. 1 * N: I/O interface pin No. 50

P24

Surge absorber

Output terminal

Load

External power supply 24 VDC 10%

Part 1 Installation

3. Power Source Capacity and Heat Output

The power consumption and heat output of the X-SEL controller will vary depending on the number of connected axes and I/O configuration. This section explains how to estimate the power source capacity and heat output of your X-SEL controller.

The X-SEL controller requires the following power supplies: A. Control power

Power to the logic control part of the controller. Single-phase 200 VAC must be supplied.

B. Motor power

Power for driving the actuator. Three-phase (single-phase) 200 VAC must be supplied. * The single-phase power specification is applicable only to single-phase controllers.

C. I/O power

If a DIO card is installed in an I/O slot, 24 VDC must be supplied.

D. Brake power

24 VDC must be supplied only when a brake type actuator is driven.

(1) Power source capacity and heat output of the control part The control part consists of the standard units connected to every controller and optional units such as an I/O card. Therefore, the power consumption and heat output of the control part will vary depending on the system configuration. Additionally, heat outputs from the units operated by an external power source must also be considered. The table below lists the power consumption of various controller units.

List of Power Consumptions of teh Control Part

Control power supply External power source

Internal

consumption

External

consumption

Internal

consumption

External

consumption

Base part 13.19 W 1 Driver *1 Per board 2.63 W Encoder Per axis 1 W 1.5 W Fan unit *2 Per fan 2.4 W Axis sensor Per axis 1.92 W

DIO card

DIO (48 points) 2.5 W 6.1 W DIO (96 points) 3.5 W 11.26 W DeviceNet 1 W 0.72 W

Network module

CC-Link 1 W 0.5 W Profibus-DP 1.75 W Ethernet 2.25 W

Teaching pendant

IAI standard 1.5 W

ANSI 4.08 W Brake *3 Per axis 2.5 W 5.8 W *1 One 750 or 600-W SCARA axis occupies one board.

With actuators of 400 W or below, two axes occupy one board.

Quantity

1  3 2  6 4  6 0  2 0  4 0  4 0  1 0  1 0  1 0  1 0  1 0  1 0  4

Part 1 Installation

*2 The number of fan units varies depending on the controller specification.

The number of fan units varies as follows in accordance with the number of controller axes (whether or not linear movement axis is added) and use/no-use of any expansion I/O board. Controller Specifications and Number of Fan Units

PX QX

SCARA axes only

(without linear

movement axis)

5/6-axis

specification (with

linear movement

axis)

Without expansion

I/O board

With expansion I/O

board

Without expansion

I/O board

With expansion I/O

board

4 3

5 4

6 5

*3 For a SCARA robot with an arm length of 500 mm or more, two axes come with a brake.

For a SCARA robot with an arm length of 250 to 350 mm, one axis comes with a brake. For a SCARA robot with an arm length of 120 or 150 mm, a brake is optional. (If the system has a linear movement axis with brake, this brake is provided in addition to the brake(s) for the SCARA axis(es).)

[1] Control power source capacity

The power source capacity of the control power supply is obtained by applying the efficiency coefficient and power factor to the sum of all power consumptions of controlled units, based on the applicable values shown in the table.

Control power source capacity [VA] =  (Power consumption of each controlled unit x Quantity) 

0.7 (Efficiency coefficient)  0.6 (Power factor)

[2] Heat output of the control system

The heat output of the controller’s control system is obtained as the total sum of all internal power consumptions of controlled units and internal power consumptions of external power sources, based on the applicable values shown in the table.

Heat output from control system [W] =  (Internal power consumption of each controlled unit x Quantity) +  (Internal power consumption of each external power source x Quantity).

[3] I/O power-source capacity

The I/O power source capacity (24 VDC) is obtained as the total sum of all power consumptions of external power sources for DIO cards.

I/O power source capacity [W] =  (Internal power consumption of each external power source for DIO x Quantity)

[4] Brake power source capacity

The brake power source capacity (24 VDC) is obtained as the total sum of all power consumptions of external power sources for brakes.

Brake power source capacity [W] =  (Power consumption of each external power source for brake x Quantity)

Part 1 Installation

(2) Power consumption and heat output of the motor drive part Both the power consumption and heat output of the motor drive part will vary depending on the number of axes connected to the controller and wattage configuration. The table below lists per axis motor power consumptions.

List of Motor Drive Powers Power [W]

(rated output)

Power  0.6

[Power factor] [VA

Output stage loss

[W]

NN1205 NN1505

129.8 216.3 8.13

NN1805 NN2515H NN3515H

TNN3015H

TNN3515H

1117.9 1863.1 44.8

UNN3015H

UNN3515H NN50H NN60H

HNN5020H

HNN6020H

2218.0 3696.7 69.7

INN5020H INN6020H

NN70H

SCARA (High-speed models)

NN80H

HNN7020H

HNN8020H

3880.6 6467.7 93.2

INN7020H

INN8020H NSN5016H NSN6016H

4102.9 6838.1 95.2

List of Motor Drive Powers Power [W]

(rated output)

NN2515 NN3515

TNN3015 TNN3515

615.8 1026.3 24.75

UNN3015

UNN3515 NN50 NN60

HNN5020

HNN6020

1122.8 1871.3 44.12

INN5020

INN6020 NN70 NN80

SCARA (Conventional models)

HNN7020 HNN8020

2120.4 3534.0 78.41

INN7020

INN8020

NSN5016H NSN6016H

2003.7 3339.5 72.21

20W 15.6 26.0 1.58 30W 27.6 46.0 2.07

60W 83.0 138.3 3.39 100W 140.1 233.5 6.12 150W 196.9 328.2 8.30 200W 252.6 421.0 9.12 400W 477.5 795.8 19.76 600W 698.2 1163.7 27.20

Linear movement axis

750W 912.8 1521.3 29.77

Power  0.6

[Power factor] [VA

Part 1 Installation

Output stage loss

[W]

The power values in the table include the motor drive power, copper loss and driver output loss.

[1] Motor power source capacity

The power source capacity of the motor power supply is obtained as the total sum of all powers for the number of actuators used, based on the applicable values shown in the table.

Motor power source capacity [VA] = (Power of each axis  0.6 [Power factor])

[2] Heat output of the motor power supply

The heat output from the controller’s motor power supply is obtained as the total sum of all output stage losses for the number of actuators used, based on the applicable values shown in the table.

Heat output from motor power supply [W] = (Output stage loss of each axis)

Part 1 Installation

(3) Calculation example

Obtain the power source capacities and heat outputs when a controller of the following specifications is used. SCARA: IX-NNN5020 Linear movement axis: Axis 5 --- ISA-MXM-200-* (200 W), Axis 6 --- ISA-MZM-100-*-B (100 W, with

brake)

Standard DIO

Options: DeviceNet, teaching pendant (IAI’s standard type)

[1] Control power supply capacity

{13.19 + 2.63  3 + (1 + 1.5)  6 + 2.4  5 + 2.5  1 + 1.5}  0.7  0.6  124.0 [VA]

Base part

Drivers

Encoders

Fan units

DIO

DeviceNet

[2] Heat output from control system

{13.19 + 2.63  3 + 1  6 + 2.4  5 + 2.5 + 1} + 6.1  1 + 0.72 + 2.5  3  56.9 [W]

Base part

Drivers

Encoders

DIO

Fan units

DIO

DeviceNet

Brake

[3] I/O power-source capacity (24 VDC)

6.1  1 = 6.1 [W]

[4] Brake power source capacity (24 VDC)

(2.5 + 5.8)  3 = 24.9 [W]

[5] Motor power source capacity

SCARA: 1,871.3 [VA] Linear movement axis: 421.0 + 233.5 = 654.5 [VA]

1871.3 + 654.5 = 2525.8 [VA]

[6] Heat output from motor power supply

44.12 + 9.12 + 6.12  59.4 [W]

[7] Power source capacity

[1] Control power source capacity + [5] Motor power source capacity = 124.0 + 2525.8 = 2649.8 [VA]

[8] Heat output

[2] Heat output from control system + [6] Heat output from motor power supply = 56.9 + 59.4 = 116.3 [W]

Part 1 Installation

(4) Reference example The power supply capacity and heat output of a SCARA-axis controller (4-axis specification without additional linear movement axis) are shown below. All figures assume use of a standard DIO board, with DeviceNet support and a teaching pendant (IAI’s standard type) added as options.

(High-speed models)

(Conventional models)

Arm length: 120 to 180 mm

NN1205/1505/1805

Arm length: 250 to 350 mm

NN2515/3515H NN3015/3515H

Arm length: 500 to 600 mm

NN5020H (5030H) /6020H (6030H) NN5020H (5030H) /6020H (6030H)

Arm length: 700 to 800 mm

NN7020H (7030H) /8020H (8030H) NN7020H (7030H) /8020H (8030H)

High-speed type NSN5016H/6016H

Arm length: 250 to 350 mm

NN2515/3515H NN3015/3515H

Arm length: 500 to 600 mm

NN5020H (5030H) /6020H (6030H) NN5020H (5030H) /6020H (6030H)

Arm length: 700 to 800 mm

NN7020H (7030H) /8020H (8030H) NN7020H (7030H) /8020H (8030H)

High-speed type NSN5016H/6016H

Power supply capacity [VA]

340.3 50.5

1987.1 78.5

3820.7 97.9

6591.7 134.8

6962.1 128.6

1150.3 69.7

1995.3 91.5

3658.0 130.8

3463.5 124.6

Heat output [W]

Part 1 Installation

4. External Dimensions

4.1 List of External Dimension Drawings

The external controller dimensions vary depending on the SCARA model (arm length) and whether or not a linear movement axis or expansion I/O board is used, among others. The table below lists the external dimension drawing numbers applicable to the respective specifications.

NN2515 NN3515

SCARA axes

only

With linear

movement axis

(5/6-axis

specification)

Without

expansion I/O

board

With expansion

I/O board

Without

expansion

I/O board

With

expansion

I/O board

*1 4-3 4-11

*2 4-7 4-15

*1 4-4 4-12

*2 4-8 4-16

TNN2515 TNN3515

NN1205 NN1505 NN1805

UNN2515

UNN3515 NN50 NN60

(Arm length 120

to 180 mm)

PX type QX type PX type QX type PX type QX type PX type QX type

HNN5020 HNN6020

INN5020 INN6020

(Arm length 250 to

600 mm)

4-1 4-9 4-5 4-13 4-7 4-15 4-7 4-15

4-2 4-10 4-6 4-14 4-8 4-16 4-8 4-16

4-7 4-15 4-7 4-15 - -

4-8 4-6 4-8 4-16 - -

70

NN80

HNN7020 HNN8020

INN7020 INN8020

Arm length

700/800 mm)

NSN5016 NSN6016

(High-speed type)

*1: Incremental linear movement axis without brake *2: Absolute linear movement axis or linear movement axis with brake

Part 1 Installation

4.2 PX/QX Type (Three-phase Standard Specification, Single-phase Global Specification, Single-phase Standard Specification) Controller

Fig. 4-1 PX/QX Type (Three-phase Standard Specification, Single-phase Global Specification,

Single-phase Standard Specification)

 4-axis specification, SCARA arm length 120/150/180 mm, without expansion I/O board

(80)

3-5

49.549.5 75 75

195

186

180

249 265

125.3

Example of applicable model: X-SEL-PX-NNN1205-N1-EEE-2-3

Fig. 4-2 PX/QX Type (Three-phase Standard Specification, Single-phase Global Specification,

Single-phase Standard Specification)

195

186

 4-axis specification, SCARA arm length 120/150/180 mm, with expansion I/O board

12041

180

120

3-5

322 338

Example of applicable model: X-SEL-PX-NNN1205-N1-N1N1N1-2-3

Fig. 4-3 PX/QX Type (Three-phase Standard Specification, Single-phase Global

Specification, Single-phase Standard Specification)

 5/6-axis specification, SCARA arm length 120/150/180 mm, without expansion I/O

board, with incremental linear movement axis without brake

22 120 120

195

186

180

284 300

3-5

Part 1 Installation

Example of applicable model: X-SEL-PX-NNN1205-200I-200I-N1-EEE-2-3

Fig. 4-4 PX/QX Type (Three-phase Standard Specification, Single-phase Global Specification,

Single-phase Standard Specification)

 5/6-axis specification, SCARA arm length 120/150/180 mm, with expansion I/O board, with

incremental linear movement axis without brake

3-5

58.5

195

186

58.5 120 120

180

Example of applicable model: X-SEL-PX-NNN1205-200I-200I-N1-N1N1N1-2-3

357 373

Part 1 Installation

Fig. 4-5 PX/QX Type (Three-phase Standard Specification, Single-phase Global Specification,

Single-phase Standard Specification)

 4-axis specification, SCARA arm length 250 to 600 mm, without expansion I/O board

3-5

75 59.5

195

186

59.5 75

180

269 285

Example of applicable model: X-SEL-PX-NNN2515-N1-EEE-2-3

Fig. 4-6 PX/QX Type (Three-phase Standard Specification, Single-phase Global Specification,

Single-phase Standard Specification)

 4-axis specification, SCARA arm length 250 to 600 mm, with expansion I/O board

3-5

195

186

180

51 120 120

342 358

Example of applicable model: X-SEL-PX-NNN2515-N1-N1N1N1-2-3

Part 1 Installation

Fig. 4-7 PX/QX Type (Three-phase Standard Specification, Single-phase Global Specification,

Single-phase Standard Specification)

 5/6-axis specification, SCARA arm length 250 to 600 mm, without expansion I/O board  5/6-axis specification, SCARA arm length 120/150/180 mm, without expansion I/O board, with

absolute linear movement axis or linear movement axis with brake

 SCARA arm length 700/800 mm, without expansion I/O board  High-speed type, without expansion I/O board

Availability and position of the motor connector/encoder-axis sensor connector varies depending on the SCARA model.

3-5

195

186

42 120 120

180

324 340

Example of applicable model

: X-SEL-PX-NNN5020-400AB-200AB-N1-EEE-2-3

Fig. 4-8 PX/QX Type (Three-phase Standard Specification, Single-phase Global Specification,

Single-phase Standard Specification)

 5/6-axis specification, SCARA arm length 250 to 600 mm, with expansion I/O board  5/6-axis specification, SCARA arm length 120/150/180 mm, with expansion I/O board, with

absolute linear movement axis or linear movement axis with brake

 SCARA arm length 700/800 mm, with expansion I/O board  High-speed type, with expansion I/O board

Availability and position of the motor connector/encoder-axis sensor connector varies depending on the SCARA model.

3-5

78.5

195

186

78.5 120 120

180

Example of applicable model: X-SEL-PX-NNN5020-400AB-200AB-N1-N1N1N1-2-3

397 413

4.3 QX Type (Three-phase Global Specification) Controller

Fig. 4-9 QX Type (Three-phase Global Specification)

 4-axis specification, SCARA arm length 120/150/180 mm, without expansion I/O board

Part 1 Installation

(80)

195

186

180

206 222

3-5

2875

Example of applicable model: X-SEL-QX-NNN1205-N1-EEE-2-3

Fig. 4-10 QX Type (Three-phase Global Specification)

 4-axis specification, SCARA arm length 120/150/180 mm, with expansion I/O board

64.5 75

3-5

64.575

125.3

195

186

180

279 295

Example of applicable model: X-SEL-QX-NNN1205-N1-N1N1N1-2-3

Fig. 4-11 QX Type (Three-phase Global Specification)

 5/6-axis specification, SCARA arm length 120/150/180 mm, without expansion I/O

board, with incremental linear movement axis without brake

3-5

45.575

195

45.5 75

186

180

241 257

Example of applicable model: X-SEL-QX-NNN1205-200I-200I-N1-EEE-2-3

Part 1 Installation

Fig. 4-12 QX Type (Three-phase Global Specification)

 5/6-axis specification, SCARA arm length 120/150/180 mm, with expansion I/O

board, with incremental linear movement axis without brake

195

186

37 120

180

Example of applicable model: X-SEL-QX-NNN1205-200I-200I-N1-N1N1N1-2-3

314 330

120

3-5

Fig. 4-13 QX Type (Three-phase Global Specification)

 4-axis specification, SCARA arm length 250 to 600 mm, without expansion I/O board

Part 1 Installation

3-5

3875

195

186

180

226 242

Example of applicable model: X-SEL-QX-NNN2521-N1-EEE-2-3

Fig. 4-14 QX Type (Three-phase Global Specification)

 4-axis specification, SCARA arm length 250 to 600 mm, with expansion I/O board

29.5 120

3-5

29.5120

195

186

180

Example of applicable model: X-SEL-QX-NNN2515-200I-200I-N1-N1N1N1-2-3

299 315

Fig. 4-15 QX Type (Three-phase Global Specification)

 5/6-axis specification, SCARA arm length 250 to 600 mm, without expansion I/O board  5/6-axis specification, SCARA arm length 120/150/180 mm, without expansion I/O board, with

absolute linear movement axis or linear movement axis with brake

 SCARA arm length 700/800 mm, without expansion I/O board  High-speed type, without expansion I/O board

Availability and position of the motor connector/encoder-axis sensor connector varies depending on the SCARA model.

Part 1 Installation

20.5 120

195

186

180

281 297

Example of applicable model: X-SEL-QX-NNN5020-400AB-200AB-N1-EEE-2-3

Fig. 4-16 QX Type (Three-phase Global Specification)

 5/6-axis specification, SCARA arm length 250 to 600 mm, with expansion I/O board  5/6-axis specification, SCARA arm length 120/150/180 mm, with expansion I/O board, with

absolute linear movement axis or linear movement axis with brake

 SCARA arm length 700/800 mm, with expansion I/O board  High-speed type, with expansion I/O board

Availability and position of the motor connector/encoder-axis sensor connector varies depending on the SCARA model.

3-5

20.5120

57 120

195

186

180

Example of applicable model: X-SEL-QX- NNN5020-400AB-200AB-N1-N1N1N1-2-3

354 370

3-5

57120

Part 1 Installation

Chapter 6 Safety Circuit

The circuit configuration for embodying safety actions such as emergency stop is different between the standard specification and global specification of the X-SEL controller. The standard controller has a built-in drive source cutoff circuit conforming to safety category B. The global controller has no built-in drive source cutoff circuit so that the user can configure an external safety circuit appropriate for their equipment configuration.

1. Items to Notes

The following explains the items to note regarding the safety circuit, which apply to both the standard specification and global specification.

1. Overview of emergency stop action

The emergency stop control line (drive source cutoff control line) consists entirely of wires. When an emergency stop operation is performed, the controller will execute a stop action of category 1. Specifically, it will stop the actuator at the deceleration for emergency stop as specified by a parameter, and turn off the servo. At this time, the drive source will also be cut off inside the standard controller. With the global controller, the drive source must be cut off externally to the controller.

As for recovery from an emergency stop state (including recovery of the drive source), an automatic reset using the emergency stop switch or a method requiring both an emergency stop switch action and an external input signal can be selected by a parameter (I/O parameter No. 44). During an emergency stop, the status can be output to an external device (set by I/O parameter No.

48).

2. Overview of enabling action

Enabling operation (via the safety gate or the deadman switch on the teaching pendant) implements an action similar to the emergency stop action, except that an emergency stop status is not output.

3. Controller operation modes and safety switches on the teaching pendant

The deadman switch on the teaching pendant is enabled only when the controller is in the MANU mode. The emergency stop switch on the teaching pendant is always enabled as long as the teaching pendant is connected to the controller.

4. Connecting a teaching pendant while the controller is operating in the AUTO mode

Connecting a teaching pendant to the controller or removing the connected teaching pendant while the controller is operating in the AUTO mode may trigger an emergency stop. Do not connect/remove a teaching pendant while the controller is operating in the AUTO mode.

5. Applying voltage to the system I/O

The safety circuit of the X-SEL controller is designed to operate with 24 VDC. Therefore, never apply 100 or 200 VAC to the system I/O. Doing so may damage the internal circuitry of the controller.

The following pages explain the safety circuit of each controller specification in details.

Part 1 Installation

2. Safety Circuit for PX Type (Standard Specification) Controller

The PX type controller has a built-in drive source cutoff circuit just like IAI’s other controllers. The drive source cutoff circuit consists of a relay and conforms to safety category B. If your equipment must meet a higher safety category, use the QX type (global specification) controller explained later. Connect the control power supply and motor power supply to the same power source and also turn on/off the control power supply and motor power supply at the same time. The teaching pendant port can be connected to either an IAI’s standard teaching pendant or ANSI teaching pendant. Note, however, that redundant safety circuits cannot be configured even if an ANSI teaching pendant is used. Set the teaching pendant type switch located above the teaching pendant connector to the position appropriate for the teaching pendant used. Set the switch to the left for an ANSI teaching pendant, or to the right for IAI’s standard teaching pendant. Note: If the teaching pendant type switch is not set properly, the safety gate switch will not function. The emergency stop line and enabling line are driven by the controller’s internal power supply. It should be noted that the safety circuit cannot be driven by an external power source. Do not use the internal power supply provided for the system I/O connector, for any other purpose. It may damage the equipment or cause it to malfunction.

The tables below list the signals and wiring methods of the safety circuit interface connector.

System I/O Connector for PX Type

Item Overview Details

COMBICON (2-row, 9-pin) MCD1.5/9-G1-3.5P26THR (by Phoenix Contact)

Connector

Cable end connector FMC1.5/9-ST-3.5

Applicable cable size 0.2 to 1.3 mm

(AWG24-16)

Terminal Assignments

Signal

No.

name

9 DET IN Not connected Not used

8 IN To external EMG Emergency-stop detection input

EMGin

6 line+

Left

EMG1

4 line+ Not connected

EMG2

2 Out+ Not connected

SDN

18 DET +24 V Not connected Not used

17 IN To external ENB Enable detection input

ENBin

15 line+

Right

ENB1

13 line+ Not connected

ENB2

11 Out+

RDY

Overview Details

+24 V

Shorted Wired before shipment

24 V power output for emergency-stop detection input

Emergency stop switch 1

line- To external EMG

Wire circuit 1 connected to EMG of the TP

Not used

line- Not connected

External relay drive cutoff contact outputs

Out- Not connected

+24 V 24 V power output for enable detection input

line- To external ENB

Shorted Wired before shipment

Enable switch 1 (safety gate, etc.) Wire circuit 1 connected to ENB of the TP

Not used

line- Not connected

Out-

May be used if necessary

Ready signal contact outputs (dry contacts) (for inductive load of up to 400 mA)

Part 1 Installation

With the PX type, use only the signals shown in the shaded fields of the table for connection with the safety switches. Ensure that the specified pins are wired correctly, as incorrect wiring will compromise the safety mechanisms of the controller. The RDYOUT contacts will close only when the controller has started properly. By connecting these contacts in series with similar contacts of other equipment, the soundness of the entire system can be checked easily.

PX type X-SEL controller External emergency stop circuit

Emergency stop switch

Enable switch

Part 1 Installation

3. Safety Circuit for QX Type (Global Specification) Controller

The global controller has no internal drive source cutoff circuit so that the user can configure a desired drive source cutoff circuit externally to the controller to conform to the required safety category. The safety circuit consists of two circuits: the emergency stop (EMG) circuit and enable (ENB) circuit. Each circuit adopts a redundant design, so a safety circuit conforming to a higher safety category of up to level 4 can be configured using an external drive source cutoff circuit. Since this controller has no built-in drive source cutoff circuit, be sure to install a drive source cutoff circuit in the motor power circuit. It is recommended that the control power supply be wired from the same power source as the motor power supply at a point before the drive-source cutoff part is connected. Please note that IAI is not liable for any losses arising from a malfunction of the safety circuit configured by the user. The ANSI safety standard can be met only when an ANSI teaching pendant is connected to the teaching port. The redundant emergency stop lines and enabling lines are designed with the assumption that they will be driven by a power source external to the controller. Note, however, that the inputs to the contacts that provide for emergency stop action and enabling action operate on the internal power supply. Do not use the internal power supply provided for the system I/O connector for any other purpose. It may damage the equipment or cause it to malfunction.

The tables below list the signals and wiring methods of the safety circuit interface connector. The connector pin assignments and internal circuit components are the same as those of the standard specification.

System I/O Connector for QX type

Item Overview Details

Connector

COMBICON (2-row, 9-pin) MCD1.5/9-G1-3.5P26THR (by Phoenix Contact)

Cable end connector FMC1.5/9-ST-3.5 Applicable cable size 0.2 ~ 1.3 mm

(AWG24-16)

Terminal Assignments

Left

Right

No.

18 DET +24 V

17 IN Enable detection input 16 15 line+ 14 13 line+ 12 11 Out+ 10

Signal

name

9 DET IN

8 IN Emergency stop detection input

EMGin

7 6 line+

EMG1

5 4 line+

EMG2

3 2 Out+

SDN

ENBin

ENB1

ENB2

RDY

+24 V

line-

Out-

+24 V

line-

Out-

Part 1 Installation

Overview Details

To fused-contact detection circuit

To EMG status of safety circuit To EMG switch circuit 1

To EMG switch circuit 2

To interlock of safety circuit

To fused-contact detection circuit

To EMB status of safety circuit

To enable circuit 1

To enable circuit 2

May be used if necessary

External contact error input (paired with No. 18) Connected to the fused contact detection contacts of the safety circuit.

24 V power output for emergency stop detection input Emergency stop switch 1 Wire circuit 1 connected to EMG of the TP Emergency-stop switch 2 Wire circuit 2 connected to EMG of the TP External relay drive cutoff contact output Signal for requesting the controller to cutoff the drive source 24 V power output for external contact error input Connected to the fused contact detection contacts of the safety circuit.

24 V power output for enable detection input Enable switch 1 (safety gate, etc.) Wire circuit 1 connected to ENB of the TP Enable switch 2 Wire circuit 2 connected to ENB of the TP Ready signal contact outputs (for inductive load of up to 400 mA)

In the table, the signals shown in fields (EMGin, EMG1, SDN, ENBin, ENB1) must always be connected regardless of the required safety category. If these signals are not connected, the safety functions will be compromised. In the table, the signals shown in fields (EMG2, ENB2) must be connected to meet safety category 3 or above. They are designed to provide redundant safety circuits. In the table, the signal shown in fields (DET) provides an input for detecting malfunction of the safety circuit (mainly fused relay contacts). This signal is disabled when the controller is shipped. To enable the DET input, set bits 8 to 11 of I/O parameter No. 24 to “1” (= change I/O parameter No. 24 from the default setting of 10000 to 10100). Be sure to use this signal if you want the X-SEL controller to detect fused contacts. If the safety circuit is configured as a closed system to manage fused contacts and other problems independently, safety category 4 can be met without connecting this signal to the controller.

 DET

DET (IN) and DET (+24V) are dry contact input terminals consisting of a photocoupler. By inputting fused contact detection signals from the drive source cutoff safety circuit, the controller will be able to detect problems in the external safety circuit. To use the DET terminal, change I/O parameter No. 24 from the default setting of 10000 to 10100 (by setting bits 8 to 11 of I/O parameter No. 24 to “1”).

 SDN

SDN (OUT+) and SDN (OUT-) are output contacts that remain open while the controller is prohibiting the motor power supply from the external power source. This condition will occur immediately after the controller power is turned on, when an error occurs in the equipment, or when a drive source cutoff cancellation command is not received by the EMG or ENB line. Configure the circuit in such a way that the drive source will never be turned on when these contacts are open. When turning on the power, turn on the controller power first, confirm that the SDN contacts are closed, and then turn on the drive power. (If the control power and drive power are turned on simultaneously, “E6D: Drive-source cutoff relay error” will generate.

Part 1 Installation

 EMG1/EMG2, ENB1/ENB2

EMG1 (line+)/(line-) and EMG2 (line+)/(line-) are redundant emergency stop control lines. ENB1 (line+)/(line-) and ENB2 (line+)/(line-) are redundant enabling control lines. Use these lines to cut off the external drive source. Since they are completely dry signal lines, configure a relay circuit using an external power source.

 EMGin, ENBin

EMGin (IN) and EMGin (+24V) are contact inputs that notify the controller of the drive source cutoff input received by the drive source cutoff circuit via an EMG signal. ENBin (IN) and ENBin (+24V) are contact inputs that notify the controller via an ENB signal. These contact signals are used to decelerate the actuator to a stop or turn off the servo. Normally, a safety relay output is connected to each of these inputs.

 RDY

RDY (OUT+) and RDY (OUT-) are output contacts that will close only when the controller has started properly. By connecting these contacts in series with similar contacts of other equipment, the soundness of the entire system can be checked easily.

Power supply part

Part 1 Installation

QX Type X-SEL Controller

Digital control part

DC bus

To power stage

Teaching pendant

Mushroom emergencystop switch

EMG SW contact 1

EMG SW contact 2

Rectifier

Not installed

AC cutoff relay

External emergency-stop reset contact output

Power-on reset

MPSDW N bit

Power error

Double-position enablingcontrol switch

DEADMAN SW contact 1

DEADMAN SW contact 2

Emergency-stop status

Enable status

External Emergency Stop Circuit

Part 1 Installation

200-VAC,

three-

phase

External emergency-stop switch

External EMG switch contact 1

External EMG switch contact 2

Safety gate switch

External SGATE contact 1

Contactor (NEO SC)

Reset switch

Relay

Contactor (NEO SC)

Safety relay unit (G9SA-301 by Omron)

External SGATE contact 2

Part 1 Installation

4. Timing Chart of Safety Circuit for QX-type SEL Controller

A timing chart of the safety circuit for QX-type SEL controller is shown below. The points in time shown in this timing chart are: “[1] Power on,” “[2] Emergency stop,” “[3] Power on without cancelling emergency stop,” “[4] Enable operation,” “[5] System shutdown level error,” [6] “Cold start level error,” “[7] Operation cancellation level error,” “[8] Power on (in combination with cutoff reset input),” and “[9] Emergency stop (in combination with cutoff reset input).”

[1] Power on

200-VAC control power

Normal CPU start

I/O output signal: Port No. 301 Ready output

Rdy (system I/O)

SDN (system I/O)

EMG1, EMG2 (system I/O)

ENB1, ENB2 (system I/O)

Occurrence of secret level error

Occurrence of message level error

Occurrence of operation cancellation level error

Occurrence of cold start level error

Occurrence of system shutdown level error

 I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger

program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are detected).

 I/O parameter No. 44 = 0: The drive-source cutoff reset input is not yet used.  I/O parameter No. 47 = 3: Output function 301 = READY output (PIO program operation

enabled and no errors of cold start level or higher have occurred).

[2] Emergency stop

200-VAC control power

Normal CPU start

I/O output signal: Port No. 301 Ready output

Rdy (system I/O)

SDN (system I/O)

EMG1, EMG2 (system I/O)

ENB1, ENB2 (system I/O)

Part 1 Installation

Emergency stop SW = ON Emergency stop SW = OFF

Occurrence of secret level error

Occurrence of message level error

Occurrence of operation cancellation level error

Occurrence of cold start level error

Occurrence of system shutdown level error

 I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger

program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are detected).

 I/O parameter No. 44 = 0: The drive-source cutoff reset input is not yet used.  I/O parameter No. 47 = 3: Output function 301 = READY output (PIO program operation

enabled and no errors of cold start level or higher have occurred).

[3] Power on without cancelling emergency stop

200-VAC control power

Normal CPU start

I/O output signal: Port No. 301 Ready output

Rdy (system I/O)

SDN (system I/O)

Part 1 Installation

EMG1, EMG2 (system I/O)

Rdy and SDN = ON due to cancellation of emergency stop

ENB1, ENB2 (system I/O)

Occurrence of secret level error

Occurrence of message level error

Occurrence of operation cancellation level error

Occurrence of cold start level error

Occurrence of system shutdown level error

Assume that the same timings will apply when the power is turned on without performing an enable operation.

 I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger

 I/O parameter No. 44 = 0: The drive-source cutoff reset input is not yet used.  I/O parameter No. 47 = 3: Output function 301 = READY output (PIO program operation

program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are detected).

enabled and no errors of cold start level or higher have occurred).

[4] Enable operation

200-VAC control power

Normal CPU start

I/O output signal: Port No. 301 Ready output

Rdy (system I/O)

SDN (system I/O)

EMG1, EMG2 (system I/O)

ENB1, ENB2 (system I/O)

Part 1 Installation

Enable SW = ON Enable SW = OFF

Occurrence of secret level error

Occurrence of message level error

Occurrence of operation cancellation level error

Occurrence of cold start level error

Occurrence of system shutdown level error

 I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger

program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are detected).

 I/O parameter No. 44 = 0: The drive-source cutoff reset input is not yet used.  I/O parameter No. 47 = 3: Output function 301 = READY output (PIO program operation

enabled and no errors of cold start level or higher have occurred).

[5] System shutdown level error

200-VAC control power

Normal CPU start

I/O output signal: Port No. 301 Ready output

Rdy (system I/O)

SDN (system I/O)

EMG1, EMG2 (system I/O)

ENB1, ENB2 (system I/O)

Part 1 Installation

Occurrence of secret level error

Occurrence of message level error

Occurrence of operation cancellation level error

Occurrence of cold start level error

Occurrence of system shutdown level error

 I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger

program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are detected).

 I/O parameter No. 44 = 0: The drive-source cutoff reset input is not yet used.  I/O parameter No. 47 = 3: Output function 301 = READY output (PIO program operation

enabled and no errors of cold start level or higher have occurred).

[6] Cold start level error

200-VAC control power

Normal CPU start

I/O output signal: Port No. 301 Ready output

Part 1 Installation

Rdy (system I/O)

SDN (system I/O)

EMG1, EMG2 (system I/O)

ENB1, ENB2 (system I/O)

Occurrence of secret level error

Occurrence of message level error

Occurrence of operation cancellation level error

Occurrence of cold start level error

Occurrence of system shutdown level error

The timings of SDN and Rdy may be slightly early or late depending on the nature of the error.

 I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger

 I/O parameter No. 44 = 0: The drive-source cutoff reset input is not yet used.  I/O parameter No. 47 = 3: Output function 301 = READY output (PIO program operation

program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are detected).

enabled and no errors of cold start level or higher have occurred).

[7] Operation cancellation level error

200-VAC control power

Normal CPU start

I/O output signal: Port No. 301 Ready output

Rdy (system I/O)

SDN (system I/O)

EMG1, EMG2 (system I/O)

ENB1, ENB2 (system I/O)

Part 1 Installation

Occurrence of secret level error

Occurrence of message level error

Occurrence of operation cancellation level error

Rdy and SDN are not affected by errors of operation cancellation level or lower.

Occurrence of cold start level error

Occurrence of system shutdown level error

 I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger

program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are detected).

 I/O parameter No. 44 = 0: The drive-source cutoff reset input is not yet used.  I/O parameter No. 47 = 3: Output function 301 = READY output (PIO program operation

enabled and no errors of cold start level or higher have occurred).

[8] Power on (in combination with drive-source cutoff reset input)

200-VAC control power

Normal CPU start

I/O input signal: Port No. 14 Drive-source cutoff reset input

I/O output signal: Port No. 301 Ready output

Rdy (system I/O)

SDN (system I/O)

Part 1 Installation

EMG1, EMG2 (system I/O)

ENB1, ENB2 (system I/O)

 I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger

program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are detected).

 I/O parameter No. 44 = 0: The drive-source cutoff reset input is not yet used.  I/O parameter No. 47 = 3: Output function 301 = READY output (PIO program operation

enabled and no errors of cold start level or higher have occurred).

[9] Emergency stop (in combination with drive-source cutoff reset input)

200-VAC control power

Normal CPU start

I/O input signal: Port No. 14 Drive-source cutoff reset input

I/O output signal: Port No. 301 Ready output

Rdy (system I/O)

SDN (system I/O)

EMG1, EMG2 (system I/O)

Emergency stop SW = ON Emergency stop SW = OFF

ENB1, ENB2 (system I/O)

Part 1 Installation

 I/O parameter No. 24, bits 0 to 3 = 0: The RDYOUT output (system I/O) is SYSRDY (PIO trigger

program operation enabled) and the hardware is normal (emergency stop is not actuated and no hardware errors are detected).

 I/O parameter No. 44 = 0: The drive-source cutoff reset input is not yet used.  I/O parameter No. 47 = 3: Output function 301 = READY output (PIO program operation

enabled and no errors of cold start level or higher have occurred).

Chapter 7 System Setup

1. Connection Method of Controller and Actuator

1.1 Connection Diagram for PX Type (Standard Specification)

Emergency-

stop switch

Three-phase specification CP: Single-phase 200 to 230 VAC

power supply

MP: Three-phase 200 to 230 VAC

power supply Single-phase specification CP: Single-phase 200 to 230 VAC

power supply MP: Three-phase 200 to 230 VAC

power supply

Auxiliary power

device circuit

Enable

switch

bsolute-encoder backup battery enable/disable switch for linear movement axis

Teaching-pendant type switch

Part 1 Installation

24-V power

source

Regenerative unit (optional)

Axis 6

Axis 5

Brake/ absolute

PC connection cable

CB-STE1MW050

unit

24-V power

source

Host system

Teaching pendant (optional)

PC software IA-101-X-MW

(PLC)

1.2 Connection Diagram for QX Type (Global Specification)

Three-phase specification CP: Single-phase 200 to 230 VAC

power supply

MP: Three-phase 200 to 230 VAC

power supply Single-phase specification CP: Single-phase 200 to 230 VAC

power supply MP: Three-phase 200 to 230 VAC

power supply

Auxiliary power

device circuit

Safety circuit

bsolute-encoder backup battery enable/disable switch for linear movement axis

Part 1 Installation

24-V power

source

Regenerative unit (optional)

Axis 6

Axis 5

Brake/

absolute unit

PC connection cable CB-ST-A1MW050

24-V power

source

Host system

(PLC)

Teaching pendant (optional)

Dummy plug (for

AUTO operation)

PC software IA-101-XA-MW

Warning : The internal components of the controller may burn if the following cable is used to connect

XSEL-QX to a computer.

PC software IA-101-X-MW

Accessory cable CB-ST-E1MW050 (black) Even though the PC software can be used, make sure to use the cable CB-ST-A1MW050 (gray).

Part 1 Installation

The positions of motor connectors and encoder connectors vary depending on the SCARA type. The figure below shows where the motor connectors and encoder connectors are located for each SCARA type, as viewed from the front side of the controller.

Arm length 700/800 High-speed type (NSN**----)

Encoder connector

for additional linear

movement axis

Motor connector

for additional linea

movement axis

Other than the above

Encoder connector for additional linear

movement axis

Encoder connector

for SCARA axis

Motor

connector for

SCARA axis

Encoder connector

for SCARA axis

Encoder connector

for SCARA axis

Motor

connector for

SCARA axis

Motor connector

for additional linea

movement axis

Motor

connector for

SCARA axis

IAI X-SEL QX, X-SEL PX Operation Manual

Specifications and Main Features

Frequently Asked Questions

User Manual