IAI America XSEL User Manual
Ethernet
Operation Manual Third 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 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 necessary.
[Important]
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 no tice 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 permi ssion is prohibited.
The company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.
Table of Contents
Safety Guide 1
1. Overview 9
2. Interface Specifications 11
3. Interface Board 12
3.1 Name of Each Part 12
3.2 Monitor LED Indications 13
4. Remote I/O (Modbus/TCP EtherNet/IP) 14
4.1 Setup of Ethernet Environment 14
4.2 Remote I/O Setup Procedure 15
4.3 Setup Procedure for Exception Status Support 17
4.4 Correspondence of Modbus/TCP Address and X-SEL I/O 18
4.5 Installation to a Modbus/TCP System 23
4.6 Installation to an EtherNet/IP System 23
5. IAI Protocol B/TCP 24
5.1 Setup of Ethernet Environment 24
5.2 Ethernet Connection of X-SEL PC Software 28
6. Transmission by SEL Program 32
6.1 Setup of Ethernet Environment 32
6.2 Ethernet Option SEL Commands 35
7. Common Items to Note (Be Sure to Read This Section.) 43
Appendix: X-SEL (Cartesian/IX SCARA) Ethernet Option Parameters 45
Safety Guide
When designing and manufacturing a robot system, ensure safety by following the safety Guidess
provided below and taking the necessary measures.
Regulations and Standards Governing Industrial Robots
Safety measures on mechanical devices are generally classified into four categori es un der 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
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Requirements for Industrial Robots under Ordinance on Industrial Safety and Health
Work area Work condition Cutoff of drive source Measure Article
Outside
movement
range
Inside
movement
range
During
automatic
operation
During
teaching, etc.
During
inspection, etc.
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)
Signs for starting operation Article 104
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 150-3
Article 150-3
Article 151
Article 150-5
Article 150-5
Article 150-5
Article 150-5
Article 36-32
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Applicable Models of IAI’s Industrial Robots
Machines meeting the following conditions are not classified as industrial robot s 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 robot 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 wh ose rot ating p art, if any,
has the maximum movement range of within 300 mm
(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 robots
Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3
5. IX SCARA robots
IX-NNN (NNW, NNC) 3515 (H)
IX-NNN (NNW, NNC) 50 (H) /60 (H) /70 (H) /80 (H)
IX-NSN5016(H) /6016 (H)
IX-TNN (UNN) 3015(H) /3515 (H)
IX-HNN (INN) 50 (H) /60 (H) /70 (H) /80 (H)
3
including the tip of the rotating part
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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 When transporting the product, exercise due caution not to bump or drop the product.
Storage/
3
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 bedewing
[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 ra nges. Doing so may significantly shorten
the life of the product or result in product failure or facility stoppage.
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 with a capacity of 1 ton or more, the crane must be operated b y per sonnel
qualified to operate cranes and perform slinging operations.
When using a crane or other equipment, never use it to hoist any article exceeding the rated load
of the applicable crane, etc.
Use hoisting accessories suitable for the article to be hoisted. Select appropriate hoisting
accessories by making sure there is an ample allowance for safety in their cutting load, etc.
Do not climb onto the article being hoisted.
Do not keep the article hoisted.
Do not stand under the hoisted article.
The storage/preservation environment should conform to the installation environment.
Among others, be careful not to cause bedewing.
(1) Installing the robot, controller, etc.
Be sure to firmly secure and affix the product (including its load).
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 tips 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
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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.
Be sure to connect the cable connectors without fail and firmly. 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 re sistance
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, inj ury 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 load, 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 a vertically installed actuator, be careful not to pinch your
hand or damage the load, etc., due to the slider dropping by its dead weight.
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.
When releasing the brake of a vertically installed actuator, be careful not to pinch your
hand or damage the load, etc., due to the slider dropping by its dead weight.
* Safety fences --- Indicate the movement range if safety fences are not provided.
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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 pro duct
damage.
When releasing the brake of a vertically installed actuator, be careful not to pinch your
hand or damage the load, etc., due to the slider dropping by its dead weight.
* 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.
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Indication of Cautionary Information
The operation manual for each model denotes safety Guides 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
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1. Overview
This option allows the X-SEL controller to perform control in an open network environment using the
Ethernet infrastructure, the de-facto standard and most common form of communication media for linking
PCs and host computers.
(1) Remote I/O control (Modbus/TCP EtherNet/IP)
The X-SEL controller supports remote I/O control (a maximum of 256 input points and 256 output
points) via Modbus/TCP.
Modbus/TCP is an Ethernet application of the Modbus protocol used in serial communicatio n.
* EtherNet/IP is supported only by X-SEL controllers of P/Q types (main application version 1.05 or
later). Also note that to use EtherNet/IP, you need an interface board compatible with EtherNet/IP.
(2) Message communication
The communication capabilities supported by the RS232C communication function of the X-SEL
controller can be implemented via Ethernet.
IAI protocol B/TCP
IAI protocol B for serial communication is supported.
The X-SEL controller can be connected to PC software.
Tra nsmission by SEL program (4 channels)
Four channels of ASCII-based, delimiter-controlled communication are supported, using a set of
transmission commands in a system roughly equivalent to that used in the X-SEL controller’s serial
communication.
Substitute programs
Send work data
(IAI protocol)
Send/receive I/O signals
(Modbus/TCP EtherNet)
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A hierarchy of the functions provided by the X-SEL Ethernet option is shown below.
Functions are selected by parameters. Additionally, the network environment parameters must be set.
Ethernet option
Remote I/O
Modbus/TCP
Server (slave unit)
EtherNet/IP
Adapter (equivalent to a slave)
EXCEPTION status invalid
EXCEPTION status (upper two digits of the error num ber) valid
Message communication
IAI protocol B/TCP
Client (PC software connection enabled)
Server
Transmission by SEL program (4 channels)
Client
Server
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2. Interface Specifications
Item Specification
Network
specification
Communication
standard
Communication
speed
Protocol
10BASE-T/100BASE-T (Auto-negotiation)
IEEE802.3
10/100 Mbps (Auto-negotiation)
Remote I/O
Open Modbus/TCP EtherNet/IP
Class 1 Read Coil
Class 1 Read Input Discretes
Class 0 Read multiple registers
Class 1 Read Input registers
Class 1 Write Coils
Class 1 Write Single register
Class 1 Read Exception status
Class 2 Force multiple Coils
Supported commands
Class 0 Force multiple registers
Class 2 Mask Write register
Class 2 Read/Write registers
Class 1
Class 3
UCMM
Cyclic
communication
Connection type
Non-connection
type
TCP/IP message
communication
1. IAI protocol B/TCP
2. Transmission by
SEL program
(4 channels)
Connector RJ-45
Cable Category 5 UTP twisted cable (see note)
(Note) Use a straight or crossed Ethernet cable according to the conne ction enviro nment.
[Normal]
Controller HUB: Straight
Controller Controller: Crossed
Controller PC: Crossed
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3. Interface Board
3.1 Name of Each Part
(Note) The DIP switches are used to set the least significant byte of the IP address. With
the X-SEL system, however, the IP address is set by a controller parameter without
the use of DIP switches.
Set all switches to OFF. (Setting the switches in any other pattern will have no
effect.)
S1
/S0
NS
/MS
Communication connector
DIP switches
Monitor LEDs
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