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

Extension I/O Unit (Option)

It is to be used when the number of I/O points on the controller is not enough.
The connection between the controller and the extension I/O unit is to be established with IA Net
communication.

[Specification] [External Dimensions]

Item Specification

Input Power Supply Voltage DC24 V±10％

Current Supplied from

XSEL Controller

0.75A (Max.)

Heat Generation 47W (Max.)

Number of Mounted Extension

I/O Boards

1 to 4

Input 32 Points/Output 16 Points
Input 16 Points/Output 32 Points

NPN type

Input 48 Points/Output 48 Points
Input 32 Points/Output 16 Points
Input 16 Points/Output 32 Points

Mountable PIO Board

PNP type

Input 48Points/Output 48 Points

Connection Cable

IA Net Cables (Model CB-RS-IAN)

2m in standard (Max.10m)
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

Environment

Surrounding storage
humidity

85%RH (non-condensing)

External Dimensions 109 × 195 × 125.3mm

Weight Approx. 1.5kg (Max.)

Panel Unit (Option) : PU-1

This is the display board consists of four digits of seven-segment displays and LED lamps.
The status of a controller such as the error codes can be checked on it if it is connected to XSEL
controllers.
Also, if connected to an extension I/O unit, the condition of each I/O unit whether it is in normal or error
condition.

[Specification] [External Dimensions]

Item Specification

Current Consumption 100mA

Cable Length 1, 3, 5m
Surrounding air
temperature

0 to +40°C

Surrounding humidity

10 to 95%RH or less (non-condensing)

Surrounding environment

(Refer to the Item for the Installation

Environment).
Surrounding storage
temperature

-20 to 70°C

Environment

Surrounding storage
humidity

10 to 95% or less (non-condensing)

External Dimensions

43×17×114mm

Weight

0.3kg (including cables)

Brake Box (Option): RCB-110-RA13-0

Brake Box: A brake release unit dedicated for NS-MZMS, NS-MZMM, NS-LZMS, NS-LZMM, ZR

Brakes for two axes can be controlled with one brake box.

[Specification] [External Dimensions]

Item Specification

Input Power Supply Voltage DC24V/10%

Input Power Supply C urrent 1A

Heat Generation 1.2W

Connection Cable

Encoder Cables

(Model CB-RCS2-PLA010) 1m

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

Environment

Surrounding storage humidity

85%RH or less (non-condensing)

External Dimensions W162×H94×D65.5mm

Weight 0.8kg

[24V Power Supply Connector]

Connector on

Cable Side

(Enclosed in

standard package)

MC1.5/2-STF-3.5 (PHOENIX CONTACT)

Applicable Cable AWG28 to 16

Pin No. Signal In formation

1 0V

Power Supply Grounding for

Brake Excitation

Terminal

Assignment

2

24VIN

For Brake Excitation and

24V Power Supply

[Connectors 1 and 2 for external brake release switch connection]

Connected
Equipment

Brake Release Switch

Connector on

Cable Side

(

Please prepare

separately

)

XAP-02V-1

(Contact BXA-001T-P0.6)(JST)

Switch Rating DC30V Minimum Current 1.5mA

Pin No. Signal Informat ion

1

BKMRL

Brake Release Switch Input

Terminal

Assignment

2 COM

Power Supply Output for

Brake Release Switch Input

Weight 0.8kg

(Note) Short circuit of pin No. 1 and 2 of this connector releases the brake compulsorily.

Brake release is available in the same manner as the brake release switch equipped on the main body.
Do not keep the compulsory release condition while in automatic operation.

Regenerative Resistor Unit (Option): REU-1

This is a unit that converts the regenerative current to heat when the motor decelerates.

[Specification] [External Dimensions]

Item Specification

Internal Regenerative Resistor

220Ω/80W

Accessories

Controller link cable

(Model CB-ST-REU010) 1m

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

Environment

Surrounding storage humidity 85%RH or less (non-condensing)

External Dimensions W 34 × H195 × D126mm

Weight 0.9kg

[Number of Connectable]

To calculate the total number of necessary units, select the suitable conditions from the table below for the
actuator type connected to XSEL controller and sum up the numbers.

Total Number of Connected Units = Number in 1) + Number in 2) + Number in 3)

Calculation Table for Necessary Number of Regenerative Units

No.

Actuator Type Quantity

0 to 100W Not required
to 600W 1 Unit
to 1200W 2 Units
to 1800W 3 Units

1)

Total capacity of
single-axis actuator motors
in horizontally oriented
installation

to 2400W 4 Units
0 to 100W Not required
to 600W 1 Unit
to 1000W 2 Units
to 1400W 3 Units
to 2000W 4 Units

2)

Total capacity of
single-axis actuator motors
in vertically oriented
installation

to 2400W 5 Units

IX-NNN1205/1505/1805 Not required

IX-NNN2515H/3515H,
IX-NNW2515H/3515H,

IX-TNN(UNN)3015H/3515H,

IX-NNC2515H/3515H

1 Unit / Per controller

IX-NNN50H/60H,

IX-NNW50H/60H,

IX-HNN(INN)50H/60H,

IX-NNC50H/60H

3 Units / Per controller

IX-NNN70H/80H,

IX-NNW70H/80H,

IX-HNN(INN)70H/80H,

IX-NNC70H/80H

IX-NNN10040/12040

4 Units / Per controller

3) SCARA Robot

IX-NSN5016H/NSN6016H 3 Units / Per controller

Installation Environment

This product is capable for use in the environment of pollution degree 2*1 or equivalent.
*1 Pollution Degree 2: Environment that may cause non-conductive pollution or transient conductive pollution

by frost (IEC60664-1).

1. Installation Environment

Do not use this product in the following environment:

• Location where the surrounding air temperature exceeds the range of 0 to 40°C

• Location where condensation occurs due to abrupt temperature changes

• Location where relative humidity exceeds 85%RH

• Location exposed to corrosive gases or combustible gases

• Location exposed to significant amount of dust, salt or iron powder

• Location subject to direct vibration or impact

• Location exposed to direct sunlight

• Location where the product may come in contact with water, oil or chemical droplets

• Environment that blocks the air vent [Refer to Heat Radiation and Installation]

When using the product in any of the locations specified below, provide a sufficient shield.

• Location subject to electrostatic noise

• Location where high electrical or magnetic field is present

• Location with the mains or power lines passing nearby

2. Storage and Preservation Environment

• Storage and preservation environment follows the installation environment. However, the
ambient temperature should be from -20 to 70°C and the relative humidity to be 85%RH at
maximum. Especially in a long-term storage, consider to avoid condensation of surrounding air.
Unless specially specified, moisture absorbency protection is not included in the package when
the machine is delivered. In the case that the machine is to be stored and preserved in an
environment where dew condensation is anticipated, take the condensation preventive
measures from outside of the entire package, or directly after opening the package.

Installation and Noise Elimination

1. Protective Ground

For grounding, make sure to conduct grounding resistance 100Ω or less.
The wiring should apply a twist line or an annealed copper wire of 2.0 mm or more.
Apply 3.5mm2 or more for XSEL-SX4-NNN10040 and 12040.

[3-phase type]

L

N

R

S

T

1

L

2

L

3

L

For Motor
Driving

AC Power Supply

Input Connector

Grounding resistance

at 100Ω or less

For Control

AC Power Supply Input

Strand or annealed c opper wire:
Connect with an ear th line of

2.0mm

2

(AWGN) or more

A

pply 3.5mm2 or more for

XSEL-SX4-NNN10040 and 12040.

[Single-phase type]

L

N

L

N

L

N

For Motor
Driving

AC Power Supply

Input Connector

Grounding resistance

at 100Ω or less

For Control

AC Power Supply Input

Strand or annealed c opper wire:
Connect with an ear th line of

2.0mm

2

(AWGN) or more

A

pply 3.5mm2 or more for

XSEL-SX4-NNN10040 and 12040.

2. Noise Elimination Grounding (Frame Ground)

For grounding, make sure to conduct grounding resistance 100Ω or less.
Connect with twist wire or annealed copper wire with 2.0 mm

2

or more.

3. Precautions regarding wiring method

(1) Use a twisted cable for connection to the power supply.
(2) To reduce the interference to each other, have the I/O line, communication and encoder lines, power

and driving supply lines separate from each other.

4. Noise Sources and Elimination

Carry out noise elimination measures for power
devices on the same power path and in the same
equipment.
The following are examples of measures to eliminate
noise sources:

(1) AC solenoid valves, magnet switches and relays

[Measure] Install a Surge Absorber parallel with the coil.

(2) DC solenoid valves, magnet switches and relays

[Measure] Install a diode parallel with the coil.
Use a DC relay with a built-in diode.

5. Heat Radiation and Installation

Conduct design and manufacture in consideration of the control box size, controller layout and cooling in
such a way that the temperature around the controller will be 40°C or less.

Note 1 Install the devices (controller, extension I/O unit, regenerative unit and brake box) away from a wall

for 50mm or more.

I/O1 I/O2 I/O3 I/O4

ALM
C-ERR

PWR
PSE

24V
0V

LINK

PNL

SW

IA-NET

ADRS

140

4C

8

RDY1

RDY2 RDY3 RDY4

3

125.3

93

109

5

180

186

φ

5

195

43

17

114

4

10

6

Controller

Controller

Other Equipment

Other Equipment

Other Equipment

Do not share the ground wire with or connect to other equipment.
Ground each controller separately.

Regeneration Unit
100mm
or more

50mm
or more

50mm
or more

50mm
or more

50mm
or more

50mm
or more

150mm
or more

150mm
or more

10mm
or more

50mm or more

10mm or more

Extension I/O Unit

Brake Box

50mm
or more

50mm
or more

50mm
or more

(Note 1)

50mm
or more

(Note 1)

Grounding resistance at

100Ω or less

Att ach the grounding
cable to the FG terminal
on the main m achine.

Str and or annealed copper wire:
Connect wit h an earth line of

2.0mm

2

(AWGN) or more

A

pply 3.5m m2 or more for

XSEL-SX4-NNN10040 and 12040.

Wiring Layout Diagram

[XSEL-R, RX, RXD]

Note 1 Please prepare separately.
Note 2 For an actuator equipped with a brake, supply of power +24V to the controller for the

brake operation is required.

Caution: In the case of ICSA, ICSPA (Orthogonal Robot) and SCARA robot, a number is attached

to each cable.
Connect it according to the controller connector number.
For the actuator regarded as that for single-axis robot, the connector Nos. are not
indicated.
In such case, give a number to each connector to avoid any mistake.

[XSEL-S, SX, SXD]

Note 1 Please prepare separately.
Note 2 For the SCARA Robot of those except for IX-NNN1205/1505/1805 (equipped with no

brake), it is necessary to supply power to the controller for the brake operation.

Note 3 Put the dummy plug (DP-2) when a connection of the teaching tool such as PC is not

necessary.

Caution: In the case of ICSA, ICSPA (Orthogonal Robot) and SCARA robot, a number is attached

to each cable.
Connect it according to the controller connector number.
For the actuator regarded as that for single-axis robot, the connector Nos. are not
indicated.
In such case, give a number to each connector to avoid any mistake.

Warning: • In the case PC is connected to XSEL-S, SX or SXD, internal components of the

controller may get burnt down if the following cable is used.

• Standard PC cable B-ST-E1MW050 (black) enclosed in PC Software IA-101-X-MW

Even though the PC software can be used, use CB-ST-A1MW050 (gray) for the cable.

Wiring for the Power/Emergency Stop Circuit and Brake Forced Release Switch

z Wiring for Power Supply (to be prepared by customer)

[3-phase type]

The power consumption and heat generation of X-SEL controller may differ depending how to construct the
options. Select the circuit breaker and leakage breaker that suits to the specification. [Refer to Basic
Specifications]

Note 1 It is not required when there is no actuator with the brake.

Parts Name Model Supplier Position to Attach

TAC-20-683 COSEL

1) Noise Filter

NF3020C-SVA SO SHIN ELECTRIC Co., Ltd.

2) Ring Core ESD-R-25 NEC TOKIN

Attach in range of 300mm or less
from controller

3) Clamp Filter ZCAT3035-1330 TDK

4) Clamp Filter RFC-H13 Kitagawa Industries Co., Ltd.

Attach as close as possible to
controller

5) Surge Protector R·A·V-781BXZ-4 Okaya Denki

Attach at the input terminal of
noise filter

[Single-phase type]

The power consumption and heat generation of X-SEL controller may differ depending how to construct the
options. Select the circuit breaker and leakage breaker that suits to the specification. [Refer to Basic
Specifications]

Note 1 It is not required when there is no actuator with the brake.

Parts Name Model Supplier Position to Attach

1) Noise Filter NBH-20-432 COSEL

2) Ring Core ESD-R-25 NEC TOKIN

Attach in range of 300mm or less
from controller

3) Clamp Filter ZCAT3035-1330 TDK

4) Clamp Filter RFC-H13 Kitagawa Industries Co., Ltd.

Attach as close as possible to
controller

5) Surge Protector R·A·V-781BWZ-2A Okaya Denki

Attach at the input terminal of
noise filter

z Wiring for Emergency Stop Input

[XSEL-R, RX, RXD]

This shows of emergency
stop for two or more
machines, using the
emergency stop circuit
for the entire machine.

[XSEL-S, SX, SXD]

Note:

• Do not fail to lay out (EMGin, EMG1, SDN, ENBin and ENB1) regardless of the safety
category.

• EMG2 and ENB2 are mandatory to realize Safety Category 3, and they enable the
double layout of the safety circuit.

• DET is an input to detect the operational errors (mainly at soldered contact points of
relay) in the safety circuit, and do not forget to use it if it is required to have XSEL
Controller detect the contact solder. When closing in the safety circuit side to control the
contact solder and other errors, it is possible to realize Safety Category 4 without
connecting to the controller. [Refer to the operation manual of XSEL-R/S/RX/SX/RXD/SXD]

I/O Signals

There are 32 points of input and output on PIO board or 48 points of input and output on the multi-point PIO
board in PIO (24V input and output). There are NPN type and PNP type for both, and selection can be made
to find the suitable one for the specifications.
[Refer to the instruction manual of XSEL-R/S, RX/SX or RXD/SXD for the PIO board terminal assignment.]

XSEL Mode

Display

Polarity Input and Output Points Model

N1 Input 32 Points, Output 16 Points IA-103-X-32
N2 Input 16 Points, Output 32 Points IA-103-X-16
N3

NPN

Input 48 Points, Output 48 Points IA-IO-3204-NP
P1 Input 32 Points, Output 16 Points IA-103-X-32-P
P2 Input 16 Points, Output 32 Points IA-103-X-16-P
P3

PNP

Input 48 Points, Output 48 Points IA-IO-3204-PN

z PIO Input and Output Interface

Input Output

Input Voltage

24VDC±10%

Load voltage 24VDC±10%

Input Current

7mA/1 Circuit

I/O

100mA/1 Circuit,
400mA

*1

/ 8 Port

ON

Min. 16VDC

ON/OFF
Voltage

OFF

Max. 5VDC

Load
Current

Multipoint
I/O

50mA/1 Circuit,
400mA

*2

/ 24 Port

Specification

Insulation Type

Photocoupler Insulation

Insulation Type

Photocoupler Insulation

NPN

PNP

*1 The total of lead current reaches max. 400mA every 8 ports from output port No. 300.
*2 The total of lead current reaches max. 400mA every 24 ports from output port No. 300.

CONTROLLER

Power Supply
3-phase or
Single-phase
AC200V

Power Supply for
Brake

(Note 1) (Note 2)

Panel Unit

(Option)

Motor Cable

Encoder Cable

24V power supply

24V power supply

Regeneration
Resistor Unit

(Note 1)

Extension I/O Unit

(Option)

Host System

PLC

(Note 1)

Teaching Pendant

(Option)

PC

(Note 1)

PC Software
(Option)

Regeneration Unit

(Option)

Flat Cable

Dummy Plug
(DP-2)

(Note 3)

Power Supply
3-phase or
Single-phase
AC200V

Safety Circuit

24V power supply

Power Supply for
Brake

(Note 1) (Note 2)

Panel Unit

(Option)

Host System

PLC

(Note 1)

Teaching Pendant

(Option)

Extension I/O Unit

(Option)

PC

(Note 1)

PC Software
(Option)

Motor Cable

Encoder Cable

24V power supply

Regeneration
Resistor Unit

(Note 1)

Drive
Cutoff
Circuit

Regeneration Unit

(Option)

Flat Cable

L
N
R
S

T

Circuit
breaker

Leakage
Breaker

Surge Protector

1) Noise
filter

A.

B.Motor

Power Supply

Control
Power Supply

3-phase 200V

+24V

0V

24V DC
Power
Supply

+24V

0V

Brake Power Input Connector

3) Clamp Filter

2) Ring core

PIO Board

(option)

AC Power Supply
Input Connector

4) Clamp
Filter

XSEL Controller

Class D grounding
(Formerly Class-III grounding)

24V DC
Power
Supply

PWR BK

(Note1)

L
N

L
N

A.

B.

Single-phase
200V

+24V

0V

+24V

0V

Circuit
breaker

Leakage
Breaker

1) Noise
filter

3) Clamp Filter

2) Ring core

Motor
Power Supply

Control
Power Supply

Brake Power Input Connector

(option)

AC Power Supply
Input Connector

XSEL Controller

4) Clamp
Filter

Class D grounding
(Formerly Class-III grounding)

24V DC
Power
Supply

Surge Protector

PWR BK

24V DC
Power
Supply

(Note1)

PIO Board

CR1

CR1

0VDC24V

CR2

ENB TBX1

CR6

CR5

CR5

CR6

ENB VCC1 EMG IN1 EMG OUT1

+24V

+24V

+24V

+24V

AUTO:
High

ENBin (IN)

ENBin

ENB1 (line+)

ENB1 (line-)

17

16

18

15

14

13

12

11

10

X

X

X
RDY (Out+)

RDY (Out-)

EMGin (IN)

EMGin

EMG1 (line+)

EMG1 (line-)

X

X

X
SDN (Out+)

SDN (Out-)

RDYOUT

CR3

CR3

CR3

CR4

CR4

CR2

CR1

8

7

9

6

5

4

3

2

1

ENBin (IN)

ENBin

ENB1 (line+)

ENB1 (line-)

17

16

18

15

14

13

12

11

10

X

X

X

RDY (Out+)

RDY (Out-)

EMGin (IN)

EMGin

EMG1 (line+)

EMG1 (line-)

X

X

X

SDN (Out+)

SDN (Out-)

CR2

CR1

8

7

9

6

5

4

3

2

1

(10mA or more)

AUTO/MANU

Mode

(At the Time of

Connection)

RDY Output

DC30V 0.2A or less

Motor Driving Power Supply

(120mA or more)

Teaching Pendant

Connection Detection Circuit

External EMG
Reset Switch

External
EMG
Circuit

Safety Gate

Safety Gate
This is turned ON
when the safety gate
safety door is closed.

Emergency Sop

XSEL Controller

Nth unit

Deadman Switch

Teaching Pendant

System I/O
Connector

(10mA or more)

(120mA or more)

SDN Output

DC30V 0.2A or less

SDN Output

DC30V 0.2A or less

Emergency Stop Release

XSEL Controller

RDY Output

DC30V 0.2A or less

3.3kΩ

CR1

CR1

CR2

CR5

CR5

ENB TBX1

ENB VCC1

ENB
TBX2

ENB
VCC2

EMG
IN2

EMG
OUT2

EMG IN1 EMG OUT1

+24V

+24V

ENBin (IN)

ENBin

DET (+24V)

ENB1 (line+)

ENB1 (line-)

17

16

18

15

14

13

12

11

10

RDY (Out+)

RDY (Out-)

ENB2 (line+)

ENB2 (line-)

EMGin (IN)

EMGin

DET (IN)

EMG1 (line+)

EMG1 (line-)

SDN (Out+)

SDN (Out-)

EMG2 (line+)

EMG2 (line-)

RDYOUT

CR3

CR3

CR6

CR6

CR1

CR2

CR1

8

7

9

6

5

4

3

2

1

ENBin (IN)

ENBin

DET (+24V)

ENB1 (line+)

ENB1 (line-)

RDY (Out+)

RDY (Out-)

ENB2 (line+)

ENB2 (line-)

EMGin (IN)

EMGin

DET (IN)

EMG1 (line+)

EMG1 (line-)

SDN (Out+)

SDN (Out-)

EMG2 (line+)

EMG2 (line-)

CR8

CR8

CR1

17

16

18

15

14

13

12

11

10

CR2

CR1

8

7

9

6

5

4

3

2

1

DC24V

0V

External
EMG
Reset Switch

External
EMG
Circuit

Safety Gate

Nth unit

Contact Solder
Detection

(120mA or more)

(10mA or more)

RDY Output
DC30V 0.2A

Drive Cutoff Relay

Emergency Stop Release

Teaching Pendant

Safety Gate
This is turned ON
when the safety gate
safety door is closed.

Emergency Stop Switch

Deadman Switch

XSEL Controller

System I/O
Connector

Drive Cutoff Relay

XSEL Controller

(120mA or more)

(10mA or more)

RDY Output
DC30V 0.2A or less

RDY Output
DC30V 0.2A

RDY Output
DC30V 0.2A

z For PIO Board (N1, N2, P1 and P2)

Supply 24V to Terminal 1 and 0V to Terminal 50.
Accessory I/O Cable (Model: CB-X-PIO  indicates the cable length. Example 020=2m)
Flat cable : KFX-50(S) (Color) (Supplier: Kaneko Cord)
Socket (with strain relief) : XG4M-5030-T (Supplier: OMRON)

No. Color No. Color No. Color No. Color No. Color

1 Brown-1 11 Brown-2 21 Brown-3 31 Brown-4 41 Brow n-5

2 Red-1 12 Red-2 22 Red-3 32 Red-4 42 Red-5

3

Orange

-1 13

Orange

-2 23

Orange

-3 33

Orange

-4 43

Orange

-5

4 Yellow-1 14 Yellow- 2 24 Yello w-3 34 Yell ow-4 44 Ye llow-5

5 Green-1 15 Green-2 25 Green-3 35 Green-4 45 Green-5

6 Blue-1 16 Blue-2 26 Blue-3 36 Blue-4 46 Blue- 5

7 Purple-1 17 Purple-2 27 Purple-3 37 Purple- 4 47 Purple-5

8 Gray-1 18 Gray-2 28 Gray-3 38 Gray-4 48 Gray-5

9 White-1 19 White-2 29 W hite-3 39 White-4 49 White-5

10 Black-1 20 Black-2 30 Black-3 40 Black-4 50 Black-5

z Multipoint PIO Board (N3 and P3)

The power supply line on IN000 to 023/OUT300
to 323 side and the power supply line on IN024 to
047/OUT324 to 347 side are insulated. Connect
an external power source to each power terminal.
Accessory I/O Cable
(Model: CB-X-PION  indicates the
cable length. Example 020=2m)
Flat cable: (50 conductors) UL2651 AWG28×2
Socket: HIF6-100D-1.27R (Supplier: Hirose)

Cable 1 Cable 2

No. Color No. Color No. Color No. Color No. Color No. Color No. Color No. Color No. Color No. Color

1 Brown-1 11 Brown-2 21 Brown-3 31 Brown-4 41 Brown-5 51 Brown-1 61 Brown-2 71 Brown-3 81 Brown-4 91 Brown- 5

2 Red-1 12 Red-2 22 Red-3 32 Red-4 42 Red-5 52 Red-1 62 Red-2 7 2 Red-3 82 Red-4 92 Red-5

3

Orange

-1 13

Orange

-2 23

Orange

-3 33

Orange

-4 43

Orange

-5 53

Orange

-1 63

Orange

-2 73

Orange

-3 83

Orange

-4 93

Orange

-5

4 Yell ow -1 1 4 Yel lo w-2 24 Yellow -3 34 Ye llo w-4 44 Yellow -5 54 Yellow -1 64 Ye ll ow- 2 7 4 Yel low -3 84 Yello w4 9 4 Ye llo w- 5

5 Green-1 15 Green-2 25 Green-3 35 Green-4 45 Green-5 55 Green-1 65 Green-2 75 Green- 3 85 Green-4 95 Green-5

6 Blue-1 16 Blue-2 26 Blue-3 36 Blue-4 46 Blue-5 56 Blue-1 66 Blue-2 76 Blue-3 86 Blue-4 96 Blue-5

7 Purple-1 17 Purple-2 27 Purple-3 37 Purple- 4 47 Purple-5 57 Purple-1 67 Purple-2 77 Purple-3 87 Purple-4 97 Purple-5

8 Gray-1 18 Gray-2 28 Gray-3 38 Gray-4 48 Gray-5 58 Gray-1 68 Gray-2 78 Gray-3 88 Gray-4 98 Gray-5

9 White-1 19 W hite-2 29 White-3 39 White-4 49 White-5 59 White-1 69 White-2 79 White- 3 89 White-4 99 White-5

10 Black-1 20 Black-2 30 Black-3 40 Black-4 50 Black-5 60 Black-1 70 Black-2 80 Black-3 90 Black-4 100 Black-5

Starting Procedures

When using this product for the first time, make sure to avoid omission and incorrect wiring by referring to
the procedure below. “PC” stated in this section means “PC soft ware” .

Note: • Make sure to put the brake release switch of the controller on the right side (NOM) before

turning ON the power. If on the left (RLS), the actuator may drop with its weight and pinch
yourself or damage the work piece.

• Make sure to connect the robot with the manufacturing number indicated on the
controller.
Connecting a robot not indicated may cause a wrong operation.

Set-up for operation is complete.
Establish the setting that suits to your operation patterns.

z Troubleshooting

Shown below are the alarms that you may often see after power up. Please follow the instructions below.
Please refer to the Operation Manual for other alarms.

Status display Status contents Cause and Remedy

During Emergency-stop It is not an alarm.

• It is generated when the emergency stop switch in the teaching pendant or
the personal computer application software is not cancelled. In such case,
cancel it.

• It is generated when the personal computer cable is not connected to the
emergency stop box. Please establish the connection.

• Check the emergency stop circuit.

Safety Gate Remains

Open
Deadman Switch OFF

It is not an alarm.

• It is generated when the system I/O ENB signal is opened. Check the ENB
signal. (It is generated when the safety gate is open. Close the safety gate.)

• This occurs when AUTO/MANU switch is on MANU side for
XSEL-R/RX/RXD Controller but PC or teaching pendant is not connected.
Connect the personal computer or the teaching pendant or set the
AUTO/MANU switch to "AUTO ".

• When the actuator is to be started up, hold the deadman switch on the
teaching pendant to turn it ON.

AC Power Interruption

Momentary Power Failure
Power Voltage Drop

It is generated when the power voltage is not supplied. It will be generated, for
example, in the case that the 100V AC is supplied to the controller with 200V
AC specified. Check the power supply.

Absolute Data Bac kup

Battery Voltage Error

It will be generated in the case that the battery has not been attached, or the
battery voltage is dropped.
In the case of the actuator for the single-axis robots or Cartesian robots with
the absolute data specifications, it is generated when the power is connected
for the first time.
Perform the absolute reset.

Encoder Reception Time

Out

It is generated when the encoder is broken, the cable is broken or the encoder
cable is not connected to the controller. Check the wiring.

24V I/O error

DO Output Current Error

It is generated when the +24V power for I/O is not supplied.
Check the power supply.

(How to start up the controller without connecting the I/O 24V power)
Set the I/O parameter No. 10 to No. 13 corresponding to "0 ".

FieldBus Error It is generated when the fieldbus link connection is not established.

Check the link cable connection, I/O parameter and PLC parameter settings.

(How to start up the controller without connecting the field bus)
Set the I/O parameter No. 18 or No. 235 corresponding to "0 ".

RC Gateway Serious

Breakdown Error

When the RC gateway is used and an error occurs in the controller mount SIO
(serial communication), it is caused.
The following causes are supposed.

• All effective RC axes are missing (not recognized).

→ A cable disconnection or wire breaking is supposed. Check the wiring.

• The power switch on the main CPU shows 0V.

→ Set the +5V power switch to right side (+5V supply side).

• The DPRAM access right can not be obtained for one hour or more in the
mount SIO.

→ Check the parameters for the X-SEL or RC controller.

• A serious error such as a CPU error is caused in the mount SIO.

→ It is caused by the hardware breakdown. Consult with our company.

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan

TEL [phone] FAX [phone]

website: www.iai-robot.co.jp/

Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany

TEL [phone] FAX [phone]

SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China

TEL [phone] FAX [phone]

website: www.iai-robot.com

Technical Support available in USA, Europe and China

Head Office: 2690 W. 237th Street, Torrance, CA 90505

TEL [phone] FAX [phone]

Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143

TEL [phone] FAX [phone]

TEL [phone] FAX [phone]

website: www.intelligentactuator.com

Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066

825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand

TEL [phone] FAX [phone]

No →

No→

Important Check Item

• Have you performed the installation and the connection of the frame ground
and protective ground (PE)?

• Has the noise countermeasure been taken?

↓Yes

No →

↓

→

Power Supply and Alarm Check

Connect the personal computer or teaching pendant,
connect the power.

Is I/O 24V power is supplied for PIO
Type?
Is the power is turned on with the
fieldbus connected for Fieldbus Type?

Turn ON the servo.

Turn on the servo from the PC or teaching
pendant.

Check Item

Check that SV is ON in Position
Edit Window on PC software or
teaching pendant.

If an alarm is generated, operate the PC or teaching tool to
check the details of the alarm contents and have the
appropriate treatment.

→

←Yes

↓

↓Yes

Check Item

Is the status display showing
[

] ?

Set parameters.

Set I/O parameters, etc., from the PC or
teaching pendant.

Check the emergency stop circuit.

Product Check

Have all the items been delivered?

Is the motor cable connected?

No→

↓Yes

↓Yes

No→

Confirming the operation of the actuator

Confirm that the full stroke operation is performed without any trouble
with the jog operation.

↓Yes

Check of Safety Circuit

Does the emergency stop circuit (drive cutoff circuit) work
properly and turn the servo OFF?

• To ensure safety, it is recommended that safety

speed be enabled during initial movements.

• When the actuator is installed vertically , be
careful so you would not pinch your hand or
damage the robot hand with the actuator
dropped by its own weight when the brake
release switch is put on [RLS] side.

Installation and Wiring

Install the controller and robot and perform installation and
wiring according to the contents in this book.

Contact your local IAI distributor.

Connect the motor cable.

Socket : HIF6-100D-1.27R (Hirose)

Cable 1 (1 to 50 Pin)

Cable 2 (51 to 100 Pin)

No Connecto

r

Flat Cable (50 conductors) UL2651 AWG28×2

The actuator may drop slightly by its own weight as a

result of turning on/off repeatedly if it is installed
vertically. Be careful so you would not pinch your hand
or dama

g

e the robot hand.

For PIO Type, supply I/O 24V power.
For Fieldbus Type, get the fieldbus connected.
[Reference] Set I/O Parameters No. 10 to 11 to 0 (Not to Monitor Errors) if starting up the system

without connecting I/O 24V power supply for PIO Type. Set either of I/O Parameter
No. 18 or 235 to 0 (Not to Monitor Errors) if starting up the system without connecting
Fieldbus for Fieldbus Type.

↓Yes

If an alarm is generated, operate the PC or
teaching tool to check the details of the alarm
contents and have the appropriate treatment.

↓No

Manual No.: ME0312-7A