XSEL-R/S, RX/SX, RXD/SXD
First Step Guide
First Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (CD/DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.
•
Using or copying all or part of this Instruction Manual without permission is prohibited.
•
The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
Product Check
This product is comprised of the following parts if it is of standard configuration:
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts (Options are excluded.)
Quantity
No. Part
Name
Remarks
R/RX/RXD S/SX/SXD
1 Controller
Refer to “How to read the model plate” and
“How to read the model of the controller.”
Accessories
2 System I/O plug
MC1.5/9-ST-3.5 (Maker: PHOENIX CONTACT)
2
2
3 AC Power Supply plug GMSTB2.5/6-STF-7.62 (Maker: PHOENIX CONTACT)
1 1
4 Brake Power Input Plug MC1.5/2-ST-3.5 (Maker: PHOENIX CONTACT)
1
1
5 Dummy
plug
DP-2
-
1
6 For
DeviceNet
Type SMSTB2.5/5-STF-5.08AU (Maker: PHOENIX CONTACT)
1 1
7 For
CC-Link
Type
MSTB2.5/5-ST-5.08AU (Maker: PHOENIX CONTACT)
1 1
8 First Step Guide
1
1
9
Operation Manual
(CD/DVD)
1
1
10 Safety
Guide
1
1
2. Teaching Tool (Optional accessory)
The personal computer application software or teaching pendant is required for the operations
including program creation and setup such as position setting and parameter setting with teaching.
Any of teaching tools needs to be prepared.
Applicable
Controller
No. Part
Name
Model
R/RX/RXD S/SX/SXD
1 PC Software (with RS232C Cable + Emergency Stop Box)
IA-101-X-MW
{
×
2
PC Software (with USB Conversion A RS232C Cable +
Emergency Stop Box)
IA-101-X-USBMW
{
×
3
PC Software
(Safety Categories 4 compliance cable + Emergency Stop Box)
IA-101-XA-MW
{
{
4 Teaching
pendant
SEL-T
{
{
5 Teaching pendant (with deadman switch)
SEL-TD
{
{
6
Teaching pendant
(with deadman TP adapter (IA-LB-TG))
SEL-TG
{
{
7 Teaching
pendant
IA-T-X
{
×
8 Teaching pendant (with deadman switch)
IA-T-XD
{
×
3. Operation manuals related to this product, which are contained in the operation manual
(CD/DVD).
No. Name
Manual No.
1
SEL language programming manual
ME0224
2
XSEL Controller P/Q/PX/QX/PCT/QCT/R/S/RX/SX/RXD/SXD
RC Gateway Function Operation Manual
ME0188
3
PC Software IA-101-X-MW/IA-101-X-USBMW Operation Manual
ME0154
4
Teaching pendant SEL-T/TD/TG Operation Manual
ME0183
5
Teaching pendant IA-T-X/XD Operation Manual
ME0160
6
DeviceNet Operation Manual
ME0124
7
CC-Link Operation Manual
ME0123
8 PROFIBUS-DP
Operation
Manual
ME0153
9 Ethernet
Operation
Manual
ME0140
10 EtherCAT Operation Manual
ME0309
11 EtherNet/IP Operation Manual
ME0308
12 IA Net Operation Manual
ME0307
4. How to read the model plate
5. How to read the model
5.1 Multi-Axis Type Controller
*1 In this type, the safety circuit can be configured with the motor driving power source separated.
Note 1 Any of the RCS2-R**7 series, RCS-RB75 series unit, RCS-G20, RCS-R* or the linear motor actuator
(LSA) is not connected.
5.2 SCARA Robot + Additional Axes (4 axes Max.) Type Controller
*1 In this type, the safety circuit can be configured with the motor driving power source separated.
Note 1 Any of the RCS2-R**7 series, RCS-RB75 series unit, RCS-G20, RCS-R* or the linear motor actuator
(LSA) is not connected.
[Restrictions on Connected Axes to XSEL-RX/SX]
Total Wattage and Number of Connectable Axes
SCARA Model
Single-phase type
3-phase type
IX-NNN1205/1505/1805
1500W in total or less
(4 axes at maximum)
750W max. for 1 axis
1500W in total or less
(4 axes at maximum)
750W max. for 1 axis
IX-
N
2515H/3015H/3515H
1500W in total or less
(4 axes at maximum)
750W max. for 1 axis
IX-
N
5020H/6020H
600W in total or less
(4 axes at maximum)
600W max. for 1 axis
IX-
N
70
H/
80
H
unavailable
IX-NSN5016H/6016H
unavailable
5.3 SCARA Robot 2-Unit Connection Dedicated Controller
*1
In this type, the safety circuit can be configured with the motor driving power source separated.
[Limitations in SCARA Robot Combination in XSEL-RXD/SXD]
(1) 3-phase type
First Unit
Second Unit
IX-NNN1205/1505/1805
IX-
N
2515H/3015H/3515H
IX-NNN1205/1505/1805
IX-
N
2515H/3015H/3515H
IX-
N
5020H/6020H IX-NNN1205/1505/1805
Basic Specifications
Specifications
Specification Item
XSEL-R/RX/RXD
XSEL-S/SX/SXD
Number of controlled axes
XSEL-R/S : 1-axis to 8-axis
XSEL-RX/SX : SCARA Robot 1-axis to 4-axis, Additional 5-axis to 8-axis
XSEL-RXD/SXD : SCARA Robot 1-axis to 4-axis , 5-axis to 8-axis
Applicable motor capacity
20W to 750W
Total connectable wattage
3-phase type controller: 2400W
Single-phase type controller: 1600W (Only for R/S)
Abnormal control supply voltage
Single-phase AC200V to 230V
±
10%
Motor Driving Source Voltage
3-phase AC200V to 230V
±
10% / Single-phase AC200V to 230V
±
10%
Power Supply Frequency
50Hz/60Hz
Control power supply
60A
Less than 1200W
60A (MAX.)
Rush Current
(Note 1)
Motor
drive
power
supply
1200W or more
120A (MAX.)
Control power supply
0.4mA
0.2mA
Leakage
Current
(Note 2)
(Excluding Higher
Harmonic Content)
Motor drive power
supply
2mA or less
Heat Generation
[Refer to the Item for the Power Capacity and Heating Value]
PIO Power Supply
(Note 3)
DC24V
±
10% (Supplied from external equipment)
Electromagnetic Brake Power Supply
(For the actuator with the brake)
DC24V
±
10% Per 1 actuator Approx. 0.35A
(Supplied from external equipment)
Transient Power Cutoff Durability
10ms (when power source frequency 50Hz is used),
8ms (when power source frequency 60Hz is used)
Motor Control System
AC Full - digital Servo
Applicable Encoder
Incremental Serial Encoder or Absolute Serial Encoder
Speed Setting
From 1mm/s The upper limit depends on the specifications of actuator
Acceleration Setting
From 0.01G The upper limit depends on the specifications of actuator
XSEL
－
R
－
8
－
400A
－
200A
－
100AB
－
60A
－
400A
－
200A
－
100AB
－
60A
－
EPEIA
－
DGN1
－
2
－
3
X
Y
Z
[
(Axis 1)
[
(Axis 2)
[
(Axis 3)
[
(Axis 4)
[
(Axis 5)
[
(Axis 6)
[
(Axis 7)
[
(Axis 8)
\
]
^
_
Model table
[
Details of axis 1 to axis 8
(Note 1),
\
Network Slot
]
I/O slots
X
Series
Y
Controller
type
Z
Numbe
r
of axes
Motor
Wattage
Encoder
type
Brake
Creep
Home
Sensor
(LS)
Synchro-
nization
Desig-
nation
Slot 1
Slot 2
Slot 3
Slot 1
Slot 2
^
I/O Flat
cable
length
_
Power
supply
voltage
E
(Not for use)
E
(Not for use)
N1
Extension PIO
Input32/Output16
NPN Board
N1
Extension PIO
Input32/Output16
NPN Board
N2
Extension PIO
Input16/Output32
NPN Board
N2
Extension PIO
Input16/Output32
NPN Board
N3
Extension PIO
Input48/Output48
NPN Board
N3
Extension PIO
Input48/Output48
NPN Board
P1
Extension PIO
Input32/Output16
PNP Board
P1
Extension PIO
Input32/Output16
PNP Board
P2
Extension PIO
Input16/Output32
PNP Board
P2
Extension PIO
Input16/Output32
PNP Board
P3
Extension PIO
Input48/Output48
PNP Board
P3
Extension PIO
Input48/Output48
PNP Board
MC
Electronic Cam
Pulse I/O
Board
MC
Electronic Cam
Pulse I/O
Board
XSEL
R
(Standard
Type)
S
*1
(Global
Type)
1
(1-axis)
2
(2-axis)
3
(3-axis)
4
(4-axis)
5
(5-axis)
6
(6-axis)
7
(7-axis)
8
(8-axis)
12
(12W)
20
(20W)
30D
(30W for DS)
30R
(30W for RS)
60
(60W)
100
(100W)
100S
(100W for Linear)
150
(150W)
200
(200W)
200S
(200W for Linear)
300
(300W)
400
(400W)
600
(600W)
750
(750W)
I
(Incre-
mental)
A
(Abso-
lute)
G
(Spurious
Absolute)
Not
Specified
(w/o Brake)
B
(w/ Brake)
Not
Specified
(w/o Creep)
C
(w/ Creep)
Not
Specified
(w/o Home
Sensor)
L
(w/ Home
Sensor)
Not
Specified
(No
Synchroni-
zation)
M
(Master-
Axis
Designation)
S
(Slave-
Axis
Designation)
E
Not for use
EP
EtherNet/IP
Communic-
ation Board
EC
EtherCAT
Communic-
ation Board
E
Not for use
DV
DeviceNet
Input256/
Output256
CC
CC-Link
Input256/
Output256
PR
PROFIBUS
Input256/
Output256
E
IA Net
not
Corresp-
onding
IA
IA Net
Corresp-
onding
DG
DV Gateway
Master Board
2 : 2m
(Standard)
3 : 3m
5 : 5m
0:None
(*1)
2: Single-
phase 200V
2L: Only for
Linear
Single-
phase 200V
3: 3-phase
200V
3L: Only for
Linear
3-phase 200V
XSEL
－
RX8
－
NNN5020H
－
400A
－
200A
－
100AB
－
60A
－
EPEIA
－
DGN1
－
2
－
3
X
Y
Z
[
(Axis 5)
[
(Axis 6)
[
(Axis 7)
[
(Axis 8)
\
]
^
_
Model table
[
Details of axis 5 to axis 8
(Note 1)
\
Network Slot
]
I/O slots
X
Series
Y
Controller
type
Z
SCARA
Robot Model
Motor
Wattage
Encoder
type
Brake Creep
Home
Sensor
(LS)
Synchro-
nization
Desig-
nation
Slot 1
Slot 2
Slot 3
Slot 1
Slot 2
^
I/O Flat
cable
length
_
Power
supply
voltage
E
(Not for use)
E
(Not for use)
N1
Extension PIO
Input32/Output16
NPN Board
N1
Extension PIO
Input32/Output16
NPN Board
N2
Extension PIO
Input16/Output32
NPN Board
N2
Extension PIO
Input16/Output32
NPN Board
N3
Extension PIO
Input48/Output48
NPN Board
N3
Extension PIO
Input48/Output48
NPN Board
P1
Extension PIO
Input32/Output16
PNP Board
P1
Extension PIO
Input32/Output16
PNP Board
P2
Extension PIO
Input16/Output32
PNP Board
P2
Extension PIO
Input16/Output32
PNP Board
P3
Extension PIO
Input48/Output48
PNP Board
P3
Extension PIO
Input48/Output48
PNP Board
XSEL
RX4
(1unit of SCARA)
RX5
(1unit of
SCARA+Single
Axis 1Axis)
RX6
(1unit of
SCARA+Single
Axis 2Axis)
RX7
(1unit of
SCARA+Single
Axis 3Axis)
RX8
(1unit of
SCARA+Single
Axis 4Axis)
SX4
*
1
(1unit of SCARA)
SX5
*
1
(1unit of
SCARA+Single
Axis 1Axis Safety
Category Type)
SX6
*
1
(1unit of
SCARA+Single
Axis 2xis Safety
Category Type)
SX7
*
1
(1unit of
SCARA+Single
Axis 3Axis Safety
Category Type)
SX8
*
1
(1unit of
SCARA+Single
Axis 4Axis Safety
Category Type)
NNN1205 to
8040H
NSN5016H to
6016H
(High-Speed
Type)
NNC1205 to
8040H
(Clean Type)
NNW2515H to
8040H
(Splash Proof
Type)
TNN3015H to
3515H
(Wall-Mount
Type)
UNN3015H to
3515H
(Wall-Mount
Inverse Type)
HNN5020H to
8040H
(Ceiling-Mount
Type)
INN5020H to
8040H
(Inverse type)
12
(12W)
20
(20W)
30D
(30W for
DS)
30R
(30W for
RS)
60
(60W)
100
(100W)
100S
(100W for
Linear)
150
(150W)
200
(200W)
200S
(200W for
Linear)
300
(300W)
400
(400W)
600
(600W)
750
(750W)
I
(Incre-
mental)
A
(Abso-
lute)
G
(Spurious
Absolute)
Not
Specified
(w/o
Brake)
B
(w/
Brake)
Not
Specified
(w/o
Creep)
C
(w/
Creep)
Not
Specified
(w/o
Home
Sensor)
L
(w/
Home
Sensor)
Not
Specified
(No
Synchroni-
zation)
M
(Master-
Axis
Designation)
S
(Slave-
Axis
Designation)
E
Not for use
EP
EtherNet/IP
Communi-
cation Board
EC
EtherCAT
Communi-
cation Board
E
Not for use
DV
DeviceNet
Input256/
Output256
CC
CC-Link
Input256/
Output256
PR
PROFIBUS
Input256/
Output256
E
IA Net
not
Corres-
ponding
IA
IA Net
Corres-
ponding
DG
DV Gateway
Master Board
2 : 2m
(Standard)
3 : 3m
5 : 5m
0:None
(*1)
3:
3-phase
200V
XSEL
－
RX
Ｄ
8
－
NNN5020H
－
NNN5020H
－
EPEIA
－
DGN1
－
2
－
3
X
Y
Z
[
\
]
^
_
Model table
\
Network Slot
]
I/O slots
X
Series
Y
Controller
type
Z
SCARA Robot
Model 1
[
SCARA Robot
Model 2
Slot 1
Slot 2 Slot 3
Slot 1
Slot 2
^
I/O Flat
cable
length
_
Power
supply
voltage
E
(Not for use)
E
(Not for use)
N1
Extension PIO
Input32/Output16
NPN Board
N1
Extension PIO
Input32/Output16
NPN Board
N2
Extension PIO
Input16/Output32
NPN Board
N2
Extension PIO
Input16/Output32
NPN Board
N3
Extension PIO
Input48/Output48
NPN Board
N3
Extension PIO
Input48/Output48
NPN Board
P1
Extension PIO
Input32/Output16
PNP Board
P1
Extension PIO
Input32/Output16
PNP Board
P2
Extension PIO
Input16/Output32
PNP Board
P2
Extension PIO
Input16/Output32
PNP Board
P3
Extension PIO
Input48/Output48
PNP Board
P3
Extension PIO
Input48/Output48
PNP Board
XSEL
RXD8
(For connection
of 2 units of
SCARA)
SXD8
*1
(For connection
of 2 units of
SCARA
Safety Category
Type)
NNN1205 to 1805
NNN2515H to 6030H
(Standard Type)
NNC1205 to 1805
NNC2515H to 6030H
(Clean Type)
NNW2515H to 6030H
(Splash Proof Type)
TNN3015H to 3515H
(Wall-Mount Type)
UNN3015H to 3515H
(Wall-Mount Inverse
Type)
HNN5020H to 6020H
(Ceiling-Mount Type)
INN5020H to 6020H
(Inverse type)
NNN1205 to 1805
NNN2515H to 6030H
(Standard Type)
NNC1205 to 1805
NNC2515H to 6030H
(Clean Type)
NNW2515H to 6030H
(Splash Proof Type)
TNN3015H to 3515H
(Wall-Mount Type)
UNN3015H to 3515H
(Wall-Mount Inverse
Type)
HNN5020H to 6020H
(Ceiling-Mount Type)
INN5020H to 6020H
(Inverse type)
E
Not for
use
EP
EtherNet/IP
Communi-
cation
Board
EC
EtherCAT
Communi-
cation
Board
E
Not for use
DV
DeviceNet
Input256/
Output256
CC
CC-Link
Input256/
Output256
PR
PROFIBUS
Input256/
Output256
E
IA Net
not
Corres-
ponding
IA
IA Net
Corres-
ponding
DG
DV Gateway
Master Board
2 : 2m
(Standard)
3 : 3m
5 : 5m
0:None
(*1)
3: 3-phase
200V
MODEL XSEL-R-8-400A-200A-100AB-60A-400A-200A-100AB-60A-EPEIA-DGN1-2-3
SERIAL No.200198765 MADE IN JAPAN
Model
Serial number
Field Network Type
(DeviceNet, CC-Link, PROFIBUS-DP, EtherCAT,
EtherNet/IP)
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the CD/DVD Manual included in the box this device was packaged in. It should be
retained with this device at all times.
A hard copy of Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cover of the Instruction Manual or on the First Step Guide.
