Iai-america XSEL-S User Manual

Operation ManualForth EditionXSEL ControllerR/S/RX/SX/RXD/SXD Type

2 No. Operation Description Description 2 Transportation � When carrying a heavy object, do the work with two or more persons or utilize equipment

Chapter 2 Wiring2.2.7 PIO Circuit 

Chapter 2 Wiring 2.2.7 PIO Circuit 93 � 48 Input Points / 48 Output Points (Display of XSEL Mode Code: N3) 00000100200300400500600700800901001101201

Chapter 2 Wiring2.2.7 PIO Circuit 

Chapter 2 Wiring 2.2.7 PIO Circuit  

Chapter 2 Wiring2.2.7 PIO Circuit 

Chapter 2 Wiring 2.2.7 PIO Circuit 97 � 48 Input Points / 48 Output Points (Display of XSEL Mode Code: P3) 00000100200300400500600700800901001101201

Chapter 2 Wiring2.2.7 PIO Circuit 

Chapter 2 Wiring 2.2.8 Connection of Regenerative Unit (Option) 99 2.2.8 Connection of Regenerative Unit (Option) (REU-1)CB-ST-REU010RBExternal Rege

Chapter 2 Wiring2.2.9 Brake release switch Connector (Layout is to be established for single axis actuator equipped with a brake) 1

Chapter 2 Wiring 2.2.10 Extension I/O unit (Option) 101 2.2.10 Extension I/O unit (Option) [1] Connection to the XSEL Extension I/O UnitXSEL Contr

3 No. Operation Description Description (2) Cable Wiring � Use our company’s genuine cables for connecting between the actuator and controller, and

Chapter 2 Wiring2.2.10 Extension I/O unit (Option) 102 [2] PIO Circuit (1) Unit No. and System Setting This section describes for the limited case w

Chapter 2 Wiring 2.2.10 Extension I/O unit (Option) 103 2) System Setting The system setting is performed for using it as extension I/O using the I/O

Chapter 2 Wiring2.2.10 Extension I/O unit (Option) 104 (2) Connection of PIO There are six types of PIO board which are the identical to the ones to

Chapter 2 Wiring 2.2.10 Extension I/O unit (Option) 105 No. Parameter name Set in DeliverySet ValueDetails of Parameters 4000+n (Multiples of 16) Wh

Chapter 2 Wiring2.2.10 Extension I/O unit (Option)   

Chapter 2 Wiring 2.2.10 Extension I/O unit (Option) 

Chapter 2 Wiring2.2.10 Extension I/O unit (Option) 108 � 48 Input Points / 48 Output Points (Display of XSEL Mode Code: N3)

Chapter 2 Wiring 2.2.10 Extension I/O unit (Option) 

Chapter 2 Wiring2.2.10 Extension I/O unit (Option) 

Chapter 2 Wiring 2.2.10 Extension I/O unit (Option) 

4 No. Operation Description Description 4 Installation and Start (4) Safety Measures � When the work is carried out with 2 or more persons, make it

Chapter 2 Wiring2.2.10 Extension I/O unit (Option) 112 Load(Red-1)(Orange-1)(Yellow-1)(Green-1)(Blue-1)(Purple-1)(Gray-1)(White-1)(Black-1)(Brown-2)(R

Chapter 2 Wiring 2.2.10 Extension I/O unit (Option) 

Chapter 2 Wiring2.2.11 Brake Box (RCB-110-RA13-0) (Option) 114 2.2.11 Brake Box (RCB-110-RA13-0) (Option) XSEL Controller M1Brake Box(RCB-110-RA13)2

Chapter 2 Wiring 2.2.12 General-purpose RS232C Port Connectors 2.2.13 Teaching Tool 115 2.2.12 General-purpose RS232C Port Connectors The followin

Chapter 2 Wiring2.3 Wiring Method2.3.1 Wiring for Power Supply Circuit 116 2.3 Wiring Method 2.3.1 Wiring for Power Supply Circuit [1] 3-phase pow

Chapter 2 Wiring 2.3.1 Wiring for Power Supply Circuit 117 Parts Name Model Supplier Position to Attach 1) Noise Filter MC1320 Densei Lambda 2) R

Chapter 2 Wiring2.3.1 Wiring for Power Supply Circuit 118 [2] Single-phase power supply type To X-SEL controllers, supply the following power supplie

Chapter 2 Wiring 2.3.1 Wiring for Power Supply Circuit 119 Parts Name Model Supplier Position to Attach 1) Noise Filter MXB-1220-33 Densei Lambda

Chapter 2 Wiring2.3.2 Wiring the Emergency Stop Circuit (System I/O ) 120 2.3.2 Wiring the Emergency Stop Circuit (System I/O ) Item R/RX/RXD Type

Chapter 2 Wiring 2.3.2 Wiring the Emergency Stop Circuit (System I/O ) 121 [1] R/RX/RXD type System I/O Connector Connector Model Remarks Cable si

5 No. Operation Description Description 6 Trial Operation � When the work is carried out with 2 or more persons, make it clear who is to be the le

Chapter 2 Wiring2.3.2 Wiring the Emergency Stop Circuit (System I/O ) 122 *1 Once it is disconnected between EMGin (IN) / EMGin (+24V), actuator will

Chapter 2 Wiring 2.3.2 Wiring the Emergency Stop Circuit (System I/O ) 123 [2] S/SX/SXD type System I/O Connector Connector Model Remarks Cable si

Chapter 2 Wiring2.3.2 Wiring the Emergency Stop Circuit (System I/O ) 124 *1 DET (IN) / DET (+24V) inputs are the terminals for dry contact input con

Chapter 2 Wiring 2.3.3 Wiring for Actuator 125 CONTROLLER     

Chapter 2 Wiring2.3.3 Wiring for Actuator 126 (2) Encoder Connector Specifications Connector Model Remarks Cable side 10126-3000VE(Sumitomo 3M) / H

Chapter 2 Wiring 2.3.4 Wiring for PIO 127 2.3.4 Wiring for PIO The connection of I/O to the controller is to be carried out using the dedicated I/O c

Chapter 2 Wiring2.3.4 Wiring for PIO 128 [2] 48 Input Points / 48 Output Points Model : CB-X-PIOH��� (��� indicates the cable length L. Example. 02

Chapter 2 Wiring 2.3.5 Wring for extension I/O units 129 2.3.5 Wiring for extension I/O units Connect the extension I/O unit using the IA network c

Chapter 2 Wiring2.3.5 Wring for extension I/O units 130 (1) Connection of IA Net  Connector Connector Model Remarks Cable side FMC1.5/3-ST-3.5 (

Chapter 2 Wiring 2.3.5 Wring for extension I/O units 

6 No. Operation Description Description 8 Maintenance and Inspection � When the work is carried out with 2 or more persons, make it clear who is to

Chapter 2 Wiring2.3.5 Wring for extension I/O units 

Chapter 2 Wiring 2.3.6 Wring for Panel Unit 133 2.3.6 Wiring for Panel Unit Panel Unit (option) can be used by connecting to XSEL Controller or Ext

Chapter 2 Wiring2.3.7 Wring for Regeneration Unit (REU-1) (Option) 134 2.3.7 Wiring for Regeneration Unit (REU-1) (Option) Connect the regenerative

Chapter 2 Wiring 2.3.8 Wring for Brake Box (RCB-110-RA13-0) 135 2.3.8 Wiring for Brake Box (RCB-110-RA13-0) As shown in the figure below, connect th

Chapter 2 Wiring2.3.8 Wring for Brake Box (RCB-110-RA13-0) 136 (2) Brake Power Input Connector Connector Model Remarks Cable side MC1.5/2-ST-3.5 (

Chapter 2 Wiring 2.3.9 Wring for the Teaching 137 2.3.9 Wiring for the Teaching The teaching connector is used to connect an IAI teaching pendant o

Chapter 2 Wiring2.3.9 Wring for the Teaching 138 Terminal Assignments�Pin No. Direction Signal name Description 1 FG Frame ground 2 Out TXD

Chapter 2 Wiring 2.3.10 Wiring the Brake Forced Release Switch 139 2.3.10 Wiring the Brake Forced Release Switch This connector is used to connect th

Chapter 2 Wiring2.3.11 Wring for General-purpose RS232C Port 140 2.3.11 Wiring for General-purpose RS232C Port This two-channel communication port c

Chapter 3 Operation 3.1 Types of Operations 141 Chapter 3 Operation 3.1 Types of Operations The XSEL controller is a programming controller that c

7 Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, a

Chapter 3 Operation3.2 I/O Ports 142 3.2 I/O Ports The I/O port can deliver the data with the XSEL controller and external signals through interface.

Chapter 3 Operation 3.2 I/O Ports 143 (1) I/O map The factory-set I/O port numbers and functions of the XSEL controller are shown below. The functions

Chapter 3 Operation3.3 Starting the Controller3.3.1 Turning on the Power 144 3.3 Starting the Controller 3.3.1 Turning on the Power Turn on the con

Chapter 3 Operation 3.3.2 Panel Window Display 145 3.3.2 Panel Window Display The 4-digit, 7-segment LED shows the controller status. When the unit i

Chapter 3 Operation3.3.2 Panel Window Display 146 Table 1 Panel window display list (1/2) Application control codes The AC power is cut off. (Mom

Chapter 3 Operation 3.3.2 Panel Window Display 147 Table 1 Panel window display list (2/2) Application control codes Display Priority (*1) Descri

Chapter 3 Operation3.3.3 Position Table and Program Creation and Writing 148 3.3.3 Position Table and Program Creation and Writing Create a position

Chapter 3 Operation 3.4 Program Operation3.4.1 Auto Start upon Power On 149 3.4 Program Operation For the operation there are two ways of start-up. O

Chapter 3 Operation3.4.1 Auto Start upon Power On 150 [Recommendation] After the power is turned on, unexpected movements of the robot may create da

Chapter 3 Operation 3.4.2 Starting a Program by Specifying its Program Number 151 3.4.2 Starting a Program by Specifying its Program Number The progr

8 Controller’s model and corresponding actuator The controllable actuator may differ depending on the model for this controller. No. Model Type C

Chapter 3 Operation3.4.2 Starting a Program by Specifying its Program Number 152 [2] Input the program No. 0.01sec or more after the XSEL controller

Chapter 4 Absolute Reset and Absolute Battery 4.1 Absolute Reset4.1.1 For PC Software 153 Chapter 4 Absolute Reset and Absolute Battery 4.1 Absol

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 154 7) Select [Monitor (M)] � [Error Details (E)] menu to check the current er

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 155 10) [Abs. Encoder Reset] dialog box appears. 11) Cl

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 156 13) Once the process of Encoder Multi Rotation Data Reset is finished, the

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 157 19) Now the process for absolute reset is complete. If a redo of the absolut

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 158 [2] Scara Axis (Excluding IX-NNN10040 and 12040) (1) Absolute Reset Prep

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 159 (2) Starting the Absolute Reset Menu 1) Open the Abs. Encoder Reset windo

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 160 (3) Absolute Reset Procedure for Arm 1 or 2 1) Click the Encoder Rotatio

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 161 3) Click the Servo ON button. 4) Jog the arm to near the

9 Caution in Handling �1 Make sure to follow the usage condition, environment and specification range of the product. Operation out of the guarante

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 162 6) Press the EMERGENCY STOP switch. 7) When performing an absolute res

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 163 Arm 1 (Arm length 250/300/350) Arm 2 (Arm le

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 164 Arm 1 (Arm length 120/150/180) Arm 2 (Arm

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 165 8) Click the OK button. 9) Click the Encoder Rotation Dat

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 166 10) Remove the adjustment jig. � Install the cover and secure it with th

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 167 (4) Absolute Reset Procedure for Rotation Axis + Vertical Axis 1) Click t

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 168 3) Click the Servo ON button. 4) Click the Temp. Standard

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 169 D-cut surface Positioning mark label for rotation axisThe top face of the st

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 170 (Bottom view) � Be sur

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 171

10 6. Transference of PIO Signal between Controllers Please note the following when conducting transference of PIO signal between controllers. To ce

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 172 (Bottom view) � Be sur

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 173 9) Click the OK button. 10) Click the Encoder Rotation

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 174 11) Click the Home pos. automatic update button. 12) Re

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 175 15) Click the Servo ON button. 16) Click the Standard post

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 176 18) Click the Encoder Rotation Data Reset3 button.

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 177 [3] X-NNN10040 and 12040 SCARA Axes In case the absolute data is lost, con

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 178 (1) How to Operate the Push Type Absolute Reset 1) Backup the parameters

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 179 [When Performing Push Stopper Type Absolute Reset to All Axes at Once] To

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 180 4) By referring to the displayed movement direction for each axis, adjust

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 181 For the position, put it apart from the stopper position for 10deg or more.

11 International Standards Compliances This product complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 182 [When performing Push Stopper Type Absolute Reset on Each Axis One by One]

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 183 4) By referring to the displayed movement direction for each axis, adjust t

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 184 For the position, put it apart from the stopper position for 10deg or more.

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 185 � Vertical Axis, Rotation Axis 1) Select “Individual axis” in the Push stop

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 186 4) By referring to the displayed movement direction for each axis, adjust

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 187 7) Once the push type absolute reset for the axis is complete, the informat

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 188 (2) How to Acquire the Stopper Interfering Point In the following case, c

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 189 Push stopper position acquisition with the process shown below. 1) Backup

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 190 4) A Confirmation window shows up. Click “Yes”. If conducting

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 191 [When Acquiring Push Stopper Position for All Axes at Once] To acquire the p

12 Name for Each Parts and Their Functions [1] XSEL Controller � R/RX/RXD Type � S/SX/SXD Type

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 192 [Initial posture] � Arm1, Arm 2 Remove all the interferences of the periph

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 193 4) Select the direction to move for the vertical axis and rotation axis. It

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 194 7) Once the push stopper position acquirement for all the axes is complete

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 195 [When Acquiring Push Stopper Position on Each Axis One by One] To have an ac

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 196 [Initial posture] � Arm1, Arm 2 Remove all the interferences of the periph

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 197 5) Click “Execution” button. 6) A Warning window shows up. Click “Ye

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 198 � Vertical Axis, Rotation Axis 1) Select “Individual axis” in the Push sto

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 199 [Initial posture] � Vertical Axis For the position, put it apart from the c

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 200 7) Once the push stopper position acquisition is complete, the Information

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 201 [4] ZR Unit (1) Absolute Reset on ZR Unit (Absolute Type Only) Under cer

13 1) AC Power Input Connector ······· [Refer to 2.3.1] An input connector for the 200VAC to 230V, 3-phase main power supply. This connector consis

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 202 � Starting the Absolute Reset Menu (Ball-screw Spline Adjustment Window) 1

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 203 � Absolute Reset (Ball-screw Spline Adjustment) Procedure For absolute reset

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 204 3) When the dialog box appears, click the [Yes (Y)] button.

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 205 5) Click the [Reset Controller Error] button. 6)

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 206 7) Click the [Temp. Standard posture standby (Lnr. Axis)] button. Note:

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 207 9) Click the [Servo-OFF (Lnr. Axis, Rot. Axis)] button.

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 208 Jig Installation method [1] Insert the ba

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 209 12) Click the [OK] button. 13) Click the [Encoder Ro

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 210 14) When the dialog box appears, click the [Yes (Y)] button.

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 211 16) Click the [Home pos. automatic update (Indispensability) (Rot. Axis)] bu

14 8) Panel Window ······· [Refer to 7.1] This shows the controller status with four digits of seven-segment displays and six LED lamps. 9) Panel

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 212 21) Click the [Servo ON (Lnr. Axis, Rot. Axis)] button.

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 213 23) Click the [Servo-OFF (Lnr. Axis, Rot.Axis)] button.

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 214 25) When the dialog box appears, click the [Yes (Y)] button.

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 215 27) Closing the ball-screw spline adjustment window following the ball-screw

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 216 (2) Ball-screw spline adjustment on ZR unit (incremental type) Normally,

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 217 � Starting the Ball-screw Spline Adjustment Window 1) Start the ball-screw

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 218 � Ball-screw Spline Adjustment Procedure For ball screw spline adjustment f

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 219 3) Click the [Servo ON (Lnr. Axis, Rot. Axis)] button.

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 220 5) Click on “Home Return (Rotary Axis)” button. Note: Rotary axis starts

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 221 7) Click the [Servo-OFF (Lnr. Axis, Rot. Axis)] button.

15 12) I/O slots 1 ······· [Refer to 2.3.4, For RC Gateway Function Fieldbus type, refer to the operation manual provided separately.] Either of

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 222 Jig Installation method [1] Insert the ba

Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software 223 10) Click the [OK] button. 11) Click the [Home pos.

Chapter 4 Absolute Reset and Absolute Battery4.1.1 For PC Software 224 15) Click the [OK] button, and then click “�” in the top right-hand corner

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 225 4.1.2 For Teaching Pendant [1] Single and Orthogonal Axes Executes a

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 226 (3) Servo ON F1 (OK) key. (4) Homing F1 (OK) key. (5)

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 227 Return to the axis No. input screen. To execute absolute reset on other

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 228 [2] The SCARA Axis (Excluding IX-NNN10040 and 12040) Absolute Reset

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 229 An absolute reset is performed on the following 3 types: arm 1, arm 2 an

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 230 (3) Servo ON Press the F1 (OK) key. (4) Jog movement Jog th

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 231 Arm 1 positioning mark sealArm 1 positioning mark sealArm 2 positioning

16 17) Field network Board (Option) Mounted Position 2 The CC-Link, DeviceNet or PROFIBUS-DP field network board (option) is to be mounted. [Refer

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 232 Positioning mark label for arm 1Positioning mark label for arm 2 Inser

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 233 *1: When an absolute reset is performed for arm 1 (arm length: 120) *2:

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 234 (7) Encoder multi-rotation data reset Press the F1 (OK) key.

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 235 Press the ESC key. Restart the controller. Press the F1 (Yes)

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 236 (2) Absolute reset on Z-axis + R-axis Select the F1 (RAbs) key on th

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 237 (3) Servo ON Press the F1 (OK) key. (4) Temporary standard post

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 238 (7) Emergency stop input and adjusting jig set Press the EMERGE

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 239 The top face of the stopper should align with the bottom face of arm 2

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 240

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 241 � Be sure to press the EMERGENCY STOP switch before se

17 [2] Extension I/O unit 1) IA Net Connector (2 systems) ······· [Refer to 2.3.5] Either of IA Net dedicated

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 242 (8) Encoder multi-rotation data reset (2) Press the F1 (OK) key.

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 243 (13) Servo OFF Press the F1 (OK) key. (14) Encoder multi-rotation

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 244 [3] ZR Unit (Absolute Type) Under certain conditions such as when t

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 245 (2) Absolute Reset Procedures For absolute reset for the ZR unit, a se

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 246 (3) Servo ON Press the F1 (OK) key. (4) Temporary standard po

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 247 Jig Attachment Procedure [1] Insert th

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 248 (8) Encoder multi-rotation data reset (2) Press the F1 (OK) key.

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 249 (13) Servo OFF Press the F1 (OK) key. (14) Encoder multi-rotation

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 250 [4] Perform Ball Screw Spline Shaft Adjusting on ZR Unit (Incrementa

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 251 (2) Ball-screw Spline Adjustment Procedure For ball screw spline shaft

18 3) Status LED Display 1·······[Refer to Chapter 7] This shows the current condition of the power. � : Illuminating, × : OFF, � : Flashing Name

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 252 (3) Temporary standard posture standby Press the F1 (OK) key. Note:

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 253 Jig Attachment Procedure [1] Insert th

Chapter 4 Absolute Reset and Absolute Battery4.1.2 For Teaching Pendant 254 1 (8) Home preset value auto refresh Press the F1 (OK) key. (9)

Chapter 4 Absolute Reset and Absolute Battery 4.2 Absolute Battery4.2.1 Absolute Encoder Backup Type 255 4.2 Absolute Battery 4.2.1 Absolute Enco

Chapter 4 Absolute Reset and Absolute Battery4.2.2 Replace Absolute Battery 256 4.2.2 Replace Absolute Battery [1] For Single and Orthogonal Ax

Chapter 4 Absolute Reset and Absolute Battery 4.2.2 Replace Absolute Battery 257 4) Insert the new battery to the holder and plug in the battery co

Chapter 4 Absolute Reset and Absolute Battery4.2.2 Replace Absolute Battery 258 7) Plug in the 9-pin D-sub connector on the PC software connectio

Chapter 4 Absolute Reset and Absolute Battery 4.2.2 Replace Absolute Battery 259 14) Select Controller (C) � Software Reset (R) in the menu to reboo

Chapter 4 Absolute Reset and Absolute Battery4.2.2 Replace Absolute Battery 260 �

Chapter 5 Special Functions 5.1 RC Gateway Function 261 Chapter 5 Special Functions 5.1 RC Gateway Function There are 2 types in RC Gateway Functio

19 7) Panel Unit Connector······· [Refer to 2.3.6] This is a connector to plug in the panel unit PU-1(option). [For the detail of panel unit, refer

Chapter 5 Special Functions5.2 Vision system I/F Function 262 5.2 Vision system I/F Function This function enables the operator to save the coordinat

Chapter 5 Special Functions 5.3 Synchro Function5.3.1 Overview 263 5.3 Synchro Function 5.3.1 Overview [1] Common Items (Applicable to both the a

Chapter 5 Special Functions5.3.1 Overview 264 [2] Incremental Specification With the incremental specification, the relative positioning of the maste

Chapter 5 Special Functions 5.3.2 How to Absolute Reset on Synchronizing Type 265 5.3.2 How to Absolute Reset on Synchronizing Type [1] Absolute Re

Chapter 5 Special Functions5.3.2 How to Absolute Reset on Synchronizing Type 266 [2] Position Adjustment of Synchro-Axis Sliders The positions of syn

Chapter 5 Special Functions 5.3.2 How to Absolute Reset on Synchronizing Type 267 [3] Method for when 2 Axes are Absolute Type Described below is the

Chapter 5 Special Functions5.3.2 How to Absolute Reset on Synchronizing Type 268 (3) Have the absolute reset conducted, not by following the instruct

Chapter 5 Special Functions 5.3.2 How to Absolute Reset on Synchronizing Type 269 (4) Set the value of the slave axis recorded in (1) in “Axis-specif

Chapter 5 Special Functions5.3.2 How to Absolute Reset on Synchronizing Type 270 2) Perform the following calculation. Slave-axis value in “Axis-spec

Chapter 5 Special Functions 5.3.2 How to Absolute Reset on Synchronizing Type 271 If an “Error No. D0A, Driver overload error,” “Error No. C6B, Deviat

20 [3] Panel Unit: PU-1 (Option) This is a display device consists of four digits of seven-segment displays and LED lamps. The status of controller,

Chapter 5 Special Functions5.3.2 How to Absolute Reset on Synchronizing Type 272 [4] Preparation for and Process of Re-execution of Absolute Reset [I

Chapter 5 Special Functions 5.3.2 How to Absolute Reset on Synchronizing Type 273 (3) As a reason of the position misalignment, it can also be consid

Chapter 5 Special Functions5.3.2 How to Absolute Reset on Synchronizing Type 274 [5] Method for Combination of Absolute Type and Incremental Type Des

Chapter 5 Special Functions 5.4 Multiple-Slider Near-Miss Detection (Collision Prevention) Function 275 5.4 Multiple-Slider Near-Miss Detection (Coll

Chapter 5 Special Functions5.4 Multiple-Slider Near-Miss Detection (Collision Prevention) Function 276 Related Parameters (Axis-specific Parameters) N

Chapter 6 Parameter 277 Chapter 6 Parameter Parameter data should be set appropriately according to the applicaiton requirements. When a change is r

Chapter 6 Parameter 278 Parameters Set in Bits � How to Use Bits Refer below for how to turn on the bits (in case the last digit of the set value is

Chapter 6 Parameter 6.1 I/O Parameter (All types) 279 6.1 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Re

Chapter 6 Parameter6.1 I/O Parameter (All types) 280 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 1

Chapter 6 Parameter 6.1 I/O Parameter (All types) 281 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

21 [4] Brake Box: RCB-110-RA13-0 (Option) It is the brake control unit that is necessary when the actuator for the following is the brake-equipped

Chapter 6 Parameter6.1 I/O Parameter (All types) 282 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 3

Chapter 6 Parameter 6.1 I/O Parameter (All types) 283 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 284 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 3

Chapter 6 Parameter 6.1 I/O Parameter (All types) 285 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 286 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 4

Chapter 6 Parameter 6.1 I/O Parameter (All types) 287 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 288 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 5

Chapter 6 Parameter 6.1 I/O Parameter (All types) 289 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 290 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 7

Chapter 6 Parameter 6.1 I/O Parameter (All types) 291 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Please Read Before Use Thank you for purchasing our product. This Operation Manual describes all necessary information items to operate this produc

22 2) Power Supply Input Connector······· [Refer to 2.3.8] It is the connector to connect the power supply. Supply 24V DC (19.76VA per axis). 3) P

Chapter 6 Parameter6.1 I/O Parameter (All types) 292 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 1

Chapter 6 Parameter 6.1 I/O Parameter (All types) 293 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 294 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 1

Chapter 6 Parameter 6.1 I/O Parameter (All types) 295 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 296 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 1

Chapter 6 Parameter 6.1 I/O Parameter (All types) 297 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 298 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 2

Chapter 6 Parameter 6.1 I/O Parameter (All types) 299 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 300 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 2

Chapter 6 Parameter 6.1 I/O Parameter (All types) 301 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

23 Actuator Axes Refer to the pictures below for the actuator axes that can be controlled. 0 defines the home position, and items in ( ) are for th

Chapter 6 Parameter6.1 I/O Parameter (All types) 302 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 2

Chapter 6 Parameter 6.1 I/O Parameter (All types) 303 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 304 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 3

Chapter 6 Parameter 6.1 I/O Parameter (All types) 305 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 306 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 3

Chapter 6 Parameter 6.1 I/O Parameter (All types) 307 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 308 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 3

Chapter 6 Parameter 6.1 I/O Parameter (All types) 309 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 310 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 3

Chapter 6 Parameter 6.1 I/O Parameter (All types) 311 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

24 (5) Gripper Type Finger Attachment (6) Rotary Type � � (300-degree Rotation Specification)� � (360-degree Rotation Specification)

Chapter 6 Parameter6.1 I/O Parameter (All types) 312 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 4

Chapter 6 Parameter 6.1 I/O Parameter (All types) 313 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 314 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 5

Chapter 6 Parameter 6.1 I/O Parameter (All types) 315 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 316 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 5

Chapter 6 Parameter 6.1 I/O Parameter (All types) 317 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 318 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 5

Chapter 6 Parameter 6.1 I/O Parameter (All types) 319 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 320 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 6

Chapter 6 Parameter 6.1 I/O Parameter (All types) 321 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

25 (7) Orthogonal Robot (Combinations Axis of Single Axis Robot ) 1st axis (X axis) (Axes 1) 3r

Chapter 6 Parameter6.1 I/O Parameter (All types) 322 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 6

Chapter 6 Parameter 6.1 I/O Parameter (All types) 323 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.1 I/O Parameter (All types) 324 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks 7

Chapter 6 Parameter 6.1 I/O Parameter (All types) 325 I/O Parameter (All types) No. Parameter name Default value (reference)Input range Unit Remarks

Chapter 6 Parameter6.2 Parameters Common to All Axes6.2.1 For XSEL-R/S 326 6.2 Parameters Common to All Axes 6.2.1 For XSEL-R/S No. Parameter nam

Chapter 6 Parameter 6.2.1 For XSEL-R/S 327 Parameters Common to All Axes (XSEL-R/S) No. Parameter name Default value (reference)Input range Unit Rema

Chapter 6 Parameter6.2.1 For XSEL-R/S 328 Parameters Common to All Axes (XSEL-R/S) No. Parameter name Default value (reference)Input range Unit Remar

Chapter 6 Parameter 6.2.1 For XSEL-R/S 329 Parameters Common to All Axes (XSEL-R/S) No. Parameter name Default value (reference)Input range Unit Rema

Chapter 6 Parameter6.2.1 For XSEL-R/S 330 Parameters Common to All Axes (XSEL-R/S) No. Parameter name Default value (reference)Input range Unit Remar

Chapter 6 Parameter 6.2.1 For XSEL-R/S 331 Parameters Common to All Axes (XSEL-R/S) No. Parameter name Default value (reference)Input range Unit Rema

26 (8) Horizontal Articulated (SCARA) Robot There are three types of coordinate systems, base coordinate system, work coordinate system and tool coo

Chapter 6 Parameter6.2.1 For XSEL-R/S 332 Parameters Common to All Axes (XSEL-R/S) No. Parameter name Default value (reference)Input range Unit Remar

Chapter 6 Parameter 6.2.1 For XSEL-R/S 333 Parameters Common to All Axes (XSEL-R/S) No. Parameter name Default value (reference)Input range Unit Rema

Chapter 6 Parameter6.2.1 For XSEL-R/S 334 Parameters Common to All Axes (XSEL-R/S) No. Parameter name Default value (reference)Input range Unit Rema

Chapter 6 Parameter 6.2.2 For XSEL-RX/SX, RXD/SXD 335 6.2.2 For XSEL-RX/SX, RXD/SXD No. Parameter name Default value (reference)Input range Unit R

Chapter 6 Parameter6.2.2 For XSEL-RX/SX, RXD/SXD 336 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)

Chapter 6 Parameter 6.2.2 For XSEL-RX/SX, RXD/SXD 337 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference

Chapter 6 Parameter6.2.2 For XSEL-RX/SX, RXD/SXD 338 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)

Chapter 6 Parameter 6.2.2 For XSEL-RX/SX, RXD/SXD 339 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference

Chapter 6 Parameter6.2.2 For XSEL-RX/SX, RXD/SXD 340 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)

Chapter 6 Parameter 6.2.2 For XSEL-RX/SX, RXD/SXD 341 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference

27 XbXofwnZofwnYofwnZbRwnYwnZwnXwnRofwn[Work Coordinate System] It is 32 types of the three-dimensional orthogonal coordinates + rotational axis coo

Chapter 6 Parameter6.2.2 For XSEL-RX/SX, RXD/SXD 342 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)

Chapter 6 Parameter 6.2.2 For XSEL-RX/SX, RXD/SXD 343 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference

Chapter 6 Parameter6.3 Axis-Specic Parameters.6.3.1 For XSEL-R/S 344 6.3 Axis-Specific Parameters 6.3.1 For XSEL-R/S No. Parameter name Default

Chapter 6 Parameter 6.3.1 For XSEL-R/S 345 Axis-Specific Parameters (XSEL-R/S) No. Parameter name Default value (reference) Input range Unit Remarks

Chapter 6 Parameter.6.3.1 For XSEL-R/S   

Chapter 6 Parameter 6.3.1 For XSEL-R/S 347 Axis-Specific Parameters (XSEL-R/S) No. Parameter name Default value (reference) Input range Unit Remarks

Chapter 6 Parameter.6.3.1 For XSEL-R/S   

Chapter 6 Parameter 6.3.1 For XSEL-R/S 349 Axis-Specific Parameters (XSEL-R/S) No. Parameter name Default value (reference) Input range Unit Remarks

Chapter 6 Parameter.6.3.1 For XSEL-R/S 350 Axis-Specific Parameters (XSEL-R/S) No. Parameter name Default value (reference) Input range Unit Remarks

Chapter 6 Parameter 6.3.1 For XSEL-R/S 351 Axis-Specific Parameters (XSEL-R/S) No. Parameter name Default value (reference) Input range Unit Remarks

28 [Tool Coordinate System] It is 128 types of the three-dimensional orthogonal coordinates + rotational axis coordinates defined by the dimension (o

Chapter 6 Parameter.6.3.1 For XSEL-R/S 352 Axis-Specific Parameters (XSEL-R/S) No. Parameter name Default value (reference) Input range Unit Remarks

Chapter 6 Parameter 6.3.1 For XSEL-R/S 353 Axis-Specific Parameters (XSEL-R/S) No. Parameter name Default value (reference) Input range Unit Remarks

Chapter 6 Parameter.6.3.1 For XSEL-R/S 354 Axis-Specific Parameters (XSEL-R/S) No. Parameter name Default value (reference) Input range Unit Remarks

Chapter 6 Parameter 6.3.1 For XSEL-R/S 355 Axis-Specific Parameters (XSEL-R/S) No. Parameter name Default value (reference) Input range Unit Remarks

Chapter 6 Parameter6.3.2 For XSEL-RX/SX, RXD/SXD) 356 6.3.2 For XSEL-RX/SX, RXD/SXD No. Parameter name Default value (reference)Input range Unit R

Chapter 6 Parameter 6.3.2 For XSEL-RX/SX, RXD/SXD 357 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)Inpu

Chapter 6 Parameter6.3.2 For XSEL-RX/SX, RXD/SXD) 358 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)Inpu

Chapter 6 Parameter 6.3.2 For XSEL-RX/SX, RXD/SXD 359 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)Inpu

Chapter 6 Parameter6.3.2 For XSEL-RX/SX, RXD/SXD) 360 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)Inpu

Chapter 6 Parameter 6.3.2 For XSEL-RX/SX, RXD/SXD 



Chapter 6 Parameter6.3.2 For XSEL-RX/SX, RXD/SXD) 362 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)Inpu

Chapter 6 Parameter 6.3.2 For XSEL-RX/SX, RXD/SXD 363 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)Inpu

Chapter 6 Parameter6.3.2 For XSEL-RX/SX, RXD/SXD) 364 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)Inpu

Chapter 6 Parameter 6.3.2 For XSEL-RX/SX, RXD/SXD 365 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)Inpu

Chapter 6 Parameter6.3.2 For XSEL-RX/SX, RXD/SXD) 366 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)Inpu

Chapter 6 Parameter 6.3.2 For XSEL-RX/SX, RXD/SXD 367 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)Inpu

Chapter 6 Parameter6.3.2 For XSEL-RX/SX, RXD/SXD) 368 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)Inpu

Chapter 6 Parameter 6.3.2 For XSEL-RX/SX, RXD/SXD 369 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD) No. Parameter name Default value (reference)Inpu

Chapter 6 Parameter6.4 Driver Parameters (All types) 370 6.4 Driver Parameters (All types) No. Parameter name Default value (reference)Input range

Chapter 6 Parameter 6.4 Driver Parameters (All types) 371 Driver Parameters (All types) No. Parameter name Default value (reference)Input range Uni

30

Chapter 6 Parameter6.4 Driver Parameters (All types) 372 Driver Parameters (All types) No. Parameter name Default value (reference)Input range Unit

Chapter 6 Parameter 6.4 Driver Parameters (All types) 373 Driver Parameters (All types) No. Parameter name Default value (reference)Input range Uni

Chapter 6 Parameter6.5 Encoder Parameters (All types) 374 6.5 Encoder Parameters (All types) No. Parameter name Default value (reference)Input rang

Chapter 6 Parameter 6.5 Encoder Parameters (All types) 375 Encoder Parameters (All types) No. Parameter name Default value (reference)Input range Un

Chapter 6 Parameter6.6 I/O Devices Parameters (All types) 376 6.6 I/O Devices Parameters (All types) No. Parameter name Default value (reference)In

Chapter 6 Parameter 6.6 I/O Devices Parameters (All types) 377 I/O Devices Parameters (All types) No. Parameter name Default value (reference)Input

Chapter 6 Parameter6.6 I/O Devices Parameters (All types) 378 I/O Devices Parameters (All types) No. Parameter name Default value (reference)Input ra

Chapter 6 Parameter 6.7 Other Parameters (All types) 379 6.7 Other Parameters (All types) No. Parameter name Default value (reference) Input range

Chapter 6 Parameter6.7 Other Parameters (All types) 380 Other Parameters (All types) No. Parameter name Default value (reference) Input range Unit

Chapter 6 Parameter 6.7 Other Parameters (All types) 381 Other Parameters (All types) No. Parameter name Default value (reference) Input range Unit

Chapter 1 Specications Check 1.1 Product Check1.1.1 Components (Excluding Options) 1.1.2 Teaching Tool (Optional) 31 Chapter 1 Specificatio

Chapter 6 Parameter6.7 Other Parameters (All types) 382 Other Parameters (All types) No. Parameter name Default value (reference) Input range Unit

Chapter 6 Parameter 6.7 Other Parameters (All types) 383 Other Parameters (All types) No. Parameter name Default value (reference) Input range Unit

Chapter 6 Parameter6.7 Other Parameters (All types) 384 Other Parameters (All types) No. Parameter name Default value (reference) Input range Unit

Chapter 6 Parameter 6.7 Other Parameters (All types) 385 Other Parameters (All types) No. Parameter name Default value (reference) Input range Unit

Chapter 6 Parameter6.7 Other Parameters (All types) 386 Other Parameters (All types) No. Parameter name Default value (reference) Input range Unit

Chapter 6 Parameter 6.8 Parameters for Linear / Rotation Controls 

Chapter 6 Parameter6.9 Manual Operation Types 388 6.9 Manual Operation Types By setting to Parameter “Manual Operation Type” (Other Parameter No. 21)

Chapter 6 Parameter 6.10 Parameter Setting (Applied) 389 6.10 Parameter Setting (Applied) You can add functions or set dedicated functions to I/O por

Chapter 6 Parameter6.10 Parameter Setting (Applied) 390 6.10.1 Want to Operate the System Tentatively Without Using I/Os If you want to perform a tes

Chapter 6 Parameter 6.10 Parameter Setting (Applied) 391 6.10.5 Want to Enable Auto Recovery (Restart) upon Cancellation of Emergency Stop You can au

Chapter 1 Specications Check1.1.3 Operation manuals related to this product, which are contained in the operation manual (DVD).1.1.4 How to read the

Chapter 6 Parameter6.10 Parameter Setting (Applied) 392 6.10.9 Want to Turn on the Servo Externally The servo turns on when input port 002 turns ON (

Chapter 6 Parameter 6.10 Parameter Setting (Applied) 393 6.10.14 Want to Reset Errors Externally Errors other than cold-start level errors are reset

Chapter 6 Parameter6.10 Parameter Setting (Applied) 394 6.10.17 Want to Change Input Port Assignments You can select input functions by I/O parameter

Chapter 6 Parameter 6.10 Parameter Setting (Applied) 395 6.10.20 Want to output that a single axis actuator got into the area (zone) which has been s

Chapter 6 Parameter6.10 Parameter Setting (Applied) 396 [Example for Setting] Below describes an example for how to set the following area (zone) to Z

Chapter 6 Parameter 6.10 Parameter Setting (Applied) 397 6.10.23 Want to Know the Current Operation Mode The current operation mode can be checked fr

Chapter 6 Parameter6.10 Parameter Setting (Applied) 398 I/O Parameter Settings (Reference) No. Parameter name Default value Input range Unit 201

Chapter 6 Parameter 6.10 Parameter Setting (Applied) 399 Bits 20 to 23: Enable selection for sending with port open (0: Disable, 1: Enable) * This s

Chapter 6 Parameter6.10 Parameter Setting (Applied) 400 6.10.28 Want to Monitor Variables without Connecting a Teaching Tool Global integer variables

Chapter 6 Parameter 6.11 Servo Adjustment 401 6.11 Servo Adjustment At the delivery from the factory, the parameter settings are established to obta

Chapter 1 Specications Check 1.1.5 How to read the model 33 1.1.5 How to read the model [1] Controller for Single-Axis Robots and Orthogonal Robots

Chapter 6 Parameter6.11 Servo Adjustment 402 No. Phenomenon that requires adjustment How to adjust 4 Abnormal noise is generated / Especially, when

Chapter 7 Troubleshooting 7.1 Action to Be Taken upon Occurrence of Problem 403 Chapter 7 Troubleshooting 7.1 Action to Be Taken upon Occurrence of

Chapter 7 Troubleshooting7.1 Action to Be Taken upon Occurrence of Problem 404 2) LED Check when Connecting Extension I/O Unit (Option) � Check the

Chapter 7 Troubleshooting 7.1 Action to Be Taken upon Occurrence of Problem 405 Establish the clock setting using a teaching tool such as the PC softw

Chapter 7 Troubleshooting7.1 Action to Be Taken upon Occurrence of Problem 406 Table 1 Panel window display list (1/2) Application control codes

Chapter 7 Troubleshooting 7.1 Action to Be Taken upon Occurrence of Problem 407 Table 1 Panel window display list (2/2) Application control codes

Chapter 7 Troubleshooting7.2 Error Level Control 408 7.2 Error Level Control Program run (Application only) Error level System error assignment sour

Chapter 7 Troubleshooting 7.2 Error Level Control 409 Program run (Application only) Error level System error assignment source Error No. (HEX) Displa

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 410 7.3 Error List (MAIN application) In the panel window, the error numbers follow E in

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 411 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 1 Specications Check1.1.5 How to read the model 34 [2] SCARA Robot + Controller for Single-Axis Robots and Orthogonal Robots (4 axes at ma

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 412 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 413 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 414 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 415 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 416 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 417 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 418 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 419 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 420 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 421 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 1 Specications Check 1.1.5 How to read the model 35 �[3] Controller for SCARA Robot 2-Unit Connection Dedicated �����������������������*1 G

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 422 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 423 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 424 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 425 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 426 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 427 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 428 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 429 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 430 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 431 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 1 Specications Check1.2 Basic Specications1.2.1 XSEL-R/S Controller Type 36 1.2 Basic Specifications 1.2.1 XSEL-R/S Controller Type [1]

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 432 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 433 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 434 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 435 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 436 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 437 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 438 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 439 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 440 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 441 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 1 Specications Check 1.2.1 XSEL-R/S Controller Type 37 Specification Item XSEL-R XSEL-S Clock Function Retaining time after power turned OF

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 442 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 443 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 444 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 445 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 446 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 447 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 448 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 449 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 450 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 451 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 1 Specications Check1.2.1 XSEL-R/S Controller Type 38 [2] Power Capacity and Heating Value Calculate the Power Capacity and Heating Value us

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 452 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 453 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 454 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 455 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 456 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 457 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 458 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 459 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 460 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 461 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 1 Specications Check 1.2.1 XSEL-R/S Controller Type 39 Table: 2 Motor Driving Power and Output Loss Control power supply External Power So

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 462 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 463 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 464 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 465 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 466 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 467 �Error List (MAIN core) In the panel window, the error numbers follow E in the displa

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 468 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 469 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 470 In the panel window, the error numbers follow E in the display. Error No. Error nam

Chapter 7 Troubleshooting 7.3 Error List (MAIN application) 471 In the panel window, the error numbers follow E in the display. Error No. Error na

Chapter 1 Specications Check1.2.1 XSEL-R/S Controller Type 40 [Calculation Example] Shown below is an example for how to calculate the power capacity

Chapter 7 Troubleshooting7.3 Error List (MAIN application) 472

Chapter 8 Appendix8.1 Example of Safety Circuit for S-type X-SEL Controllers(Conforming to Safety Category) 473 Chapter 8 Appendix 8.1 Example of S

Chapter 8 Appendix8.1.1 Safety Circuit Operation Timings 474 8.1.1 Safety Circuit Operation Timings Shown below are examples of operations based on t

Chapter 8 Appendix8.1.1 Safety Circuit Operation Timings 475 [2] Power on during emergency stop 200-VAC control powerSuccessful start of CPUI/O out

Chapter 8 Appendix8.1.1 Safety Circuit Operation Timings 476 [3] Enable operation Enable switch = ON200-VAC control powerSuccessful start of CPUI/

Chapter 8 Appendix8.1.1 Safety Circuit Operation Timings 477 [4] Occurrence of system-shutdown level error 200-VAC control powerSuccessful start of

Chapter 8 Appendix8.1.1 Safety Circuit Operation Timings 478 [5] Occurrence of cold-start level error 200-VAC control powerSuccessful start of CPUI/

Chapter 8 Appendix8.1.1 Safety Circuit Operation Timings 479 [6] Occurrence of operation-cancellation level error 200-VAC control powerSuccessful s

Chapter 8 Appendix8.2 Safety Circuit Operation Timings8.2.1 Stopping method 480 8.2 Stopping method and Recovery 8.2.1 Stopping method Actuator op

Chapter 8 Appendix8.2.2 Recovery 481 8.2.2 Recovery [1] Drive-source recovery request (1) Method of drive-source recovery request Recovery of driv

Chapter 1 Specications Check 1.2.2 XSEL-RX/SX Controller Type 41 1.2.2 XSEL-RX/SX Controller Type [1] Specification List Specification Item XSEL-

Chapter 8 Appendix8.2.2 Recovery 482 [2] Operation-pause reset request (1) Method of operation-pause reset request Reset of operation pause can be r

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 483 8.3 Specifications List for Connectable Single Axis Actuator The s

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 484 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 485 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 486 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 487 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 488 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 489 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 490 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 491 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Table of Contents Safety Guide ·····················································································································

Chapter 1 Specications Check1.2.2 XSEL-RX/SX Controller Type 42 Specification Item XSEL-RX XSEL-SX Panel Unit PU-1 (option) Controller status disp

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 492 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 493 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 494 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 495 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 496 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 497 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 498 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 499 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 500 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 501 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 1 Specications Check 1.2.2 XSEL-RX/SX Controller Type 43 [2] Power Capacity and Heating Value Calculate the Power Capacity and Heating Value

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 502 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 503 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 504 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 505 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 506 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 507 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 508 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 509 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 510 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 511 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 1 Specications Check1.2.2 XSEL-RX/SX Controller Type 44 Table: 2 Motor Volt Amperage of SCARA Robot and Output Loss SCARA Robot Wattage [W

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 512 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 513 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 514 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 515 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 516 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 517 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 518 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 519 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 520 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 521 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 1 Specications Check 1.2.2 XSEL-RX/SX Controller Type 45 Table 3 Motor Volt Amperage of Single-Axis Actuator and Output Loss Wattage of

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 522 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 523 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 524 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 525 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 526 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 527 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 528 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 529 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 8 Appendix8.3 Specications List for Connectable Single Axis Actuator 530 Motor output Lead Max. speed Max. Acceleration/ Deceleration Speed

Chapter 9 Warranty9.1 Warranty Period 9.2 Scope of the Warranty 9.3 Honoring the Warranty 9.4 Limited Liability 531 Chapter 9 Warranty 9.

Chapter 1 Specications Check1.2.2 XSEL-RX/SX Controller Type 46 Table: 4 Motor Driving Power and Output Loss Control power supply External Power S

Chapter 9 Warranty9.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications9.6 Other Items Excluded from Warranty 53

Trouble Report Sheet 533 Trouble Report Sheet

Change History 534 Change History Revision Date Revision Description 2012.09 2012.10 2012.11 2012.12 2013.01 Fi

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� Manual No.: ME0313-4A (January 2013)The information contained in this document is subject to change without notice for purposes of product improveme

Chapter 1 Specications Check 1.2.2 XSEL-RX/SX Controller Type 47 [Calculation Example] Shown below is an example for how to calculate the power capac

Chapter 1 Specications Check1.2.3 XSEL-RXD/SXD Controller Type 48 �1.2.3 XSEL-RXD/SXD Controller Type [1] Specification List Specification Item XS

Chapter 1 Specications Check 1.2.3 XSEL-RXD/SXD Controller Type 49 Specification Item XSEL-RXD XSEL-SXD Panel Unit PU-1 (option) Controller status

Chapter 1 Specications Check1.2.3 XSEL-RXD/SXD Controller Type 50 [2] Power Capacity and Heating Value Calculate the Power Capacity and Heating Valu

Chapter 1 Specications Check 1.2.3 XSEL-RXD/SXD Controller Type 51 Table: 3 Motor Driving Power and Output Loss Control power supply External Pow

2.2.9 Brake release switch Connector Layout is to be established for single axis actuator equipped with a brake)······ 100 2.2.10 Extension I/O

Chapter 1 Specications Check1.2.3 XSEL-RXD/SXD Controller Type 52 [Calculation Example] Shown below is an example for how to calculate the power capa

Chapter 1 Specications Check 1.2.4 Selection of the Circuit Breaker1.2.5 Selection of the Leakage Breaker 53 1.2.4 Selection of the Circuit Breaker

Chapter 1 Specications Check1.3 External Dimensions1.3.1 Absolute Battery Unit Non-Equipped Type 54 1.3 External Dimensions 1.3.1 Absolute Battery

Chapter 1 Specications Check 1.3.2 Absolute Battery Unit Equipped Type 55 1.3.2 Absolute Battery Unit Equipped Type Controller Type All Types Equip

Chapter 1 Specications Check1.4 Option1.4.1 PIO Board 56 1.4 Option �1.4.1 PIO Board [1] Type�XSEL Mode DisplayPolarity Input and Output Point

Chapter 1 Specications Check 1.4.1 PIO Board 57 ����������������������������������������Caution If a non-contact circuit is connected externally, mal

Chapter 1 Specications Check1.4.2 Field Network Board 58 1.4.2 Field Network Board Type Overview Details DeviceNet DeviceNet Field Network Board

Chapter 1 Specications Check 1.4.3 Extension I/O Unit 59 1.4.3 Extension I/O Unit It is to be used when the number of I/O points on the controller i

Chapter 1 Specications Check1.4.4 Panel Unit: PU-1 60 1.4.4 Panel Unit: PU-1 This is the display board consists of four digits of seven-segment disp

Chapter 1 Specications Check 1.4.5 Brake Box: RCB-110-RA13-0 61 1.4.5 Brake Box: RCB-110-RA13-0 This is required when the following actuator has the

Chapter 6 Parameter ····································································································277 6.1 I/O Parameter (All t

Chapter 1 Specications Check1.4.6 Regenerative Unit: REU-1 62 1.4.6 Regenerative Unit: REU-1 Regenerative resistance unit: A unit that converts to h

Chapter 1 Specications Check 1.4.6 Regenerative Unit: REU-1 63 [Number of Connectable]��To calculate the total number of necessary units, select the

Chapter 1 Specications Check1.5 Installation and Storage Environment 64 1.5 Installation and Storage Environment This product is capable for use in

Chapter 1 Specications Check 1.6 Noise Prevention and the Installation 65 1.6 Noise Prevention and the Installation (1) Protective Ground For th

Chapter 1 Specications Check1.6 Noise Prevention and the Installation 66 (3) Precautions Regarding Wiring Method �1) Use a twisted cable for connec

Chapter 1 Specications Check 1.6 Noise Prevention and the Installation 67 (5) Heat RConduct design and manufacture in cons

Chapter 1 Specications Check1.6 Noise Prevention and the Installation 68 (6) Panel Unit (Option) Installation Utilize the hook hole on the back side

Chapter 2 Wiring 2.1 Wiring (Connection of devices) Diagram2.1.1 XSEL-R 69 Chapter 2 Wiring 2.1 Wiring (Connection of devices) Diagram 2.1.1 XSEL

Chapter 2 Wiring2.1.2 XSEL-S 70 2.1.2 XSEL-S Safety CircuitPanel Unit (Option)Host System PLC (Note 1)Power Supply 3-phase or Single-phase AC200VRege

Chapter 2 Wiring 2.1.3 XSEL-RX 71 2.1.3 XSEL-RX CONTROLLERPower Supply 3-phase or Single-phase AC200VPower Supply for Brake (Note 1) (Note 2)Panel Un

Chapter 8 Appendix ······································································································473 8.1 Example of Safety

Chapter 2 Wiring2.1.4 XSEL-SX 72 2.1.4 XSEL-SX � Dummy Plug(DP-2) (Note 3)Power Supply 3-phase or Single-phase AC200VSafety Circuit24V power supplyP

Chapter 2 Wiring 2.1.5 XSEL-RXD 73 2.1.5 XSEL-RXD CONTROLLERPower Supply 3-phase or Single-phase AC200V24V power supplyPower Supply for Brake (Note 1

Chapter 2 Wiring2.1.6 XSEL-SXD 74 2.1.6 XSEL-SXD �Flat Cable24V power supplyRegeneration Resistor Unit(Note 1)24V power supplyRegeneration Resistor U

Chapter 2 Wiring 2.2 Circuit Diagram (Example)2.2.1 3-phase type main power supply circuit 75 2.2 Circuit Diagram (Example) 2.2.1 3-phase type powe

Chapter 2 Wiring2.2.2 Single-phase type main power supply circuit 76 2.2.2 Single-phase type power supply circuit MXB-1220-33PE L NCP-LCP-NMP-LMP-N

Chapter 2 Wiring 2.2.3 Brake Release Power Supply 77 2.2.3 Brake Release Power Supply �Brake Power Input Connector)BK PWRDC24V 0V24V DC 0VXSEL Contro

Chapter 2 Wiring2.2.4 Emergency Stop Circuit (For R/RX/RXD Type) 78 2.2.4 Emergency Stop Circuit (For R/RX/RXD Type) The following diagram shows the

Chapter 2 Wiring 2.2.5 Emergency Stop Circuit (For S/SX/SXD Type) 79 2.2.5 Emergency Stop Circuit (For S/SX/SXD Type) The following diagram shows the

Chapter 2 Wiring2.2.6 Motor Encoder Circuit 80 2.2.6 Motor Encoder Circuit The connecting diagram varies depending on the actuator and controller. T

Chapter 2 Wiring 2.2.6 Motor Encoder Circuit 81 [1] XSEL-R/S Motor Cable Connection XSEL ControllerMotor CableMotor Cable Motor Cable Motor Cable Mo

1 Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to

Chapter 2 Wiring2.2.6 Motor Encoder Circuit 82 [2] XSEL-R/S Encoder Cable Connection Encoder CableEncoder CableEncoder CableEncoder CableEncoder Cab

Chapter 2 Wiring 2.2.6 Motor Encoder Circuit 83 [3] XSEL-RX/SX Motor Cable Connection For axis 1For axis 2For axis 3For axis 4For axis 5For axis 6Fo

Chapter 2 Wiring2.2.6 Motor Encoder Circuit 84 [4] XSEL-RX/SX Encoder Cable Connection �PG1PG2PG3PG4PG5PG6PG7PG8For axis 1EncoderConnector)For axis 2

Chapter 2 Wiring 2.2.6 Motor Encoder Circuit 85 [5] XSEL-RXD/SXD Motor Cable Connection M1M2M3M4M5M6M7M8XSEL ControllerMotor CableMotor CableMotor C

Chapter 2 Wiring2.2.6 Motor Encoder Circuit 86 [6] XSEL-RXD/SXD Encoder Cable Connection PG1PG2PG3PG4PG5PG6PG7PG8For axis 1EncoderConnector)For axis

Chapter 2 Wiring 2.2.7 PIO Circuit 87 2.2.7 PIO Circuit There are 6 types of I/O Board as shown below. Display of XSEL Mode Code Polarity No. of I/

Chapter 2 Wiring2.2.7 PIO Circuit 88 (1) Input Port Allocation Parameter Port No. No. Name Set ValueFunction of an Input Signal At the delivery0 Un

Chapter 2 Wiring 2.2.7 PIO Circuit 89 Parameter Port No. No. Name Set ValueFunction of an Input Signal At the DeliveryInput Function Select 000=0 U

Chapter 2 Wiring2.2.7 PIO Circuit 90 (2) Output Port Allocation Parameter Port No. No. Name Set ValueFunction of an Input Signal At the Delivery0 U

Chapter 2 Wiring 2.2.7 PIO Circuit    