IAI XSEL-R, XSEL-S, XSEL-RX, XSEL-SX, XSEL-RXD First Step Manual

XSEL-R/S, RX/SX, RXD/SXD

First Step Guide Seventh Edition

Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.

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

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

trademarks.

Product Check

This product is comprised of the following parts if it is of standard configuration:
If you find any fault in the contained model or any missing parts, contact us or our distributor.

1. Parts (Options are excluded.)

Quantity

No. Part Name Remarks

R/RX/RXD S/SX/SXD

1 Controller

Refer to “How to read the model plate” and
“How to read the model of the controller.”

Accessories

2 System I/O plug MC1.5/9-ST-3.5 (Maker: PHOENIX CONTACT) 2 2

3 AC Power Supply plug

GMSTB2.5/6-STF-7.62
(Maker: PHOENIX CONTACT)

1 1

In the case of XSEL-SX4-NNN10040 or 12040
PC4/6- STF-7.62 (Maker: PHOENIX CONTACT)

-

1

4 Brake Power Input Plug MC1.5/2-ST-3.5 (Maker: PHOENIX CONTACT) 1 1
5 Dummy plug DP-2 - 1
6 First Step Guide 1 1
7 Operation Manual (DVD) 1 1
8 Safety Guide 1 1

2. Teaching tool (Optional accessory)

The personal computer application software or teaching pendant is required for the operations
including program creation and setup such as position setting and parameter setting with teaching.
Any of teaching tools needs to be prepared.

Applicable
Controller

No. Part Name Model

R/RX/RXD S/SX/SXD

1 PC Software (with RS232C Cable + Emergency Stop Box) IA-101-X-MW { ×

2

PC Software (with USB Conversion Adapter + RS232C Cable +
Emergency Stop Box)

IA-101-X-USBMW

{ ×

3

PC Software
(Safety Categories 4 compliance cable + Emergency Stop Box)

IA-101-XA-MW

{ {

4 Teaching pendant SEL-T { {
5 Teaching pendant (with deadman switch) SEL-TD { {

6

Teaching pendant
(with deadman switch + TP adapter (IA-LB-TG))

SEL-TG

{ {

7 Teaching pendant IA-T-X { ×
8 Teaching pendant (with deadman switch) IA-T-XD { ×

3. Operation manuals related to this product, which are contained in the operation manual
(DVD).

No. Name

Manual No.

1 XSEL-R/S/RX/SX/RXD/SXD Operation Manual

ME0313

2

SEL language programming manual ME0224

3

XSEL Controller P/Q/PX/QX/PCT/QCT/R/S/RX/SX/RXD/SXD
RC Gateway Function Operation Manual

ME0188

4

PC Software IA-101-X-MW/IA-101-X-USBMW Operation Manual ME0154

5

Teaching pendant SEL-T/TD/TG Operation Manual ME0183

6

Teaching pendant IA-T-X/XD Operation Manual ME0160

7

DeviceNet Operation Manual ME0124

8

CC-Link Operation Manual ME0123

9 PROFIBUS Operation Manual ME0153

10 EtherNet Operation Manual ME0140
11 EtherCAT Operation Manual ME0309
12 EtherNet/IP Operation Manual ME0308
13 IA Net Operation Manual ME0307

4. How to read the model plate

5. How to read the model

5.1 Controller for Single-Axis Robots and Orthogonal Robots

*1 In this type, the safety circuit can be configured with the motor driving power source separated.
Note 1 Any of the RCS2-R**7 series, RCS-RB75 series unit, RCS-G20, RCS-R* or the linear motor actuator

(LSA) is not connected

5.2 SCARA Robot + Controller for Single-Axis Robots and Orthogonal Robots (4 axes Max.)

*1 In this type, the safety circuit can be configured with the motor driving power source separated.
Note 1 RCS2-R**7 Series, RCS-RB75 Series, RCS-G20, RCS-R* and Linear Motor Actuator (LSA) are to be

connected using the relay box.

[Restrictions on Connected Axes to XSEL-RX/SX]

Total Wattage and Number of Connectable Axes

SCARA Model

Single-phase type 3-phase type

IX-NNN1205/1505/1805 1500W in total or less

4 axes at maximum
750W max. for 1 axis

1500W in total or less
4 axes at maximum
750W max. for 1 axis

IX-N2515H/3015H/3515H 1500W in total or less

4 axes at maximum
750W max. for 1 axis

IX-N5020H/6020H 600W in total or less

4 axes at maximum
600W max. for 1 axis

IX-N70H/80H unavailable
IX-NSN5016H/6016H unavailable
IX-NNN10040/12040 unavailable

5.3 Controller for SCARA Robot 2-Unit Connection Dedicated

※1 モータ駆動源を分離した安全保護回路の構成ができるタイプ

*1 In this type, the safety circuit can be configured with the motor driving power source separated.

[Limitations in SCARA Robot Combination in XSEL-RXD/SXD]
(1) 3-phase type

First Unit Second Unit
IX-NNN1205/1505/1805
IX-N2515H/3015H/3515H

IX-NNN1205/1505/1805
IX-N2515H/3015H/3515H

IX-N5020H/6020H IX-NNN1205/1505/1805

Basic Specifications

Specifications

Specification Item XSEL-R/RX/RXD XSEL-S/SX/SXD

Number of controlled axes

XSEL-R/S : 1-axis to 8-axis
XSEL-RX/SX : SCARA Robot 1-axis to 4-axis, Additional 5-axis to 8-axis
XSEL-RXD/SXD : SCARA Robot 1-axis to 4-axis , 5-axis to 8-axis

Applicable motor capacity 20W to 750W
Total connectable wattage 3-phase type controller: 2400W Single-phase type controller: 1600W
Control Power supply voltage Single-phase AC200V to 230V±10%
Motor Driving Source Voltage 3-phase AC200V to 230V±10% / Single-phase AC200V to 230V±10%
Power Supply Frequency 50Hz/60Hz

Control power supply 60A

Less than 1200W 60A (MAX.)

Rush Current

(Note 1)

Motor
drive
power
supply

1200W or more 120 A (MAX.)

Control power supply 0.4mA 0.2mA Leakage

Current

(Note 2)

(Excluding Higher
Harmonic Content)

Motor drive power
supply

2mA or less

Heat Generation [Refer to the Item for the Power Capacity and Heating Value]
PIO Power Supply

(Note 3)

DC24V±10%
Electromagnetic Brake Power Supply
(For the actuator with the brake)

DC24V±10% Per 1 actuator Approx. 0.35A
(Supplied from external equipment)

Transient Power Cutoff Durability

10ms (when power source frequency 50Hz is used),

8ms (when power source frequency 60Hz is used)
Motor Control System AC Full - digital Servo
Applicable Encoder Incremental Serial Encoder or Absolute Serial Encoder
Speed Setting From 1mm/s The upper limit depends on the specifications of actuator
Acceleration Setting From 0.01G The upper limit depends on the specifications of actuator

XSEL － R － 8 － 400A － 200A － 100AB － 60A － 400A － 200A － 100AB － 60A － EPEIA － DGN1 － 2 － 3

X Y Z [(Axis 1) [(Axis 2) [(Axis 3) [(Axis 4) [(Axis 5) [(Axis 6) [(Axis 7) [(Axis 8) \ ] ^ _

Model table

[

Details of axis 1 to axis 8

(Note 1),

\

Network Slot

]

I/O slots

X

Series

Y

Controller

type

Z
Number
of axes

Motor

Wattage

Encoder

type

Brake Creep

Home

Sensor

(LS)

Synchro-

nization

Desig-

nation

Slot 1 Slot 2 Slot 3 Slot 1 Slot 2

^

I/O Flat

cable
length

_
Power
supply
voltage

E

(

Not for use

) E (

Not for use

)

N1

Extension PIO

Input32/Output16

NPN Board

N1

Extension PIO

Input32/Output16

NPN Board

N2

Extension PIO

Input16/Output32

NPN Board

N2

Extension PIO

Input16/Output32

NPN Board

N3

Extension PIO

Input48/Output48

NPN Board

N3

Extension PIO

Input48/Output48

NPN Board

P1

Extension PIO

Input32/Output16

PNP Board

P1

Extension PIO

Input32/Output16

PNP Board

P2

Extension PIO

Input16/Output32

PNP Board

P2

Extension PIO

Input16/Output32

PNP Board

P3

Extension PIO

Input48/Output48

PNP Board

P3

Extension PIO

Input48/Output48

PNP Board

MC

Electronic Cam

Pulse I/O

Board

MC

Electronic Cam

Pulse I/O

Board

XSEL

R

(Standard

Type)

S

*1

(Global

Type)

1

(1

-axis

)

2

(2

-axis

)

3

(3

-axis

)

4

(4

-axis

)

5

(5

-axis

)

6

(6

-axis

)

7

(7

-axis

)

8

(8

-axis

)

12

(12W)

20

(20W)

30D

(30W for DS)

30R

(30W for RS)

60

(60W)

100

(100W)

100S

(100W for Linear)

150

(150W)

200

(200W)

200S

(200W for Linear)

300

(300W)

400

(400W)

600

(600W)

750

(750W)

I

(Incre-

mental)

A

(Abso-

lute)

G
(Spurious
Absolute)

Not

Specified

(w/o Brake)

B

(w/ Brake)

Not

Specified

(w/o Creep)

C

(w/ Creep)

Not

Specified

(w/o

Home

Sensor

)

L

(w/

Home

Sensor

)

Not

Specified

(

No

Synchroni-

zation)

M

(

Master-

Axis

Designation)

S

(

Slave-

Axis

Designation)

E

Not for use

EP

EtherNet/IP
Communic­ation Board

EC

EtherCAT
Communic­ation Board

E

Not for use

DV
DeviceNet
Input256/
Output256

CC

CC-Link
Input256/
Output256

PR

PROFIBUS

Input256/
Output256

E

IA Net

not

Corresp-

onding

IA

IA Net

Corresp-

onding

DG

DV Gateway

Master Board

2 : 2m

(Standard

)

3 : 3m

5 : 5m

0 : None

2: Single-

phase 200V

2L: Only for

Linear

Single-

phase 200V

3: 3-phase

200V

3L: Only for

Linear

3-phase

200V

XSEL － RX8 － NNN5020H － 400A － 200A － 100AB － 60A － EPEIA － DGN1 － 2 － 3

X Y Z [(Axis 5) [(Axis 6) [(Axis 7) [(Axis 8) \ ] ^ _

Model table

[

Details of axis 5 to axis 8

(Note 1)

\

Network Slot

]

I/O slots

X

Series

Y

Controller

type

Z

SCARA Robot

Model

Motor

Wattage

Encoder
type

Brake Creep

Home
Sensor

(LS)

Synchro-

nization

Desig-

nation

Slot 1 Slot 2 Slot 3Slot 1 Slot 2

^

I/O Flat

cable
length

_
Power
supply
voltage

E

(

Not for use

) E (

Not for use

)

N1

Extension PIO

Input32/Output16

NPN Board

N1

Extension PIO

Input32/Output16

NPN Board

N2

Extension PIO

Input16/Output32

NPN Board

N2

Extension PIO

Input16/Output32

NPN Board

N3

Extension PIO

Input48/Output48

NPN Board

N3

Extension PIO

Input48/Output48

NPN Board

P1

Extension PIO

Input32/Output16

PNP Board

P1

Extension PIO

Input32/Output16

PNP Board

P2

Extension PIO

Input16/Output32

PNP Board

P2

Extension PIO

Input16/Output32

PNP Board

P3

Extension PIO

Input48/Output48

PNP Board

P3

Extension PIO

Input48/Output48

PNP Board

XSEL

RX4

(1unit of SCARA)

RX5

(1unit of

SCARA+Single Axis

1Axis)

RX6

(1unit of

SCARA+Single Axis

2Axis)

RX7

(1unit of

SCARA+Single Axis

3Axis)

RX8

(1unit of

SCARA+Single Axis

4Axis)

SX4*1

(1unit of SCARA)

SX5*1

(1unit of

SCARA+Single Axis

1Axis Safety

Category Type)

SX6*1

(1unit of

SCARA+Single Axis

2xis Safety

Category Type)

SX7*1

(1unit of

SCARA+Single Axis

3Axis Safety

Category Type)

SX8*1

(1unit of

SCARA+Single Axis

4Axis Safety

Category Type)

NNN1205 to 8040H

NNN10040 to 12040

(Standard Type)

NSN5016H to 6016H

(High-Speed Type)

NNC1205 to 8040H

(Clean Type)

NNW2515H to 8040H

(Splash Proof Type)

TNN3015H to 3515H

(Wall-Mount Type)

UNN3015H to 3515H
(Wall-Mount Inverse

Type)

HNN5020H to 8040H
(Ceiling-Mount Type)

INN5020H to 8040H

(Inverse type)

12

(12W)

20

(20W)

30D

(30W for

DS)

30R

(30W for

RS)

60

(60W)

100

(100W)

100S

(100W for

Linear)

150

(150W)

200

(200W)

200S

(200W for

Linear)

300

(300W)

400

(400W)

600

(600W)

750

(750W)

I

(Incre­mental)

A

(Abso-

lute)

G

(Spurious
Absolute)

Not

Specified

(w/o Brake)

B

(w/ Brake)

Not

Specified

(w/o

Creep)

C

(w/

Creep)

Not

Specified

(w/o

Home

Sensor

)

L

(w/

Home

Sensor

)

Not

Specified

(No

Synchroni-

zation)

M

(Master-

Axis

Designation

)

S

(Slave-

Axis

Designation)

E

Not for

use

EP

EtherNet/IP
Communi-

cation
Board

EC

EtherCAT

Communi-

cation
Board

E

Not for use

DV

DeviceNet

Input256/

Output256

CC
CC-Link
Input256/

Output256

PR

PROFIBUS

Input256/

Output256

E

IA Net

not

Corres­ponding

IA

IA Net

Corres­ponding

DG
DV Gateway
Master Board

2 : 2m

(Standard)

3 : 3m

5 : 5m

0 : None

3:

3-phase

200V

XSEL － RXＤ8 － NNN5020H － NNN5020H － EPEIA － DGN1 － 2 － 3

X Y Z [ \ ] ^ _

Model table

\

Network Slot ] I/O slots

X

Series

Y

Controller

type

Z

SCARA Robot

Model

1

[

SCARA Robot

Model 2

Slot 1 Slot 2 Slot 3Slot 1 Slot 2

^

I/O Flat

cable
length

_

Power
supply
voltage

E

(

Not for use

) E (

Not for use

)

N1

Extension PIO

Input32/Output16

NPN Board

N1

Extension PIO

Input32/Output16

NPN Board

N2

Extension PIO

Input16/Output32

NPN Board

N2

Extension PIO

Input16/Output32

NPN Board

N3

Extension PIO

Input48/Output48

NPN Board

N3

Extension PIO

Input48/Output48

NPN Board

P1

Extension PIO

Input32/Output16

PNP Board

P1

Extension PIO

Input32/Output16

PNP Board

P2

Extension PIO

Input16/Output32

PNP Board

P2

Extension PIO

Input16/Output32

PNP Board

P3

Extension PIO

Input48/Output48

PNP Board

P3

Extension PIO

Input48/Output48

PNP Board

XSEL

RXD8

(For connection

of 2 units of

SCARA)

SXD8*1

(For connection

of 2 units of

SCARA

Safety Category

Type)

NNN1205 to 1805

NNN2515H to 6030H

(Standard Type)

NNC1205 to 1805

NNC2515H to 6030H

(Clean Type)

NNW2515H to 6030H

(Splash Proof Type)

TNN3015H to 3515H

(Wall-Mount Type)

UNN3015H to 3515H
(Wall-Mount Inverse

Type)

HNN5020H to 6020H
(Ceiling-Mount Type)

INN5020H to 6020H

(Inverse type)

NNN1205 to 1805

NNN2515H to 6030H

(Standard Type)

NNC1205 to 1805

NNC2515H to 6030H

(Clean Type)

NNW2515H to 6030H

(Splash Proof Type)

TNN3015H to 3515H

(Wall-Mount Type)

UNN3015H to 3515H
(Wall-Mount Inverse

Type)

HNN5020H to 6020H
(Ceiling-Mount Type)

INN5020H to 6020H

(Inverse type)

E

Not for

use

EP

EtherNet/IP
Communi-

cation
Board

EC

EtherCAT
Communi-

cation
Board

E

Not for use

DV
DeviceNet
Input256/
Output256

CC

CC-Link
Input256/
Output256

PR

ProfiBus
Input256/
Output256

E

IA Net

not

Corres­ponding

IA

IA Net

Corres­ponding

DG

DV Gateway

Master Board

2 : 2m

(Standard)

3 : 3m

5 : 5m

0 : None

3: 3-phase

200V

MODEL XSEL-R-8-400A-200A-100AB-60A-400A-200A-100AB-60A-EPEIA-DGN1-2-3

SERIAL No.200198765 MADE IN JAPAN

Model

Serial number

Warning : Operation of this equipment requires detailed installation and operation instructions which are

provided on the DVD Manual included in the box this device was packaged in. It should be retained
with this device at all times.

A copy of the DVD Manual can be requested by contacting your nearest IAI Sales Office listed at

the back cover of the Instruction Manual or on the First Step Guide.

Specification Item XSEL-R/RX/RXD XSEL-S/SX/SXD

Teaching port

Connector dedicated for teaching tool (X-SEL Serial Communication protocol
(Format B)) Connector : D-sub 25 pin

Port 1

RS232C: 1CH
Baud rate: MAX. 38.4kbps Connector: D-sub 9 pin
Control available with serial communication (Cable length Max.10m)
[General-purpose RS232C]
RS232C: 1CH
Baud rate: MAX. 38.4kbps Connector: D-sub 9 pin
Control available with serial communication (Cable length Max.10m)

Serial
Communication
Interface

Port 2

[RC Gateway]
RS485: 1CH (Modbus protocol RTU/ASCII conformance)
Baud rate: MAX. 230.4kbps Connector: D-sub 9 pin
Control available with serial communication (Cable length Max.100m)

PIO Type

PIO Board MAX. 2 pieces
Signal I/O dedicated for 24V DC (Input and output ports, selected from
NPN/PNP) [Refer to How to read the model]

External
Interface

Field Network Type

DeviceNet, CC-Link, PROFIBUS-DP, EtherNet/IP, EtherCAT, EtherNet
(For either of DeviceNet, CC-Link or PROFIBUS-DP and either of EtherNet/IP
or EtherCAT, either of the boards can be inserted at the same time.)

[Refer to each Fieldbus Instruction Manual]
Expanded I/O Unit (option) PIO Board MAX. 4 pieces
Data Setting and Input PC software or teaching pendant
Program Specification Super SEL language
Max. Number of Program Steps 9999 Step

Max. Number of Positions

1-Axis Type: 53332 positions, 5-Axis Type: 22856 positions

2-Axis Type: 40000 positions, 6-Axis Type: 20000 positions

3-Axis Type: 32000 positions, 7-Axis Type: 17776 positions

4-Axis Type: 26666 positions, 8-Axis Type: 16000 positions
Max. Number of Programs 128 programs
Max. Number of Multitask Programs 16 programs
Data Retention Memory Flash ROM + SRAM

Clock Function

Retaining time after power turned off: approximately 10 days

Time for battery charge after power is on after the clock data is lost:

approximately 100 hours
Panel Unit PU-1 (option) Controller status display

System I/O

Emergency stop input, safety gate input, system ready output and other safety

circuit inputs and outputs

Drive-source Cutoff Method Internal Relay External Safety Circuit

Emergency-Stop Input

b Contact (Normally Closed)

Input (internal power supply)

b Contact (Normally Closed) Input (external
power supply, duplication available)

Safety Circuit
Configuration

Enable Input

b Contact (Normally Closed)

Input (internal power supply)

b Contact (Normally Closed) Input (external
power supply, duplication available)

System Ready Output No-voltage contact (relay) output Max.200mA (DC24V)

Protective Functions

Motor over current, overload, motor driver temperature check, overload check,

encoder open circuit detection, soft limit over, system abnormality, battery

abnormality

Regenerative Resistor

Equipped with built-in 1kΩ/20W regenerative resistor

Extension available with connecting an external regenerative resistor

Absolute Battery

Actuators except for SCARA Robot: Built in controller (AB-5)

SCARA Robot: Built in main body

Protection Function against Electric Shock

Class 1 In case grounding conducted on ground terminal in addition to basic

insulation for electric shock proof.
Overvoltage Category Category 2 Voltage durability 2500V at less than 300V AC for input rating

Insulation Resistance

10MΩ or more (Between power terminal and I/O terminal and also all

external terminals and case at the power supply of DC500V)
Insulation strength 1500V AC for 1 min.
Cooling Method Forced Air-Cooling

Surrounding air temperature 0 to +40°C
Surrounding humidity 85% RH or less (non-condensing)
Surrounding environment [Refer to the Item for the Installation Environment]
Surrounding storage
temperature

-20 to 70°C (The Absolute Battery is excluded.)

Surrounding storage humidity 85% RH or less (non-condensing)
Maximum Operation Height 1000m

Vibration Resistance

10 to 57Hz in XYZ directions/Pulsating amplitude 0.035mm (continuous),

0.075mm (intermittent) 57 to 150Hz/4.9m/s² (continuous),

9.8m/s² (intermittent)

Protection Class IP20

Environment

Pollution Degree Pollution Degree 2

External Dimensions [Refer to the External dimensions Dimension]

Approx. 5.2kg

3-phase type: Approx. 4.7kg
Single-phase type: Approx. 5.2kg

With no Absolute Battery Unit

- XSEL-SX4-NNN10040, 12040: Approx. 5.2kg

Weight

With the Absolute Battery Unit Approx. 5.8kg

3-phase type: Approx. 5.3kg
Single-phase type: Approx. 5.8kg

Note 1 Rush current at the power connection continues for 3 msec. Note that the value of in-rush current differs

depending on the impedance of the power supply line.

Note 2 Leak current varies depending on the capacity of connected motor, cable length and the surrounding

environment. Measure the leak current at the point where a ground fault circuit interrupter is to be
installed when leakage protection is conducted.
Regarding the leakage breaker, it is necessary to have a clear purpose for selection such as a fire

protection or protection of human body. Use the harmonic type (for inverter) for a leakage breaker.
Note 3 Power supply is not necessary if PIO is not to be used.
Note 4 The converter box is to be used for the connection when connecting an actuator of ABZ (UVW) Parallel

Encoder LSA Series or RCS2-RA7/SRA7 Series.

[Power Capacity and Heating Value]

Rated Power Capacity [VA] = Total Capacity of Motor Power [VA] + Total of the power consumption at the control

part [VA]

Heating Value [W] = Total Output Loss [W] + (Total of internal power consumption [VA] × 0.7 (Efficiency) × 0.6

(Power factor))

• Select the Motor Driving Power [VA] from the Table 1 and 2.

• Figure out the total of the power consumption at the control part [VA] with the total of power of the actually

mounted components • quantity, by selecting the applicable ones from Table 3 Control Power Source
(Internal Consumption and External Consumption).

• To calculate the sum total of output loss [W], refer to the “Output Loss” column in Table 1 below and select
the values corresponding to the output losses of each connected actuator.

• For the inner power demand (VA) for calculating the heating value (W) in the control unit, select the
components which are being placed, from the columns of Control Power Supply (Internal Consumption) and
External Power Supply (Internal Consumption) in Table 3 and calculate it using the formula “Power •
Quantity of the Placement Component”

Table: 1 Motor Power Capacity of Single-Axis Actuator and Output Loss

Wattage of Actuator Motor [W] Motor Power Capacity [VA] Output loss = Heat Generation [W]

20 26 1.58
30 46 2.07

60 138 3.39
100 234 6.12
150 328 8.30
200 421 9.12
400 796 19.76
600 1164 27.20
750 1521 29.77

100 (Linear Actuator LSAS-N10SS) 379 4.48
200 (Linear Actuator LSAS-N15SS) 486 4.37

200 (Linear Actuator LSAS-N15HS) 773 6.42

Table: 2 Motor Volt Amperage of SCARA Robot and Output Loss

SCARA Robot

Wattage [W]

(Rated output)

Motor Power Capacity

[VA]

(Note 1)

Output loss =

Heat Generation

[W]

NN1205, NN1505, NN1805 129.8 216.3 8.13
NN2515H, NN3515H, TNN3015H,

TNN3515H, UNN3015H, UNN3515H

1117.9 1863.1 44.8

NN50H, NN60H,
HNN5020H, HNN6020H,
INN5020H, INN6020H

2218.0 3696.7 69.7

NN70H, NN60H,
HNN7020H, HNN8020H,
INN7020H, INN8020H

3880.6 6467.7 93.2

NSN5016H, NSN6016H 4102.9 6338.1 95.2

NNN10040, NNN12040 6412.6 10687.7 131.6

Note 1 Calculated with 0.6 for power factor

Table: 3 Motor Driving Power and Output Loss

Control power supply

External Power Source

(24VDC)

Internal

Consumption

[VA]

External

Consumption

[VA]

Internal

Consumption

[VA]

External

Consumption

[VA]

Quantity

Base Unit 31.4 1

Driver Per Board 6.26
Encoder
Section

Per axis 2.38 3.57

Fan Unit Per fan 5.71

Axis Sensor Per axis 4.57

[Refer to Table 4]

DIO (48 points)

N1, N2
P1, P2

5.95 14.52 0 to 2

DIO (96 points) N3, P3 8.33 26.81 0 to 2

I/O Board

Electronic Cam MC 16.7 0 to 2

Number of PCBs

on PIO Board 1

and 2

DeviceNet DV 1.98 3.43 0 to 1

CC-Link CC 5.67 0 to 1

PROFIBUS-DP PR 1.98 0 to 1

Number of PCBs
on Field Network

Board 1

EtherNET/IP E 1.98 0 to 1

Network

Module

EtherCAT E 3.93 0 to 1

Number of PCBs
on Field Network

Board 2

IA-T-X/XD 3.57 0 to 1 Teaching

pendant

SEL-T/TD/TG 6.67 0 to 1

SCARA

Robot

0.28

SCARA

Robot

1.0

Brake Per axis

Added Axis

0.14

2.5
Added Axis

5.8

Total number of brake-

equipped actuators 0 to 8

Connector

terminal

Per axis 5.7

0 to 8

Table: 4 Number of Controlled Parts

Number of axes

1-Axis 2-Axis 3-Axis 4-Axis 5-Axis 6-Axis 7-Axis 8-Axis

Driver 1 1 2 2 3 3 4 4

Encoder Section 1 2 3 4 5 6 7 8

Fan Unit

XSEL-R/RX/RXD : 6 Unit
XSEL-S/SX/SXD (3-phase type) : 5 Unit
XSEL-S (Single-phase type), XSEL-SX4-NNN10040, 12040 : 6 Unit

Axis Sensor 1 2 3 4 5 6 7 8

[Selection of Circuit Interrupter]

• 3 times of the rated current flows to the controller during the acceleration/deceleration. Select one that does
not trip when the above current passes. When it trips, select the breaker with a rated current one rank
above. (Confirm that Operation Characteristic Curve described in the catalogue of each manufacturer.)

• Select the breaker that does not trip with the rush current.
(Confirm that Operation Characteristic Curve described in the catalogue of each manufacturer.)

• For the rated breaking current, select the current value which can break the current even when a short
circuit occurs.

Rated Breaking Current > Short-circuit Current = Primary Power Supply Capacity/Power Voltage

• Consider margin for the rated current on the circuit breaker.

Rated current of circuit breaker >

rated voltage amperage [VA] / AC input voltage × Margin (1.2 to 1.4 for reference)

[Selection of Leakage Breaker]

• Regarding the leakage breaker, it is necessary to have a clear purpose for selection such as a fire
protection or protection of human body.

• Leak current varies depending on the capacity of connected motor, cable length and the surrounding
environment. Measure the leak current at the point where a ground fault circuit interrupter is to be installed
when leakage protection is conducted.

• Use the applicable to higher harmonics type leakage breaker.

External Dimensions

1. Absolute Battery Non-Equipped Type

Controller Type All Types Equipped

R

(Single-phase/ 3-phase type)

S

(Single-phase type)

RX/RXD

(3-phase type)

XSEL-SX4-NNN10040, 12040

S/SX/SXD

(3-phase type)

Side View

(80)

125.3

3

2. Absolute Battery Equipped Type

Controller Type All Types Equipped

R

(Single-phase/ 3-phase type)

S

(Single-phase type)

RX/RXD

(3-phase type)

S/SX/SXD

(3-phase type)

Side View

(80)

125.3

3