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XSEL-RA/SA, RAX/SAX, RAXD/SAXD

First Step Guide Fifth Edition

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

•

Using or copying all or part of this 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.)

No.

Part Name

Remarks

Quantity

RA/RAX/RAXD SA/SAX/SAXD

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

FMC1.5/10-ST-3.5
(Manufacturer: Phoenix Contact)

3 AC Power Supply plug

GMSTB2.5/6-STF-7.62
(Manufacturer: Phoenix Contact)

PC4/6-STF-7.62 for XSEL-SAX4-NNN10040 and 12040
(Manufacturer: Phoenix Contact)

4 Brake Power Input Plug

FMC1.5/2-ST-3.5-RF
(Manufacturer: Phoenix Contact)

5 Dummy plug

DP-2

6 Absolute Battery

(Note 1)

AB-5

Number of Absolute

Type Actuators to be

Connected (except for

SCARA type ones)

Number of Absolute

Type Actuators to be

Connected (except for

SCARA type ones)

7 For DeviceNet Type

SMSTB2.5/5-STF-5.08 AU
(Manufacturer: Phoenix Contact)

8 For CC-Link Type

SMSTB2.5/5-STF-5.08 AU
(Manufacturer: Phoenix Contact)

(Terminal resistance 110, 130Ω one unit each)

9 First Step Guide

ME0365

10 Operation Manual (DVD)

11 Safety Guide

M0194

(Note 1) Attach the absolute battery following Step 4) in 4.2.2 Replace Absolute Battery in Instruction Manual.

2. Teaching tool (Optional accessory)

The PC software or teaching pendant is necessary to perform setup operations such as position and
parameter settings through teaching or other means. Use either of them.

No.

Part Name

Model

Applicable Controller

RA/RAX/RAXD SA/SAX/SAXD

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 Touch Panel Teaching Pendant (Standard / with Deadman Switch)

TB-01/01D/01DR

{

5 Touch Panel Teaching Pendant (Standard / with Deadman Switch)

TB-02/02D

{

6 Touch Panel Teaching Pendant

TB-03

{

3. Instruction manuals related to this product, which are contained in the

instruction

manual (DVD).

No.

Name

Manual No.

SEL Language Programming Manual

ME0224

PC Software IA-101-X-MW/ IA-101-X-USBMW RC Gateway Function Instruction Manual

ME0154

Touch Panel Teaching Pendant TB-01/01D/01DR Applicable for Program Controller Instruction Manual

ME0325

Touch Panel Teaching Pendant TB-02/02D Applicable for Program Controller Instruction Manual

ME0356

Touch Panel Teaching Pendant TB-03 Applicable for Program Controller Instruction Manual

ME0377

DeviceNet Instruction Manual

ME0124

CC-Link Instruction Manual

ME0123

PROFIBUS Instruction Manual

ME0153

EtherNet Instruction Manual

ME0140

10 EtherCAT Instruction Manual

ME0309

11 EtherNet/IP Instruction Manual

ME0308

12 Extension Motion Control Instruction Manual

ME6364

4. How to read the model plate

5. How to read the model
5.1 Controller for Single-Axis Robots and Orthogonal Robots

Safety categories compliance type: 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, RCS2-SRA7BD/SRGS7BD/SRGD7BD, RCS-RB75 series, RCS-G20, RCS-R* or the linear

motor actuator (LSA), incremental of NS-SXM

□

/SZM

□

, RCS2-

□□

5N, is not connected.

●

High-speed type (RCS3-CTZ5C, RCS3-CT8C) actuators are available for connection only with 3-phase type.

The maximum number of connectable axes is three when only RCS3-CT8C is connected.

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

*1 Safety categories compliance type: 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, RCS2-SRA7BD/SRGS7BD/SRGD7BD, RCS-RB75 series, RCS-G20, RCS-R* or the

linear motor actuator (LSA), incremental of NS-SXM

□

/SZM

□

, RCS2-

□□

5N, is not connected.

[Restrictions on Connected Axes to XSEL-RAX/SAX]

SCARA Model

Total Wattage and Number of Connectable Axes

IX-NNN1205/1505/1805

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

IX-

2515H/3015H/3515H

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

IX-

5020H/6020H

600W in total or less 4 axes at max. 600W max. for 1 axis

IX-

Unavailable

IX-NSN5016H/6016H

Unavailable

IX-NNN10040/12040

Unavailable

IXA-

NNN1805

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

IXA-3NNN3015/3NNN45

/3NNN60

700W in total or less 4 axes at max. 700W max. for 1 axis

IXA-4NNN3015/4NNN45

600W in total or less 4 axes at max. 600W max. for 1 axis

IXA-4NNN60

600W in total or less 3 axes at max. 600W max. for 1 axis

IXA-3NSN3015/3NSN45

/3NSN60

IXA-4NSN3015/4NSN45

/4NSN60

Unavailable

IXA-4NSW3015/4NSW45

/4NSW60

Unavailable

5.3 Controller for SCARA Robot 2-Unit Connection Dedicated

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

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

First Unit

Second Unit

IX-NNN1205/1505/1805

IX-

2515H/3015H/3515H

IX-NNN1205/1505/1805

IX-

2515H/3015H/3515H

IX-

5020H/6020H

IX-NNN1205/1505/1805

Basic Specifications

Specifications

Specification Item

XSEL-RA/RAX/RAXD

XSEL-SA/SAX/SAXD

Number of controlled axes

XSEL-RA/SA : 1-axis to 4-axis (4-axis specification),

1-axis to 8-axis (8-axis specification)

XSEL-RAX/SAX : SCARA Robot 1-axis to 4-axis,

Additional 5-axis to 8-axis (8-axis specification)

XSEL-RAXD/SAXD : 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 (RA/SA type only)

Control Power supply voltage

Single-phase 200 to 230V AC

10%

Motor Driving Source Voltage

3-phase 200 to 230V AC

10% / Single-phase 200 to 230V AC

10%

Power Supply Frequency

50Hz/60Hz

Rush Current

(Note 1)

Control power supply

60A

Motor drive
power
supply

Less than
1200W

60A (MAX.)

1200W or
more

120A (MAX.)

Leakage
Current

(Note 2)

(Excluding Higher
Harmonic Content)

Control power supply

0.4mA

0.2mA

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)

24V DC

10% (Supplied from external equipment)

Electromagnetic Brake Power Supply
(For the actuator with the brake)

24V DC

10% Per 1 actuator approx. 0.4A

(Supplied from external equipment)

Transient Power Cutoff Durability

10ms (when power source frequency 50Hz is used), 8ms (when power source
frequency 60Hz is used)

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

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

with this device at all times.

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

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

Field Network Type
(DeviceNet, CC-Link, PROFIBUS-DP,
EtherCAT, EtherNet/IP)

■ Those with UL/cUL mark in the name plate are

complied with UL/cUL standards. Refer to the

instruction manual for detail.

Model

Serial

number

UL/cUL Marking

XSEL

－

RAX8

－

NNN5020H

－

400A

－

200A

－

100AB

－

60A

－

EPEIA

－

DGN1

－

(Axis 5)

(Axis 6)

(Axis 7)

(Axis 8)

Model table

Series

Controller

type

SCARA Robot Model

Details of axis 5 to axis 8

(Note 1)

Network Slot

I/O slots

I/O Flat

cable

length

Power
supply

voltage

Motor

wattage

Encoder

type

Brake Creep

High

acceleration/

deceleration

Home

sensor

(LS)

Synchronization

designation

Slot 2

Slot

Slot 1

Slot 2

XSEL

RAX4

(1unit of SCARA)

RAX5

(1unit of SCARA +

single axis 1-axis)

RAX6

(1unit of SCARA +

single axis 2-axis)

RAX7

(1unit of SCARA +

single axis 3-axis)

RAX8

(1unit of SCARA +

single axis 4-axis)

SAX4

(1unit of SCARA

safety categories

compliance type)

SAX5

(1unit of SCARA +

single axis 1-axis

safety categories

compliance type)

SAX6

(1unit of SCARA +

single axis 2-axis

safety categories

compliance type)

SAX7

(1unit of SCARA +

single axis 3-axis

safety categories

compliance type)

SAX8

(1unit of SCARA +

single axis 4-axis

safety categories

compliance type)

NNN1205 to 8040H

NNN10040 to 12040

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)

(12W)

(20W)

30D

(30W for

DS)

30R

(30W for

RS)

(60W)

100

(100W)

100S

(100W for

linear)

150

(150W)

200

(200W)

200S

(200W for

linear)

300

(300W)

300S

(300W for

linear)

400

(400W)

600

(600W)

750

(750W)

WAI

(Battery-

less

absolute/

incremental)

(Absolute)

(Spurious

absolute)

(Index

absolute)

(Multiple-

rotation

absolute)

Not

Specifi

(w/o

brake)

(with

brake)

Not

Specifi

(w/o

creep)

(with

creep)

Not

Specified

(

w/o

Acceleration/
deceleration

)

(

Acceleration/
deceleration

type

)

Not

Specified

(w/o

home

sensor)

(with

home

sensor)

Not Specified

(No

synchronization)

(Master-axis

designation)

(Slave-axis

designation)

Not for use

EtherNet/IP

Input256/

Output256

EtherCAT

Input256/

Output256

Not for use

DeviceNet

Input256/

Output256

CC-Link

Input256/

Output256

ProfiBus

Input256/

Output256

(Not for use)

Extension PIO

Input32/

Output16

NPN board

Extension PIO

Input16/

Output32

NPN board

Extension PIO

Input48/

Output48

NPN board

Extension PIO

Input32/

Output16

PNP board

Extension PIO

Input16/

Output32

PNP board

Extension PIO

Input48/

Output48

PNP board

(Not for use)

Extension PIO

Input32/

Output16

NPN board

Extension PIO

Input16/

Output32

NPN board

Extension PIO

Input48/

Output48

NPN board

Extension PIO

Input32/

Output16

PNP board

Extension PIO

Input16/

Output32

PNP board

Extension PIO

Input48/

Output48

PNP board

2: 2m

(Standard)

3: 3m

5: 5m

0: None

3-phase

200V

[

Details of axis 5 to axis 8

(N ote 1)

Network slot

]

I/O slots

Series

Controller

type

SCARA robot

model

Motor

wattage

Encoder

type

Brake

Creep

High

acceleration/

deceleration

Home

sensor

(LS)

Synchronization

designation

Slot 1

Slot 2

Slot 1

Slot 2

I/O Flat

cable

length

Power
supply

voltage

XSEL

RAX3

(1unit of 3-axis type SCARA)

RAX4

(1unit of 4-axis type SCARA,

1unit of 3-axis type SCARA +

single axis 1-axis)

RAX5

(1unit of 4-axis type SCARA +

single axis 1-axis, 1unit of 3-axis

type SCARA + single axis 2-axis)

RAX6

(1unit of 4-axis type SCARA +

single axis 2-axis, 1unit of 3-axis

type SCARA + single axis 3-axis)

RAX7

(1unit of 4-axis type SCARA +

single axis 3-axis, 1unit of 3-axis

type SCARA + single axis 4-axis)

RAX8

(1unit of 4-axis type SCARA +

single axis 4-axis)

SAX3

(1unit of 3-axis type SCARA