XSEL Controller

R/S/RX/SX/
RXD/SXD Type
Operation Manual Forth Edition
 Please Read Before Use
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This Operation Manual describes all necessary information items to operate this product safely
such as the operation procedure, structure and maintenance procedure.
Before the operation, read this manual carefully and fully understand it to operate this product
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[Important]
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 Table of Contents

Safety Guide ·····················································································································1

Controller’s model and corresponding actuator ································································8
Caution in Handling ··········································································································9
International Standards Compliances ············································································· 11
Name for Each Parts and Their Functions······································································12
Actuator Axes··················································································································23
Starting Procedures ········································································································29

Chapter 1 Specifications Check······················································································31

1.1 Product Check ············································································································ 31
1.1.1 Components (Excluding Options) ········································································ 31
1.1.2 Teaching Tool (Optional) ······················································································ 31
1.1.3 Operation manuals related to this product, which are contained in
the operation manual (DVD). ··············································································· 32
1.1.4 How to read the model plate ················································································ 32
1.1.5 How to read the model························································································· 33
1.2 Basic Specifications ···································································································· 36
1.2.1 XSEL-R/S Controller Type ··················································································· 36
1.2.2 XSEL-RX/SX Controller Type ·············································································· 41
1.2.3 XSEL-RXD/SXD Controller Type ········································································· 48
1.2.4 Selection of the Circuit Breaker ··········································································· 53
1.2.5 Selection of the Leakage Breaker········································································ 53
1.3 External Dimensions ··································································································· 54
1.3.1 Absolute Battery Unit Non-Equipped Type ·························································· 54
1.3.2 Absolute Battery Unit Equipped Type ·································································· 55
1.4 Option·························································································································· 56
1.4.1 PIO Board ············································································································ 56
1.4.2 Field Network Board ···························································································· 58
1.4.3 Extension I/O Unit ································································································ 59
1.4.4 Panel Unit: PU-1 ·································································································· 60
1.4.5 Brake Box: RCB-110-RA13-0 ·············································································· 61
1.4.6 Regenerative Unit: REU-1 ··················································································· 62
1.5 Installation and Storage Environment ········································································· 64
1.6 Noise Prevention and the Installation ········································································· 65

Chapter 2 Wiring·············································································································69
2.1 Wiring (Connection of devices) Diagram ···································································· 69
2.1.1 XSEL-R ················································································································ 69
2.1.2 XSEL-S ················································································································ 70
2.1.3 XSEL-RX·············································································································· 71
2.1.4 XSEL-SX ·············································································································· 72
2.1.5 XSEL-RXD ··········································································································· 73
2.1.6 XSEL-SXD ··········································································································· 74
2.2 Circuit Diagram (Example)·························································································· 75
2.2.1 3-phase type power supply circuit········································································ 75
2.2.2 Single-phase type power supply circuit ······························································· 76
2.2.3 Brake Release Power Supply ·············································································· 77
2.2.4 Emergency Stop Circuit (For R/RX/RXD Type) ··················································· 78
2.2.5 Emergency Stop Circuit (For S/SX/SXD Type) ···················································· 79
2.2.6 Motor Encoder Circuit ·························································································· 80
2.2.7 PIO Circuit············································································································ 87
2.2.8 Connection of Regenerative Unit (Option)··························································· 99
 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 unit (Option)················································································· 101
2.2.11 Brake Box (RCB-110-RA13-0) (Option) ····························································· 114
2.2.12 General-purpose RS232C Port Connectors ······················································ 115
2.2.13 Teaching Tool ····································································································· 115
2.3 Wiring Method··········································································································· 116
2.3.1 Wiring for Power Supply Circuit ········································································· 116
2.3.2 Wiring the Emergency Stop Circuit (System I/O )·············································· 120
2.3.3 Wiring for Actuator······························································································ 125
2.3.4 Wiring for PIO····································································································· 127
2.3.5 Wiring for extension I/O units············································································· 129
2.3.6 Wiring for Panel Unit ·························································································· 133
2.3.7 Wiring for Regeneration Unit (REU-1) (Option) ················································· 134
2.3.8 Wiring for Brake Box (RCB-110-RA13-0)··························································· 135
2.3.9 Wiring for the Teaching ······················································································ 137
2.3.10 Wiring the Brake Forced Release Switch ·························································· 139
2.3.11 Wiring for General-purpose RS232C Port ························································· 140

Chapter 3 Operation ·····································································································141

3.1 Types of Operations·································································································· 141
3.2 I/O Ports ···················································································································· 142
3.3 Starting the Controller ······························································································· 144
3.3.1 Turning on the Power························································································· 144
3.3.2 Panel Window Display ······················································································· 145
3.3.3 Position Table and Program Creation and Writing ············································· 148
3.4 Program Operation ··································································································· 149
3.4.1 Auto Start upon Power On ················································································· 149
3.4.2 Starting a Program by Specifying its Program Number ····································· 151

Chapter 4 Absolute Reset and Absolute Battery···························································153

4.1 Absolute Reset············································································································· 153
4.1.1 For PC Software ·································································································· 153
4.1.2 For Teaching Pendant ························································································· 225
4.2 Absolute Battery··········································································································· 255
4.2.1 Absolute Encoder Backup Type ·········································································· 255
4.2.2 Replace Absolute Battery ···················································································· 256

Chapter 5 Special Functions·························································································261

5.1 RC Gateway Function······························································································· 261
5.2 Vision system I/F Function························································································ 262
5.3 Synchro Function ······································································································ 263
5.3.1 Overview ············································································································ 263
5.3.2 How to Absolute Reset on Synchronizing Type ················································· 265
5.4 Multiple-Slider Near-Miss Detection (Collision Prevention) Function ······················· 275
Chapter 6 Parameter ····································································································277
6.1 I/O Parameter (All types) ·························································································· 279
6.2 Parameters Common to All Axes ·············································································· 326
6.2.1 For XSEL-R/S ···································································································· 326
6.2.2 For XSEL-RX/SX, RXD/SXD ············································································· 335
6.3 Axis-Specific Parameters ·························································································· 346
6.3.1 For XSEL-R/S ··········································································································· 346
6.3.2 For XSEL-RX/SX, RXD/SXD ············································································· 356
6.4 Driver Parameters (All types)···················································································· 370
6.5 Encoder Parameters (All types)················································································ 374
6.6 I/O Devices Parameters (All types)··········································································· 376
6.7 Other Parameters (All types) ···················································································· 379
6.8 Parameters for Linear / Rotation Controls ································································ 387
6.9 Manual Operation Types··························································································· 388
6.10 Parameter Setting (Applied)······················································································ 389
6.10.1 Want to Operate the System Tentatively Without Using I/Os··························· 390
6.10.2 Want to Output an Auto Operation Determination Signal
from the XSEL Controller ················································································· 390
6.10.3 Want to Retain Current Output Statuses Even during Emergency Stop ·········· 390
6.10.4 Want to Start an Emergency Program ····························································· 390
6.10.5 Want to Enable Auto Recovery (Restart)
upon Cancellation of Emergency Stop····························································· 391
6.10.6 Want to Enable Auto Recovery (Error Reset)
upon Cancellation of Emergency Stop····························································· 391
6.10.7 Want to Return to the Condition Immediately before Emergency Stop ··········· 391
6.10.8 Want to Restart the XSEL Controller Externally··············································· 391
6.10.9 Want to Turn on the Servo Externally ······························································ 392
6.10.10 Want to make a home-return on all the single axis actuators externally ········· 392
6.10.11 Want to Execute the XSEL Controller Program Externally ······························ 392
6.10.12 Want to execute a program externally
by making an indication of a program number in binary ·································· 392
6.10.13 Want to Pause the XSEL Controller Externally ················································ 392
6.10.14 Want to Reset Errors Externally ······································································· 393
6.10.15 Want to Release the Actuator Brake Externally ··············································· 393
6.10.16 Want to Switch between AUTO and MANU Modes Externally ························ 393
6.10.17 Want to Change Input Port Assignments ························································· 394
6.10.18 Want to output that all the single axis actuators are at the home position······· 394
6.10.19 Want to output that home-return operation is complete
on all the single axis actuators ········································································· 394
6.10.20 Want to output that a single axis actuator got into the area (zone)
which has been set ·························································································· 395
Maximum and minimum values can be set in 0.001mm unit. ······································ 396
6.10.21 Want to Output the Error Level ········································································ 396
6.10.22 Want to Output the Emergency Stop Status····················································· 396
6.10.23 Want to Know the Current Operation Mode ····················································· 397
6.10.24 Want to Output an Absolute-encoder Backup Battery Voltage Low Alarm ······ 397
6.10.25 Want to Change Output Port Assignments ······················································ 397
6.10.26 Want to Use a General-purpose RS232C Port Connector ······························ 397
6.10.27 Want to Know the Current Value of Electric Current
without Connecting a Teaching Tool································································· 399
6.10.28 Want to Monitor Variables without Connecting a Teaching Tool ······················ 400
6.11 Servo Adjustment······································································································ 401

Chapter 7 Troubleshooting ···························································································403

7.1 Action to Be Taken upon Occurrence of Problem····················································· 403
7.2 Error Level Control···································································································· 408
7.3 Error List (MAIN application)····················································································· 410
Chapter 8 Appendix ······································································································473
8.1 Example of Safety Circuit for S/SX/SXD type
(Conforming to Safety Category) ·············································································· 473
8.1.1 Safety Circuit Operation Timings ······································································· 474
8.2 Stopping method and Recovery················································································ 480
8.2.1 Stopping method ································································································ 480
8.2.2 Recovery ············································································································ 481
8.3 Specifications List for Connectable Single Axis Actuator·········································· 483

Chapter 9 Warranty·······································································································531
9.1 Warranty Period ········································································································ 531
9.2 Scope of the Warranty ······························································································ 531
9.3 Honoring the Warranty ······························································································ 531
9.4 Limited Liability ········································································································· 531
9.5 Conditions of Conformance with Applicable
Standards/Regulations, Etc., and Applications ························································· 532
9.6 Other Items Excluded from Warranty········································································ 532

Trouble Report Sheet ···································································································533

Change History ·············································································································534

Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it before the operation of this product.

Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.

Operation
No. Description
Description
1 Model � This product has not been planned and designed for the application
Selection where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect
human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
� Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
� Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
� For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an
accident such as an injury or damage on the work piece.

1
 Operation
No. Description
Description
2 Transportation � When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
� When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
� When in transportation, consider well about the positions to hold,
weight and weight balance and pay special attention to the carried
object so it would not get hit or dropped.
� Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the
instructions in the operation manual for each model.
� Do not step or sit on the package.
� Do not put any heavy thing that can deform the package, on it.
� When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
� When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
� Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
� Do not get on the load that is hung on a crane.
� Do not leave a load hung up with a crane.
� Do not stand under the load that is hung up with a crane.
3 Storage and � The storage and preservation environment conforms to the installation
Preservation environment. However, especially give consideration to the prevention
of condensation.
� Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation (1) Installation of Robot Main Body and Controller, etc.
and Start � Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
� Do not get on or put anything on the product. Failure to do so may
cause an accidental fall, injury or damage to the product due to a drop
of anything, malfunction of the product, performance degradation, or
shortening of its life.
� When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets

2
 Operation
No. Description
Description
4 Installation (2) Cable Wiring
and Start � Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
� Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do
not coil it around. Do not insert it. Do not put any heavy thing on it.
Failure to do so may cause a fire, electric shock or malfunction due to
leakage or continuity error.
� Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
� When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
� Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
� Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
may cause the product to malfunction or cause fire.
(3) Grounding
� The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and
control the unnecessary electromagnetic radiation.
� For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair
cable with wire thickness 0.5mm2 (AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
� Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100� or below).

3
 Operation
No. Description
Description
4 Installation (4) Safety Measures
and Start � When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
� When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection
fence) so that nobody can enter the area within the robot’s movable
range. When the robot under operation is touched, it may result in
death or serious injury.
� Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
� Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
� Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
� When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
� Take the measure so that the work part is not dropped in power failure
or emergency stop.
� Wear protection gloves, goggle or safety shoes, as necessary, to
secure safety.
� Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or
fire.
� When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching � When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
� Perform the teaching operation from outside the safety protection
fence, if possible. In the case that the operation is to be performed
unavoidably inside the safety protection fence, prepare the “Stipulations
for the Operation” and make sure that all the workers acknowledge and
understand them well.
� When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
� When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch
on the operation so that any third person can not operate the switches
carelessly.
� Place a sign “Under Operation” at the position easy to see.
� When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.

4
 Operation
No. Description
Description
6 Trial � When the work is carried out with 2 or more persons, make it clear who
Operation is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
� After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic
operation.
� When the check operation is to be performed inside the safety
protection fence, perform the check operation using the previously
specified work procedure like the teaching operation.
� Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
� Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic � Check before starting the automatic operation or rebooting after
Operation operation stop that there is nobody in the safety protection fence.
� Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
� Make sure to operate automatic operation start from outside of the
safety protection fence.
� In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and
turn OFF the power switch. Failure to do so may result in a fire or
damage to the product.
� When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recovery operation from the power failure.

5
 Operation
No. Description
Description
8 Maintenance � When the work is carried out with 2 or more persons, make it clear who
and is to be the leader and who to be the follower(s) and communicate well
Inspection with each other to ensure the safety of the workers.
� Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
� When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
� When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
� When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch
on the operation so that any third person can not operate the switches
carelessly.
� Place a sign “Under Operation” at the position easy to see.
� For the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
� Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
� When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
� The slider or rod may get misaligned OFF the stop position if the servo
is turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
� Pay attention not to lose the cover or untightened screws, and make
sure to put the product back to the original condition after maintenance
and inspection works.
Use in incomplete condition may cause damage to the product or an
injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification � Do not modify, disassemble, assemble or use of maintenance parts not
and Dismantle specified based at your own discretion.
10 Disposal � When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
� When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
� Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other � Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing
so may affect the performance of your medical device.
� See Overseas Specifications Compliance Manual to check whether
complies if necessary.
� For the handling of actuators and controllers, follow the dedicated
operation manual of each unit to ensure the safety.

6
 Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to
the warning level, as follows, and described in the Operation Manual for each model.

Level Degree of Danger and Damage Symbol

This indicates an imminently hazardous situation which, if the

Danger product is not handled correctly, will result in death or serious Danger
injury.

This indicates a potentially hazardous situation which, if the

Warning product is not handled correctly, could result in death or serious Warning
injury.

This indicates a potentially hazardous situation which, if the

Caution product is not handled correctly, may result in minor injury or Caution
property damage.

This indicates lower possibility for the injury, but should be kept to
Notice
use this product properly. Notice

7
Controller’s model and corresponding actuator
The controllable actuator may differ depending on the model for this controller.

No. Model Type Controllable Actuator

1 XSEL-R Standard Type
Safety Categories Multi-Axis*1 8 axes or less
2 XSEL-S
Compliance Type
3 XSEL-RX Standard Type
SCARA Robot 1 unit and Multi-Axis*1 4 axes
Safety Categories or less
4 XSEL-SX
Compliance Type
5 XSEL-RXD Standard Type
Safety Categories SCARA Robot 2 units
6 XSEL-SXD
Compliance Type
*1 Single Axis Robot, Orthogonal Robot, Linear Servo (LSAS) and ROBO Cylinder RCS2/RCS3

8
Caution in Handling
�
1 Make sure to follow the usage condition, environment and specification range
of the product.
Operation out of the guarantee could cause a drop in performance or malfunction of the
product.

2. Have 2 minutes or more for single-phase type and 20 seconds or more for
three-phase type before rebooting the unit.�
For the reason of controller circuit structure, “Drive Cutoff Relay Error (E6D)” which means the
welding of internal relay may occur if the time before turning the power on (to reboot the
controller) after the power is turned off is too short.

3. Use the dedicated teaching tool.

Check 1.1.2 Teaching Tool for the PC software and teaching pendant available for this
controller.

4. Create a secure data backup for use in case of a breakdown.

The data to be registered in this controller such as the position data, programs and
parameters are written in the flash ROM and the nonvolatile memory. Therefore, you will not
usually lose the data even if the power is shut down. However, make sure to save the latest
data so a quick recovery action can be taken in case when the controller is broken and needs
to be replaced with another one.

How to Save Data

(1) Save the data to CD-R or hard disk with using the PC software

5. Clock Setting in Calendar Function

There may be a case that “Error Code 228 Calendar Clock Lost Error (RTC Oscillation Stop
Detection)” occurs in the first startup after the product is delivered. In such a case, set the
current time with a teaching tool. [Refer to the instruction manual of the teaching tool
described in 1.1.2 Teaching Tool (Option).]
If the battery is fully charged, the clock data is retained for approximately 10 days after the
power is turned OFF. Even though the time setting is conducted before the product is shipped
out, the battery is not fully charged. Therefore, there may be a case that the clock data is lost
even with fewer days than for about ten days passed since the product is shipped out.

9
6. Transference of PIO Signal between Controllers
Please note the following when conducting transference of PIO signal between controllers.
To certainly transfer the signal between controllers with different scan time, it is necessary to
have longer scan time than the one longer than the other controller. To ensure to end the
process of signal safely, it is recommended to have more than twice as long as the longer
scan time at least.

�Operation Image
PLC
(e.g. scan time is 20msec)�
As shown in the diagram, the input and output
timings of two devices that have different scan
time do not match, when transferring a signal.
This controller There is no guarantee that PLC would read the
(scan time some msec)
(Note1) signal as soon as this controller signal turns
on.
In such a case, make the setting to read the
signal after a certain time that is longer than
Output the longer scan time to ensure the reading
Process process succeeds on the PLC side. It is the
same in the case this controller side reads the
signal.
Input In such a case, it is recommended to ensure 2
to 4 times of the scan time for the timer setting
Process
margin.
It is risky to have the setting below the scan
time since the timer is also processed in the
scan process.
In the diagram, PLC can only read the input
once in 20msec even though this controller
output once in 1msec.
Because PLC only conducts output process
once in 20msec, ASEP/PSEP identifies the
same output status for that entire time period.

Also, if one tries to read the signal that is being re-written by the other, the signal may be read wrong.
Make sure to read the signal after the rewriting is complete. (It is recommended to have more than 2
scan periods to wait.) Make sure not to have the output side to change the output until the other side
completes the reading. Also, a setting is made on the input area not to receive the signal less than a
certain time to prevent a wrong reading of noise. This duration also needs to be considered.

Note1 Because this controller performs two or more processing works including program execution and
error processing, in addition to I/0 processing, the scan time is not fixed.

7. PLC Timer Setting (Reference)

Do not have the PLC timer setting to be done with the minimum setting.
Setting to “1” for 100msec timer turns on at the timing from 0 to 100msec while 10msec timer
from 0 to 10msec for some PLC.
Therefore, the process same as when there is no timer set will be conducted and a failure may
be occurred.
Set “2” as the minimum value for the setting of 10msec timer and when setting to 100msec,
use 10msec timer and set to “10”.

10
International Standards Compliances
This product complies with the following overseas standard.
Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.

RoHS Directive CE Marking ANSI

Preparing for Only for
Special order�
compliance XSEL-S/SX/SXD

�
�

11
 Name for Each Parts and Their Functions
[1] XSEL Controller

� R/RX/RXD Type

4) Encoder 5) Brake Release 6) Brake Power 7) System I/O

3) Connector for Conveyor Connector Input Connector Connector 8) Panel
Switch Connector
Tracking (Option) Window
(R type is an option)

9) Panel Unit
Connector
DET
9 18

2) External
8 17
EMGin ENBin
7 16

10) System
6 15
EMG1 ENB1

Regenerative Unit
5 14
4 13
EMG2 ENB2

Operation
3 12

Connector
2 11
SDN RDY
1 10

SYSTEM IO
Setting
Switches
11) Mode Switch
12) I/O slots 1

13) I/O slots 2

14) General-purpose
1) AC Power Supply
RS232C Port
Input Connector
Connectors 1
15) General-purpose
22) FG Connection 21) Connector for the RS232C Port
Terminal Motor Cable 20) Brake 19) Teaching Connectors 2
Release Connector 16) Field network Board (Option)
Switch Mounted Position 1

18) IA Net 17) Field network Board (Option)

Connector Mounted Position 2
(Option)
� S/SX/SXD Type

3) Connector for Conveyor 4) Encoder 5) Brake Release

Tracking (Option) 6) Brake Power 7) System I/O
Connector Switch Connector Connector 8) Panel
(S type is an option) Input Connector
Window

9) Panel Unit
Connector
2) External Regenerative
Unit Connector
DET
9 18
8 17
EMGin ENBin
7 16

10) System
6 15
EMG1 ENB1
5 14
4 13
EMG2 ENB2

Operation
3 12
2 11
SDN RDY
1 10

SYSTEM IO
Setting
Switches
11) Mode Switch

12) I/O slots 1

1) AC Power Supply
Input Connector 13) I/O slots 2

14) General-purpose
RS232C Port
Connectors 1
15) General-purpose
RS232C Port
22) FG Connection 21) Connector for the 20) Brake 19) Teaching
Connectors 2
Terminal Motor Cable Release Connector
Switch 16) Field network Board (Option)
Mounted Position 1
18) IA Net 17) Field network Board (Option)
Connector Mounted Position 2
(Option)

12
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 consists of six terminals including motor power terminals, control power
terminals and PE terminal.

Warning: To prevent electric shock, do not touch this connector and wiring while the
power is supplied.

2) External Regenerative Unit Connector ······· [Refer to 2.3.7]

This connector is used to connect a regenerative unit.

3) Connector for Conveyor Tracking (R and S type is an option)

······· [Refer to Conveyor Tracking system operation Manual provided separately]
For RX/RXD/SX/SXD Types, it is equipped in standard.
R/S type is enclosed for the conveyor tracking type (option). It provides the feedback of
the position and speed of the conveyor.

4) Encoder Connector ······· [Refer to 2.3.3]

It is the connector to connect the actuator / encoder cable.

5) Brake Release Switch Connector ······· [Refer to 2.3.10]

The signals of such as an external switch mounted externally to the controller are to be
connected and the brake of the actuator equipped with a brake can compulsorily be
released (Excitation release). It can be used in such a way as to install a switch near the
actuator so the actuator can be moved manually with hands in case of teaching or an
error. Unless necessary, set it OFF while using.

� Warning: After brake compulsory release is conducted, make sure to turn the signal
OFF so the automatic control of brake by controller can be executed. It is
extremely risky to leave it turned ON because the brake would not work
when in emergency stop or the servo is turned OFF. For a vertically
mounted actuator, slider or rod may drop and cause a critical accident.

6) Brake Power Input Connector ······· [Refer to 2.3.1]

It is a connector to connect the power supply for brake release for the actuator equipped
with a brake. Supply 24V DC, 0.35A (per axis).

7) System I/O Connector ······· [Refer to 2.3.2]

An I/O connector that controls the safety operations of the controller.
With the S type (safety category compliant), a safety circuit complying with up to category
4 can be configured using this connector and an external safety circuit.

13
 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 Unit Connector ······· [Refer to 2.3.6]

This is a connector to connect Panel Unit PU-1 (option) for controller status display and
error number display.
[For the detail of panel unit, refer to 1.4.4 Panel Unit: PU-1]

10) System Operation Setting Switches

These are switches to set the operation mode of the system. (Normally, they are all off.)
When using RC Gateway Function SIO Type, turn ON the switch of only 2.
When not using RC Gateway Function SIO Type, turn OFF all the switches from 1 to 4.

OFF ON Switch No. RC Gateway Function SIO Type

1 Use Unused
2 1 OFF OFF
3 2 ON OFF
4 3 OFF OFF
4 OFF OFF

11) Mode Switch

This switch is used to specify an operation mode of the controller. It is a toggle switch with
safety lever lock. Pull it towards you for operation.

Switch Position Function

MANU Teaching tool is activated.
Upper
(Manual Mode)
MODE MANU AUTO Teaching tool is inactivated.
(Automatic Mode) (Note) For S/SX/SD types, put the enclosed
AUTO Bottom
dummy plug to the teaching connector of
Side
19). Unless it is plugged, the emergency
stop would not be released.

14
 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 PIO board (Option) or RC Gateway fieldbus board (Option) is to be inserted.

Mountable PIO Board

XSEL Mode
Name Number of Input Number of Output Polarity
Display
N1 32 16 NPN
PIO P1 32 16 PNP
Board N2 16 32 NPN
P2 16 32 PNP
Multipoint N3 48 48 NPN
I/O
Board P3 48 48 PNP
RC
Gateway
DG – – –
Fieldbus
Board

13) I/O slots 2 (Option) ······· [Refer to 2.3.4]

PIO board (Option) is inserted.

Mountable I/O Boards

XSEL Mode
Name Number of Input Number of Output Polarity
Display
N1 32 16 NPN
PIO P1 32 16 PNP
Board N2 16 32 NPN
P2 16 32 PNP
Multipoint N3 48 48 NPN
I/O
Board P3 48 48 PNP

14) General-purpose RS232C Port Connectors 1 ······· [Refer to 2.3.11]

This is a port for connections with external RS232C devices.
� �
15) General-purpose RS232C Port Connectors 2······· [Refer to 2.3.11]
This is a port for connections with external RS232C devices.�
This port is to be used when using RC Gateway SIO functions (standard).
[RC Gateway SIO functions (standard), refer to the operation manual provided separately.]

16) Field network Board (Option) Mounted Position 1

The EtherNet/IP or EtherCAT field network board (option) is to be mounted.

[Refer to the separate operation manual for field network.]

Mountable Field Network Boards

Name XSEL Mode Display
EtherNet/IP Board EP
EtherCAT Board EC

15
 17) Field network Board (Option) Mounted Position 2
The CC-Link, DeviceNet or PROFIBUS-DP field network board (option) is to be mounted.
[Refer to the separate operation manual for field network.]

Mountable Field Network Boards

Name XSEL Mode Display
CC-Link Board CC
DeviceNet Board DV
PROFIBUS-DP Board PR

18) IA Net Connector······· [Refer to 2.3.5]

In the case that the IA net (option) function is to be added, the dedicated connector is
attached.
A connector dedicated for IA Net is to be applied.
This connector is to be used for connections of IA-Net and expansion I/O units.
[For IA-Net, refer to the operation manual provided separately.]

19) Teaching Connector ······· [Refer to 2.3.9]

This is a connector to connect a teaching pendant or PC (PC software) for teaching tools
to have operation and setting of actuators.

20) Brake Release Switch

This is a switch to compulsorily release (excitation release) the brake of the actuator
equipped with a brake. The brake can be compulsorily released by putting the switch on
RLS side when a manual operation of an actuator is required for the system startup,
teaching or in an error occurrence.
Unless otherwise necessary, set the switch on NOM side.

Switch Position Function

RLS Left To release the brake compulsorily
RLS NOM (Brake Release) Side
BK1 Brake is controlled automatically by the
NOM Right controller.
(Automatic Mode) Side Servo ON : Brake release
Servo OFF : Brake is activated

� � Warning: After having a brake compulsory release, make sure to set back on NOM
(Automatic Mode) so the automatic control of the brake by the controller
can be executed. It is extremely risky to leave it on RLS (brake release)
status because the brake would not work when in emergency stop or the
servo is turned OFF. For a vertically mounted actuator, slider or rod may
drop and cause a critical accident.

21) Connector for the Motor Cable ······· [Refer to 2.3.3]

It is the connector to connect the actuator motor cable.

22) FG (frame ground) Connection Terminal ······· [Refer to 1.6]

This connection terminal is used to connect the FG point on the enclosure to ground.
Make sure to ground properly for noise proof reasons.

16
[2] Extension I/O unit
3) Status LED Display 1
4) Status LED Display 2

2) 24V Power Supply

Input Connector
5) Unit Number Setting
Rotary Switch
1) IA Net Connector
(2 systems)
6) DIP Switch

7) Panel Unit Connector

8) I/O slot (slot 4)

11) I/O slot (slot 1)

10) I/O slot (slot 2) 9) I/O slot (slot 3)

1) IA Net Connector (2 systems) ······· [Refer to 2.3.5]

Either of IA Net dedicated communication cable or terminal resistor is to be connected. As
the terminal resistor, connect an XSEL-R/S related controller that is available for the
terminal of a network.

2) 24V Power Supply Input Connector······· [Refer to 2.3.5]

This is a connector to plug in 24V DC power supply

17
 3) Status LED Display 1·······[Refer to Chapter 7]
This shows the current condition of the power. � : Illuminating, × : OFF, � : Flashing
Name Lamp Color Description
PWR condition
PSE
PWR � Green Power ON
× - Power OFF
PSE � Orange Internal power
supply error
4) Status LED Display 2 × - Internal power in
·······[Refer to Chapter 7] normal condition
This shows the current ALM(Note 1) � Orange � Error in mounted
condition of the power. PIO board
� System
ALM
C-ERR
abnormality
LINK × - System Normal
C-ERR � Orange � Reduction in
number of
stations
� IA Net
communication
error
× - IA Net
communication in
normal condition
LINK � Green IA Net
communication in
normal condition
with connected
controllers
× - Communication not
established with
connected
controllers
Note 1 : To cancel the alarm, it is necessary to reboot the
extension I/O unit.
However, alarm will be generated again unless
the cause of it is removed.

5) Unit Number Setting Rotary Switch·······[Refer to 2.3.5]

Set the occupied station for the extension I/O unit.

6) DIP Switch
Put all the switches 1 to 4 OFF when using.
�

ON
�

�
�

OFF
�
�
�
�

��������

18
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 to 1.4.4 Panel Unit: PU-1.]�

8) to 11) I/O slot (slot 1 to 4) ······· [Refer to 2.3.5]

One PIO board can be inserted to each slot.
No. of Input points No. of Output points Type Model
NPN IA-103-X-32
32 16
PNP IA-103-X-32-P
NPN IA-103-X-16
16 32
PNP IA-103-X-16-P
NPN IA-10-3204-NP
48 48
PNP IA-10-3204-PN

There is a status LED above each slot, and it enables to monitor the condition of each
PIO board. ······· [Refer to Chapter 7]
� : Illuminating, × : OFF
Name Lamp condition Color Description
I/O * RDY (Note 1) � Green In the normal operation
× - � I/O Not to use
� Error
� I/O board not Equipped
Note 1 : Slot number comes to *

19
[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, such as error codes, can be checked if connected to XSEL controller.
Also, if connected to an extension I/O unit, the condition of each I/O unit whether it is in normal
or error condition.
[Refer to Chapter 7]

Panel Window

20
[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 type.�
� MZMS/MZMM/LZMS/LZMM Types in Ball Screw Nut Rotation Type NS Series
� Vertical/Rotary Integrated Type ZR Series�
One brake box can control the brakes for two axes.�

2) Brake Power Input Connector 3) POWER ON LED

1) Brake Release
Switch Connector 1
4) Brake Release
Switch Connector 2

– Front –
8) Encoder Connector 2-2
Actuator to Brake 5) Encoder Connector 1-1
For Cables Between Boxes Controller to Brake
For Cables Between Boxes

6) Encoder Connector 1-2

– Rear View – Actuator to Brake
For Cables Between Boxes
7) Encoder Connector 2-1
Controller to Brake
For Cables Between Boxes

1) Brake Release Switch Connector 1······· [Refer to 2.3.8]

Connect the signals of such as a switch mounted externally to the connector, and the brake
of the actuator equipped with a brake connected to 5) Encoder Connector 1-1 can be
compulsorily released (excitation release).

It can be used in such a way as to install a switch near the actuator so the actuator can be
moved manually with hands in case of teaching or an error. Unless necessary, set this signal
OFF while using.
�
� � Warning: After brake compulsory release is conducted, make sure to turn the signal
OFF so the automatic control of brake by controller can be executed. It is
extremely risky to leave it turned ON because the brake would not work
when in emergency stop or the servo is turned OFF. For a vertically
mounted actuator, slider or rod may drop and cause a critical accident.

21
 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) POWER ON LED
It turns on (in green) once 24V DC power is supplied.�

4) Brake release switch connector 2······· [Refer to 2.3.8]

Connect the signals of such as a switch mounted externally to the connector, and the
brake of the actuator equipped with a brake connected to 7) Encoder Connector 2-1 can
be compulsorily released (excitation release).

It can be used in such a way as to install a switch near the actuator so the actuator can be
moved manually with hands in case of teaching or an error. Unless necessary, set this
signal OFF while using.

� � Warning: After brake compulsory release is conducted, make sure to turn the signal
OFF so the automatic control of brake by controller can be executed. It is
extremely risky to leave it turned ON because the brake would not work
when in emergency stop or the servo is turned OFF. For a vertically
mounted actuator, slider or rod may drop and cause a critical accident.

5) Encoder connector 1-1

This is a connector to connect the encoder cable between controller and brake box.
Encoder signal of an actuator connected to 6) Encoder Connector 1-2 is output.

6) Encoder connector 1-2

This is a connector to connect the encoder cable between actuator and brake box.

7) Encoder connector 2-1

This is a connector to connect the encoder cable between controller and brake box.
Encoder signal of an actuator connected to 8) Encoder Connector 2-2 is output.

8) Encoder connector 2-2

This is a connector to connect the encoder cable between actuator and brake box.

22
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 the home-reversed type (option).

Caution: There are some actuators that are not applicable to the origin reversed type.
Check further on the catalog or the Instruction Manual of the actuator.

(1) Rod Type

0 +
(+) (0)

(2) Slider Type

0 +
(+) (0)

(3) Table Type

0 +
(+) (0)

(4) Arm Type

0 +
(+) (0)

23
(5) Gripper Type

Finger Attachment

(6) Rotary Type

� � (300-degree Rotation Specification)� � (360-degree Rotation Specification)

� � (360-degree Rotation Specification)

For Multiple Rotation Type with the origin reversed type, the directions of + and – are the other way
around

24
(7) Orthogonal Robot (Combinations Axis of Single Axis Robot )

rd
3 Axes (Z Axis)
(Axes 3)

nd
2 axes (Y axis)
(Axes 2)�

� �
st
1 axis (X axis) 0(Home)
nd
2 axes
(Axes 1)
� (Axes 2)�
�
�
st
1 axis �
(Axes 1)
rd
3 axis
(Axes 3)

Z-axis Base Fixture�

rd
3 axes (Z axis)
(Axes 3)�

nd
2 axes (Y axis)
(Axes 2)�
rd
3 axes
(Axes 3)

st
1 axis (X axis) �
(Axes 1)
� �
� nd
2 axes
� (Axes 2)�
0(Home)
�
st
1 axis
(Axes 1)

Z-axis Slider Fixture�

25
(8) Horizontal Articulated (SCARA) Robot

There are three types of coordinate systems, base coordinate system, work coordinate system
and tool coordinate system, in Horizontal Articulated (SCARA) Robot.
Base Coordinate System

Coordinates Work Coordinate System

Tool Coordinate System

[Base Coordinate System (= Work Coordinate System No.0)]
It is the three-dimensional orthogonal coordinates + rotational axis coordinates defined in the
robot at the delivery.
Work Coordinate System No. 0 (work coordinate offset 0) = Base coordinate system.

Yb
Xb Rb

Zb

The origin of X and Y axes is the center of the base (center of 1st arm rotation).
The origin of Z-axis is the top side of Z-axis effective stroke.
The origin of R-axis is the point where the D-cut surface faces –Xb direction.
In the base coordinate system, X-axis is expressed as Xb, Y-axis as Yb, Z-axis as Zb and
R-axis as Rb.
+Yb

R-Axis Position from Top View

Center of Tool
Attachment Surface +Rb

R Axis
D-shaped Surface
-Rb

-Xb +Xb -Xb

Z Axis Position

-Yb

-Zb Zb=0
Stroke
+Zb

26
[Work Coordinate System]
It is 32 types of the three-dimensional orthogonal coordinates + rotational axis coordinates
defined by the offset of each axis against the base coordinate system. However, Work
Coordinate System No. 0 is reserved as the base coordinates (= work coordinate offset = 0) by
the system.

Xofwn: X Work Coordinate System Offset Level

Yofwn: Y Work Coordinate System Offset Level
Zofwn: Z Work Coordinate System Offset Level
Rofwn: R Work Coordinate System Offset Level

Xwn: Work Coordinate System X Axis

Ywn: Work Coordinate System Y Axis
Zwn: Work Coordinate System Z Axis
Rwn: Work Coordinate System R Axis

(n is Work Coordinates Number)

Zofwn
Xb Yofwn
Xofwn

Zb
Rwn Ywn

Rofwn Zwn
Xwn

27
[Tool Coordinate System]
It is 128 types of the three-dimensional orthogonal coordinates + rotational axis coordinates
defined by the dimension (offset) of the tool (e.g. hand) attached on the tool attachment surface.
However, Work Coordinate System No. 0 is reserved as the tool coordinates offset 0 by the
system.
If the defined tool coordinate system number is selected, the tip of the tool, not the center of the
tool attachment surface, is used as the goal of the positioning.

R axis
Tool

n
n

Xt
Rtn
Yt

Tool Tip
Roftn

Yoftn

Xoftn: X Tool Coordinate System Offset Level

Xoftn Yoftn: Y Tool Coordinate System Offset Level
Zoftn: Z Tool Coordinate System Offset Level
Roftn: R Tool Coordinate System Offset Level

Xtn: Tool Coordinate System X Axis

Ytn: Tool Coordinate System Y Axis
Ztn: Tool Coordinate System Z Axis
Rtn: Tool Coordinate System R Axis

(n is Tool Coordinates Number)

Zoftn

Ztn

Operation as shown below will be performed if the defined tool coordinate system is selected
and the jog operation is conducted on the R-axis.

28
Starting Procedures
When using this product for the first time, work while making sure to avoid omission and incorrect
wiring by referring to the procedure below.

� � Warning: • Make sure to put the brake release switch on the controller on the right
(NOM) when booting the power.�
If it is on the left (RLS) side, it may cause a drop of actuator by its own
weight and may pinch a part of your body or damage the work piece.�
• Always connect the controller to the robot whose serial number is
indicated on the controller.�
Connecting a robot out of indication may cause a controller burned down
or wrong operation.�
Product Check Product Check
[Refer to 1. 1.] No � Contact your IAI dealer or IAI.
Are all items included?
�Yes
Installation and wiring [Refer to 1.6, Chapter 2.] Important check items [Refer to 1.6.]
Install and wire the controller and robot � � Have you performed the installation and the connection of the frame
according to the instructions in this manual. ground and protective ground (PE)?
� Have you implement noise measures?

�Yes
Turn on the power and check for alarms.
[Refer to 2.3.9.] Is I/O 24V power is supplied for PIO Type?
Connect a PC or teaching pendant and then Is the power is turned on with the fieldbus connected
turn on the power. for Fieldbus Type?

�Yes
�No
�Yes If an alarm is present, check the nature of the alarm
and take an appropriate action from the PC or teaching
Check items [Refer to 3.3.2.] No � pendant. [Refer to Chapter 7.]
Is the displayed status “ ”?
For PIO Type, supply I/O 24V power.
For Fieldbus Type, get the fieldbus connected.
Set parameters. [Refer to Chapter 6.] [Reference] Set I/O Parameters No. 10 to 11 to 0 (Not to Monitor Errors) if starting up
Set I/O parameters, etc., from the PC or the system without connecting I/O 24V power supply for PIO Type. Set
teaching pendant. either of I/O Parameter No. 18 or 235 to 0 (Not to Monitor Errors) if starting
up the system without connecting Fieldbus for Fieldbus Type.�
�
Check item
Turn ON the servo. � Check if “SV ON” is No� No�
Turn on the servo from the Is the motor cable connected?
shown on the position
PC or teaching pendant.
edit screen of the PC �Yes
software or teaching
pendant. Connect the motor cable. [Refer to 2.3.3.]

� The actuator may drop slightly by �Yes

If an alarm is present, check the nature of the alarm
its own weight as a result of turning and take an appropriate action from the PC or teaching
on/off repeatedly if it is installed pendant. [Refer to Chapter 7.]
vertically. Be careful so you would
not pinch your hand or damage the
robot hand.

Check the safety circuit. [Refer to 2.3.2.]

Does the emergency stop circuit No�
(drive-source cutoff circuit) actuate Check the emergency stop circuit.
properly to turn off the servo?
� To ensure safety, it is recommended that safety speed be
�Yes enabled during initial movements.
� When the actuator is installed vertically , be careful so you would
Check the actuator operation.
not pinch your hand or damage the robot hand with the actuator
Confirm that the actuator can be moved over its full
dropped by its own weight when the brake release switch is put
stroke without problem by jogging.
on [RLS] side.

The controller is now ready.

Set parameters according to the operation pattern you have selected.
[Refer to Chapter 3 for the operating methods.]

29
30
Chapter 1 Specifications Check

1.1 Product Check

Chapter 1 Specifications Check

The standard configuration of this product is comprised of the following parts.
If you find any faulty or missing parts, contact your local IAI distributor.

1.1.1 Components (Excluding Options)

Quantity
No. Item Model
R/RX/RXD S/SX/SXD
Refer to “How to read the model plate”, “How to read the �
1 Controller Main Body
model”.
Accessories �
2 System I/O Plug FMC1.5/9-ST-3.5 (Manufacturer: Phoenix Contact) 2 2
GMSTB2.5/6-STF-7.62 (Manufacturer: Phoenix Contact) 1 1
3 AC Power Plug In the case of XSEL-SX-NNN10040 or 12040 -
PC4/6- STF-7.62 (Manufacturer: Phoenix Contact)
Brake Power Input
4 MC1.5/2-ST-3.5 (Manufacturer: Phoenix Contact) 1 1
Plug

1.1.1 Components (Excluding Options)

1.1 Product Check
5 Dummy Plug DP-2 - 1
6 First Step Guide 1 1
Operation Manual
7 1 1
(DVD)
8 Safety Guide 1 1
�
�
1.1.2 Teaching Tool (Optional)
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.
Applicable controllers
No. Item Model
R/RX/RXD S/SX/SXD
1 PC Software (with RS232C Cable + Emergency Stop Box) IA-101-X-MW � �
PC Software (with USB Conversion Adapter + RS232C
2 IA-101-X-USBMW � �
Cable + Emergency Stop Box)

1.1.2 Teaching Tool (Optional)

PC Software (Safety Categories 4 compliance cable +
3 IA-101-XA-MW � �
Emergency Stop Box)
4 Teaching pendant SEL-T � �
5 Teaching pendant (with deadman switch) SEL-TD � �
Teaching pendant (with deadman switch + TP adapter
6 SEL-TG � �
(IA-LB-TG))
7 Teaching pendant IA-T-X � �

8 Teaching pendant (with deadman switch) IA-T-XD � �

31
 1.1.3 Operation manuals related to this product, which are contained in the
operation manual (DVD).
No. Name Manual No.
1 SEL Language Programming Manual ME0224
Chapter 1 Specifications Check

2 XSEL Controller P/Q/PX/QX/PCT/QCT/R/S/RX/SX/RXD/SXD ME0188

3 PC Software IA-101-X-MW/ IA-101-X-USBMW RC Gateway Function 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 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�

1.1.4 How to read the model plate

1.1.4 How to read the model plate
1.1.3 Operation manuals related to this product, which are contained in the operation manual (DVD).

Model MODEL XSEL-R-8-400A-200A-100AB-60A-400A-200A-100AB-60A-EPEIA-DGN1-2-3

Serial number SERIAL No.200198765 MADE IN JAPAN

32
1.1.5 How to read the model
[1] Controller for Single-Axis Robots and Orthogonal Robots
� � �
(Note 1)
Details of axis 1 to axis 8 Network Slot I/O slots � �
�� � �
I/O Flat Power

Chapter 1 Specifications Check

Series Controller Number Synchro-
High Home cable supply
type of axes Motor Encoder nization
Brake� Creep� Acceleration/ Sensor Slot 1 Slot 2 Slot 3 Slot 1� Slot 2� length voltage
Wattage type� Desig-
Deceleration (LS)�
nation
E E
(Not for use) (Not for use)
12
(12W) N1 N1
1 Extension PIO Extension PIO
20 Input32/Output16 Input32/Output16
(1-axis) (20W)
NPN Board NPN Board
30D N2 N2
2 (30W for DS) Extension PIO Extension PIO
(2-axis) 30R E Input16/Output32 Input16/Output32
(30W for RS) E Not for use NPN Board NPN Board 2: Single-
3 Not
60 Specified Not for N3 N3 phase 200V
(3-axis) (60W) I use DV Extension PIO Extension PIO
(No E
R (Incre- Not Specified Not DeviceNet Input48/Output48 Input48/Output48 2 : 2m 2L: Only for
100 Synchroni-
IA Net
mental) Not Not (w/o Specified EP Input256/ NPN Board NPN Board Linear
(Standard)
(Standard 4 (100W) zation)
not
Type) (4-axis) 100S Specified Specified Acceleration/ (w/o Home EtherNet/IP Output256
Corresp- P1 P1 Single-
Deceleration)
A (w/o Sensor)
M Communic Extension PIO Extension PIO 3 : 3m phase 200V
(100Wfor Linear) (w/o Brake)
Creep) onding
XSEL (Abso- (Master- -ation CC Input32/Output16 Input32/Output16
5 150 lute) HA Board CC-Link 5 : 5m 3: 3-phase
L Axis
IA PNP Board PNP Board
S*1 (5-axis) (150W) B C (Acceleration/ Designation) Input256/ 200V
(Global
(w/ Home IA Net P2 P2
200 G (w/ Brake) Deceleration Sensor) EC Output256 0:None
(w/ Creep) Corresp- Extension PIO Extension PIO (*1)
Type) 6 (200W) (Spurious type) S EtherCAT 3L: Only for
onding Input16/Output32 Input16/Output32
(6-axis) 200S Absolute) (Slave- Communic PR Linear
PNP Board PNP Board
(200Wfor Linear)
Axis -ation ProfiBus 3-phase
Designation) Board Input256/ P3 P3 200V
7 300 Output256 Extension PIO Extension PIO
(7-axis) (300W) Input48/Output48 Input48/Output48

1.1.5 How to read the model

400 PNP Board PNP Board
8 (400W) MC MC
(8-axis) 600 Electronic Cam Electronic Cam
(600W) Pulse I/O Pulse I/O
Board Board
750
(750W) DG
DV Gateway
Master Board

*1 Global Type:�In this type, the safety circuit can be configured with the motor driving power
source separated.
Note 1 RCS2-R**7 Series, RCS2-SRA7BD/SRGS7BD/SRGD7BD, RCS2-��5N, RCS-RB75
Series, RCS-G20, RCS-R*, Linear Motor Actuator (LSA) and NS-SXM�/SZM� of
incremental type can not be connected.

33
 [2] SCARA Robot + Controller for Single-Axis Robots and Orthogonal Robots
(4 axes at maximum)
� �� �� ��
(Note 1)
� �� ��
��
Details of axis 5 to axis 8 � Network Slot I/O slots �
I/O Flat
�
Power
Synchro-
Chapter 1 Specifications Check

Series Controller High Home

� � type�
SCARA Robot Model� Motor Encoder
Brake Creep Acceleration/ Sensor
nization
Slot 1 Slot 2 Slot 3 Slot 1� Slot 2�
cable supply
Wattage type� Desig- length voltage
Deceleration
� (LS)�
nation
E E
� RX4�
12 (Not for use) (Not for use)
(1unit of SCARA)
(12W)
� RX5 N1 N1
(1unit of 20 Extension PIO Extension PIO
� SCARA+Single (20W) Input32/Output16 Input32/Output16
Axis 1Axis) 30D NPN Board NPN Board
� RX6 (30W for N2 N2
(1unit of DS) Extension PIO Extension PIO
� SCARA+Single
30R Input16/Output32 Input16/Output32
Axis 2Axis) NNN1205 to 8040H NPN Board NPN Board
� RX7 NNN10040 to 12040
(30W for
RS) N3 N3
(1unit of
� SCARA+Single
(Standard Type) 60
E
E Extension PIO Extension PIO
Axis 3Axis) NSN5016H to 6016H (60W) Not Not for use Input48/Output48 Input48/Output48
� RX8 (High-Speed Type) 100 Specified Not for NPN Board NPN Board
I (No use DV P1 P1
(1unit of (100W) E
� SCARA+Single
NNC1205 to 8040H
(Clean Type) 100S
(Incre- Not Not Specified Not
Specified
Synchroni- DeviceNet
IA Net Extension PIO Extension PIO 2 : 2m
Axis 4Axis) mental) Not Spec-ifie (w/o zation) EP Input256/ Input32/Output16 Input32/Output16 (Standard)
not
� � NNW2515H to 8040H
(100Wfor Specified d
Acceleration/
Deceleration)
(w/o Home
Sensor)
EtherNet/IP Output256
Corres- PNP Board PNP Board
(Splash Proof Type) Linear) A (w/o Brake) M Communi- 3 : 3m
(w/o ponding P2 P2 3: 3-phase
� XSEL SX4�1� 150 (Abso- Creep) (Master- cation CC
Extension PIO Extension PIO 200V
(1unit of SCARA)� TNN3015H to 3515H (150W) lute) HA L Axis Board CC-Link 5 : 5m
B IA Input16/Output32 Input16/Output32
� SX5�1
(Wall-Mount Type)
200 C
(Acceleration/
(w/ Home Designation) Input256/
IA Net PNP Board PNP Board
(1unit of UNN3015H to 3515H (200W) G (w/ Brake) Deceleration Sensor) EC Output256 0:None
� SCARA+Single (Wall-Mount Inverse (Spurious
(w/ Creep) type) S EtherCAT
Corres-
ponding
P3 P3 (*1)

Axis 1Axis Safety Type) 200S Absolute) (Slave- Communi- PR Extension PIO Extension PIO
� Category Type) (200Wfor Axis cation ProfiBus Input48/Output48 Input48/Output48
1.1.5 How to read the model

HNN5020H to 8040H Linear) Designation) PNP Board PNP Board

SX6�1� Board Input256/
� (1unit of
(Ceiling-Mount Type)
300 Output256 DG
SCARA+Single INN5020H to 8040H (300W) DV Gateway
� Axis 2xis Safety
Category Type)�
(Inverse type)
300S Master Board
� SX7�1�
(300Wfor
Linear)
(1unit of
� SCARA+Single
Axis 3Axis Safety
400
(400W)
� Category Type)�
600
SX8�1� (600W)
� (1unit of
SCARA+Single 750
� Axis 4Axis Safety
Category Type)�
(750W)�

�
*1 Global Type:�In this type, the safety circuit can be configured with the motor driving power
source separated.
Note 1 RCS2-R**7 Series, RCS2-SRA7BD/SRGS7BD/SRGD7BD, RC2-��5N, RCS-RB75
Series, RCS-G20, RCS-R*, Linear Motor Actuator (LSA) and NS-SXM�/SZM� of
incremental type can not be connected.

34
�
[3] Controller for SCARA Robot 2-Unit Connection Dedicated
�
�� � � ��
� �
�
SCARA Robot SCARA Robot Network Slot I/O slots �� ��
Controller I/O Flat cable Power supply

Chapter 1 Specifications Check

� Series Model 1 Model 2 length� voltage�
type Slot 1 Slot 2 Slot 3 Slot 1� Slot 2�
�
� E E
� (Not for use) (Not for use)
N1 N1
� Extension PIO Extension PIO
Input32/Output16 Input32/Output16
� NPN Board NPN Board
� NNN1205 to 1805
N2
Extension PIO
N2
Extension PIO
NNN1205 to 1805
� NNN2515H to 6030H
NNN2515H to 6030H
E
Input16/Output32
NPN Board
Input16/Output32
NPN Board
(Standard Type)
� (Standard Type)
NNC1205 to 1805
Not for use
N3 N3
RXD8
NNC1205 to 1805 E Extension PIO Extension PIO
� (For connection NNC2515H to 6030H
NNC2515H to 6030H Not for use
DV
DeviceNet
Input48/Output48 Input48/Output48
2 : 2m
of 2 units of (Clean Type) NPN Board NPN Board
� SCARA)
(Clean Type)
NNW2515H to 6030H EP
Input256/
Output256
E
P1 P1
(Standard)
NNW2515H to 6030H EtherNet/IP
IA Net not
Extension PIO Extension PIO
� (Splash Proof Type)
(Splash Proof Type)
Communi-cation
Corres-ponding
Input32/Output16 Input32/Output16
3 : 3m
3: 3-phase
XSEL SXD8*1 TNN3015H to 3515H CC
Board PNP Board PNP Board 200V
� (For connection TNN3015H to 3515H
(Wall-Mount Type)
(Wall-Mount Type) CC-Link IA 5 : 5m
of 2 units of Input256/ IA Net P2 P2
EC
� SCARA
Safety Category UNN3015H to 3515H
UNN3015H to 3515H
(Wall-Mount Inverse EtherCAT
Output256 Corres-ponding Extension PIO Extension PIO 0:None
(*1)
(Wall-Mount Inverse Type) Input16/Output32 Input16/Output32
Type) Communi-cation
� HNN5020H to 6020H
Type)
Board PR PNP Board PNP Board
HNN5020H to 6020H ProfiBus P3 P3
� (Ceiling-Mount Type)
(Ceiling-Mount Type) Input256/ Extension PIO Extension PIO
INN5020H to 6020H Output256 Input48/Output48 Input48/Output48
� (Inverse type)
INN5020H to 6020H
(Inverse type) PNP Board PNP Board

1.1.5 How to read the model

� DG
DV Gateway
� Master Board

�
�
�
*1 Global Type:�In this type, the safety circuit can be configured with the motor driving power
source separated.
�
[4] Extension I/O unit (Option)
�
��
� � � I/O slots
� Series Number of slots
Slot 1� Slot 2� Slot 3� Slot 4�
� E E E E
� (Not for use) (Not for use) (Not for use) (Not for use)

�
N1 N1 N1 N1
� Extension PIO Extension PIO Extension PIO Extension PIO
Input32/Output16 Input32/Output16 Input32/Output16 Input32/Output16
� NPN Board NPN Board NPN Board NPN Board
� N2 N2 N2 N2
Extension PIO Extension PIO Extension PIO Extension PIO
� Input16/Output32 Input16/Output32 Input16/Output32 Input16/Output32
NPN Board NPN Board NPN Board NPN Board
� N3 N3 N3 N3
� Extension PIO Extension PIO Extension PIO Extension PIO
Input48/Output48 Input48/Output48 Input48/Output48 Input48/Output48
� NPN Board NPN Board NPN Board NPN Board
EIOU � 4� P1 P1 P1 P1
� Extension PIO Extension PIO Extension PIO Extension PIO
Input32/Output16 Input32/Output16 Input32/Output16 Input32/Output16
� PNP Board PNP Board PNP Board PNP Board
� P2 P2 P2 P2
Extension PIO Extension PIO Extension PIO Extension PIO
� Input16/Output32 Input16/Output32 Input16/Output32 Input16/Output32
PNP Board PNP Board PNP Board PNP Board
� P3 P3 P3 P3
Extension PIO Extension PIO Extension PIO Extension PIO
� Input48/Output48 Input48/Output48 Input48/Output48 Input48/Output48
PNP Board PNP Board PNP Board PNP Board
�
�
�
�
�

35
 1.2 Basic Specifications

1.2.1 XSEL-R/S Controller Type

[1] Specification List
Chapter 1 Specifications Check

Specification Item XSEL-R XSEL-S

Number of Controlled Axes 1-axis to 8-axis
Applicable Motor Capacity 20W to 750W
3-phase type controller: 2400W�
Total Connectable Wattage
Single-phase type controller: 1600W
Control Power Supply Voltage Single-phase AC200V to 230V�10%
Motor Driving Source Voltage 3-phase AC200V to 230V�10% / Single-phase AC200V to 230V�10%
Power Supply Frequency 50Hz/60Hz
Control power supply� 60A
Less than
Rush Current Motor drive 60A (MAX.)
(Note 1) 1200W
power supply
1200W or more 120A (MAX.)
Leakage
(Note 2)
Current Control power supply 0.4mA 0.2mA
(Excluding
Higher
Harmonic Motor drive power supply 2mA or less
Content)
1.2 Basic Specifications
1.2.1 XSEL-R/S Controller Type

Heat Generation Refer to the Item for the Power Capacity and Heating Value.
(Note 3)
PIO Power Supply DC24V�10% (Supplied from external equipment)
Electromagnetic Brake Power Supply DC24V�10% Per 1 actuator Approx. 0.35A
(For the actuator with the brake) (Supplied from external equipment)
10ms (when power source frequency 50Hz is used), 8ms (when power
Transient Power Cutoff Durability
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
Connector dedicated for teaching tool
Teaching port
Connector : D-sub 25 pin
RS232C : 1CH (X-SEL Serial Communication protocol (Format B))
Port 1 Baud rate : MAX 115.2kbps Connector : D-sub 9 pin
Cable length Max.10m
Serial [General-purpose RS232C]
Communication RS232C : 1CH (X-SEL Serial Communication protocol (Format B))
Interface Baud rate : MAX 115.2kbps Connector : D-sub 9 pin
Cable length Max.10m
Port 2
[RC Gateway]
RS485 : 1CH (Modbus protocol RTU/ASCII conformance)
Baud rate : MAX 230.4kbps Connector : D-sub 9 pin
Cable length Max.100m
PIO Board MAX. 2 pieces
PIO Type Signal I/O dedicated for 24V DC (Input and output ports, selected from
NPN/PNP) [1.1.5 Refer to How to read the model of the controller]
External DeviceNet, CC-Link, PROFIBUS-DP, EtherNet/IP, EtherCAT, EtherNet
Interface (For either of DeviceNet, CC-Link or PROFIBUS-DP and either of
Field Network Type� EtherNet/IP or EtherCAT, either of the boards can be inserted at the same
time.)
[Refer to each Fieldbus Instruction Manual]
Expanded I/O unit (option) PIO Board MAX. 4 pieces (when using extension I/O)
Data Setting and Input PC software or teaching pendant
Program Specification Super SEL language
Max. Number of Program Steps 9999 Step
1-Axis Type: 53332 positions, 5-Axis Type: 22856 positions
2-Axis Type: 40000 positions, 6-Axis Type: 20000 positions
Max. Number of Positions
3-Axis Type: 32000 positions, 7-Axis Type: 17776 positions
4-Axis Type: 26666 positions, 8-Axis Type: 16000 positions
Max. Number of Programs 128 programs
Max. Number of Multitask Programs 16 programs
Data Retention Memory Flash ROM + FRAM

36
 Specification Item XSEL-R XSEL-S
Retaining time after power turned OFF: approximately 10 days
Clock Function Time for battery charge after the clock data is lost:
approximately 100 hours
Panel Unit PU-1 (option) Controller status display

Chapter 1 Specifications Check

Emergency stop input, safety gate input, system ready output and other
System I/O
safety circuit inputs and outputs
Drive-source cutoff
Internal Relay External Safety Circuit
method
b Contact (Normally Closed) Input
b Contact (Normally Closed) Input
Safety Circuit Emergency-stop input (external power supply, duplication
(internal power supply)
Configuration available)
b Contact (Normally Closed) Input
b Contact (Normally Closed) Input
Enable input (external power supply, duplication
(internal power supply)
available)
System Ready Output No-voltage contact (relay) output Max.200mA (DC24V)
Motor over current, overload, motor driver temperature check, overload
Protective Functions check, encoder open circuit detection, soft limit over, system abnormality,
battery abnormality
Equipped with built-in 1k�/20W regenerative resistor
Regenerative Resistor
Extension available with connecting an external regenerative resistor
Absolute Battery AB-5 (with a built-in controller)
Class I In case grounding conducted on ground terminal in addition to
Protection Function against Electric Shock
basic insulation for electric shock proof.
Overvoltage Category Category II Voltage durability 2500V at less than 300V AC for input rating

1.2.1 XSEL-R/S Controller Type

10M�� or more (Between power terminal and I/O terminal and also all
Insulation Resistance
external terminals and case at the power supply of DC500V)
Insulation strength 1500V AC for 1 min
Cooling Method Forced Air-Cooling
Surrounding air temperature 0 to +40°C
Surrounding humidity 85% RH or less (non-condensing)
Surrounding environment (Refer to the Item for the Installation Environment).
Surrounding storage temperature -20 to 70�C (The Absolute Battery is excluded.)
Surrounding storage humidity 85% RH or less (non-condensing)
Environment
Maximum Operation Height 1000m
10 to 57 Hz in XYZ directions/Pulsating amplitude 0.035 mm (continuous),
Vibration Resistance 0.075 mm (intermittent) 57 to 150 Hz/4.9 m/s² (continuous),
9.8 m/s² (intermittent)
Protection Class IP20
Pollution Degree Pollution Degree 2
External Dimensions [Refer to the 1.3 External Dimensions]
3-phase type: Approx. 4.7kg
With no Absolute Battery Unit Approx. 5.2kg
Single-phase type: Approx. 5.2kg
Weight�
3-phase type: Approx. 5.3kg
With the Absolute Battery Unit Approx. 5.8kg
Single-phase type: Approx. 5.8kg
Note 1 Rush current at the power connection continues for 3 msec. Note that the value of in-rush current
differs depending on the impedance of the power supply line.
Note 2 Leak current varies depending on the capacity of connected motor, cable length and the surrounding
environment. Measure the leak current at the point where a ground fault circuit interrupter is to be
installed when leakage protection is conducted.
Regarding the leakage breaker, it is necessary to have a clear purpose for selection such as a fire
protection or protection of human body. Use the harmonic type (for inverter) for a leakage breaker.
Note 3 Power supply is not necessary if PIO is not to be used.

37
 [2] Power Capacity and Heating Value
Calculate the Power Capacity and Heating Value using the following formulas.

Rated Power Capacity [VA]=Total Capacity of Motor Power [VA]+Total of the power
Chapter 1 Specifications Check

consumption at the control part [VA]

Heating Value [W]=Total Output Loss [W]+(Total of internal power consumption [VA]
×0.7(Efficiency)×0.6(Power factor))
� Select the motor power capacity [VA] from Table 1. However, please note that the motor
power capacity at the acceleration and deceleration is 3 times higher at most. (2 times
higher max. for motor wattage 600W)
� Figure out the total of the power consumption at the control part [VA] with the total of
power of the actually mounted components � quantity, by selecting the applicable ones
from Table 2 Control Power Source (Internal Consumption and External Consumption).
� To calculate the sum total of output loss [W], refer to the “Output Loss” column in Table 1
below and select the values corresponding to the output losses of each connected
actuator.
� For the inner power demand (VA) for calculating the heating value (W) in the control unit,
select the components which are being placed, from the columns of Control Power
Supply (Internal Consumption) and External Power Supply (Internal Consumption) in
Table 2 and calculate it using the formula “Power {SYMBOL} Quantity of the Placement
Component”
1.2.1 XSEL-R/S Controller Type

Table 1 Motor Volt Amperage of Actuator and Output Loss

Wattage of Actuator Motor Motor Power Capacity [VA] Output loss = Heat Generation [W]
20 26 1.58
30 46 2.07
60 138 3.39
100 234 6.12
150 328 8.30
200 421 9.12
40 796 19.76
600 1164 27.20
750 1521 29.77
100 (Linear Actuator
379 37
LSAS-N10SS)
200 (Linear Actuator
486 37
LSAS-N15SS)
200 (Linear Actuator
773 39
LSAS-N15HS)

38
 Table: 2 Motor Driving Power and Output Loss
External Power Source
Control power supply
(24VDC)
Internal External Internal External Quantity

Chapter 1 Specifications Check

Consumption Consumptio Consumption Consumption
[VA] [VA] [VA] [VA]
Base Unit 31.4 1
Driver Per Board 6.26
Encoder
Per axis 2.38 3.57
Section [Refer to Table 3]
Fan Unit Per fan 5.71
Axis Sensor Per axis 4.57
N1, N2,
DIO (48 points) 5.95 14.52 0 to 2 Number of
P1, P2 PCBs on
PIO Board
DIO (96 points) N3, P3 8.33 26.81 0 to 2 I/O slot 1
Electronic Cam MC 16.7 0 to 2 and 2
DeviceNet DV 1.98 3.43 0 to 1 Number of
CC-Link CC 5.67 0 to 1 PCBs on
Field
PROFIBUS-DP PR 1.98 0 to 1 Network
Network Board 1
Module EtherNET/IP EP 1.98 0 to 1 Number of

1.2.1 XSEL-R/S Controller Type

PCBs on
Field
EtherCAT EC 3.93 0 to 1 Network
Board 2
Teaching IA-T-X/XD 3.57 0 to 1
pendant SEL-T/TD/TG 6.67 0 to 1
Total number of
Brake Per axis 0.14 2.5 5.8 brake- equipped
actuators 0 to 8

Table: 3 Number of Controlled Parts

Number of axes
1-Axis 2-Axis 3-Axis 4-Axis 5-Axis 6-Axis 7-Axis 8-Axis
Driver 1 1 2 2 3 3 4 4
Encoder Section 1 2 3 4 5 6 7 8
XSEL-R : 6 Unit
Fan Unit XSEL-S (three phase type)� : 5 Unit
XSEL-S (single phase type) � : 6 Unit
Axis Sensor 1 2 3 4 5 6 7 8

39
 [Calculation Example]
Shown below is an example for how to calculate the power capacity and amount of heat
generation when the following actuators are used.
Axis 1 Actuator 200W� Axis 2 Actuator 200W�
Axis 3 Actuator 100W�w/ brake� Axis 4 Actuator 60W�
Chapter 1 Specifications Check

Standard type Controller�Option: PIO Board 1 sheet,, Device Net

Teaching Pendant (IAI Standard Type)�
� �
1) Control Power Capacity�
Power consumption
Base Unit Quantity Total [VA]
(Per Unit)
Base Unit � 31.4 31.4
Driver 2 6.26 12.52
Encoder 4 2.38 + 3.57 23.8
Fan Unit 6 5.71 34.26
PIO Board 1 5.95 5.95
Device Net � 1.98 1.98
Teaching pendant 1 3.57 3.57
Brake 1 0.14 0.14
Totalizer 113.62
1.2.1 XSEL-R/S Controller Type

2) Heat Generation of Control System

Power consumption
Base Unit Quantity Total [VA]
(Per Unit)
Base Unit � 31.4 31.4
Driver 2 6.26 12.52
Encoder 4 2.38 9.52
Fan Unit 6 5.71 34.26
PIO Board 1 5.95 + 14.52 20.47
Device Net � 1.98 + 3.43 5.41
Brake 1 2.64 2.64
Totalizer 116.22
Heat Generation [W] = Totalizer [VA] × 0.7(Efficiency)×0.6(Power Factor)
48.81
�
3) I/O (PIO Board Board ) Power Capacity (24V DC)�
14.52 × 1 = 14.52 [VA]
�
4) Brake Power Capacity (24V DC)
(2.5 + 5.8) ×1 = 8.3 [VA]

5) Motor Power Capacity

421 + 421 + 234 + 138 = 1214 [VA]

6) Motor Power Supply Heat Generation

9.12 + 9.12 + 6.12 + 3.39 = 27.75 [W]
�
7) Rated Power Capacity =
1) Control Power Capacity + 5) Motor Power Capacity = 113.62 + 1214 = 1327.62 [VA]

8) Heat Generation =
2) Heat Generation of Control System + 6) Motor Power Supply Heat Generation = 48.81
+ 27.75 = 76.56 [W]

40
1.2.2 XSEL-RX/SX Controller Type
[1] Specification List
Specification Item XSEL-RX XSEL-SX
Number of Controlled Axes SCARA Robot 1-axis to 4-axis, Added Axis 5-axis to 8-axis

Chapter 1 Specifications Check

Applicable Motor Capacity 20W to 750W
Total Connectable Wattage 3-phase type controller: 2400W�
Control Power Supply Voltage Single-phase AC200V to 230V�10%
Motor Driving Source Voltage 3-phase AC200V to 230V�10%
Power Supply Frequency 50Hz/60Hz
Control power supply� 60A
Rush Current Less than
Motor drive 60A (MAX.)
(Note 1) 1200W
power supply
1200W or more 120A (MAX.)
Leakage
(Note 2)
Current Control power supply 0.4mA 0.2mA
(Excluding
Higher
Harmonic Motor drive power supply 2mA or less
Content)
Heat Generation Refer to the Item for the Power Capacity and Heating Value.
(Note 3)
PIO Power Supply DC24V�10% (Supplied from external equipment)
Electromagnetic Brake Power Supply DC24V�10% Per 1 actuator Approx. 0.35A
(For the actuator with the brake) (Supplied from external equipment)

1.2.2 XSEL-RX/SX Controller Type

10ms (when power source frequency 50Hz is used), 8ms (when power
Transient Power Cutoff Durability
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
Connector dedicated for teaching tool
Teaching port
Connector : D-sub 25 pin
RS232C : 1CH (X-SEL Serial Communication protocol (Format B))
Port 1 Baud rate : MAX 115.2kbps Connector : D-sub 9 pin
Cable length Max.10m
Serial [General-purpose RS232C]
Communication RS232C : 1CH (X-SEL Serial Communication protocol (Format B))
Interface Baud rate : MAX 115.2kbps Connector : D-sub 9 pin
Cable length Max.10m
Port 2
[RC Gateway]
RS485 : 1CH (Modbus protocol RTU/ASCII conformance)
Baud rate : MAX 230.4kbps Connector : D-sub 9 pin
Cable length Max.100m
PIO Board MAX. 2 pieces
PIO Type Signal I/O dedicated for 24V DC (Input and output ports, selected from
NPN/PNP) [1.1.5 Refer to How to read the model of the controller]
External DeviceNet, CC-Link, PROFIBUS-DP, EtherNet/IP, EtherCAT, EtherNet
Interface (For either of DeviceNet, CC-Link or PROFIBUS-DP and either of
Field Network Type� EtherNet/IP or EtherCAT, either of the boards can be inserted at the same
time.)
[Refer to each Fieldbus Instruction Manual]
Expanded I/O Interface (option) PIO Board MAX. 4 pieces (when using extension I/O)
Data Setting and Input PC software or teaching pendant
Program Specification Super SEL language
Max. Number of Program Steps 9999 Step
1-Axis Type: 53332 positions, 5-Axis Type: 22856 positions
2-Axis Type: 40000 positions, 6-Axis Type: 20000 positions
Max. Number of Positions
3-Axis Type: 32000 positions, 7-Axis Type: 17776 positions
4-Axis Type: 26666 positions, 8-Axis Type: 16000 positions
Max. Number of Programs 128 programs
Max. Number of Multitask Programs 16 programs
Data Retention Memory Flash ROM + FRAM
Retaining time after power turned OFF: approximately 10 days
Clock Function Time for battery charge after the clock data is lost:
approximately 100 hours

41
 Specification Item XSEL-RX XSEL-SX
Panel Unit PU-1 (option) Controller status display
Emergency stop input, safety gate input, system ready output and other
System I/O
safety circuit inputs and outputs
Drive-source cutoff
Chapter 1 Specifications Check

Internal Relay External Safety Circuit

method
b Contact (Constant time closed) Input
b Contact (Constant time closed)
Safety Circuit Emergency-stop input (external power supply, duplication
Input (internal power supply)
Configuration available)
b Contact (Constant time closed) Input
b Contact (Constant time closed)
Enable input (external power supply, duplication
Input (internal power supply)
available)
System Ready Output No-voltage contact (relay) output Max.200mA (DC24V)
Motor over current, overload, motor driver temperature check, overload
Protective Functions check, encoder open circuit detection, soft limit over, system abnormality,
battery abnormality
Equipped with built-in 1k�/20W regenerative resistor
Regenerative Resistor
Extension available with connecting an external regenerative resistor
Single-Direction Axis: AB-5 (with a built-in controller)
Absolute Battery
Mounted inside robot for SCARA Robot
Class I In case grounding conducted on ground terminal in addition to
Protection Function against Electric Shock
basic insulation for electric shock proof.
Overvoltage Category Category II Voltage durability 2500V at less than 300V AC for input rating
10M�� or more (Between power terminal and I/O terminal and also all
Insulation Resistance
external terminals and case at the power supply of DC500V)
1.2.2 XSEL-RX/SX Controller Type

Insulation strength 1500V AC� for 1 min

Cooling Method Forced Air-Cooling
Surrounding air temperature 0 to +40°C
Surrounding humidity 85% RH or less (non-condensing)
Surrounding environment (Refer to the Item for the Installation Environment).
Surrounding storage temperature -20 to 70�C (The Absolute Battery is excluded.)
Surrounding storage humidity 85% RH or less (non-condensing)
Environment
Maximum Operation Height 1000m
10 to 57 Hz in XYZ directions/Pulsating amplitude 0.035 mm (continuous),
Vibration Resistance 0.075 mm (intermittent) 57 to 150 Hz/4.9 m/s² (continuous),
9.8 m/s² (intermittent)
Protection Class IP20
Pollution Degree Pollution Degree 2
External Dimensions [Refer to the 1.3 External Dimensions]
With no Absolute Battery Unit Approx. 5.2kg Approx. 4.7kg
In the case of XSEL-SX-NNN10040
Weight� – or 12040
Approx. 5.2kg
With the Absolute Battery Unit Approx. 5.8kg Approx. 5.3kg
Note 1 Rush current at the power connection continues for 3 msec. Note that the value of in-rush current
differs depending on the impedance of the power supply line.
Note 2 Leak current varies depending on the capacity of connected motor, cable length and the surrounding
environment. Measure the leak current at the point where a ground fault circuit interrupter is to be
installed when leakage protection is conducted.
Regarding the leakage breaker, it is necessary to have a clear purpose for selection such as a fire
protection or protection of human body. Use the harmonic type (for inverter) for a leakage breaker.
Note 3 Power supply is not necessary if PIO is not to be used.

42
[2] Power Capacity and Heating Value
Calculate the Power Capacity and Heating Value using the following formulas.

Rated Power Capacity [VA]=Total Capacity of Motor Power [VA]+Total of the power

Chapter 1 Specifications Check

consumption at the control part [VA]
Heating Value [W]=Total Output Loss [W]+(Total of internal power consumption [VA]
×0.7(Efficiency)×0.6(Power factor))
� Select the motor power capacity [VA] from Table 2 and Table 3. However, please note
that the motor power capacity at the acceleration and deceleration is 3 times higher at
most. (2 times higher max. for motor wattage 600W)
� Figure out the total of the power consumption at the control part [VA] with the total of
power of the actually mounted components × quantity, by selecting the applicable ones
from Table 4 Control Power Source (Internal Consumption and External Consumption).
� To calculate the sum total of output loss [W], refer to the “Output Loss” column in Table
2 and Table 3 below and select the values corresponding to the output losses of each
connected actuator.
� For the inner power demand (VA) for calculating the heating value (W) in the control unit,
select the components which are being placed, from the columns of Control Power
Supply (Internal Consumption) and External Power Supply (Internal Consumption) in
Table 3 and calculate it using the formula “Power {SYMBOL} Quantity of the Placement
Component”

1.2.2 XSEL-RX/SX Controller Type

� For XSEL-RX/SX (3-phase type), there are restrictions in the total wattage of the
single-axis actuators that can be added as shown in Table 1.

Table 1
Total Wattage and Number of
SCARA Model
Connectable Axes
1500W in total or less
IX-NNN1205/1505/1805 4 axes at maximum
750W max. for 1 axis
1500W in total or less
IX-�N�2515H/3015H/3515H 4 axes at maximum
750W max. for 1 axis
600W in total or less
IX-�N�5020H/6020H 4 axes at maximum
600W max. for 1 axis
IX-�N�70��H/�80��H unavailable
IX-NSN5016H/6016H unavailable
IX-NNN10040/12040 unavailable

43
 Table: 2 Motor Volt Amperage of SCARA Robot and Output Loss
Wattage [W] Motor Power Capacity Output loss =
SCARA Robot
(Rated output) [VA] (Note 1) Heat Generation [W]
NN�1205
Chapter 1 Specifications Check

NN�1505 129.8 216.3 8.13

NN�1805
NN�2515H
NN�3515H
TNN3015H
1117.9 1863.1 44.8
TNN3515H
UNN3015H
UNN3515H
NN�50��H
NN�60��H
HNN5020H
2218.0 3696.7 69.7
HNN6020H
INN5020H
INN6020H
NN�70��H
NN�60��H
HNN7020H
1.2.2 XSEL-RX/SX Controller Type

3880.6 6467.7 93.2

HNN8020H
INN7020H
INN8020H
NSN5016H
4102.9 6338.1 95.2
NSN6016H
NNN10040
6412.6 10687.7 131.6
NNN12040
Note 1 Calculated with 0.6 for power factor

44
 Table 3 Motor Volt Amperage of Single-Axis Actuator and Output Loss
Wattage of Actuator Motor Motor Power Capacity [VA] Output loss = Heat Generation [W]
20 26 1.58

Chapter 1 Specifications Check

30 46 2.07
60 138 3.39
100 234 6.12
150 328 8.30
200 421 9.12
40 796 19.76
600 1164 27.20
750 1521 29.77
100 (Linear Actuator
379 37
LSAS-N10SS)
200 (Linear Actuator
486 37
LSAS-N15SS)
200 (Linear Actuator
773 39
LSAS-N15HS)

1.2.2 XSEL-RX/SX Controller Type

45
 Table: 4 Motor Driving Power and Output Loss
External Power Source
Control power supply
(24VDC)
Internal External Internal External Quantity
Chapter 1 Specifications Check

Consumption Consumptio Consumption Consumption

[VA] [VA] [VA] [VA]
Base Unit 31.4 1
Driver Per Board 6.26
Encoder
Per axis 2.38 3.57
Section [Refer to Table 5]
Fan Unit Per fan 5.71
Axis Sensor Per axis 4.57
N1, N2,
DIO (48 points) 5.95 14.52 0 to 2 Number of
P1, P2 PCBs on
PIO Board
DIO (96 points) N3, P3 8.33 26.81 0 to 2 I/O slot 1
Electronic Cam MC 16.7 0 to 2 and 2
DeviceNet DV 1.98 3.43 0 to 1 Number of
CC-Link CC 5.67 0 to 1 PCBs on
Field
PROFIBUS-DP PR 1.98 0 to 1 Network
Network Board 1
Module EtherNET/IP EP 1.98 0 to 1 Number of
1.2.2 XSEL-RX/SX Controller Type

PCBs on
Field
EtherCAT EC 3.93 0 to 1 Network
Board 2
Teaching IA-T-X/XD 3.57 0 to 1
pendant SEL-T/TD/TG 6.67 0 to 1
SCARA SCARA
Robot Robot Total number of
Brake Per axis 0.28 2.5 1.0 brake- equipped
Added Axis Added Axis actuators 0 to 8
0.14 5.8

Table: 5 Number of Controlled Parts

Number of axes
1-Axis 2-Axis 3-Axis 4-Axis 5-Axis 6-Axis 7-Axis 8-Axis
Driver 1 1 2 2 3 3 4 4
Encoder Section 1 2 3 4 5 6 7 8
XSEL-RX : 6 Unit
Fan Unit XSEL-SX : 5 Unit
XSEL-SX4-NNN10040, 12040 : 6 Unit
Axis Sensor 1 2 3 4 5 6 7 8

46
 [Calculation Example]
Shown below is an example for how to calculate the power capacity and amount of heat
generation when the following actuators are used.
SCARA Robot: IX-NNN5020H
Short-Axis Actuator: Axis 5 Actuator 200W

Chapter 1 Specifications Check

� � � � � � � � � Axis 6 Actuator 100W w/ brake�
Standard Type Controller �Option: PIO Board 1 sheet, Device Net�
Teaching Pendant (IAI Standard Type)�
� �
1) Control Power Capacity�
Base Unit Quantity Power consumption
(Per Unit) Total [VA]
Base Unit � 31.4 31.4
Driver 3 6.26 18.78
Encoder 6 2.38 + 3.57 35.7
Fan Unit 6 5.71 34.26
PIO Board 1 5.95 5.95
Device Net � 1.98 1.98
Teaching pendant 1 3.57 3.57
Brake 1 0.42 0.42

1.2.2 XSEL-RX/SX Controller Type

Totalizer 132.06
2) Heat Generation of Control System�
Base Unit Quantity Power consumption
(Per Unit) Total [VA]
Base Unit � 31.4 31.4
Driver 3 6.26 18.78
Encoder 6 2.38 14.28
Fan Unit 6 5.71 34.26
PIO Board 1 5.95 + 14.52 20.47
Device Net � 1.98 + 3.43 5.41
Brake 1 7.92 7.92
Totalizer 132.52
Heat Generation [W] = Totalizer [VA] × 0.7(Efficiency)×0.6(Power Factor)
55.66
�
3) I/O (PIO board) Power Capacity (24V DC)�
14.52 × 1 = 14.52 [VA]
4) Brake Power Capacity (24V DC)
(2.5 + 1) × 1 +(2.5 + 5.8) ×1 = 11.8 [VA]
5) Motor Power Capacity
SCARA Axes: 3696.7[VA]
Single-Direction Axis: 421 + 234 = 655 [VA]
3696.7 + 655 = 4351.7 [VA]
6) Motor Power Supply Heat Generation
69.7 + 9.12 + 6.12 = 81.91 [W]
7) Rated Power Capacity =
1) Control Power Capacity + 5) Motor Power Capacity = 132.06+ 4351.7 = 4483.76 [VA]
8) Heat Generation =
2) Heat Generation of Control System + 6) Motor Power Supply Heat Generation = 55.66
+ 81.94 = 137.6 [W]

47
 �
1.2.3 XSEL-RXD/SXD Controller Type
[1] Specification List
Specification Item XSEL-RXD XSEL-SXD
Number of Controlled Axes SCARA Robot 1-axis to 4-axis, 5-axis to 8-axis
Chapter 1 Specifications Check

Applicable Motor Capacity 20W to 750W

Total Connectable Wattage 3-phase type controller: 2400W�
Control Power Supply Voltage Single-phase AC200V to 230V�10%
Motor Driving Source Voltage 3-phase AC200V to 230V�10%
Power Supply Frequency 50Hz/60Hz
Control power supply� 60A
Less than
Rush Current Motor drive 60A (MAX.)
(Note 1) 1200W
power supply
1200W or more 120A (MAX.)
Leakage
(Note 2)
Current Control power supply 0.4mA 0.2mA
(Excluding
Higher
Harmonic Motor drive power supply 2mA or less
Content)
Heat Generation Refer to the Item for the Power Capacity and Heating Value.
(Note 3)
PIO Power Supply DC24V�10% (Supplied from external equipment)
Electromagnetic Brake Power Supply DC24V�10% Per 1 actuator Approx. 0.35A
1.2.3 XSEL-RXD/SXD Controller Type

(For the actuator with the brake) (Supplied from external equipment)
10ms (when power source frequency 50Hz is used), 8ms (when power
Transient Power Cutoff Durability
source frequency 60Hz is used)
Motor Control System AC Full - digital Servo
Applicable Encoder 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
Connector dedicated for teaching tool
Teaching port
Connector : D-sub 25 pin
RS232C : 1CH (X-SEL Serial Communication protocol (Format B))
Port 1 Baud rate : MAX 115.2kbps Connector : D-sub 9 pin
Cable length Max.10m
Serial [General-purpose RS232C]
Communication RS232C : 1CH (X-SEL Serial Communication protocol (Format B))
Interface Baud rate : MAX 115.2kbps Connector : D-sub 9 pin
Cable length Max.10m
Port 2
[RC Gateway]
RS485 : 1CH (Modbus protocol RTU/ASCII conformance)
Baud rate : MAX 230.4kbps Connector : D-sub 9 pin
Cable length Max.100m
PIO Board MAX. 2 pieces
PIO Type Signal I/O dedicated for 24V DC (Input and output ports, selected from
NPN/PNP) [1.1.5 Refer to How to read the model of the controller]
External DeviceNet, CC-Link, PROFIBUS-DP, EtherNet/IP, EtherCAT, EtherNet
Interface (For either of DeviceNet, CC-Link or PROFIBUS-DP and either of
Field Network Type� EtherNet/IP or EtherCAT, either of the boards can be inserted at the same
time.)
[Refer to each Fieldbus Instruction Manual]
Expanded I/O unit (option) PIO Board MAX. 4 pieces (when using extension I/O)
Data Setting and Input PC software or teaching pendant
Program Specification Super SEL language
Max. Number of Program Steps 9999 Step
1-Axis Type: 53332 positions, 5-Axis Type: 22856 positions
2-Axis Type: 40000 positions, 6-Axis Type: 20000 positions
Max. Number of Positions
3-Axis Type: 32000 positions, 7-Axis Type: 17776 positions
4-Axis Type: 26666 positions, 8-Axis Type: 16000 positions
Max. Number of Programs 128 programs
Max. Number of Multitask Programs 16 programs
Data Retention Memory Flash ROM + FRAM
Retaining time after power turned OFF: approximately 10 days
Clock Function Time for battery charge after the clock data is lost:
approximately 100 hours

48
 Specification Item XSEL-RXD XSEL-SXD
Panel Unit PU-1 (option) Controller status display
Emergency stop input, safety gate input, system ready output and other
System I/O
safety circuit inputs and outputs
Drive-source cutoff

Chapter 1 Specifications Check

Internal Relay External Safety Circuit
method
b Contact (Constant time closed) Input
b Contact (Constant time closed)
Safety Circuit Emergency-stop input (external power supply, duplication
Input (internal power supply)
Configuration available)
b Contact (Constant time closed) Input
b Contact (Constant time closed)
Enable input (external power supply, duplication
Input (internal power supply)
available)
System Ready Output No-voltage contact (relay) output Max.200mA (DC24V)
Motor over current, overload, motor driver temperature check, overload
Protective Functions check, encoder open circuit detection, soft limit over, system abnormality,
battery abnormality
Equipped with built-in 1k�/20W regenerative resistor
Regenerative Resistor
Extension available with connecting an external regenerative resistor
Absolute Battery Mounted inside robot
Class I In case grounding conducted on ground terminal in addition to
Protection Function against Electric Shock
basic insulation for electric shock proof.
Overvoltage Category Category II Voltage durability 2500V at less than 300V AC for input rating
10M�� or more (Between power terminal and I/O terminal and also all
Insulation Resistance
external terminals and case at the power supply of DC500V)

1.2.3 XSEL-RXD/SXD Controller Type

Insulation strength 1500V AC� for 1 min
Cooling Method Forced Air-Cooling
Surrounding air temperature 0 to +40°C
Surrounding humidity 85% RH or less (non-condensing)
Surrounding environment (Refer to the Item for the Installation Environment).
Surrounding storage temperature -20 to 70�C (The Absolute Battery is excluded.)
Surrounding storage humidity 85% RH or less (non-condensing)
Environment
Maximum Operation Height 1000m
10 to 57 Hz in XYZ directions/Pulsating amplitude 0.035 mm (continuous),
Vibration Resistance 0.075 mm (intermittent) 57 to 150 Hz/4.9 m/s² (continuous),
9.8 m/s² (intermittent)
Protection Class IP20
Pollution Degree Pollution Degree 2
External Dimensions [Refer to the 1.3 External Dimensions]
With no Absolute Battery Unit Approx. 5.2kg Approx. 4.7kg
Weight�
With the Absolute Battery Unit Approx. 5.8kg Approx. 5.3kg
Note 1 Rush current at the power connection continues for 3 msec. Note that the value of in-rush current
differs depending on the impedance of the power supply line.
Note 2 Leak current varies depending on the capacity of connected motor, cable length and the surrounding
environment. Measure the leak current at the point where a ground fault circuit interrupter is to be
installed when leakage protection is conducted.
Regarding the leakage breaker, it is necessary to have a clear purpose for selection such as a fire
protection or protection of human body. Use the harmonic type (for inverter) for a leakage breaker.
Note 3 Power supply is not necessary if PIO is not to be used.

49
 [2] Power Capacity and Heating Value
Calculate the Power Capacity and Heating Value using the following formulas.

Rated Power Capacity [VA]=Total Capacity of Motor Power [VA]+Total of the power
Chapter 1 Specifications Check

consumption at the control part [VA]

Heating Value [W]=Total Output Loss [W]+(Total of internal power consumption [VA]
×0.7(Efficiency)×0.6(Power factor))
� Select the motor power capacity [VA] from Table 2. However, please note that the motor
power capacity at the acceleration and deceleration is 3 times higher at most. (2 times
higher max. for motor wattage 600W)
� Figure out the total of the power consumption at the control part [VA] with the total of
power of the actually mounted components × quantity, by selecting the applicable ones
from Table 3 Control Power Source (Internal Consumption and External Consumption).
� To calculate the sum total of output loss [W], refer to the “Output Loss” column in Table 2
below and select the values corresponding to the output losses of each connected
actuator.
� For the inner power demand (VA) for calculating the heating value (W) in the control unit,
select the components which are being placed, from the columns of Control Power
Supply (Internal Consumption) and External Power Supply (Internal Consumption) in
Table 3 and calculate it using the formula “Power {SYMBOL} Quantity of the Placement
Component”
1.2.3 XSEL-RXD/SXD Controller Type

� There are some restrictions as shown in Table 1 in the matching of SCARA Robots of
XSEL-RDX/SDX (three-phase type).
Table 1
First Unit Second Unit
IX-NNN1205/1505/1805 IX-NNN1205/1505/1805
IX-�N�2515H/3015H/3515H IX-�N�2515H/3015H/3515H
IX-NNN1205/1505/1805 IX-�N�5020H/6020H

Table: 2 Motor Volt Amperage of SCARA Robot and Output Loss

Wattage [W] Motor Power Capacity Output loss =
SCARA Robot
(Rated output) [VA] (Note 1) Heat Generation [W]
NN�1205
NN�1505 129.8 216.3 8.13
NN�1805
NN�2515H
NN�3515H
TNN3015H
1117.9 1863.1 44.8
TNN3515H
UNN3015H
UNN3515H
NN�50��H
NN�60��H
HNN5020H
2218.0 3696.7 69.7
HNN6020H
INN5020H
INN6020H
Note 1 Calculated with 0.6 for power factor

50
 Table: 3 Motor Driving Power and Output Loss
External Power Source
Control power supply
(24VDC)

Chapter 1 Specifications Check

Internal External Internal External Quantity
Consumption Consumptio Consumption Consumption
[VA] [VA] [VA] [VA]
Base Unit 31.4 1
Driver Per Board 6.26
Encoder
Per axis 2.38 3.57
Section [Refer to Table 4]
Fan Unit Per fan 5.71
Axis Sensor Per axis 4.57
N1, N2,
DIO (48 points) 5.95 14.52 0 to 2 Number of
P1, P2 PCBs on
PIO Board
DIO (96 points) N3, P3 8.33 26.81 0 to 2 I/O unit 1
Electronic Cam MC 16.7 0 to 2 and 2
DeviceNet DV 1.98 3.43 0 to 1 Number of
CC-Link CC 5.67 0 to 1 PCBs on
Field
PROFIBUS-DP PR 1.98 0 to 1 Network
Network Board 1

1.2.3 XSEL-RXD/SXD Controller Type

Module EtherNET/IP EP 1.98 0 to 1 Number of
PCBs on
Field
EtherCAT EC 3.93 0 to 1 Network
Board 2
Teaching IA-T-X/XD 3.57 0 to 1
pendant SEL-T/TD/TG 6.67 0 to 1
Total number of
Brake Per axis 0.28 2.5 1.0 brake- equipped
actuators 0 to 8

Table: 4 Number of Controlled Parts

Number of axes
1-Axis 2-Axis 3-Axis 4-Axis 5-Axis 6-Axis 7-Axis 8-Axis
(Note 1)
Driver 1 1 2 2 3 3 4 4
Encoder Section 1 2 3 4 5 6 7 8
XSEL-RXD : 5 Unit
Fan Unit
XSEL- SXD : 6 Unit
Axis Sensor 1 2 3 4 5 6 7 8

51
 [Calculation Example]
Shown below is an example for how to calculate the power capacity and amount of heat
generation when the following actuators are used.
SCARA Robot: IX-NNN1505H (without brake)
IX-NNN2515H
Chapter 1 Specifications Check

Standard Type Controller �Option: PIO Board 1 sheet, Device Net�

Teaching Pendant (IAI Standard Type)�
�
1) Control Power Capacity�
Power consumption
Base Unit Quantity (Per Unit) Total [VA]
Base Unit � 31.4 31.4
Driver 4 6.26 25.06
Encoder 8 2.38 + 3.57 47.6
Fan Unit 6 5.71 34.26
PIO Board 1 5.95 5.95
Device Net � 1.98 1.98
Teaching pendant 1 3.57 3.57
Brake 1 0.28 0.28
Totalizer 150.1
1.2.3 XSEL-RXD/SXD Controller Type

�
2) Heat Generation of Control System�
Power consumption
Base Unit Quantity (Per Unit) Total [VA]
Base Unit � 31.4 31.4
Driver 4 6.26 25.04
Encoder 8 2.38 19.04
Fan Unit 6 5.71 34.26
PIO Board 1 5.95 + 14.52 20.47
Device Net � 1.98 + 3.43 5.41
Brake 1 2.78 2.78
Totalizer 138.4
Heat Generation [W] = Totalizer [VA] × 0.7(Efficiency)×0.6(Power Factor)
58.13
�
3) I/O (PIO board) Power Capacity (24V DC)�
14.52 × 1 = 14.52 [VA]
4) Brake Power Capacity (24V DC)
(2.5 + 1) × 1 = 7.0 [VA]
5) Motor Power Capacity
SCARA Axes IX-NNN1505H: 216.3[VA]
SCARA Axes IX-NNN2515H: 1863.1 [VA]
216.3 +1863.1 = 2079.4 [VA]
6) Motor Power Supply Heat Generation
8.13 + 44.8 = 52.93 [W]
7) Rated Power Capacity =
1) Control Power Capacity + 5) Motor Power Capacity = 150.1+ 2079.4 = 2229.5 [VA]
8) Heat Generation =
2) Heat Generation of Control System + 6) Motor Power Supply Heat Generation = 58.13
+ 52.93 = 111.06 [W]

52
1.2.4 Selection of the Circuit Breaker
For the selection of the circuit breaker, perform it according to the following items.
� 3 times of the rated current flows to the controller during the acceleration/deceleration.
Select one that does not trip when the above current passes. When it trips, select the

Chapter 1 Specifications Check

breaker with a rated current one rank above. (Refer to the Operation Characteristic Curve
described in the catalogue of each manufacturer.)
� Select the breaker that does not trip with the rush current. (Refer to the Operation
Characteristic Curve described in the catalogue of each manufacturer.)
� For the rated breaking current, select the current value which can break the current even
when a short circuit occurs.
Rated Breaking Current > Short-circuit Current = Primary Power Supply Capacity/Power
Voltage
� Consider margin for the rated current on the circuit breaker.

Rated Current of Circuit Breaker >

Rated Voltage Amperage [VA] / AC Input Voltage × Margin (1.2 to 1.4 for reference)�

1.2.5 Selection of the Leakage Breaker

� Regarding the leakage breaker, it is necessary to have a clear purpose for selection such
as a fire protection or protection of human body.

1.2.5 Selection of the Leakage Breaker

1.2.4 Selection of the Circuit Breaker
� Leak current varies depending on the capacity of connected motor, cable length and the
surrounding environment. Measure the leak current at the point where a ground fault
circuit interrupter is to be installed when leakage protection is conducted.
� Use the harmonic type for a leakage breaker.

53
 1.3 External Dimensions
1.3.1 Absolute Battery Unit Non-Equipped Type
Controller Type All Types Equipped
3-
Chapter 1 Specifications Check

φ5

R 59 120 120 59
(Single-phase/
3-phase type)
DET
9 18
8 17
EMGin ENBin
7 16
6 15
EMG1 ENB1
5 14
4 13
EMG2 ENB2
3 12
2 11

S
SDN RDY
1 10

SYSTEM IO

(Single-phase type)
195
185
180

RX/RXD
(3-phase type)
5
358
374
Details (Three Locations)
XSEL-SX4-
NNN10040, 12040 7
1.3.1 Absolute Battery Unit Non-Equipped Type
1.3 External Dimensions

5
3-
φ5
57.5 100 100

DET
9 18
8 17
EMGin ENBin
7 16
6 15
EMG1 ENB1
5 14
4 13
EMG2 ENB2
3 12
2 11
SDN RDY
1 10

SYSTEM IO
195
186
180

S/SX/SXD
(3-phase type)

5
315
331
Details (Three Locations)

(80)

Side View

3
125.3

54
1.3.2 Absolute Battery Unit Equipped Type
Controller Type All Types Equipped
3-
φ5

59 120 120 59 (36)

Chapter 1 Specifications Check

R
(Single-phase/
3-phase type)
DET
9 18
8 17
EMGin ENBin
7 16
6 15
EMG1 ENB1
5 14
4 13
EMG2 ENB2
3 12
2 11
SDN RDY
1 10

195 SYSTEM IO

185
180
S
(Single-phase type)

5
358
402
RX/RXD Details (Three Locations)
(3-phase type)
7

5
3-
φ5

1.3.2 Absolute Battery Unit Equipped Type

57.5 100 100 57.5 (36)

DET
9 18
8 17
EMGin ENBin
7 16
6 15
EMG1 ENB1
5 14
4 13
EMG2 ENB2
3 12
2 11
SDN RDY
1 10

SYSTEM IO
195
186
180

S/SX/SXD
(3-phase type)

315 5

359
Details (Three Locations)

(80)

Side View

3
125.3

55
 1.4 Option
�
1.4.1 PIO Board
[1] Type�
Chapter 1 Specifications Check

XSEL Mode Display Polarity Input and Output Points Model

N1 Input 32 Points, Output 16 Points IA-103-X-32
N2 NPN Input 16 Points, Output 32 Points IA-103-X-16
N3 Input 48 Points, Output 48 Points IA-IO-3204-NP
P1 Input 32 Points, Output 16 Points IA-103-X-32-P
P2 PNP Input 16 Points, Output 32 Points IA-103-X-16-P
P3 Input 48 Points, Output 48 Points IA-IO-3204-PN
�
[2] Input and Output Interfaces
Input Output
Input Voltage DC24V±10% Load voltage DC24V±10%
Specification

*1
Input Current 7mA/1 Circuit I/O 100mA/1 Circuit, 400mA / 8 Port
Load
ON/OFF ON Min. 16VDC current Multipoint 50mA/1 Circuit,
*2
Voltage OFF Max. 5VDC I/O 400mA / 24 Port
Insulation Type Photocoupler Insulation Insulation Type Photocoupler Insulation
1.4 Option
1.4.1 PIO Board

NPN
PNP

*1 The total of lead current reaches max. 400mA every 8 ports from output port No. 300.
*2 The total of lead current reaches max. 400mA every 24 ports from output port No. 300.
�
� NPN type : N1 PNP type : P1
0V DC24 DC24 0V
�
�
Pin No. Pin No.
� 1 1
� 2 2
� 3 3
�
� 33 33
� 34 34
� 35 35
�
� 49 49
� 50 50

56
� NPN type : N2 PNP type : P2
� 0V DC24V DC24V 0V
�
� Pin No. Pin No.

Chapter 1 Specifications Check

1 1
�
2 2
�
3 3
�
�
17 17
�
18 18
�
19 19
�
�
49 49
�
50 50
�
�
� NPN type : N3 PNP type : P3
� DC24 0V
0V DC24V
�
� Pin No. Pin No.
1 1
�
2 2
�
3 3

1.4.1 PIO Board

�
�
25 25
�
26 26
�
27 27
�
28 28
�
�
50 50
�
51 51
�
52 52
�
�
74 74
�
75 75
�
76 76
�
77 77
�
�
99 99
�
100 100
�
�

Caution
If a non-contact circuit is connected externally, malfunction may result from leakage
current. Use a circuit in which leakage current in a off state does not exceed 1 mA.
� PIO Board input signal

ON duration OFF duration

At the default settings, the system recognizes the ON/OFF durations of input signals if
they are approx. 4 msec or longer. The ON/OFF duration settings can also be changed
using I/O parameter No. 20 (input filtering frequency).

57
 1.4.2 Field Network Board

Type Overview Details

DeviceNet DeviceNet Field Network Board Refer to the
Chapter 1 Specifications Check

This board communicates the I/O data as the separate Instruction

remote I/O terminal. Manual. (ME0124)
CC-Link CC-Link Field Network Board Refer to the
This board communicates the I/O data as the separate Instruction
Ver1.10 remote device station. Manual. (ME0123)
PROFIBUS-DP PROFIBUS-DP Field Network Board Refer to the
This board communicates the I/O data as the separate Instruction
slave station. Manual. (ME0153)
EtherNet/IP EtherNet/IP Network Connecting Refer to the
Communication Board separate Instruction
EtherNet communication also can be executed. Manual. (ME0308)
EtherCAT EtherCAT Network Connecting Communication Refer to the
Board separate Instruction
Manual. (ME0309)
1.4.2 Field Network Board

58
1.4.3 Extension I/O Unit
It is to be used when the number of I/O points on the controller is not enough.
The connection between the controller and the extension I/O unit is to be established with IA
Net communication. A single extension I/O unit can be shared by two or more XSELs. [Refer

Chapter 1 Specifications Check

to the IA Net Instruction Manual]
[Specification]
Item Specification
Input Power Supply Voltage DC24V±10�
Current Supplied from
0.75A (Max.)
XSEL Controller
Heat Generation 47W (Max.)
Number of Mounted Extension PIO Boards 1 to 4
Input 32 Points/Output 16
Points�
Input 16 Points/Output 32
NPN type
Points�
Input 48 Points/Output 48
Points�
Mountable PIO Board
Input 32 Points/Output 16
Points�
Input 16 Points/Output 32
PNP type
Points�
Input 48 Points/Output 48
Points�
(Note1) IA Net Cables (Model� CB-RS-IAN���)
Connection Cable
2m in standard (Max.10m)

1.4.3 Extension I/O Unit

Weight Approx. 1.5kg (Max.)
External Dimensions 109 × 195 × 125.3mm
Surrounding air temperature 0 to + 40�C
Surrounding humidity 85%RH or less (non-condensing)
Surrounding environment (Refer to the Item for the Installation Environment).�
Environment� Surrounding storage -20 to 70�C�
temperature
Surrounding storage humidity 85%RH (non-condensing)�
Protection Class IP20
Pollution Degree Pollution Degree 2
External Dimensions 109×195×125.3mm
Weight� Approx. 1.5kg (Max.)
Note 1 Refer to 2.3.5 for the details of the cable.
�

[External Dimensions]

φ5

PWR ALM
PSE C-ERR
LINK
24V
0V
IA-NET PNL
ADRS SW
0 1 4
C 4
8
RDY1 RDY2 RDY3 RDY4

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

195
186
180

5 3
93
125.3
109

59
 1.4.4 Panel Unit: PU-1
This is the display board consists of four digits of seven-segment displays and LED lamps.
The status of a controller such as the error codes can be checked on it if it is connected to XSEL
controller.
Chapter 1 Specifications Check

Also, if connected to an extension I/O unit, the condition of each I/O unit whether it is in normal or
error condition.
[Refer to the 7. Trouble Shooting for the details]

[Specification]�
Item Specification
Current Consumption 100mA
Cable Length 1, 3, 5m
Surrounding air temperature 0 to +40�C
Surrounding humidity� 85%RH or less (non-condensing)
Surrounding environment� (Refer to the Item for the Installation Environment).
Environment� Surrounding storage -20 to 70�C
temperature�
Surrounding storage humidity� 85% or less (non-condensing)
Protection Class IP20
Pollution Degree Pollution Degree 2
External Dimensions 43×114×17mm
Weight� 0.3kg (including cables)
�

[External Dimensions]�
1.4.4 Panel Unit: PU-1

17 43
9

3.2
10

6
114

60
1.4.5 Brake Box: RCB-110-RA13-0
This is required when the following actuator has the brake.�
� Ball Screw Nut Rotary Type NS Series��MZMS/MZMM/LZMS/LZMM�
� Vertical/Rotary Integrated Type ZR Series�

Chapter 1 Specifications Check

� ROBO CYLINDER��High-Thrust Rod Type RCS2-RA13R�
One brake box can control the brakes for two axes.�
�
[Specification]�
Item Specification
Input Power Supply Voltage DC24V�10%
Input Power Supply Current 1A
Heat Generation 1.2W
Connection Cable Encoder Cables
(Model CB-RCS2-PLA010) 1m
Surrounding air temperature 0 to +40�C
Surrounding humidity� 85%RH or less (non-condensing)
Surrounding environment� (Refer to the Item for the Installation Environment).
Environment� Surrounding storage -20 to 70�C
temperature�
Surrounding storage humidity� 85% or less (non-condensing)
Protection Class IP20
Pollution Degree Pollution Degree 2
External Dimensions 162×94×65.5mm
Weight� 0.8kg

1.4.5 Brake Box: RCB-110-RA13-0

[External Dimensions]�
�
M

�
�

61
 1.4.6 Regenerative Unit: REU-1
Regenerative resistance unit: A unit that converts to heat the regenerative current generated
when the motor decelerates.
[Specification]�
Chapter 1 Specifications Check

Item Specification
Internal Regenerative Resistor 235� 80W
(Note1)
Accessories Controller Connection Cable (ModelCB-ST-REU010) 1m
Surrounding air temperature 0 to +40�C
Surrounding humidity� 85%RH or less (non-condensing)
Surrounding environment� (Refer to the Item for the Installation Environment).
Environment� Surrounding storage
-20 to 70�C
temperature�
Surrounding storage humidity 85% or less (non-condensing)
Protection Class IP20
Pollution Degree Pollution Degree 2
External Dimensions 34×195×126mm
Weight� 0.9kg
Note 1 Refer to 2.3.7 for the details of the cable.

[External Dimensions]�

φ5 34 �
1.4.6 Regenerative Unit: REU-1

�
�
�
�
� RB-

RB+

�
186
195

RB IN
175

�
� RB-

� RB+

� RB OUT

�
�
�
5
�
� 16.6 126
�

62
 [Number of Connectable]�
�
To calculate the total number of necessary units, select the suitable conditions from the table
below for the actuator type connected to XSEL controller and sum up the numbers.

Chapter 1 Specifications Check

�
Total Number of Connected Units = Number in 1) + Number in 2) + Number in 3)
�
�
Calculation Table for Necessary Number of Regenerative Units�
No. Actuator Type� Quantity�
1) Total capacity of single-axis 0 to 100W Not required
actuator motors in to 600W 1 Unit
horizontally oriented to 1200W 2 Units
installation� to 1800W 3 Units
to 2400W 4 Units
2) Total capacity of single-axis 0 to 100W Not required
actuator motors in vertically to 600W 1 Unit
oriented installation� to 1000W 2 Units
to 1400W 3 Units
to 2000W 4 Units
to 2400W 5 Units
3) SCARA Robot� IX-NNN1205/1505/1805 Not required�

1.4.6 Regenerative Unit: REU-1

IX-NNN2515H/3515H,
IX-NNW2515H/3515H,
1 Unit / Per controller
IX-TNN(UNN)3015H/3515H,
IX-NNC2515H/3515H
IX-NNN50��H/60��H,
IX-NNW50��H/60��H,
3 Units / Per controller
IX-HNN(INN)50��H/60��H,
IX-NNC50��H/60��H
IX-NNN70��H/80��H,
IX-NNW70��H/80��H,
IX-HNN(INN)70��H/80��H, 4 Units / Per controller
IX-NNC70��H/80��H
IX-NNN10040/12040
IX-NSN5016H/NSN6016H 3 Units / Per controller
�

63
 1.5 Installation and Storage Environment
This product is capable for use in the environment of pollution degree 2*1 or equivalent.�
*1 Pollution Degree 2:�Environment that may cause non-conductive pollution or transient
Chapter 1 Specifications Check

conductive pollution by frost (IEC60664-1).�

�
[1] Installation Environment
Do not use this product in the following environment:
� Location where the surrounding air temperature exceeds the range of 0 to 40°C
� Location where condensation occurs due to abrupt temperature changes
� Location where relative humidity exceeds 85%RH
� Location exposed to corrosive gases or combustible gases
� Location exposed to significant amount of dust, salt or iron powder
� Location subject to direct vibration or impact
� Location exposed to direct sunlight
� Location where the product may come in contact with water, oil or chemical droplets
� Environment that blocks the air vent [1.6 Noise Elimination and Mounting Method]

When using the product in any of the locations specified below, provide a sufficient shield.
� Location subject to electrostatic noise
� Location where high electrical or magnetic field is present
� Location with the mains or power lines passing nearby
1.5 Installation and Storage Environment

[2] Storage and Preservation Environment

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

64
1.6 Noise Prevention and the Installation
(1) Protective Ground
For the grounding, the grounding resistance should be set to 100� or less.

Chapter 1 Specifications Check

The wiring should apply a twist line or an annealed copper wire of 2.0 mm2 (AWG14) or more.
Apply 3.5mm2 or more for XSEL-SX-NNN10040 and 12040.

[3-Phase Type]
Strand or annealed copper wire:
Connect with an earth line of
2.0mm2 (AWGN) or more
Apply 3.5mm2 or more for
XSEL-SX-NNN10040 and 12040.
AC Power Supply
Input Connector
L1 L2 L3
Grounding resistance
at 100Ω or less L
For Control
N
R AC Power Supply Input
For Motor
S
Driving
T
�
�
�
[Single-Phase Type]
�

1.6 Noise Prevention and the Installation

Strand or annealed copper wire:
Connect with an earth line of
2.0mm2 (AWGN) or more
AC Power Supply
Input Connector
L N
Grounding resistance
at 100Ω or less L
For Control
N
AC Power Supply Input
L For Motor
N Driving
�
�
�
(2) Noise Elimination Grounding (Frame Ground)
For grounding, make sure to conduct Class D Grounding (grounding resistance 100� or less).
Apply annealed twist wire or copper wire cables with 2.0 mm2 (AWG14) or more for wiring and
connect with solderless ring tongue terminals.
�
�
Attach the grounding Controller Other Equipment
cable to the FG terminal
on the main machine.
Strand or annealed copper wire:
Connect with an earth line of Controller Other Equipment Other Equipment
2.0mm2 (AWGN) or more
Apply 3.5mm2 or more for
XSEL-SX-NNN10040 and
Grounding resistance at 100Ω or less Do not share the ground wire with or connect to other equipment.
12040. Ground each controller separately.

65
 (3) Precautions Regarding Wiring Method
�
1) Use a twisted cable for connection to the power supply.
2) To reduce the interference to each other, have the I/O line, communication and encoder
Chapter 1 Specifications Check

lines, power and driving supply lines separate from each other.
�
(4) Noise Sources and Elimination Surge Absorber
Carry out noise elimination measures for power devices
on the same power path and in the same equipment. R
The following are examples of measures to eliminate
Relay C
noise sources: coil
1) AC solenoid valves, magnet switches and relays
[Measure] Install a Surge Absorber parallel with
the coil. Relay coil
2) DC solenoid valves, magnet switches and relays +24V 0V
[Measure] Install a diode parallel with the coil.
Use a DC relay with a built-in diode.
�
� +24V 0V
1.6 Noise Prevention and the Installation

66
(5) Heat R��������������������������
Conduct design and manufacture in consideration of the control box size, controller layout and
cooling in such a way that the temperature around the controller will be 40�C or less.

Chapter 1 Specifications Check

10mm or more
50mm 50mm or more
or more 150mm
50mm 50mm or more
or more or more
10mm
or more 50mm
or more
50mm 50mm
or more(Note 1) or more(Note 1)

Brake Box

50mm 50mm
or more Regeneration Unit or more
Extension I/O Unit 150mm
100mm 50mm or more
or more or more

�
�

150mm or more

1.6 Noise Prevention and the Installation

Airflow
�
�

Note 1 Install the devices (controller, extension I/O unit, regenerative unit and brake box)
away from a wall for 50mm or more.

67
 (6) Panel Unit (Option) Installation
Utilize the hook hole on the back side to hang on a tool such as L-shaped hook.
�
�
Such as L-shaped hook
Chapter 1 Specifications Check

�
�
�
� Hook hole
�

1.2
�
3.2
9
�
� 10

� 6
�
�
�
�
�
�
�
�

rear side
1.6 Noise Prevention and the Installation

68
Chapter 2 Wiring

2.1 Wiring (Connection of devices) Diagram

2.1.1 XSEL-R

Chapter 2 Wiring
Panel Unit
Power Supply for (Option)
Brake (Note 1) (Note 2)
24V power supply

Power Supply
3-phase or
Single-phase
AC200V CONTROLLER

Flat Cable
Host System
PLC (Note 1)

Regeneration Unit Teaching Pendant

(Option) (Option)

2.1.1 XSEL-R
2.1 Wiring (Connection of devices) Diagram
Extension I/O Unit
(Option)
Motor Cable
Encoder Cable

PC (Note 1)
PC Software
(Option)

�
�
Note 1 Please prepare separately.
Note 2 Supply of +24V power for brake to the controller is necessary if the actuator is
equipped with a brake.
�
� Caution: In the case of ICSA, ICSPA (Orthogonal Robot) a number is attached to
each cable.
Connect it according to the controller connector number.�
For the actuator regarded as that for single-axis robot, the connector Nos.
are not indicated.�
In such case, give a number to each connector to avoid any mistake.�
If the cable is not correctly connected, it might cause a damage to or
malfunction of the motor or PC board.�
�

69
 2.1.2 XSEL-S

Panel Unit
Power Supply for (Option)
Power Supply
Brake (Note 1) (Note 2)
3-phase or
Single-phase 24V power supply Safety Circuit
AC200V
Chapter 2 Wiring

(Note 1)
(Note 4)

Drive
Cutoff
Circuit Flat Cable
Host System
PLC (Note 1)

Regeneration Unit
(Option)
Teaching Pendant
(Option)

Extension I/O Unit

(Option)

Motor Cable
Encoder Cable

Dummy Plug
(DP-2) (Note 3)

PC (Note 1)
2.1.2 XSEL-S

PC Software
(Option)

�
�
�
Note 1 Please prepare separately.
Note 2 Supply of +24V power for brake to the controller is necessary if the actuator is
equipped with a brake.�
Note 3� When the unit is not connected to the personal computer or teaching pendant,
connect the dummy plug (DP-2).�
Note 4� Refer to 8.1 for the compliance with Safety Categories.�
�
� Warning: In the case PC is connected to XSEL-S, internal components of the
controller may get burned down if the following cable is used.
Standard PC cable B-ST-E1MW050 (black) enclosed in PC Software
IA-101-X-MW Even though the PC software can be used, use
CB-ST-A1MW050 (gray) for the cable.�
�
�
� Caution: In the case of ICSA, ICSPA (Orthogonal Robot) a number is attached to
each cable.
Connect it according to the controller connector number.�
For the actuator regarded as that for single-axis robot, the connector Nos.
are not indicated.�
In such case, give a number to each connector to avoid any mistake.�
If the cable is not correctly connected, it might cause a damage to or
malfunction of the motor or PC board.�
�
�

70
2.1.3 XSEL-RX

Power Supply for Panel Unit

Brake (Note 1) (Note 2) (Option)

24V power supply

Chapter 2 Wiring
Power Supply
3-phase or
Single-phase
AC200V CONTROLLER

Flat Cable
Host System
PLC (Note 1)

Regeneration Unit Teaching Pendant

(Option) (Option)
Extension I/O Unit
(Option)

Motor Cable
Encoder Cable

2.1.3 XSEL-RX
PC (Note 1)
PC Software
(Option)
24V power supply

Regeneration
Resistor Unit (Note 1)

�
�
�
Note 1 Please prepare separately.
Note 2 For the SCARA robots except for IX-NNN1205/1505/1805 and brake-equipped
Single-Axis actuator, the power supply of +24V for the the controller is required.
�

� Caution: In the case of ICSA, ICSPA (Orthogonal Robot) and SCARA Robot a
number is attached to each cable.
Connect it according to the controller connector number.�
For the actuator regarded as that for single-axis robot, the connector Nos.
are not indicated.�
In such case, give a number to each connector to avoid any mistake.�
If the cable is not correctly connected, it might cause a damage to or
malfunction of the motor or PC board.�

71
 2.1.4 XSEL-SX
�

Panel Unit
Power Supply for
Power Supply (Option)
Brake (Note 1) (Note 2)
3-phase or
Chapter 2 Wiring

Single-phase 24V power supply Safety Circuit

AC200V

Drive
Cutoff Flat Cable
Circuit
Host System
PLC (Note 1)

Teaching Pendant
Regeneration Unit (Option)
(Option)
Extension I/O Unit
(Option)

Motor Cable
Encoder Cable

Dummy Plug
(DP-2) (Note 3)
2.1.4 XSEL-SX

PC (Note 1)
PC Software
(Option)
24V power supply

Regeneration
Resistor Unit (Note 1)

�
�
Note 1 Please prepare separately.
Note 2 For the SCARA robots except for IX-NNN1205/1505/1805 and brake-equipped
Single-Axis actuator, the power supply of +24V for the the controller is required.�
Note 3 When the unit is not connected to the personal computer or teaching pendant,
connect the dummy plug (DP-2).
Note 4� Refer to 8.1 for the compliance with Safety Categories.�

� Warning: In the case PC is connected to XSEL-S, internal components of the

controller may get burned down if the following cable is used.
Standard PC cable B-ST-E1MW050 (black) enclosed in PC Software
IA-101-X-MW Even though the PC software can be used, use
CB-ST-A1MW050 (gray) for the cable.�
�
� Caution: In the case of ICSA, ICSPA (Orthogonal Robot) and SCARA Robot a
number is attached to each cable.
Connect it according to the controller connector number.�
For the actuator regarded as that for single-axis robot, the connector Nos.
are not indicated.�
In such case, give a number to each connector to avoid any mistake.�
If the cable is not correctly connected, it might cause a damage to or
malfunction of the motor or PC board.�
�

72
2.1.5 XSEL-RXD

Panel Unit
Power Supply for (Option)
Brake (Note 1) (Note 2)
24V power supply

Chapter 2 Wiring
Power Supply
3-phase or
Single-phase
AC200V CONTROLLER

Flat Cable
Host System
PLC (Note 1)

Teaching Pendant
Regeneration Unit
(Option)
(Option)
Extension I/O Unit
24V power supply (Option)

Regeneration
Resistor Unit (Note 1)

2.1.5 XSEL-RXD
PC (Note 1)
PC Software
(Option)
24V power supply

Regeneration
Resistor Unit (Note 1)

�
�
�
�
Note 1 Please prepare separately.
Note 2 For the SCARA robots except for IX-NNN1205/1505/1805, the power supply of
+24V for the the controller is required.�
�
� Caution: A number is shown on the cable for SCARA Robot.
Connect it according to the controller connector number.�
In such case, give a number to each connector to avoid any mistake.
If the cable is not correctly connected, it might cause a damage to or
malfunction of the motor or PC board.�
�
�
�

73
 2.1.6 XSEL-SXD
�

Panel Unit
Power Supply for (Option)
Power Supply Brake (Note 1) (Note 2)
Chapter 2 Wiring

3-phase or
Single-phase 24V power supply Safety Circuit
AC200V
(Note 1)
Drive (Note 4)
Cutoff
Circuit

Flat Cable
Panel Unit
(Option)

Regeneration Unit Teaching Pendant

(Option) (Option)

Extension I/O Unit

24V power supply (Option)

Regeneration
Resistor Unit (Note 1)
2.1.6 XSEL-SXD

Extension I/O Unit

Dummy Plug (Option)
(DP-2) (Note 3)
PC (Note 1)
PC Software
24V power supply (Option)

Regeneration
Resistor Unit (Note 1)

�
�
�
Note 1 Please prepare separately.
Note 2 For the SCARA robots except for IX-NNN1205/1505/1805, the power supply of
+24V for the the controller is required.�
Note 3 When the unit is not connected to the personal computer or teaching pendant,
connect the dummy plug (DP-2).
Note 4� Refer to 8.1 for the compliance with Safety Categories.�
�
� Warning: In the case PC is connected to XSEL-S, internal components of the
controller may get burned down if the following cable is used.
Standard PC cable B-ST-E1MW050 (black) enclosed in PC Software
IA-101-X-MW Even though the PC software can be used, use
CB-ST-A1MW050 (gray) for the cable.�
�
� Caution: A number is shown on the cable for SCARA Robot.
Connect it according to the controller connector number.�
In such case, give a number to each connector to avoid any mistake.
If the cable is not correctly connected, it might cause a damage to or
malfunction of the motor or PC board.�

74
2.2 Circuit Diagram (Example)

2.2.1 3-phase type power supply circuit

L1 L2 L3

Chapter 2 Wiring
Circuit Breaker

XSEL-R/RX/RXD Controller
AC Power Supply Input Connector)

PWR
Noise filter CP-L
Leakage Breaker (Note1) MC1320 Control Power Supply
CP-N
1 4 MP-R
2 5 MP-S Driving Power Supply
3 6 MP-T

2.2.1 3-phase type main power supply circuit

2.2 Circuit Diagram (Example)
PE
Surge Protector 123
R/A/V-781BXZ-4

Grounding resistance at 100Ω or less

XSEL-S/SX/SXD Controller
AC Power Supply Input Connector)
PWR
Noise filter CP-L
Control Power Supply
Leakage Breaker (Note1) MC1320 CP-N
1 4 MP-R
2 5 MP-S Driving Power Supply
3 6 MP-T
Driving Source
Interruption Relay
Contact

PE

Surge Protector 123

R/A/V-781BXZ-4

Grounding resistance at 100Ω or less

Note 1� Leakage current varies depending on the capacity of the motor to be connected,
cable length and surrounding environment. Therefore, when protective measures
from the leakage are taken, measure the leakage current at the locations where the
leakage breaker is installed.
Regarding the leakage breaker, it is necessary to have a clear purpose for
selection such as a fire protection or protection of human body.
Use the harmonic type (for inverter) for a leakage breaker.

75
 2.2.2 Single-phase type power supply circuit
L N

Circuit Breaker
Chapter 2 Wiring

XSEL-R Controller
AC Power Supply Input Connector)

PWR
Noise Filter CP-L
(Note1) Control Power Supply
Leakage Breaker MXB-1220-33 CP-N
1 3 MP-L
2 4 MP-N Driving Power Supply

PE
2.2.2 Single-phase type main power supply circuit

Surge Protector 12
R/A/V-781BWZ-2A

Grounding resistance at 100Ω or less

XSEL-R Controller
AC Power Supply Input Connector)
PWR
Noise Filter CP-L
Leakage Breaker (Note1) Control Power Supply
MXB-1220-33 CP-N
1 3 MP-L
Driving Power Supply
2 4 MP-N
Driving Source
Interruption Relay
Contact

PE

Surge Protector 12
R/A/V-781BWZ-2A

Grounding resistance at 100Ω or less �

�
Note 1� Leakage current varies depending on the capacity of the motor to be connected,
cable length and surrounding environment. Therefore, when protective measures
from the leakage are taken, measure the leakage current at the locations where the
leakage breaker is installed.
Regarding the leakage breaker, it is necessary to have a clear purpose for
selection such as a fire protection or protection of human body.
Use the harmonic type (for inverter) for a leakage breaker.

76
2.2.3 Brake Release Power Supply
�
24V DC XSEL Controller 0V
Brake Power Input Connector)
BK PWR

DC24V 0V

Chapter 2 Wiring
�
�

2.2.3 Brake Release Power Supply

77
 2.2.4 Emergency Stop Circuit (For R/RX/RXD Type)
The following diagram shows the case when the teaching pendants emergency stop switch
is reflected on the machine’s emergency stop circuit design.
DC24V 0V

� Teaching Pendant
Deadman Switch Emergency Sop
�
ENB TBX1 ENB VCC1 EMG IN1 EMG OUT1
� System I/O
Chapter 2 Wiring

Connector XSEL Controller

� CR2 18 +24V
(10mA or more) X
� 17 ENBin (IN) +24V
Safety Gate 16 ENBin
+24V
� 15 ENB1 (line+) CR6
14 ENB1 (line-) CR6
� 13
X AUTO/MANU
12 AUTO: Mode
� RDY Output
11
X
RDY (Out+) CR5 High
10 RDY (Out-)
� DC30V 0.2A or less

RDYOUT

� External CR1 9
CR5

(120mA or more) X
�External EMG EMG
Reset Switch Circuit
8
7
EMGin (IN)
EMGin (At the Time of
+24V Connection)
� 6 EMG1 (line+)
5 EMG1 (line-)
CR1
� 4
X CR3
CR4
3
� SDN Output
2
X
SDN (Out+) CR3 Teaching Pendant
Connection Detection Circuit
1 SDN (Out-)
� DC30V 0.2A or less
Motor Driving Power Supply

� CR3
CR4
�
XSEL Controller
�
2.2.4 Emergency Stop Circuit (For R/RX/RXD Type)

CR2 18
� (10mA or more)
17
X
ENBin (IN)
� 16
15
ENBin
ENB1 (line+)
� 14
13
ENB1 (line-)
X
� 12
X
11
RDY (Out+)
� DC30V RDY Output
0.2A or less 10
RDY (Out-)
CR1 9
X 2nd unit
� (120mA or more)
8
EMGin (IN)
7
� 6
EMGin
EMG1 (line+)
5
� 4
EMG1 (line-)
X
� 3
2
X
SDN Output SDN (Out+)
� DC30V 0.2A or less 1
SDN (Out-)

�
XSEL Controller
� CR2 18
X
� (10mA or more)
17
ENBin (IN)
16
� 15
ENBin
ENB1 (line+)
14
� 13
ENB1 (line-)
X
12
� 11
X
RDY (Out+)
RDY Output
� DC30V 0.2A or less CR1
10
9
RDY (Out-)
Nth unit
(120mA or more) X
� 8
7
EMGin (IN)
EMGin
� 6
5
EMG1 (line+)
EMG1 (line-)
� 4
X
3
� SDN Output
2
X
SDN (Out+)
DC30V 0.2A or less 1
� SDN (Out-)

� CR2 Safety Gate

This is turned ON
� when the safety gate
safety door is closed.
CR1
Emergency Stop Release

Caution: �For R/RX/RXD controllers, the dead man’s switch on the teaching pendant is
effective only in MANU Mode. The emergency stop switch is always effective
no matter in MANU or AUTO.
�Make sure not to connect 100V or 200V AC accidently to the system I/O. It
may destroy the internal circuit.

78
2.2.5 Emergency Stop Circuit (For S/SX/SXD Type)
The following diagram shows the case when the teaching box’s emergency stop switch is
reflected on the machine’s emergency stop circuit design.�
DC24V �Teaching Pendant 0V

� Deadman Switch Emergency Stop Switch

ENB TBX1 ENB VCC1 EMG IN1 EMG OUT1
� ENB ENB EMG EMG

Chapter 2 Wiring
TBX2 VCC2 IN2 OUT2
� System I/O XSEL Controller
Connector
� CR2
(10mA or more)
18 DET (+24V)
17 ENBin (IN)
� Safety Gate 16 ENBin
+24V
15 ENB1 (line+)
� 14 ENB1 (line-)
13 ENB2 (line+)
� 12 ENB2 (line-)
11 RDY (Out+) CR5
� RDY Output
DC30V 0.2A 10 RDY (Out-)

� CR5
RDYOUT

External CR1 3.3kΩ

9 DET (IN)
� External
EMG
EMG (120mA or more)
8 EMGin (IN)
Circuit Contact Solder
Reset Switch
� 7
6
EMGin
EMG1 (line+)
+24V Detection

� CR1
5
4
EMG1 (line-)
EMG2 (line+)

� 3
2
EMG2 (line-)
SDN (Out+) CR3
RDY Output
� DC30V 0.2A
1 SDN (Out-)

� CR3

� CR1 CR6

� Drive Cutoff Relay

XSEL Controller

2.2.5 Emergency Stop Circuit (For S/SX/SXD Type)

� CR6

CR2 18 DET (+24V)

� (10mA or more)
17 ENBin (IN)
16 ENBin
� 15 ENB1 (line+)
14 ENB1 (line-)
� 13 ENB2 (line+)
ENB2 (line-)
� 12
11 RDY (Out+)
RDY Output
RDY (Out-)
� DC30V 0.2A or less
CR1
10
9 DET (IN) 2nd unit
(120mA or more)
� 8
7
EMGin (IN)
EMGin

� 6
5
EMG1 (line+)
EMG1 (line-)

� 4
3
EMG2 (line+)
EMG2 (line-)

� RDY Output
2
1
SDN (Out+)
SDN (Out-)
DC30V 0.2A
�
CR1 CR7
�
Drive Cutoff Relay
� XSEL Controller CR7

� CR2 18 DET (+24V)

(10mA or more)
� 17
16
ENBin (IN)
ENBin

� 15
14
ENB1 (line+)
ENB1 (line-)

� 13
12
ENB2 (line+)
ENB2 (line-)

� RDY Output
11
10
RDY (Out+)
RDY (Out-)
DC30V 0.2A or less
Nth unit
� CR1
(120mA or more)
9
8
DET (IN)
EMGin (IN)

� 7
6
EMGin
EMG1 (line+)

� 5
4
EMG1 (line-)
EMG2 (line+)

� 3
2
EMG2 (line-)
SDN (Out+)

� RDY Output
DC30V 0.2A
1 SDN (Out-)

� CR1 CR8

� Drive Cutoff Relay

� CR8 CR2 Safety Gate

This is turned ON
when the safety gate
� CR1
safety door is closed.
Emergency Stop Release

Caution: �Make sure not to connect 100V or 200V AC accidently to the system I/O. It may
destroy the internal circuit.

79
 2.2.6 Motor Encoder Circuit
The connecting diagram varies depending on the actuator and controller.
There are three types for each of motor cable and encoder cable as shown in the table below for
how to connect in each type.

Motor Cable Encoder Cable

Chapter 2 Wiring

No.� Controller Type� Connectable Actuators� Connection Connection

diagram diagram�
1 XSEL-R/S Multi-axis*1 8-axis or less� [1]� [2]�
SCARA robot 1 unit and the added
2 XSEL-RX/SX [3]� [4]�
axis*1 4-axis or less�
3 XSEL-RXD/SXD SCARA robot 2 units� [5]� [6]�
*1 Single Axis Robot, Orthogonal Robot� Linear Servo(LSAS)� ROBO Cylinder(RCS2/RCS3)�
�
�
2.2.6 Motor Encoder Circuit

80
 [1] XSEL-R/S Motor Cable Connection

XSEL Controller
M1
For axis 1 Motor Cable
(Note1)

Connector for

Chapter 2 Wiring
the motor cable)
M2
(Note1)
For axis 2 Motor Cable
Connector for
the motor cable)
M3
(Note1)
For axis 3 Motor Cable
Connector for
the motor cable)
M4
(Note1)
For axis 4 Motor Cable
Connector for
the motor cable)
M5
For axis 5 Motor Cable(Note1)
Connector for
the motor cable)

2.2.6 Motor Encoder Circuit

M6
(Note1)
For axis 6 Motor Cable
Connector for
the motor cable)
M7
(Note1)
For axis 7 Motor Cable
Connector for
the motor cable)
M8
(Note1)
For axis 8 Motor Cable
Connector for
the motor cable)
�
�
(Note1)�Applicable Motor Cable Model No. ��� : cable length Example) 030 = 3 m
Actuator Cable
Single Axis, Orthogonal Axes CB-X-MA���
�

� Caution: In the case of ICSA, ICSPA (Orthogonal Robot) a number is attached to

each cable.
Connect it according to the controller connector number.�
For the actuator regarded as that for single-axis robot, the connector Nos.
are not indicated.�
In such case, give a number to each connector to avoid any mistake.�
If the cable is not correctly connected, it might cause a damage to or
malfunction of the motor or PC board.�

81
 [2] XSEL-R/S Encoder Cable Connection

XSEL Controller
PG1
(Note1)
For axis 1 Encoder Cable
Encoder
Connector)
Chapter 2 Wiring

PG2
For axis 2 Encoder Cable
(Note1)

Encoder
Connector)

PG3
For axis 3 Encoder Cable
(Note1)

Encoder
Connector)
PG4
For axis 4 Encoder Cable
(Note1)

Encoder
Connector)

PG5
For axis 5 Encoder Cable
(Note1)

Encoder
Connector)
2.2.6 Motor Encoder Circuit

PG6
For axis 6 Encoder Cable
(Note1)

Encoder
Connector)
PG7
For axis 7 Encoder Cable
(Note1)

Encoder
Connector)

PG8
For axis 8 Encoder Cable
(Note1)

Encoder
Connector)
�
�
(Note1) Applicable Encoder Cable Model No. ��� : cable length Example) 030 = 3 m
Actuator Cable
Single Axis Robot� CB-X1-PA���
Single Axis Robot with LS type CB-X1-PLA���
�
� Caution: In the case of ICSA, ICSPA (Orthogonal Robot) a number is attached to
each cable.
Connect it according to the controller connector number.�
For the actuator regarded as that for single-axis robot, the connector Nos.
are not indicated.�
In such case, give a number to each connector to avoid any mistake.�
If the cable is not correctly connected, it might cause a damage to or
malfunction of the motor or PC board.�
�

82
 [3] XSEL-RX/SX Motor Cable Connection

XSEL Controller
M1
For axis 1 Motor Cable
Connector for

Chapter 2 Wiring
the motor cable)

M2
For axis 2 Motor Cable
Connector for
the motor cable)
M3
For axis 3 Motor Cable
Connector for
the motor cable)
M4
For axis 4 Motor Cable
Connector for
the motor cable)
M5
For axis 5 Motor Cable (Note1)
Connector for
the motor cable)

2.2.6 Motor Encoder Circuit

M6
(Note1)
For axis 6 Motor Cable
Connector for
the motor cable)
M7
Motor Cable
(Note1)
For axis 7
Connector for
the motor cable)
M8
Motor Cable
(Note1)
For axis 8
Connector for
the motor cable)
�
�
(Note1)�Applicable Motor Cable Model No. ��� : cable length Example) 030 = 3 m
Actuator Cable
For Ones other than Large Type Linear CB-X-MA���
For Large Type Linear CB-XMC-MA���
�
� Caution: In the case of ICSA, ICSPA (Orthogonal Robot) a number is attached to
each cable.
Connect it according to the controller connector number.�
For the actuator regarded as that for single-axis robot, the connector Nos.
are not indicated.�
In such case, give a number to each connector to avoid any mistake.�
If the cable is not correctly connected, it might cause a damage to or
malfunction of the motor or PC board.�
�

83
 [4] XSEL-RX/SX Encoder Cable Connection
�
XSEL Controller

PG1
For axis 1 Encoder Cable
Encoder
Chapter 2 Wiring

Connector)
PG2
For axis 2 Encoder Cable
Encoder
Connector)

PG3
For axis 3
Encoder Cable
Encoder
Connector)

PG4
For axis 4 Encoder Cable
Encoder
Connector)

PG5
For axis 5 Encoder Cable
(Note1)
2.2.6 Motor Encoder Circuit

Encoder
Connector)
PG6
For axis 6 Encoder Cable
(Note1)

Encoder
Connector)
PG7
For axis 7 Encoder Cable
(Note1)

Encoder
Connector)
PG8
For axis 8 Encoder Cable
(Note1)

Encoder
Connector)
�
�
(Note1)�Applicable Encoder Cable Model No. ��� : cable length Example) 030 = 3 m
Actuator Cable
Single Axis Robot� CB-X1-PA���
Single Axis Robot with LS type CB-X1-PLA���
�
� Caution: In the case of ICSA, ICSPA (Orthogonal Robot) and SCARA Robot a
number is attached to each cable
Connect it according to the controller connector number.�
For the actuator regarded as that for single-axis robot, the connector Nos.
are not indicated.�
In such case, give a number to each connector to avoid any mistake.�
If the cable is not correctly connected, it might cause a damage to or
malfunction of the motor or PC board.�

84
 [5] XSEL-RXD/SXD Motor Cable Connection

XSEL Controller
M1
For axis 1 Motor Cable
Connector for

Chapter 2 Wiring
the motor cable)
M2
For axis 2 Motor Cable
Connector for
the motor cable)
M3
For axis 3 Motor Cable
Connector for
the motor cable)
M4
For axis 4 Motor Cable
Connector for
the motor cable)
M5
For axis 5 Motor Cable
Connector for

2.2.6 Motor Encoder Circuit

the motor cable)
M6
For axis 6 Motor Cable
Connector for
the motor cable)
M7
For axis 7 Motor Cable
Connector for
the motor cable)
M8
For axis 8 Motor Cable
Connector for
the motor cable)
�
�

� Caution: A number is shown on the cable for SCARA Robot.

Connect it according to the controller connector number.�
In such case, give a number to each connector to avoid any mistake.
If the cable is not correctly connected, it might cause a damage to or
malfunction of the motor or PC board.�

85
 [6] XSEL-RXD/SXD Encoder Cable Connection

XSEL Controller
PG1
For axis 1 Encoder Cable
Encoder
Chapter 2 Wiring

Connector)
PG2
For axis 2 Encoder Cable
Encoder
Connector)
PG3
For axis 3 Encoder Cable
Encoder
Connector)
PG4
For axis 4 Encoder Cable
Encoder
Connector)
PG5
2.2.6 Motor Encoder Circuit

For axis 5 Encoder Cable

Encoder
Connector)
PG6
For axis 6 Encoder Cable
Encoder
Connector)
PG7
For axis 7 Encoder Cable
Encoder
Connector)

PG8
For axis 8 Encoder Cable
Encoder
Connector)

� Caution: A number is shown on the cable for SCARA Robot.

Connect it according to the controller connector number.�
In such case, give a number to each connector to avoid any mistake.
If the cable is not correctly connected, it might cause a damage to or
malfunction of the motor or PC board.�

86
2.2.7 PIO Circuit
There are 6 types of I/O Board as shown below.

Display of XSEL
Polarity No. of I/O points Model
Mode Code
N1 32 Input Points / 16 Output Points IA-103-X-32
N2 NPN 16 Input Points / 32 Output Points IA-103-X-16

Chapter 2 Wiring
N3 48 Input Points / 48 Output Points IA-IO-3204-NP
P1 32 Input Points / 16 Output Points IA-103-X-32-P
P2 PNP 16 Input Points / 32 Output Points IA-103-X-16-P
P3 48 Input Points / 48 Output Points IA-IO-3204-PN
�
Two of the there boards can be attached to the XSEL controller.

The setting of the I/O parameters is required to use this PIO board.
Set the parameters as follows.
(1) I/O Port Allocation
(2) I/O Port Function Setting

[1] I/O Port Allocation

Set the Port No. to be used in the PIO board that is attached to each slot of the controller using
the I/O parameter No. 1 to 5.

2.2.7 PIO Circuit

Default
No. Parameter name Input Range Unit Remarks
(Reference)
0: Fixed Allocation
1: Automatic Allocation
�I/O Port Allocation Priority Order (No. 0 to
299/No. 300 to 599) in the case that Automatic
Allocation has been selected
1 I/O Port Allocation Type 1 0 to 20
(Network I/F Module 1 �� I/O slot 1 (I/O1)
Mounting board)
�Allocated only within the Serial Placement
Range, from the I/O Slot No. 1 (I/01) for safety
reason
I/O slot 1 Input Port Start No. in 0+(Multiples of 8)
2 000 -1 to 299
Network I/F (I/O1) (Unavailable when it is negative figure)
I/O slot 1 Output Port Start No. 300+(Multiples of 8)
3 300 -1 to 599
in Network I/F (I/O1) (Unavailable when it is negative figure)
I/O slot 2 Input Port Start No. in 0+(Multiples of 8)
4 -1 -1 to 599
Network I/F (I/O1) (Unavailable when it is negative figure)
I/O slot 2 Output Port Start No. 300+(Multiples of 8)
5 -1 -1 to 599
in Network I/F (I/O1) (Unavailable when it is negative figure)

[2] PIO Board Port Allocation

For the input port No. 000 to 015 and output port No. 300 to 315, the special function can be
setup using the I/O parameter setting.
For all the other I/O port Nos., they can be used freely as the universal I/O port. The
selected port allocation is also available. [Refer to I/O Parameter 6.1]

87
 (1) Input Port Allocation
Port Parameter Set At the
Function of an Input Signal
No. No. Name Value delivery
0 Universal Input
Input 1 Program Start (Program No. selectIntput Port=007 to 013 BCD Select) �
000 No.30 Function 2 Program Start (Program No. selectIntput Port=007 to 013 Binary Setup)� �
Select 000 3 Program Start (Program No. selectIntput Port=008 to 014 BCD Select) �
Chapter 2 Wiring

4 Program Start (Program No. selectIntput Port=008 to 014 Binary Setup)� �

Input 0 Universal Input �
001 No.31 Function
Select 001 1 Software ResetSignal
Input 0 Universal Input �
002 No.32 Function
Select 002 1 Servo ON signal
0 Universal Input
Input
003 No.33 Function Program automatically started when the power ON is reset in AUTO
1 �
Select 003 mode and software is reset
2 Automatic Starting Program Start
Input 0 Universal Input �
004 No.34 Function
Select 004 1 All servo-axes soft interlock (Level Signal of Regular ON)
Input 0 Universal Input �
005 No.35 Function
Select 005 1 Pause Release (ON Edge Processing Signal)
Input 0 Universal Input �
006 No.36 Function
Select 006 1 Pause Signal (Level Signal of Regular ON)
Input Function Select 000=0 Universal Input
Input Function
Input 0 Universal Input
Select 000=1 No.
2.2.7 PIO Circuit

Function
Input Function 37 Select 007
Input Function Select 000=Setting 1 Program No.� BCD Select� 0 bit ��
1
No. Select 000=2 Input Function Select 000=Setting 2 Program No.� Binary Setup� 0 bit
007
30
Input Function
0 Universal Input
Select 000=3 Input
No.
Function Drive Cutoff Release Input
Input Function 37
Select 007 1 (ON Edge Processing Signal; when the factors have been removed, it is
Select 000=4
enabled.)
0 Universal Input
Input Input Function Select 000=Setting 1 Program No.� BCD Select� 1 bit ��
008 No.38 Function Input Function Select 000=Setting 2 Program No.� Binary Setup� 1 bit
Select 008 1
Input Function Select 000=Setting 3 Program No.� BCD Select� 0 bit �
Input Function Select 000=Setting 4 Program No.� Binary Setup� 0 bit
0 Universal Input
Input Input Function Select 000=Setting 1 Program No.� BCD Select� 2 bit ��
009 No.39 Function Input Function Select 000=Setting 2 Program No.� Binary Setup� 2 bit
Select 009 1
Input Function Select 000=Setting 3 Program No.� BCD Select� 1 bit �
Input Function Select 000=Setting 4 Program No.� Binary Setup� 1 bit
0 Universal Input
Input Input Function Select 000=Setting 1 Program No.� BCD Select� 3 bit ��
010 No.40 Function Input Function Select 000=Setting 2 Program No.� Binary Setup� 3 bit
Select 010 1
Input Function Select 000=Setting 3 Program No.� BCD Select� 2 bit �
Input Function Select 000=Setting 4 Program No.� Binary Setup� 2 bit
0 Universal Input
Input Input Function Select 000=Setting 1 Program No.� BCD Select� 4 bit ��
011 No.41 Function Input Function Select 000=Setting 2 Program No.� Binary Setup� 4 bit
Select 011 1
Input Function Select 000=Setting 3 Program No.� BCD Select� 3 bit �
Input Function Select 000=Setting 4 Program No.� Binary Setup� 4 bit
0 Universal Input
Input Input Function Select 000=Setting 1 Program No.� BCD Select� 5 bit ��
012 No.42 Function Input Function Select 000=Setting 2 Program No.� Binary Setup� 5 bit
Select 012 1
Input Function Select 000=Setting 3 Program No.� BCD Select� 4 bit �
Input Function Select 000=Setting 4 Program No.� Binary Setup� 4 bit
0 Universal Input
Input Input Function Select 000=Setting 1 Program No.� BCD Select� 6 bit ��
013 No.43 Function Input Function Select 000=Setting 2 Program No.� Binary Setup� 6 bit
Select 013 1
Input Function Select 000=Setting 3 Program No.� BCD Select� 5 bit �
Input Function Select 000=Setting 4 Program No.� Binary Setup� 5 bit

88
Port Parameter Set At the
Function of an Input Signal
No. No. Name Value Delivery
Input Function Select 000=0 Universal Input
Input Function
0 Universal Input �
Select 000=1
Drive Cutoff Release Input
Input Function
1 (ON Edge Processing Signal; when the factors have been removed, it is
Select 000=2

Chapter 2 Wiring
No Input enabled.)
014 No.
.30 Input Function Function
44 0 Universal Input� �
Select 000=3 Select 014
Program No.� BCD
Input Function Select 000=Setting 3 �
Input Function Select� 6 bit
1
Select 000=4 Program No.� Binary
Input Function Select 000=Setting 4
Setup� 6 bit

0 Universal Input �

In the case of XSEL-R/S, All Effective Axes Homing (ON Edge

Processing)
1
In the case of XSEL-RX/SX, All Direct Driving Axes ABS Reset Position
Input Move/Homing (ON Edge)
015 No.45 Function
Select 015

All Increment Effective Axes Homing(ON Edge)

2
However, the SCALA robot is unavailable.

2.2.7 PIO Circuit

89
 (2) Output Port Allocation
Port Parameter Set At the
Function of an Input Signal
No. No. Name Value Delivery
0 Universal output
1 Error Output at the Operation Cancellation Level or more (ON)� �
2 Error Output at the Operation Cancellation Level or more (OFF)� ��
Error Output at the Operation Cancellation Level or more +
3 �
Emergency-stop output (ON)
Chapter 2 Wiring

Output Error Output at the Operation Cancellation Level or more +

300 No.46 Function 4 �
Emergency-stop output (OFF)
Select 300 5 Output of an error higher than cold level (ON) �
6 Output of an error higher than cold level (OFF) �
Output of an error of maintenance information alert function related
7 �
message level (Error No. 231 or 232) (ON)
Output of an error of maintenance information alert function related
8 �
message level (Error No. 231 or 232) (OFF)�
0 Universal output
� READY Output (PIO Trigger Program Operation Available)
Output
301 No.47 Function READY Output (PIO Trigger Program Operation Available) and without
2
Select 301 occurrence of any error at the operation cancellation level or more
READY Output (PIO Trigger Program Operation Available, and
3 �
without occurrence of any error at the cold start level or more)
Output 0 Universal output
302 No.48 Function 1 Emergency-stop output(ON)
Select 302 2 Emergency-stop output(OFF) �
0 Universal output �
Output
303 No.49 Function 1 AUTO Mode Output
Select 303 Output during the Automatic Operation (In addition, when the
2
parameter No. 12
2.2.7 PIO Circuit

0 Universal output �
Output at the time of “All Effective Axes Homing (=0)”
1
Output However, the SCALA robot is unavailable.
304 No.50 Function Output when all the effective axes homing is completed
Select 304 2
(Coordinates Not Determined) However, the SCALA robot is unavailable.
Output when all the effective axes home preset coordinates are
3
setHowever, the SCALA robot is unavailable.
Output 0 Universal output �
305 No.51 Function 1 1st axis in-position output (turned OFF when pressing missed)
Select 305 2 Output during the first axis servo ON (System Monitoring Task Output)
Output 0 Universal output �
306 No.52 Function 1 2nd axis in-position output (turned OFF when pressing missed)
Select 306 2 Output during the second axis servo (System Monitoring Task Output)
Output 0 Universal output �
307 No.53 Function 1 3rd axis in-position output (turned OFF when pressing missed)
Select 307 2 Output during the third axis servo (System Monitoring Task Output)
Output 0 Universal output �
308 No.54 Function 1 4th axis in-position output (turned OFF when pressing missed)
Select 308 2 Output during the fourth axis servo (System Monitoring Task Output)
Output 0 Universal output �
309 No.55 Function 1 5th axis in-position output (turned OFF when pressing missed)
Select 309 2 Output during the fifth axis servo (System Monitoring Task Output)
Output 0 Universal output �
310 No.56 Function 1 6th axis in-position output (turned OFF when pressing missed)
Select 310 2 Output during the sixth axis servo (System Monitoring Task Output)
Output 0 Universal output �
311 No.57 Function 1 7th axis in-position output (turned OFF when pressing missed)
Select 311 2 Output during the seventh axis servo (System Monitoring Task Output)
Output 0 Universal output �
312 No.58 Function 1 8th axis in-position output (turned OFF when pressing missed)
Select 312 2 Output during the eight axis servo (System Monitoring Task Output)
Output
313 No.59 Function 0 Universal output �
Select 313
0 Universal output �
Output
314 No.60 Function Absolute Battery Backup Battery Low Voltage Alarm Level or lessAll
Select 314 � axes OR check: After the abnormal level has been detected, it is
latched until Power ON reset and software reset.
Output
315 No.61 Function 0 Universal output �
Select 315

90
 [3] Wiring
(1) NPN Type
� 32 Input Points / 16 Output Points (Display of XSEL Mode Code: N1)
0V I/O Board 24 V
(Red-1) 2 34 (Yellow-4) Load
000 300
(Orange-1) 3 35 (Green-4)
001 301

Chapter 2 Wiring
(Yellow-1) 4 36 (Blue-4)
002 302
(Green-1) 5 37 (Purple-4)
003 303
(Blue-1) 6 38 (Gray-4)
004 304
(Purple-1) 7 39 (White-4)
005 305
(Gray-1) 8 40 (Black-4)
006 Input function 306
(White-1) 9 is parameter 41 (Brown-5)
007 setup 307
(Black-1) 10 42 (Red-5)
008 308
(Brown-2) 11 43 (Orange-5)
009 Output function 309
(Red-2) 12 44 (Yellow-5)
010 is parameter 310
(Orange-2) 13 setup 45 (Green-5)
011 311
(Yellow-2) 14 46 (Blue-5)
012 312
(Green-2 ) 15 47 (Purple-5)
013 313
(Blue-2) 16 48 (Gray-5)
014 314
(Purple-2) 17 49 (White-5)
015 315
(Gray-2) 18
016

2.2.7 PIO Circuit

(White-2) 19
017
(Black-2) 20
018
(Brown-3) 21
019
(Red-3) 22
020
(Orange-3) 23
021
(Yellow-3) 24
022
(Green-3) 25
023
(Blue-3) 26 Universal Input
024
(Purple-3) 27
025
(Gray-3) 28
026
(White-3) 29
027
(Black-3) 30
028
(Brown-4) 31
029
(Red-4) 32
030
(Orange-4) 33
031
(Black-5) 50 1 (Brown-1)
0V 24V
common common
Stated in () is a Wirer color of the supplied flat cable
The second (Slot No. 2) PIO board No., is decided with the I/O parameter No. 1 to 5 setting.
� Use the attached cable for the I/O connection.
Model : CB-X-PIO���(��� indicates the cable length L. Example. 020 = 2m)
2 1

Cutting state

50 49
Socket (with strain relief) : XG4M-5030-T (Manufacturer: Omron))
Flat cable (50 conductors) : KFX-50 (S) (Manufacturer: Kaneko Cord)

91
 � 16 Input Points / 32 Output Points (Display of XSEL Mode Code: N2)

0V I/O Board 24 V
(Red-1) 2 18 (Gray-2) Load
000 300
(Orange-1) 3 19 (White-2)
001 301
(Yellow-1) 4 20 (Black-2)
002 302
Chapter 2 Wiring

(Green-1) 5 21 (Brown-3)
003 303
(Blue-1) 6 22 (Red-3)
004 304
(Purple-1) 7 23 (Orange-3)
005 305
(Gray-1) 8 Input function 24 (Yellow-3)
006 306
(White-1) 9 is parameter 25 (Green-3)
007 setup 307
(Black-1) 10 26 (Blue-3)
008 308
(Brown-2) 11 27 (Purple-3)
009 Output function 309
(Red-2) 12 is parameter 28 (Gray-3)
010 310
(Orange-2) 13 setup 29 (White-3)
011 311
(Yellow-2) 14 30 (Black-3)
012 312
(Green-2) 15 31 (Brown-4)
013 313
(Blue-2) 16 32 (Red-4)
014 314
(Purple-2) 17 33 (Orange-4)
015 315
34 (Yellow-4)
316
35 (Green-4)
2.2.7 PIO Circuit

317
36 (Blue-4)
318
37 (Purple-4)
319
38 (Gray-4)
320
39 (White-4)
321
40 (Black-4)
322
41 (Brown-5)
323
Universal output 42 (Red-5)
324
43 (Orange-5)
325
44 (Yellow-5)
326
45 (Green-5)
327
46 (Blue-5)
328
47 (Purple-5)
329
48 (Gray-5)
330
49 (White-5)
(Black-5) 331
50 1 (Brown-1)
0V 24V
common common

Stated in () is a Wirer color of the supplied flat cable

The second (Slot No. 2) PIO board No., is decided with the I/O parameter No. 1 to 5 setting.
� Use the attached cable for the I/O connection.
Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m)
2 1

Cutting state

50 49
Socket (with strain relief) : XG4M-5030-T (Manufacturer: Omron))
Flat cable (50 conductors) : KFX-50 (S) (Manufacturer: Kaneko Cord)

92
� 48 Input Points / 48 Output Points (Display of XSEL Mode Code: N3)
0V I/O Board 24 V

(Red-1 ) 2 51 (Brown-1) Load

000 300
(Orange-1) 3 52 (Red-1)
001 301
(Yellow-1) 4 53 (Orange-1)
002 302
(Green-1) 5 54 (Yellow-1)

Chapter 2 Wiring
003 303
(Blue-1) 6 55 (Green-1)
004 304
(Purple-1) 7 56 (Blue-1)
005 305
(Gray-1) 8 57 (Purple-1)
006 Input function 306
(White-1) 9 is parameter 58 (Gray-1)
007 307
(Black-1) 10 setup 59 (White-1)
008 308
(Brown-2) 11 60 (Black-1)
009 Output function 309
(Red-2) 12 is parameter 61 (Brown-2)
010 310
(Orange-2) 13 setup 62 (Red-2)
011 311
(Yellow-2) 14 63 (Orange-2)
012 312
(Green-2) 15 64 (Yellow-2)
013 313
(Blue-2) 16 65 (Green-2)
014 314
(Purple-2) 17 66 (Blue-2)
015 315
(Gray-2) 18 67 (Purple-2)
016 316
(White-2) 19 68 (Gray-2)
017 317
(Black-2) 20 69 (White-2)
018 318
(Brown-3) 21 70 (Black-2)
019 319
(Red-3) 22 71 (Brown-3)
020 320

2.2.7 PIO Circuit

(Orange-3) 23 72 (Red-3)
021 321
(Yellow-3) 24 73 (Orange- )
022 322
(Green-3) 25 74 (Yellow-3)
023 323
(Purple-3) 27 76 (Blue-3)
024 324
(Gray-3) 28 77 (Purple-3)
025 325
(White-3) 29 78 (Gray-3)
026 326
(Black-3) 30 79 (White-3)
027 327
(Brown-4) 31 80 (Black-3)
028 328
(Red-4) 32 81 (Brown-4)
029 329
(Orange-4) 33 82 (Red-4)
030 330
(Yellow-4) 34 83 (Orange-4)
031 Universal Input 331
(Green-4) 35 84 (Yellow-4)
032 332
(Blue-4) 36 85 (Green-4)
033 333
(Purple-4) 37 86 (Blue-4)
034 334
(Gray-4) 38 Universal output 87 (Purple-4)
035 335
(White-4) 39 88 (Gray-4)
036 336
(Black-4) 40 89 (White-4)
037 337
(Brown-5) 41 90 (Black-4)
038 338
(Red-5) 42 91 (Brown-5)
039 339
(Orange-5) 43 92 (Red-5)
040 340
(Yellow-5) 44 93 (Orange-5)
041 341
(Green-5) 45 94 (Yellow-5)
042 342
(Blue-5) 46 95 (Green-5)
043 343
(Purple-5) 47 96 (Blue-5)
044 344
(Gray-5) 48 97 (Purple-5)
045 345
(White-5) 49 98 (Gray-5)
046 346
(Black-5) 50 99 (White-5)
047 347
(Green-3) 75 1 (Brown-1)
0V common 24V common
(Black-5) 100 26 (Blue-3)
0V common 24V common

Stated in () is a Wirer color of the supplied flat cable

The second (Slot No. 2) PIO board No., is decided with the I/O parameter No. 1 to 5 setting.�

93
 � Use the attached cable for the I/O connection.
Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m)

L
Chapter 2 Wiring

Brown -1 (1)
CN1
51 1

Black -5 (50)
Brown -1 (51)
100 50

Socket:
HIF6-100D-1.27 Black -5 (100)
(Manufacturer: Hirose)

Flat cable: UL2651 (50 cores), AWG28 × 2

2.2.7 PIO Circuit

94
 (2) PNP Type
� 32 Input Points / 16 Output Points (Display of XSEL Mode Code: P1)

24 V I/O Board 0V

(Red-1) 2 34 (Yellow-4) Load

000 300
(Orange-1) 3 35 (Green-4)
001 301

Chapter 2 Wiring
(Yellow-1) 4 36 (Blue-4)
002 302
(Green-1) 5 37 (Purple-4)
003 303
(Blue-1) 6 38 (Gray-4)
004 304
(Purple-1) 7 39 (White-4)
005 305
(Gray-1) 8 40 (Black-4)
006 Input function 306
(White-1) 9 is parameter 41 (Brown-5)
007 setup 307
(Black-1) 10 42 (Red-5)
008 308
(Brown-2) 11 43 (Orange-5)
009 Output function 309
(Red-2) 12 is parameter 44 (Yellow-5)
010 310
(Orange-2) 13 setup 45 (Green-5)
011 311
(Yellow-2) 14 46 (Blue-5)
012 312
(Green-2) 15 47 (Purple-5)
013 313
(Blue-2) 16 48 (Gray-5)
014 314
(Purple-2) 17 49 (White-5)
015 315
(Gray-2) 18

2.2.7 PIO Circuit

016
(White-2) 19
017
(Black-2) 20
018
(Brown-3) 21
019
(Red-3) 22
020
(Orange-3) 23
021
(Yellow-3) 24
022
(Green-3) 25
023
(Blue-3) 26 Universal Input
024
(Purple-3) 27
025
(Gray-3) 28
026
(White-3) 29
027
(Black-3) 30
028
(Brown-4) 31
029
(Red-4) 32
030
(Orange-4) 33
031 50 (Black-5)
(Brown-1) 1
24V 24V
common common

Stated in () is a Wirer color of the supplied flat cable �

The second (Slot No. 2) PIO board No., is decided with the I/O parameter No. 1 to 5 setting.
� Use the attached cable for the I/O connection.
Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m)
2 1

Cutting state

50 49
Socket (with strain relief) : XG4M-5030-T (Manufacturer: Omron))
Flat cable (50 conductors) : KFX-50 (S) (Manufacturer: Kaneko Cord)

95
 � 16 Input Points / 32 Output Points (Display of XSEL Mode Code: P2)

24 V I/O Board 0V

(Red-1) 2 18 (Gray-2) Load

000 300
(Orange-1) 3 19 (White-2)
001 301
(Yellow-1) 4 20 (Black-2)
002 302
Chapter 2 Wiring

(Green-1) 5 21 (Brown-3)
003 303
(Blue-1) 6 22 (Red-3)
004 304
(Purple-1) 7 23 (Orange-3)
005 305
(Gray-1) 8 24 (Yellow-3)
006 Input function 306
(White-1) 9 is parameter 25 (Green-3)
007 307
(Black-1) 10 setup 26 (Blue-3)
008 308
(Brown-2) 11 27 (Purple-3)
009 Output function 309
(Red-2) 12 is parameter 28 (Gray-3)
010 310
(Orange-2) 13 setup 29 (White-3)
011 311
(Yellow-2) 14 30 (Black-3)
012 312
(Green-2) 15 31 (Brown-4)
013 313
(Blue-2) 16 32 (Red-4)
014 314
(Purple-2) 17 33 (Orange-4)
015 315
34 (Yellow-4)
316 (Green-4)
35
2.2.7 PIO Circuit

317 (Blue-4)
36
318 (Purple-4)
37
319 (Gray-4)
38
320 (White-4)
39
321 (Black-4)
40
322 (Brown-5)
41
323 (Red-5)
Universal output 42
324 (Orange-5)
43
325 (Yellow-5)
44
326 (Green-5)
45
327 (Blue-5)
46
328 (Purple-5)
47
329 (Gray-5)
48
330 (White-5)
49
(Brown-1) 331 (Black-5)
1 50
24V 0V
common common

Stated in () is a Wirer color of the supplied flat cable

The second (Slot No. 2) PIO board No., is decided with the I/O parameter No. 1 to 5 setting.�
� Use the attached cable for the I/O connection.
Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m)
2 1

Cutting state

50 49
Socket (with strain relief) : XG4M-5030-T (Manufacturer: Omron))
Flat cable (50 conductors) : KFX-50 (S) (Manufacturer: Kaneko Cord)

96
� 48 Input Points / 48 Output Points (Display of XSEL Mode Code: P3)
24 V I/O Board 0V

(Red-1) 2 51 (Brown-1) Load

000 300
(Orange-1) 3 52 (Red-1)
001 301
(Yellow-1) 4 53 (Orange-1)
002 302
(Green-1) 5 54 (Yellow-1)

Chapter 2 Wiring
003 303
(Blue-1) 6 55 (Green-1)
004 304
(Purple-1) 7 56 (Blue-1)
005 305
(Gray-1) 8 57 (Purple-1)
006 Input function 306
(White-1) 9 is parameter 58 (Gray-1)
007 307
(Black-1) 10 setup 59 (White-1)
008 308
(Brown-2) 11 60 (Black-1)
009 Output function 309
(Red-2) 12 is parameter 61 (Brown-2)
010 310
(Orange-2) 13 setup 62 (Red-2)
011 311
(Yellow-2) 14 63 (Orange-2)
012 312
(Green-2) 15 64 (Yellow-2)
013 313
(Blue-2) 16 65 (Green-2)
014 314
(Purple-2) 17 66 (Blue-2)
015 315
(Gray-2) 18 67 (Purple-2)
016 316
(White-2) 19 68 (Gray-2)
017 317
(Black-2) 20 69 (White-2)
018 318
(Brown-3) 21 70 (Black-2)
019 319
(Red-3) 22 71 (Brown-3)
020 320

2.2.7 PIO Circuit

(Orange-3) 23 72 (Red-3)
021 321
(Yellow-3) 24 73 (Orange- )
022 322
(Green-3) 25 74 (Yellow-3)
023 323
(Purple-3) 27 76 (Blue-3)
024 324
(Gray-3) 28 77 (Purple-3)
025 325
(White-3) 29 78 (Gray-3)
026 326
(Black-3) 30 79 (White-3)
027 327
(Brown-4) 31 80 (Black-3)
028 328
(Red-4) 32 81 (Brown-4)
029 329
(Orange-4) 33 82 (Red-4)
030 330
(Yellow-4) 34 83 (Orange-4)
031 Universal Input 331
(Green-4) 35 84 (Yellow-4)
032 332
(Blue-4) 36 85 (Green-4)
033 333
(Purple-4) 37 86 (Blue-4)
034 334
(Gray-4) 38 Universal output 87 (Purple-4)
035 335
(White-4) 39 88 (Gray-4)
036 336
(Black-4) 40 89 (White-4)
037 337
(Brown-5) 41 90 (Black-4)
038 338
(Red-5) 42 91 (Brown-5)
039 339
(Orange-5) 43 92 (Red-5)
040 340
(Yellow-5) 44 93 (Orange-5)
041 341
(Green-5) 45 94 (Yellow-5)
042 342
(Blue-5) 46 95 (Green-5)
043 343
(Purple-5) 47 96 (Blue-5)
044 344
(Gray-5) 48 97 (Purple-5)
045 345
(White-5) 49 98 (Gray-5)
046 346
(Black-5) 50 99 (White-5)
047 347
(Green-3) 75 1 (Brown-1)
0V common 24V common
(Black-5) 100 26 (Blue-3)
0V common 24V common

Stated in () is a Wirer color of the supplied flat cable

The second (Slot No. 2) PIO board No., is decided with the I/O parameter No. 1 to 5 setting.�

97
 � Use the attached cable for the I/O connection.
Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m)

L
Chapter 2 Wiring

Brown -1 (1)
CN1
51 1

Black -5 (50)
Brown -1 (51)
100 50

Socket:
HIF6-100D-1.27 Black -5 (100)
(Manufacturer: Hirose)

Flat cable: UL2651 (50 cores), AWG28 × 2

2.2.7 PIO Circuit

98
2.2.8 Connection of Regenerative Unit (Option)
Regenerative Unit
(REU-1)
RB
External CB-ST-REU010
Regenerative RB IN

Chapter 2 Wiring
Unit Connector

CB-ST-REU010
RB OUT

Regenerative Unit
(REU-1)

RB IN

RB OUT

2.2.8 Connection of Regenerative Unit (Option)

�
�

99
 2.2.9 Brake release switch Connector (Layout is to be established for single axis
actuator equipped with a brake)

(DC24V and
XSEL Controller
100mA or BK RMT1 (Brake Release Switch Connector)
less) (Note1) 1
Chapter 2 Wiring

1-Axis Brake Release Switch Input

2 2-Axis Brake Release Switch Input
3 3-Axis Brake Release Switch Input
4 4-Axis Brake Release Switch Input
5 Switch Input Common
6 Switch Input Common

BK RMT1 (Brake Release Switch Connector)

1
5-Axis Brake Release Switch Input
2.2.9 Brake release switch Connector (Layout is to be established

2 6-Axis Brake Release Switch Input

3 7-Axis Brake Release Switch Input
4 8-Axis Brake Release Switch Input
for single axis actuator equipped with a brake)

5 Switch Input Common

6 Switch Input Common

Note 1 Select the brake releasing switch with the rated DC24V and 100mA or less.

100
2.2.10 Extension I/O unit (Option)
[1] Connection to the XSEL

24V DC 0V

Chapter 2 Wiring
Extension I/O Unit

+24V Power Line

Input Connector
24V 0V

XSEL Controller

IA Net IA Net
Connection Connection Plug
Plug

2.2.10 Extension I/O unit (Option)

101
 [2] PIO Circuit
(1) Unit No. and System Setting
This section describes for the limited case where the extension I/O unit is connected and used
to add XSEL controller’s I/Os.
Refer to IA Net Instruction Manual (ME0307) for connecting the extension I/O unit on the
network using the IA Net.
Chapter 2 Wiring

(Note) Multiple units of the expansion I/O unit cannot be connected to one unit of XSEL
controller.

XSEL Controller
����������� Extension I/O Unit
���������

IA Net �������
Connection
2.2.10 Extension I/O unit (Option)

1) Unit No. Check

The unit No. setting for the extension I/O units is performed using the rotary switch. It has been
set to “1” in the factory. In the case that it has not been set to “1”, set it to “1”.

Unit Number Setting Rotary Switch

102
 2) System Setting
The system setting is performed for using it as extension I/O using the I/O parameter setting.
Set them to the set values as shown in the following table.

Set in Set
No. Parameter name Details of Parameters
Delivery Value

Chapter 2 Wiring
This parameter sets the Head Occupied
602 IA Net Top Occupied Station Number 0 0
Station No.
This parameter sets the Head Occupied
603 IA Net Resizing Executed Station Number 0 0
Station No.
Final station number in the same network
604 IA Net Final Station Number 63 7
setting.
This parameter sets the operation
IA Net All Connected Station Patterns condition of the Station No. 0 to 30.
605 0H 0H
(31-00) Put the setting value to “0H” and the
setting is automatically adjusted.
This parameter sets the operation
IA Net All Connected Station Patterns
606 0H 0H condition of the Station No. 32 to 63.
(63-32)
It is not used, so set it to “0”.
Set it to the following hexadecimal value
for each slot, based on the operation
condition of the I/O board attached to the
slot.
Not used: 0
Output port used: 1

2.2.10 Extension I/O unit (Option)

Input port used: 2
Refer Input port and output port used: 3
to the
705 Extension I/O Unit Use Select 0H Slot Bits
Right
Box. 1 0 to 3
2 4 to 7
3 8 to 11
4 12 to 15
When the board has been attached on the
slot 1 and slot 2 and the both input and
output are used: Set it to “0033”.
Set the unit number of the extension I/O
706 Extension I/O Unit Number 1H 1H
unit to be connected.

103
 (2) Connection of PIO
There are six types of PIO board which are the identical to the ones to be
attached in the XSEL main machine.
Polarity No. of I/O points Model
32 Input Points / 16 Output Points IA-103-X-32
Chapter 2 Wiring

NPN 16 Input Points / 32 Output Points IA-103-X-16

48 Input Points / 48 Output Points IA-IO-3204-NP
32 Input Points / 16 Output Points IA-103-X-32-P
PNP 16 Input Points / 32 Output Points IA-103-X-16-P
48 Input Points / 48 Output Points IA-IO-3204-PN

For the extension I/O units, four boards out of the above boards can be attached.
The port allocation setting using the I/O parameters is required to use this PIO board.

� I/O Port Allocation

For the I/O parameter No. 1, the allocation is fixed.
The port Nos. which can be allocated to the extension I/O unit, are 1000 to 3999 for input and
4000 to 6999 for output.
Set the I/O parameter No. 707 through 714 for the port Nos., to be used on the I/O board
attached to each slot.

Set in Set
No. Parameter name Details of Parameters
2.2.10 Extension I/O unit (Option)

Delivery Value
0: Fixed Allocation
1 I/O Port Allocation Type 1 0
1: Automatic Allocation
1000+n� (Multiples of 16)
When it is not to be used, set it to “-1”.
Set the head address for the extension
output.
�EtheCAT is not used
Extension Input Port Start Number at Normally, it is set to “1000”.
707 -1 1000
Extension I/O Unit Slot 1 Fixed Assignment �EtherCAT is used
� For the EtherCAT, the address has
been allocated from the head
address 1000 at the delivery. Have
the setting not duplicated.
4000+n� (Multiples of 16)
When it is not to be used, set it to “-1”.
Set the head address for the extension
output.
�EtheCAT is not used
Extension output Port Start Number at Normally, it is set to “4000”.
708 -1 4000
Extension I/O Unit Slot 1 Fixed Assignment �EtherCAT is used
� For the EtherCAT, the address has
been allocated from the head
address 4000 at the delivery.Have
the setting not duplicated.
1000+n (Multiples of 16)
When it is not to be used, set it to “-1”.
Set the address following to the slot No.1’s
input address.
Refer Set Value = (Slot No. 1’s Input Address) +
Extension Input Port Start Number at to the (No. of Inputs of the Slot No. 1)(Example)
709 -1
Extension I/O Unit Slot 2 Fixed Assignment Right
Slot 1 Slot 11
Box.
Top Address Number of Input Points
32 16 48
1000
points points points
Set Value 1032 1016 1048

104
 Set in Set
No. Parameter name Details of Parameters
Delivery Value
4000+n (Multiples of 16)
When it is not to be used, set it to “-1”.
Set the address following to the slot No.1’s
input address.
Refer
Set Value = (Slot No. 1’s Input Address) +

Chapter 2 Wiring
Extension output Port Start Number at to the
710 -1 (No. of Inputs of the Slot No. 1)(Example)
Extension I/O Unit Slot 2 Fixed Assignment Right
Slot 1 Slot 11
Box.
Top Address Number of Input Points
16 32 48
4000
points points points
Set Value 4032 4016 4048
1000+n (Multiples of 16)
Refer When it is not to be used, set it to “-1”.
Extension input Port Start Number at to the Set the address following to the slot No.2’s
711 -1
Extension I/O Unit Slot 3 Fixed Assignment Right input address.
Box. Set Value = (Slot No. 2’s Input Address) +
(No. of Inputs of the Slot No. 2)(Example)
4000+n (Multiples of 16)
Refer When it is not to be used, set it to “-1”.
Extension output Port Start Number at to the Set the address following to the slot No.2’s
712 -1
Extension I/O Unit Slot 3 Fixed Assignment Right input address.
Box. Set Value = (Slot No. 2’s Input Address) +
(No. of Inputs of the Slot No. 3)(Example)

2.2.10 Extension I/O unit (Option)

1000+n (Multiples of 16)
Refer When it is not to be used, set it to “-1”.
Extension input Port Start Number at to the Set the address following to the slot No.3’s
713 -1
Extension I/O Unit Slot 4 Fixed Assignment Right input address.
Box. Set Value = (Slot No. 3’s Input Address) +
(No. of Inputs of the Slot No. 3)(Example)
4000+n (Multiples of 16)
Refer When it is not to be used, set it to “-1”.
Extension output Port Start Number at to the Set the address following to the slot No.3’s
714 -1
Extension I/O Unit Slot 4 Fixed Assignment Right input address.
Box. Set Value = (Slot No. 3’s Input Address) +
(No. of Inputs of the Slot No. 3)(Example)

105
 (3) Wiring
� NPN Type
� 32 Input Points / 16 Output Points (Display of XSEL Mode Code: N1)
0V I/O Board 24 V
(Red-1) 2 34 (Yellow-4) Load
1000 4000
(Orange-1) 3 35 (Green-4)
1001 4001
Chapter 2 Wiring

(Yellow-1) 4 36 (Blue-4)
1002 4002
(Green-1) 5 37 (Purple-4)
1003 4003
(Blue-1) 6 38 (Gray-4)
1004 4004
(Purple-1) 7 39 (White-4)
1005 4005
(Gray-1) 8 40 (Black-4)
1006 4006
(White-1) 9 41 (Brown-5)
1007 4007
(Black-1) 10 42 (Red-5)
1008 4008
(Brown-2) 11 43 (Orange-5)
1009 Universal Input 4009
(Red-2) 12 44 (Yellow-5)
1010 4010
(Orange-2) 13 45 (Green-5)
1011 4011
(Yellow-2) 14 46 (Blue-5)
1012 4012
(Green-2 ) 15 47 (Purple-5)
1013 4013
(Blue-2) 16 48 (Gray-5)
1014 4014
(Purple-2) 17 49 (White-5)
1015 4015
(Gray-2) 18 Universal Input
1016
2.2.10 Extension I/O unit (Option)

(White-2) 19
1017
(Black-2) 20
1018
(Brown-3) 21
1019
(Red-3) 22
1020
(Orange-3) 23
1021
(Yellow-3) 24
1022
(Green-3) 25
1023
(Blue-3) 26
1024
(Purple-3) 27
1025
(Gray-3) 28
1026
(White-3) 29
1027
(Black-3) 30
1028
(Brown-4) 31
1029
(Red-4) 32
1030
(Orange-4) 33
1031
(Black-5) 50 1 (Brown-1)
0V 24V
common common
Stated in () is a Wirer color of the supplied flat cable
PIO board No., is decided with the I/O parameter No. 707 to 714 setting.�
� Use the attached cable for the I/O connection.
Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m)
2 1

Cutting state

50 49
Socket (with strain relief) : XG4M-5030-T (Manufacturer: Omron))
Flat cable (50 conductors) : KFX-50 (S) (Manufacturer: Kaneko Cord)

106
 � 16 Input Points / 32 Output Points (Display of XSEL Mode Code: N2)
0V I/O Board 24 V
(Red-1) 2 18 (Gray-2) Load
1000 4000
(Orange-1) 3 19 (White-2)
1001 4001
(Yellow-1) 4 20 (Black-2)
1002 4002
(Green-1) 5 21 (Brown-3)
1003 4003

Chapter 2 Wiring
(Blue-1) 6 22 (Red-3)
1004 4004
(Purple-1) 7 23 (Orange-3)
1005 4005
(Gray-1) 8 24 (Yellow-3)
1006 Universal Input 4006
(White-1) 9 25 (Green-3)
1007 4007
(Black-1) 10 26 (Blue-3)
1008 4008
(Brown-2) 11 27 (Purple-3)
1009 4009
(Red-2) 12 28 (Gray-3)
1010 4010
(Orange-2) 13 29 (White-3)
1011 4011
(Yellow-2) 14 30 (Black-3)
1012 4012
(Green-2) 15 31 (Brown-4)
1013 4013
(Blue-2) 16 32 (Red-4)
1014 4014
(Purple-2) 17 33 (Orange-4)
1015 Universal output 4015
34 (Yellow-4)
4016
35 (Green-4)
4017
36 (Blue-4)
4018

2.2.10 Extension I/O unit (Option)

37 (Purple-4)
4019
38 (Gray-4)
4020
39 (White-4)
4021
40 (Black-4)
4022
41 (Brown-5)
4023
42 (Red-5)
4024
43 (Orange-5)
4025
44 (Yellow-5)
4026
45 (Green-5)
4027
46 (Blue-5)
4028
47 (Purple-5)
4029
48 (Gray-5)
4030
49 (White-5)
(Black-5) 4031
50 1 (Brown-1)
0V 24V
common common

Stated in () is a Wirer color of the supplied flat cable

PIO board No., is decided with the I/O parameter No. 707 to 714 setting.
� Use the attached cable for the I/O connection.
Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m)
2 1

Cutting state

50 49
Socket (with strain relief) : XG4M-5030-T (Manufacturer: Omron))
Flat cable (50 conductors) : KFX-50 (S) (Manufacturer: Kaneko Cord)
�

107
 � 48 Input Points / 48 Output Points (Display of XSEL Mode Code: N3)
0V I/O Board 24 V

(Red-1 ) 2 51 (Brown-1) Load

(Orange-1) 1000 4000 (Red-1)
3 52
(Yellow-1) 1001 4001 (Orange-1)
4 53
(Green-1) 1002 4002 (Yellow-1)
5 54
1003 4003
Chapter 2 Wiring

(Blue-1) 6 55 (Green-1)
(Purple-1) 1004 4004 (Blue-1)
7 56
(Gray-1) 1005 4005 (Purple-1)
8 57
(White-1) 1006 4006 (Gray-1)
9 58
(Black-1) 1007 4007 (White-1)
10 59
(Brown-2) 1008 4008 (Black-1)
11 60
(Red-2) 1009 4009 (Brown-2)
12 61
(Orange-2) 1010 4010 (Red-2)
13 62
(Yellow-2) 1011 4011 (Orange-2)
14 63
(Green-2) 1012 4012 (Yellow-2)
15 64
(Blue-2) 1013 4013 (Green-2)
16 65
(Purple-2) 1014 4014 (Blue-2)
17 66
(Gray-2) 1015 4015 (Purple-2)
18 67
(White-2) 1016 4016 (Gray-2)
19 68
(Black-2) 1017 4017 (White-2)
20 69
(Brown-3) 1018 4018 (Black-2)
21 70
(Red-3) 1019 4019 (Brown-3)
22 71
(Orange-3) 1020 4020 (Red-3)
23 72
2.2.10 Extension I/O unit (Option)

(Yellow-3) 1021 4021 (Orange- )

24 73
(Green-3) 1022 4022 (Yellow-3)
25 74
1023 4023
Universal Input
(Purple-3) 27 76 (Blue-3)
1024 4024
(Gray-3) 28 77 (Purple-3)
1025 4025
(White-3) 29 78 (Gray-3)
1026 Universal Output 4026
(Black-3) 30 79 (White-3)
1027 4027
(Brown-4) 31 80 (Black-3)
1028 4028
(Red-4) 32 81 (Brown-4)
1029 4029
(Orange-4) 33 82 (Red-4)
1030 4030
(Yellow-4) 34 83 (Orange-4)
1031 4031
(Green-4) 35 84 (Yellow-4)
1032 4032
(Blue-4) 36 85 (Green-4)
1033 4033
(Purple-4) 37 86 (Blue-4)
1034 4034
(Gray-4) 38 87 (Purple-4)
1035 4035
(White-4) 39 88 (Gray-4)
1036 4036
(Black-4) 40 89 (White-4)
1037 4037
(Brown-5) 41 90 (Black-4)
1038 4038
(Red-5) 42 91 (Brown-5)
1039 4039
(Orange-5) 43 92 (Red-5)
1040 4040
(Yellow-5) 44 93 (Orange-5)
1041 4041
(Green-5) 45 94 (Yellow-5)
1042 4042
(Blue-5) 46 95 (Green-5)
1043 4043
(Purple-5) 47 96 (Blue-5)
1044 4044
(Gray-5) 48 97 (Purple-5)
1045 4045
(White-5) 49 98 (Gray-5)
1046 4046
(Black-5) 50 99 (White-5)
1047 4047
(Green-3) 75 1 (Brown-1)
0V common 24V common
(Black-5) 100 26 (Blue-3)
0V common 24V common

Stated in () is a Wirer color of the supplied flat cable

PIO board No., is decided with the I/O parameter No. 707 to 714 setting.�

108
� Use the attached cable for the I/O connection.
Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m)

Chapter 2 Wiring
Brown -1 (1)
CN1
51 1

Black -5 (50)
Brown -1 (51)
100 50

Socket:
HIF6-100D-1.27 Black -5 (100)
(Manufacturer: Hirose)

Flat cable: UL2651 (50 cores), AWG28 × 2

2.2.10 Extension I/O unit (Option)

109
 � PNP Type
� 32 Input Points / 16 Output Points (Display of XSEL Mode Code: P1)
24 V I/O Board 0V

(Red-1) 2 34 (Yellow-4) Load

1000 4000
(Orange-1) 3 35 (Green-4)
1001 4001
(Yellow-1) 4 36 (Blue-4)
Chapter 2 Wiring

1002 4002
(Green-1) 5 37 (Purple-4)
1003 4003
(Blue-1) 6 38 (Gray-4)
1004 4004
(Purple-1) 7 39 (White-4)
1005 4005
(Gray-1) 8 40 (Black-4)
1006 4006
(White-1) 9 41 (Brown-5)
1007 4007
(Black-1) 10 42 (Red-5)
1008 4008
(Brown-2) 11 43 (Orange-5)
1009 Universal Input 4009
(Red-2) 12 44 (Yellow-5)
1010 4010
(Orange-2) 13 45 (Green-5)
1011 4011
(Yellow-2) 14 46 (Blue-5)
1012 4012
(Green-2) 15 47 (Purple-5)
1013 4013
(Blue-2) 16 48 (Gray-5)
1014 4014
(Purple-2) 17 49 (White-5)
1015 4015
(Gray-2) 18
1016
(White-2) 19
2.2.10 Extension I/O unit (Option)

1017
(Black-2) 20
1018
(Brown-3) 21 Universal Input
1019
(Red-3) 22
1020
(Orange-3) 23
1021
(Yellow-3) 24
1022
(Green-3) 25
1023
(Blue-3) 26
1024
(Purple-3) 27
1025
(Gray-3) 28
1026
(White-3) 29
1027
(Black-3) 30
1028
(Brown-4) 31
1029
(Red-4) 32
1030
(Orange-4) 33
1031 50 (Black-5)
(Brown-1) 1
24V 0V
common common

Stated in () is a Wirer color of the supplied flat cable

PIO board No., is decided with the I/O parameter No. 707 to 714 setting.�
� Use the attached cable for the I/O connection.
Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m)
2 1

Cutting state

50 49
Socket (with strain relief) : XG4M-5030-T (Manufacturer: Omron))
Flat cable (50 conductors) : KFX-50 (S) (Manufacturer: Kaneko Cord)

110
 � 16 Input Points / 32 Output Points (Display of XSEL Mode Code: P2)
24 V I/O Board 0V

(Red-1) 2 18 (Gray-2) Load

1000 4000
(Orange-1) 3 19 (White-2)
1001 4001
(Yellow-1) 4 20 (Black-2)
1002 4002
(Green-1) 5 21 (Brown-3)
4003

Chapter 2 Wiring
1003 (Red-3)
(Blue-1) 6 22
1004 4004
(Purple-1) 7 23 (Orange-3)
1005 4005
(Gray-1) 8 24 (Yellow-3)
1006 Universal output 4006
(White-1) 9 25 (Green-3)
1007 4007
(Black-1) 10 26 (Blue-3)
1008 4008
(Brown-2) 11 27 (Purple-3)
1009 4009
(Red-2) 12 28 (Gray-3)
1010 4010
(Orange-2) 13 29 (White-3)
1011 4011
(Yellow-2) 14 30 (Black-3)
1012 4012
(Green-2) 15 31 (Brown-4)
1013 4013
(Blue-2) 16 32 (Red-4)
1014 4014
(Purple-2) 17 33 (Orange-4)
1015 4015
34 (Yellow-4)
4016
35 (Green-4)
4017
Universal output
36 (Blue-4)

2.2.10 Extension I/O unit (Option)

4018
37 (Purple-4)
4019
38 (Gray-4)
4020
39 (White-4)
4021
40 (Black-4)
4022
41 (Brown-5)
4023
42 (Red-5)
4024
43 (Orange-5)
4025
44 (Yellow-5)
4026
45 (Green-5)
4027
46 (Blue-5)
4028
47 (Purple-5)
4029
48 (Gray-5)
4030
49 (White-5)
4031
(Brown-1) 1 50 (Black-5)
24V 0V
common common

Stated in () is a Wirer color of the supplied flat cable

PIO board No., is decided with the I/O parameter No. 707 to 714 setting.
� Use the attached cable for the I/O connection.
Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m)
2 1

Cutting state

50 49
Socket (with strain relief) : XG4M-5030-T (Manufacturer: Omron))
Flat cable (50 conductors) : KFX-50 (S) (Manufacturer: Kaneko Cord)

111
 � 48 Input Points / 48 Output Points (Display of XSEL Mode Code: P3)
24 V I/O Board 0V

(Red-1) 2 51 (Brown-1) Load

1000 4000
(Orange-1) 3 52 (Red-1)
1001 4001
(Yellow-1) 4 53 (Orange-1)
1002 4002
(Green-1) 5 54 (Yellow-1)
1003 4003
Chapter 2 Wiring

(Blue-1) 6 55 (Green-1)
1004 4004
(Purple-1) 7 56 (Blue-1)
1005 4005
(Gray-1) 8 57 (Purple-1)
1006 4006
(White-1) 9 58 (Gray-1)
1007 4007
(Black-1) 10 59 (White-1)
1008 4008
(Brown-2) 11 60 (Black-1)
1009 4009
(Red-2) 12 61 (Brown-2)
1010 4010
(Orange-2) 13 62 (Red-2)
1011 4011
(Yellow-2) 14 63 (Orange-2)
1012 4012
(Green-2) 15 64 (Yellow-2)
1013 4013
(Blue-2) 16 65 (Green-2)
1014 4014
(Purple-2) 17 66 (Blue-2)
1015 4015
(Gray-2) 18 67 (Purple-2)
(White-2) 1016 4016 (Gray-2)
19 68
(Black-2) 1017 4017 (White-2)
20 69
(Brown-3) 1018 4018 (Black-2)
21 70
(Red-3) 1019 4019 (Brown-3)
22 71
(Orange-3) 1020 4020 (Red-3)
23 72
2.2.10 Extension I/O unit (Option)

(Yellow-3) 1021 4021 (Orange- )

24 73
(Green-3) 1022 4022 (Yellow-3)
25 74
1023 4023
Universal Input
(Purple-3) 27 4024 76 (Blue-3)
1024
(Gray-3) 28 4025 77 (Purple-3)
1025
(White-3) 29 4026 78 (Gray-3)
1026
(Black-3) 30 4027 79 (White-3)
1027
(Brown-4) 31 4028 80 (Black-3)
1028 Universal output
(Red-4) 32 4029 81 (Brown-4)
1029
(Orange-4) 33 4030 82 (Red-4)
1030
(Yellow-4) 34 4031 83 (Orange-4)
1031
(Green-4) 35 4032 84 (Yellow-4)
1032
(Blue-4) 36 4033 85 (Green-4)
1033
(Purple-4) 37 4034 86 (Blue-4)
1034
(Gray-4) 38 4035 87 (Purple-4)
1035
(White-4) 39 4036 88 (Gray-4)
1036
(Black-4) 40 4037 89 (White-4)
1037
(Brown-5) 41 4038 90 (Black-4)
1038
(Red-5) 42 4039 91 (Brown-5)
1039
(Orange-5) 43 4040 92 (Red-5)
1040
(Yellow-5) 44 4041 93 (Orange-5)
1041
(Green-5) 45 4042 94 (Yellow-5)
1042
(Blue-5) 46 4043 95 (Green-5)
1043
(Purple-5) 47 4044 96 (Blue-5)
1044
(Gray-5) 48 4045 97 (Purple-5)
1045
(White-5) 49 4046 98 (Gray-5)
1046
(Black-5) 50 4047 99 (White-5)
1047
(Brown-3) 1 75 (Green-1)
24V common 0V common
(Blue-5) 26 100 (Black-3)
24V common 0V common

Stated in () is a Wirer color of the supplied flat cable

PIO board No., is decided with the I/O parameter No. 707 to 714 setting.�

112
� Use the attached cable for the I/O connection.
Model : CB-X-PIO��� (��� indicates the cable length L. Example. 020 = 2m)

Chapter 2 Wiring
Brown -1 (1)
CN1
51 1

Black -5 (50)
Brown -1 (51)
100 50

Socket:
HIF6-100D-1.27 Black -5 (100)
(Manufacturer: Hirose)

Flat cable: UL2651 (50 cores), AWG28 × 2

2.2.10 Extension I/O unit (Option)

113
 2.2.11 Brake Box (RCB-110-RA13-0) (Option)
24V DC 0V 24V DC Brake Box 0V
(RCB-110-RA13)
CB-X3-
CONTROLLER1 PA □□□
XSEL Controller Encoder Input
Brake Power Connector
Supply Connector Limit Switch
Chapter 2 Wiring

Connector
+24V 0V
ACTUATOR1
Encoder Output
Connector
24VIN 0V
For axis 1 CONTROLLER2
Encoder Encoder Input
Connector) CB-X1-
PLA □□□ Connector
Limit Switch
NS Type
Connector
M1 (Equipped with brake)
ACTUATOR2
For axis 1 Encoder
Connector for Connector
the motor cable)

CB-X-MA □□□

Example:�
Connected to the first axis.
2.2.11 Brake Box (RCB-110-RA13-0) (Option)

114
2.2.12 General-purpose RS232C Port Connectors
The following connecting diagram is for the case that the serial communication is performed from
the Host Controller.
Prepare a communication cable by the user.

Host Master (PLC, PC etc.) XSEL Controller

Chapter 2 Wiring
General-purpose
RS232C Port Connectors
1 and 2
S1,S2
1 1
CD CD
2 2 RD
RD
3 3
SD SD
4 4
ER ER
5 5
SG SG
6 6
DR DR
7 7
RS RS
8 8 CS
CS
9 9 GV
NC

�
Caution: If the host master (PLC or PC) uses the flow control, connect ER (4 pins) and DR

2.2.13 Teaching Tool

2.2.12 General-purpose RS232C Port Connectors
(6 pins), RS (7 pins) and CS (8 pins) on the host master as shown in the figure.
�
�
2.2.13 Teaching Tool
Host Master XSEL Controller

PC Software
Accessory Cable TP

1 Teaching
CD Connector
RD 2
3
SD
4
ER
5
SG
6
DR
7
RS
8
CS
9
NC

Attached Emergency
Stop Switch Box

115
 2.3 Wiring Method

2.3.1 Wiring for Power Supply Circuit

[1] 3-phase power supply type
To X-SEL controllers, supply the following power supplies.
Power Supply Type Specification Remarks
Chapter 2 Wiring

Motor power supply 3-phase

AC200V to 230V±10%
Control power supply Single-phase
AC200V to 230V±10%
I/O power supply 24V DC±10% When mounting expansion I/O boards on
I/O slot
Brake power supply 24V DC±10% For brake-equipped type

Shown below is an example for the power supply circuit wiring:

�
3) Clamp Filter XSEL Controller
AC Power Supply
Input Connector
2) Ring core
L A. Control
N Power Supply
R
Circuit Leakage 1) Noise B.Motor
S Power Supply
breaker Breaker filter
3-phase 200V T
2.3 Wiring Method
2.3.1 Wiring for Power Supply Circuit

4) Clamp Brake Power Input Connector

Filter
Surge Protector
PWR BK
PIO Board
(option)
Grounding resistance at 100Ω or less
+24V
24V DC
Power
0V
+24V Supply
24V DC
Power (Note1)
Supply 0V

Power consumption and heat generation of a controller may differ depending on the
construction of such things as the driver board. Calculate the power consumption before
selecting a circuit breaker.
[Refer to Section 1.2]

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

Caution:
[S/SX/SXD type]
It is mandatory to mount a noise filter mentioned in 1) and a ring core mentioned in 2).
Without mounting these components, this controller may cause an error or unexpected
operation due to noise.
[R/RX/RXD type]
Apply these components in case the peripheral devices may get influenced by this
controller.
[Common]
Mount the clamp filter mentioned in 3) and 4) and surge protector mentioned in 5) if it is
necessary considering the noise environment and power source circumstance. It is
recommended to mount them even though it is not mandatory.

116
 Parts Name Model Supplier Position to Attach
1) Noise Filter MC1320 Densei Lambda Attach in range of
300mm or less from
2) Ring Core ESD-R-25 NEC TOKIN controller�
3) Clamp Filter ZCAT3035-1330 TDK Attach as close as
4) Clamp Filter RFC-H13 Kitagawa Industries Co., Ltd. possible to controller
Attach at the input

Chapter 2 Wiring
5) Surge Protector R·A·V-781BXZ-4 Okaya Denki
terminal of noise filter
�
(1) AC Power Supply Input Connector
Connector Model Remarks
GMSTB2.5/6-STF-7.62 Enclosed in standard
(PHOENIX CONTACT) package
Cable side PC4/5-STF-7.62 only for
Enclosed in standard
XSEL-SX-NNN10040 or 12040
package
(PHOENIX CONTACT)
GMSTB2.5/6-7.62
(PHOENIX CONTACT)
Controller side PC4/5-STF-7.62 only for
XSEL-SX-NNN10040 or 12040
(PHOENIX CONTACT)

Pin
Signal name Description Applicable Wire Diameter
No.

2.3.1 Wiring for Power Supply Circuit

6 PE Protective grounding wire [Refer to Section 1.6.]
5 CP_L Control power 200 VAC, phase L
0.75mm2(AWG18)
4 CP_N Control power 200 VAC, phase N
3 MP_R Motor power 200 VAC, phase R
2 MP_S Motor power 200 VAC, phase S 2mm2(AWG14)
1 MP_T Motor power 200 VAC, phase T

PE
L
CP
N
PWR
R
S MP
T

(2) Brake Power Connector

Connector Model Remarks
MC1.5/2-ST-3.5 Enclosed in standard
Cable side
(PHOENIX CONTACT) package
MC1.5/2-G-3.5
Controller side
(PHOENIX CONTACT)

Pin No. Signal name Description Applicable wire

+24V 24V Power Input 0.14 to 1.5mm2
0V 24V Power Ground (AWG28 to AWG16)

BK PWR
+24V
+
-
0V

117
 [2] Single-phase power supply type
To X-SEL controllers, supply the following power supplies.
Power Supply Type Specification Remarks
Motor power supply Single-phase
AC200V to 230V±10%
Control power supply Single-phase
AC200V to 230V±10%
Chapter 2 Wiring

I/O power supply 24V DC±10% When mounting expansion I/O boards on
I/O slot
Brake power supply 24V DC±10% For brake-equipped type

Shown below is an example for the power supply circuit wiring:

�
3) Clamp Filter
XSEL Controller
AC Power Supply
Input Connector

2) Ring core L A. Control

N Power Supply

L Motor
Circuit Leakage 1) Noise B. Power Supply
breaker Breaker N
filter
Single-phase
200V Brake Power Input Connector
4) Clamp
Filter
Surge Protector
PIO Board
2.3.1 Wiring for Power Supply Circuit

PWR BK
(option)

Grounding resistance at 100Ω or less

+24V 24V DC
Power
0V Supply
+24V
24V DC
Power 0V
(Note1)
Supply

Power consumption and heat generation of a controller may differ depending on the
construction of such things as the driver board. Calculate the power consumption before
selecting a circuit breaker.
[Refer to Section 1.2]

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

Caution:
[S/SX/SXD type]
It is mandatory to mount a noise filter mentioned in 1) and a ring core mentioned in 2).
Without mounting these components, this controller may cause an error or unexpected
operation due to noise.
[R/RX/RXD type]
Apply these components in case the peripheral devices may get influenced by this
controller.
[Common]
Mount the clamp filter mentioned in 3) and 4) and surge protector mentioned in 5) if it is
necessary considering the noise environment and power source circumstance. It is
recommended to mount them even though it is not mandatory.

118
 Parts Name Model Supplier Position to Attach
1) Noise Filter MXB-1220-33 Densei Lambda Attach in range of
300mm or less from
2) Ring Core ESD-R-25 NEC TOKIN controller�
3) Clamp Filter ZCAT3035-1330 TDK Attach as close as
4) Clamp Filter RFC-H13 Kitagawa Industries Co., Ltd. possible to controller
Attach at the input

Chapter 2 Wiring
5) Surge Protector R·A·V-781BWZ-2A Okaya Denki
terminal of noise filter

(1) AC Power Supply Input Connector

Connector Model Remarks
Cable side GMSTB2.5/6-STF-7.62 Enclosed in standard
(PHOENIX CONTACT) package
Controller side GMSTB2.5/6-7.62
(PHOENIX CONTACT)

Pin
Signal name Description Applicable Wire Diameter
No.
6 PE Protective grounding wire [Refer to Section 1.6.]
5 CP_L Control power 200 VAC, phase L
0.75mm2(AWG18)
4 CP_N Control power 200 VAC, phase N
3 NC Disconnected
2 MP_L Motor power 200 VAC, phase L 2mm2(AWG14)

2.3.1 Wiring for Power Supply Circuit

1 MP_N Motor power 200 VAC, phase N

PE
L
CP
N
PWR
NC
L
MP
N

(2) Brake Power Connector

Connector Model Remarks
MC1.5/2-ST-3.5 Enclosed in standard
Cable side
(PHOENIX CONTACT) package
MC1.5/2-G-3.5
Controller side
(PHOENIX CONTACT)

Pin No. Signal name Description Applicable wire

+24V 24V Power Input 0.14 to 1.5mm2
0V 24V Power Ground (AWG28 to AWG16)

BK PWR
+24V
+
-
0V

119
 2.3.2 Wiring the Emergency Stop Circuit (System I/O )

Item R/RX/RXD Type S/SX/SXD Type

Drive-source cutoff Built-in External circuit
circuit (Hard-wired configuration) [Refer to Section 8.1]

Conforming category B B, 1 to 4
Chapter 2 Wiring

Redundancy in safety Achieved by an external circuit.

-
circuit [Refer to Section 8.1]
Operation upon Decelerate the actuator at the Decelerate the actuator at the
emergency stop emergency deceleration emergency deceleration
(all-axis parameter No. 24) to a (all-axis parameter No. 24) to a
stop, turn off the servo, and stop and turn OFF the servo.
then cut off the drive source.
Recovery from In the case that the input port 014 (or 007 (Note 1)) has been set to
emergency stop driving source cut-off cancellation input using the I/O parameter
No. 44, when the input port 014 (or 007 (Note 1)) is turned ON, as
well as the recovery from emergency stop with the system I/O,
the recovery from emergency stop is performed.
If the input port is a general-purposed one, recovery can be
made by cancelling the emergency stop with the system I/O.
External output of
Possible. (Set by I/O parameter No. 48.)
emergency stop status
Note 1 Depends on setting in I/O Parameter No. 30
2.3.2 Wiring the Emergency Stop Circuit (System I/O )

[Refer to 2.2.4 and 2.2.5 for the basic circuit configuration.]

[Refer to Section 8.1 for the compliance with Safety Categories.]

120
[1] R/RX/RXD type System I/O Connector

Connector Model Remarks

Cable side FMC1.5/9-ST-3.5 (PHOENIX CONTACT) Enclosed in standard package
Controller side MCD1.5/9-G1-3.5P26THR�(PHOENIX CONTACT) COMBICON (2 rows, 9 pins)

Chapter 2 Wiring
Pin Signal Applicable
Category Description
No. name wire
9 DET IN Not used
Emergency stop detection input (relay
8 IN
switch of the emergency stop circuit)
EMGin*1 24-V power output for emergency stop
7 +24V detection input (relay switch of the
emergency stop circuit)
Left 6 line+ Emergency stop switch 1 (emergency stop
Side circuit)
EMG1*2
5 line- Wire circuit 1 connected to EMG of the
teaching pendant
4 line+
EMG2 Not used
3 line- 0.14 to
2 Out+ External relay drive-source cutoff contact 1.5mm2
SDN*3 (AWG28 to
1 Out- output
AWG16)
18 DET +24V Not used

2.3.2 Wiring the Emergency Stop Circuit (System I/O )

Enable detection input (relay switch of the
17 IN
safety gate circuit)
ENBin*4
24-V power output for enable detection
16 +24V
input (relay switch of the safety gate circuit)
Right 15 line+ Enable switch 1 (safety gate circuit, etc.)
Side ENB1*5 Wire circuit 1 connected to ENB of the
14 line- teaching pendant
13 line+
ENB2 Not used
12 line-
11 Out+
RDY*6 Ready signal contact output (dry contact)
10 Out-

Right Left
Side Side
Relay Switch of 9 18 Relay Switch of
the Emergency Stop Circuit the Safety Gate Circuit

Emergency Stop Circuit Safety Gate Circuit

1 10

Cable side Connector

The product is delivered with jumper connection between the following pin numbers.
� Pins 6 and 7
� Pins 5 and 8
� Pins 15 and 16
� Pins 14 and 17�

121
 *1 Once it is disconnected between EMGin (IN) / EMGin (+24V), actuator will decelerate and
stop and have a servo-off operation, and then the power to the motor drive will shut.
*2 EMG1 (line+) / (line -) are the contact output for emergency stop.
*3 SDN (OUT+) / SDN (OUT-) contact outputs are the contacts that come to the break status
if the controller prohibits the supply of the motor power from outside. It comes to such a
situation when there is an error to the device straight after the control power to the
controller is turned on, and also when there is no command of driving source cutoff at
Chapter 2 Wiring

EMG or ENB.
*4 Once it is disconnected between ENBin (IN) / ENBin (+24V), actuator will decelerate and
stop and have a servo-off operation, and then the power to the motor drive will shut.
*5 ENB1 (line+) / (line-) are the contact outputs of enable signal.
*6 RDY (OUT+) / RDY (OUT-) are the contact outputs that are made when the controller is in
the normal operation. By connecting equivalent contacts of other devices to these
contacts in series, the healthiness of the whole system can be easily checked.
2.3.2 Wiring the Emergency Stop Circuit (System I/O )

122
[2] S/SX/SXD type System I/O Connector

Connector Model Remarks

Cable side FMC1.5/9-ST-3.5 (PHOENIX CONTACT) Enclosed in standard package
Controller side MCD1.5/9-G1-3.5P26THR�(PHOENIX CONTACT) COMBICON (2 rows, 9 pins)

Chapter 2 Wiring
Pin Signal Applicable
Category Description
No. name wire
External contact error input (signal paired with No. 18)
9 DET*1 IN Connect to a fused contacts detection contact of the
safety circuit.
Emergency stop detection input (relay switch of the
8 IN emergency stop circuit)
EMGin*2
24-V power output for emergency stop detection input
7 +24V (relay switch of the emergency stop circuit)
Left
6 line+ Emergency stop switch 1 (emergency stop circuit)
Side EMG1*3 Wire circuit 1 connected to EMG of the teaching
5 line- pendant
4 line+ Emergency stop switch 2 (emergency stop circuit)
EMG2*3 Wire circuit 1 connected to EMG of the teaching
3 line- pendant
2 Out+ External relay drive-source cutoff contact output 0.14 to
SDN*4 This is a controller drive-source cutoff request signal. 1.5mm2
1 Out-
Connect to a fused contacts detection contact of the
(AWG28 to
18 DET*1 +24V safety circuit. AWG16)
Enable detection input (relay switch of the safety gate
17 IN

2.3.2 Wiring the Emergency Stop Circuit (System I/O )

circuit)
ENBin*5
24-V power output for enable detection input (relay
16 +24V switch of the safety gate circuit)
Right 15 line+ Enable switch 1 (safety gate circuit, etc.)
Side ENB1*6 Wire circuit 1 connected to ENB of the teaching
14 line- pendant
13 line+ Enable switch 2 (safety gate circuit, etc.)
ENB2*6 Wire circuit 2 connected to ENB of the teaching
12 line- pendant
11 Out+
RDY*7 Ready signal contact output (dry contact)
10 Out-

Right Left
Side Side
Relay Switch of 9 18 Relay Switch of
the Emergency Stop Circuit the Safety Gate Circuit

Emergency Stop Circuit Safety Gate Circuit

Drive-source
Cutoff Circuit

1 10

Cable side Connector

The product is delivered with jumper connection between the following pin numbers.
� Pins 6 and 7
� Pins 5 and 8
� Pins 15 and 16
� Pins 14 and 17

123
 *1 DET (IN) / DET (+24V) inputs are the terminals for dry contact input consists of the
photocoupler. It enables the controller to detect the failure of the external safety circuit by
inputting the detection signals of contact welding on the drive source cutoff safety circuit.
*2 Once it is disconnected between EMGin (IN) / EMGin (+24V), actuator will decelerate and
stop and have a servo-off operation, and then the power to the motor drive will shut.
*3 EMG1 (line+) / (line-) and EMG2 (line+) / (line-) are the doubled contact outputs for
emergency stop.
Chapter 2 Wiring

*4 SDN (OUT+) / SDN (OUT-) contact outputs are the contacts that come to the break status
if the controller prohibits the supply of the motor power from outside. It comes to such a
situation when there is an error to the device straight after the control power to the
controller is turned on, and also when there is no command of driving source cutoff at
EMG or ENB.
Make sure to construct the circuit in a way the drive source power would never be
supplied when this contact is in open condition. (E6D drive source cutoff relay error will
occur when the control power and driving power are supplied at the same time.)
*5 Once it is disconnected between ENBin (IN) / ENBin (+24V), actuator will decelerate and
stop and have a servo-off operation, and then the power to the motor drive will shut.
*6 ENB1 (line+) / (line-) and ENB2 (line+) / (line-) are the doubled contact outputs for enable
signals.
*7 RDY (OUT+) / RDY (OUT-) are the contact outputs that are made when the controller is in
the normal operation. By connecting equivalent contacts of other devices to these
contacts in series, the healthiness of the whole system can be easily checked.
2.3.2 Wiring the Emergency Stop Circuit (System I/O )

124
2.3.3 Wiring for Actuator

Encoder Cable
Encoder Connector

Chapter 2 Wiring
Actuator CONTROLLER

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Motor Cable Motor Cable Connector

The example of connection with a controller

(1) Motor Cable Connector Type

Connector Model Remarks
Cable side GIC2.5/4-STF-7.62 (PHOENIX CONTACT)

2.3.3 Wiring for Actuator

Controller side GIC2.5/4-GF-7.62 (PHOENIX CONTACT)

Terminal Assignments
Pin No. Signal name Description Applicable Wire Diameter
1 PE Protective grounding wire
2 U Motor Driving phase U Cable dedicated for IAI
3 V Motor Driving phase V actuators
4 W Motor Driving phase W

PE
U
M1
V
W

125
 (2) Encoder Connector Specifications
Connector Model Remarks
10126-3000VE(Sumitomo 3M) /
Cable side Hood (10326-52F0-008)
Controller side 10226-6202JL(Sumitomo 3M) Half-Pitch I/O Connector 26 pins
Chapter 2 Wiring

Applicable
Pin No. Signal name Description Wire
Diameter
1 NC Not connected
2 NC Not connected
3 NC Not connected
4 NC Not connected
5 NC Not connected
6 NC Not connected
7 SRD+ Send/receive differential+ (pulse/magnetic pole switching+)
8 SRD- Send/receive differential- (pulse/magnetic pole switching-)
9 NC Not connected
10 NC Not connected
2.3.3 Wiring for Actuator

11 NC Not connected
12 24VOUT Sensor power output Cable
dedicated
13 0V 24-V power GND for IAI
14 BATT Backup battery power encoders
15 BATTGND Battery ground
16 VCC Encoder power
17 GND GND
18 NC Not connected
19 NC Not connected
20 BK- Brake release output signal- (COM: Common to all axes)
21 BK+ Brake release output signal +
22 NC Not connected
23 *RSV Sensor input RSV (Used in LS equipped type)
24 *OT Sensor input OT (Used in LS equipped type)
25 *CLEEP Sensor input CLEEP (Used in LS equipped type)
26 *LS Sensor input LS (Used in LS equipped type)

14 1

26 13

126
 2.3.4 Wiring for PIO
The connection of I/O to the controller is to be carried out using the dedicated I/O cable. The
cable length is shown in the model code of the controller. Please check the controller model
code. There are 2m for standard, 3m and 5m as an option. 10m is also applicable at maximum
[Refer to “1.1.5 How to read the model”]
Also, the end of the cable harness to be connected to the host controller (PLC, etc.) is just cut
and no treatment is conducted so the wiring layout can be performed freely.

Chapter 2 Wiring
[1] 32 Input Points / 16 Output Points, 16 Input Points / 32 Output Points
Model : CB-X-PIO ���
(��� indicates the cable length L. Example. 020 = 2m)
2 1

Cutting state

50 49
Socket (with strain relief) : XG4M-5030-T (Manufacturer: Omron))
Flat cable (50 conductors) : KFX-50 (S) (Manufacturer: Kaneko Cord)

Cable Cable
No. Wiring No. Wiring
color color
1 Brown-1 26 Blue-3

2.3.4 Wiring for PIO

2 Red-1 27 Purple-3
3 Orange-1 28 Gray-3
4 Yellow-1 29 White-3
5 Green-1 30 Black-3
6 Blue-1 31 Brown-4
7 Purple-1 32 Red-4
8 Gray-1 33 Orange-4
9 White-1 34 Yellow-4
10 Black-1 35 Green-4
11 Brown-2 36 Blue-4
12 Red-2 Flat cable 37 Purple-4 Flat cable
13 Orange-2 (Press welding) 38 Gray-4 (Press welding)
14 Yellow-2 AWG28 39 White-4 AWG28
15 Green-2 40 Black-4
16 Blue-2 41 Brown-5
17 Purple-2 42 Red-5
18 Gray-2 43 Orange-5
19 White-2 44 Yellow-5
20 Black-2 45 Green-5
21 Brown-3 46 Blue-5
22 Red-3 47 Purple-5
23 Orange-3 48 Gray-5
24 Yellow-3 49 White-5
25 Green-3 50 Black-5

[Refer to 2.2.7 PIO Circuit for the signal assignment for each cable]

127
 [2] 48 Input Points / 48 Output Points

Model : CB-X-PIOH���
(��� indicates the cable length L. Example. 020 = 2m)
L
Chapter 2 Wiring

Brown -1 (1)
CN1
51 1

Black -5 (50)
Brown -1 (51)
100 50

Socket:
HIF6-100D-1.27 Black -5 (100)
(Manufacturer: Hirose)

Flat cable: UL2651 (50 cores), AWG28 × 2

No. Cable color Wiring No. Cable color Wiring
1 Brown-1 51 Brown-1
2 Red-1 52 Red-1
3 Orange-1 53 Orange-1
4 Yellow-1 54 Yellow-1
5 Green-1 55 Green-1
6 Blue-1 56 Blue-1
7 Purple-1 57 Purple-1
2.3.4 Wiring for PIO

8 Gray-1 58 Gray-1
9 White-1 59 White-1
10 Black-1 60 Black-1
11 Brown-2 61 Brown-2
12 Red-2 62 Red-2
13 Orange-2 63 Orange-2
14 Yellow-2 64 Yellow-2
15 Green-2 65 Green-2
16 Blue-2 66 Blue-2
17 Purple-2 67 Purple-2
18 Gray-2 68 Gray-2
19 White-2 69 White-2
20 Black-2 70 Black-2
21 Brown-3 71 Brown-3
22 Red-3 72 Red-3
23 Orange-3 73 Orange-3
24 Yellow-3 74 Yellow-3
Flat cable�
A Flat cable�
B
25 Green-3 75 Green-3
26 Blue-3 (Press welding) 76 Blue-3 (Press welding)
27 Purple-3 AWG28 77 Purple-3 AWG28
28 Gray-3 78 Gray-3
29 White-3 79 White-3
30 Black-3 80 Black-3
31 Brown-4 81 Brown-4
32 Red-4 82 Red-4
33 Orange-4 83 Orange-4
34 Yellow-4 84 Yellow-4
35 Green-4 85 Green-4
36 Blue-4 86 Blue-4
37 Purple-4 87 Purple-4
38 Gray-4 88 Gray-4
39 White-4 89 White-4
40 Black-4 90 Black-4
41 Brown-5 91 Brown-5
42 Red-5 92 Red-5
43 Orange-5 93 Orange-5
44 Yellow-5 94 Yellow-5
45 Green-5 95 Green-5
46 Blue-5 96 Blue-5
47 Purple-5 97 Purple-5
48 Gray-5 98 Gray-5
49 White-5 99 White-5
50 Black-5 100 Black-5
[Refer to 2.2.7 PIO Circuit for the signal assignment for each cable]

128
2.3.5 Wiring for extension I/O units
Connect the extension I/O unit using the IA network cable as shown in the figure.
Connect the terminal resistance on the ends (Both ends).�
Supply 24V DC power to the extension I/O unit.

Extension

Chapter 2 Wiring
XSEL Controller I/O Unit

24V Power
Supply

Terminal
Resistanc

Terminal
Resistanc
CB-RS -IAN��� (Note1)

2.3.5 Wring for extension I/O units

XSEL Controller Extension I/O Unit
Terminal
Resistance
R=100��� IA Net IA Net
Connector 1 Dedicated Connector 1
1(SA) cable 1(SA)
for IA Net
2(SB) 2(SB)
3(SLD) 3(SLD) Terminal
Resistance
FMC1.5/3-ST-3.5
IA Net IA Net Connector R=100���
(PHOENIX
CONTACT) Connector 2 2
1(SA) 1(SA)
2(SB) 2(SB)
3(SLD) Dedicated 3(SLD)
cable
for IA Net FMC1.5/3-ST-3.5
(CB-RS-IAN (PHOENIX
���
(Note 1)
) CONTACT)

Note 1� Cable Length� Example) 020=2m

129
 (1) Connection of IA Net
� Connector
Connector Model Remarks
Cable side FMC1.5/3-ST-3.5 (PHOENIX CONTACT)
Controller side MCV1.5/3-G-3.5 (PHOENIX CONTACT)

Pin No. Signal Name Description Applicable Wire Diameter

Chapter 2 Wiring

3 SLD Shield Grounding

2 SB Data sending B Cable dedicated for IAI products
1 SA Data sending A

� Dedicated cable (Model�CB-RS-IAN���)

��� indicates the cable length. (Example) 020 = 2m

L
L=0.5m, 1 to 10m (m Unit)
1 1

3 3
Model Label
2.3.5 Wring for extension I/O units

6.2mm

Wiring Color Signal Name No.

No. Signal Name Color Wiring
Blue SA 1
1 SA Blue
White SB 2
AWG 2 SB White
SLD AWG
22 SLD
- (Drainage 3 22
3 (Drainage -
wire)
wire)�

(2) 24V Power Line Input

� Connector
Connector Model Remarks
Cable side FMC1.5/2-ST-3.5 (PHOENIX CONTACT)
Controller side MCV1.5/2-G-3.5 (PHOENIX CONTACT)

Pin No. Signal Name Description Applicable Wire Diameter

2 24V Input power 24V (+) side 0.08 to 1.25mm2
1 0V Input power 0V (-) side� (AWG28 to AWG16)

130
 (3) Connection of PIO
The connection of I/O to the controller is to be carried out using the dedicated I/O cable. The
cable length is shown in the model code of the controller. Please check the controller model
code. There are 2m for standard, 3m and 5m as an option. 10m is also applicable at maximum
[Refer to “1.1.5 How to read the model”]
Also, the end of the cable harness to be connected to the host controller (PLC, etc.) is just cut
and no treatment is conducted so the wiring layout can be performed freely.

Chapter 2 Wiring
� 32 Input Points / 16 Output Points, 16 Input Points / 32 Output Points

Model : CB-X-PIO ���

(��� indicates the cable length L. Example. 020 = 2m)

2 1

Cutting state

50 49
Socket (with strain relief) : XG4M-5030-T (Manufacturer: Omron))
Flat cable (50 conductors) : KFX-50 (S) (Manufacturer: Kaneko Cord)

Cable Cable
No. Wiring No. Wiring

2.3.5 Wring for extension I/O units

color color
1 Brown-1 26 Blue-3
2 Red-1 27 Purple-3
3 Orange-1 28 Gray-3
4 Yellow-1 29 White-3
5 Green-1 30 Black-3
6 Blue-1 31 Brown-4
7 Purple-1 32 Red-4
8 Gray-1 33 Orange-4
9 White-1 34 Yellow-4
10 Black-1 35 Green-4
11 Brown-2 36 Blue-4
12 Red-2 Flat cable 37 Purple-4 Flat cable
13 Orange-2 (Press welding) 38 Gray-4 (Press welding)
14 Yellow-2 AWG28 39 White-4 AWG28
15 Green-2 40 Black-4
16 Blue-2 41 Brown-5
17 Purple-2 42 Red-5
18 Gray-2 43 Orange-5
19 White-2 44 Yellow-5
20 Black-2 45 Green-5
21 Brown-3 46 Blue-5
22 Red-3 47 Purple-5
23 Orange-3 48 Gray-5
24 Yellow-3 49 White-5
25 Green-3 50 Black-5

[Refer to 2.2.10 Extension I/O unit (Option) for the signal assignment for each cable]

131
 � 48 Input Points / 48 Output Points

Model : CB-X-PIOH ���

(��� indicates the cable length L. Example. 020 = 2m)
L
Chapter 2 Wiring

Brown -1 (1)
CN1
51 1

Black -5 (50)
Brown -1 (51)
100 50

Socket:
HIF6-100D-1.27 Black -5 (100)
(Manufacturer: Hirose)

Flat cable: UL2651 (50 cores), AWG28 × 2

No. Cable color Wiring No. Cable color Wiring
1 Brown-1 51 Brown-1
2 Red-1 52 Red-1
3 Orange-1 53 Orange-1
4 Yellow-1 54 Yellow-1
5 Green-1 55 Green-1
6 Blue-1 56 Blue-1
7 Purple-1 57 Purple-1
2.3.5 Wring for extension I/O units

8 Gray-1 58 Gray-1
9 White-1 59 White-1
10 Black-1 60 Black-1
11 Brown-2 61 Brown-2
12 Red-2 62 Red-2
13 Orange-2 63 Orange-2
14 Yellow-2 64 Yellow-2
15 Green-2 65 Green-2
16 Blue-2 66 Blue-2
17 Purple-2 67 Purple-2
18 Gray-2 68 Gray-2
19 White-2 69 White-2
20 Black-2 70 Black-2
21 Brown-3 71 Brown-3
22 Red-3 72 Red-3
23 Orange-3 73 Orange-3
24 Yellow-3 74 Yellow-3
Flat cable�
A Flat cable�
B
25 Green-3 75 Green-3
26 Blue-3 (Press welding) 76 Blue-3 (Press welding)
27 Purple-3 AWG28 77 Purple-3 AWG28
28 Gray-3 78 Gray-3
29 White-3 79 White-3
30 Black-3 80 Black-3
31 Brown-4 81 Brown-4
32 Red-4 82 Red-4
33 Orange-4 83 Orange-4
34 Yellow-4 84 Yellow-4
35 Green-4 85 Green-4
36 Blue-4 86 Blue-4
37 Purple-4 87 Purple-4
38 Gray-4 88 Gray-4
39 White-4 89 White-4
40 Black-4 90 Black-4
41 Brown-5 91 Brown-5
42 Red-5 92 Red-5
43 Orange-5 93 Orange-5
44 Yellow-5 94 Yellow-5
45 Green-5 95 Green-5
46 Blue-5 96 Blue-5
47 Purple-5 97 Purple-5
48 Gray-5 98 Gray-5
49 White-5 99 White-5
50 Black-5 100 Black-5
[Refer to 2.2.10 Extension I/O unit (Option) for the signal assignment for each cable]

132
2.3.6 Wiring for Panel Unit
Panel Unit (option) can be used by connecting to XSEL Controller or Extension I/O Unit.
�
�
� XSEL Controller

Chapter 2 Wiring
�
�
�
� Panel Unit (Option)
�
�
�
�
�
Extension I/O Unit

Panel Unit (option)

2.3.6 Wring for Panel Unit

�

� Panel Unit Connector

Connector Model Remarks
Cable side DF11-8DS-2C (Hirose)
Controller side DF11-10DS-2C (Hirose)
�
�

Panel Unit Main Body Side Connector Side

Drainage Wire
Width
No Color Signal
1 FG
Width
Signal Color No 2 Drainage FG
EMG1 1 3 NC
EMG2 2 4 NC
CPURXD Red(red) 3 5 Red(red) PNLTX
CPUTXD Blue(blue) 4 6 Blue(blue) PNLRX
VP5 Red(white) 5 7 Red(white) VP5
VP5 Yellow(white) 6 8 Yellow(white) VP5
GND Blue(white) 7 9 Blue(white) GND
GND Yellow(red) 8 10 Yellow(red) GND

2 10
1 9 Shield Wire

133
 2.3.7 Wiring for Regeneration Unit (REU-1) (Option)
Connect the regenerative unit with a cable enclosed with it referring to the figure below.
The figure below is an example for connecting two units.

XSEL Controller
Chapter 2 Wiring

RB
Connecting Cable RB
IN (CB-ST-REU010) IN RB

Connecting Cable
(CB-ST-REU010)
RB
OUT

Regenerationt Unit Regenerationt Unit

(REU-1) (REU-1)

� Regenerative Resistance Unit Connector

Connector Model Remarks
Cable side GIC2.5/3-STF-7.62 (PHOENIX CONTACT)
Controller side GIC2.5/3-GF-7.62 (PHOENIX CONTACT)
2.3.7 Wring for Regeneration Unit (REU-1) (Option)

�
Signal
Pin No. Description Applicable Wire
Name
Regenerative resistor+ (motor drive
RB + Dedicated cable is
DC voltage)
enclosed to regenerative
RB– Regenerative resistor-
unit
Grounding terminal
�
� Dedicated Cable (Model�CB-ST-REU010)
3 1
Controller side Regenerationt Unit side

1 3

Width
Signal Width
Color No. No. Color Signal
RB+ Sky Blue 1 Sky Blue RB+
RB- Brown 2 Brown RB-
PE Green/Yellow 3 Green/Yellow PE

134
2.3.8 Wiring for Brake Box (RCB-110-RA13-0)
As shown in the figure below, connect the actuator, brake box and controller. (the figure is an
example for connecting to the 1st axis.)

Chapter 2 Wiring
Motor Cable
(CB-X-MA□□□)
Encoder Cable
(CB-X1-PLA□□□)

Encoder Cable Rear View

Actuator (CB-X3-PA□□□) External Brake Connector Box Controller
(RCB-110-RA13-0)

2) Brake Release
Switch Connector 1
3) Brake Release
Switch Connector 2

Front

2.3.8 Wring for Brake Box (RCB-110-RA13-0)

1) Brake Power Input
Connector

(1) Brake Release Switch Connector 1 and 2

Connector Model Remarks�
Cable side XAP-02V-1 �
Contact BXA-001T-P0.6 (JST)
Applied Connector S02B-XASS-1 (JST) �
�
Signal Applicable Wire Diameter
Pin No. Description
Name
1 BKMRL Brake Release Switch Input�
0.08 to 0.3mm2
Brake Release Switch Input (AWG28 to 22)
2 COM
Common�
�
2), 3) Brake Release Connector 1 and 2

1 2

For the switch, select one rated 30V DC and 1.5mA or more.

135
 (2) Brake Power Input Connector
Connector Model Remarks
MC1.5/2-ST-3.5
Cable side
(PHOENIX CONTACT)
MC1.5/2-G-3.5
Brake Box side
(PHOENIX CONTACT)
Chapter 2 Wiring

Signal
Pin No. Description Applicable wire
name
1 0V 24V Power Ground 0.08 to 1.25mm2
2 +24VIN +24V Power Input (AWG28 to AWG16)

1) Brake Power Input Connector

24VIN 0V

2 1
2.3.8 Wring for Brake Box (RCB-110-RA13-0)

136
2.3.9 Wiring for the Teaching
The teaching connector is used to connect an IAI teaching pendant or PC (PC software) so
that the equipment can be operated, set up or otherwise manipulated from the teaching
pendant/PC.
If you are using S/SX/SXD type controller with the mode switch set to AUTO, connect the
supplied dummy plug to the teaching connector.

Chapter 2 Wiring
Teaching
Pendant

CONTROLLER

PC
PC Software Accessory Cable

�
List of Teaching Connector Interface Specifications�
Specification Remarks
Connector DSUB-25 XM3B-2542-502L (by Omron)

2.3.9 Wring for the Teaching

Communication Method Asynchronous half Signal assignments conform to the DTE
duplex communication terminal layout specified by the RS232C
conforming to RS232C standard.
Undefined lines, etc., are assigned to a
dedicated control wire.
Baud Rate 115.2 kbps max. The maximum communication speed is
115.2Kbps.
Maximum Connection 10m At 38.4 kbps
Distance
Connected Unit PC or dedicated teaching PC, teaching pendant
pendant
Power Supply 5 or 24 VDC Each line is fitted with multiple fuses to protect
against short circuit. (These fuses trip at 1.1
to 2.2 A.)
Protocol X-SEL teaching protocol The controller operates according to the
dedicated protocol (protocol B).
Emergency Stop Control Series emergency stop A line for driving the emergency stop relay is
relay drive (24-V drive) provided in the interface connector and
connected to other emergency stop contacts
in series. Two independent emergency stop
input circuits are installed to provide
redundancy.
Enable Control Enable switch line (24-V An enable switch connection wire is provided
drive) for interlock with operator’s operations. Two
independent enable input circuits are installed
to provide redundancy.
Mode Switch AUTO/MANU switch The AUTO/MANU selector mode switch is
used to specify whether or not a teaching
pendant is used.
A teaching pendant can be connected only in
the MANU mode.

137
 Terminal Assignments�
Pin No. Direction Signal name Description
1 FG Frame ground
2 Out TXD Transmit data
3 In RXD Receive data
4 Out RTS Request to send
5 In CTS Clear to send
Chapter 2 Wiring

6 Out DSR Equipment ready

7 SG Signal ground
8 NC Not connected
9 In RSVTBX1 Not used
10 In RSVTBX2 Not used
11 NC Not connected
12 Out EMGOUT1 Emergency stop contact 1
13 In EMGIN1
14 NC Not connected
15 Out RSVVCC 24-V teaching pendant power
16 Out EMGOUT2 Emergency stop contact 2
17 Out ENBVCC1 Enable drive power 1
18 Out VCC Power output (teaching pendant power)
19 In ENBTBX1 Enable input 1
20 In DTR Terminal ready
21 Out ENBVCC2 Enable drive power 2
22 In ENBTBX2 Enable input 2
2.3.9 Wring for the Teaching

23 Out EMGS Emergency stop status

24 In EMGIN2 Emergency stop contact 2
25 SG Signal ground
The shaded signals are supported by ANSI teaching pendants only.
�

25 13

14 1

138
2.3.10 Wiring the Brake Forced Release Switch
This connector is used to connect the brake release switch on the actuator (it functions in the
same way as the brake switch on the controller).
Short-circuiting the COM and BKRMT terminals of this connector releases the brake. Use this
method if you want to manually move the actuator while the controller power is cut off or a
controller error is present.
For the switch, select one for minute load.

Chapter 2 Wiring
Brake Release Switch Connector

� Brake Release Switch Connector Specifications�

Connector Model Remarks
DF11-6DS-2C
Cable side Crimp terminal: DF11-2428SC
(Hirose)

2.3.10 Wiring the Brake Forced Release Switch

Controller side DF11-6DP-2DS (Hirose)

Applicable
Pin No. Signal Name Description
Wire Diameter
1 BKRMT1(BKRMT5) Brake Release Switch Input Axis 1(5)
2 BKRMT2(BKRMT6) Brake Release Switch Input Axis 2(6)
0.08 to
3 BKRMT3(BKRMT7) Brake Release Switch Input Axis 3(7)
0.2mm2
4 BKRMT4(BKRMT8) Brake Release Switch Input Axis 4(6)
(AWG28 to 22)
5 COM(COM) Switch Input Common
6 COM(COM) Switch Input Common
Those in the brackets are the signal names and signal contents of BK RMT2 connector�
2 1

4 3

6 5

For the switch, select one rated 24V DC and 100mA or more.

� � Warning: After brake compulsory release is conducted, make sure to turn the signal
OFF so the automatic control of brake by controller can be executed. It is
extremely risky to leave it turned ON because the brake would not work
when in emergency stop or the servo is turned OFF. For a vertically
mounted actuator, slider or rod may drop and cause a critical accident.

139
 2.3.11 Wiring for General-purpose RS232C Port
This two-channel communication port can be controlled using SEL language commands and
lets you set message formats according to different types of host controllers.
[Separate manual, SEL Language Programming Manual]

Host Master
CONTROLLER
Chapter 2 Wiring

RS232C

RC232C Connector Specifications

Appiled Connector D-sub9 Pin (DTE) XM2C-0942-502L (OMRON)
Connector name S1/S2
Maximum connection
10m At 38400 bps
distance
Interface standard RS232C
Connected unit AT-compatible PC, etc. Half duplex communication
Connection cable PC-AT standard 232C crossed cable
General-purpose RS232C ports 1, 2
2.3.11 Wring for General-purpose RS232C Port

Number of channels 2
Channel 2

Channel 1

Terminal Assignments
Pin No. Pin No. Direction Signal name
1 In (CD) (Carrier detection: Not used)
2 In RD Receive data (RXD)
3 Out SD Transmit data (TXD)
4 Out ER Equipment ready (DTR)
5 In SG Signal ground
6 In DR Data set ready (DSR)
7 Out (RS) (Request to send (RTS): Not used)
8 In (CS) (Clear to send (CTS): Not used)
9 Out NC Not for use

5 9

1 6

140
Chapter 3 Operation
3.1 Types of Operations
The XSEL controller is a programming controller that can operate without a host controller.
Programming for this controller uses IAI’s dedicated programming language (SEL language).
[Refer to the separate SEL Language Programming Manual.]

Chapter 3 Operation
Operation method

Operation in a standalone
(independent) mode
Operation via I/O interface Operation with PIO (24-V I/O)

Operation with field network communication (optional)

(DeviceNet, CC-Link, PROFIBUS-DP, EtherNet/IP and
EtherCAT are supported.)
[Refer to the separate operation manual for each field
network protocol.]

Operation via serial

communication commands Operation with Serial communication (RS232C)
[Refer to the separate SEL language programming
manual.]

3.1 Types of Operations

Operation with EtherNet communication (optional)
[Refer to the separate Ethenet Operation Manual.]
Operation using a teaching tool
�
�
�
�
�
�

141
 3.2 I/O Ports
The I/O port can deliver the data with the XSEL controller and external signals through
interface.
One port can exchange data for one contact (1 bit).
Data is exchanged via PIOs (24-V I/Os) or over a field network.
Either a PIO or field network can connect to each port at a time.
Whether to use PIO or field network is set by a parameter.

XSEL controller I/O ports

(Host)
Chapter 3 Operation

Input Output
port port
1 port
I/O interface
I/O unit � Expansion I/O
Data exchange board
� Multi-point I/O
board
Connected
internally.
(Assignments
are set by
parameters.)
Field network
field Data exchange interface
� DeviceNet board
network � CC-Link board
master unit � PROFIBUS
board
� EtherNet/IP
board
� EtherCAT board

� indicates flow of data.

3.2 I/O Ports

Refer to Chapter 2.3.4 for the I/O interface.

For the field network interface, refer to each instruction manual.

142
(1) I/O map
The factory-set I/O port numbers and functions of the XSEL controller are shown below.
The functions of the I/O port can be changed using the parameter setting.
[Refer to 2.2.7 PIO Circuit and Chapter 6. Parameters]

Port Port
Function Function
number number
000 Program start 300 Alarm output
001 General-purpose input 301 Ready output

Chapter 3 Operation
002 General-purpose input 302 Emergency stop output
003 General-purpose input 303 General-purpose output
004 General-purpose input 304 General-purpose output
005 General-purpose input 305 General-purpose output
006 General-purpose input 306 General-purpose output
Program specification
007 307 General-purpose output
(PRG No. 1)
Program specification
008 308 General-purpose output
(PRG No. 2)
Program specification
Input 009 Output 309 General-purpose output
(PRG No. 4)
Program specification
010 310 General-purpose output
(PRG No. 8)
Program specification
011 311 General-purpose output
(PRG No. 10)
Program specification
012 312 General-purpose output
(PRG No. 20)
Program specification
013 313 General-purpose output
(PRG No. 40)

3.2 I/O Ports

014 General-purpose input 314 General-purpose output
015 General-purpose input 315 General-purpose output
� � � �

(Note) The numbers of I/O ports are as follows:

Inputs : 000 to 299 (300 points max.)

Outputs : 300 to 599 (300 points max.)

143
 3.3 Starting the Controller

3.3.1 Turning on the Power

Turn on the controller power.
� Power on procedure
The following procedure is applied for cases where the parameters are the same as those
at delivery, and the unit is not in the error occurrence mode or emergency stop mode.
Also, the number allocation for the I/O ports is shown as the same as the delivery in this
description.
Chapter 3 Operation

[1] After confirming that the wiring is conducted correctly, supply 24V DC for brake release
as long as there is one axis or more that is equipped with a brake. If PIOs are used, also
turn on the 24-VDC PIO power. (In the case that it is not used, the power supply is not
required, but, unless the parameter No. 11 and No. 12 have been set to “Unmonitored”,
an error might occur).
[2] Turn on the 200-VAC control power.
[3] Once the controller has started successfully (CPU has started), I/O port 301 turns ON
along with the RDY signal (system I/O). If the controller is of S/SX/SXD type, the SDN
signal (system I/O) also turns ON.
[4] Turn on the drive power.
� With an R-type controller, turn on the drive power simultaneously when the control
power is turned on in [2].
� With an S-type controller, turn on the drive power after the SDN signal has turned ON.
Whether the drive power is input is determined 2 sec after the RDY signal turns ON.

A timing chart of the above operation is shown below.

Brake release power
I/O power

200-VAC control power

3.3 Starting the Controller
3.3.1 Turning on the Power

Successful start of CPU

I/O output signal port No. 301

Ready output

RDY(system I/O)

SDN
(system I/O for QAR type)
EMG1(system I/O)
EMG2(system I/O for S type)

ENB1(system I/O)
ENB2(system I/O for S type)

No error
Secret level eror

No error
Message level error

No error
Operation-cancellation level error

No error
Cold-start level error

No error
System-shutdown level error

200-VAC drive power

2sec
● With a QAR-type controller, turn on the drive power after SDN has turned ON.
● With a PAR-type controller, turn on the control power and drive power
simultaneously.
144
3.3.2 Panel Window Display
The 4-digit, 7-segment LED shows the controller status.
When the unit is started up normally, “ ” is displayed after the initial processing display.
If an indication other than “ ” is displayed, check “Trouble Shooting” in Chapter 7.

�
Displayed Contents of LED Lamps on Controller
Name Status when LED is on
RDY CPU Rready (Program operation available)

Chapter 3 Operation
CPU Alarm (Error of message level or higher)
ALM
Error in CPU hardware�
Emergency stop, error in CPU hardware or
EMG
power-related hardware error
PSE Power-related hardware error
CLK Error in system lock or power-related hardware error
CP_ON Control power supply normal.

Displayed Contents of LED Lamps on Panel unit

Name Status when LED is on
RDY CPU Rready (Program operation available)
CPU Alarm (Error of message level or higher)
ALM
Error in CPU hardware
Emergency stop, error in CPU hardware or
EMG
power-related hardware error
HPS All axes have completed home-return operation

3.3.2 Panel Window Display

145
 Table 1 Panel window display list (1/2) Application control codes
Display Priority (*1) Description
The AC power is cut off. (Momentary power failure or power-supply
voltage drop is also a possibility.)
A system-shutdown level error is present.

Data is being written to the flash ROM.

An emergency stop is currently actuated (other than in the update mode).

Chapter 3 Operation

The enable switch (deadman switch/safety gate) is off

(other than in the update mode).

A cold-start level error is present.

An operation-cancellation level error is present.

Waiting for a drive-source cutoff reset signal to be input

(other than in the update mode).

Operation is paused (waiting for restart) (other than in the update mode).

All axis servos are interlocked (other than in the update mode).
3.3.2 Panel Window Display

A message level error is present.

The main CPU core is in the update mode.

The main CPU core is being updated.

The main CPU core has been updated.

The slave is being updated.

The slave is being updated.(* changes in a way drawing a shape of “8”)

The slave has been updated.

A program is running (last started program). The applicable program
number is shown.

The initialization sequence number is shown.

Ready status (AUTO mode)

Ready status (MANU mode)

*1 The smaller the value, the higher the priority.

146
Table 1 Panel window display list (2/2) Application control codes
Display Priority (*1) Description
A cold-start level error is present.

An operation-cancellation level error is present.

A message level error is present.
In updating mode

Chapter 3 Operation
The application is in the update mode.
The application is being updated.
The application has been updated.
Jump to the application
Flash ROM check process (core)
Flash ROM check process (application)
SDRAM check process
*1 The smaller the value, the higher the priority.

3.3.2 Panel Window Display

147
 3.3.3 Position Table and Program Creation and Writing
Create a position table and create a program using the SEL language.
Perform the teaching, etc., and register the required coordinates in the position table. Also,
create the program using the SEL language.
[Refer to the separate SEL language programming manual.]
Write the position table and program data in the controller.
[Refer to the separate operation manual for your PC software.]
Chapter 3 Operation
3.3.3 Position Table and Program Creation and Writing

148
3.4 Program Operation
For the operation there are two ways of start-up. One is the automatic start-up of the set
program No. and the other is to start up with the program No. selected externally.

3.4.1 Auto Start upon Power On

After the power is turned ON, the program with its No. registered in the XSEL controller, can
be automatically started up.

[1] Preparation

Chapter 3 Operation
Connect the personal computer software and set the I/O parameter No. 33 to “1” and set the
program No. to be started up in the parameter No. 1 (for others)
Parameter
Setting
type and Description
Selectable value
number
setting value
I/O parameter Input port 003 is designated as a general-purpose 1
0
No. 33 input.
In the AUTO mode, when the power is turned ON or
the software reset is performed, the program No.
1
set in parameter No. 1 (for others) is executed.
(factory default)
The input port 003 can be used as a universal input
port.
When input port 003 is turned ON, the program
whose number is set in other parameter No. 1 is
2
executed. When this port is turned OFF, all currently
running programs stop.
Other Set the program number of the program you want to Program
parameter No. 1 to 128 start automatically. number
1

3.4.1 Auto Start upon Power On

3.4 Program Operation
[2] Set the mode switch on the XSEL controller to the AUTO position.
[3] Turn off the power and then turn it back on.
[4] The XSEL controller is restarted (the RDY signal turns ON to indicate a successful start),
after which the specified program starts.

200-VAC power

RDY output (output

from the XSEL)

Program execution
Program

149
 [Recommendation] After the power is turned on, unexpected movements of the robot may
create dangerous situations.
For safety, provide an interlock whereby the program is started only after a start
confirmation signal has been input from a pushbutton switch, etc.
An example of operation is given below.
[1] Preparation
Set the parameter No. 33 to “2”.
The program starts when input port 003 is turned ON, and stops when the port is turned
Chapter 3 Operation

OFF.
[2] Set the mode switch on the XSEL controller to the AUTO position.
[3] Turn off the power and then turn it back on.
[4] Make sure input port 003 is turned ON after a wait time of 0.01 sec following the start of
the XSEL controller (the RDY signal turns ON to indicate a successful start).
[5] The specified program starts.

RDY output (output

from the XSEL) [3]

Input port
[4]

Program Program execution

3.4.1 Auto Start upon Power On

150
3.4.2 Starting a Program by Specifying its Program Number
The program to be started up, can be started with its number specified externally and start-up
signal input.

[1] Preparation
Connect the personal computer software and perform the setting, referring to the set values in
the following table.
Parameter type and Setting
Description Setting
number value

Chapter 3 Operation
I/O parameter 0 Input port 000 is designated as a general-purpose 1, 2, 3
No. 30 input. or 4
1 After the program number to be started up, is set in
(factory the input port 007 (LSB) to 013 (MSB) with BCD,
default) turning ON the input port 000 starts up the program.
Turning ON the input port 000 for 0.1 sec or more.
2 After the program number to be started up, is set in
the input port 007 (LSB) to 013 (MSB) with BCD,
turning ON the input port 000 starts up the program.
Turning ON the input port 000 for 0.1 sec or more.
3 After the program number to be started up, is set in
the input port 008 (LSB) to 014 (MSB) with BCD,
turning ON the input port 000 starts up the program.
Turning ON the input port 000 for 0.1 sec or more.
* Input port 014 function will move to port 007.
4 After the program number to be started up, is set in
the input port 008 (LSB) to 014 (MSB) with BCD,
turning ON the input port 000 starts up the program.
Turning ON the input port 000 for 0.1 sec or more.
* Input port 014 function will move to port 007.
No. 30 I/O 0 Input ports 007 to 013 are set as general-purpose 1
= 1 or 2 parameter inputs.
No. 37 to 43 1 Input ports 007 to 013 are set as start program
number specification ports.

3.4.2 Starting a Program by Specifying its Program Number

No. 30 I/O 0 Input ports 008 to 014 are set as general-purpose 1
= 3 or 4 parameter inputs.
No. 38 to 44 1 Input ports 008 to 014 are set as start program
number specification ports.

Caution: the maximum number of programs is 128. However, the programs able to start
up with the BCD Code indication are from No. 1 to No.79. To start up No. 80 to
No. 128 when using BCD Code, start them up with using the automatic start
program startup or the program startup command “EXPG”.�

151
 [2] Input the program No. 0.01sec or more after the XSEL controller is started up (After Normal
Start-up = RDY signal ON).
[3] Set in the input ports set by I/O parameter No. 30, the program number of the program you
want to start.
[4] Set the program No. and 0.05 sec. or more later, turn ON the input port 000 “Program Start”.
[5] Turn ON input port 000 (program start) and keep it ON for 0.1 sec.
[6] The specified program starts.

[1]
Chapter 3 Operation

RDY output (output

from the XSEL)

[2]
Program number Program number
(output from the host)

Program start (output [4]

from the host)
[3]
[5] Program execution
Program
3.4.2 Starting a Program by Specifying its Program Number

152
Chapter 4 Absolute Reset and Absolute Battery
4.1 Absolute Reset

4.1.1 For PC Software

[1] Single and Orthogonal Axes

1) Turn OFF the controller power.
2) Plug in the 9-pin D-sub connector on the connection cable to the communication port on
the PC (or plug in the USB connector to the USB port on the PC), and joint the 25-pin

Chapter 4 Absolute Reset and Absolute Battery

D-sub connector to the 25-pin on the controller.
3) Turn ON the power to the controller. If there is nothing to be adjusted except for the
encoder battery error, the 7-segment LED display will show either “E914” or “ECA2”,
which express that the controller has detected the encoder battery error.
4) Start up the PC software for X-SEL (X_SEL.exe).
5) [Connection Check] dialog box appears. Change the setting in Communication Port to the
PC. Click on [OK] button.
(Baud rate will be automatically identified even if not been set.)

6) PC Software window opens.

Click on [OK] button and the error message will close.

4.1.1 For PC Software

4.1 Absolute Reset

153
 7) Select [Monitor (M)] � [Error Details (E)] menu to check the current error status.
For the encoder battery error, the display is as shown below. (example of using an
absolute encoder on the 4th axis) after checking, close [Error Details] window.
Chapter 4 Absolute Reset and Absolute Battery

8) Select [Controller (C)] � [Absolute Reset (A)] menu.

9) The warning dialog box will appear. Click on the [OK] button.
4.1.1 For PC Software

154
10) [Abs. Encoder Reset] dialog box appears.

Click hear and the axis

number changes.
Select an axis that requires
an absolute reset.

Chapter 4 Absolute Reset and Absolute Battery

11) Click on the Encoder Rotation Data Reset 1 button, and [Warning] dialog box appears.
Click Yes (Y).

4.1.1 For PC Software

12) [Warning] dialog box pops up again. Click Yes (Y).

155
 13) Once the process of Encoder Multi Rotation Data Reset is finished, the red arrow moves
to the next item. Click on the buttons for the following processes one by one. (After
completing every process, the red arrow moves to the next.)
1) Reset Controller Error
2) Servo ON
3) Returning Home
4) Servo OFF (Not necessary for Version 1.1.0.0 and later) (Note 1)
Note 1 For the PC software Ver. 1.1.0.0 and later, Encoder Multi Rotation Reset 2 is held
while the servo is ON. Therefore, a process to turn the servo OFF is skipped.
5) Encoder Rotation Data Reset 2
After the process of Encoder Multi Rotation Data Reset 2 is finished, the display of the red
arrow returns to the condition of 10).
Chapter 4 Absolute Reset and Absolute Battery

14) When conducting the absolute reset on several axes, set the axis number that requires
the absolute reset next and perform 11) to 13).
In the same manner, have the absolute reset on all the axes for 10) to 13).

15) Click on “Close” button in the absolute reset window to close the window.

16) Select [Controller (C)] � [Software Reset (R)] menu.�

(Note) For the PC software Ver. 1.1.0.0 and later, Encoder Multi Rotation Reset 2 is held
while the servo is ON. Therefore, a process to turn the servo OFF is skipped.
(Note 2)
17) [Confirmation] dialog box appears. Click on Yes (Y) button to reboot the controller.
4.1.1 For PC Software

Note 2 Restart the controller by having the software reset or rebooting the power. Without
doing so, it may cause;
Error No. C70 ABS Coordinate Unconfirmed Error, or
Error No. C6F Home-Return Incomplete Error.

18) If there is no error occur, the 7-segment LED display on the controller shows “rdy”.

156
 19) Now the process for absolute reset is complete.
If a redo of the absolute reset is required, end the X-SEL PC Software once and conduct
the whole process from the beginning again.
(Note) In some actuator, the current value does not show 0mm after the absolute reset is
finished. Please note that it is not an error.
For those models other than what is listed in the table show 0 in the current value
after the absolute reset is finished.

Actuator Lead Current Value after Absolute Reset Complete

4 0
RCS2-SA7C (R) 8 1
16 3

Chapter 4 Absolute Reset and Absolute Battery

6 -0.5
RCS2-SS7C (R)
12 1
10 0
RCS2-SS8C (R) 20 2.5
30 5
4 0
RCS2-RA5C (R) 8 0
16 2
�

4.1.1 For PC Software

157
 [2] Scara Axis (Excluding IX-NNN10040 and 12040)
(1) Absolute Reset Preparation
The following jigs are required to perform an absolute reset:

� Absolute Reset Adjustment jigs

Type Remarks
JG-1 Arm length 500/600
JG-2 Arm length 250/300/350
JG-3 Arm length 700/800
JG-4 Arm length 500/600 high-speed type
Chapter 4 Absolute Reset and Absolute Battery

JG-5 Arm length 120/150/180

Connect the cables of the actuator, controller and PC to make an operable status. Always
check operation of the EMG switch before performing work. The absolute reset adjustment jig
is always required to perform an absolute reset for the rotation axis and vertical axis, but not
always required for arm 1 and arm 2. (Rotation data can be reset as long as positioning
preciseness of "center of positioning mark label ±1 graduation" is ensured.)

Plate

Pin
4.1.1 For PC Software

Warning
� Performing work without understanding inspection and maintenance work thoroughly may
cause an accident resulting in injury or death.
� Put up a sign that says "Work in Progress" so as to prevent other operators from accidentally
operating the controller, operation panel, etc.

158
(2) Starting the Absolute Reset Menu

1) Open the Abs. Encoder Reset window from PC software.

(Note) In the case of X-SEL-PX/QX, RX/SX, and RXD/SXD select Abs. Encoder Reset
(A) (Scara Axis).

Chapter 4 Absolute Reset and Absolute Battery

2) The Abs. Encoder Reset window will open.
� One of three Abs. Encoder Reset screens - for Arm1 (A1c), Arm2 (A2c), Rot. Axis (Rc) +
Vert. Axis (Zc) - is displayed when a corresponding tab is clicked.

4.1.1 For PC Software

159
 (3) Absolute Reset Procedure for Arm 1 or 2

1) Click the Encoder Rotation Data Reset1 button.

Chapter 4 Absolute Reset and Absolute Battery
4.1.1 For PC Software

2) Click the Reset Controller Error button.

160
3) Click the Servo ON button.

Chapter 4 Absolute Reset and Absolute Battery

4) Jog the arm to near the reference position (see reference position drawing in step 7), and
click the Jog end button.

4.1.1 For PC Software

5) Click the Servo-Off button.

161
 6) Press the EMERGENCY STOP switch.

7) When performing an absolute reset for arm 1, set an adjustment jig (pin) in arm 1 to fix the
arm at the reference position. When performing an absolute reset for arm 2, set an
adjustment jig (pin) in arm 2 to fix the arm at the reference position.
� Set the jig after confirming that the EMERGENCY STOP switch is pressed.
� Set the jig after adjusting the arm to the reference position, using the positioning mark
label as a guide.
� Only arm 1 has a cover, which is fixed with setscrews. Remove the setscrews and
remove the cover before setting the jigs.
� It is recommended that an adjustment jig is used to perform an absolute reset. With arm
1 or 2, however, rotation data can be reset as long as positioning preciseness of "center
Chapter 4 Absolute Reset and Absolute Battery

of positioning mark label ±1 graduation" is ensured.

� To perform an absolute reset for Arm 2 with an arm length of 120, turn Arm 1 to the side
as described in the basic posture for an arm with length of 120 below, and set the
fixture.

Arm 1 (Arm length 500/600, 700/800)

4.1.1 For PC Software

Arm 2 (Arm length 500/600, 700/800)

Arm length 500/600, 700/800 Reference Position

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident
resulting in injury or death.

162
 Chapter 4 Absolute Reset and Absolute Battery
Arm 1 (Arm length 250/300/350)

Arm 2 (Arm length 250/300/350)

Arm length 250/300/350 Reference Position

4.1.1 For PC Software

(Note) When performing an absolute reset for
arm 1 of IX-NNN2515, rotate arm 2
slightly then set with an adjustment jig
(pin) to set it.

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident
resulting in injury or death.

163
 Pin
Absolute reset jig

Arm 1
Positioning mark

Arm 2
Positioning mark
Chapter 4 Absolute Reset and Absolute Battery

Pin
Absolute reset jig

Arm 1 (Arm length 120/150/180)

Arm length 120/150/180 Reference Position
* When an absolute reset is performed for arm 1 (arm length: 120)

Arm 2 (Arm length 150/180)

4.1.1 For PC Software

Arm length 120 Reference Position

Arm 2 (Arm length 120)
* When an absolute reset is performed for arm 2 (arm length: 120)

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident
resulting in injury or death.

164
8) Click the OK button.

Chapter 4 Absolute Reset and Absolute Battery

9) Click the Encoder Rotation Data Reset2 button.

4.1.1 For PC Software

165
 10) Remove the adjustment jig.
� Install the cover and secure it with the setscrews for arm 1 only.

11) Release the EMERGENCY STOP switch.

12) Click the OK button.

• An arrow is shown next to the Home pos. automatic update button. Do not this item
(In particular, be sure this item is not set when performing an absolute reset without
using a jig.)
• If the home position has been updated by mistake, perform software reset without
writing to the flash ROM. (The status will be the same as the one in which the home
Chapter 4 Absolute Reset and Absolute Battery

position automatic update is not performed.)

• Always click the OK button after removing the jig and releasing the EMERGENCY
STOP switch.
4.1.1 For PC Software

13) Click “�” in the top right-hand corner to exit the Abs. Encoder Reset window.
� Once the absolute reset is completed, be sure to perform software reset.

Warning
� Be careful not to perform a reset using an incorrect sequence, since it may cause the arm
position to become offset.
� Perform home pos. automatic update only when any mechanical change such as arm change
has been made. (Joint part only)

166
(4) Absolute Reset Procedure for Rotation Axis + Vertical Axis

1) Click the Encoder Rotation Data Reset1 button.

Chapter 4 Absolute Reset and Absolute Battery

4.1.1 For PC Software
2) Click the Reset Controller Error button.

167
 3) Click the Servo ON button.
Chapter 4 Absolute Reset and Absolute Battery

4) Click the Temp. Standard posture standby button.

• Please note that the vertical axis returns to its home position.
4.1.1 For PC Software

5) Jog the rotation axis to the reference position (see reference position drawing in step 8),
and click the Jog end button.

168
 6) Click the Servo-OFF button.

Chapter 4 Absolute Reset and Absolute Battery

7) Press the EMERGENCY STOP switch.

8) Affix the rotation axis at the reference position by setting the plate and pin of the
adjustment jig as illustrated below.
• Set the jig after confirming that the EMERGENCY STOP switch is pressed.
• Set the jig using the positioning mark as a guide.
• The top face of the stopper should roughly align with the bottom face of arm 2.

4.1.1 For PC Software

D-cut surface
Positioning
mark label for
Contact with the rotation axis
pin lightly
The top face of the stopper
should align with the
bottom face arm 2.
(Bottom view)
D-cut surface

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident
resulting in injury or death.
� Pay attention to the orientation of the D-cut surface of the plate jig.

169
Chapter 4 Absolute Reset and Absolute Battery

(Bottom view)
4.1.1 For PC Software

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident
resulting in injury or death.

170
Chapter 4 Absolute Reset and Absolute Battery 4.1.1 For PC Software

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

(Bottom view)

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident
resulting in injury or death.
� Pay attention to the orientation of the D-cut surface of the plate jig.

172
9) Click the OK button.

Chapter 4 Absolute Reset and Absolute Battery

10) Click the Encoder Rotation Data Reset2 button.

4.1.1 For PC Software

173
 11) Click the Home pos. automatic update button.
Chapter 4 Absolute Reset and Absolute Battery

12) Remove the adjustment jig.

13) Release the EMERGENCY STOP switch.

14) Click the OK.

4.1.1 For PC Software

174
15) Click the Servo ON button.

Chapter 4 Absolute Reset and Absolute Battery

16) Click the Standard posture standby button.
• Please note that the vertical axis returns to its home position.

4.1.1 For PC Software

17) Click the Servo-OFF button.

175
 18) Click the Encoder Rotation Data Reset3 button.
Chapter 4 Absolute Reset and Absolute Battery

19) Click the Home pos. automatic update button, and then click “�” in the top right-hand
corner to exit the Abs. Encoder Reset window.
4.1.1 For PC Software

• Be sure to perform "Software Reset" upon completion.

176
[3] X-NNN10040 and 12040 SCARA Axes
In case the absolute data is lost, conduct “Push type absolute reset”. [Refer to (1) How to
Operate the Push Type Absolute Reset]

In the following case, conduct “Stopper pressing position acquirement” before having the
absolute reset
Do not execute it after it comes to a circumstance that requires the absolute reset. Have it
done while the normal operation can be performed.
[Refer to (2) How to Acquire the Stopper Interfering Point]
� When the absolute reset cannot be performed in the direction of the stopper interfering
movement with the initial posture at the delivery from the factory due to such reasons as

Chapter 4 Absolute Reset and Absolute Battery

interference to the peripheral equipment.
� There was a change in the stopper position due to such reasons as a removal of the
stopper of the vertical axis.

4.1.1 For PC Software

177
 (1) How to Operate the Push Type Absolute Reset

1) Backup the parameters so that they can be put back anytime to those before changing
them. Select “Parameter (P)” � “Edit (E)” from PC Software Menu to show the Edit
Parameter window. Press the “Save As” button in the Edit Parameter window to store the
parameters in the file.
Chapter 4 Absolute Reset and Absolute Battery

2) Select “Controller” � “Abs. Encoder Reset” � “Push type absolute reset” from the menu.
4.1.1 For PC Software

3) A Confirmation window shows up. Click “Yes”.

If conducting on all the axes at once, have the process of [1].

When not all the axes, but having one or some of the 4 axes to be conducted, have the
process of [2].

178
[When Performing Push Stopper Type Absolute Reset to All Axes at Once]
To have the push stopper type absolute reset for all the axes at once, follow the steps shown
below.

1) Select “All axes”.

Chapter 4 Absolute Reset and Absolute Battery

2) Click “Encoder Rotation Data Reset / Reset Controller Error (Step 1/4)”.

4.1.1 For PC Software

3) In case there is a concern that a load may interfere with surroundings at the absolute
reset, detach the load. Have the work during the emergency stop condition. After the work
is finished, click on the “OK” button.

179
 4) By referring to the displayed movement direction for each axis, adjust the axes to the
initial posture. The posture differs depending on the movement direction. Click on “Display
the explanation of initial posture” to check the explanations. Make to work on with the
emergency stop activated when moving the axes with hand. Click on the “OK” button after
the work is finished.
Chapter 4 Absolute Reset and Absolute Battery

[Initial posture]
� Arm1, Arm 2
Considering the stopper pressing position, adjust the posture to either of right arm system or
left arm system. When the product is delivered, it is set to the right arm system. Adjust to the
right arm system. In case the arm interferes with the peripheral in the right arm system, set it
to the left arm system in advance, conduct “Push stopper position acquisition” and then
adjust to the left arm system. [Refer to (2) How to Acquire the Stopper Interfering Point]
4.1.1 For PC Software

Arm 2 = Arm 2 =
Negative direction of coordinate Positive direction of coordinate

Arm 1 = Arm 1 =
Positive direction of coordinate Negative direction of coordinate

Initial posture of right arm system (At the delivery) Initial posture of left arm system
Arm 1 = Negative direction of coordinate Arm 1 = Positive direction of coordinate
Arm 2 = Positive direction of coordinate Arm 2 = Negative direction of coordinate

180
 For the position, put it apart from the stopper position for 10deg or more.
Setting it too close to the stopper, Error No. B0D “Push Stopper Operation Start Position
Error” may occur at operation.

� Vertical Axis
For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more.
Setting it at 10mm or less, Error No. B0D “Push Stopper Operation Start Position Error” may
occur at operation.

� Rotation axis
There is no specific indication for the position of rotation shaft. It can be set at any position.

Chapter 4 Absolute Reset and Absolute Battery

5) Click “Execution” button.

6) A Warning window shows up. Click “Yes”. Each operation for the push type absolute reset
starts.

4.1.1 For PC Software

7) Once the push type absolute reset for all the axes is finished, the Information window will
appear. Click “OK” button.

8) Close the Push stopper position acquisition window by clicking “�” on the upper right side
of the window. Once the window is closed, the parameters start to be written automatically
to the flash ROM, and controller is rebooted by the software reset.

181
 [When performing Push Stopper Type Absolute Reset on Each Axis One by One]
To have the push stopper type absolute reset for each axis one by one, follow the steps
shown below.

� 1st Arm and 2nd Arm

1) Select “Individual axis” in the push type absolute reset window, and set Axis to “Arm 1” (or
Arm 2).
Chapter 4 Absolute Reset and Absolute Battery
4.1.1 For PC Software

2) Click “Encoder Rotation Data Reset / Reset Controller Error (Step 1/4)”.

3) In case there is a concern that a load may interfere with surroundings at the absolute reset,
detach the load. Have the work during the emergency stop condition. After the work is
finished, click on the “OK” button.

182
 4) By referring to the displayed movement direction for each axis, adjust the axes to the
initial posture. The posture differs depending on the movement direction. Click on “Display
the explanation of initial posture” to check the explanations. Make sure to work on with the
emergency stop activated when moving the axes with hand. Click on the “OK” button after
the work is finished.

Chapter 4 Absolute Reset and Absolute Battery

[Initial posture]
� Arm1, Arm 2
Considering the stopper pressing position, adjust the posture to either of right arm system or
left arm system. When the product is delivered, it is set to the right arm system. Adjust to the
right arm system. In case the arm interferes with the peripheral in the right arm system, set it
to the left arm system in advance, conduct “Push stopper position acquisition” and then
adjust to the left arm system. [Refer to (2) How to Acquire the Stopper Interfering Point]

Arm 2 = Arm 2 =
Negative direction of coordinate Positive direction of coordinate

4.1.1 For PC Software

Arm 1 = Arm 1 =
Positive direction of coordinate Negative direction of coordinate

Initial posture of right arm system (At the delivery) Initial posture of left arm system
Arm 1 = Negative direction of coordinate Arm 1 = Positive direction of coordinate
Arm 2 = Positive direction of coordinate Arm 2 = Negative direction of coordinate

183
 For the position, put it apart from the stopper position for 10deg or more.
Setting it too close to the stopper, Error No. B0D “Push Stopper Operation Start Position
Error” may occur at operation.

5) Click ”Execution” button.

Chapter 4 Absolute Reset and Absolute Battery

6) A Warning window shows up. Click “Yes”. Each operation for the push type absolute reset
starts.

7) Once the push type absolute reset, the Information window will appear. Click “OK” button.
4.1.1 For PC Software

8) If it is necessary to have the push type absolute reset for another axis, move on to the axis
selection. When finishing the process, click “�” on the upper right side of the window.
Once the window is closed, the parameters start to be written automatically to the flash
ROM, and controller is rebooted by the software reset.

184
� Vertical Axis, Rotation Axis
1) Select “Individual axis” in the Push stopper type absolute reset window, and set Axis to
“Vert. Axis + Rot. Axis”.

Chapter 4 Absolute Reset and Absolute Battery

2) Click “Encoder Rotation Data Reset / Reset Controller Error (Step 1/4)”.

4.1.1 For PC Software

3) In case there is a concern that a load may interfere with surroundings at the absolute
reset, detach the load. Have the work during the emergency stop condition. After the work
is finished, click on the “OK” button.

185
 4) By referring to the displayed movement direction for each axis, adjust the axes to the
initial posture. The posture differs depending on the movement direction. Click on “Display
the explanation of initial posture” to check the explanations. Make to work on with the
emergency stop activated when moving the axes with hand. Click on the “OK” button after
the work is finished.
Chapter 4 Absolute Reset and Absolute Battery

[Initial posture]
� Vertical Axis
For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more.
Setting it at 10mm or less, Error No. B0D “Stopper Pressing Operation Start Position Error”
may occur at operation.

� Rotation axis
There is no specific indication for the position of rotation shaft. It can be set at any position.

5) Click “Execution” button.

4.1.1 For PC Software

6) A Warning window shows up. Click “Yes”. The operation for the push type absolute reset
starts.

186
7) Once the push type absolute reset for the axis is complete, the information window will
appear. Click “OK” button.

Chapter 4 Absolute Reset and Absolute Battery

8) When finishing the process, click “�” on the upper right side of the window. Once the
window is closed, the parameters start to be written automatically to the flash ROM, and
controller is rebooted by the software reset.

4.1.1 For PC Software

187
 (2) How to Acquire the Stopper Interfering Point

In the following case, conduct “Stopper pressing position acquirement (Note 1)” before
having the absolute reset.
� When the absolute reset cannot be performed in the direction of the stopper interfering
movement with the initial posture at the delivery from the factory due to such reasons as
interference to the peripheral equipment
� There was a change in the stopper position due to such reasons as a removal of the
stopper of the vertical axis

Note 1 In case that the absolute reset cannot be performed with the stopper pressing
movement direction of the initial posture set at the delivery due to such as
Chapter 4 Absolute Reset and Absolute Battery

interference with peripheral devices, change the setting to the initial posture of the
left arm system (stopper pressing direction on opposite side) and conduct the
stopper pressing position acquirement.
Initial Posture of Left Arm System (Opposite interfering direction)

Arm 2 =
Negative Coordinate
Direction

Arm 1 =
Positive Coordinate
Direction
4.1.1 For PC Software

(Reference)
The direction of interfering is as shown below in the initial setting at the delivery from the
factory.

Initial Posture of Right Arm System

Vertical Axis =
Negative Coordinate Direction

Arm 2 =
Positive Coordinate
Direction

Rotation Axis =
Negative Coordinate Direction

Arm 1 =
Negative Coordinate
Direction

188
Push stopper position acquisition with the process shown below.

1) Backup the parameters so that they can be put back anytime to those before changing
them. Select “Parameter (P)” � “Edit (E)” from PC Software Menu to show the Edit
Parameter window. Press the “Save As” button in the Edit Parameter window to store the
parameters in the file.

Chapter 4 Absolute Reset and Absolute Battery

2) Select “Controller” � “Abs. Encoder Reset” � “Push stopper position acquisition” from the
menu.

4.1.1 For PC Software

3) A Warning window shows up. Click “Yes”.

189
 4) A Confirmation window shows up. Click “Yes”.
Chapter 4 Absolute Reset and Absolute Battery

If conducting on all the axes at once, have the process of [1].

When not all the axes, but having one or some of the 4 axes to be conducted, have the
process of [2].
4.1.1 For PC Software

190
[When Acquiring Push Stopper Position for All Axes at Once]
To acquire the push stopper position for all the axes at once, follow the steps shown below.

1) Select “All axes” in the Push stopper position acquisition window.

Chapter 4 Absolute Reset and Absolute Battery

2) In case there is a concern that a load may interfere with surroundings at the absolute
reset, detach the load. Have the work during the emergency stop condition. After the work

4.1.1 For PC Software

is finished, click on the “OK” button.

3) Adjust each axis to the initial posture. The posture differs depending on the movement
direction. Click on “Display the explanation of initial posture” to check the explanations.
Make to work on with the emergency stop activated when moving the axes with hand.
Click on the “OK” button after the work is finished.

191
 [Initial posture]
� Arm1, Arm 2
Remove all the interferences of the peripheral devices, and set the posture to either of the
left arm system or the right arm system. It is set to right arm system when the unit is
shipped out.

Arm 2 = Arm 2 =
Chapter 4 Absolute Reset and Absolute Battery

Negative direction of coordinate Positive direction of coordinate

Arm 1 = Arm 1 =
Positive direction of coordinate Negative direction of coordinate

Initial posture of right arm system (At the delivery) Initial posture of left arm system
Arm 1 = Negative direction of coordinate Arm 1 = Positive direction of coordinate
Arm 2 = Positive direction of coordinate Arm 2 = Negative direction of coordinate

For the position, put it apart from the stopper position for 10deg or more.
Setting it too close to the stopper, Error No. B0D “Push Stopper Operation Start Position
Error” may occur at operation.

� Vertical Axis
For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more.
4.1.1 For PC Software

Setting it at 10mm or less, Error No. B0D “Push Stopper Operation Start Position Error”
may occur at operation.
� Rotation axis
There is no specific indication for the position of rotation shaft. It can be set at any position.

192
4) Select the direction to move for the vertical axis and rotation axis. It is not necessary to
change the direction to move for the vertical axis and rotation axis. Make the vertical axis
is in the coordinates minus direction.
Once the selection is made, click on the “OK” button. At this time, the direction of
movement from the current position of the initial posture to Arm 1 (1st arm) and Arm 2
(2nd arm) is automatically selected. Check the selected movement direction.

Chapter 4 Absolute Reset and Absolute Battery

5) Click “Execution” button.

4.1.1 For PC Software

6) A Warning window shows up. Click “Yes”. Process to acquire the push stopper position will
start.

193
 7) Once the push stopper position acquirement for all the axes is complete, the Information
window will appear. Click “OK” button.
Chapter 4 Absolute Reset and Absolute Battery

8) Close the Push stopper position acquisition window by clicking “�” on the upper right side
of the window. Once the window is closed, the parameters start to be written automatically
to the flash ROM, and controller is rebooted by the software reset.

9) Once the controller reboot is finished, conduct the push type absolute reset on all the axes
together.
4.1.1 For PC Software

194
 [When Acquiring Push Stopper Position on Each Axis One by One]
To have an acquirement on each axis, follow the steps below.

� 1st Arm and 2nd Arm

1) Select “Individual axis” in the Push stopper position acquisition window, and set Axis to
“Arm 1” (or Arm 2).

Chapter 4 Absolute Reset and Absolute Battery

4.1.1 For PC Software
2) In case there is a concern that a load may interfere with surroundings at the absolute
reset, detach the load. Have the work during the emergency stop condition. After the work
is finished, click on the “OK” button.

3) Adjust each axis to the initial posture. The posture differs depending on the movement
direction. Click on “Display the explanation of initial posture” to check the explanations.
Make to work on with the emergency stop activated when moving the axes with hand.
Click on the “OK” button after the work is finished.

195
 [Initial posture]
� Arm1, Arm 2
Remove all the interferences of the peripheral devices, and set the posture to either of the
left arm system or the right arm system. It is set to right arm system when the unit is
shipped out.

Arm 2 = Arm 2 =
Chapter 4 Absolute Reset and Absolute Battery

Negative direction of coordinate Positive direction of coordinate

Arm 1 = Arm 1 =
Positive direction of coordinate Negative direction of coordinate

Initial posture of right arm system (At the delivery) Initial posture of left arm system
Arm 1 = Negative direction of coordinate Arm 1 = Positive direction of coordinate
Arm 2 = Positive direction of coordinate Arm 2 = Negative direction of coordinate

For the position, put it apart from the stopper position for 10deg or more.
Setting it too close to the stopper, Error No. B0D “Push Stopper Operation Start Position
Error” may occur at operation.

4) Select the movement method. Make to select motor drive on the selection of motor
4.1.1 For PC Software

drive/hand. Change the movement direction if necessary. If clicking on “Auto. Select”

button, the direction of movement from the current position of the initial posture is
automatically selected. Once the selection is made, click on the “OK” button.

196
5) Click “Execution” button.

6) A Warning window shows up. Click “Yes”. Process to acquire the push stopper position will
start.

Chapter 4 Absolute Reset and Absolute Battery

7) Once the push stopper position acquisition is complete, the Information window will
appear. Click “OK” button.

4.1.1 For PC Software

8) If it is necessary to have the push stopper position a acquisition for another axis, move on
to the axis selection. When finishing the process, click “�” on the upper right side of the
window. Once the window is closed, the parameters start to be written automatically to the
flash ROM, and controller is rebooted by the software reset.

9) Once the controller reboot is finished, conduct the push type absolute reset on the axis
with the push stopper position acquisition.

197
 � Vertical Axis, Rotation Axis
1) Select “Individual axis” in the Push stopper position acquisition window, and set Axis to
“Vert. Axis + Rot. Axis”.
Chapter 4 Absolute Reset and Absolute Battery

2) In case there is a concern that a load may interfere with surroundings at the absolute
reset, detach the load. Have the work during the emergency stop condition. After the work
is finished, click on the “OK” button.
4.1.1 For PC Software

3) Adjust each axis to the initial posture. The posture differs depending on the movement
direction. Click on “Display the explanation of initial posture” to check the explanations.
Make to work on with the emergency stop activated when moving the axes with hand.
Click on the “OK” button after the work is finished.

198
[Initial posture]
� Vertical Axis
For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more.
Setting it at 10mm or less, Error No. B0D “Push Stopper Operation Start Position Error”
may occur at operation.

� Rotation axis
There is no specific indication for the position of rotation shaft. It can be set at any position.

4) It is not necessary to change the direction to move for the vertical axis and rotation axis.
Make the vertical axis is in the coordinates minus direction.

Chapter 4 Absolute Reset and Absolute Battery

Once the selection is made, click on the “OK” button.

5) Click “Execution” button.

4.1.1 For PC Software

6) A Warning window shows up. Click “Yes”. Process to acquire the push stopper position will
start.

199
 7) Once the push stopper position acquisition is complete, the Information window will
appear. Click “OK” button.
Chapter 4 Absolute Reset and Absolute Battery

8) When finishing the process, click “�” on the upper right side of the window. Once the
window is closed, the parameters start to be written automatically to the flash ROM, and
controller is rebooted by the software reset.

9) Once the controller reboot is finished, conduct the push type absolute reset on the axis
with the push stopper position acquisition.
4.1.1 For PC Software

200
[4] ZR Unit
(1) Absolute Reset on ZR Unit (Absolute Type Only)
Under certain conditions such as when the ZR unit is connected to the controller for the first
time, absolute
encoder battery voltage is abnormal, or encoder cable has been disconnected, an encoder
battery error
will generate and absolute reset will be required.

� Preparing for Absolute Reset

On the ZR unit, an absolute reset is performed from the ball-screw spline adjustment menu in
the PC

Chapter 4 Absolute Reset and Absolute Battery

software. You also need a special jig to perform an absolute reset.

� Versions supporting absolute reset on ZR unit: V7.4.0.0 or later

� Absolute-reset adjustment jig Model number: JG-ZRS (for ZRS)
JG-ZRM (for ZRM)

Plate

Pin

4.1.1 For PC Software

Connect the robot, controller and PC cable to enable operation from the PC software. Before
proceeding, be sure to confirm that the EMG switch operates properly.

Warning
� Performing work without understanding inspection and maintenance work thoroughly may
cause an accident resulting in injury or death.
� Put up a sign that says "Work in Progress" so as to prevent other operators from accidentally
operating the controller, operation panel, etc.
� Back up the parameters before the absolute reset.

201
 � Starting the Absolute Reset Menu (Ball-screw Spline Adjustment Window)

1) Start the ball-screw spline adjustment window from the PC software.

Chapter 4 Absolute Reset and Absolute Battery

2) The ball-screw spline adjustment window starts.

When a "Lnr Axis No (linear movement axis number)" is selected, "Rot. Axis No.
(Rotational Movement Axis Number) (Mating Axis Number)" and "Encoder Type" are
displayed.
4.1.1 For PC Software

202
� Absolute Reset (Ball-screw Spline Adjustment) Procedure
For absolute reset (ball-screw spline adjustment) for the ZR unit, a series of operations of the
vertical axis and rotary axis is performed. Since the adjustment procedure includes items that
require robot operation, confirm the range of operation of the actuator, absence of obstructions,
etc., to make sure the robot can be operated.

1) Select a " Lnr Axis No (linear movement axis number)" which will be used to perform an
absolute reset (ball-screw spline adjustment).

Chapter 4 Absolute Reset and Absolute Battery

2) Click the [Encoder Rotation Data Reset (Lnr. Axis, Rot. Axis)] button.

4.1.1 For PC Software

203
 3) When the dialog box appears, click the [Yes (Y)] button.
Chapter 4 Absolute Reset and Absolute Battery

4) When the dialog box appears, click the [Yes (Y)] button.
4.1.1 For PC Software

204
5) Click the [Reset Controller Error] button.

Chapter 4 Absolute Reset and Absolute Battery

6) Click the [Servo ON (Lnr. Axis, Rot. Axis] button.

4.1.1 For PC Software

205
 7) Click the [Temp. Standard posture standby (Lnr. Axis)] button.

Note: Up-down axis will have a home-return operation.

Chapter 4 Absolute Reset and Absolute Battery

8) Jog the rotational movement axis (R-axis) to the reference posture position (refer to the
illustration of reference posture), and then click the [Jog end] button.
4.1.1 For PC Software

Illustration of reference posture

206
9) Click the [Servo-OFF (Lnr. Axis, Rot. Axis)] button.

Chapter 4 Absolute Reset and Absolute Battery

10) Press the emergency stop switch (emergency stop button on the PC cable).

4.1.1 For PC Software

11) Release the brake. Release the brake using the switch on the controller side.

207
 Jig Installation method
Chapter 4 Absolute Reset and Absolute Battery
4.1.1 For PC Software

[1] Insert the ball-screw spline into the hole in the jig from below.
[2] Cause the D-cut surface of the ball-screw spline to contact the surface a.
[3] Cause the side surface of the ball-screw spline to contact the surface b.
[4] Tighten the screw c to secure the jig onto the ball-screw spline.
* At this time, confirm that the adjustment jig is vertical to the ball-screw spline and that the
D-cut surface and surface a are firmly in contact.
* Applicable screw: Hexagonal socket head setscrew M5
* Tightening torque: 20 [N•cm] (reference)
[5] Insert the supplied shaft into the hole in the ZR unit.
* Exercise caution because the shaft will come off if the hand is released.
[6] Turn the ball-screw spline until the supplied shaft contacts lightly with the surface d of the
jig.

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting
in injury or death.

208
12) Click the [OK] button.

Chapter 4 Absolute Reset and Absolute Battery

13) Click the [Encoder Rotation Data Reset 2 (Rot. Axis)] button.

4.1.1 For PC Software

209
 14) When the dialog box appears, click the [Yes (Y)] button.
Chapter 4 Absolute Reset and Absolute Battery

15) When the dialog box appears, click the [Yes (Y)] button.
4.1.1 For PC Software

210
16) Click the [Home pos. automatic update (Indispensability) (Rot. Axis)] button.

Chapter 4 Absolute Reset and Absolute Battery

17) Remove the adjustment tool.
18) Lock the brake (on the front panel of the controller).
19) Cancel the emergency stop (by releasing the emergency stop button on the PC cable).
20) Click the [OK] button.

4.1.1 For PC Software

211
 21) Click the [Servo ON (Lnr. Axis, Rot. Axis)] button.
Chapter 4 Absolute Reset and Absolute Battery

22) Click the [Standard Posture standby (Lnr. Axis) (Rot. Axis�0)] button.

Note: Up-down axis starts home-return operation after

the rotary axis finishes moving to 0 point.
4.1.1 For PC Software

212
23) Click the [Servo-OFF (Lnr. Axis, Rot.Axis)] button.

Chapter 4 Absolute Reset and Absolute Battery

24) Click the [Encoder Rotation Data 3 (Lnr. Axis)] button.

4.1.1 For PC Software

213
 25) When the dialog box appears, click the [Yes (Y)] button.
Chapter 4 Absolute Reset and Absolute Battery

26) Click the [Home pos. automatic update (Indispensability) (Lnr. Axis)] button, and then click
“�” in the top right-hand corner of the window to close the window.
4.1.1 For PC Software

214
27) Closing the ball-screw spline adjustment window following the ball-screw spline
adjustment opens the following screen. Click the [Yes] button.

Chapter 4 Absolute Reset and Absolute Battery

28) When all data has been written to the flash ROM, the following screen appears. Click the
[Yes] button.

4.1.1 For PC Software

215
 (2) Ball-screw spline adjustment on ZR unit (incremental type)

Normally, adjustment of the ball-screw spline s not required.

Perform it only when the combination of the main unit and the controller is changed because
the ZR unit or controller is changed.

� Ball-Screw Spline Adjusting Preparation

The absolute rest jig is required for the adjustment of the ball-screw spline for the ZR unit.

� Versions supporting Ball-Screw Spline Adjusting on ZR unit: V7.4.0.0 or later

� Absolute-reset adjustment jig Model number: JG-ZRS (for ZRS)
JG-ZRM (for ZRM)
Chapter 4 Absolute Reset and Absolute Battery

Plate

Pin

Connect the cables for the robot, controller and teaching pendant to enable operation from the
4.1.1 For PC Software

teaching pendant.
Before proceeding, be sure to confirm that the EMG switch operates properly.

Warning
� Performing work without understanding inspection and maintenance work thoroughly may
cause an accident resulting in injury or death.
� Put up a sign that says "Work in Progress" so as to prevent other operators from accidentally
operating the controller, operation panel, etc.
� Back up the parameters before the ball-screw spline adjustment.

216
� Starting the Ball-screw Spline Adjustment Window

1) Start the ball-screw spline adjustment window from the PC software.

Chapter 4 Absolute Reset and Absolute Battery

2) The ball-screw spline adjustment window starts.
When a "Lnr. Axis No. (linear movement axis number)" is selected, "Rot. Axis No.
(Rotational Movement Axis Number) (Mating Axis Number)" and "Encoder Type" are
displayed.

4.1.1 For PC Software

217
 � Ball-screw Spline Adjustment Procedure
For ball screw spline adjustment for the ZR unit, a series of operations of the vertical axis and
rotary axis is performed. Since the adjustment procedure includes items that require robot
operation, confirm the range of operation of the actuator, absence of obstructions, etc., to
make sure the robot can be operated.

1) Select a "Lnr. Axis No. (linear movement axis number)" which will be used to perform a
ball-screw spline adjustment).
Chapter 4 Absolute Reset and Absolute Battery

2) Click the [Reset Controller Error] button.

4.1.1 For PC Software

218
3) Click the [Servo ON (Lnr. Axis, Rot. Axis)] button.

Chapter 4 Absolute Reset and Absolute Battery

4) Click the [Temp. Standard posture standby (Lnr. Axis)] button.

Note: vertical axis will have a home-return operation.

4.1.1 For PC Software

219
 5) Click on “Home Return (Rotary Axis)” button.

Note: Rotary axis starts home-return operation.

Chapter 4 Absolute Reset and Absolute Battery

6) Jog the rotational movement axis to the reference posture position (refer to the illustration
of reference posture), and then click the [Jog end] button.
4.1.1 For PC Software

Illustration of reference posture

220
7) Click the [Servo-OFF (Lnr. Axis, Rot. Axis)] button.

Chapter 4 Absolute Reset and Absolute Battery

8) Press the emergency stop switch (emergency stop button on the PC cable).

4.1.1 For PC Software

9) Release the brake. Release the brake using the switch on the controller side.

221
 Jig Installation method
Chapter 4 Absolute Reset and Absolute Battery
4.1.1 For PC Software

[1] Insert the ball-screw spline into the hole in the jig from below.
[2] Cause the D-cut surface of the ball-screw spline to contact the surface a.
[3] Cause the side surface of the ball-screw spline to contact the surface b.
[4] Tighten the screw c to secure the jig onto the ball-screw spline.
* At this time, confirm that the adjustment jig is vertical to the ball-screw spline and that the
D-cut surface and surface a are firmly in contact.
* Applicable screw: Hexagonal socket head setscrew M5
* Tightening torque: 20 [N•cm] (reference)
[5] Insert the supplied shaft into the hole in the ZR unit.
* Exercise caution because the shaft will come off if the hand is released.
[6] Turn the ball-screw spline until the supplied shaft contacts lightly with the surface d of the
jig.

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident
resulting in injury or death.

222
10) Click the [OK] button.

Chapter 4 Absolute Reset and Absolute Battery

11) Click the [Home pos. automatic update (Indispensability) (Rot. Axis)] button.

4.1.1 For PC Software

12) Remove the adjustment tool.

13) Lock the brake (on the front panel of the controller).
14) Cancel the emergency stop (by releasing the emergency stop button on the PC cable).

223
 15) Click the [OK] button, and then click “�” in the top right-hand corner of the window to close
the window.
Chapter 4 Absolute Reset and Absolute Battery

16) Closing the ball-screw spline adjustment window following the ball-screw spline
adjustment opens the following screen. Click the [Yes] button.
4.1.1 For PC Software

17) When all data has been written to the flash ROM, the following screen appears. Click the
[Yes] button.

224
4.1.2 For Teaching Pendant

[1] Single and Orthogonal Axes

Executes absolute data reset.
Select the F1 (RAbs) key on the controller item screen.

Mode Transition: Ctl-RAbs

To execute absolute reset, press the F1 (Yes) key.
If not, press the F2 (No) key. Return to the previous
screen.

Chapter 4 Absolute Reset and Absolute Battery

Axis No. Input
Input the axis No. for executing absolute reset by
using the 10 keys and press the return key.

To continue absolute reset, press the F1 (OK) key.

To cancel, press the F2 (Canc) key.
To cancel on screens (1) ~ (6) (see below), press
the F2 (Canc) key.

4.1.2 For Teaching Pendant

(1) Encoder multi-rotation data reset 1
Press the F1 (OK) key.

(2) Controller error reset

Press the F1 (OK) key.

225
 (3) Servo ON
F1 (OK) key.

(4) Homing
F1 (OK) key.
Chapter 4 Absolute Reset and Absolute Battery

(5) Servo OFF

After executing absolute reset, be sure to reset
software or reconnect the power. Do not press
the F1 (OK) key but press the PAGE UP key.
Then move to "(6) Encoder multi-rotation data
reset 2."

(6) Encoder multi-rotation data reset 2

Press the F1 (OK) key.
4.1.2 For Teaching Pendant

226
Return to the axis No. input screen.
To execute absolute reset on other axes, input axis
No. here and press the F1 (OK) key.
Repeat (1) ~ (6).
To finish absolute reset, press the ESC key.

Move to the software reset screen.

Press F1 (Yes) key to execute software reset.
After the software reset, return to the mode

Chapter 4 Absolute Reset and Absolute Battery

selection screen.

That's all for the absolute reset operation.

After executing absolute reset, be sure to reset

software or reconnect the power.

4.1.2 For Teaching Pendant

227
 [2] The SCARA Axis (Excluding IX-NNN10040 and 12040)
Absolute Reset Preparation
The following jigs are required to perform an absolute reset:

� Absolute Reset Adjustment jigs

Type Remarks
JG-1 Arm length 500/600
JG-2 Arm length 250/300/350
JG-3 Arm length 700/800
JG-4 Arm length 500/600 high-speed type
Chapter 4 Absolute Reset and Absolute Battery

JG-5 Arm length 120/150/180

Connect the robot, controller and teaching pendant to make an operable status from the teaching
pendant.
Always check operation of the EMG switch before performing work.
The absolute reset adjustment jig is always required to perform an absolute reset for the rotation
axis and vertical axis, but not always required for arm 1 and arm 2.
(Rotation data can be reset as long as positioning accuracy of "center of positioning mark label
±1 graduation" is ensured.)

Plate

Pin
4.1.2 For Teaching Pendant

Example of Absolute Reset Adjustment Jig (Type JG-1)

Warning
� Performing work without understanding inspection and maintenance work thoroughly may
cause an accident resulting in injury or death.
� Put up a sign that says "Work in Progress" so as to prevent other operators from accidentally
operating the controller, operation panel, etc.

228
An absolute reset is performed on the following 3 types: arm 1, arm 2 and Z-axis + R-axis.

(1) Absolute reset on arm 1 and arm 2

Select the F1 (RAbs) key on the controller item screen.

Mode Transition: Ctl-RAbs

When performing an absolute reset, press the F1
(Yes) key.
When not performing an absolute reset, press the
F2 (No) key. The display returns to the previous
screen.

Chapter 4 Absolute Reset and Absolute Battery

Axis No. input
Enter the axis No. for an absolute reset with the 10
key and press the return key.
Enter 1 to perform an absolute reset on the arm 1
or enter 2 on the arm 2.

When continuing an absolute reset, press the F1

(OK) key.
When canceling an absolute reset, press the F2
(Canc) key.
When canceling an absolute reset on any screen of
the following (1) through (6), press the F2 (Canc)
key.

4.1.2 For Teaching Pendant

(1) Encoder multi-rotation data reset (1)
Press the F1 (OK) key.

(2) Controller error reset

Press the F1 (OK) key.

229
 (3) Servo ON
Press the F1 (OK) key.
Chapter 4 Absolute Reset and Absolute Battery

(4) Jog movement

Jog the arm to the vicinity of the basic position
(see the "Standard Posture Drawing" on the
following page) and press the F1 (OK) key.

(5) Servo OFF

Press the F1 (OK) key.

(6) Emergency stop input and adjusting jig set

Press the EMERGENCY STOP button and set
an adjusting jig.
4.1.2 For Teaching Pendant

After fixing the stand and posture as shown on

the next page, press the F1 (OK) key.

Inputting emergency stop displays the screen at the

left.
Pressing the ESC key returns the display to the
previous screen.

230
 Check that the EMERGENCY STOP button has been pressed.

When performing an absolute reset for arm 1, set an adjustment jig (pin) in arm 1 to fix the arm
at the reference position. In that case, arm 2 may be moved.
When performing an absolute reset for arm 2, set an adjustment jig (pin) in arm 2 to fix the arm
at the reference position. In that case, arm 1 may be moved.
� After checking that the EMERGENCY STOP button has been pressed, set the jig.
� Decide the basic position referring to the positioning mark seal and set the jig.
� Only the arm 1 is covered with a lid with setscrews. Remove them and set the jig.
� An absolute reset on the arm with the adjusting jig is recommended. However, a
multi-rotation reset is possible if the arm position is within the range of the mark seal ± 1
scale.

Chapter 4 Absolute Reset and Absolute Battery

Arm 1 positioning
mark seal

Arm 1 Arm 1 positioning

(Arm length 500/600, arm length 700/800) mark seal

4.1.2 For Teaching Pendant

Arm 2 positioning
mark seal

Arm 2
(Arm length 500/600, arm length 700/800)

Place both the arm 1 and arm 2

within the range of ± 1 scale.

Arm length 500/600/700/800 Standard Posture Drawing

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident
resulting in injury or death.

231
 Insertion depth: Approx. 60 mm
Chapter 4 Absolute Reset and Absolute Battery

Arm 1 (Arm length 250/300/350)

Positioning
mark label for
arm 1

Positioning
mark label
for arm 2

Insertion depth: Approx. 20 mm

Arm 2 (Arm length 250/300/350)
4.1.2 For Teaching Pendant

Arm length 250/300/350 Reference Position

(Note) When performing an absolute reset for arm 1 of

IX-NNN2515, rotate arm 2 slightly then set with
an adjustment jig (pin) to set it.

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident
resulting in injury or death.

232
 Absolute reset jig
(Pin)

Positioning
mark label for
arm 1

Chapter 4 Absolute Reset and Absolute Battery

Positioning mark
label for arm 2
Arm 1 (Arm length 120/150/180) Absolute reset jig
(Pin)

Arm Length 120*1/150/180 Reference Position

*1: When an absolute reset is performed for arm 1
(arm length: 120)

Adjust both arm 1 and 2

Arm 2 (Arm length 150/180) to a position within ±1
graduation of the center.

4.1.2 For Teaching Pendant

Positioning
mark label for
arm 2
Absolute reset jig
(Pin)
Arm 2 (Arm length 120)

Arm Length 120*2 Reference Position

*2: When an absolute reset is performed for arm 2

(arm length: 120)

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident
resulting in injury or death.

233
 (7) Encoder multi-rotation data reset
Press the F1 (OK) key.
Chapter 4 Absolute Reset and Absolute Battery

(8) Home preset value auto refresh

Press the PAGE UP key and do not press the
F1 (OK) key.

� Do not execute the item of "Home preset value auto refresh." (Be careful especially when
performing an absolute reset without a jig.)
� If "home preset value auto refresh" is executed by mistake, perform absolute reset work
without writing to Flash ROM. (The status will be the same as the one in which "home preset
value auto refresh" is not executed.)
4.1.2 For Teaching Pendant

(9) Remove the adjusting jig. Remove an

emergency stop reset adjusting jig if it is
set.
After resetting the EMERGENCY STOP button,
press the F1 (OK) key.

234
 Press the ESC key.

Restart the controller.

Chapter 4 Absolute Reset and Absolute Battery

Press the F1 (Yes) key.

The screen returns to the Mode Selection screen.

4.1.2 For Teaching Pendant

Note: Be careful not to perform reset using an incorrect sequence, since it may cause the arm
position to become offset.
Execute "home preset value auto refresh" only when any mechanical change such as
arm change has been made. (Joint part only)

235
 (2) Absolute reset on Z-axis + R-axis

Select the F1 (RAbs) key on the controller item screen.

Mode Transition: Ctl-RAbs

When performing an absolute reset, press the F1
(Yes) key.
When not performing an absolute reset, press the
F2 (No) key. The display returns to the previous
screen.
Chapter 4 Absolute Reset and Absolute Battery

Axis No. input

Enter the axis No. for an absolute reset with the 10
key and press the return key.
Enter 3.

When continuing an absolute reset, press the F1

(OK) key.
When canceling an absolute reset, press the F2
(Canc) key.
When canceling an absolute reset on any screen of
the following (1) through (6), press the F2 (Canc)
key.

(1) Encoder multi-rotation data reset (1)

Press the F1 (OK) key.
4.1.2 For Teaching Pendant

(2) Controller error reset

Press the F1 (OK) key.

236
(3) Servo ON
Press the F1 (OK) key.

(4) Temporary standard posture standby

Press the F1 (OK) key.

Chapter 4 Absolute Reset and Absolute Battery

Note: The Z-axis returns to the home position.

(5) Jog movement

Move the R-axis to the vicinity of the basic
position with jog keys (see the Standard
Posture Drawing" o the next page).
Press the F1 (OK) key.

(6) Servo OFF

Press the F1 (OK) key.

4.1.2 For Teaching Pendant

237
 (7) Emergency stop input and adjusting jig set
Press the EMERGENCY STOP button.
Press the brake release switch to release the
brake.
After fixing the standard posture as shown
below, press the F1 (OK) key.

Inputting emergency stop displays the screen at the

left.
Chapter 4 Absolute Reset and Absolute Battery

Pressing the ESC key returns the display to the

previous screen.

Place the adjusting jig plate and pin as shown below and fix the standard posture.
� After checking that the EMERGENCY STOP switch has been pressed, set the jig.
� Set the jig by referring to the positioning mark.
� Adjust the level so that the top surface of the stopper approximately agrees with the under
surface of the arm 2.
4.1.2 For Teaching Pendant

D-cut surface

Rotation axis
positioning
mark seal

Tap it on the pin

Adjust the level so that the top

surface of the stopper agrees with
the under surface of the arm 2.
(Bottom view)
D-cut surface

Arm length 500/600/700/800 Reference Position

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident
resulting in injury or death.

238
 The top face of
the stopper
should align with
the bottom face of

Chapter 4 Absolute Reset and Absolute Battery

arm 2 so that
clearance will be
approx. 4 mm.

D-cut
surface
Contact the
jig with the
pin lightly.
Positioning
mark label for
rotation axis
D-cut
surface

(Bottom view)

4.1.2 For Teaching Pendant

Arm Length 250/300/350 Reference Position

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident
resulting in injury or death.

239
 4.1.2 For Teaching Pendant Chapter 4 Absolute Reset and Absolute Battery

240
 Chapter 4 Absolute Reset and Absolute Battery
4.1.2 For Teaching Pendant

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident
resulting in injury or death.
� Pay attention to the orientation of the D-cut surface of the plate jig.

241
 (8) Encoder multi-rotation data reset (2)
Press the F1 (OK) key.

(9) Home preset value auto refresh

Press the F1 (OK) key.
Chapter 4 Absolute Reset and Absolute Battery

(10)Adjusting jig removal and emergency off

Remove the adjusting jig.
Turn off the brake release switch to enable the
brake.
Turn off the EMERGENCY STOP button.
Press the F1 (OK) key.

(11) Servo ON
Press the F1 (OK) key.
4.1.2 For Teaching Pendant

(12)Standard posture standby

Press the F1 (OK) key.

Note: The Z-axis returns to the home position.

242
(13)Servo OFF
Press the F1 (OK) key.

(14)Encoder multi-rotation data reset (3)

Press the F1 (OK) key.

Chapter 4 Absolute Reset and Absolute Battery

(15)Home preset value auto refresh
Press the F1 (OK) key.

Return to the previous screen with the ESC key.

Note: If "Write Flash ROM?" is displayed, exit the

4.1.2 For Teaching Pendant

screen with "No".

Restart the controller.

Press the F1 (Yes) key.

Return to Mode Selection window.

243
 [3] ZR Unit (Absolute Type)
Under certain conditions such as when the ZR unit is connected to the controller for the first time,
absolute encoder battery voltage is abnormal, or encoder cable has been disconnected, an
encoder battery error will generate and absolute reset will be required.

(1) Preparing for Absolute Reset

You also need a special jig to perform an absolute reset.

� Absolute-reset adjustment jig Model number: JG-ZRS (for ZRS)

JG-ZRM (for ZRM)
Chapter 4 Absolute Reset and Absolute Battery

Plate

Pin

Connect the cables for the robot, controller and teaching pendant to enable operation from the
teaching pendant.
4.1.2 For Teaching Pendant

Before proceeding, be sure to confirm that the EMG switch operates properly.

Warning
� Performing work without understanding inspection and maintenance work thoroughly may
cause an accident resulting in injury or death.
� Put up a sign that says “Work in Progress” so as to prevent other operators from accidentally
operating the controller, operation panel, etc.
� Back up the parameters before the absolute reset.

244
(2) Absolute Reset Procedures

For absolute reset for the ZR unit, a series of operations of the vertical axis and rotation axis is
performed. Because there is an item for operating the robot in the adjustment procedure,
perform the adjustment in the condition where the actuator is available by setting the
appropriate moving range of the actuator and arranging it so there are no obstacles etc. for the
actuator.

Select the F1 (RAbs) key on the controller item screen.

Mode Transition: Ctl-RAbs

When performing an absolute reset, press the F1

Chapter 4 Absolute Reset and Absolute Battery

(Yes) key.
When not performing an absolute reset, press the
F2 (No) key. The display returns to the previous
screen.

Axis No. input

Input the vertical axis No. for the ZR unit using the
ten-key pad and press the return key.

When continuing an absolute reset, press the F1

(OK) key.
When canceling an absolute reset, press the F2

4.1.2 For Teaching Pendant

(Canc) key.
When canceling an absolute reset on any screen of
the following (1) through (15), press the F2 (Canc)
key.

(1) Encoder multi-rotation data reset (1)

Press the F1 (OK) key.

(2) Controller error reset

Press the F1 (OK) key.

245
 (3) Servo ON
Press the F1 (OK) key.

(4) Temporary standard posture standby

Press the F1 (OK) key.
Chapter 4 Absolute Reset and Absolute Battery

Note: The vertical axis returns to the home

position.

(5) Jog movement

Move the rotation axis to the vicinity of the
basic position with jog keys (see the “Standard
Posture Drawing” on the next page).
Press the F1 (OK) key.

(6) Servo OFF

Press the F1 (OK) key.
4.1.2 For Teaching Pendant

(7) Emergency stop input and adjusting jig set

Press the EMERGENCY STOP button.
Press the brake release switch to release the
brake.
After fixing the adjusting jig as shown in the
standard position figure, press the F1 (OK) key.

Inputting emergency stop displays the screen at the

left.
Pressing the ESC key returns the display to the
previous screen.

246
 Jig Attachment Procedure

Chapter 4 Absolute Reset and Absolute Battery

D-shaped surface

4.1.2 For Teaching Pendant

[1] Insert the ball screw spline shaft into the jig hole from the lower side.
[2] Put the D-cut surface of the ball screw spline shaft onto the surface “a”.
[3] Put the ball screw spline shaft side surface onto the surface “b”.
[4] Fasten the screw “c” and fix the jig onto the ball screw spline shaft.
* At that time, make sure that the adjusting jig is placed vertically to the ball screw spline
shaft and the D-cut surface closely contacts the surface “a”.
* Screws to be used : Hexagon socket head set screw M5
* Tightening Torque : 20 [N�cm] (reference)
[5] Insert the attached shaft into the hole on the ZR unit body.
* Be careful because the shaft comes off easily when your hand is released.
[6] Turn the ball screw spline shaft and put the attached shaft onto the surface “d” of the jig.

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting
in injury or death.

247
 (8) Encoder multi-rotation data reset (2)
Press the F1 (OK) key.

(9) Home preset value auto refresh

Press the F1 (OK) key.
Chapter 4 Absolute Reset and Absolute Battery

(10)Adjusting jig removal and emergency off

Remove the adjusting jig.
Turn off the brake release switch to enable the
brake.
Turn off the EMERGENCY STOP button.
Press the F1 (OK) key.

(11) Servo ON
Press the F1 (OK) key.
4.1.2 For Teaching Pendant

(12)Standard posture standby

Press the F1 (OK) key.

Note: The vertical axis returns to the home

position.

248
(13)Servo OFF
Press the F1 (OK) key.

(14)Encoder multi-rotation data reset (3)

Press the F1 (OK) key.

Chapter 4 Absolute Reset and Absolute Battery

(15)Home preset value auto refresh
Press the F1 (OK) key.

Return to the previous screen with the ESC key.

4.1.2 For Teaching Pendant

If “Write Flash ROM?” is displayed, exit the screen
with “Yes.”

Restart the controller.

Press the F1 (Yes) key.

Return to Mode Selection window.

249
 [4] Perform Ball Screw Spline Shaft Adjusting on ZR Unit (Incremental Type)
Normally, adjustment of the ball screw spline shaft adjusting is not required.
Perform it only when the combination of the main unit and the controller is changed because the
ZR unit or controller is changed.

(1) Ball Screw Spline Shaft Adjusting Preparation

The absolute rest jig is required for the adjustment of the ball screw spline shaft adjusting for
the ZR unit.

� Absolute-reset adjustment jig Model number: JG-ZRS (for ZRS)

JG-ZRM (for ZRM)
Chapter 4 Absolute Reset and Absolute Battery

Plate

Pin

Connect the cables for the robot, controller and teaching pendant to enable operation from the
4.1.2 For Teaching Pendant

teaching pendant.
Before proceeding, be sure to confirm that the EMG switch operates properly.

Warning
� Performing work without understanding inspection and maintenance work thoroughly may
cause an accident resulting in injury or death.
� Put up a sign that says "Work in Progress" so as to prevent other operators from accidentally
operating the controller, operation panel, etc.
� Back up the parameters before the ball screw spline shaft adjusting.

250
(2) Ball-screw Spline Adjustment Procedure

For ball screw spline shaft adjusting for the ZR unit, a series of operations of the vertical axis
and rotation axis is performed. Because there is an item for operating the robot in the
adjustment procedure,
perform the adjustment in the condition where the actuator is available by setting the
appropriate moving range of the actuator and arranging it so there are no obstacles etc. for the
actuator.

Select the F1 (RAbs) key on the controller item screen.

Mode Transition: Ctl-RAbs

Chapter 4 Absolute Reset and Absolute Battery

When performing an ball screw spline shaft
adjusting, press the F1 (Yes) key.
When not performing an ball screw spline shaft
adjusting, press the F2 (No) key. The display
returns to the previous screen.

Axis No. input

Input the vertical axis No. for the ZR unit using the
ten-key pad and press the return key.

When continuing an ball screw spline shaft

adjusting, press the F1 (OK) key.

4.1.2 For Teaching Pendant

When canceling an ball screw spline shaft adjusting,
press the F2 (Canc) key.
When canceling an ball screw spline shaft adjusting
on any screen of the following (1) through (9), press
the F2 (Canc) key.

(1) Controller Error Reset

Press the F1 (OK) key.

(2) Servo ON
Press the F1 (OK) key.

251
 (3) Temporary standard posture standby
Press the F1 (OK) key.

Note: The vertical axis returns to the home

position.

(4) Move to home position

Chapter 4 Absolute Reset and Absolute Battery

Press the F1 (OK) key.

Note: The rotation axis returns to the home

position.

(5) Jog movement

Move the rotation axis to the vicinity of the
basic position with jog keys (see the “Standard
Posture
Drawing” on the next page).
Press the F1 (OK) key.

(6) Servo OFF

Press the F1 (OK) key.
4.1.2 For Teaching Pendant

(7) Emergency stop input and adjusting jig set

Press the EMERGENCY STOP button.
Press the brake release switch to release the
brake.
After fixing the adjusting jig as shown in the
standard position figure, press the F1 (OK) key.

Inputting emergency stop displays the screen

at the left.
Pressing the ESC key returns the display to the
previous screen.

252
 Jig Attachment Procedure

Chapter 4 Absolute Reset and Absolute Battery

D-shaped surface

4.1.2 For Teaching Pendant

[1] Insert the ball screw spline shaft into the jig hole from the lower side.
[2] Put the D-cut surface of the ball screw spline shaft onto the surface “a”.
[3] Put the ball screw spline shaft side surface onto the surface “b”.
[4] Fasten the screw “c” and fix the jig onto the ball screw spline shaft.
* At that time, make sure that the adjusting jig is placed vertically to the ball screw spline
shaft and the D-cut surface closely contacts the surface “a”.
* Screws to be used : Hexagon socket head set screw M5
* Tightening Torque : 20 [N�cm] (reference)
[5] Insert the attached shaft into the hole on the ZR unit body.
* Be careful because the shaft comes off easily when your hand is released.
[6] Turn the ball screw spline shaft and put the attached shaft onto the surface “d” of the jig.

Warning
� Be sure to press the EMERGENCY STOP switch before setting an adjusting jig.
Failure to do so may cause a robot malfunction, which may lead to a serious accident resulting
in injury or death.

253
 (8) Home preset value auto refresh
Press the F1 (OK) key.

(9) Adjusting jig removal and emergency off

Remove the adjusting jig.
Chapter 4 Absolute Reset and Absolute Battery

Turn off the brake release switch to enable the

brake.
Turn off the EMERGENCY STOP button.
Press the F1 (OK) key.

Return to the previous screen with the ESC key.

If “Write Flash ROM?” is displayed, exit the screen

1 with “Yes.”
4.1.2 For Teaching Pendant

Restart the controller.

Press the F1 (Yes) key.

Return to Mode Selection window.

254
4.2 Absolute Battery
4.2.1 Absolute Encoder Backup Type
The backup for the absolute position data is conducted by the battery.
The absolute encoder position data will be maintained even if the power to the robot is turned
OFF.
Batteries have a life, so it is recommended that you replace them at regular intervals.
Replacement Cycle (reference) 2 years

Replace the battery immediately if the absolute data backup battery voltage drop warning

Chapter 4 Absolute Reset and Absolute Battery

(Error No. A23) is generated as a result of the battery voltage monitoring (Note 1) of the controller.
The period of grace after detecting the error till absolute data backup battery voltage error
(Error No. 914 and CA2) is approximately 10 days under the condition of continuously power
conducted in the ambient temperature at 20degC.
Once the Absolute Data Backup Battery Voltage Error (Error No. 914 and CA2) is detected,
the absolute reset operation becomes necessary.

Note1 You can cause a signal to be output to an output port when the absolute data backup
battery voltage drop warning is present.
Set I/O parameter No. 60 to “1,” and output port No. 314 will turn ON when the absolute
data backup battery voltage drop warning is present.

Absolute Encoder Battery Backup Type

Item Specifications
Battery model AB-5 (IAI model code)
Battery voltage 3.6V
Current capacity 2000mAH
Reference battery replacement 2 years after start using
interval (Note 2) (in case being left without controller turned on)
(Surrounding air temperature 40�C) 2 years after start using
(in case power conducted duration to controller is
50%)

4.2.1 Absolute Encoder Backup Type

4.2 Absolute Battery
Absolute Data Backup Battery 3.0V to 3.2V
Voltage Drop Warning (Error No.
A23) Detecting voltage
Absolute Data Backup Battery 2.3V to 2.7V
Error detection

Voltage Error (Error No. 914, and

CA2) Detecting voltage
Time before detecting Absolute 10 days of continuous operation, or 7 days without
Data Backup Battery Voltage Error power supply, at 20�C
(Error No. 914 and CA2) after 10 days of continuous operation, or 2.5 days
detecting Absolute Data Backup without power supply, at 40�C
Battery Voltage Drop Warning
(Error No. A23) (for reference only)
Minimum Data Retaining Voltage Min. 2.7V (depends on encoder performance)
Time after detecting the absolute If an error is detected in the absolute encoder, the
battery voltage error (Error No. 914 and absolute reset is required with no exception.
CA2) till the data retaining failure (for
reference only)
Absolute data retaining time at battery 15 minutes
replacement (It is the maximum allowable time.)
Note 2 Replace the battery regularly.

255
 4.2.2 Replace Absolute Battery
[1] For Single and Orthogonal Axes

The replacement process may differ depending on the error (No. A23, 914, CA2) occurred during
replacement.�
•� Have from (1) to (6) conducted when there is no error has occurred or Absolute Data
Backup Battery Voltage Drop Warning (Error No. A23) has being occurred.��
•� If the absolute data backup battery voltage error (Error No. 914 or CA2) is being generated,
conduct (1) to (6), and then have the section 4.1 Absolute Reset (excluding SCARA robot).��
�
1) Turn OFF the controller power. (Both control power and motor drive power supply)
Chapter 4 Absolute Reset and Absolute Battery

2) Remove the screw (indicated with an arrow) holding the absolute unit panel to dismantle
the panel.
�
�
�
th
� Absolute battery for 8 axis
� th
Absolute battery for 7 axis
�
� th
Absolute battery for 6 axis
� th
Absolute battery for 5 axis
�
� th
Absolute battery for 4 axis
�
rd
� Absolute battery for 3 axis
� nd
Absolute battery for 2 axis
�
� st
Absolute battery for 1 axis
� Screw
�
4.2.2 Replace Absolute Battery

�
�
3) Unplug the connectors on the battery and pull out the battery.
�
�
� Connector
�
�
�
�
�
�
�
�
�
�
�
Caution : Insert a new battery within 15 minutes after the connector is pulled off.
If more time is passed and the absolute position data is lost, the absolute
reset becomes necessary.

256
 4) Insert the new battery to the holder and plug in the battery connectors.
�
�
�
� Connector
�
�
�
�
�
�

Chapter 4 Absolute Reset and Absolute Battery

�
�
�
�
�
�
�
�
5) Attach the panels on the absolute battery unit with screws.
�
�
�
�
�
�
�
�
�
�

4.2.2 Replace Absolute Battery

�
�
�
�
�
Screw
�
�
�
�
�
6) Turn ON the controller power.
Once “rdy” is shown in the 7-segment LED display window on the controller, the
replacement work is finished.

If Absolute-Data Backup Battery Voltage Low Warning (Error No. A23) is shown, turn off
the controller power and proceed to (7). Reset Absolute-Data Backup Battery Voltage Low
Warning (Error No. A23).
�

257
 7) Plug in the 9-pin D-sub connector on the PC software connection cable to the
communication port on the PC (or plug in the USB connector to the USB port on the PC),
and joint the 25-pin D-sub connector to the 25-pin communication port on the controller.�
8) Turn on the power to the controller.
9) Start up the PC software for X-SEL (X_SEL.exe)
Stated below is how to operate the PC software for X-SEL.
10) [Connection Confirmation] dialog box shows up. Set the communication port to that on the
PC. Click [OK] button.
(The baud rate will be automatically identified without making any setting.)
Chapter 4 Absolute Reset and Absolute Battery

�
11) Select Menu � Controller (C) � Absolute Reset (A).
Have the following operations in order.

12) The warning dialog box will appear. Click on the OK button.
�
�
�
�
�
�
�
� Warning
13) The absolute reset window dialog box will appear.
Have the following operations in order.
4.2.2 Replace Absolute Battery

�
�
1) Set Axis No. to the axis number that the
battery was replaced.
Note: Do not attempt to click Encoder
� Rotation Data Reset 1.
�
�
�
�
�
�
�
�
�
2) Click Reset Encoder Error.�
�
3) Close the dialog box.
�
�

258
 14) Select Controller (C) � Software Reset (R) in the menu to reboot the controller.�
�

�
�

Chapter 4 Absolute Reset and Absolute Battery

(Note) Restart the controller by having the software reset or rebooting the power. Without
doing so, it may cause;
Error No. C70 ABS Coordinate Unconfirmed Error, or
Error No. C6F Home-Return Incomplete Error.�
�
�
[2] For SCARA Robot

Replace the battery by following the replacement process stated in the instruction manual of
SCARA Robot that you use. [Refer to instruction manual for each SCARA Robot.]

4.2.2 Replace Absolute Battery

259
 4.2.2 Replace Absolute Battery Chapter 4 Absolute Reset and Absolute Battery

260
Chapter 5 Special Functions
5.1 RC Gateway Function
There are 2 types in RC Gateway Function.
(1) SIO function (standard)
(2) Fieldbus Type (option)
This function enables the operator to connect it to the RC (ROBO Cylinder) controller so that
the RC actuator control is available using the SEL language.
[Refer to the separate operation manual for the RC gateway function (ME0188).]
�
[1] SIO type
� System Configuration Example

Chapter 5 Special Functions

General-purpose RS232C port connector 2
The RC gateway function can be used only with this connector.

XSEL
controller
General-purpose RS232C port connector 1

ROBONET
SCON-C PCON-SE ACON-SE (SIO type)

5.1 RC Gateway Function

�
�
[2] Fieldbus type
� System Configuration Example

RC Gateway
Fieldbus Board
(option)
XSEL
controller

SCON-CA-DV PCON-DV MSEP-DV MSCON-DV

ACON-DV
�

261
 5.2 Vision system I/F Function
This function enables the operator to save the coordinate data for work sent from the vision
system, directly on the position data.
[Refer to the separate operation manual for the Vision system I/F Function (ME0269).]

XSEL controller Actuator

coordinate values Position Data Movement Command

Vision
system
Chapter 5 Special Functions
5.2 Vision system I/F Function

262
5.3 Synchro Function

5.3.1 Overview
[1] Common Items (Applicable to both the absolute specification and incremental specification)
Synchro axes consist of a master axis and a slave axis. The axis with the smaller axis number
becomes the master axis.
For the synchronizing band between Single-Axis and Cartesian in RX/SX controllers and R/S
Controllers, it is necessary to have 4 pairs at the most of combinations.
Controller

�
� Y-axis

Chapter 5 Special Functions

�
�
X-axis
� Slave axis
Master axis
�
�
A combination of master-axis and slave-axis numbers is set in axisspecific parameter No. 65. The
mating synchro axis is set for each axis. (If the axis is not a synchro axis, “0” is set.)
Example) 2-axis connection
�
Master axis (one with the smaller axis number) Slave axis

5.3.1 Overview
5.3 Synchro Function
Axis number of mating axis �
�
(Note) The settings of other parameters vary partially between the absolute specification and
the incremental specification.

Movement commands in the program are valid only for the master axis. The position data of the
slave axis will be ignored.
Only the master axis executes home return (including home return following an absolute reset).
Example)
HOME 1
(Note) Do not perform home return on an absolute controller, except after an absolute reset.
�
Consider the relative positioning of the master-axis and slave-axis sliders so that the slave slider
will not contact the mechanical ends during home return or full-stroke movement.

263
 [2] Incremental Specification
With the incremental specification, the relative positioning of the master-axis and slave-axis
sliders remains fixed while the power is on. (If the sliders were moved while the power was
turned off, synchro movement will begin from the positions after the movement.)
Absolute reset is not performed on an incremental controller. Home return must be executed
at software reset after the power is turned on.
�
[3] Absolute Specification (When both the master axis and slave axis are of the absolute
specification)
An absolute reset is performed after the relative positioning of the master axis and slave axis
is determined. Even when the sliders were moved while the power was turned off, the
positions will be corrected automatically when a servo ON (SVON) command is executed.
(The slave slider will move to the displayed coordinate position of the master slider in a
fine-drive mode.)
Chapter 5 Special Functions

[Refer to 8.5 How to Absolute Reset on Synchronizing Type]

(Note) For Linear Servo Actuator LSAS Series, the synchronizing function acts as the
incremental type.
5.3.1 Overview

264
5.3.2 How to Absolute Reset on Synchronizing Type
[1] Absolute Reset on Synchronizing Axis
The way how to perform the absolute reset differs in case the two axes are both absolute type
and in case it is the combination of absolute type and incremental type. Which procedure to
use is determined by the values set for the master axis and slave axis in “Axis-specific
parameter No. 38, Encoder ABS/INC type.”

Values in “Axis-specific parameter No. 38, Encoder

ABS/INC type”
ABS (Absolute Type): 1 Absolute reset method
INC (Incremental type): 0
Master axis Slave axis
Refer to 8.5.3 Method for when 2 Axes
1 1

Chapter 5 Special Functions

are Absolute Type
Refer to 8.5.5 Method for Combination
1 0 of Absolute Type and Incremental
Type
Absolute reset is not necessary. Have
0 0
the home-return operation conducted.
�
(Example 1)� For the combination both of two axes are absolute type
�
Master axis (one with the smaller axis number)
� Slave axis
�
�
�
�
�
�
�

5.3.2 How to Absolute Reset on Synchronizing Type

(Example 2)� For the combination of absolute type and incremental type
�
�
�
�

265
 [2] Position Adjustment of Synchro-Axis Sliders
The positions of synchro-axis sliders are adjusted (Adjustment of parallelization between two
physical axes)
�
(1) With the axes and controller not connected by cables (controller power is off), adjust the
relative positioning of the master axis and slave axis and couple the axes.
(2) If position adjustment cannot be performed with the axes and controller not connected by
cables (when a brake is equipped, etc.), follow the steps below:
1) Decouple the sliders and connect the axes and controller using cables.
2) Record the settings in “Each Axis Parameter No. 65 Synchronizing Mating Axis Number”
of the master axis and slave axis. (Make a record so the settings can be put back to the
initial ones in the process later.)
3) Enter “0” for both the master axis and slave axis in “Axis-specific parameter No. 65,
Mating synchro-axis number,” in order to temporarily disable the synchro function. Then,
Chapter 5 Special Functions

select [Transfer to Controller] � [Write to Flash ROM] � [Restart Controller] (software

reset).
4) Have the absolute reset conducted on the master axis and slave axis individually.�
[Refer to 4.2.1 How to Absolute Reset on Single and Cartesian Axes]
5) Adjust the relative slider positions via jog operation, etc., and couple the sliders.
6) To enable the synchro function again, enter the values of the master axis and slave axis
recorded in step 2 in “Axis-specific parameter No. 65, Mating synchro-axis number.” Then,
select [Transfer to Controller] � [Write to Flash ROM] � [Restart Controller] (software
reset).
�
5.3.2 How to Absolute Reset on Synchronizing Type

266
 [3] Method for when 2 Axes are Absolute Type
Described below is the steps when master axis = 1 and slave axis = 1 in “Each Axis
Parameter No. 38 Encoder ABS/INC Type”.
�Note� When having the absolute reset conducted again on a synchronizing axis which is
already adjusted, follow the instruction in 8.5.4 Preparation and Method for Having
Absolute Reset Again.
�
(1) Record the setting in “Each Axis Parameter No. 83 ABS Synchro-Slave Axis Coordinate
Initializing Cancel” for the slave axis.
(This value will be used to revert the parameter to the original setting in a subsequent
process.)

Chapter 5 Special Functions

(2) Set “0” for the slave axis in “Axis-specific parameter No. 83, ABS synchro slave-axis
coordinate initialization cancellation.”

�
�
�
�
�
�
Select [Transfer to Controller] � [Write to Flash ROM] � [Restart Controller] (software reset).
�
�

5.3.2 How to Absolute Reset on Synchronizing Type

�
�
�
�
�
�
�
�
�
�

267
 (3) Have the absolute reset conducted, not by following the instruction shown in the screen, but
by following the steps stated below.
1) Have only “Encoder Multi-Rotation Data Reset 1” done on the slave axis.
�
�
�
� Select the axis number of the slave axis.
� Click [Encoder Rotation Data Reset 1].
� A series of warning windows will be
� displayed. Click [Yes] on all windows.
� Do not click [Reset Controller Error] and
� subsequent buttons.
�
Chapter 5 Special Functions

�
�
�
�
�
�
�
�
�

2) Perform “Encoder Rotation Data Reset 1” through “Encoder Rotation Data Reset 2” for the
master axis by following the on-screen instructions.
�
�
�
� Select the axis number of the master axis.
� Click [Encoder Rotation Data Reset 1].
5.3.2 How to Absolute Reset on Synchronizing Type

� A series of warning windows will be

� displayed. Click [Yes] on all windows.
� Follow the on-screen instructions to
� complete [Reset Controller Error] through
[Encoder Rotation Data Reset 2].
�
�
�
�
�
�
�
�
�
�
3) Select the axis number of the slave axis again in Axis No. and 1) have only “Encoder
Multi-Rotation Data Reset 1” done on the slave axis.
Perform the same operation in step 1 and then click [Close].

268
 (4) Set the value of the slave axis recorded in (1) in “Axis-specific parameter No. 83, ABS
synchro slave-axis coordinate initialization cancellation.”
�
�
�
�
�
�
�
Select [Transfer to Controller] � [Write to Flash ROM] � [Restart Controller] (software reset).
�
(5) Set home preset values and align the master-axis and slave-axis coordinates.
1) If the controller’s 7-segment LED display shows “rdy,” read the current positions of the

Chapter 5 Special Functions

master axis and slave axis displayed on the screen with the servo turned off.
(Note) If an “Error No. C74, Actual-position soft limit over error” generates, reset the
error. Once “rdy” is displayed, you can read the current positions.

�
�
�
�
�
�
�
�
�
�
�
�
�

5.3.2 How to Absolute Reset on Synchronizing Type

* If the servo is turned on in this stage, an “Error No. D0A, Driver overload error,” “Error No.
C6B, Deviation overflow error,” “Error No. CA5, Stop-deviation overflow error” or other error
may generate.

269
 2) Perform the following calculation.
Slave-axis value in “Axis-specific parameter No. 12, Home preset value” [0.001 mm] +
((Displayed current position of master axis [mm] – Displayed current position of slave axis
[mm]) x 1000)

In this example, the above formula is rewritten as follows:

0 + ((-0.002 – 1.184) � 1000) = -1186
Chapter 5 Special Functions

�
3) Input the value figured out in 2) to “Each Axis Parameter No. 12 Home Preset” on the
slave axis.
�

�
Select [Transfer to Controller] � [Write to Flash ROM] � [Restart Controller] (software
reset).
�
(6) After turning the servo ON, move the master axis with jog operation.
�
�
5.3.2 How to Absolute Reset on Synchronizing Type

�
Tick the
check box.

270
 If an “Error No. D0A, Driver overload error,” “Error No. C6B, Deviation overflow error,” “Error
No. CA5, Stop-deviation overflow error” or other error generates, check the following items:
• If the current position of the master axis deviates significantly from that of the slave axis, the
setting in (5) may be incorrect.
• Check the following parameters to confirm that the required fields are properly filled or
changed:
“Axis-specific parameter No. 65, Mating synchro-axis number”
“Axis-specific parameter No. 83, ABS synchro slave-axis coordinate initialization
cancellation”
• Check to see if the slider movements are restricted.

Once the absolute reset is completed normally with no error being issued, move the
synchronized axes to the specific position such as the home position and make a marking at
the slider position of the master axis and slave axis.

Chapter 5 Special Functions

(Note) The marking is used for the judgment of the position misalignment at the re-execution of
absolute reset.
[Refer to 8.5.3 Preparation for and Process of Re-execution of Absolute Reset in the
next page for the details.]
�
�

5.3.2 How to Absolute Reset on Synchronizing Type

271
 [4] Preparation for and Process of Re-execution of Absolute Reset
[Important]
In case that absolute reset has to be conducted again for such reasons as a trouble, follow the
instruction below to perform the reset.

(1) Home preset in Step 8.5.3 (5) is not necessary if the connection of the mechanical links is in
the same condition as when the device is booted (at 1st absolute reset) (for cable
replacement, cable disconnect/insert or battery replacement, etc.). After finishing the
procedure in Step 8.5.3 (4), proceed to Step 8.5.3 (6) to have an operation check. If there is
no problem found in the checking, the process for the absolute reset is complete.
�
(2) There is rarely a case that a misalignment in the coordinate display of the slave axis after
the absolute reset for the amount close to the ball screw lead length occurs. This is a
phenomenon that could occur at absolute reset when the encoder of the slave axis is near
Chapter 5 Special Functions

the Z-phase.
The current coordinate is shown by the encoder counting the number of rotation with the
Z-phase and adding one rotation of the absolute value. Therefore, the encoder identifies as
a movement of one rotation is made if it passes the Z-phase.
In such a case, repeat the absolute reset until the misalignment of the coordinate display of
the slave axis is adjusted.
The misalignment can be solved as soon as the same condition as the startup is detected.
If the misalignment of the coordinates cannot be fixed even after several times of absolute
reset, see the following and give it a try.
1) Turn the servo off on the master axis and the slave axis, and move them manually with
hands to the position marked in Step 8.5.3 (6) at the initial startup.
2) Read the coordinates of the master axis and slave axis at this time. The picture below is
for when the 1st axis is the master and 2nd is the slave.
5.3.2 How to Absolute Reset on Synchronizing Type

�
� Coordinate of Master Axis Coordinate of Slave Axis
�
3) Calculate the following numbers, re-adjust the home preset value and establish the settings
for “Each Axis Parameter No. 12 Home Preset” on the slave axis.
A. If Coordinate of Master Axis – Coordinate of Slave Axis > 0 � Add lead length to
current home preset value�
B. If Coordinate of Master Axis – Coordinate of Slave Axis < 0 � Subtract lead length
from current home preset value
C. If Coordinate of Master Axis – Coordinate of Slave Axis � 0 � Use current home
preset value as it is

Caution: If a change is necessary on the home preset value for a fine-tuning of a slave
axis at the startup, record and keep the home preset value before the change by
following the method mentioned in 8.5.3 (5).
When the absolute reset is executed again, put the home preset value back to
this value to have the absolute reset process, and then put it back to the current
home preset value.
�
�

272
(3) As a reason of the position misalignment, it can also be considered that the mechanical
distortion of the linking condition may have changed due to the time-dependent change. In
such a case, have the absolute reset process same as the one for the initial startup. In this
case it is also necessary to conduct the teaching of the position data again.

(4) In any case, make sure the positioning to the position data is carried out properly. If a
misalignment is occurred to the position, have the absolute reset executed again or conduct
the teaching again.

(5) Contact us if there is a problem during the process above being carried out or the trouble
cannot be solved.

Chapter 5 Special Functions

5.3.2 How to Absolute Reset on Synchronizing Type

273
 [5] Method for Combination of Absolute Type and Incremental Type
Described below is the steps when master axis = 1 and slave axis = 0 in “Each Axis
Parameter No. 38 Encoder ABS/INC Type”.
After completing 8.5.2, “Position Adjustment of Synchro-Axis Sliders,” perform an absolute
reset for the master axis only. For the operation procedure, refer to the operation manual for
the XSEL Controller or PC software. [Refer to 4.2.1 How to Conduct Absolute Reset on Single
and Cartesian Axes]
(Note) On the synchronized axes that the normal absolute reset was conducted only on the
master axis, there is no such function to correct the misalignment of a slider while the
power is OFF even after the servo is turned ON.

[6] Notes on Use of the Synchro Function

• As a rule, the synchro function must be implemented by coupling the master-axis and
slave-axis sliders using a bracket, etc.
Chapter 5 Special Functions

• If the current positions of the master axis and slave axis are not in the right points when the
servo is turned ON, an automatic correction can be made with slow speed.
�The slave-axis slider will move to the displayed coordinate position of the master-axis slider
in a fine-drive mode.�
• With a system subject to a relatively large positional shift while the servo power is turned For
the systems with the misalignment comparatively big while the servo is off, make sure to
acquire the current positions of the master axis and slave axes with PRDQ Command and
wait for the current positions of the slave axes and the master slave till it gets in the
tolerance of +/-0.3mm after the servo is turned off before making an operational command.
�
(Reference program)
This program reads the current positions of the master axis and slave axis after the servo is
turned on, and turns ON global flag 600 when the distance between the two axes becomes 0.3
mm or less. Make an operational command after No. 600 is turned on.

SVON 1 Turn ON the servos of the synchro axe

BTOF 600 Turn OFF flag 600.
LET 100 1.000 Assign 1 (or any value larger than 0.2) to variable
5.3.2 How to Absolute Reset on Synchronizing Type

100.
DWGT 100 0.300 End the loop when the value in variable 100 becomes
0.3 or less (= when the distance between the master
axis and the slave axis becomes 0.3 mm or less).
PRDQ 1 100 Assign the current position of the master axis to
variable 100.
PRDQ 2 101 Assign the current position of the slave axis to
variable 101.
SUB 100 *101 Subtract the value in variable 101 from the value in
variable 100.
IFLT 100 0.000 If the result is a negative value,
MULT 100 –1.000 Multiply the result by –1 to convert it to a positive
value.
EDIF
EDDO
BTON 600 Turn ON flag 600.
EXIT

274
5.4 Multiple-Slider Near-Miss Detection (Collision Prevention) Function
When multiple sliders are used, this function prevents jogging or positioning axes from
colliding with one other. The following parameters are set to detect near-miss situations
among multiple sliders.

Setting method
[1] Set the mating axis number for each axis in axis-specific parameter No. 104, “Target axis
specification for multiple-slider near-miss detection.”
Example 1: 2-axis controller
Set the mating axis number for each axis. (The example below assumes that
an interlocked slider exists on the positive side of the coordinate system of
the target axis)

Chapter 5 Special Functions

Example 2: When an interlocked slider exists on the negative side of the coordinate
system of the target axis (Axis 2 is on the negative side)

[2] Set the effective stroke in axis-specific parameter No. 105, “Effective stroke of multiple
sliders.” (The example below assumes a stroke of 1140.)

(Note) The multiple-slider near-miss detection (collision prevention) function is enabled only
when coordinates of two target axes (mating axes) are confirmed. This function is

5.4 Multiple-Slider Near-Miss Detection (Collision Prevention) Function

disabled if an encoder error is present or when home return is not yet completed on an
incremental-encoder controller.
�
Soft limit- � Soft limit+
(Stroke)
�
Axis 1 � Axis 2
�
(Stroke)
�
�
Soft limit+ Soft limit-
�
After a near-miss situation is detected, the following errors will generate:
Error No. 422, “Multiple-slider command position near-miss error” (Emergency deceleration will be
triggered to stop the sliders, after which the servo will be turned OFF.)
Error No. 423, “Multiple-slider actual position near-miss error” (Emergency deceleration will be
triggered to stop the sliders, after which the servo will be turned OFF.)
(Note) Following a near-miss detection, pull the sliders out of their near-miss positions via jogging,
etc. (The sliders can be jogged in pull-out directions.)

275
 Related Parameters (Axis-specific Parameters)
Default Value
No. Parameter name Input range Unit Remarks
(Reference)
Bits 0 to 3: Mating axis number of
near-miss detection target
(on the positive side of the
coordinate system of the
target axis)
Bits 4 to 7: Mating axis number of
near-miss detection target
(on the negative side of the
coordinate system of the
target axis)
* The mating axis must be entered for
each axis. (Of the pair, the axis with
Target axis specification for
0H to the smaller axis number becomes the
104 multiple-slider near-miss 0H
FFFFFFFFH main axis for the sake of
detection
Chapter 5 Special Functions

convenience.)
* For each axis, only an axis whose
resolution and other related
characteristics are the same can be
specified as a mating axis.
* In the case of synchro axes, always
specify the synchro master axis.
(Specification of the synchro slave
axis is prohibited.)
* Specify “0” if no adjacent slider is
present on the applicable side of the
coordinate system of the target axis
Set [Allowable furthest distance
between sliders] – [Allowable closest
distance between sliders] in the
operational range of the two axes
Effective stroke of 0 to
105 0 0.001mm applicable for the multi-slider
multiple sliders 99999999
overapproach detection.
(Of the multiple sliders, only the
parameter for the master axis is
valid.)
Emergency deceleration
106 margin upon multiple-slider 5 0 to 999 0.01G
near-miss detection
5.4 Multiple-Slider Near-Miss Detection (Collision Prevention) Function

Bits 0 to 3: Margin for multiple-slider

actual position near-miss
detection (mm)
(Of the multiple sliders, only
the parameter for the master
Multiple-slider setting: Bit 0H to axis is valid.)
107 12H
pattern 1 FFFFFFFFH Bits 4 to 7: Margin for multiple-slider
command position near-miss
detection (mm)
(Of the multiple sliders, only
the parameter for the master
axis is valid.)
�

�
�

276
Chapter 6 Parameter
Parameter data should be set appropriately according to the applicaiton requirements. When a
change is required to the parameters, make sure to back up the data before the change so the
settings can be returned anytime.
With using PC software, it is able to store the backup to the PC. Leave a memo if using the
teaching pendant.
Also, for the purpose of rapid recovery after the investigation of failure unit or replacing the
controller, keep data backup or memo also after the parameter change.
The change to the parameters will be activated after they are edited, written to the flash ROM,
then either software reset or reboot of the power. It will not be active only with writing on the
teaching tool.

The table for 6.1 Parameter 1 shows the initial values provided in the PC software as an
example. The initial values of the parameters will differ depending on the conditions of use and
actuators.

Chapter 6 Parameter
The input ranges are the limitations for the input in the teaching pendant and PC software. For
the actual setting, input the values defined in the remarks.
The values other than those defined in the remarks are for the system reservation. Do not
attempt to input the values other than those defined in the remarks.

Warning: Establishment of parameter setting gives a great influence to operation.

Wrongly established setting could cause not only an operation error or
malfunction, but also it is very dangerous.
Settings at the delivery enable the product to operate standardly.
Understand very well about the control logic of controller if making a
change or performing a setting suitable to the system. Please contact us if
you have anything unclear.
Do not turn off the power to the controller during the parameter writing.

277
 �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 H).
Set the value of hexadecimal number transformed from the binary number.

� Binary number
In the Binary number system, the figure is expressed using two (0 and 1) numerical
characters. The figure increases from “0”, and then “1” and moves on to the next digit to
“10”, “11” , etc.

Decimal
0 1 2 3 4 5 6 7 8 9 10
number�
Binary
0 1 10 11 100 101 110 111 1000 1001 1010
number�
Chapter 6 Parameter

� Hexadecimal number
In the Hexadecimal number system, the figure is expressed using nine numerical characters
(from 0 to 9) and alphabetical characters (from A to F). The figure is gradually increased
from “0” to “1”, “2”, “3”, “4”, “5”, “6”, “7”, “8”, “9”, “A”, “B”, “C”, “D”, “E”, “F” and then moves on
to the next digit to “10”, “11”, etc.

Decimal 0�9 10 11 12 13 14 15 16
number� (Same expression in the
decimal number system
Hexadecimal
and the hexadecimal A B C D E F 10
number�
number system)

Example 1: 001340H
0� � � 0� � � 1� � � 3� � � 4� � � 0� � � H

Bit 20 to 23 Bit 16 to 19 Bit 12 to 15 Bit 8 to 11 Bit 4 to 7 Bit 0 to 3

0000 0000 0001 0011 0100 0000

Example 2: 123456H
1� � � 2� � � 3� � � 4� � � 5� � � 6� � � H

Bit 20 to 23 Bit 16 to 19 Bit 12 to 15 Bit 8 to 11 Bit 4 to 7 Bit 0 to 3

0000 0000 0001 0011 0100 0000

278
6.1 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
0: Fixed assignment
1: Automaticassignment
* Priority of I/O port assignment at automatic
assignment
(No.0 to 299/No.300 to 599)
(Network I/F Module 1 � I/O slot 1 (I/O1)
Mounting board to)
* Assigned for the range of continuous
1 I/O port assignment type 1 0 to 20
mounting from I/O slot 1 (I/O1) Mounting
board = for safety
* Priority of extension I/O ports at automatic
assignment
(No.1000 to 3999/No.4000 to 6999)
(Network I/F Module 2 � Extension I/O unit
� Communication between IA Net

Chapter 6 Parameter
Controllers)
I/O Slot 1 Fix-Allocated Input 0+(multiple of 8)(Invalid if a negative value is set.)
2 000 -1 to 299
Port Start No. (I/O 1)
I/O Slot 1 Fix-Allocated Output 300+(multiple of 8)(Invalid if a negative value is
3 300 -1 to 599
Port Start No. (I/O 1) set.)
I/O Slot 2 Fix-Allocated Input 0+(multiple of 8)(Invalid if a negative value is set.)
4 -1 -1 to 599
Port Start No. (I/O 1)
I/O Slot 2 Fix-Allocated Output 300+(multiple of 8)(Invalid if a negative value is
5 -1 -1 to 599
Port Start No. (I/O 1) set.)
Reserved by the system
6 0
(change is prohibited)
Reserved by the system
7 0
(change is prohibited)
Reserved by the system
8 0
(change is prohibited)

6.1 I/O Parameter (All types)

Reserved by the system
9 0
(change is prohibited)
0: Do not monitor
1: Monitor
2: Monitor (Do not monitor 24-V I/O power errors)
3: Monitor (Monitor 24-V I/O power errors)
* Some exceptions apply.
10 I/O Slot 1 Error Monitor (I/O1) 1 0 to 5
* If 0 (= Do not monitor) or 2 (= Monitor (Do not
monitor 24-V I/O power errors)) is set, outputs
from digital I/O boards are disabled to protect the
controller when a 24-V I/O power error occurs,
although a system error does not generate.
0: Do not monitor
1: Monitor
2: Monitor (Do not monitor 24-V I/O power errors)
3: Monitor (Monitor 24-V I/O power errors)
* Some exceptions apply.
11 I/O Slot 2 Error Monitor (I/O2) 1 0 to 5
* If 0 (= Do not monitor) or 2 (= Monitor (Do not
monitor 24-V I/O power errors)) is set, outputs
from digital I/O boards are disabled to protect the
controller when a 24-V I/O power error occurs,
although a system error does not generate.
Reserved by the system
12 0
(change is prohibited)
Reserved by the system
13 0
(change is prohibited)
No. of Network I/F Module Multiples of 8
14 0 0 to 256
Remote Input Ports
No. of Network I/F Module Multiples of 8
15 0 0 to 256
Remote Output Ports
Network I/F Module 1 0+(Multiples of 8)(0 to 299)
16 Fix-Allocated Input Port Start -1 -1 to 3999 1000+(Multiples of 8)(1000 to 3999)(Invalid if a
No. negative value is set.)

279
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Network I/F Module 1 300+(Multiples of 8)(300 to 599)
17 Fix-Allocated Output Port Start -1 -1 to 6999 4000+(Multiples of 8)(4000 to 6999)(Invalid if a
No. negative value is set.)
0: Do not monitor
Network I/F module error
18 1 0 to 5 1: Monitor
monitor
* Some exceptions apply.
19 (For expansion) 0
Input signal is recognized when the status is held
20 Input Filtering Periods 2 1 to 9 msec
for twice the period set by this parameter.
Reserved by the system
21 0 1 to 9
(change is prohibited)
Reserved by the system
22 2000 0 to 99999 msec
(change is prohibited)
Bits 0 to 3: I/O Slot 1 (I/O1) Reserved by the
system
Chapter 6 Parameter

Bits 4 to 7: I/O Slot 2 (I/O1) Reserved by the

system
Bits 8 to 11: System Reservation
Bits 12 to 15: System Reservation
(0: Do not use error detection input
Overcurrent/power-supply error
1: Use error detection input = IN023 on card
detection input specification for 0H to
23 0H 2: Use error detection input = IN047 on card
multi-point DIO external FFFFFFFFH
3: Use error detection input = IN023/47 on
terminal block
card)

* Determine an appropriate setting after checking

the specification of the multi-point DIO terminal
block unit to be connected.
* The input port used for the error detection input
cannot be used as a general-purpose input port.
6.1 I/O Parameter (All types)

280
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Bits 0 to 3: RDY OUT function selection
(System IO)
(0: SYSRDY (Software = PIO
trigger program can be run) and
hardware is normal (emergency
stop has not been actuated and
hardware error is not present)
1: Error of operation-cancellation
level or higher is not present
2: Error of cold-start level or
higher is not present)
Bits 4 to 7: RDY LED function selection
(0: Program can be run
1: Error of operation-cancellation
level or higher is not present
2: Error of cold-start level or

Chapter 6 Parameter
higher is not present)
Bits 8 to 11: DET (MELT) (drive-source cutoff
I/O Setting Bit Pattern 1 0H to
24 10000H relay fused) signal enable/disable
(global specification) FFFFFFFFH
selection (0: Disable, 1: Enable)
Bits 12 to 15: Drive-source cutoff relay DET
(MELT) error level (when voltage
drop cannot be checked)
(0: Cold start, 1: Message)
Bits 16 to 19: Drive-source cutoff relay DET
(MELT) error level (when voltage
drop is checked)
(0: Cold start, 1: Message)
Bits 20 to 23: ALM LED function selection
(0: An error higher than message
level has occurred
1: An error higher than operation
cancel level has occurred

6.1 I/O Parameter (All types)

2: An error higher than cold-start
level has occurred
3: An error higher than system
shutoff level has occurred)
I/O Setting Bit Pattern 2 0H to Bits 0 to 3: Reserved by the system
25 0H Bits 4 to 7: Reserved by the system
(global specification) FFFFFFFFH
26 (For expansion) 0
27 (For expansion) 0
Output port ON when I/O is ready
28 I/O ready output port number 0 0 to 6999
(Invalid if “0” is set)
Output port OFF at drive-source cutoff
Drive-source cutoff (SDN)
(* Important: This output is used only for
29 notification physical output port 0 0 to 6999
notification by software)
number
(Invalid if “0” is set)

281
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
0: General-purpose input
1: Program start signal (ON edge)
(Input ports 007 to 013, BCD-specified
program number)
2: Program start signal (ON edge)
(Input ports 007 to 013, binary-specified
program number)
3: Program start signal (ON edge)
(Input ports. 008 to 014, BCD-specified
program number)
Note: The function of “I/O parameter No. 44,
Input function selection 014” (relating to
drive-source cutoff reset) is assigned to
“I/O parameter No. 37, Input function
selection 007,” while the function of “I/O
parameter No. 43, Input function selection
Chapter 6 Parameter

013” (error reset, program number

specified for program start) is assigned to
“I/O parameter No. 44, Input function
selection 014.”
To specify a program number of 7 bit long,
“1: Program number specified for program
start” must be set for “I/O parameter No.
38, Input function selection 008” through
“I/O parameter No. 44, “Input function
selection 014.”
4: Program start signal (ON edge)
(Input ports. 008 to 014, binary-specified
30 Input function selection 000 1 0 to 5
program number)
Note: The function of “I/O parameter No. 44,
Input function selection 014” (relating to
drive-source cutoff reset) is assigned to
“I/O parameter No. 37, Input function
6.1 I/O Parameter (All types)

selection 007,” while the function of “I/O

parameter No. 43, Input function selection
013” (error reset, program number
specified for program start) is assigned to
“I/O parameter No. 44, Input function
selection 014.”
To specify a program number of 7 bit long,
“1: Program number specified for program
start” must be set for “I/O parameter No.
38, Input function selection 008” through
“I/O parameter No. 44, “Input function
selection 014.”
* When using this signal to start a program, make
sure the signal remains ON for 100 msec or
longer so that the program will start without fail.
* Program Nos. 1 to 79 can be started via BCD
specification, while program Nos. 1 to 127 can
be started via binary specification. Program No.
128 cannot be started with this signal.
Note: The port number assigned to this function
can be changed using I/O parameter No.
283, “Port number assigned to input
function selection 000.”
0: General-purpose input
1: Software reset signal (1 sec ON)
* If continued operation is specified as the action
upon emergency stop, enable the software
reset signal (to provide a means of canceling
31 Input function selection 001 0 0 to 5
the operation).
Note: The port number assigned to this function
can be changed using I/O parameter No.
284, “Port number assigned to input
function selection 001.”

282
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
0: General-purpose input
1: Servo ON
* ON edge: Equivalent to the all-valid-axis
servo ON command,OFF edge: Equivalent
to the all-valid-axis servo OFF command (A
minimum interval of 1.5 seconds is required)
32 Input function selection 002 0 0 to 5
(Must be executed in non-operating
condition)
Note: The port number assigned to this function
can be changed using I/O parameter No.
285, “Port number assigned to input
function selection 002.”
0: General-purpose input
1: General-purpose input (Start the auto-start
program upon power-ON reset/software reset
in the AUTO mode)

Chapter 6 Parameter
2: Auto-start program start signal (ON edge:
Start, OFF edge: Abort all operations/programs
(excluding the I/O processing program at
operation/program abort))
33 Input function selection 003 1 0 to 5
* If this parameter is used as an auto-start
program start signal, turn ON the signal for at
least 100 msec so that the program will start
without fail.
Note: The port number assigned to this function
can be changed using I/O parameter No.
286, “Port number assigned to input
function selection 003.”
0: General-purpose input
1: All servo axis soft interlock (OFF level) (Valid
for all commands other than the servo OFF
command) (Operation is held upon interlock
actuation during automatic operation;

6.1 I/O Parameter (All types)

34 Input function selection 004 0 0 to 5 operation is terminated upon interlock in
non-AUTO mode)
Note: The port number assigned to this function
can be changed using I/O parameter No.
287, “Port number assigned to input
function selection 004.”
0: General-purpose input,
1: Operation-pause reset signal (ON edge)
Note: The port number assigned to this function
35 Input function selection 005 0 0 to 5
can be changed using I/O parameter No.
288, “Port number assigned to input
function selection 005.”
0: General-purpose input
1: Operation-pause reset signal (OFF level) (Valid
only during automatic operation)
* Cancel pause when an operation-pause
36 Input function selection 006 0 0 to 5 reset signal is received.
Note: The port number assigned to this function
can be changed using I/O parameter No.
289, “Port number assigned to input
function selection 006.”
0: General-purpose input,
1: Program number specified for program start
(least significant bit)
Note: The assignment changes depending on
the value set in “I/O parameter No. 30,
37 Input function selection 007 1 0 to 5
Input function selection 000.”
Note: The port number assigned to this function
can be changed using I/O parameter No.
290, “Port number assigned to input
function selection 007.”

283
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
0: General-purpose input,
1: Program number specified for program start
Note: The assignment changes depending on
the value set in “I/O parameter No. 30,
38 Input function selection 008 1 0 to 5 Input function selection 000.”
Note: The port number assigned to this function
can be changed using I/O parameter No.
291, “Port number assigned to input
function selection 008.”
0: General-purpose input,
1: Program number specified for program start
Note: The assignment changes depending on
the value set in “I/O parameter No. 30,
39 Input function selection 009 1 0 to 5 Input function selection 000.”
Note: The port number assigned to this function
can be changed using I/O parameter No.
Chapter 6 Parameter

292, “Port number assigned to input

function selection 009.”
0: General-purpose input,
1: Program number specified for program start
Note: The assignment changes depending on
the value set in “I/O parameter No. 30,
40 Input function selection 010 1 0 to 5 Input function selection 000.”
Note: The port number assigned to this function
can be changed using I/O parameter No.
293, “Port number assigned to input
function selection 010.”
0: General-purpose input,
1: Program number specified for program start
Note: The assignment changes depending on
the value set in “I/O parameter No. 30,
41 Input function selection 011 1 0 to 5 Input function selection 000.”
Note: The port number assigned to this function
6.1 I/O Parameter (All types)

can be changed using I/O parameter No.

294, “Port number assigned to input
function selection 011.”
0: General-purpose input,
1: Program number specified for program start
Note: The assignment changes depending on
the value set in “I/O parameter No. 30,
42 Input function selection 012 1 0 to 5 Input function selection 000.”
Note: The port number assigned to this function
can be changed using I/O parameter No.
295, “Port number assigned to input
function selection 012.”
0: General-purpose input
1: Program number specified for program start
2: Error reset (ON edge)
Note: The assignment changes depending on
the value set in “I/O parameter No. 30,
43 Input function selection 013 1 0 to 5
Input function selection 000.”
Note: The port number assigned to this function
can be changed using I/O parameter No.
296, “Port number assigned to input
function selection 013.”

284
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
0: General-purpose input
1: Drive-source cutoff reset input (ON edge)
(Valid when the drive-source cutoff factor has
been removed)
* Drive-source cutoff reset control is not
available for axes whose motor-drive power
unit is not housed inside this controller or
whose drive-source cutoff circuit is not
44 Input function selection 014 0 0 to 5
controlled by this controller.
Note: The assignment changes depending on
the value set in “I/O parameter No. 30,
Input function selection 000.”
Note: The port number assigned to this function
can be changed using I/O parameter No.
297, “Port number assigned to input
function selection 014.”

Chapter 6 Parameter
0: General-purpose input
XSEL-R/S
1: All Effective Axes Homing (ON edge)
(Servo on required in advance = I/O Parameter
No.32, Each axis Parameter No.13)
XSEL-RX/SX
1: Move ABS reset position for all linear sliding
axes/Home Return(ON edge)
(Servo on required in advance = I/O Parameter
No.32, Each axis Parameter No.13)
45 Input function selection 015 0 0 to 5
The following setting is the same also for
XSEL-R/S and RX/SX.
2: Home return for all incremental linear sliding
axes (ON edge)
(Servo on required in advance = I/O Parameter
No.32, Each axis Parameter No.13)

6.1 I/O Parameter (All types)

Note: The port number assigned to this function
can be changed using I/O parameter No.
298, “Port number assigned to input
function selection 015.”
0: General-purpose output
1: Output error of operation-cancellation level or
higher (ON)
2: Output error of operation-cancellation level or
higher (OFF)
3: Output error of operation-cancellation level or
higher + emergency stop (ON)
4: Output error of operation-cancellation level or
higher + emergency stop (OFF)
5: Output error of cold start level or higher (ON)
46 Output function selection 300 2 0 to 20 6: Output error of cold start level or higher (OFF)
7: Error output of maintenance information alert
function related massage level (Error No. 231
to 232) (ON)
8: Error output of maintenance information alert
function related massage level (Error No. 231
to 232) (OFF)
Note: The port number assigned to this function
can be changed using I/O parameter No.
299, “Port number assigned to output
function selection 300.”

285
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
0: General-purpose output
1: READY output (PIO trigger program can be
run)
2: READY output (PIO trigger program can be run
and error of operation-cancellation level or
higher is not present)
47 Output function selection 301 3 0 to 20 3: READY output (PIO trigger program can be run
and error of cold-start level or higher is not
present)
Note: The port number assigned to this function
can be changed using I/O parameter No.
300, “Port number assigned to output
function selection 301.”
0: General-purpose output
1: Emergency-stop output (ON)
2: Emergency-stop output (OFF)
Chapter 6 Parameter

48 Output function selection 302 2 0 to 20 Note: The port number assigned to this function
can be changed using I/O parameter No.
301, “Port number assigned to output
function selection 302.”
0: General-purpose output
1: AUTO mode output
2: Output during automatic operation (Other
parameter No. 12)
49 Output function selection 303 0 0 to 5
Note: The port number assigned to this function
can be changed using I/O parameter No.
302, “Port number assigned to output
function selection 303.”
XSEL-R/S
0: General-purpose output
1: Output at the time of “All Effective Axes
Homing (=0)”
2: Output when all the effective axes homing is
6.1 I/O Parameter (All types)

completed (Coordinates determined)

3: Output when all the effective axes home preset
coordinates are set

* Use MOVP Command, not HOME Command,

if moving the ABS encoder axes to the
coordinate 0 or home preset coordinate.
Note: The port number assigned to this function
can be changed using I/O parameter No.
303, “Port number assigned to output
function selection 304.”
50 Output function selection 304 0 0 to 5
XSEL-RX/SX
0: General-purpose output
1: Output at the time of “All Effective Linear
Sliding Axes Homing (=0)”
2: Output when all the effective linear sliding axes
homing is completed (Coordinates determined)
3: Output when all the effective linear sliding axes
home preset coordinates are set

* Use MOVP Command, not HOME Command,

if moving the ABS encoder linear sliding axes
to the coordinate 0 or home preset
coordinate.
Note: The port number assigned to this function
can be changed using I/O parameter No.
303, “Port number assigned to output
function selection 304.”

286
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
0: General-purpose output
st
1: 1 axis in-position output (turned OFF when
pressing missed)
2: Output when axis-1 servo is ON (System
monitor task output)
51 Output function selection 305 0 0 to 5
3: Reserved by the system
Note: The port number assigned to this function
can be changed using I/O parameter No.
304, “Port number assigned to output
function selection 305.”
0: General-purpose output
nd
1: 2 axis in-position output (turned OFF when
pressing missed)
2: Output when axis-2 servo is ON (System
monitor task output)
52 Output function selection 306 0 0 to 5
3: Reserved by the system

Chapter 6 Parameter
Note: The port number assigned to this function
can be changed using I/O parameter No.
305, “Port number assigned to output
function selection 306.”
0: General-purpose output
rd
1: 3 axis in-position output (turned OFF when
pressing missed)
2: Output when axis-3 servo is ON (System
monitor task output)
53 Output function selection 307 0 0 to 5
3: Reserved by the system
Note: The port number assigned to this function
can be changed using I/O parameter No.
306, “Port number assigned to output
function selection 307.”
0: General-purpose output
th
1: 4 axis in-position output (turned OFF when
pressing missed)

6.1 I/O Parameter (All types)

2: Output when axis-4 servo is ON (System
monitor task output)
54 Output function selection 308 0 0 to 5
3: Reserved by the system
Note: The port number assigned to this function
can be changed using I/O parameter No.
307, “Port number assigned to output
function selection 308.”
0: General-purpose output
th
1: 5 axis in-position output (turned OFF when
pressing missed)
2: Output when axis-5 servo is ON (System
monitor task output)
55 Output function selection 309 0 0 to 5
3: Reserved by the system
Note: The port number assigned to this function
can be changed using I/O parameter No.
308, “Port number assigned to output
function selection 309.”
0: General-purpose output
th
1: 6 axis in-position output (turned OFF when
pressing missed)
2: Output when axis-6 servo is ON (System
monitor task output)
56 Output function selection 310 0 0 to 5
3: Reserved by the system
Note: The port number assigned to this function
can be changed using I/O parameter No.
309, “Port number assigned to output
function selection 310.”

287
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
0: General-purpose output
th
1: 7 axis in-position output (turned OFF when
pressing missed)
2: Output when axis-7 servo is ON (System
monitor task output)
57 Output function selection 311 0 0 to 5
3: Reserved by the system
Note: The port number assigned to this function
can be changed using I/O parameter No.
310, “Port number assigned to output
function selection 311.”
0: General-purpose output
th
1: 8 axis in-position output (turned OFF when
pressing missed)
2: Output when axis-8 servo is ON (System
monitor task output)
58 Output function selection 312 0 0 to 5
3: Reserved by the system
Chapter 6 Parameter

Note: The port number assigned to this function

can be changed using I/O parameter No.
311, “Port number assigned to output
function selection 312.”
0: General-purpose output
1: System Reservation
Note: The port number assigned to this function
59 Output function selection 313 1 0 to 5
can be changed using I/O parameter No.
312, “Port number assigned to output
function selection 313.”
0: General-purpose output
1: Absolute-data backup battery voltage-low
warning level or lower (OR check of all axes.
Upon detection of abnormal level, the output
will be latched until a power-ON reset or
60 Output function selection 314 1 0 to 5
software reset is executed.)
Note: The port number assigned to this function
6.1 I/O Parameter (All types)

can be changed using I/O parameter No.

313, “Port number assigned to output
function selection 314.”
0: General-purpose output
Note: The port number assigned to this function
61 Output function selection 315 0 0 to 5 can be changed using I/O parameter No.
314, “Port number assigned to output
function selection 315.”
Forcibly unlock the brake when the applicable port
is ON (be aware of a falling load).
* Invalid if “0” is set (Invalid if input port No. 0 is
Physical input port number for specified)
62 0 0 to 3999
axis-1 brake forced release * Synchro-slave axes are to follow
synchro-master axis.
Note: SCARA Robot cannot be set. Do not
attempt to change.
Forcibly unlock the brake when the applicable port
is ON (be aware of a falling load).
* Invalid if “0” is set (Invalid if input port No. 0 is
Physical input port number for specified)
63 0 0 to 3999
axis-2 brake forced release * Synchro-slave axes are to follow
synchro-master axis.
Note: SCARA Robot cannot be set. Do not
attempt to change.
Forcibly unlock the brake when the applicable port
is ON (be aware of a falling load).
* Invalid if “0” is set (Invalid if input port No. 0 is
Physical input port number for specified)
64 0 0 to 3999
axis-3 brake forced release * Synchro-slave axes are to follow
synchro-master axis.
Note: SCARA Robot cannot be set. Do not
attempt to change.

288
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Forcibly unlock the brake when the applicable port
is ON (be aware of a falling load).
* Invalid if “0” is set (Invalid if input port No. 0 is
Physical input port number for specified)
65 0 0 to 3999
axis-4 brake forced release * Synchro-slave axes are to follow
synchro-master axis.
Note: SCARA Robot cannot be set. Do not
attempt to change.
Forcibly unlock the brake when the applicable port
is ON (be aware of a falling load).
* Invalid if “0” is set (Invalid if input port No. 0 is
Physical input port number for specified)
66 0 0 to 3999
axis-5 brake forced release * Synchro-slave axes are to follow
synchro-master axis.
Note: SCARA Robot cannot be set. Do not
attempt to change.

Chapter 6 Parameter
Forcibly unlock the brake when the applicable port
is ON (be aware of a falling load).
* Invalid if “0” is set (Invalid if input port No. 0 is
Physical input port number for specified)
67 0 0 to 3999
axis-6 brake forced release * Synchro-slave axes are to follow
synchro-master axis.
Note: SCARA Robot cannot be set. Do not
attempt to change.
Forcibly unlock the brake when the applicable port
is ON (be aware of a falling load).
* Invalid if “0” is set (Invalid if input port No. 0 is
Physical input port number for specified)
68 0 0 to 3999
axis-7 brake forced release * Synchro-slave axes are to follow
synchro-master axis.
Note: SCARA Robot cannot be set. Do not
attempt to change.
Forcibly unlock the brake when the applicable port

6.1 I/O Parameter (All types)

is ON (be aware of a falling load).
* Invalid if “0” is set (Invalid if input port No. 0 is
Physical input port number for specified)
69 0 0 to 3999
axis-8 brake forced release * Synchro-slave axes are to follow
synchro-master axis.
Note: SCARA Robot cannot be set. Do not
attempt to change.
* Important: Outputs in this area must be
Unaffected general-purpose operated under the responsibility of user
output area number (MIN) programs including the “I/O processing program
70 0 0 to 6999
when all operations/programs at operation/program abort.” Outputs outside
are aborted this area will be forcibly turned OFF. (Invalid if
“0” is set)
Unaffected general-purpose
output area number (MAX)
71 0 0 to 6999
when all operations/programs
are aborted
* Important: Outputs in this area must be operated
(including recovery) under the responsibility of
Unaffected general-purpose user programs including the “I/O processing
output area number (MIN) program at all operations pause.” Outputs
72 when all operations are paused 300 0 to 6999 outside this area will be forcibly turned OFF,
(servo-axis soft interlock + reflecting/holding the results of operations
output-port soft interlock) performed while all operation pause is effective
(only during automatic operation).
(Invalid if “0” is set)
Unaffected general-purpose
output area number (MAX)
73 when all operations are paused 599 0 to 6999
(servo-axis soft interlock +
output-port soft interlock)
Number of TP user output ports Referenced by TP.
74 0 0 to 8
used (hand, etc.) (Invalid if “0” is set)
TP user output port start
75 0 0 to 599 Referenced by TP.
number (hand, etc.)

289
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
AUTO mode physical output
76 0 0 to 6999 (Invalid if “0” is set)
port number
Input port number permitted to
* Important: Invalid once operation is started.
77 receive PC/TP servo 0 0 to 3999
(Invalid if “0” is set)
movement command
Axis pattern permitted to
0B to
78 receive PC/TP servo 0
movement command for 11111111B
Chapter 6 Parameter
6.1 I/O Parameter (All types)

290
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
System mode = MANU if specified DI = ON or
Input port number for remote AUTO/MANU-SW = MANU. (Invalid if “0” is set)
79 0 0 to 3999
mode control * Debug filter is invalid for the remote-mode
control input port
80 (PC/TP SIO usage) 1 1 to 1
81 (PC/TP SIO station code) 153 153 to 153 Fixed to 153 (99H).
82 (PC/TP SIO reservation) 0
83 (PC/TP SIO reservation) 0
84 (PC/TP SIO reservation) 0
85 (PC/TP SIO reservation) 0
86 (PC/TP SIO reservation) 0
87 (PC/TP SIO reservation) 0
88 (PC/TP SIO reservation) 0
89 (PC/TP SIO reservation) 0
0: Open SEL program

Chapter 6 Parameter
Usage of SIO channel 0 1: Open SEL program (Connect PC/TP when
90 opened to user 0 0 to 9 both devices are closed = Used exclusively by
(AUTO mode) the manufacturer)
2: IAI protocol B (Slave)
Station code of SIO channel 0
91 153 0 to 255 Valid only with IAI protocol.
opened to user
0: 9.6 kbps
1: 19.2 kbps
Baud rate type of SIO channel 2: 38.4 kbps
92 0 0 to 5
0 opened to user 3: 57.6 kbps
4: 76.8 kbps
5: 115.2 kbps
Data length of SIO channel 0
93 8 7 to 8
opened to user
Stop bit length of SIO channel
94 1 1 to 2
0 opened to user
0: None

6.1 I/O Parameter (All types)

Parity type of SIO channel 0
95 0 0 to 2 1: Odd
opened to user
2: Even
Receive operation type of SIO 0: Forcibly enable receive after send
96 0 0 to 1
channel 0 opened to user 1: Do not forcibly enable receive at send
IAI-protocol minimum response
Valid only with IAI protocol.
97 delay for SIO channel 0 0 0 to 999 msec
opened to user
(Reservation of SIO channel 0
98 0
opened to user)
(Reservation of SIO channel 0
99 0
opened to user)
Reserved by the system 0H to
100 28100010H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
101 0
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
102 28100020H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
103 0
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
104 28100010H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
105 0
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
106 28100020H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
107 0
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
108 28100010H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
109 0
(change is prohibited) FFFFFFFFH

291
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Reserved by the system 0H to
110 28100020H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
111 0
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
112 28100030H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
113 0
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
114 28100040H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
115 0
(change is prohibited) FFFFFFFFH
116 (For expansion) 0
117 (For expansion) 0
118 (For expansion) 0
Chapter 6 Parameter

119 (For expansion) 0

Bits 0 to 3: System Reservation
Bits 4 to 11: Network I/F Module 1
Link error check timer value (10ms)
Bits 12 to 15: For future extension
0H to Bits 16 to 23: Value of Link Timeout at initializing
120 Network attribute 1 640001H
FFFFFFFFH (100msec)
Bits 24 to 27: System Reservation
Bits 28 to 31: Network I/F Module 1
Input port data select for link error
(0: Clear, 1: Hold)
Bits 0 to 7: Network I/F Module 2
Link error check timer value (10ms)
0H to
121 Network attribute 2 0 Bits 8 to 15: Network I/F Module 2
FFFFFFFFH
Input port data select for link error
(0: Clear, 1: Hold)
6.1 I/O Parameter (All types)

0H to
122 Network attribute 3 0
FFFFFFFFH

292
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Bits 0 to 3: Ethernet TCP/IP message
communication
Selection whether to permit 0.0.0.0
(IP address of connection
destination can be ignored) as IP
address of connection destination
on server
(0: Do not permit
1: Permit (not recommended))
* Note: Number of clients that can be connected
simultaneously to one server port channel
=1
Bits 4 to 7: EtherNet IAI Protocol
B/TCP (MANU mode)
Select existence check function
(0: Not to use, 1: Use Keep Alive)

Chapter 6 Parameter
Bits 8 to 11: EtherNet IAI Protocol
B/TCP (AUTO mode)
0H to
123 Network attribute 4 0H Select existence check function
FFFFFFFFH
(0: Not to use, 1: Use Keep Alive)
Bits 12 to 15: Ethernet Free-for-User Channel 31
Select existence check function
(0: Not to use, 1: Use Keep Alive)
Bits 16 to 19: Ethernet Free-for-User Channel 32
Select existence check function
(0: Not to use, 1: Use Keep Alive)
Bits 20 to 23: Ethernet Free-for-User Channel 33
Select existence check function
(0: Not to use, 1: Use Keep Alive)
Bits 24 to 27: Ethernet Free-for-User Channel 34
Select existence check function
(0: Not to use, 1: Use Keep Alive)
Bits 28 to 31: Ethernet Tracking Vision System I/F
Select existence check function

6.1 I/O Parameter (All types)

(0: Not to use, 1: Use Keep Alive)
* The connection may get cut if the mating device
is not applicable for TCP Keep Alive Function.

293
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
EtherNet TCP/IP message communication
attribute
Ethernet client/server type
(0: Not in use
1: Client (Automatic assignment of own port
number)
2: Client (Specification of own port number)
� This setting is not recommended because
of device limitations, such as an error
generation when the port is opened for
approx. 10 minutes after disablement of
close response check due to a power
failure at the connection destination, etc.)
3: Server (Specification of own port number))
* Note: Number of clients that can be connected
simultaneously to one server port channel
Chapter 6 Parameter

0H to =1
124 Network attribute 5 0H
FFFFFFFFH Bits 0 to 3: IAI protocol B/TCP (MANU mode)
* PC software can be connected
only in the case of a client.
Bits 4 to 7: IAI protocol B/TCP (AUTO mode)
* PC software can be connected
only in the case of a client.
Bits 8 to 11: Channel 31 opened to user
Bits 12 to 15: Channel 32 opened to user
Bits 16 to 19: Channel 33 opened to user
Bits 20 to 23: Channel 34 opened to user
* If the parameter settings for own port number,
client/server type, IP address of connection
destination and port number of connection
destination do not match completely between the
IAI protocol B/TCP MANU and AUTO modes, the
connection will be cut off when the MANU/AUTO
6.1 I/O Parameter (All types)

mode is switched.
Bits 0 to 7: System Reservation
Bits 8 to 15: System Reservation
0H to
125 Network attribute 6 31E32H Bits 16 to 23: Increment of “PC/TP reconnection
FFFFFFFFH
delay at software reset” when
Ethernet is used (sec)
0H to System Reservation
126 Network attribute 7 7D007D0H
FFFFFFFFH
EtherNet TCP/IP message communication
attribute
Bits 0 to 7: CONNECT_TIMEOUT
(Change is prohibited)
(Setting of “0” is prohibited) (sec)
Bits 8 to 15: Connection retry interval
0H to
127 Network attribute 8 5050214H (IAI protocol B/TCP) (sec)
FFFFFFFFH
Bits 16 to 23: Send timeout value (sec)
Bits 24 to 31: IAI protocol B-SIO
non-communication check timer
setting (sec)
(IAI protocol B/TCP connection
trigger)
EtherNet TCP/IP message communication
attribute
0H to Bits 0 to 15: SEL server open timeout value
128 Network attribute 9 10000H
FFFFFFFFH (sec)
(No timeout check when “0” is set)
Bits 16 to 23: Change Prohibited
EtherNet operation requirement
Bits 0 to 3: System Reservation
0H to
129 Network attribute 10 0 Bits 4 to 7: TCP/IP message communication
FFFFFFFFH
(0: Not in use, 1: Use)
Bits 8 to 31: Reserved (Operation requirement)
Network I/F Module 1 Referenceonly Only lower two bytes are valid.
130 0H
Own MAC address (H) (HEX)

294
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Network I/F Module 1 Referenceonly
131 0H
Own MAC address (L) ( HEX)
Network I/F Module 1 *Setting of “0” and “127” is prohibited.
132 192 1 to 255
Own IP address (H)
Network I/F Module 1
133 168 0 to 255
Own IP address (MH)
Network I/F Module 1
134 0 0 to 255
Own IP address (ML)
Network I/F Module 1 *Setting of “0” and “255” is prohibited.
135 1 1 to 254
Own IP address (L)
Network I/F Module 1
136 255 0 to 255
Subnet mask (H)
Network I/F Module 1
137 255 0 to 255
Subnet mask (MH)
Network I/F Module 1
138 255 0 to 255

Chapter 6 Parameter
Subnet mask (ML)
Network I/F Module 1
139 0 0 to 255
Subnet mask (L)
Network I/F Module 1
140 0 0 to 255
Default gateway (H)
Network I/F Module 1
141 0 0 to 255
Default gateway (MH)
Network I/F Module 1
142 0 0 to 255
Default gateway (ML)
Network I/F Module 1
143 0 0 to 255
Default gateway (L)
IAI protocol B/TCP: Own port 1025 to
144 64511
number (MANU mode) 65535
Channel 31 opened to user 1025 to
145 64512
(TCP/IP): Own port number 65535 * Important note: Always set a unique number for
Channel 32 opened to user 1025 to each port number.

6.1 I/O Parameter (All types)

146 64513
(TCP/IP): Own port number 65535 (Duplication of port numbers is permitted only in
Channel 33 opened to user 1025 to the IAI protocol B/TCP MANU/AUTO modes.)
147 64514
(TCP/IP): Own port number 65535
Channel 34 opened to user 1025 to
148 64515
(TCP/IP): Own port number 65535
IAI protocol B/TCP: IP address *Setting of “0” and “127” is prohibited.
149 of connection destination 192 0 to 255
(MANU mode) (H)
IAI protocol B/TCP: IP address
150 of connection destination 168 0 to 255
(MANU mode) (MH)
IAI protocol B/TCP: IP address
151 of connection destination 0 0 to 255
(MANU mode) (ML)
IAI protocol B/TCP: IP address *Setting of “0” and “255” is prohibited.
152 of connection destination 100 0 to 254
(MANU mode) (L)
* “0” can be set in the case of a server.
IAI protocol B/TCP: Port
0 = Port number of connection destination is
153 number of connection 64611 0 to 65535
ignored (only the IP address is checked)
destination (MANU mode)
* “0” cannot be set in the case of a client.
IAI protocol B/TCP: IP address *Setting of “0” and “127” is prohibited.
154 of connection destination 192 0 to 255
(AUTO mode) (H)
IAI protocol B/TCP: IP address
155 of connection destination 168 0 to 255
(AUTO mode) (MH)
IAI protocol B/TCP: IP address
156 of connection destination 0 0 to 255
(AUTO mode) (ML)
IAI protocol B/TCP: IP address *Setting of “0” and “255” is prohibited.
157 of connection destination 100 0 to 254
(AUTO mode) (L)

295
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
* “0” can be set in the case of a server.
IAI protocol B/TCP: Port
0 = Port number of connection destination is
158 number of connection 64611 0 to 65535
ignored (only the IP address is checked)
destination (AUTO mode)
* “0” cannot be set in the case of a client.
7.3.1 Important note: Always set a unique
IAI protocol B/TCP: Own port 1025 to number for each port number.
159 64516
number (AUTO mode) 65535 (Duplication of port numbers is permitted only in
the IAI protocol B/TCP MANU/AUTO modes.)
Vision System I/F connected IP 0 to
160 0 192 *Setting of “0” and “127” is prohibited.
address (H) 255
Vision System I/F connected IP 0 to
161 0 168
address (MH) 255
Vision System I/F connected IP 0 to
162 0 0
address (ML) 255
Vision System I/F connected IP 0 to
163 0 102 *Setting of “0” and “255” is prohibited.
address (L) 254
Chapter 6 Parameter

* Vision System I/F is dedicated for the

Vision System I/F Connected 0 to specifications of the client on IAI controller side
164 0 64613
Port Number 65535 (Self-Port Number Automatic Assignment)
* Setting of 0 forbidden
0 to
165 System Reservation 0 0
255
0 to
166 System Reservation 0 0
255
0 to
167 System Reservation 0 0
255
0 to
168 System Reservation 0 0
254
0 to
169 System Reservation 0 0
65535
170 (For expansion) 0
6.1 I/O Parameter (All types)

171 (For expansion) 0

172 (For expansion) 0
173 (For expansion) 0
174 (For expansion) 0
175 (For expansion) 0
176 (For expansion) 0
177 (For expansion) 0
178 (For expansion) 0
179 (For expansion) 0
180 (For expansion) 0
181 (For expansion) 0
182 (For expansion) 0
183 (For expansion) 0
184 (For expansion) 0
185 (For expansion) 0
186 (For expansion) 0
187 (For expansion) 0
188 (For expansion) 0
189 (For expansion) 0
190 (For expansion) 0
191 (For expansion) 0
192 (For expansion) 0
193 (For expansion) 0
194 (For expansion) 0
195 (For expansion) 0
196 (For expansion) 0
197 (For expansion) 0
198 (For expansion) 0
199 (For expansion) 0
200 (For expansion) 0

296
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Bits 28 to 31: Baud rate type
(0: 9.6 kbps, 1: 19.2 kbps,
2: 38.4 kbps, 3: 57.6 kbps,
4: 76.8 kbps, 5: 115.2 kbps)
7.3.2 low control is performed, select 38.4
kbps or below. Use of a higher baud
rate may generate an overrun error, etc.
Attribute 1 of SIO channel 1 Bits 24 to 27: Data length (7 or 8)
0H to
201 opened to user (standard 28100001H Bits 20 to 23: Stop bit length (1 or 2)
FFFFFFFFH
mount) Bits 16 to 19: Parity type
(0: None, 1: Odd, 2: Even)
Bits 12 to 15: For future extension
Bits 8 to 11: For future extension
Bits 4 to 7: For future extension
Bits 0 to 3: Use selection
(0: Do not use, 1: Use)

Chapter 6 Parameter
* Used on the application level.
Bits 28 to 31: For future extension
Bits 24 to 27: Reserved by the system
Bits 20 to 23: Reserved by the system
Bits 16 to 19: Character transmission interval
(msec)
Bits 12 to 15: Communication method
Attribute 2 of SIO channel 1
0H to (0: Full-duplex, 1: Half-duplex)
202 opened to user (standard 00000001H
FFFFFFFFH Bits 8 to 11: Send operation type in half-duplex
mount)
communication
(0: Do not check CTS-ON at send
1: Check CTS-ON at send)
Bits 0 to 7: Minimum Receive � Send
switching delay in half-duplex
communication (msec)
Bits 28 to 31: Flow control type
(0: None, 1: Xon/Xoff, 2: Hardware)

6.1 I/O Parameter (All types)

* Valid only in full-duplex
communication.
* If flow control is performed,
select 38.4 kbps or below.
Use of a higher baud rate may
generate an overrun error, etc.
Bits 24 to 27: Xon send selection when send is
enabled after SIO-CPU reset
(0: Do not send, 1: Send)
* Valid only in full-duplex
communication with Xon/Xoff
flow control
Bits 20 to 23: Send enable/disable selection at
port open
Attribute 3 of SIO channel 1
0H to (0: Disable, 1: Enable)
203 opened to user (standard 01118040H
FFFFFFFFH * Valid only in full-duplex
mount)
communication with Xon/Xoff
flow control.
Bits 16 to 19: Xon/Xoff send selection at port
close
(0:Do not send, 1: Send Xon,
2: Send Xoff)
7.3.3 Valid only in full-duplex communication
with Xon/Xoff flow control.
Bits 8 to 15: Flow control high limit (bytes)
Bits 0 to 7: Flow control low limit (bytes)
* If values are set to a magnitude correlation of
“Flow control low limit � SCI receive buffer size –
Flow control high limit”, both the flow control
high/low limits will be converted to a value
corresponding to one-fourth the SCI receive
buffer size.

297
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Attribute 4 of SIO channel 1
0H to
204 opened to user (standard 00000000H
FFFFFFFFH
mount)
Attribute 5 of SIO channel 1
0H to
205 opened to user (standard 00000000H
FFFFFFFFH
mount)
Attribute 6 of SIO channel 1
0H to
206 opened to user (standard 00000000H
FFFFFFFFH
mount)
Attribute 7 of SIO channel 1
0H to
207 opened to user (standard 00000000H
FFFFFFFFH
mount)
Attribute 8 of SIO channel 1
0H to
208 opened to user (standard 00000000H
FFFFFFFFH
mount)
Attribute 9 of SIO channel 1
Chapter 6 Parameter

0H to
209 opened to user (standard 00000000H
FFFFFFFFH
mount)
Attribute 10 of SIO channel 1
0H to
210 opened to user (standard 00000000H
FFFFFFFFH
mount)
Attribute 11 of SIO channel 1
0H to
211 opened to user (standard 00000000H
FFFFFFFFH
mount)
Attribute 12 of SIO channel 1
0H to
212 opened to user (standard 00000000H
FFFFFFFFH
mount)
Bits 28 to 31: Baud rate type
(0: 9.6 kbp, 1: 19.2 kbp,
2: 38.4 kbp, 3: 57.6 kbp,
4: 76.8 kbp, 5: 115.2 kbps)
* If flow control is performed, select 38.4 kbps or
6.1 I/O Parameter (All types)

below.
Use of a higher baud rate may generate an
overrun error, etc.
Bits 24 to 27: Data length (7 or 8)
Attribute 1 of SIO channel 2 Bits 20 to 23: Stop bit length (1 or 2)
0H to
213 opened to user (standard 28100001H Bits 16 to 19: Parity type
FFFFFFFFH
mount) (0: None, 1: Odd, 2: Even)
Bits 12 to 15: Communication mode
(0: RS232C, 1: RC gateway)
* The RC gateway mode is valid only for
channel 2.
Bits 8 to 11: For future extension
Bits 4 to 7: For future extension
Bits 0 to 3: Use selection
(0: Do not use, 1: Use)
* Used on the application level.
Bits 28 to 31: For future extension
Bits 24 to 27: Reserved by the system
Bits 20 to 23: Reserved by the system
Bits 16 to 19: Character transmission interval
(msec)
Bits 12 to 15: Communication method
Attribute 2 of SIO channel 2
0H to (0: Full-duplex, 1: Half-duplex)
214 opened to user (standard 00000001H
FFFFFFFFH Bits 8 to 11: Send operation type in half-duplex
mount)
communication
(0: Do not check CTS-ON at send
1: Check CTS-ON at send)
Bits 0 to 7: Minimum Receive � Send
switching delay in half-duplex
communication (msec)

298
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Bits 28 to 31: Flow control type
(0: None, 1: Xon/Xoff,
2: Hardware)
* Valid only in full-duplex communication.
* If flow control is performed, select 38.4 kbps or
below. Use of a higher baud rate may generate
an overrun error, etc.
Bits 24 to 27: Xon send selection when send is
enabled after SIO-CPU reset
(0: Do not send, 1: Send)
* Valid only in full-duplex communication with
Xon/Xoff flow control.
Bits 20 to 23: Send enable/disable selection at
port open
Attribute 3 of SIO channel 2 (0: Disable, 1: Enable)
0H to
215 opened to user (standard 01118040H * Valid only in full-duplex communication with
FFFFFFFFH

Chapter 6 Parameter
mount) Xon/Xoff flow control.
Bits 16 to 19: Xon/Xoff send selection at port
close
(0: Do not send, 1: Send Xon,
2: Send Xoff)
* Valid only in full-duplex communication with
Xon/Xoff flow control.
Bits 8 to 15: Flow control high limit (bytes)
Bits 0 to 7: Flow control low limit (bytes)
* If values are set to a magnitude correlation of
“Flow control low limit � SCI receive buffer size
– Flow control high limit”, both the flow control
high/low limits will be converted to a value
corresponding to one-fourth the SCI receive
buffer size.
* This parameter is valid only in the RC gateway
Attribute 4 of SIO channel 2 mode.
0H to

6.1 I/O Parameter (All types)

216 opened to user (standard 00000000H Bits 0 to 11: I/O pattern
FFFFFFFFH
mount) (0: Method to use position data in X-SEL,
1: Method to use position in RC)
* This parameter is valid only in the RC gateway
RC gateway link axis pattern 0B to
217 0BH mode.
(Axis Nos. 15 to 8) 11111111B
RC gateway link axis pattern (Axis Nos. 15 to 8)
* This parameter is valid only in the RC gateway
RC gateway link axis pattern 0B to
218 0BH mode.
(Axis Nos. 7 to 0) 11111111B
RC gateway link axis pattern (Axis Nos. 7 to 0)
Attribute 7 of SIO channel 2
0H to
219 opened to user (standard 00000000H
FFFFFFFFH
mount)
Attribute 8 of SIO channel 2
0H to
220 opened to user (standard 00000000H
FFFFFFFFH
mount)
Attribute 9 of SIO channel 2
0H to
221 opened to user (standard 00000000H
FFFFFFFFH
mount)
Attribute 10 of SIO channel 2
0H to
222 opened to user (standard 00000000H
FFFFFFFFH
mount)
Attribute 11 of SIO channel 2
0H to
223 opened to user (standard 00000000H
FFFFFFFFH
mount)
Attribute 12 of SIO channel 2
0H to
224 opened to user (standard 00000000H
FFFFFFFFH
mount)

299
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Bits 0 to 3: Type of Network I/F Module Control 1
(0: Not mounted,
1: CC-Link,
2: DeviceNet,
3: Profibus,
4 to 5: System Reservation,
6: EtherCAT,
0H to 7: EtherNet/IP)
225 NetworkI/FModule Controller 0H
FFFFFFFFH Bits 4 to 7: Type of Network I/F Module Control 2
(0: Not mounted,
1: CC-Link,
2: DeviceNet,
3: Profibus,
4 to 7: System Reservation)
Bits 8 to 11: Reserved by the system (change is
prohibited)
Chapter 6 Parameter

Settable Range
• At CC-Link: 1 to 64
Network I/F Module 1 Node 0 to
226 0 • At DeviceNet: 0 to 63
Address 999999999
• At Profibus: 0 to 125
• At EtherCAT: 0 to 127
• At CC-Link:
(0: 156kbps, 1: 625kbps, 2: 2.5Mbps,
3: 5Mbps, 4: 10Mbps)
• At DeviceNet:
(0: 125kbps, 1: 250kbps, 2: 500kbps)
Network I/F Module 1 Baud
227 0 0 to 9 • At EtherNet/IP:
rate
(0: Autonegotiation, 1: 10Mbps (Half-Duplex),
2: 10Mbps (Full-Duplex), 3: 100Mbps
(Half-Duplex), 4: 100Mbps (Full-Duplex))
* Setting establishment not necessary for
Profibus and EtherCAT
228 (For expansion) 0
6.1 I/O Parameter (All types)

229 (For expansion) 0

230 (For expansion) 0
No. of Network I/F Module 2
231 0 0 to 256 Multiples of 8
Remote Input Ports
No. of Network I/F Module 2
232 0 0 to 256 Multiples of 8
Remote Output Ports
0+(Multiples of 8)(0 to 299)
1000+(Multiples of 8)(1000 to 3999)
Network I/F Module 2
(Invalid if a negative value is set.)
233 Extension Input Port Start -1 -1 to 3999
Number Fixed Assignment
* No. 0 to 299 are to be applicable in V0.10 and
later of CPU application area.
300+(Multiples of 8)(300 to 599)
4000+(Multiples of 8)(4000 to 6999)
Network I/F Module 2
(Invalid if a negative value is set.)
234 Extension Output Port Start -1 -1 to 6999
Number Fixed Assignment
* No. 300 to 599 are to be applicable in V0.10
and later of CPU application area.
0: No Monitoring
Network I/F Module 2 error
235 1 0 to 5 1: Monitoring
monitor
*There are some exception
0H to
236 System Reservation 0H
FFFFFFFFH
Settable Range
Network I/F Module 2 Node 0 to • At CC-Link: 1 to 64
237 0
Address 999999999 • At DeviceNet: 0 to 63
• At Profibus: 0 to 125
• At CC-Link:
(0: 156kbps, 1: 625kbps, 2: 2.5Mbps,
3: 5Mbps, 4: 10Mbps)
Network I/F Module 2 Baud
238 0 0 to 9 • At DeviceNet:
rate
(0: 125kbps, 1: 250kbps, 2: 500kbps)
* Setting establishment not necessary for
Profibus

300
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
239 (For expansion) 0
240 (For expansion) 0
241 (For expansion) 0
242 (For expansion) 0
243 (For expansion) 0
244 (For expansion) 0
245 (For expansion) 0
246 (For expansion) 0
247 (For expansion) 0
248 (For expansion) 0
249 (For expansion) 0
250 (For expansion) 0
251 (For expansion) 0
252 (For expansion) 0

Chapter 6 Parameter
253 (For expansion) 0
254 (For expansion) 0
255 (For expansion) 0
256 (For expansion) 0
257 (For expansion) 0
258 (For expansion) 0
259 (For expansion) 0
260 (For expansion) 0
261 (For expansion) 0
262 (For expansion) 0
263 (For expansion) 0
264 (For expansion) 0
265 (For expansion) 0
266 (For expansion) 0
267 (For expansion) 0

6.1 I/O Parameter (All types)

268 (For expansion) 0
269 (For expansion) 0
270 (For expansion) 0
271 (For expansion) 0
272 (For expansion) 0
273 (For expansion) 0
274 (For expansion) 0
275 (For expansion) 0
276 (For expansion) 0
277 (For expansion) 0
278 (For expansion) 0
279 (For expansion) 0
280 (For expansion) 0
281 (For expansion) 0
282 (For expansion) 0
Specify the port number to be assigned to the
function of I/O parameter No. 30, “Input function
Port number assigned to input
283 -1 -1 to 3999 selection 000.”
function selection 000
* If a negative value is set, the function will be
assigned to input port No. 0.
Specify the port number to be assigned to the
function of I/O parameter No. 31, “Input function
Port number assigned to input
284 -1 -1 to 3999 selection 001.”
function selection 001
* If a negative value is set, the function will be
assigned to input port No. 1.
Specify the port number to be assigned to the
function of I/O parameter No. 32, “Input function
Port number assigned to input
285 -1 -1 to 3999 selection 002.”
function selection 002
* If a negative value is set, the function will be
assigned to input port No. 2.

301
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Specify the port number to be assigned to the
function of I/O parameter No. 33, “Input function
Port number assigned to input
286 -1 -1 to 3999 selection 003.”
function selection 003
* If a negative value is set, the function will be
assigned to input port No. 3.
Specify the port number to be assigned to the
function of I/O parameter No. 34, “Input function
Port number assigned to input
287 -1 -1 to 3999 selection 004.”
function selection 004
* If a negative value is set, the function will be
assigned to input port No. 4.
Specify the port number to be assigned to the
function of I/O parameter No. 35, “Input function
Port number assigned to input
288 -1 -1 to 3999 selection 005.”
function selection 005
* If a negative value is set, the function will be
assigned to input port No. 5.
Specify the port number to be assigned to the
Chapter 6 Parameter

function of I/O parameter No. 36, “Input function

Port number assigned to input
289 -1 -1 to 3999 selection 006.”
function selection 006
* If a negative value is set, the function will be
assigned to input port No. 6.
Specify the port number to be assigned to the
function of I/O parameter No. 37, “Input function
selection 007.”
* If a negative value is set, the function will be
assigned to input port No. 7.
* If “Program number specified for program start”
Port number assigned to input
290 -1 -1 to 3999 has been specified for input function selection
function selection 007
007, specify in this parameter an input port
number whose LSB contains the next higher
value to the LSB of the program number
specified for program start.
(Related information: I/O parameter No. 30,
“Input function selection 000”)
6.1 I/O Parameter (All types)

Specify the port number to be assigned to the

function of I/O parameter No. 38, “Input function
selection 008.”
* If a negative value is set, the function will be
assigned to input port No. 8.
Port number assigned to input
291 -1 -1 to 3999 * If “Program number specified for program start”
function selection 008.
has been specified for input function selection
008, specify in this parameter an input port
number whose LSB contains the next higher
value to the LSB of the program number
specified for program start.
Specify the port number to be assigned to the
function of I/O parameter No. 39, “Input function
selection 009.”
* If a negative value is set, the function will be
assigned to input port No. 9.
Port number assigned to input
292 -1 -1 to 3999 * If “Program number specified for program start”
function selection 009
has been specified for input function selection
009, specify in this parameter an input port
number whose LSB contains the next higher
value to the LSB of the program number
specified for program start.
Specify the port number to be assigned to the
function of I/O parameter No. 40, “Input function
selection 010.”
* If a negative value is set, the function will be
assigned to input port No. 10.
Port number assigned to input
293 -1 -1 to 3999 * If “Program number specified for program start”
function selection 010
has been specified for input function selection
010, specify in this parameter an input port
number whose LSB contains the next higher
value to the LSB of the program number
specified for program start.

302
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Specify the port number to be assigned to the
function of I/O parameter No. 41, “Input function
selection 011.”
* If a negative value is set, the function will be
assigned to input port No. 11.
Port number assigned to input
294 -1 -1 to 3999 * If “Program number specified for program start”
function selection 011
has been specified for input function selection
011, specify in this parameter an input port
number whose LSB contains the next higher
value to the LSB of the program number
specified for program start.
Specify the port number to be assigned to the
function of I/O parameter No. 42, “Input function
selection 012.”
* If a negative value is set, the function will be
assigned to input port No. 12.
Port number assigned to input

Chapter 6 Parameter
295 -1 -1 to 3999 * If “Program number specified for program start”
function selection 012
has been specified for input function selection
012, specify in this parameter an input port
number whose LSB contains the next higher
value to the LSB of the program number
specified for program start.
Specify the port number to be assigned to the
function of I/O parameter No. 43, “Input function
selection 013.”
* If a negative value is set, the function will be
assigned to input port No. 13.
Port number assigned to input
296 -1 -1 to 3999 * If “Program number specified for program start”
function selection 013
has been specified for input function selection
013, specify in this parameter an input port
number whose LSB contains the next higher
value to the LSB of the program number
specified for program start.

6.1 I/O Parameter (All types)

Specify the port number to be assigned to the
function of I/O parameter No. 44, “Input function
selection 014.”
* If a negative value is set, the function will be
assigned to input port No. 14.
* If “Program number specified for program start”
Port number assigned to input
297 -1 -1 to 3999 has been specified for input function selection
function selection 014
014, specify in this parameter an input port
number whose LSB contains the next higher
value to the LSB of the program number
specified for program start.
(Related information: I/O parameter No. 30,
“Input function selection 000”)
Specify the port number to be assigned to the
function of I/O parameter No. 45, “Input function
Port number assigned to input
298 -1 -1 to 3999 selection 015.”
function selection 015
* If a negative value is set, the function will be
assigned to input port No. 15.
Specify the port number to be assigned to the
function of I/O parameter No. 46, “Output function
Port number assigned to output
299 0 0 to 6999 selection 300.”
function selection 300
* If 0 is set, the function will be assigned to output
port No. 300.
Specify the port number to be assigned to the
function of I/O parameter No. 47, “Output function
Port number assigned to output
300 0 0 to 6999 selection 301.”
function selection 301
* If 0 is set, the function will be assigned to output
port No. 301.
Specify the port number to be assigned to the
function of I/O parameter No. 48, “Output function
Port number assigned to output
301 0 0 to 6999 selection 302.”
function selection 302
* If 0 is set, the function will be assigned to output
port No. 302.

303
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Specify the port number to be assigned to the
function of I/O parameter No. 49, “Output function
Port number assigned to output
302 0 0 to 6999 selection 303.”
function selection 303
* If 0 is set, the function will be assigned to output
port No. 303.
Specify the port number to be assigned to the
function of I/O parameter No. 50, “Output function
Port number assigned to output
303 0 0 to 6999 selection 304.”
function selection 304
* If 0 is set, the function will be assigned to output
port No. 304.
Specify the port number to be assigned to the
function of I/O parameter No. 51, “Output function
Port number assigned to output
304 0 0 to 6999 selection 305.”
function selection 305
* If 0 is set, the function will be assigned to output
port No. 305.
Specify the port number to be assigned to the
Chapter 6 Parameter

function of I/O parameter No. 52, “Output function

Port number assigned to output
305 0 0 to 6999 selection 306.”
function selection 306
* If 0 is set, the function will be assigned to output
port No. 306.
Specify the port number to be assigned to the
function of I/O parameter No. 53, “Output function
Port number assigned to output
306 0 0 to 6999 selection 307.”
function selection 307
* If 0 is set, the function will be assigned to output
port No. 307.
Specify the port number to be assigned to the
function of I/O parameter No. 54, “Output function
Port number assigned to output
307 0 0 to 6999 selection 308.”
function selection 308
* If 0 is set, the function will be assigned to output
port No. 308.
Specify the port number to be assigned to the
function of I/O parameter No. 55, “Output function
Port number assigned to output
6.1 I/O Parameter (All types)

308 0 0 to 6999 selection 309.”

function selection 309
* If 0 is set, the function will be assigned to output
port No. 309.
Specify the port number to be assigned to the
function of I/O parameter No. 56, “Output function
Port number assigned to output
309 0 0 to 6999 selection 310.”
function selection 310
* If 0 is set, the function will be assigned to output
port No. 310.
Specify the port number to be assigned to the
function of I/O parameter No. 57, “Output function
Port number assigned to output
310 0 0 to 6999 selection 311.”
function selection 311
* If 0 is set, the function will be assigned to output
port No. 311.
Specify the port number to be assigned to the
function of I/O parameter No. 58, “Output function
Port number assigned to output
311 0 0 to 6999 selection 312.”
function selection 312
* If 0 is set, the function will be assigned to output
port No. 312.
Specify the port number to be assigned to the
function of I/O parameter No. 59, “Output function
Port number assigned to output
312 0 0 to 6999 selection 313.”
function selection 313
* If 0 is set, the function will be assigned to output
port No. 313.
Specify the port number to be assigned to the
function of I/O parameter No. 60, “Output function
Port number assigned to output
313 0 0 to 6999 selection 314.”
function selection 314
* If 0 is set, the function will be assigned to output
port No. 314.
Specify the port number to be assigned to the
function of I/O parameter No. 61, “Output function
Port number assigned to output
314 0 0 to 6999 selection 315.”
function selection 315
* If 0 is set, the function will be assigned to output
port No. 315.

304
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Specify the port number to be assigned to the
function of I/O parameter No. 331, “Output
Port number assigned to output
315 0 0 to 6999 function selection 300 (area 2).”
function selection 300 (area 2)
* If 0 is set, the function will not be assigned to
any port.
Specify the port number to be assigned to the
function of I/O parameter No. 332, “Output
Port number assigned to output
316 0 0 to 6999 function selection 301 (area 2).”
function selection 301 (area 2)
* If 0 is set, the function will not be assigned to
any port.
Specify the port number to be assigned to the
function of I/O parameter No. 333, “Output
Port number assigned to output
317 0 0 to 6999 function selection 302 (area 2).”
function selection 302 (area 2)
* If 0 is set, the function will not be assigned to
any port.
Specify the port number to be assigned to the

Chapter 6 Parameter
function of I/O parameter No. 334, “Output
Port number assigned to output
318 0 0 to 6999 function selection 303 (area 2).”
function selection 303 (area 2)
* If 0 is set, the function will not be assigned to
any port.
ISpecify the port number to be assigned to the
function of I/O parameter No. 335, “Output
Port number assigned to output
319 0 0 to 6999 function selection 304 (area 2).”
function selection 304 (area 2)
* If 0 is set, the function will not be assigned to
any port.
Specify the port number to be assigned to the
function of I/O parameter No. 336, “Output
Port number assigned to output
320 0 0 to 6999 function selection 305 (area 2).”
function selection 305 (area 2)
* If 0 is set, the function will not be assigned to
any port.
Specify the port number to be assigned to the
function of I/O parameter No. 337, “Output
Port number assigned to output

6.1 I/O Parameter (All types)

321 0 0 to 6999 function selection 306 (area 2).”
function selection 306 (area 2)
* If 0 is set, the function will not be assigned to
any port.
Specify the port number to be assigned to the
function of I/O parameter No. 338, “Output
Port number assigned to output
322 0 0 to 6999 function selection 307 (area 2).”
function selection 307 (area 2)
* If 0 is set, the function will not be assigned to
any port.
Specify the port number to be assigned to the
function of I/O parameter No. 339, “Output
Port number assigned to output
323 0 0 to 6999 function selection 308 (area 2).”
function selection 308 (area 2)
* If 0 is set, the function will not be assigned to
any port.
Specify the port number to be assigned to the
function of I/O parameter No. 340, “Output
Port number assigned to output
324 0 0 to 6999 function selection 309 (area 2).”
function selection 309 (area 2)
* If 0 is set, the function will not be assigned to
any port.
Specify the port number to be assigned to the
function of I/O parameter No. 341, “Output
Port number assigned to output
325 0 0 to 6999 function selection 310 (area 2).”
function selection 310 (area 2)
* If 0 is set, the function will not be assigned to
any port.
Specify the port number to be assigned to the
function of I/O parameter No. 342, “Output
Port number assigned to output
326 0 0 to 6999 function selection 311 (area 2).”
function selection 311 (area 2)
* If 0 is set, the function will not be assigned to
any port.
Specify the port number to be assigned to the
function of I/O parameter No. 343, “Output
Port number assigned to output
327 0 0 to 6999 function selection 312 (area 2).”
function selection 312 (area 2)
* If 0 is set, the function will not be assigned to
any port.

305
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Specify the port number to be assigned to the
function of I/O parameter No. 344, “Output
Port number assigned to output
328 0 0 to 6999 function selection 313 (area 2).”
function selection 313 (area 2)
* If 0 is set, the function will not be assigned to
any port.
Specify the port number to be assigned to the
function of I/O parameter No. 345, “Output
Port number assigned to output
329 0 0 to 6999 function selection 314 (area 2).”
function selection 314 (area 2)
* If 0 is set, the function will not be assigned to
any port.
Specify the port number to be assigned to the
function of I/O parameter No. 346, “Output
Port number assigned to output
330 0 0 to 6999 function selection 315 (area 2).”
function selection 315 (area 2)
* If 0 is set, the function will not be assigned to
any port.
0: General-purpose output
Chapter 6 Parameter

1: Output of operation-cancellation level or higher

error (ON)
2: Output of operation-cancellation level or higher
error (OFF)
3: Output of operation-cancellation level or higher
error + emergency stop (ON)
4: Output of operation-cancellation level or higher
Output function selection 300
331 0 0 to 20 error + emergency stop (OFF)
(area 2)
5: Output error of cold start level or higher(ON)
6: Output error of cold start level or higher(OFF)
7: Error output of maintenance information alert
function related massage level (Error No. 231 to
232) (ON)
8: Error output of maintenance information alert
function related massage level (Error No. 231 to
232) (OFF)
0: General-purpose output
6.1 I/O Parameter (All types)

1: READY output (PIO trigger program can be

run)
2: READY output (PIO trigger program can be run
Output function selection 301
332 0 0 to 20 and error of operation-cancellation level or
(area 2)
higher is not present)
3: READY output (PIO trigger program can be run
and error of cold-start level or higher is not
present)
0: General-purpose output
Output function selection 302
333 0 0 to 20 1: Emergency stop output (ON)
(area 2)
2: Emergency stop output (OFF)
0: General-purpose output
Output function selection 303 1: AUTO mode output
334 0 0 to 5
(area 2) 2: Automatic operation in-progress output (other
parameter No. 12)
Output function selection 304 0: General-purpose output
335 0 0 to 5
(area 2) 1 to 3: System Reservation
0: General-purpose output
st
1: 1 axis in-position output (turned OFF when
Output function selection 305 pressing missed)
336 0 0 to 5
(area 2) 2: Axis 1 servo currently-ON output
(system-monitored task output)
3: System Reservation
0: General-purpose output
nd
1: 2 axis in-position output (turned OFF when
Output function selection 306 pressing missed)
337 0 0 to 5
(area 2) 2: Axis 2 servo currently-ON output
(system-monitored task output)
3: System Reservation

306
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
0: General-purpose output
rd
1: 3 axis in-position output (turned OFF when
Output function selection 307 pressing missed)
338 0 0 to 5
(area 2) 2: Axis 3 servo currently-ON output
(system-monitored task output)
3: System Reservation
0: General-purpose output
th
1: 4 axis in-position output (turned OFF when
Output function selection 308 pressing missed)
339 0 0 to 5
(area 2) 2: Axis 4 servo currently-ON output
(system-monitored task output)
3: System Reservation
0: General-purpose output
th
1: 5 axis in-position output (turned OFF when
Output function selection 309 pressing missed)
340 0 0 to 5
(area 2) 2: Axis 5 servo currently-ON output

Chapter 6 Parameter
(system-monitored task output)
3: System Reservation
0: General-purpose output
th
1: 6 axis in-position output (turned OFF when
Output function selection 310 pressing missed)
341 0 0 to 5
(area 2) 2: Axis 6 servo currently-ON output
(system-monitored task output)
3: System Reservation
0: General-purpose output
th
1: 7 axis in-position output (turned OFF when
Output function selection 311 pressing missed)
342 0 0 to 5
(area 2) 2: Axis 7 servo currently-ON output
(system-monitored task output)
3: System Reservation
0: General-purpose output
th
1: 8 axis in-position output (turned OFF when
Output function selection 312 pressing missed)

6.1 I/O Parameter (All types)

343 0 0 to 5
(area 2) 2: Axis 8 servo currently-ON output
(system-monitored task output)
3: System Reservation
Output function selection 313 0: General-purpose output
344 0 0 to 5
(area 2) 1: System Reservation
0: General-purpose output
1: Absolute-data backup battery voltage at
low-voltage warning level or below (All axes are
Output function selection 314
345 0 0 to 5 checked for generation of this alarm. If an
(area 2)
abnormal level is detected, the system will be
latched until a power-ON reset or software reset
is performed.)
Output function selection 315 0: General-purpose output
346 0 0 to 5
(area 2)
347 (For expansion) 0
348 (For expansion) 0
349 (For expansion) 0
350 (For expansion) 0

307
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Bits 0 to 3: Function Select
(0: Not to use, 1: Use)
Bits 4 to 7: Communication Device Selection
(0: Mount Standard SIO Ch1
(Related I/O Parameters No.201 to
203)
1: Mount Standard SIO Ch2
(Related I/O Parameters No.213 to
215)
2: EtherNet Ch31
3: EtherNet Ch32
4: EtherNet Ch33
Vision System I/F 1 Function 0H to 5: EtherNet Ch34
351 3105500H
Selection 1 FFFFFFFFH (Related I/O Parameters No.124,
129 to 143, 145 to 148))
Bits 8 to 11: Vision System I/F 1 response
Chapter 6 Parameter

timeout value (sec)

Bits 12 to 19: Vision System I/F 1 capturing
command disable delay timer value
(msec)
Bits 20 to 23: Vision System I/F 1 capturing delay
prediction timer value (msec)
Bits 24 to 31: Number of Vision System I/F 1
capturing command retries
*No retry if 0
Note: Dedicated for XSEL-R/S controller
Bits 0 to 7: Vision System I/F 1 communication
format select
(0: Format D
Vision System I/F 1 Function 0H to 1: Format O
352 0H
Selection 2 FFFFFFFFH 2: Format K)
(Related I/O Parameter No.353)
Bits 8 to 31: System Reservation
6.1 I/O Parameter (All types)

Note: Dedicated for XSEL-R/S controller

Bits 0 to 7: Vision System I/F 1 Communication
Delimiter
Bits 8 to 15: Vision System I/F 1 Communication
Delimiter 1
Vision System I/F 1 Function 0H to
353 54313C0DH *No header when 0
Selection 3 FFFFFFFFH
Bits 16 to 31: Vision System I/F 1 Communication
Delimiter 2
*No header when 0
Note: Dedicated for XSEL-R/S controller
Reserved by the system
354 0
(change is prohibited)
Reserved by the system
355 0
(change is prohibited)
Vision System I/F 1
7.3.4 Invalid when set to “0”.
356 Initializing Complete Status 0 0 to 299
Note: Dedicated for XSEL-R/S controller
Physical Input Port Number
Vision System I/F 1 7.3.5 Setting may be necessary depending on
357 Image-Capture Command 0 0 to 599 type of system
Physical Output Number Note: Dedicated for XSEL-R/S controller
358 (For expansion) 0
359 (For expansion) 0
360 (For expansion) 0
Reserved by the system 0H to
361 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
362 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
363 0H
(change is prohibited) FFFFFFFFH
Reserved by the system
364 0
(change is prohibited)
Reserved by the system
365 0
(change is prohibited)

308
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Reserved by the system
366 0 0 to 299
(change is prohibited)
Reserved by the system
367 0 0 to 599
(change is prohibited)
368 (For expansion) 0
369 (For expansion) 0
370 (For expansion) 0
371 (For expansion) 0
372 (For expansion) 0
373 (For expansion) 0
374 (For expansion) 0
375 (For expansion) 0
376 (For expansion) 0
377 (For expansion) 0

Chapter 6 Parameter
378 (For expansion) 0
379 (For expansion) 0
Unaffected general-purpose (Same as I/O parameter No. 70)
output area 2 number (MIN)
380 0 0 to 6999
when all operations/programs
are aborted
Unaffected general-purpose
output area 2 number (MAX)
381 0 0 to 6999
when all operations/programs
are aborted
Unaffected general-purpose (Same as I/O parameter No. 70)
output area 3 number (MIN)
382 0 0 to 6999
when all operations/programs
are aborted
Unaffected general-purpose
output area 3 number (MAX)
383 0 0 to 6999
when all operations/programs

6.1 I/O Parameter (All types)

are aborted
Unaffected general-purpose (Same as I/O parameter No. 70)
output area 4 number (MIN)
384 0 0 to 6999
when all operations/programs
are aborted
Unaffected general-purpose
output area 4 number (MAX)
385 0 0 to 6999
when all operations/programs
are aborted
386 (For expansion) 0
387 (For expansion) 0
388 (For expansion) 0
389 (For expansion) 0
Unaffected general-purpose (Same as I/O parameter No. 72)
output area 2 number (MIN)
390 when all operations are paused 4000 0 to 6999
(servo-axis soft interlock +
output-port soft interlock)
Unaffected general-purpose
output area 2 number (MAX)
391 when all operations are paused 6999 0 to 6999
(servo-axis soft interlock +
output-port soft interlock)
Unaffected general-purpose (Same as I/O parameter No. 72)
output area 3 number (MIN)
392 when all operations are paused 0 0 to 6999
(servo-axis soft interlock +
output-port soft interlock)
Unaffected general-purpose
output area 3 number (MAX)
393 when all operations are paused 0 0 to 6999
(servo-axis soft interlock +
output-port soft interlock)

309
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Unaffected general-purpose (Same as I/O parameter No. 72)
output area 4 number (MIN)
394 when all operations are paused 0 0 to 6999
(servo-axis soft interlock +
output-port soft interlock)
Unaffected general-purpose
output area 4 number (MAX)
395 when all operations are paused 0 0 to 6999
(servo-axis soft interlock +
output-port soft interlock)
396 (For expansion) 0
397 (For expansion) 0
398 (For expansion) 0
399 (For expansion) 0
Reserved by the system
400 1
(change is prohibited)
Chapter 6 Parameter

401 (For expansion) 0

402 (For expansion) 0
403 (For expansion) 0
404 (For expansion) 0
Reserved by the system
405 512
(change is prohibited)
Reserved by the system
406 512
(change is prohibited)
Reserved by the system
407 -1
(change is prohibited)
Reserved by the system
408 -1
(change is prohibited)
Reserved by the system
409 1
(change is prohibited)
410 (For expansion) 0
6.1 I/O Parameter (All types)

Reserved by the system

411 1256
(change is prohibited)
Reserved by the system
412 4256
(change is prohibited)
Reserved by the system
413 0
(change is prohibited)
Reserved by the system
414 0
(change is prohibited)
Reserved by the system
415 -1
(change is prohibited)
Reserved by the system
416 -1
(change is prohibited)
417 (For expansion) 0
418 (For expansion) 0
419 (For expansion) 0
Reserved by the system
420 0H
(change is prohibited)
Reserved by the system
421 1003000H
(change is prohibited)
Reserved by the system
422 FF007530H
(change is prohibited)
Reserved by the system
423 2H
(change is prohibited)
Reserved by the system
424 0H
(change is prohibited)
Reserved by the system
425 0H
(change is prohibited)
Reserved by the system
426 0H
(change is prohibited)
Reserved by the system
427 0H
(change is prohibited)

310
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Reserved by the system
428 0H
(change is prohibited)
Reserved by the system
429 0H
(change is prohibited)
Reserved by the system
430 4000
(change is prohibited)
Bits 0 to 3: Function Select
(0: Disable, 1: RC Gateway)
Fieldbus Master Function 0H to
431 0H Bits 4 to 7: Offline slave data process select
Select FFFFFFFFH
(0: Clear, 1: Hold (most recent normal
retain))
Bits 0 to 7: Connected controller type
(0: Not connected,
1: MSEP
Fieldbus Slave 0 Construction 0H to 2: ACON/PCON, PCON-CA
432 0H
Definition FFFFFFFFH 3: SCON-CA)

Chapter 6 Parameter
4: MSCON
Bits 8 to 15: Slave input size (byte)
Bits 16 to 23: Slave output size (byte)
Fieldbus Slave 1 Construction 0H to (Same as I/O parameter No. 432)
433 0H
Definition FFFFFFFFH
Fieldbus Slave 2 Construction 0H to (Same as I/O parameter No. 432)
434 0H
Definition FFFFFFFFH
Fieldbus Slave 3 Construction 0H to (Same as I/O parameter No. 432)
435 0H
Definition FFFFFFFFH
Fieldbus Slave 4 Construction 0H to (Same as I/O parameter No. 432)
436 0H
Definition FFFFFFFFH
Fieldbus Slave 5 Construction 0H to (Same as I/O parameter No. 432)
437 0H
Definition FFFFFFFFH
Fieldbus Slave 6 Construction 0H to (Same as I/O parameter No. 432)
438 0H
Definition FFFFFFFFH
Fieldbus Slave 7 Construction 0H to (Same as I/O parameter No. 432)

6.1 I/O Parameter (All types)

439 0H
Definition FFFFFFFFH
Fieldbus Slave 8 Construction 0H to (Same as I/O parameter No. 432)
440 0H
Definition FFFFFFFFH
Fieldbus Slave 9 Construction 0H to (Same as I/O parameter No. 432)
441 0H
Definition FFFFFFFFH
Fieldbus Slave 10 Construction 0H to (Same as I/O parameter No. 432)
442 0H
Definition FFFFFFFFH
Fieldbus Slave 11 Construction 0H to (Same as I/O parameter No. 432)
443 0H
Definition FFFFFFFFH
Fieldbus Slave 12 Construction 0H to (Same as I/O parameter No. 432)
444 0H
Definition FFFFFFFFH
Fieldbus Slave 13 Construction 0H to (Same as I/O parameter No. 432)
445 0H
Definition FFFFFFFFH
Fieldbus Slave 14 Construction 0H to (Same as I/O parameter No. 432)
446 0H
Definition FFFFFFFFH
Fieldbus Slave 15 Construction 0H to (Same as I/O parameter No. 432)
447 0H
Definition FFFFFFFFH
Bits 0 to 12: EPR (Expected Packet Rate)
Fieldbus Configuration Attribute 0H to
448 4BH Bits 13 to 31: ISD (Interscan Delay)
1 FFFFFFFFH
*Perform the setting to make ISD*3 < EPR.
449 (For expansion) 0
450 (For expansion) 0
451 (For expansion) 0
452 (For expansion) 0
453 (For expansion) 0
454 (For expansion) 0
455 (For expansion) 0
456 (For expansion) 0
457 (For expansion) 0
458 (For expansion) 0
459 (For expansion) 0

311
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Bits 0 to 3: Applicable data type
(0 = Disable, 1 = Input and output,
plugs)
Bits 4 to 7: User-defined address construction
type
(0 = No H/L Byte Swap Assignment
User-Defined Memory Block
0H to 1 = H/L Byte Swap Assignment)
460 Attribute 1 (Memory Block No. 0
FFFFFFFFH Bits 8 to 11: Double word data type
1)
(0 = indicated word address number
n: low-order 16 bits, No. n+1: host 16
bits
1 = indicated word address number
n: host-order 16 bits, No. n+1: low 16
bits)
User-Defined Memory Block Applicable data top number
461 Attribute 2 (Memory Block No. 0 0 to 65535 * Indicate with the input and output plug numbers
Chapter 6 Parameter

1) when the data type = input and output, plugs

User-Defined Memory Block Number of applicable data
462 Attribute 3 (Memory Block No. 0 0 to 65535 * When the data type = input and output, plugs,
1) Multiples of 16
User-Defined Memory Block
463 Attribute 4 (Memory Block No. 0 0 to 65535 Top user-defined word address in memory block
1)
User-Defined Memory Block
0H to
464 Attribute 1 (Memory Block No. 0 (Same as I/O parameter No. 460)
FFFFFFFFH
2)
User-Defined Memory Block
465 Attribute 2 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 461)
2)
User-Defined Memory Block
466 Attribute 3 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 462)
2)
6.1 I/O Parameter (All types)

User-Defined Memory Block

467 Attribute 4 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 463)
2)
User-Defined Memory Block
0H to
468 Attribute 1 (Memory Block No. 0 (Same as I/O parameter No. 460)
FFFFFFFFH
3)
User-Defined Memory Block
469 Attribute 2 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 461)
3)
User-Defined Memory Block
470 Attribute 3 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 462)
3)
User-Defined Memory Block
471 Attribute 4 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 463)
3)
User-Defined Memory Block
0H to
472 Attribute 1 (Memory Block No. 0 (Same as I/O parameter No. 460)
FFFFFFFFH
4)
User-Defined Memory Block
473 Attribute 2 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 461)
4)
User-Defined Memory Block
474 Attribute 3 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 462)
4)
User-Defined Memory Block
475 Attribute 4 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 463)
4)
User-Defined Memory Block
0H to
476 Attribute 1 (Memory Block No. 0 (Same as I/O parameter No. 460)
FFFFFFFFH
5)
User-Defined Memory Block
477 Attribute 2 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 461)
5)

312
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
User-Defined Memory Block
478 Attribute 3 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 462)
5)
User-Defined Memory Block
479 Attribute 4 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 463)
5)
User-Defined Memory Block
0H to
480 Attribute 1 (Memory Block No. 0 (Same as I/O parameter No. 460)
FFFFFFFFH
6)
User-Defined Memory Block
481 Attribute 2 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 461)
6)
User-Defined Memory Block
482 Attribute 3 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 462)
6)
User-Defined Memory Block

Chapter 6 Parameter
483 Attribute 4 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 463)
6)
User-Defined Memory Block
0H to
484 Attribute 1 (Memory Block No. 0 (Same as I/O parameter No. 460)
FFFFFFFFH
7)
User-Defined Memory Block
485 Attribute 2 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 461)
7)
User-Defined Memory Block
486 Attribute 3 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 462)
7)
User-Defined Memory Block
487 Attribute 4 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 463)
7)
User-Defined Memory Block
0H to
488 Attribute 1 (Memory Block No. 0 (Same as I/O parameter No. 460)

6.1 I/O Parameter (All types)

FFFFFFFFH
8)
User-Defined Memory Block
489 Attribute 2 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 461)
8)
User-Defined Memory Block
490 Attribute 3 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 462)
8)
User-Defined Memory Block
491 Attribute 4 (Memory Block No. 0 0 to 65535 (Same as I/O parameter No. 463)
8)
492 (For expansion) 0
493 (For expansion) 0
494 (For expansion) 0
495 (For expansion) 0
496 (For expansion) 0
497 (For expansion) 0
498 (For expansion) 0
499 (For expansion) 0
500 (For expansion) 0
Number of RC-gateway Number of position data used in the RC position
501 128 0 to 512
position data points data mode within the X-SEL.
Maximum axis number for Maximum axis number used for reserving RC-axis
502 definition of RC-gateway 0 0 to 15 position data areas in the user-data backup
position data memory
If the number of position data points for allocating
RC-axis position data area in the user-data
Number of position data points
backup memory is 0, no area is allocated.
503 for definition of RC-gateway 0 0 to 512
If a value other than 0 is set, areas will be
position data
reserved regardless of whether the RC gateway
function is enabled or disabled.

313
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Top Extension Input Port
1000 to
504 Number Occupied by RC 1000 1000+(Multiples of 16)
3999
Gateway PLC Through Mode
Top Extension Output Port
4000 to
505 Number Occupied by RC 4000 4000+(Multiples of 16)
6999
Gateway PLC Through Mode
RC Gateway RC PC Software
Establish the time setting for connection timeout
506 Connection Communication 3000 0 to 99999 msec
when connected to RC PC software
Timeout Time
Bits 0 to 3: 0 = Check for emergency stop
inconsistency between XSEL and
RC-axis
1 = Do not check
Bits 4 to 7: Number of data refresh check
0H to [times]
507 RC gateway attribute 1 8030H
FFFFFFFFH (only for FB type)
Chapter 6 Parameter

Bits 8 to 11: Data refresh delay time [10ms]

(only for FB type)
Bits 12 to 15: Time to wait for link in initializing
(8s or more)[s]
Bits 16 to 31: For future extension
508 (For expansion) 0
509 (For expansion) 0
510 (For expansion) 0
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
511 0 0 to 3999
release of RC axis 0 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
512 0 0 to 3999
release of RC axis 1 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)
6.1 I/O Parameter (All types)

When the applicable port turns ON, the brake will

Input port number for forced be released forcibly. (Beware of dropping axis.)
513 0 0 to 3999
release of RC axis 2 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
514 0 0 to 3999
release of RC axis 3 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
515 0 0 to 3999
release of RC axis 4 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
516 0 0 to 3999
release of RC axis 5 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
517 0 0 to 3999
release of RC axis 6 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
518 0 0 to 3999
release of RC axis 7 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
519 0 0 to 3999
release of RC axis 8 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
520 0 0 to 3999
release of RC axis 9 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)

314
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
521 0 0 to 3999
release of RC axis 10 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
522 0 0 to 3999
release of RC axis 11 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
523 0 0 to 3999
release of RC axis 12 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
524 0 0 to 3999
release of RC axis 13 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)

Chapter 6 Parameter
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
525 0 0 to 3999
release of RC axis 14 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)
When the applicable port turns ON, the brake will
Input port number for forced be released forcibly. (Beware of dropping axis.)
526 0 0 to 3999
release of RC axis 15 brake * Invalid, if 0. (Specification of input port No. 0 is
invalid.)
527 (For expansion) 0
528 (For expansion) 0
Select main CPU control axes available to indicate
at extension motion control board synchronizing
main axis (up to 6 axes at maximum)
Extension Motion Control
Board Synchronizing Main 0B to
529 00111111B Each bit = 1: extension motion control board
CPU Control Main Axis Select 11111111B
synchronizing main axis selectable
Axis Pattern

6.1 I/O Parameter (All types)

= 0: extension motion control board synchronizing
main axis not selectable
Note: Dedicated for XSEL-R/S controller
Number of Extension Motion
Maximum number of used position data points
530 Control Board Position Data 128 0 to 512
Note: Dedicated for XSEL-R/S controller
Points
Maximum axis number to secure extension motion
Extension Motion Control
control board axis position data domain in user
531 Board Position Data Definition 0 0 to 15
data retaining memory
Maximum Axis Number
Note: Dedicated for XSEL-R/S controller
Number of position data points to secure
extension motion control board axis position data
Number of Position Data Points domain in user data retaining memory.
532 for Extension Motion Control 0 0 to 512 * Domain not secured when set to 0
Board Position Data Definition * Domain secured when other than 0 no matter
if extension motion control board mounted
Note: Dedicated for XSEL-R/S controller
st th
Indicate main CPU control main axis (1 to 8
axes) synchronizing position type
(0: Current Order Position
1: Current Position)
st
Extension Motion Control Bits 0 to 3: 1 axis synchronizing position type
nd
Board Synchronizing Main 0H to Bits 4 to 7: 2 axis synchronizing position type
533 00000000H rd
CPU Control Main Axis Position FFFFFFFFH Bits 8 to 11: 3 axis synchronizing position type
th
Type Bits 12 to 15: 4 axis synchronizing position type
th
Bits 16 to 19: 5 axis synchronizing position type
th
Bits 20 to 23: 6 axis synchronizing position type
th
Bits 24 to 27: 7 axis synchronizing position type
th
Bits 28 to 31: 8 axis synchronizing position type
Note: Dedicated for XSEL-R/S controller

315
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Bits 0 to 3: Control input and output port
assignment type
0: Assignment invalid (control input and
output port not to be used)
1: APCON type assignment
Input port No.n: Servo-on signal
Input port No.n+1: Positioning
completion signal
Input port No.n+2: Home return
complete signal
Input port No.n+3: Alarm signal
Output port No.m: Servo ON
Command signal
Output port No.m+1: Home return
command signal
Output port No.m+2: Alarm reset
Chapter 6 Parameter

command signal

2: SCON type assignment

Input port No.n: Servo-on signal
Input port No.n+1: Positioning
completion signal
Input port No.n+2: Home return
complete signal
Input port No.n+3: Alarm signal
Input port No.n+4: Operating mode
status signal
Output port No.m: Servo-on command
signal
Extension Motion Control 0H to
534 th 00000000H Output port No.m+1: Home return
Board 0 Axis Control Attribute FFFFFFFFH
command signal
Output port No.m+2: Alarm reset
command signal
6.1 I/O Parameter (All types)

3: A/PCON type assignment

(Pulse cable disconnection detection
signal assignment)
Input port No.n: Servo-on signal
Input port No.n+1: Positioning
completion signal
Input port No.n+2: Home return
complete signal
Input port No.n+3: Alarm signal
Input port No.n+4: Pulse cable
disconnection detection signal
Output port No.m: Servo-on command
signal
Output port No.m+1: Home-return
command signal
Output port No.m+2: Alarm reset
command signal

* n = setting of Parameter No. 535 “Extension

Motion Control Board 0th Axis Control Top Input
Port Number”
* n = setting of Parameter No. 536 “Extension
th
Motion Control Board 0 Axis Control Top Output
Port Number”
Note: Dedicated for XSEL-R/S controller
Extension Motion Control
th
535 Board 0 Axis Control Top Input 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Port Number
Extension Motion Control
536 Board 0th Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number
Extension Motion Control 0H to (*Same as I/O parameter No. 534)
537 st 00000000H
Board 1 Axis Control Attribute FFFFFFFFH Note: Dedicated for XSEL-R/S controller

316
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Extension Motion Control
st
538 Board 1 Axis Control Top Input 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Port Number
Extension Motion Control
539 Board 1st Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number
Extension Motion Control 0H to (*Same as I/O parameter No. 534)
540 nd 00000000H
Board 2 Axis Control Attribute FFFFFFFFH Note: Dedicated for XSEL-R/S controller
Extension Motion Control
541 Board 2nd Axis Control Top 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Input Port Number
Extension Motion Control
nd
542 Board 2 Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number
Extension Motion Control 0H to (*Same as I/O parameter No. 534)
543 rd 00000000H
Board 3 Axis Control Attribute FFFFFFFFH Note: Dedicated for XSEL-R/S controller

Chapter 6 Parameter
Extension Motion Control
rd
544 Board 3 Axis Control Top Input 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Port Number
Extension Motion Control
rd
545 Board 3 Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number
Extension Motion Control 0H to (*Same as I/O parameter No. 534)
546 th 00000000H
Board 4 Axis Control Attribute FFFFFFFFH Note: Dedicated for XSEL-R/S controller
Extension Motion Control
th
547 Board 4 Axis Control Top Input 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Port Number
Extension Motion Control
548 Board 4th Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number
Extension Motion Control 0H to (*Same as I/O parameter No. 534)
549 th 00000000H
Board 5 Axis Control Attribute FFFFFFFFH Note: Dedicated for XSEL-R/S controller

6.1 I/O Parameter (All types)

Extension Motion Control
550 Board 5th Axis Control Top Input 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Port Number
Extension Motion Control
th
551 Board 5 Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number
Extension Motion Control 0H to (*Same as I/O parameter No. 534)
552 th 00000000H
Board 6 Axis Control Attribute FFFFFFFFH Note: Dedicated for XSEL-R/S controller
Extension Motion Control
th
553 Board 6 Axis Control Top Input 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Port Number
Extension Motion Control
th
554 Board 6 Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number
Extension Motion Control 0H to (*Same as I/O parameter No. 534)
555 th 00000000H
Board 7 Axis Control Attribute FFFFFFFFH Note: Dedicated for XSEL-R/S controller
Extension Motion Control
th
556 Board 7 Axis Control Top Input 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Port Number
Extension Motion Control
557 Board 7th Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number
Extension Motion Control 0H to (*Same as I/O parameter No. 534)
558 th 00000000H
Board 8 Axis Control Attribute FFFFFFFFH Note: Dedicated for XSEL-R/S controller
Extension Motion Control
559 Board 8th Axis Control Top Input 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Port Number
Extension Motion Control
th
560 Board 8 Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number

317
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Extension Motion Control 0H to (*Same as I/O parameter No. 534)
561 th 00000000H
Board 9 Axis Control Attribute FFFFFFFFH Note: Dedicated for XSEL-R/S controller
Extension Motion Control
th
562 Board 9 Axis Control Top Input 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Port Number
Extension Motion Control
th
563 Board 9 Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number
Extension Motion Control
th 0H to (*Same as I/O parameter No. 534)
564 Board 10 Axis Control 00000000H
FFFFFFFFH Note: Dedicated for XSEL-R/S controller
Attribute
Extension Motion Control
th
565 Board 10 Axis Control Top 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Input Port Number
Extension Motion Control
th
566 Board 10 Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Chapter 6 Parameter

Output Port Number

Extension Motion Control
th 0H to (*Same as I/O parameter No. 534)
567 Board 11 Axis Control 00000000H
FFFFFFFFH Note: Dedicated for XSEL-R/S controller
Attribute
Extension Motion Control
th
568 Board 11 Axis Control Top 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Input Port Number
Extension Motion Control
th
569 Board 11 Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number
Extension Motion Control
th 0H to (*Same as I/O parameter No. 534)
570 Board 12 Axis Control 00000000H
FFFFFFFFH Note: Dedicated for XSEL-R/S controller
Attribute
Extension Motion Control
th
571 Board 12 Axis Control Top 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Input Port Number
6.1 I/O Parameter (All types)

Extension Motion Control

th
572 Board 12 Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number
Extension Motion Control
th 0H to (*Same as I/O parameter No. 534)
573 Board 13 Axis Control 00000000H
FFFFFFFFH Note: Dedicated for XSEL-R/S controller
Attribute
Extension Motion Control
th
574 Board 13 Axis Control Top 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Input Port Number
Extension Motion Control
th
575 Board 13 Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number
Extension Motion Control
th 0H to (*Same as I/O parameter No. 534)
576 Board 14 Axis Control 00000000H
FFFFFFFFH Note: Dedicated for XSEL-R/S controller
Attribute
Extension Motion Control
th
577 Board 14 Axis Control Top 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Input Port Number
Extension Motion Control
th
578 Board 14 Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number
Extension Motion Control
th 0H to (*Same as I/O parameter No. 534)
579 Board 15 Axis Control 00000000H
FFFFFFFFH Note: Dedicated for XSEL-R/S controller
Attribute
Extension Motion Control
th
580 Board 15 Axis Control Top 0 0 to 3999 Note: Dedicated for XSEL-R/S controller
Input Port Number
Extension Motion Control
th
581 Board 15 Axis Control Top 0 0 to 6999 Note: Dedicated for XSEL-R/S controller
Output Port Number
582 (For expansion) 0
583 (For expansion) 0
584 (For expansion) 0

318
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
585 (For expansion) 0
586 (For expansion) 0
587 (For expansion) 0
588 (For expansion) 0
589 (For expansion) 0
590 (For expansion) 0
591 (For expansion) 0
592 (For expansion) 0
593 (For expansion) 0
594 (For expansion) 0
595 (For expansion) 0
596 (For expansion) 0
597 (For expansion) 0
598 (For expansion) 0

Chapter 6 Parameter
599 (For expansion) 0
600 (For expansion) 0
Reserved by the system
601 0 0 to 4
(change is prohibited)
IA Net Occupied Station Top
602 0 0 to 63
Number
Station number to optimize the communication
cycle time at the IA Net startup
* Have the same value set in common for all the
IA Net Resizing Executed
603 0 0 to 63 controllers in the same network. The station to
Station Number
execute resizing should be one in one network.
* Indicate the top station number that the
controller is to occupy.
Final station number in the same network
604 IA Net Final Station Number 63 1 to 63 * Have the same value set in common for all the
controllers in the same network.

6.1 I/O Parameter (All types)

With 0: Disconnected and 1: Connected, make the
IA Net All Connected Station 0h to connection conditions of Stations No. 31 to No. 0
605 0H
Patterns (31-00) FFFFFFFFh in bit patterns and convert them into the
hexadecimal numbers to input.
With 0: Disconnected and 1: Connected, make the
IA Net All Connected Station 0h to connection conditions of Stations No. 63 to No. 32
606 0H
Patterns (63-32) FFFFFFFFh in bit patterns and convert them into the
hexadecimal numbers to input.
0: No Monitoring
1: Monitoring
2: Monitoring (Monitoring only on the errors related
to link error)
* There are some exception
607 IA Net error monitor 1 0 to 5
* IA Net link error occurs when an error
condition of the network link continues for
more than what is set in IA Net network link
error check timer. (Refer to No.608 I/O
Parameter.)
Bits 0 to 7: Network Link Error Confirmation
Timer Value (10msec)
* Valid when I/O Parameter No. 607
= 1 or 2
0H to Bits 8 to 19: System Reservation
608 IA Net Attribute 1 F000000H
FFFFFFFFH Bits 20 to 23: Select the IA Net link error level
(0: Cold-start level
1: Message level)
Bits 24 to 31: Timeout duration (sec) for link
waiting at IA Net initializing

319
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Bits 0 to 7: IAI Protocol B/SIO, IAI Protocol
B/TCP non-communication
confirmation timer value (sec)
(Time to become receivable
condition via IAI Protocol B/IA Net
and other controllers)
Bits 8 to 15: IAI Protocol B/IA Net
non-communication confirmation
0H to timer value (sec)
609 IA Net Attribute 2 F05H
FFFFFFFFH (Time to become receivable
condition for command via other
controllers after command received
via IAI Protocol B/IA Net and other
controllers)
Bits 16 to 23: Value (sec) with “PC/TP
Reconnection Delay Time at
Chapter 6 Parameter

Software Reset” added when IA Net

is used
0H to
610 (For expansion) 0
FFFFFFFFH
0H to
611 (For expansion) 0
FFFFFFFFH
0H to
612 (For expansion) 0
FFFFFFFFH
Reserved by the system 0H to
613 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
614 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
615 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0 to
616 0
(change is prohibited) 99999999
6.1 I/O Parameter (All types)

Reserved by the system 0H to

617 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
618 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
619 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0 to
620 0
(change is prohibited) 99999999
Reserved by the system 0H to
621 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
622 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
623 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0 to
624 0
(change is prohibited) 99999999
Reserved by the system 0H to
625 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
626 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
627 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0 to
628 0
(change is prohibited) 99999999
Reserved by the system 0H to
629 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
630 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
631 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0 to
632 0
(change is prohibited) 99999999

320
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Reserved by the system 0H to
633 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
634 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
635 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0 to
636 0
(change is prohibited) 99999999
Reserved by the system 0H to
637 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
638 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
639 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0 to
640 0

Chapter 6 Parameter
(change is prohibited) 99999999
Reserved by the system 0H to
641 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
642 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
643 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0 to
644 0
(change is prohibited) 99999999
Reserved by the system 0H to
645 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
646 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
647 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0 to

6.1 I/O Parameter (All types)

648 0
(change is prohibited) 99999999
Reserved by the system 0H to
649 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
650 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
651 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0 to
652 0
(change is prohibited) 99999999
Reserved by the system 0H to
653 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
654 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
655 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0 to
656 0
(change is prohibited) 99999999
Reserved by the system 0H to
657 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
658 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
659 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0 to
660 0
(change is prohibited) 99999999
Reserved by the system 0H to
661 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
662 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
663 0H
(change is prohibited) FFFFFFFFH

321
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Reserved by the system 0 to
664 0
(change is prohibited) 99999999
Reserved by the system 0H to
665 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
666 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
667 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0 to
668 0
(change is prohibited) 99999999
Reserved by the system 0H to
669 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
670 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
671 0H
Chapter 6 Parameter

(change is prohibited) FFFFFFFFH

Reserved by the system 0 to
672 0
(change is prohibited) 99999999
Reserved by the system 0H to
673 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
674 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
675 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0 to
676 0
(change is prohibited) 99999999
Reserved by the system 0H to
677 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
678 0H
(change is prohibited) FFFFFFFFH
679 (For expansion) 0
6.1 I/O Parameter (All types)

680 (For expansion) 0

681 (For expansion) 0
682 (For expansion) 0
683 (For expansion) 0
684 (For expansion) 0
685 (For expansion) 0
686 (For expansion) 0
687 (For expansion) 0
688 (For expansion) 0
689 (For expansion) 0
690 (For expansion) 0
Extension Input Port Start
Number at Communication 1000+(Multiples of 16)
691 -1 -1 to 3999
between IA Net Controllers (Invalid if a negative value is set.)
Fixed Assignment
Extension Input Port Start
Number at Communication 4000+(Multiples of 16)
692 -1 -1 to 6999
between IA Net Controllers (Invalid if a negative value is set.)
Fixed Assignment
Communication Shared
0b: Not to Acquire
Memory Reference Work 0H to
693 0H 1b: To Acquire
Pattern among IA Net FFFFFFFFH
* 16 points can be acquired from one word
Controllers (31-00)
Communication Shared
Memory Reference Work 0H to
694 0H (Same as I/O parameter No. 693)
Pattern among IA Net FFFFFFFFH
Controllers (63-32)
Communication Shared
Memory Reference Work 0H to
695 0H (Same as I/O parameter No. 693)
Pattern among IA Net FFFFFFFFH
Controllers (95-64)

322
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
Communication Shared
Memory Reference Work 0H to
696 0H (Same as I/O parameter No. 693)
Pattern among IA Net FFFFFFFFH
Controllers (127-96)
Communication Shared
Memory Reference Work 0H to
697 0H (Same as I/O parameter No. 693)
Pattern among IA Net FFFFFFFFH
Controllers (159-128)
Communication Shared
Memory Reference Work 0H to
698 0H (Same as I/O parameter No. 693)
Pattern among IA Net FFFFFFFFH
Controllers (191-160)
Communication Shared
Memory Reference Work 0H to
699 0H (Same as I/O parameter No. 693)
Pattern among IA Net FFFFFFFFH
Controllers (223-192)

Chapter 6 Parameter
Communication Shared
Memory Reference Work 0H to
700 0H (Same as I/O parameter No. 693)
Pattern among IA Net FFFFFFFFH
Controllers (255-224)
Number of Communication
701 Output Ports Used among IA 0 0 to 256 Multiples of 16
Net Controllers
702 (For expansion) 0
703 (For expansion) 0
704 (For expansion) 0
Bits 0 to 3: Select to use Slot 1
Bits 4 to 7: Select to use Slot 2
Bits 8 to 11: Select to use Slot 3
0H to Bits 12 to 15: Select to use Slot 4
705 Extension I/O Unit Use Select 0H
FFFFFFFFH (0: Not to use,
1: Use DO,

6.1 I/O Parameter (All types)

2: Use DI,
3: Use DO+DI)
Set the unit number of the used extension I/O unit.
* Extension I/O unit is that;
706 Extension I/O Unit Number 1H 0H to FH • Top station number = unit number � 4
• Number of occupied stations = 4 in IA Net
network.
Extension Input Port Start
1000+(Multiples of 16)
707 Number at Extension I/O Unit -1 -1 to 3999
(Invalid if a negative value is set.)
Slot 1 Fixed Assignment
Extension Output Port Start
4000+(Multiples of 16)
708 Number at Extension I/O Unit -1 -1 to 6999
(Invalid if a negative value is set.)
Slot 1 Fixed Assignment
Extension Input Port Start
1000+(Multiples of 16)
709 Number at Extension I/O Unit -1 -1 to 3999
(Invalid if a negative value is set.)
Slot 2 Fixed Assignment
Extension Output Port Start
4000+(Multiples of 16)
710 Number at Extension I/O Unit -1 -1 to 6999
(Invalid if a negative value is set.)
Slot 2 Fixed Assignment
Extension Input Port Start
1000+(Multiples of 16)
711 Number at Extension I/O Unit -1 -1 to 3999
(Invalid if a negative value is set.)
Slot 3 Fixed Assignment
Extension Output Port Start
4000+(Multiples of 16)
712 Number at Extension I/O Unit -1 -1 to 6999
(Invalid if a negative value is set.)
Slot 3 Fixed Assignment
Extension Input Port Start
1000+(Multiples of 16)
713 Number at Extension I/O Unit -1 -1 to 3999
(Invalid if a negative value is set.)
Slot 4 Fixed Assignment
Extension Output Port Start
4000+(Multiples of 16)
714 Number at Extension I/O Unit -1 -1 to 6999
(Invalid if a negative value is set.)
Slot 4 Fixed Assignment

323
 I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
0: No Monitoring,
1: Monitoring
2: Monitoring (Not to monitor 24V I/O power
related error)
3: Monitoring (To monitor only 24V I/O power
related error)
4: Monitoring (makes 24V I/O Power Supply
Related Error message level)
Extension I/O Unit error
715 1 0 to 5
monitor
* There are some exceptions
* If set to 0 (= No Monitoring) or 2 (= Monitoring
(Not to monitor 24V I/O power related error)),
system error would not occur when in 24V I/O
power related error, however, the actual output
of the digital I/O board will be shut off on the
circuit later for the purpose of the extension I/O
Chapter 6 Parameter

unit protection.
Bits 0 to 3: Extension I/O unit slot 1 input
indication
Bits 4 to 7: Extension I/O unit slot 2 input
indication
Bits 8 to 11: Extension I/O unit slot 3 input
indication
Bits 12 to 15: Extension I/O unit slot 4 input
indication
Extension I/O Unit
(0: Error detection not to be input
Multi-Channel DIO External
0H to 1: Error detection input = IN023 in
716 Terminal Block Overcurrent / 0H
FFFFFFFFH card
Power Supply Failure Detection
2: Error detection input = IN047 in
Input Indication
card
3: Error detection input = IN023/47 in
card)
* See the specification of the connected terminal
6.1 I/O Parameter (All types)

unit for the multi-channel DIO for setting.

* The input port used as the error detection input
cannot be used as a general-purposed input
port.
717 (For expansion) 0
718 (For expansion) 0
719 (For expansion) 0
720 (For expansion) 0
721 (For expansion) 0
722 (For expansion) 0
723 (For expansion) 0
724 (For expansion) 0
725 (For expansion) 0
726 (For expansion) 0
727 (For expansion) 0
728 (For expansion) 0
729 (For expansion) 0
730 (For expansion) 0
731 (For expansion) 0
732 (For expansion) 0
733 (For expansion) 0
734 (For expansion) 0
735 (For expansion) 0
736 (For expansion) 0
737 (For expansion) 0
738 (For expansion) 0
739 (For expansion) 0
740 (For expansion) 0
741 (For expansion) 0
742 (For expansion) 0
743 (For expansion) 0

324
I/O Parameter (All types)
Default
Input
No. Parameter name value Unit Remarks
range
(reference)
744 (For expansion) 0
745 (For expansion) 0
746 (For expansion) 0
747 (For expansion) 0
748 (For expansion) 0
749 (For expansion) 0
750 (For expansion) 0
751
to
999

Chapter 6 Parameter
6.1 I/O Parameter (All types)

325
 6.2 Parameters Common to All Axes
6.2.1 For XSEL-R/S
Default
No. Parameter name value Input range Unit Remarks
(reference)
00B to OFF Bit: Setting of driver not mounted
1 Valid axis pattern 111111B
11111111B
Used if not specified in program.
2 Default override 100 1 to 100
(Invalid for SIO operation)
3 (For expansion) 0
4 (For expansion) 0
5 (For expansion) 0
6 (For expansion) 0
7 (For expansion) 0
8 (For expansion) 0
Chapter 6 Parameter

It does not get influence of ASE Command. (For

all axes (= basic), make sure to indicate 11111111.
The enable switch gets involved in the drive
source cutoff factor only when it is set to 11111111,
and in cases other than 11111111, drive source
cutoff would not be conducted, and only the
indicated axis servo will be turned off. (“enb” not
displayed on 7-segment display windows)

* When “Other Parameter No. 11 Recovery Type

Enable switch (Deadman at Enable Switch (Dead man’s switch and
00B to
9 switch/Safety gate) effective 11111111B safety gate) Open” = 1 (Reset Recovery
11111111B
physical axis pattern Required), the setting will be identified as the
indication of all axes.
* An axis with no motor drive power part built in
this controller or that with the drive source cutoff
circuit not under the control of this controller
cannot make a drive source cutoff.
* For the option (special order) type, the priority is
6.2.1 For XSEL-R/S
6.2 Parameters Common to All Axes

given to the option (special order) specifications

such as the dead man’s switch effective physical
axis, drive source cutoff, servo-off and the display
of 7-segment display windows.
Reserved by the system
10 0
(change is prohibited).
Used if not specified in position data, program or
11 Default acceleration 30 1 to 200 0.01 G
SIO message, etc.
Used if not specified in position data, program or
12 Default deceleration 30 1 to 200 0.01 G
SIO message, etc.
Used if not specified in SIO message or position
13 Default speed 30 1 to 250 mm/s
data, when movement is to be continued, etc.
0: “Deceleration = Acceleration” when the
deceleration in the operation position data is
Valid selection when operation
14 0 0 to 5 “0”
position data deceleration is 0
1: “Deceleration = 0” when the deceleration in
the operation position data is “0”
Maximum JOG speed at home
15 30 1 to 250 mm/s
return incomplete
Reserved by the system
16 0
(change is prohibited).

326
Parameters Common to All Axes (XSEL-R/S)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Reserved by the system
17 0
(change is prohibited).
0: Check at input
PC/TP checks the input in All Axes Parameter
No. 22 “Maximum Acceleration” and “No. 23
“Maximum Deceleration”.
1: Check at operation

*If it is set to the check at operation, the

distributed acceleration/deceleration (CP) of the
indicated acceleration and deceleration or the
indicated acceleration and deceleration (PTP)
are checked and compared with the maximum
parameter of the operational acceleration and
Maximum Operation
deceleration of ach axis, and clamped to the
18 Acceleration/Deceleration 1 0 to 1
available acceleration and deceleration.
Check Timing

Chapter 6 Parameter
Therefore, the maximum performance of the
system corresponding to the operation
command can be obtained, but a complete
check cannot be made at the input (because the
start position of command or operation is not
constant). Also, in CP, the
acceleration/deceleration speed varies
depending on the operation start position if CP
is conducted from unspecific position (in such
cases as the first point movement) since the
distributed acceleration/deceleration speed
varies depending on the operation start position.
0: Operation Cancel Level Errors
(Recommended)
1: Cancel operation (SEL command output is off)
Process Type at Constant
* Priority on overload driver error
19 (non-pressing) Torque Limit 0 0 to 9
* Operation cancel level error to be issued no
Excess
matter of this setting when Each Axis
Parameter No. 167 is set to a number other

6.2.1 For XSEL-R/S

than 0 (indicated to slave operation)
0: Check at input 1: Check at operation

* For the check at operation, distribution speed

(CP) of the indicated velocity or the specified
velocity (PTP) and the maximum operation
speed parameter of each axis are to be
compared and checked, and get clamped to the
available velocity.
Therefore, the maximum performance of the
Maximum Operation
system corresponding to the operation
20 Acceleration/Deceleration 1 0 to 1
command can be obtained, but a complete
Check Timing
check cannot be made at the input (because
the start position of command or operation is
not constant).
Also, at CP, the distribution speed changes
depending on the operation start point,
therefore, in case CP is conducted from an
unspecified position (such as the position
movement at the first), the speed changes
depending on the operation start position.
Maximum Operation Speed for When the maximum velocity check timing = at
21 1000 11 to 9999 mm/s
Input Value Check input, check the input error with this parameter.
Restriction is given on each axis with the setting in
Each Axis Parameter No. 134 “Maximum
22 Maximum acceleration 100 1 to 999 0.01G
Operational Acceleration on each Axis” if it is set
effective.
Restriction is given on each axis with the setting in
Each Axis Parameter No. 135 “Maximum
23 Maximum deceleration 100 1 to 999 0.01G
Operational Deceleration on each Axis” if it is set
effective.

327
 Parameters Common to All Axes (XSEL-R/S)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Restriction is given on each axis with the setting in
Minimum Emergency Each Axis Parameter No. 136 “Minimum
24 30 1 to 300 0.01G
Deceleration Emergency Deceleration on each Axis” if it is set
effective.
Reserved by the system
25 0
(change is prohibited)
Reserved by the system
26 0
(change is prohibited)
Reserved by the system
27 0
(change is prohibited)
Chapter 6 Parameter
6.2.1 For XSEL-R/S

328
Parameters Common to All Axes (XSEL-R/S)
Default
No. Parameter name value Input range Unit Remarks
(reference)
0: Automatic switchover executed (button
Select Inching � Jog
continuous enabled timer)
28 Automatic Switchover 0 0 to 5
1: Prohibited
Forbidden
*Referenced by the PC/TP
Bits 0 to 3: Selection of use of last PC/TP
inching distance
(0: Do not use, 1: Use)
*Referenced by the PC/TP
Bits 4 to 7: Overrun (servo) error level
(0: Operation Cancel Level
1: Cold-start level
2: Operation cancel level at reset
and cold start level afterwards)
Bits 8 to 11: “Actual-position soft limit over
(servo)” error level
(0: Operation-cancellation level,

Chapter 6 Parameter
0H to 1: Cold-start level,
29 All Axes Setting Bit Pattern 1 10000
FFFFFFFFH 2: Operation-cancellation level at
reset, thereafter cold-start level)
Bits 12 to 15: Reserved by the system
Bits 16 to 19: Abnormal absolute-data backup
battery voltage error level
(0: Operation-cancellation level,
1: Message level)
Bits 20 to 23: System Reservation
Bits 24 to 27: Brake power monitoring type
(0: One of the axes monitoring at
brake device
1: Constantly monitoring no matter
of brake device indication)
30 Dividing Angle Initial Value 150 0 to 1200 0.1deg
31 Default division distance 0 0 to 10000 mm
Arch Trigger Start Point Check 0: Operated amount and actual position checks
32 0 0 to 5
Type 1: Check only operated amount

6.2.1 For XSEL-R/S

CP Safety speed in manual
33 250 1 to 250 mm/s
mode
34 (For expansion)
35 (For expansion)
36 (For expansion)
Reserved by the system
37 0
(change is prohibited)
Reserved by the system
38 0
(change is prohibited)
Reserved by the system
39 0
(change is prohibited)
40 (For expansion) 0
41 (For expansion) 0
Bits 12 to 31: (Reserved)
0H to Bits 8 to 11: System Reservation
42 All Axes Setting Bit Pattern 2 0H
FFFFFFFFH Bits 4 to 7: System Reservation
Bits 0 to 3: System Reservation
43 (For expansion) 0
Reserved by the system
44 0
(change is prohibited)
Reserved by the system
45 0
(change is prohibited)
Reserved by the system
46 0
(change is prohibited)
47 (For expansion)
48 (For expansion)
49 (For expansion)
Reserved by the system
50 0
(change is prohibited)

329
 Parameters Common to All Axes (XSEL-R/S)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Reserved by the system
51 0
(change is prohibited)
52 (For expansion) 0
53 (For expansion) 0
54 (For expansion) 0
55 (For expansion) 0
56 (For expansion) 0
57 (For expansion) 0
58 (For expansion) 0
59 (For expansion) 0
60 (For expansion) 0
Reserved by the system
61 0
(change is prohibited)
Reserved by the system
62 0
Chapter 6 Parameter

(change is prohibited)
Reserved by the system
63 0
(change is prohibited)
Reserved by the system
64 0
(change is prohibited)
Reserved by the system
65 0
(change is prohibited)
Reserved by the system
66 0
(change is prohibited)
Reserved by the system
67 0
(change is prohibited)
Reserved by the system
68 0
(change is prohibited)
Reserved by the system
69 0
(change is prohibited)
Reserved by the system
70 0
(change is prohibited)
6.2.1 For XSEL-R/S

Reserved by the system

71 0
(change is prohibited)
Reserved by the system
72 0
(change is prohibited)
Reserved by the system
73 0
(change is prohibited)
Reserved by the system
74 0
(change is prohibited)
Reserved by the system
75 0
(change is prohibited)
Reserved by the system
76 0
(change is prohibited)
Reserved by the system
77 0
(change is prohibited)
Reserved by the system
78 0
(change is prohibited)
Reserved by the system
79 0
(change is prohibited)
80 (For expansion) 0
Reserved by the system
81 0
(change is prohibited)
Reserved by the system
82 0
(change is prohibited)
Reserved by the system
83 0
(change is prohibited)
Reserved by the system
84 0
(change is prohibited)
Reserved by the system
85 0
(change is prohibited)
Reserved by the system
86 0
(change is prohibited)

330
Parameters Common to All Axes (XSEL-R/S)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Reserved by the system
87 0
(change is prohibited)
Reserved by the system
88 0
(change is prohibited)
Reserved by the system
89 0
(change is prohibited)
Reserved by the system
90 0
(change is prohibited)
Reserved by the system
91 0
(change is prohibited)
Reserved by the system
92 0
(change is prohibited)
Reserved by the system
93 0
(change is prohibited)
Reserved by the system
94 0

Chapter 6 Parameter
(change is prohibited)
Reserved by the system
95 0
(change is prohibited)
Reserved by the system
96 0
(change is prohibited)
Reserved by the system
97 0
(change is prohibited)
Reserved by the system
98 0
(change is prohibited)
Reserved by the system
99 0
(change is prohibited)
Reserved by the system
100 0
(change is prohibited)
Bits 0 to 7: Primary Axis Driver / Encoder
Communication Line Channel
Number
Bits 8 to 15: Second Axis Driver / Encoder
Communication Line Channel

6.2.1 For XSEL-R/S

Number
Driver / Encoder Bits 16 to 23: Third Axis Driver / Encoder
0H to
101 Communication Line Channel 0H Communication Line Channel
st th FFFFFFFFH
Setting (1 to 4 Axis) Number
Bits 24 to 31: Fourth Axis Driver / Encoder
Communication Line Channel
Number
(Invalid when FFh (Driver board not mounted))
* Channel Number is the number inside the
hardware (0 to)
Bits 0 to 7: Fifth Axis Driver / Encoder
Communication Line Channel
Number
Bits 8 to 15: Sixth Axis Driver / Encoder
Communication Line Channel
Number
Driver / Encoder Bits 16 to 23: Seventh Axis Driver / Encoder
0H to
102 Communication Line Channel 0H Communication Line Channel
th th FFFFFFFFH
Setting (5 to 8 Axis) Number
Bits 24 to 31: Eighth Axis Driver / Encoder
Communication Line Channel
Number
(Invalid when FFh (Driver board not mounted))
* Channel Number is the number inside the
hardware (0 to)

331
 Parameters Common to All Axes (XSEL-R/S)
Default
No. Parameter name value Input range Unit Remarks
(reference)
st
Bits 0 to 7: 1 axis driver initial communication
type
nd
Bits 8 to 15: 2 axis driver initial communication
type
rd
Bits 16 to 23: 3 axis driver initial communication
type
th
Bits 24 to 31: 4 axis driver initial communication
type
0H to
Driver Initial Communication (FFh: With initial communication
103 st th 0H FFFFFFFF
Type Setting (1 to 4 Axis) (only for self-axis data))
H
0: With no initial communication
1 to 8: With initial communication
(self-axis data + data for
axes with same type of
driver board mounted)
* The parameter is axis number of
Chapter 6 Parameter

same type of driver board

mounted)
th
Bits 0 to 7: 5 axis driver initial communication
type
th
Bits 8 to 15: 6 axis driver initial communication
type
th
Bits 16 to 23: 7 axis driver initial communication
type
th
Bits 24 to 31: 8 axis driver initial communication
type
0H to
Driver Initial Communication (FFh: With initial communication
104 th th 0H FFFFFFFF
Type Setting (5 to 8 Axis) (only for self-axis data))
H
0: With no initial communication
1 to 8: With initial communication
(self-axis data + data for
axes with same type of
driver board mounted)
* The parameter is axis number of
same type of driver board
6.2.1 For XSEL-R/S

mounted)
Reserved by the system
105 0
(change is prohibited)
Reserved by the system
106 0
(change is prohibited)
Reserved by the system
107 0
(change is prohibited)
Reserved by the system
108 0
(change is prohibited)
Reserved by the system
109 0
(change is prohibited)
110 (For expansion)
Reserved by the system
111 0
(change is prohibited)
Reserved by the system
112 0
(change is prohibited)
Reserved by the system
113 0
(change is prohibited)
Reserved by the system
114 0
(change is prohibited)
Reserved by the system
115 0
(change is prohibited)
116 (For expansion)
117 (For expansion)
118 (For expansion)
119 (For expansion)
120 (For expansion)
Reserved by the system 0H to
121 4321H
(change is prohibited) FFFFFFFFH

332
Parameters Common to All Axes (XSEL-R/S)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Robot coordinate X on Vision System I/F 1
Vision System I/F 1 -99999999
0.001 coordinate (X = 0, Y = 0)
122 Coordinate Datum Point Offset 0 to
mm * Setting is to be established at vision system I/F
X 99999999
adjustment.
Robot coordinate Y on Vision System I/F 1
Vision System I/F 1 -99999999
0.001 coordinate (X = 0, Y = 0)
123 Coordinate Datum Point Offset 0 to
mm * Setting is to be established at vision system I/F
Y 99999999
adjustment.
Rotation angle of Vision System I/F 1 coordinate
-99999999
Vision System I/F 1 0.001 when robot coordinate is taken as the datum
124 0 to
Coordinate Offset Angle deg * Setting is to be established at vision system I/F
99999999
adjustment.
Vision System I/F 1 -99999999 (Related Information: All Axes Parameter No. 130
0.001
125 Z-axis Direction Vision System 0 to “Vision System I/F 1 Control 2”)
mm
Position Judgment Datum 99999999
Vision System I/F 1

Chapter 6 Parameter
-99999 to 0.001
126 X-Axis (GTVD Acquirement 0
99999 mm
Data) Adjustment Offset
Vision System I/F 1
-99999 to 0.001
127 Y-Axis (GTVD Acquirement 0
99999 mm
Data) Adjustment Offset
Vision System I/F 1
-360000 to 0.001
128 R-Axis (GTVD Acquirement 0
360000 deg
Data) Adjustment Offset
Bits 0 to 3: System Reservation
Bits 4 to 11: System Reservation
0H to Bits 12 to 19: System Reservation
129 Vision System I/F 1 Control 1 0H FFFFFFFF Bits 20 to 23: R-axis adjustment sign reverse
H (0: Not to reverse code
1: Reverse code)
Bits 24 to 31: Reserved
Bits 0 to 7: Position judgment datum distance in
Z-axis direction [0.1mm]
(In installation with robot on top,

6.2.1 For XSEL-R/S

invalid when set to “0”)
0H to Bits 8 to 11: Vision Installation Type
130 Vision System I/F 1 Control 2 0H FFFFFFFF (0: Solid installation (not installed on
H robot))
1: Installation on robot)
* Setting is to be established at vision system I/F
adjustment.
Bits 12 to 31: Reserved
131 (For expansion)
132 (For expansion)
133 (For expansion)
134 (For expansion)
135 (For expansion)
136 (For expansion)
137 (For expansion)
138 (For expansion)
139 (For expansion)
140 (For expansion)
Reserved by the system
141
(change is prohibited)
Reserved by the system
142
(change is prohibited)
Reserved by the system
143
(change is prohibited)
Reserved by the system
144
(change is prohibited)
Reserved by the system
145
(change is prohibited)
Reserved by the system
146
(change is prohibited)

333
 Parameters Common to All Axes (XSEL-R/S)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Reserved by the system
147
(change is prohibited)
Reserved by the system
148
(change is prohibited)
Reserved by the system
149
(change is prohibited)
Reserved by the system
150
(change is prohibited)
151
(For expansion)
to
Chapter 6 Parameter
6.2.1 For XSEL-R/S

334
6.2.2 For XSEL-RX/SX, RXD/SXD
Default
No. Parameter name value Input range Unit Remarks
(reference)
00B to OFF Bit: Setting of driver not mounted
1 Valid axis pattern 111111B
11111111B
Used if not specified in program.
2 Default override 100 1 to 100
(Invalid for SIO operation)
3 (For expansion) 0
4 (For expansion) 0
5 (For expansion) 0
6 (For expansion) 0
7 (For expansion) 0
8 (For expansion) 0
Reserved by the system
9 11111111B
(change is prohibited).
Reserved by the system
10 0

Chapter 6 Parameter
(change is prohibited).
Used if not specified in position data, program or
11 CP Default acceleration 10 1 to 200 0.01 G
SIO message, etc.
Used if not specified in position data, program or
12 CP Default deceleration 10 1 to 200 0.01 G
SIO message, etc.
Used if not specified in SIO message or position
13 CP Default speed 5 1 to 250 mm/s
data, when movement is to be continued, etc.
0: “Deceleration = Acceleration” when the
deceleration in the operation position data is
Valid selection when operation
14 0 0 to 5 “0”
position data deceleration is 0
1: “Deceleration = 0” when the deceleration in
the operation position data is “0”
Linear Sliding Axis Max. Jog
Speed at Coordinates Not
15 30 1 to 250 mm/s Note: Valid only on linear sliding axes
Determined / Home-Return
Incomplete
Reserved by the system
16 0
(change is prohibited)

6.2.2 For XSEL-RX/SX, RXD/SXD

Reserved by the system
17 0
(change is prohibited)
Reserved by the system
18 0 0 to 1
(change is prohibited)
0: Operation Cancel Level Errors
(Recommended)
1: Cancel operation (SEL command output is
OFF)
Process Type at Constant
19 (non-pressing) Torque Limit 0 0 to 9
* Priority on overload driver error
Excess
* Operation cancel level error to be issued no
matter of this setting when Each Axis
Parameter No. 167 is set to a number other
than 0 (indicated to slave operation)
Reserved by the system
20 0 0 to 1
(change is prohibited)
SCARA Axis CP Max. Speed
21 st th 3000 1 to 9999 mm/s *Differ depending on structure
(1 to 4 Axis)
SCARA Axis CP Max.
22 Acceleration 200 1 to 999 0.01G *Differ depending on structure
st th
(1 to 4 Axis)
SCARA Axis CP Max.
23 Deceleration 200 1 to 999 0.01G *Differ depending on structure
st th
(1 to 4 Axis)
SCARA Axis CP Min.
24 Emergency Deceleration 50 1 to 999 0.01G
st th
(1 to 4 Axis)
Reserved by the system
25 0H
(change is prohibited)
Reserved by the system
26 0H
(change is prohibited)

335
 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Reserved by the system
27 0H
(change is prohibited)
0: Automatic switchover executed (button
Select Inching � Jog continuous enabled timer)
28 Automatic Switchover 0 0 to 5 1: Prohibited
Forbidden * Referenced by the PC/TP
* Valid only on linear sliding axes
Bits 0 to 3: System Reservation
Bits 4 to 7: Overrun (servo) error level
(0: Operation Cancel Level
1: Cold-start level
2: Operation cancel level at reset
and cold start level afterwards)
Bits 8 to 11: “Actual-position soft limit over
(servo)” error level
(0: Operation-cancellation level,
Chapter 6 Parameter

1: Cold-start level,
2: Operation-cancellation level at
0H to
29 All Axes Setting Bit Pattern 1 10000 reset, thereafter cold-start level)
FFFFFFFFH
Bits 12 to 15: Reserved by the system
Bits 16 to 19: Abnormal absolute-data backup
battery voltage error level
(0: Operation-cancellation level,
1: Message level)
Bits 20 to 23: System Reservation
Bits 24 to 27: Brake power monitoring type
(0: One of the axes monitoring at
brake device
1: Constantly monitoring no matter
of brake device indication)
30 Default division angle 150 0 to 1200 0.1 deg
31 Default division distance 0 0 to 10000 mm
0: Check operated amount and actual position
Arch Trigger Start Point Check
32 0 0 to 5 (A1c and A2c at SCARA axis PTP)
Type
6.2.2 For XSEL-RX/SX, RXD/SXD

1: Check only operated amount

SCARA Axis CP Safety Speed
33 250 1 to 250 mm/s
in Manual Mode
SCARA Axis PTP Safety
34 3 1 to 10 %
Speed in Manual Mode
SCARA Axis Each Axis
35 5 1 to 10 %
Related Max. Jog Speed
SCARA Axis Each Axis
36 Related Max. Jog Speed at 3 1 to 10 %
Coordinate Not Determined
JxWx Command SCARA Axis
37 250 1 to 500 mm/s
Max. Speed
Reserved by the system
38 0
(change is prohibited)
Reserved by the system
39 0
(change is prohibited)]
Reserved by the system
40 8
(change is prohibited)
41 (For expansion) 0
Bits 8 to 31: (Reserved)
0H to
42 All Axes Setting Bit Pattern 2 0H Bits 4 to 7: System Reservation
FFFFFFFFH
Bits 0 to 3: System Reservation
Stopper Pressing Type
Bits 0 to 3: Effective setting
43 Absolute Reset Setting 0 0 to 5
st th (0: Disable, 1: Enable)
(1 to 4 Axis)
SCARA Axis PTPSM Control
44 Ratio 3 0 to 50 %
st th
(1 to 4 Axis)
SCARA Axis Tool Datum Point For simple checking
45 Invasion Forbidden Diameter 150000 0 to 999999 0.001mm (Diameter of a circle with 1st arm axis as the
st th
(1 to 4 Axis) center)

336
Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD)
Default
No. Parameter name value Input range Unit Remarks
(reference)
SCARA Axis Cpxy Check
46 Tolerance 2000 100 to 9999 0.001mm
st th
(1 to 4 Axis)
SCARA Axis PTP Acceleration Used when not indicated in position data,
47 20 1 to 100 %
Initial Value program or SIO message
SCARA Axis PTP Deceleration Used when not indicated in position data,
48 20 1 to 100 %
Initial Value program or SIO message
SCARA Axis PTP Speed Initial Used in continuous recovery movement when
49 2 1 to 100 %
Value SIO message not indicated
SCARA Axis CP Operation
Restriction Band Width around
50 500 0 to 9999 0.001mm Note: Do not attempt to change.
Arm 1 & Arm 2 Straight Points
st th
(1 to 4 Axis)
Bits 0 to 3: System Reservation
Bits 4 to 7: System Reservation
Bits 8 to 11: SCARA Z position � horizontal

Chapter 6 Parameter
movement optimized (PTP)
(0: Disable
1: Enable)
(Available only on high-speed
improved type (H))
Bits 12 to 15: SCARA Z position � horizontal
movement optimized (CP)
(0: Disable
SCARA Axis Control 1 0H to
51 st th 0H 1: Enable)
(1 to 4 Axis) FFFFFFFFH
*Disable is recommended when
velocity constancy, tracking
accuracy and reach to setting
speed are required in CP
operation
(Available only on high-speed
improved type (H))
Bits 16 to 19: Select SCARA axis position gain
switchover function

6.2.2 For XSEL-RX/SX, RXD/SXD

(0: Disable,
1: Enable)
52 (For expansion) 0
Position Gain Switchover
53 2000 100 to 9999 msec
Timeout Time
Bits 0 to 3: Select SCARA CP movement
position target arm system valid
(0: Disable
0H to
54 All Axes Setting Bit Pattern 3 00000001H 1: Enable)
FFFFFFFFH
(Main application Ver. 1.01 and
later)
Bits 4 to 31: (Reserved)
55 (For expansion) 0
56 (For expansion) 0
57 (For expansion) 0
58 (For expansion) 0
59 (For expansion) 0
60 (For expansion) 0
Reserved by the system
61 1100H
(change is prohibited)
Reserved by the system
62 3C000D00H
(change is prohibited)
Reserved by the system
63 10550FAH
(change is prohibited)
Reserved by the system
64 A0505H
(change is prohibited)
Reserved by the system
65 -340000
(change is prohibited)
Reserved by the system
66 360000
(change is prohibited)

337
 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Reserved by the system
67 340000
(change is prohibited)
Reserved by the system
68 360000
(change is prohibited)
Reserved by the system
69 30379
(change is prohibited)
Reserved by the system
70 3
(change is prohibited)
Reserved by the system
71 1000
(change is prohibited)
Reserved by the system
72 30
(change is prohibited)
Reserved by the system
73 0
(change is prohibited)
Reserved by the system
74 100000
Chapter 6 Parameter

(change is prohibited)
Reserved by the system
75 400000
(change is prohibited)
Reserved by the system
76 1000
(change is prohibited)
Reserved by the system
77 0
(change is prohibited)
Reserved by the system
78 90
(change is prohibited)
Reserved by the system
79 0
(change is prohibited)
80 (For expansion) 0
Reserved by the system
81 35
(change is prohibited)
Reserved by the system
82 50
(change is prohibited)
Reserved by the system
83 1500
6.2.2 For XSEL-RX/SX, RXD/SXD

(change is prohibited)
Reserved by the system
84 1000
(change is prohibited)
Reserved by the system
85 1000
(change is prohibited)
Reserved by the system
86 100
(change is prohibited)
Reserved by the system
87 0
(change is prohibited)
Reserved by the system
88 0
(change is prohibited)
Reserved by the system
89 0
(change is prohibited)
Reserved by the system
90 0
(change is prohibited)
Reserved by the system
91 0
(change is prohibited)
Reserved by the system
92 0
(change is prohibited)
Reserved by the system
93 0
(change is prohibited)
Reserved by the system
94 0
(change is prohibited)
Reserved by the system
95 0
(change is prohibited)
Reserved by the system
96 200
(change is prohibited)
Reserved by the system
97 0
(change is prohibited)
Reserved by the system
98 0
(change is prohibited)

338
Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Reserved by the system
99 0
(change is prohibited)
100 (For expansion) 0
Bits 0 to 7: Primary Axis Driver / Encoder
Communication Line Channel
Number
Bits 8 to 15: Second Axis Driver / Encoder
Communication Line Channel
Number
Driver / Encoder Bits 16 to 23: Third Axis Driver / Encoder
0H to
101 Communication Line Channel 0H Communication Line Channel
st th FFFFFFFFH
Setting (1 to 4 Axis) Number
Bits 24 to 31: Fourth Axis Driver / Encoder
Communication Line Channel
Number
(Invalid when FFh (Driver board not mounted))

Chapter 6 Parameter
* Channel Number is the number inside the
hardware (0 to)
Bits 0 to 7: Fifth Axis Driver / Encoder
Communication Line Channel
Number
Bits 8 to 15: Sixth Axis Driver / Encoder
Communication Line Channel
Number
Driver / Encoder Bits 16 to 23: Seventh Axis Driver / Encoder
0H to
102 Communication Line Channel 0H Communication Line Channel
th th FFFFFFFFH
Setting (5 to 8 Axis) Number
Bits 24 to 31: Eighth Axis Driver / Encoder
Communication Line Channel
Number
(Invalid when FFh (Driver board not mounted))
* Channel Number is the number inside the
hardware (0 to)
st
Bits 0 to 7: 1 axis driver initial communication

6.2.2 For XSEL-RX/SX, RXD/SXD

type
nd
Bits 8 to 15: 2 axis driver initial
communication type
rd
Bits 16 to 23: 3 axis driver initial communication
type
th
Bits 24 to 31: 4 axis driver initial communication
type
Driver Initial Communication 0H to (FFh: With initial communication
103 st th 0H
Type Setting (1 to 4 Axis) FFFFFFFFH (only for self-axis data))
0: With no initial communication
1 to 8: With initial communication
(self-axis data + data for
axes with same type of
driver board mounted)
* The parameter is axis number of
same type of driver board
mounted)

339
 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD)
Default
No. Parameter name value Input range Unit Remarks
(reference)
th
Bits 0 to 7: 5 axis driver initial communication
type
th
Bits 8 to 15: 6 axis driver initial communication
type
th
Bits 16 to 23: 7 axis driver initial communication
type
th
Bits 24 to 31: 8 axis driver initial communication
type
Driver Initial Communication 0H to (FFh: With initial communication
104 th th 0H
Type Setting (5 to 8 Axis) FFFFFFFFH (only for self-axis data))
0: With no initial communication
1 to 8: With initial communication
(self-axis data + data for
axes with same type of
driver board mounted)
* The parameter is axis number of
Chapter 6 Parameter

same type of driver board

mounted)
Reserved by the system
105 0
(change is prohibited)
Reserved by the system
106 0
(change is prohibited)
Reserved by the system
107 0
(change is prohibited)
Reserved by the system
108 0
(change is prohibited)
Reserved by the system
109 0
(change is prohibited)
Reserved by the system
110 4321H
(change is prohibited)
Reserved by the system
111 543103H
(change is prohibited)
Reserved by the system
112 0
(change is prohibited)
6.2.2 For XSEL-RX/SX, RXD/SXD

Reserved by the system

113 0
(change is prohibited)
Reserved by the system
114 0
(change is prohibited)
Reserved by the system
115 0
(change is prohibited)
116 (For expansion) 0
117 (For expansion) 0
118 (For expansion) 0
119 (For expansion) 0
120 (For expansion) 0
Reserved by the system
121 0H
(change is prohibited)
Reserved by the system
122 0
(change is prohibited)
Reserved by the system
123 0
(change is prohibited)
Reserved by the system
124 0
(change is prohibited)
Reserved by the system
125 0
(change is prohibited)
Reserved by the system
126 0
(change is prohibited)
Reserved by the system
127 0
(change is prohibited)
Reserved by the system
128 0
(change is prohibited)
Reserved by the system
129 0
(change is prohibited)

340
Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Reserved by the system
130 0
(change is prohibited)
Reserved by the system
131 0
(change is prohibited)
SCARA Tip Load Max.
1 to
132 Transportable Weight 10000 g
st th 99999999
(1 to 4 Axis)
SCARA Tip Load Max.
1 to 2
133 Allowable Moment of Inertia 60000 kgmm
st th 99999999
(1 to 4 Axis)
Reserved by the system
134 0 0 to 5
(change is prohibited)
Reserved by the system
135 0 0 to 999
(change is prohibited)
SCARA Function information 1 0H to
136 st th 0H

Chapter 6 Parameter
(1 to 4 Axis) FFFFFFFFH
SCARA Tip Load Rated
0 to
137 Transportable Weight 0 g Invalid when set to 0.
st th 99999999
(1 to 4 Axis)
138 (For expansion) 0 to
Reserved by the system
139 50891
(change is prohibited)
Reserved by the system
140 98000
(change is prohibited)
Reserved by the system
141 0
(change is prohibited)
Reserved by the system
142 0
(change is prohibited)
Reserved by the system
143 0
(change is prohibited)
Reserved by the system
144 0
(change is prohibited)

6.2.2 For XSEL-RX/SX, RXD/SXD

Reserved by the system
145 0
(change is prohibited)
Reserved by the system
146 0
(change is prohibited)
Reserved by the system
147 0
(change is prohibited)
Reserved by the system
148 0
(change is prohibited)
Reserved by the system
149 0
(change is prohibited)
Reserved by the system
150 0
(change is prohibited)
151
to (For expansion) 0
199
Used when not indicated in position data,
Linear Sliding Axis
200 30 1 to 200 0.01G program or SIO message
Acceleration Initial Setting
Note: Valid only on linear sliding axes
Used when not indicated in position data,
Linear Sliding Axis
201 30 1 to 200 0.01G program or SIO message
Deceleration Initial Setting
Note: Valid only on linear sliding axes
Used in continuous recovery movement when
Linear Sliding Axis Speed
202 30 1 to 250 mm/s SIO message and position data not indicated
Initial Setting
Note: Valid only on linear sliding axes
Restriction is made for each axis with the setting
values above if Each Axis Parameter No. 134
Linear Sliding Axis Max.
203 100 1 to 999 0.01G “Maximum Operation Acceleration for Each Axis”
Acceleration
is valid.
Note: Valid only on linear sliding axes

341
 Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Restriction is made for each axis with the setting
values above if Each Axis Parameter No. 135
Linear Sliding Axis Max.
204 100 1 to 999 0.01G “Maximum Operation Deceleration for Each Axis”
Deceleration
is valid.
Note: Valid only on linear sliding axes
Control is limited in each axis with the setting
above when Each Axis Parameter No. 136
Linear Sliding Axis Min.
205 30 1 to 300 0.01G “Minimum Emergency Deceleration for each Axis”
Emergency Deceleration
is made effective.
Note: Valid only on linear sliding axes
* Treated as a value below the minimum of all
Linear Sliding Axis Safety effective liner sliding axes “Each Axis Parameter
206 250 1 to 250 mm/s
Speed in Manual Mode No. 29 Linear Sliding Axis VLMX Speed”
Note: Valid only on linear sliding axes
SCARA Axis CP Max. Speed
207 th th 3000 1 to 9999 mm/s *Differ depending on structure
(5 to 8 Axis)
Chapter 6 Parameter

SCARA Axis CP Max.

208 Acceleration 200 1 to 999 0.01G *Differ depending on structure
th th
(5 to 8 Axis)
SCARA Axis CP Max.
209 Deceleration 200 1 to 999 0.01G *Differ depending on structure
th th
(5 to 8 Axis)
SCARA Axis CP Min.
210 Emergency Deceleration 50 1 to 999 0.01G
th th
(5 to 8 Axis)
211 (For expansion) 0 to
212 (For expansion) 0 to
213 (For expansion) 0 to
214 (For expansion) 0 to
215 (For expansion) 0 to
216 (For expansion) 0 to
217 (For expansion) 0 to
218 (For expansion) 0 to
6.2.2 For XSEL-RX/SX, RXD/SXD

219 (For expansion) 0 to

220 (For expansion) 0 to
221 (For expansion) 0 to
222 (For expansion) 0 to
223 (For expansion) 0 to
SCARA Axis PTPSM Control
224 Ratio 3 0 to 50 %
th th
(5 to 8 Axis)
SCARA Axis Tool Datum Point For simple checking
st
225 Invasion Forbidden Diameter 150000 0 to 999999 0.001mm (Diameter of a circle with 1 arm axis as the
th th
(5 to 8 Axis) center)
SCARA Axis Cpxy Check
226 Tolerance 2000 100 to 9999 0.001mm
th th
(5 to 8 Axis)
SCARA Axis CP Operation
Restriction Band Width around
227 500 0 to 9999 0.001mm Note: Do not attempt to change.
Arm 1 & Arm 2 Straight Points
th th
(5 to 8 Axis)

342
Parameters Common to All Axes (XSEL-RX/SX, RXD/SXD)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Bits 0 to 3: System Reservation
Bits 4 to 7: System Reservation
Bits 8 to 11: SCARA Z position � horizontal
movement optimized (PTP)
(0: Disable
1: Enable)
(Available only on high-speed
improved type (H))
Bits 12 to 15: SCARA Z position � horizontal
SCARA Axis Control 1 0H to movement optimized (CP)
228 th th 0H
(5 to 8 Axis) FFFFFFFFH (0: Disable
1: Enable)
* Disable is recommended when velocity
constancy, tracking accuracy and reach to
setting speed are required in CP operation
(Available only on high-speed improved type)

Chapter 6 Parameter
Bits 16 to 19: Select SCARA axis position gain
switchover function
(0: Disable,
1: Enable)

Reserved by the system

229 0
(change is prohibited)

SCARA Tip Load Max.

1 to
230 Transportable Weight 10000 g
th th 99999999
(5 to 8 Axis)
SCARA Tip Load Max.
1 to 2
231 Allowable Moment of Inertia 60000 kgmm
th th 99999999
(5 to 8 Axis)
232 (For expansion) 0

6.2.2 For XSEL-RX/SX, RXD/SXD

233 (For expansion) 0
SCARA Function information1 0H to
234 th th 0H
(5 to 8 Axis) FFFFFFFFH
Reserved by the system
235 50891
(change is prohibited)
Reserved by the system
236 98000
(change is prohibited)
Stopper Pressing Type
Bits 0 to 3: Effective setting
237 Absolute Reset Setting 0 0 to 5
th th (0: Disable, 1: Enable)
(5 to 8 Axis)
SCARA Tip Load Rated
0 to
238 Transportable Weight 0 g Invalid when set to 0.
th th 99999999
(5 to 8 Axis)
239 (For expansion) 0
240 (For expansion) 0
241 (For expansion) 0
242 (For expansion) 0
243 (For expansion) 0
244 (For expansion) 0
245 (For expansion) 0
246 (For expansion) 0
247 (For expansion) 0
248 (For expansion) 0
249 (For expansion) 0
250 to (For expansion)

343
 6.3 Axis-Specific Parameters
6.3.1 For XSEL-R/S

Default value
No. Parameter name Input range Unit Remarks
(reference)
0: Linear movement axis
1 Axis operation type 0 0 to 1 1: Rotation movement axis
(angle control)
Acceleration speed when ACMX
Command is executed.
• Acceleration of movement in positive
direction of the cooperate system
2 ACMX+Acceleration 1 30 1 to 999 0.01G • Deceleration of movement in negative
direction of the cooperate system
Setting is established based on
transported weight, installation
condition, etc.
Chapter 6 Parameter

Acceleration speed when ACMX

Command is executed.
• Acceleration of movement in negative
direction of the cooperate system
3 ACMX-Acceleration 1 30 1 to 999 0.01G • Deceleration of movement in positive
direction of the cooperate system
Setting is established based on
transported weight, installation
condition, etc.
4 ACMX+Acceleration 2 30 1 to 999 0.01G Same as Each Axis Parameter No. 2
5 ACMX-Acceleration 2 30 1 to 999 0.01G Same as Each Axis Parameter No. 3
0: Motor CCW�Positive direction of
Coordinate/ coordinate
6 physical-operation direction 1 0 to 1 1: Motor CCW�Negative direction of
selection coordinate
Change Prohibited
Fixed at 359.999deg inside when index
-99999999 to 0.001mm
7 Soft limit + 50000 mode
99999999 0.001deg
Invalid when infinite stroke mode
6.3 Axis-Specific Parameters
.6.3.1 For XSEL-R/S

-99999999 to 0.001mm Fixed at 0deg inside when index mode

8 Soft limit – 0
99999999 0.001deg Invalid when infinite stroke mode
Positioning boundary critical zone actual
Soft-limit actual position 0.001mm
9 2000 0 to 9999 position margin when infinite stroke
margin 0.001deg
mode
0: Z-phase search after end search
1: Current position at 0 home position
(available only when INC encoder,
pay attention to interference)
2: Current Position = Home preset value
(available only when INC encoder,
pay attention to interference)
3: Home preset automatic update datum
coordinates move after end search
* Available only for ball screw spline
linear movement axis
10 How to return home 0 0 to 5
* Related Information:
Each Axis Parameter No.10, 12,
141
4: Home position sensor detection
range center point calculation method
(Main application of Ver. 0.05 or later)

* When Each Parameter No. 166 is set

to 1 (Drive Invalid), current position =
home position preset value set no
matter of this setting.
Select Home-Return End 0: Coordinate negative end
11 0 0 to 1
Search Direction 1: Coordinate positive end
-99999999 to 0.001mm
12 Home Preset Value 0
99999999 0.001deg

344
Axis-Specific Parameters (XSEL-R/S)
Default value
No. Parameter name Input range Unit Remarks
(reference)
SIO and PIO Home-Return Executed from smaller
13 0 0 to 16
Order
Home position check 0: Not to Use, 1: contact a, 2: contact b
14 0 0 to 2
sensor input polarity
Overrun Sensor Input 0: Not to Use, 1: contact a, 2: contact b
15 0 0 to 2
Polarity
16 Creep Sensor Input Polarity 0 0 to 2 0: Not to Use, 1: contact a, 2: contact b
Initial Home Sensor Escape
17 10 1 to 100 mm/sec
Velocity in Home-Return
End search velocity in creep sensor
Creep Velocity in
18 100 1 to 500 mm/sec non-detecting area when using creep
Home-Return
sensor
End Search Velocity in
19 20 1 to 100 mm/sec
Home-Return
Attention needed due to limitations
Z-Phase Search Velocity in
20 3 1 to 10 mm/sec caused by number of lead encoder
Home-Return

Chapter 6 Parameter
pulses
Offset movement amount from the
Z-phase ideal position
(Positive value = direction to go against
the end) (Refer to Each Axis Parameter
No. 76.)
* Caution for ABS Encoder
There is a concern that the coordinate
may get misaligned for the amount of
a Z-phase pulse because it gets to the
Offset Movement Amount in -99999999 servo lock condition on the Z-phase at
21 1000 0.001mm
Home-Return to 99999999 ABS reset if a value around multiples
of a Z-phase distance integer
(including offset movement amount 0)
is set in this parameter.
Do not attempt to set a value around
multiples of a Z-phase distance
integer.
(Have an enough margin to the
amplitude of the servo system.)

6.3.1 For XSEL-R/S

* Set 0 for the wrist axis
Minimum allowable actual distance
Z-Phase Position Error between an end (mech side or LS) and
0 to
22 Check Allowable in 500 0.001mm Z-phase when rotary encoder
99999999
Home-Return Z-phase search limit when linear
encoder
Only 1 is available to use when ABS
Number of Z-Phase in 1
23 1 1 to 8 encoder. It is invalid when linear
Turn of Encoder
encoder
Pressing Stop Confirmation Used for pressing confirmation in
24 700 1 to 5000 msec
Time in Home-Return home-return operation
Pressing Stop Confirmation Used for pressing confirmation in PUSH
25 500 1 to 5000 msec
Time in Positioning Command
Reserved by the system
26 0
(change is prohibited)
Value in rpm when rotary encoder,
27 Motor Max. Speed 5000 1 to 99999 Value in mm/sec when linear encoder
(Change Prohibited)
Maximum Operation Speed
28 1000 1 to 9999 mm/s
for Each Axis
Maximum operation speed of each axis
and the smaller in VLMX speed are
29 VLMX Speed 1000 1 to 9999 mm/s
treated as the applicable axis maximum
speed in VLMX operation.

345
 Axis-Specific Parameters (XSEL-R/S)
Default value
No. Parameter name Input range Unit Remarks
(reference)
Brake equipped:
Time after receiving a
servo-ON start response until
start of brake unlocking
30 Servo ON check time 150 0 to 5000 msec Brake not equipped:
Time after receiving a servo
ON start response until
transition to an
operation-enabled status
Offset Movement Velocity in
31 3 1 to 500 mm/sec
Home-Return
Absolute value for distance from an end
(mech side or LS), automatic
Actual Distance between acquirement when negative value,
32 -1 -1 to 99999 0.001mm
Z-phase and End recommended to set to automatic
acquirement � flashlight when
actuators combined
Ideal Distance between Absolute value for distance from an end
Chapter 6 Parameter

33 0 0 to 99999 0.001mm
Z-phase and End (mech side or LS)
Brake equipment 0: Not equipped
34 0 0 to 1
specification 1: Equipped
Time after receiving a brake-unlock start
35 Brake unlock check time 150 0 to 3000 msec response until transition to an
operation-enabled status
Time after receiving a brake-lock start
36 Brake lock check time 300 0 to 1000 msec
response until start of servo OFF
Encoder Linear/Rotary 0: Rotary Encoder
37 0 0 to 1
Classification 1: Linear Encoder
0: Incremental
38 Encoder ABS/INC type 1 0 to 1
1: Absolute
Magnetic Pole Sensor
Mount Indication (for future 0: Not equipped
39 1 0 to 1
expansion = setting change 1: Equipped
forbidden)
Reserved by the system
40 0
(change is prohibited)
Reserved by the system
.6.3.1 For XSEL-R/S

41 25
(change is prohibited)
Pulses when rotary encoder (before
Pulse/rev
0 to dividing frequency)/rev 0.001�m when
42 Encoder Resolution 131072 0.001�m/
99999999 linear encoder/pulse (before dividing
Pulse
frequency)
th
Encoder Frequency Pulses are multiplied by (the n power
43 3 -7 to 7
Dividing Rate of 1/2)
Valid only when linear sliding axis
-99999999 0.001
44 Measurement Adjustment 0 (coordinates except for encoder based Z
to 99999999 mm/1M
point are to be changed in proportion)
Belt Breakage Detection
45 0 0 to 2 0: Not to Use, 1: Contact a, 2: Contact b
Sensor Input Polarity
46 (For expansion) 0
1 to Valid only when linear sliding axis
47 Screw Lead 20000 0.001mm
99999999 Invalid when linear encoder
48 (For expansion) 0
49 (For expansion) 0
1 to
50 Gear Ratio Numerator 1 Invalid when linear encoder
99999999
1 to
51 Gear Ratio Denominator 1 Invalid when linear encoder
99999999

346
Axis-Specific Parameters (XSEL-R/S)
Default value
No. Parameter name Input range Unit Remarks
(reference)
Bits 0 to 3: Select synchro-slave axis
position loop encoder
pulse input
(0: Slave axis encoder pulse input
(normally)
1: Main axis encoder pulse input)
*Valid only for synchro-slave axes
Bits 4 to 7: Synchronizing control type
(0: Double sensor control (normally)
* Set to 0 for normal synchronizing.
Select 2, 3 or 1 considering the
situation only when there is no
freedom in “independent” control in
the same coordinate for the master
axis and slave axes.
* Setting is also necessary in Each
Axis Parameters No. 69, 77 and 58.

Chapter 6 Parameter
(Example for Setting (Master/Slave
Axes)):
No.69 Restriction in torque for
synchro-slave axis stop = 0/0%
No.77 Synchro S pulse = 3/3 pulse
No.58 positioning width =
100/100�m)
1: Double sensor control (slave axis 1
ingredient cancelled when moving)
* Establish the setting considering
the situation only when there is no
freedom in “independent” control in
the same coordinate for the master
axis and slave axes.
(Setting available only for horizontal
axes)
Synchronizing Setting Bit 0H to * There is a tendency that the load
52 0
Pattern 1 FFFFFFFFH on the master axis is big even in
constant condition because the
slave axes are more like a

6.3.1 For XSEL-R/S

supportive drive.
* Setting is also necessary in Each
Axis Parameters No. 69, 77 58 and
108.
(Example for Setting (Master/Slave
Axes)):
No.69 Restriction in torque for
synchro-slave axis stop = 0/50%
No.77 Synchro S pulse = 3/
[calculated value (converted in
300�m)]
No.58 positioning width =
100/300�m
No.108 Control switchover width in
synchro-slave axis positioning =
0/5000�m)
2: Single sensor control
* Establish the setting considering
the situation only when there is no
freedom in “independent” control in
the same coordinate for the master
axis and slave axes.
* Setting is also necessary in Each
Axis Parameters No. 69, 77 and 58.
(Example for Setting (Master/Slave
Axes)):
No.69 Restriction in torque for
synchro-slave axis stop = 0/0%
No.77 Synchro S pulse = 3/3 pulse
No.58 positioning width =
100/300�m)

347
 Axis-Specific Parameters (XSEL-R/S)
Default value
No. Parameter name Input range Unit Remarks
(reference)
3: Single � double sensor
switchover control
* Establish the setting considering
the situation only when there is no
freedom in “independent” control in
the same coordinate for the master
axis and slave axes.
(Setting available only for horizontal
axes)
* Setting is also necessary in Each
Axis Parameters No. 69, 77 58 and
108.
(Example for Setting (Master/Slave
Axes)):
No.69 Restriction in torque for
synchro-slave axis stop = 0/50%
No.77 Synchro S pulse = 3/
Chapter 6 Parameter

[calculated value (converted in

300�m)]
No.58 positioning width =
100/300�m
No.108 Control switchover width in
synchro-slave axis positioning =
0/5000�m)
* There is a case the driver
parameter needs to be adjusted
when a control method has
changed.
* Valid only for synchro-slave axes
Bits 8-11: In home-return of INC
encoder (INC-INC control)
Synchronizing Setting Bit 0H to Select to use synchro-slave axis
52 0
Pattern 1 FFFFFFFFH Z-phase
(0: slave axis Z-phase not in use
1: slave axis Z-phase in use)
* Following parameter on slave axis
side valid when using slave axis
.6.3.1 For XSEL-R/S

Z-phase
“Each Axis Parameter No. 21 Offset
Movement Amount in
Home-Return”
“Each Axis Parameter No. 12 Home
Preset”
* How to Adjust when Using Slave
axis Z-phas
(1) Complete home-return operation
in synchronizing condition
• Ignore “Error No. D0A Driver
Overload Error” issued after
home-return complete
• In case “Error No. C9CZ Phase
Position Failure Error” has
occurred, adjustment is required
on the relation of the installed
positions of both synchronized
axes.
• In case “Error No. C72, D6B
Overrun Error” has occurred, either
adjust the relation of the installed
positions of both synchronized
axes, or set “Each Axis Parameter
No. 15 Overrun Sensor Input
Polarity” to “0 (Not to Use)” to stop
using the overrun sensor.

348
Axis-Specific Parameters (XSEL-R/S)
Default value
No. Parameter name Input range Unit Remarks
(reference)
(2) Turn the servo off by emergency
stop.
(3) Align the physical position
relation of the synchro-master
axis and slave axis to read the
current position coordinates.
(4) Calculate “Synchro-slave axis
current position coordinates –
Synchro-master axis current
Synchronizing Setting Bit 0H to
52 0 position coordinates” and set the
Pattern 1 FFFFFFFFH
figured out value to “Each Axis
Parameter No. 21 Offset
Movement Amount in
Home-Return” on the
synchro-slave axis side. (Be
careful of unit conversion)
(5) Controller soft reset or power-on

Chapter 6 Parameter
reset after flash ROM writing
*Valid only for synchro-slave axes
Each Axis Setting Bit 0H to
53 0
Pattern 1 FFFFFFFFH
Pressing Stop Detection
Used in pressing check in home-return
54 Movement Amount in 20 1 to 99999 0.001mm
operation
Home-Return
Pressing Stop Detection
Used in pressing check in PUSH
55 Movement Amount in 30 1 to 99999 0.001mm
Command
Pressing
Compare [Pressing velocity steady-state
Pressing Compulsory
error + Pressing speed pulse velocity �
56 Complete Deviation in 2000 1 to 99999
compulsory complete deviation] and
Home-Return
deviation
Compare [Pressing velocity steady-state
Pressing Compulsory
error + Pressing speed pulse velocity �
57 Complete Deviation at 5000 1 to 99999
compulsory complete deviation] and
Positioning
deviation
100 0.001mm * Related Information: Each Axis
58 Positioning width 1 to 9999

6.3.1 For XSEL-R/S

0.001deg Parameter No.52
Maximum steady-state error in
operational velocity for each axis +
Deviation Error Allowable
maximum pulse speed in operational
59 (Maximum Velocity Pulse 27 1 to 99
velocity for each axis � comparison of
Ratio)
deviation error allowable rate and
deviation
* Change prohibited unless any
60 Position Gain 30 1 to 9999 /s
indication from the supplier
* Change prohibited unless any
61 FAG 0 0 to 999
indication from the supplier
62 Synchronizing FB Gain 77 0 to 1000 /s
63 Special Stop Output Range 1 0 to 9999 Pulse Invalid when set to 0.
64 Special Stop Output Value 1 0 to 999 DRVVR
Necessity of mutual input (The smaller
axis number in a pair is the master axis.
Axes with same characteristics on
resolution related are available to select.
Command issuance to slave axis is
Synchronized Mating Axis
65 0 0 to 8 unavailable.)
Number
* It is necessary to install the actuator
with the “home-return end positions”
on the synchro-master and slave axes
being physically aligned.
(Invalid when set to 0.)
Rotation Movement Axis
66 0 0 to 5 0: Normal, 1: Index Mode
Mode Select
Short-cut control selection 0: Not selected, 1:Selection (Effective
67 for rotational movement 0 0 to 5 only when Index Mode and INC
axis encoder)

349
 Axis-Specific Parameters (XSEL-R/S)
Default value
No. Parameter name Input range Unit Remarks
(reference)
0: Normal, 1: Infinite stroke mode (Note:
Linear Sliding Axis Mode Positioning boundary is to exist.
68 0 0 to 5
Select Selection is available only when INC
encoder.)
No limit when set to 0. Valid only for
Torque Limitation at synchro-slave axes.
69 0 0 to 70 %
Synchro-Slave Axis Stop * Related Information: Each Axis
Parameter No.52
Reserved by the system
70 0
(change is prohibited)
Reserved by the system
71 0
(change is prohibited)
(Change Prohibited)
72 DRVVR Positive Side Offset 0 -999 to 999 DRVVR To keep symmetry of positive and
negative sides
(Change Prohibited)
DRVVR Negative Side
73 0 -999 to 999 DRVVR To keep symmetry of positive and
Chapter 6 Parameter

Offset
negative sides
Reserved by the system
74 0
(change is prohibited)
Reserved by the system
75 0
(change is prohibited)
Reserved by the system 0H to
76 0
(change is prohibited) FFFFFFFFH
* Related Information:Each Axis
77 Synchro S Pulse 3 0 to 99999 Pulse
Parameter No.52
Maximum flow-up command amount
before brake unlock (input with sign)
(Heavy work piece servo-on transient
drop down control)

Caution: Input a value with a sign in the

same direction as flowing up
coordinate.
(Approximately 0.100mm to
Maximum Takeoff
78 0 -3000 to 3000 0.001mm 0.500mm as a reference in
.6.3.1 For XSEL-R/S

Command Amount
absolute value)
* It is necessary to make the servo-on
check time (Each Axis Parameter No.
30) longer (approx. 1000 to
1500msec) to secure the upward
torque tracking time.

(Valid only when brake-equipped

indicated)
Takeoff Check Actual
79 5 0 to 3000 0.001mm Input an absolute value.
Distance
To shorten finishing time
Maximum Compulsory Feed
80 0 0 to 9999 0.001mm (Range invalid when set to 0)
Range
(Approx. 1.000mm as a reference)
Min. Compulsory Feed
81 200 0 to 9999 0.001mm
Range
Mid. Compulsory Feed
82 600 0 to 9999 0.001mm
Range
ABS Synchro-Slave Axis
Valid only for synchro-slave axes
83 Coordinate Initializing 0 0 to 5
Cancel
Maximum speed for slave axis
Synchro-Slave Axis synchronizing adjustment movement
84 Synchronizing Adjustment 5 0 to 100 mm/sec Valid only for synchro-slave axes
Max. Speed *Note: It cannot be limited by the
safety speed.
Acceleration/Deceleration
85 15 1 to 300 0.01G
Speed in Home-Return
Valid only when Max. > Min.
-99999999 to
86 Zone 1 MAX 0 0.001mm * Necessary to secure 3msec or more
99999999
for domain going-through time

350
Axis-Specific Parameters (XSEL-R/S)
Default value
No. Parameter name Input range Unit Remarks
(reference)
Valid only when Max. > Min.
-99999999 to
87 Zone 1 MIN 0 0.001mm * Necessary to secure 3msec or more
99999999
for domain going-through time
Physical output port or Global Flag or
Extended Output Ports
88 Zone 1 Output No. 0 0 to 6999
(Output invalid when set to 0, invalid
when duplicated)
Valid only when Max. > Min.
-99999999 to
89 Zone 2 MAX 0 0.001mm * Necessary to secure 3msec or more
99999999
for domain going-through time
Valid only when Max. > Min.
-99999999 to
90 Zone 2 MIN 0 0.001mm * Necessary to secure 3msec or more
99999999
for domain going-through time
Physical output port or Global Flag or
Extended Output Ports
91 Zone 2 Output No. 0 0 to 6999
(Output invalid when set to 0, invalid
when duplicated)

Chapter 6 Parameter
Valid only when Max. > Min.
-99999999 to
92 Zone 3 MAX 0 0.001mm * Necessary to secure 3msec or more
99999999
for domain going-through time
Valid only when Max. > Min.
-99999999 to
93 Zone 3 MIN 0 0.001mm * Necessary to secure 3msec or more
99999999
for domain going-through time
Physical output port or Global Flag or
Extended Output Ports
94 Zone 3 Output No. 0 0 to 6999
(Output invalid when set to 0, invalid
when duplicated)
Valid only when Max. > Min.
-99999999 to
95 Zone 4 MAX 0 0.001mm * Necessary to secure 3msec or more
99999999
for domain going-through time
Valid only when Max. > Min.
-99999999 to
96 Zone 4 MIN 0 0.001mm * Necessary to secure 3msec or more
99999999
for domain going-through time
Physical output port or Global Flag or
Extended Output Ports
97 Zone 4 Output No. 0 0 to 6999
(Output invalid when set to 0, invalid

6.3.1 For XSEL-R/S

when duplicated)
98 (For expansion) 0
99 (For expansion) 0
100 (For expansion) 0
Allowable Time for Excess Not to monitor excess time of
101 of Continuous Operational 0 0 to 300 s continuous operational torque when set
Torque to 0
102 (For expansion) 0
103 (For expansion) 0

351
 Axis-Specific Parameters (XSEL-R/S)
Default value
No. Parameter name Input range Unit Remarks
(reference)
Bits 0 to 3: Mating axis number to apply
overapproach detection
(self-axis coordinate positive
movement side)
Bits 4 to 7: Mating axis number to apply
overapproach detection
(self-axis coordinate negative
movement side)
* Necessity of mutual input with
mating axis (The smaller axis
Axis Select for Appliance of number in a pair is the multi-slider
0H to
104 Multi-Slider Overapproach 0H master axis for convenience.)
FFFFFFFFH
Detection * Axes with same characteristics on
resolution related are available to
select.
* Make sure to select the
synchro-master axis when
Chapter 6 Parameter

synchronizing type (forbidden to

select synchro-slave axes).
* Set to 0 when there is no slider
close to the side of applicable
movement of the self-axis
coordinate.
Set [Allowable furthest distance
between sliders] – [Allowable closest
distance between sliders] in the
0 to operational range of the two axes
105 Multi-Slider Effective Stroke 0 0.001mm
99999999 applicable for the multi-slider
overapproach detection.
(Valid only on multi-slider master axis
parameters)
Emergency Deceleration
106 Margin at Multi-Slider 5 0 to 999 0.01G
Overapproach
Bits 0 to 3: Multi-slider actual position
overapproach detection
margin (mm)
.6.3.1 For XSEL-R/S

(Valid only on multi-slider

Multi-Slider Setting Bit 0H to master axis parameters)
107 12H
Pattern 1 FFFFFFFFH Bits 4 to 7: Multi-slider commanded
position overapproach
detection margin (mm)
(Valid only on multi-slider
master axis parameters)
Control Switchover Width in Valid only for synchro-slave axes
108 Synchro-Slave Axis 5000 1 to 99999 0.001mm * Related Information: Each Axis
Positioning Parameter No.52
Mutual input required
Ball Screw Spline (Linear
0: Disable
Sliding Axis + Rotation
109 0 0 to 8 1 to 8: Mating axis number
Movement Axis) Adjustment
* Related Information: Each Axis
Mating Axis Select
Parameter No.1
Reserved by the system
110 0
(change is prohibited)
Reserved by the system
111 0
(change is prohibited)
Reserved by the system
112 1
(change is prohibited)
113 (For expansion) 0
114 (For expansion) 0
115 (For expansion) 0
116 (For expansion) 0
Reserved by the system * Change prohibited unless any
117 0
(change is prohibited) indication from the supplier
Reserved by the system * Change prohibited unless any
118 0
(change is prohibited) indication from the supplier
119 FSG 0 0 to 100

352
Axis-Specific Parameters (XSEL-R/S)
Default value
No. Parameter name Input range Unit Remarks
(reference)
* Change prohibited unless any
120 FFF 10 0 to 100
indication from the supplier
Reserved by the system
121 0
(change is prohibited)
Reserved by the system
122 0
(change is prohibited)
Reserved by the system
123 0
(change is prohibited)
Reserved by the system
124 0
(change is prohibited)
125 (For expansion) 0
126 (For expansion) 0
127 (For expansion) 0
128 (For expansion) 0
129 (For expansion) 0
130 (For expansion) 0

Chapter 6 Parameter
131 (For expansion) 0
132 (For expansion) 0
133 (For expansion) 0
Invalid when set to 0. Limited by All
Maximum Operation
134 0 0 to 999 0.01G Axes Parameter No. 22 “Maximum
Acceleration for Each Axis
Acceleration” when set to invalid
Invalid when set to 0. Limited by All
Maximum Operation
135 0 0 to 999 0.01G Axes Parameter No. 23 “Maximum
Deceleration for Each Axis
Deceleration” when set to invalid
Invalid when set to 0. Limited by All
Minimum Emergency Axes Parameter No. 24 “Minimum
136 0 0 to 999 0.01G
Deceleration for Each Axis Emergency Deceleration” when set to
invalid
137 (For expansion) 0
138 (For expansion) 0
139 (For expansion) 0
140 (For expansion) 0
* Valid only on ball screw spline linear

6.3.1 For XSEL-R/S

Home Preset Automatic -99999999 to 0.001mm sliding axes
141 0
Update Datum Coordinate 99999999 0.001deg * Related Information: Each Axis
Parameter No.10, 12, 144
0: Rotation movement axis coordinates
positive direction � linear sliding axis
Ball Screw Spline (Linear
coordinates positive direction
Sliding Axis + Rotation
adjustment
Movement Axis)
1: Rotation movement axis coordinates
142 Rotation Movement Axis � 0 0 to 1
positive direction � linear sliding axis
Linear Sliding Axis
coordinates negative direction
Adjustment Coordinate
adjustment
Direction Select
* Valid only on ball screw spline linear
sliding axes
143 (For expansion) 0 to
(Positive value = direction to go against
the end)
(Movement is made for the amount of
this parameter (distance) after end
End Offset Movement
search when “3” is selected in Each Axis
Amount at Home Preset -99999999 to
144 5000 Parameter No. 10 “Home-Return
Automatic Update Datum 99999999
Method”.)
Coordinate Standby
* Valid only on ball screw spline linear
sliding axes
* Related Information: Each Axis
Parameter No.10, 12, 141
145 (For expansion) 0
146 (For expansion) 0
147 (For expansion) 0
148 (For expansion) 0
Reserved by the system
149 0
(change is prohibited)

353
 Axis-Specific Parameters (XSEL-R/S)
Default value
No. Parameter name Input range Unit Remarks
(reference)
150 (For expansion) 0
Damping characteristic
For anti-vibration control (shows decline
151 coefficient 1 (Parameter Set 10 0 to 1000 1/1000Rate
width of notch filter)
1)
Damping characteristic
For anti-vibration control (shows decline
152 coefficient 2 (Parameter Set 1000 0 to 1000 1/1000Rate
depth of notch filter)
1)
Specific Frequency
153 10000 500 to 30000 1/1000Hz For anti-vibration control
(Parameter Set 1)
Notch filter gain (Parameter For anti-vibration control (shows output
154 9950 1 to 20000 1/10000Rate
Set 1) ratio of notch filter)
155 System Reservation 0 to
Damping characteristic
For anti-vibration control (shows decline
156 coefficient 1 (Parameter Set 10 0 to 1000 1/1000Rate
width of notch filter)
2)
Damping characteristic
For anti-vibration control (shows decline
Chapter 6 Parameter

157 coefficient 2 (Parameter Set 1000 0 to 1000 1/1000Rate

depth of notch filter)
2)
Specific Frequency
158 10000 500 to 30000 1/1000Hz For anti-vibration control
(Parameter Set 2)
Notch filter gain (Parameter For anti-vibration control (shows output
159 9950 1 to 20000 1/10000Rate
Set 2) ratio of notch filter)
160 System Reservation 0
Damping characteristic
161 coefficient 1 (Parameter Set 10 0 to 1000 1/1000Rate
3)
Damping characteristic
162 coefficient 2 (Parameter Set 1000 0 to 1000 1/1000Rate
3)
Specific Frequency
163 10000 500 to 30000 1/1000Hz
(Parameter Set 3)
Notch filter gain (Parameter
164 9950 1 to 20000 1/10000Rate
Set 3)
Reserved by the system 0
165
(change is prohibited)
.6.3.1 For XSEL-R/S

166 Drive Invalid Select 0 0 to 1 0: Drive Valid, 1: Drive Invalid

Slave Operation Command 0: None
167 0 0 to 10
Issuer Unit Type 1: Extended motion control board
Slave Operation Command 0 to Indicate Axis No. 0 to when extension
168 0
Issuer Device Number 99999999 motion control board slave operation
169 (For expansion) 0
170 (For expansion) 0
171 (For expansion) 0
172 (For expansion) 0
173 (For expansion) 0
174 (For expansion) 0
175 (For expansion) 0
176 (For expansion) 0
177 (For expansion) 0
178 (For expansion) 0
179 (For expansion) 0
180 (For expansion) 0
181 (For expansion) 0
182 (For expansion) 0
183 (For expansion) 0
184 (For expansion) 0
185 (For expansion) 0
186 (For expansion) 0
187 (For expansion) 0
188 (For expansion) 0
189 (For expansion) 0
190 (For expansion) 0
191 (For expansion) 0

354
Axis-Specific Parameters (XSEL-R/S)
Default value
No. Parameter name Input range Unit Remarks
(reference)
192 (For expansion) 0
193 (For expansion) 0
194 ACMX+acceleration3 30 1 to 999 0.01G Same as Each Axis Parameter No. 2
195 ACMX-acceleration3 30 1 to 999 0.01G Same as Each Axis Parameter No. 3
196 ACMX+acceleration4 30 1 to 999 0.01G Same as Each Axis Parameter No. 2
197 ACMX-acceleration4 30 1 to 999 0.01G Same as Each Axis Parameter No. 3
198 (For expansion) 0
199 (For expansion) 0
200 (For expansion) 0
201
to (For expansion) 0
220
Alert function is invalid when
maintenance information alert function
setting is 0.
Total Movement Count 0 to
221 0 “231: Movement Times Threshold

Chapter 6 Parameter
Threshold 99999999
Excess” is issued when maintenance
information “total movement times”
exceeds the setting in this parameter.
Alert function is invalid when
maintenance information alert function
setting is 0.
Total Operated Distance 0 to
222 0 “232: Driving Distance Threshold
Threshold 99999999
Excess” is issued when maintenance
information “total driving distance”
exceeds the setting in this parameter.
223
to (For expansion) 0
250

6.3.1 For XSEL-R/S

355
 6.3.2 For XSEL-RX/SX, RXD/SXD
Default value
No. Parameter name Input range Unit Remarks No.
(reference)
0: Linear movement axis
1 Axis operation type 1, 1, 0, 1 0 0 to 1
1: Rotation movement axis (angle control)
Acceleration speed when ACMX
Command is executed.
• Acceleration of movement in positive
direction of the cooperate system
Linear sliding axis • Deceleration of movement in negative
2 30 30 1 to 999 0.01G
ACMX+Acceleration 1 direction of the cooperate system
Setting is established based on
transported weight, installation condition,
etc.
Note: Valid only on linear sliding axes
Acceleration speed when ACMX
Command is executed.
• Acceleration of movement in positive
Chapter 6 Parameter

direction of the cooperate system

Linear sliding axis • Deceleration of movement in negative
3 30 30 1 to 999 0.01G
ACMX-Acceleration 1 direction of the cooperate system
Setting is established based on
transported weight, installation condition,
etc.
Note: Valid only on linear sliding axes
Linear sliding axis Same as Each Axis Parameter No. 2
4 30 30 1 to 999 0.01G
ACMX+Acceleration 2 Note: Valid only on linear sliding axes
Linear sliding axis Same as Each Axis Parameter No. 3
5 30 30 1 to 999 0.01G
ACMX-Acceleration 2 Note: Valid only on linear sliding axes
0: Motor CCW�Positive direction of
Coordinate and Physical coordinate
6 Operation Direction 1, 1, 0, 0 1 0 to 1 1: Motor CCW�Negative direction of
Select coordinate
Change Prohibited
For SCARA axes, set in coordinates for
st nd th
each axis ([0.001deg] for 1 , 2 and 4
210000, rd
-99999999 axes, [0.001mm] for 3 axis).
145000, 0.001mm
7 Soft limit + 50000 to Fixed at 359.999deg inside when linear
6.3.2 For XSEL-RX/SX, RXD/SXD)

200000, 0.001deg
99999999 sliding axis index mode
720000
Invalid when liner sliding axis infinite
stroke mode
For SCARA axes, set in coordinates for
st nd th
each axis ([0.001deg] for 1 , 2 and 4
-30000, rd
-99999999 axes, [0.001mm] for 3 axis).
-145000, 0.001mm
8 Soft limit – 0 to Fixed at 0deg inside when linear sliding
0, 0.001deg
99999999 axis index mode
-720000
Invalid when liner sliding axis infinite
stroke mode
Positioning boundary critical zone actual
Soft-limit actual position 0.001mm
9 1000 2000 0 to 9999 position margin when linear sliding axis
margin 0.001deg
infinite stroke mode
0: Z-phase search after end search
1: Current position at 0 home position
(available only when INC encoder, pay
attention to interference)
2: Current Position = Home preset value
(available only when INC encoder, pay
ABS Reset Position attention to interference)
Movement / 3: Home preset automatic update datum
10 0 0 0 to 5
Home-Return End coordinates move after end search
Search Direction Select 4: Home position sensor detection range
center point calculation method

* When Each Parameter No. 166 is set to

1 (Drive Invalid), current position =
home position preset value set no
matter of this setting.

356
Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
Default value
No. Parameter name Input range Unit Remarks No.
(reference)
ABS Reset Position 0: Coordinate negative end
Movement / 1: Coordinate positive end
11 0 0 0 to 1
Home-Return End
Search Direction Select
90000,
-99999999
0, 0.001mm
12 Home preset value 0 to
0, 0.001deg
99999999
-90000
SIO�PIO ABS Reset Executed from smaller
13 Position Movement / 0 0 0 to 16
Home-Return Order
Home position check 0: Unused, 1: Contact a, 2: Contact b
14 0 0 0 to 2
sensor input polarity
Overrun Sensor Input 0: Unused, 1: Contact a, 2: Contact b
15 0 0 0 to 2
Polarity
Creep Sensor Input 0: Unused, 1: Contact a, 2: Contact b
16 0 0 0 to 2

Chapter 6 Parameter
Polarity
ABS Reset Position
Movement / Initial Home
17 10 10 1 to 100 mm/sec
Sensor Escape Velocity
in Home-Return
ABS Reset Position End search velocity in creep sensor
18 Movement / Creep 100 100 1 to 500 mm/sec non-detecting area when using creep
Velocity in Home-Return sensor
3,
ABS Reset Position
3,
19 Movement / End Search 20 1 to 100 mm/sec
20,
Velocity in Home-Return
10
ABS Reset Position Attention needed due to limitations caused
Movement / Z-Phase by number of lead encoder pulses
20 3 3 1 to 10 mm/sec
Search Velocity in
Home-Return
Offset movement amount from the
Z-phase ideal position
(Positive value = direction to go against
the end) (Refer to Each Axis Parameter

6.3.2 For XSEL-RX/SX, RXD/SXD

No. 76.)
* Caution for ABS Encoder
There is a concern that the coordinate
may get misaligned for the amount of a
ABS Reset Position
-99999999 Z-phase pulse because it gets to the
Movement / Offset
21 0 1000 to 0.001mm servo lock condition on the Z-phase at
Movement in
99999999 ABS reset if a value around multiples of
Home-Return
a Z-phase distance integer (including
offset movement amount 0) is set in this
parameter.
Do not attempt to set a value around
multiples of a Z-phase distance integer.
(Have an enough margin to the
amplitude of the servo system.)
* Set 0 for the wrist axis
[SCARA axis]
[Search end (Z-axis (Zc)) or datum
posture (eye mark) (Arm 1 Axis (A1c),
Alarm 2 Axis (A2c), R-axis (Rc))] –
1000, Z-phase actual distance (angle) minimum
Z-Phase Position Error 1000, 0 to 0.001mm allowable
22 500
Check Allowable 500, 99999999 0.001deg
1000 [linear sliding axis]
Minimum allowable actual distance
between an end (mech side or LS) and
Z-phase when rotary encoder
Z-phase search limit when linear encoder
Number of Z-Phase in 1 Only 1 is available to use when ABS
23 1 1 1 to 8
Turn of Encoder encoder. It is invalid when linear encoder

357
 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
Default value
No. Parameter name Input range Unit Remarks No.
(reference)
ABS Reset Position
Used for pressing confirmation in ABS
Movement / Pressing
24 700 700 1 to 5000 msec reset position movement / home-return
Stop Confirmation Time
operation
in Home-Return
Pressing Stop
Used for pressing confirmation in PUSH
25 Confirmation Time in 500 500 1 to 5000 msec
Command
Positioning
Reserved by the system
26 0 0
(change is prohibited)
27 Motor Speed MAX 5000 5000 1 to 99999
Max. PTP Velocity * Maximum SCARA PTP velocity for
480,
(SCARA Axes) / Max. SCARA axes
480,
28 Operational Velocity of 1000 1 to 9999 mm/s (Maximum SCARA CP velocity is set in All
1393,
Each Axis (Linear sliding Axes Parameter No. 21)
1200
Axes)
Maximum operation speed of each axis
and the smaller in VLMX speed are
Chapter 6 Parameter

Linear sliding axis VLMX

29 0 1000 1 to 9999 mm/s treated as the applicable axis maximum
Speed
speed in VLMX operation.
Note: Valid only on linear sliding axes
Brake equipped:
Time after receiving a servo-ON
start response until start of brake
unlocking
30 Servo ON check time 150 150 0 to 5000 msec
Brake not equipped:
Time after receiving a servo ON
start response until transition to
an operation-enabled status
ABS Reset Position
Movement / Offset
31 3 3 1 to 500 mm/sec
Movement Velocity in
Home-Return
Absolute value for distance from an end
(mech side or LS), automatic acquirement
Actual Distance between
32 -1 -1 -1 to 99999 0.001mm when negative value, recommended to set
Z-phase and End
to automatic acquirement -> flashlight
when actuators combined
6.3.2 For XSEL-RX/SX, RXD/SXD)

Ideal Distance between Absolute value for distance from an end

33 0 0 0 to 99999 0.001mm
Z-phase and End (mech side or LS)
Brake equipment 0: Not equipped
34 0, 0, 1, 1 0 0 to 1
specification 1: Equipped
Time after receiving a brake-unlock start
35 Brake unlock check time 150 150 0 to 3000 msec response until transition to an
operation-enabled status
Time after receiving a brake-lock start
36 Brake lock check time 300 300 0 to 1000 msec response until start of servo OFF
Encoder Linear / Rotary 0: Rotary Encoder
37 0 0 0 to 1
Classification 1: Linear Encoder
0: Incremental
38 Encoder ABS / INC type 1 0 0 to 1
1: Absolute
Reserved by the system
39 1 1
(change is prohibited)
Reserved by the system
40 0 0
(change is prohibited)
Reserved by the system
41 25 25
(change is prohibited)
Pulses when rotary encoder (before
Pulse/rev
0 to dividing frequency)/rev 0.001�m when
42 Encoder Resolution 131072 131072 0.001�m/
99999999 linear encoder/pulse (before dividing
Pulse
frequency)
th
Encoder Frequency Pulses are multiplied by (the n power of
43 2 3 -7 to 7
Dividing Rate 1/2)
Measurement -99999999 Valid only when linear sliding axis
0.001
44 Adjustment 0 0 to (coordinates except for encoder based Z
mm/1M
99999999 point are to be changed in proportion)
Belt Breakage Detection
45 0 0 0 to 2 0: Not to Use, 1: Contact a, 2: Contact b
Sensor Input Polarity

358
Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
Default value
No. Parameter name Input range Unit Remarks No.
(reference)
46 (For expansion) 0 0
1 to Valid only when linear sliding axis
47 Screw Lead 20000 20000 0.001mm
99999999 Invalid when linear encoder
48 (For expansion) 0 0
49 (For expansion) 0 0
1 to
50 Gear Ratio Numerator 1, 1, 11, 1 1 Invalid when linear encoder
99999999
1 to
51 Gear Ratio Denominator 50, 50, 10, 15 1 Invalid when linear encoder
99999999

Chapter 6 Parameter
6.3.2 For XSEL-RX/SX, RXD/SXD

359
 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
Default value
No. Parameter name Input range Unit Remarks No.
(reference)
Bits 0 to 3: Select synchro-slave axis
position loop encoder pulse
input
(0: Slave axis encoder pulse input
(normally)
1: Main axis encoder pulse input)
*Valid only for synchro-slave axes
Bits 4 to 7: Synchronizing control type
(0: Double sensor control (normally)
* Set to 0 for normal synchronizing.
Select 2, 3 or 1 considering the
situation only when there is no
freedom in “independent” control in
the same coordinate for the master
axis and slave axes.
* Setting is also necessary in Each Axis
Parameters No. 69, 77 and 58.
Chapter 6 Parameter

(Example for Setting (Master/Slave

Axes)):
No.69 Restriction in torque for
synchro-slave axis stop = 0/0%
No.77 Synchro S pulse = 3/3 pulse
No.58 positioning width =
100/100�m)
1: Double sensor control (slave axis 1
ingredient cancelled when moving)
* Establish the setting considering the
situation only when there is no
freedom in “independent” control in
the same coordinate for the master
axis and slave axes.
(Setting available only for horizontal
Synchronizing Setting 0H to
52 0 0 axes)
Bit Pattern 1 FFFFFFFFH
* There is a tendency that the load on
the master axis is big even in
constant condition because the slave
axes are more like a supportive drive.
6.3.2 For XSEL-RX/SX, RXD/SXD)

* Setting is also necessary in Each Axis

Parameters No. 69, 77 58 and 108.
(Example for Setting (Master/Slave
Axes)):
No.69 Restriction in torque for
synchro-slave axis stop = 0/50%
No.77 Synchro S pulse = 3/
[calculated value (converted in
300�m)]
No.58 positioning width = 100/300�m
No.108 Control switchover width in
synchro-slave axis positioning =
0/5000�m)
2: Single sensor control
* Establish the setting considering the
situation only when there is no
freedom in “independent” control in
the same coordinate for the master
axis and slave axes.
* Setting is also necessary in Each Axis
Parameters No. 69, 77 and 58.
(Example for Setting (Master/Slave
Axes)):
No.69 Restriction in torque for
synchro-slave axis stop = 0/0%
No.77 Synchro S pulse = 3/3 pulse
No.58 positioning width =
100/300�m)

360
Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
Default value
No. Parameter name Input range Unit Remarks No.
(reference)
3: Single � double sensor switchover
control
* Establish the setting considering the
situation only when there is no
freedom in “independent” control in
the same coordinate for the master
axis and slave axes.
(Setting available only for horizontal
axes)
* Setting is also necessary in Each Axis
Parameters No. 69, 77 58 and 108.
(Example for Setting (Master/Slave
Axes)):
No.69 Restriction in torque for
synchro-slave axis stop = 0/50%
No.77 Synchro S pulse = 3/
[calculated value (converted in

Chapter 6 Parameter
300�m)]
No.58 positioning width = 100/300�m
No.108 Control switchover width in
synchro-slave axis positioning =
0/5000�m)
* There is a case the driver parameter
needs to be adjusted when a control
method has changed.
* Valid only for synchro-slave axes
Bits 8-11: In home-return of INC
encoder (INC-INC control)
Select to use synchro-slave axis
Synchronizing Setting 0H to
52 0 0 Z-phase
Bit Pattern 1 FFFFFFFFH
(0: slave axis Z-phase not in use
1: slave axis Z-phase in use)
* Following parameter on slave axis
side valid when using slave axis
Z-phase
“Each Axis Parameter No. 21 Offset
Movement Amount in Home-Return”

6.3.2 For XSEL-RX/SX, RXD/SXD

“Each Axis Parameter No. 12 Home
Preset”
* How to Adjust when Using Slave axis
Z-phas
(1) Complete home-return operation in
synchronizing condition
• Ignore “Error No. D0A Driver
Overload Error” issued after
home-return complete
• In case “Error No. C9CZ Phase
Position Failure Error” has occurred,
adjustment is required on the
relation of the installed positions of
both synchronized axes.
• In case “Error No. C72, D6B Overrun
Error” has occurred, either adjust the
relation of the installed positions of
both synchronized axes, or set
“Each Axis Parameter No. 15
Overrun Sensor Input Polarity” to “0
(Not to Use)” to stop using the
overrun sensor.

361
 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
Default value
No. Parameter name Input range Unit Remarks No.
(reference)
(2) Turn the servo off by emergency
stop.
(3) Align the physical position relation
of the synchro-master axis and
slave axis to read the current
position coordinates.
(4) Calculate “Synchro-slave axis
current position coordinates –
Synchronizing Setting 0H to Synchro-master axis current
52 0 0
Bit Pattern 1 FFFFFFFFH position coordinates” and set the
figured out value to “Each Axis
Parameter No. 21 Offset Movement
Amount in Home-Return” on the
synchro-slave axis side. (Be careful
of unit conversion)
(5) Controller soft reset or power-on
reset after flash ROM writing
Chapter 6 Parameter

*Valid only for synchro-slave axes

Each Axis Setting Bit 0H to
53 0 0
Pattern 1 FFFFFFFFH
ABS Reset Position
Movement / Pressing Used for pressing confirmation in ABS
54 Stop Detection 20 20 1 to 99999 0.001mm reset position movement / home-return
Movement Amount in operation
Home-Return
Pressing Stop Detection
Used for pressing confirmation in PUSH
55 Movement Amount in 30 30 1 to 99999 0.001mm
Command
Pressing
ABS Reset Position
Compare [Pressing velocity steady-state
Movement / Pressing
error + Pressing speed pulse velocity �
56 Compulsory Complete 5000 2000 1 to 99999
compulsory complete deviation] and
Deviation in
deviation
Home-Return
Compare [Pressing velocity steady-state
Pressing Compulsory
error + Pressing speed pulse velocity �
57 Complete Deviation at 5000 5000 1 to 99999
compulsory complete deviation] and
Positioning
deviation
6.3.2 For XSEL-RX/SX, RXD/SXD)

50,
50, 0.001mm * Related Information: Each Axis
58 Positioning width 100 1 to 9999
100, 0.001deg Parameter No.52
150
Maximum steady-state error in operational
Deviation Error velocity for each axis + maximum pulse
59 Allowable (Maximum 85 27 1 to 99 speed in operational velocity for each axis
Velocity Pulse Ratio) � comparison of deviation error allowable
rate and deviation
Note: Do not attempt to change for
60 PPG (Position Gain) 60 30 1 to 9999 /s
SCARA axes.
Note: Do not attempt to change for
61 PFAG 0 0 0 to 999
SCARA axes.
Linear Sliding Axis
62 0 77 0 to 1000 /s
Synchronizing FB Gain
Special Stop Output
63 1 1 0 to 9999 Pulse Invalid when set to 0.
Range
Special Stop Output
64 1 1 0 to 999 DRVVR
Range

362
Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
Default value
No. Parameter name Input range Unit Remarks No.
(reference)
Necessity of mutual input (The smaller
axis number in a pair is the master axis.
Axes with same characteristics on
resolution related are available to select.
Command issuance to slave axis is
Linear Sliding Axis
unavailable.)
65 Synchronized Mating 0 0 0 to 8
* It is necessary to install the actuator with
Axis Number
the “home-return end positions” on the
synchro-master and slave axes being
physically aligned.
(Invalid when set to 0.)
Note: Valid only on linear sliding axes
Linear Sliding Axis
0: Normal, 1: Index Mode
66 Rotation Movement Axis 0 0 0 to 5
Note: Valid only on linear sliding axes
Mode Select
Short-cut control 0: Not selected, 1: Selection (Effective
67 selection for rotational 0 0 0 to 5 only when Index Mode and INC encoder)

Chapter 6 Parameter
movement axis Note: Valid only on linear sliding axes
0: Normal, 1: Infinite stroke mode
Linear Sliding Axis (Note: Positioning boundary is to exist.
68 Linear Sliding Axis Mode 0 0 0 to 5 Selection is available only when
Select INC encoder.)
Note: Valid only on linear sliding axes
No limit when set to 0. Valid only for
Linear Sliding Axis
synchro-slave axes
69 Torque Limitation at 0 0 0 to 70 %
* Related Information: Each Axis
Synchro-Slave Axis Stop
Parameter No.52
Reserved by the system
70 0 0
(change is prohibited)
Reserved by the system
71 0 0
(change is prohibited)
Reserved by the system
72 0 0
(change is prohibited)
Reserved by the system
73 0 0
(change is prohibited)
Reserved by the system

6.3.2 For XSEL-RX/SX, RXD/SXD

74 0 0
(change is prohibited)
Reserved by the system
75 0 0
(change is prohibited)
Reserved by the system 0H to
76 0 0
(change is prohibited) FFFFFFFFH
* Related Information: Each Axis
Linear Sliding Axis
77 3 3 0 to 99999 Parameter No.52
Synchro S Pulse Pulse
Note: Valid only on linear sliding axes
Maximum flow-up command amount
before brake unlock (input with sign)
(Heavy work piece servo-on transient drop
down control)

Caution: Input a value with a sign in the

same direction as flowing up
coordinate.
(Approximately 0.100mm to
Maximum Takeoff -3000 to
78 0 0 0.001mm 0.500mm as a reference in
Command Amount 3000
absolute value)
* It is necessary to make the servo-on
check time (Each Axis Parameter No.
30) longer (approx. 1000 to 1500msec)
to secure the upward torque tracking
time.

(Valid only when brake-equipped

indicated)
Takeoff Check Actual
79 5 5 0 to 3000 0.001mm Input an absolute value
Distance

363
 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
Default value
No. Parameter name Input range Unit Remarks No.
(reference)
To shorten finishing time.
Linear Sliding Axis
(Range invalid when set to 0)
80 Maximum Compulsory 0 0 0 to 9999 0.001mm
(Approx. 1.000mm as a reference)
Feed Range
Note: Valid only on linear sliding axes
Linear Sliding Axis Max.
81 Compulsory Feed 200 200 0 to 9999 0.001mm Note: Valid only on linear sliding axes
Range
Linear Sliding Axis Min.
82 Compulsory Feed 600 600 0 to 9999 0.001mm Note: Valid only on linear sliding axes
Range
Linear Sliding Axis ABS
Synchro-Slave Axis Setting available only for horizontal axes.
83 0 0 0 to 5
Coordinate Initializing Note: Valid only on linear sliding axes.
Cancel
Maximum speed for slave axis
Linear Sliding Axis synchronizing adjustment movement.
Synchro-Slave Axis Setting available only for horizontal axes/
Chapter 6 Parameter

84 5 5 0 to 100 mm/sec
Synchronizing Note: It cannot be limited by the safety
Adjustment Max. Speed speed.
Note: Valid only on linear sliding axes
ABS Reset Position
Movement / * SCARA A1, A2 and R-axes are in unit of
85 15 15 1 to 300 0.01G
Acceleration/Deceleratio [deg/sec2].
n Speed in Home-Return
Valid only when Max. > Min.
Linear Sliding Axis Zone -99999999 * Necessary to secure 3msec or more for
86 0 0 0.001mm
1 MAX to 99999999 domain going-through time
Note: Valid only on linear sliding axes
Valid only when Max. > Min.
Linear Sliding Axis Zone -99999999 * Necessary to secure 3msec or more for
87 0 0 0.001mm
1 MIN to 99999999 domain going-through time
Note: Valid only on linear sliding axes
Physical output port or Global Flag or
Extended Output Ports
Linear Sliding Axis Zone
88 0 0 0 to 6999 (Output invalid when set to 0, invalid when
1 Output No.
duplicated))
6.3.2 For XSEL-RX/SX, RXD/SXD)

Note: Valid only on linear sliding axes

Valid only when Max. > Min.
Linear Sliding Axis Zone -99999999 * Necessary to secure 3msec or more for
89 0 0 0.001mm
2 MAX to 99999999 domain going-through time
Note: Valid only on linear sliding axes
Valid only when Max. > Min.
Linear Sliding Axis Zone -99999999 * Necessary to secure 3msec or more for
90 0 0 0.001mm
2 MIN to 99999999 domain going-through time
Note: Valid only on linear sliding axes
Physical output port or Global Flag or
Extended Output Ports
Linear Sliding Axis Zone
91 0 0 0 to 6999 (Output invalid when set to 0, invalid when
2 Output No.
duplicated))
Note: Valid only on linear sliding axes
Valid only when Max. > Min.
Linear Sliding Axis Zone -99999999 * Necessary to secure 3msec or more for
92 0 0 0.001mm
3 MAX to 99999999 domain going-through time
Note: Valid only on linear sliding axes
Valid only when Max. > Min.
Linear Sliding Axis Zone -99999999 * Necessary to secure 3msec or more for
93 0 0 0.001mm
3 MIN to 99999999 domain going-through time
Note: Valid only on linear sliding axes
Physical output port or Global Flag or
Extended Output Ports
Linear Sliding Axis Zone
94 0 0 0 to 6999 (Output invalid when set to 0, invalid when
3 Output No.
duplicated))
Note: Valid only on linear sliding axes
Valid only when Max. > Min.
Linear Sliding Axis Zone -99999999 * Necessary to secure 3msec or more for
95 0 0 0.001mm
4 MAX to 99999999 domain going-through time
Note: Valid only on linear sliding axes

364
Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
Default value
No. Parameter name Input range Unit Remarks No.
(reference)
Valid only when Max. > Min.
Linear Sliding Axis Zone -99999999 * Necessary to secure 3msec or more for
96 0 0 0.001mm
4 MIN to 99999999 domain going-through time
Note: Valid only on linear sliding axes
Physical output port or Global Flag or
Extended Output Ports
Linear Sliding Axis Zone
97 0 0 0 to 6999 (Output invalid when set to 0, invalid when
4 Output No.
duplicated))
Note: Valid only on linear sliding axes
98 (For expansion) 0 0
99 (For expansion) 0 0
100 (For expansion) 0 0
Allowable Time for
Not to monitor excess time of continuous
101 Excess of Continuous 0 0 0 to 300 s
operational torque when set to 0
Operational Torque
102 (For expansion) 0 0

Chapter 6 Parameter
103 (For expansion) 0 0
Bits 0 to 3: Mating axis number to apply
overapproach detection
(self-axis coordinate positive
movement side)
Bits 4 to 7: Mating axis number to apply
overapproach detection
(self-axis coordinate negative
movement side)
* Necessity of mutual input with
mating axis (The smaller axis
Axis Select for Appliance
0H to number in a pair is the multi-slider
104 of Multi-Slider 0H 0H
FFFFFFFFH master axis for convenience.)
Overapproach Detection
* Axes with same characteristics on
resolution related are available to
select.
* Make sure to select the
synchro-master axis when
synchronizing type (forbidden to
select synchro-slave axes).

6.3.2 For XSEL-RX/SX, RXD/SXD

* Set to 0 when there is no slider close
to the side of applicable movement
of the self-axis coordinate.
Set [Allowable furthest distance between
sliders] – [Allowable closest distance
between sliders] in the operational range
Multi-Slider Effective 0 to
105 0 0 0.001mm of the two axes applicable for the
Stroke 99999999
multi-slider overapproach detection.
(Valid only on multi-slider master axis
parameters)
Emergency Deceleration
106 Margin at Multi-Slider 5 5 0 to 999 0.01G
Overapproach
Bits 0 to 3: Multi-slider actual position
overapproach detection margin
(mm)
(Valid only on multi-slider
Multi-Slider Setting Bit 0H to master axis parameters)
107 12H 12H
Pattern 1 FFFFFFFFH Bits 4 to 7: Multi-slider commanded
position overapproach
detection margin (mm)
(Valid only on multi-slider
master axis parameters)
Control Switchover
Valid only for synchro-slave axes
Width in Linear Sliding
108 5000 5000 1 to 99999 0.001mm * Related Information: Each Axis
Axis Synchro-Slave Axis
Parameter No.52
Positioning
Ball Screw Spline Mutual input required
(Linear Sliding Axis + 0: Disable
109 Rotation Movement 0 0 0 to 8 1 to 8: Mating axis number
Axis) Adjustment Mating * Related Information: Each Axis
Axis Select Parameter No.1

365
 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
Default value
No. Parameter name Input range Unit Remarks No.
(reference)
Reserved by the system
110 0 0
(change is prohibited)
Reserved by the system
111 0 0
(change is prohibited)
Reserved by the system
112 1 1
(change is prohibited)
113 (For expansion) 0 0
114 (For expansion) 0 0
115 (For expansion) 0 0
116 (For expansion) 0 0
* Change prohibited unless any indication
117 PIG 0 0 0 to 999999
from the supplier
* Change prohibited unless any indication
118 PDG 0 0 0 to 999999
from the supplier
119 PFSG 50 0 0 to 100
* Change prohibited unless any indication
Chapter 6 Parameter

120 PFF 10 10 0 to 100

from the supplier
Reserved by the system
121 0 0
(change is prohibited)
Reserved by the system
122 0 0
(change is prohibited)
Reserved by the system
123 0 0
(change is prohibited)
Reserved by the system
124 0 0
(change is prohibited)
Reserved by the system
125 0 0
(change is prohibited)
Reserved by the system
126 0 0
(change is prohibited)
Reserved by the system
127 0 0
(change is prohibited)
Reserved by the system
128 0 0
(change is prohibited)
Reserved by the system
129 0 0
6.3.2 For XSEL-RX/SX, RXD/SXD)

(change is prohibited)
Reserved by the system
130 0 0
(change is prohibited)
Reserved by the system
131 0 0
(change is prohibited)
Reserved by the system
132 0 0
(change is prohibited)
Reserved by the system
133 0 0
(change is prohibited)
Max. PTP Acceleration
2700, Linear axis is invalid when set to 0.
(SCARA Axes) / Max.
5400, 0 to Limited by All Axes Parameter No. 203
134 Operational Acceleration 0 0.01G
160, 99999999 “Linear Sliding Axis Max. Acceleration”
for Each Axis (Linear
11000 when set to invalid
Sliding Axes)
Max. PTP Deceleration
2700, Linear axis is invalid when set to 0.
(SCARA Axes) / Max.
5400, 0 to Limited by All Axes Parameter No. 204
135 Operational Deceleration 0 0.01G
160, 99999999 “Linear Sliding Axis Max. Deceleration”
for Each Axis (Linear
11000 when set to invalid
Sliding Axes)
Min. PTP Emergency
Deceleration (SCARA 2700, Linear axis is invalid when set to 0.
Axes)/Min. Emergency 5400, 0 to Limited by All Axes Parameter No. 205
136 0 0.01G
Deceleration for Each 160, 99999999 “Linear Sliding Axis Min. Emergency
Axis (Linear Sliding 11000 Deceleration” when set to invalid
Axes)
137 (For expansion) 0 0
250000,
250000, 1 to * Used only for Arm 1 Axis (A1c) and Arm
138 Arm length 0 0.001mm
0, 9999999 2 Axis (A2c)
0

366
Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
Default value
No. Parameter name Input range Unit Remarks No.
(reference)
100000,
Intrusion Forbidden Area
0, -99999999 For simple checking
139 behind SCARA Axis 0 0.001mm
0, to 99999999 * Used only for Arm 1 Axis (Xb)
MAX (Xb)
0
-100000,
Intrusion Forbidden Area
0, -99999999 For simple checking
140 behind SCARA Axis MIN 0 0.001mm
0, to 99999999 * Used only for Arm 1 Axis (Xb)
(Xb)
0
90000, * Valid for SCARA axes and ball screw
Home Preset Automatic
0, -99999999 0.001mm spline axes (linear sliding axes)
141 Update Datum 0
0, to 99999999 0.001deg * Related Information: Each Axis
Coordinate
-90000 Parameter No.10, 12, 144
0: Rotation movement axis (R)
coordinates positive direction � linear
Ball Screw Spline sliding axis (Z) coordinates positive
(Linear Sliding Axis + direction adjustment
Rotation Movement 1: Rotation movement axis (R)

Chapter 6 Parameter
Axis) coordinates positive direction � linear
142 0 0 0 to 1
Rotation Movement Axis sliding axis (Z) coordinates negative
� Linear Sliding Axis direction adjustment
Adjustment Coordinate 2: Adjustment invalid
Direction Select
* Used for SCARA Z-axis (Zc) and ball
screw spline linear sliding axis
SCARA Axis CP
Operation Limit Band Input an absolute value
143 0 0 0 to 9999 0.001deg nd
Actual Position Intrusion (Used only for 2 Axis (A2c))
Boundary Angle (A2c)
(Positive value = direction to go against
the end)

* Used for SCARA Z-axis (Zc) and ball

End Offset Movement screw spline linear sliding axis (linear
0,
Amount at Home Preset sliding axis)
0, -99999999
144 Automatic Update 5000 0.001mm * Movement is made for the amount of
5500, to 99999999
Datum Coordinate this parameter (distance) after end
0
Standby search when “3” is selected in Each

6.3.2 For XSEL-RX/SX, RXD/SXD

Axis Parameter No. 10 “Home-Return
Method”.
* Related Information: Each Axis
Parameter No.10, 12, 141
SIO Current Arm System
nd
145 Changed Velocity Initial 0, 3, 0, 0 0 1 to 10 % * Used only for 2 Axis (A2c)
Value (A2c)
Reserved by the system
146 5000 0
(change is prohibited)
147 (For expansion) 0 0
148 (For expansion) 0 0
Reserved by the system 0 0
149
(change is prohibited)
150 (For expansion) 0 0
Reserved by the system
151 10 10
(change is prohibited)
Reserved by the system
152 1000 1000
(change is prohibited)
Reserved by the system
153 10000 10000
(change is prohibited)
Reserved by the system
154 9950 9950
(change is prohibited)
Reserved by the system
155 0 0
(change is prohibited)
Reserved by the system
156 10 10
(change is prohibited)
Reserved by the system
157 1000 1000
(change is prohibited)
Reserved by the system
158 10000 10000
(change is prohibited)

367
 Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
Default value
No. Parameter name Input range Unit Remarks No.
(reference)
Reserved by the system
159 9950 9950
(change is prohibited)
Reserved by the system
160 0 0
(change is prohibited)
Reserved by the system
161 10 10
(change is prohibited)
Reserved by the system
162 1000 1000
(change is prohibited)
Reserved by the system
163 10000 10000
(change is prohibited)
Reserved by the system
164 9950 9950
(change is prohibited)
Reserved by the system
165 0 0
(change is prohibited)
Reserved by the system
166 0 0
(change is prohibited)
Chapter 6 Parameter

Reserved by the system

167 0 0
(change is prohibited)
Reserved by the system
168 0 0
(change is prohibited)
9500,
Reserved by the system 9500,
169 0
(change is prohibited) 500,
9500
1000,
Reserved by the system 1000,
170 0
(change is prohibited) 500,
1000
2900,
Reserved by the system 13100,
171 0
(change is prohibited) 611,
0
108200,
Reserved by the system 108600,
172 0
(change is prohibited) 0,
6.3.2 For XSEL-RX/SX, RXD/SXD)

0
Reserved by the system
173 0 0
(change is prohibited)
Reserved by the system
174 0 0
(change is prohibited)
Reserved by the system
175 0 0
(change is prohibited)
36575,
Reserved by the system 138028,
176 0
(change is prohibited) 44,
0
Reserved by the system
177 0 0
(change is prohibited)
Reserved by the system
178 0 0
(change is prohibited)
34000,
Reserved by the system 18000
179 0
(change is prohibited) 116660,
19980
70,
Reserved by the system 70,
180 0
(change is prohibited) 70,
70
Reserved by the system
181 0 0
(change is prohibited)
Reserved by the system
182 0 0
(change is prohibited)
Reserved by the system
183 0 0
(change is prohibited)
Reserved by the system
184 0 0
(change is prohibited)

368
Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
Default value
No. Parameter name Input range Unit Remarks No.
(reference)
8000,
Reserved by the system 15000,
185 0
(change is prohibited) 460,
17000
8000,
Reserved by the system 15000,
186 0
(change is prohibited) 460,
17000
80,
Reserved by the system 80,
187 0
(change is prohibited) 80,
80
188 (For expansion) 0 0
189 (For expansion) 0 0
190 (For expansion) 0 0
191 (For expansion) 0 0

Chapter 6 Parameter
192 (For expansion) 0 0
193 (For expansion) 0 0
Linear sliding axis
194 30 30 1 to 999 0.01G Same as Each Axis Parameter No.2
ACMX+Acceleration 3
Linear sliding axis
195 30 30 1 to 999 0.01G Same as Each Axis Parameter No.3
ACMX-Acceleration 3
Linear sliding axis
196 30 30 1 to 999 0.01G Same as Each Axis Parameter No.2
ACMX+Acceleration 4
Linear sliding axis
197 30 30 1 to 999 0.01G Same as Each Axis Parameter No.3
ACMX-Acceleration 4
198 (For expansion) 0 0
199 (For expansion) 0 0
200 (For expansion) 0 0
201
to (For expansion) 0 0
214
* Equal value to PPG (Each Axis No. 60)
when set to 0
215 PPG2 (Position Gain) 0 0 0 to 9999 1/s
Note: Do not attempt to change for

6.3.2 For XSEL-RX/SX, RXD/SXD

SCARA axes.
Note: Do not attempt to change for
216 PFAG2 0 0 0 to 999
SCARA axes.
217 PFSG2 50 0 0 to 100
218
to (For expansion)
220
Alert function is invalid when maintenance
information alert function setting is 0.
Total Movement Count 0 to “231: Movement Times Threshold Excess”
221 0 0
Threshold 99999999 is issued when maintenance information
“total movement times” exceeds the
setting in this parameter.
Alert function is invalid when maintenance
information alert function setting is 0.
Total Operated Distance 0 to “232: Driving Distance Threshold Excess”
222 0 0
Threshold 99999999 is issued when maintenance information
“total driving distance” exceeds the setting
in this parameter.
223
to (For expansion) 0 0
250

369
 6.4 Driver Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Type (upper)
1 Space
(Manufacturing information)
Type (middle)
2 Space
(Manufacturing information)
Type (lower)
3 Space
(Manufacturing information)
Manufacturing data
4 Space
(Manufacturing information)
Manufacturing data
5 Space
(Manufacturing information)
Manufacturing data
6 Space
(Manufacturing information)
Manufacturing data
7 Space
(Manufacturing information)
Chapter 6 Parameter

Board type
8 31 0 to 255
(Function information)
Bits 0 to 7: Current detection circuit
type for first axis on
board
Bits 8 to 15: Current detection circuit
type for second axis on
board
0: 0 W (Not installed)
Installation type word 1
9 0101H 0000H to FFFFH 1: 20 to 30 W
(Function information)
2: 50 to 300 W
3: 400 to 750 W
4: 600 to 800 W (Maximum
300% output) (only for 1-axis
type PCB)
5: 1000W (for 50A linear type)
(only for 1-axis type PCB)
Installation type word 2 Bits 0 to 15: Reserved.
10 0000H 0000H to FFFFH
(Function information)
11 (Function information) 0000H 0000H to FFFFH
6.4 Driver Parameters (All types)

Software version Version No.×100

12 0000H 0000H to FFFFH
(Function information)
Motors whose motor identification
Maximum supported motor ID
13 0000H 0000H to FFFFH number is between 0 and the value of
number (Function information)
this parameter are supported.
Bits 0 to 3: Select if using motor control
data
0: Use motor control related
Motor control data use selection
14 0000H 0000H to FFFFH data in driver flash ROM
(Function information)
1: Use motor control constant
table data transferred from
main
15 (Function information) 0000H 0000H to FFFFH
16 (Function information) 0000H 0000H to FFFFH
17 (Function information) 0000H 0000H to FFFFH
18 (Function information) 0000H 0000H to FFFFH
19 (Function information) 0000H 0000H to FFFFH
20 (Function information) 0000H 0000H to FFFFH
21 (Function information) 0000H 0000H to FFFFH
22 (Function information) 0000H 0000H to FFFFH
23 (Configuration information) 0000H 0000H to FFFFH
Constructed Capacity (Motor
Rated Output) (compatible with
24 003CH 0000H to FFFFH W (* Data for other models)
E, priority on E) (Configuration
information)
Constructed Voltage (Motor
Highest bit is AC/DC classification bit
Voltage) (compatible with E,
25 00C8H 0000H to FFFFH V (OFF: AC, ON: DC)
priority on E) (Configuration
(* Data for other models)
information)

370
Driver Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
High-order: motor identification number
(converted to motor identification bit
number)
Motor Low-order: motor identification number
Motor • Encoder Configuration
Encoder (converted to encoder identification bit
information (compatible with E,
26 0000H 0000H to FFFFH Identificati number)
priority on E)(Configuration
on * Information near the encoder is
information)
Number prioritized when the encoder ID is
available to acquire directly from the
encoder system due to a
communication with the encoder.
27 (Configuration information) 0000H 0000H to FFFFH
28 (Configuration information) 0000H 0000H to FFFFH
Bits 0: Linear indication bit
(1: Linear
0: Rotary)

Chapter 6 Parameter
(*Data for other models)
Bit 1: ABS specification bit
Motor • encoder characteristic (1: ABS, 0: INC)
word (compatible with E, priority (* Data for other models)
29 0004H 0000H to FFFFH
on E) (Configuration Bit 2: Magnetic pole sensor
information) installation bit
(1: Installed, 0: Not installed)
(* Data for other models)
Bit 3: Brake installation bit
(1: Installed, 0: Not installed)
Bits 4 to 15: Reserved.
Motor • encoder characteristic
word 1
30 5000 -32768 to 32767 Rated load level adjustment
(compatible with E, priority on
E) (Configuration information)
Motor • encoder characteristic
word 2
31 0000H 0000H to FFFFH Bits 0 to 15: Reserved
(compatible with E, priority on
E) (Configuration information)
Motor • encoder characteristic
32 word 3 2 1 to 30 Encoder cable length (m)

6.4 Driver Parameters (All types)

(Configuration information)
Motor • encoder characteristic Bits 0 to 7: Encoder cable resistance
33 word 4 14H 0000H to FFFFH (0.01 �/m)
(Configuration information) Bits 8 to 15: Reserved
Motor • encoder characteristic Bits 0-3: System Reservation
34 word 5 0000H 0000H to FFFFH Bits 4-7: System Reservation
(Configuration information) Bits 8-15: Reserved
35 (Configuration information) 0000H 0000H to FFFFH
36 (Configuration information) 0000H 0000H to FFFFH
Reserved by the system
37 70 70 to 200 %
(change is prohibited)
Reserved by the system
38 70 0 to 200 %
(change is prohibited)
Reserved by the system
39 100 0 to 150 %
(change is prohibited)
* Setting of upper limit relies on such
40 Max. Torque Limit 300 10 to 400 %
as motor
Dynamic brake operation
41 0 0 to 1 0: Disable, 1: Enable
specification
Software DB operation
42 0 0 to 1 0: Enable, 1: Disable
specification
43 Velocity Loop Gain 500 1 to 99999999 Proportional Gain
Constant in Velocity Loop
44 30 1 to 1000 Integral Gain
Integrated
45 Torque filter time constant 0 0 to 2500
46 Current control band number 4 0 to 4
47 (For expansion) 0H
48 (For expansion) 0H

371
 Driver Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
49 (For expansion) 0H
50 (For expansion) 0H
51 (For expansion) 0H
52 (For expansion) 0
Bits 0 to 3: Operation Mode
0: Torque control
1: Griping operation
Bits 4 to 7: Current feedback data
switchover (CURMON)
0: q-axis (Use ECMD 1
Command)
1: d-axis
53 Current control word 1 0H 0000H to FFFFH
2: U Phase
3: V Phase
4: W Phase
5: Motor load level
Chapter 6 Parameter

(Temperature)
6: Voltage of d-axis
7: Voltage of q-axis
Bits 8 to 15: Reserved
54 Current control word 2 0H 0000H to FFFFH Bits 0 to 15: Reserved
55 Current control word 3 0H 0000H to FFFFH Bits 0 to 15: Reserved
56 Current control word 4 0H 0000H to FFFFH Bits 0 to 15: Reserved
57 Current control word 5 0H 0000H to FFFFH Bits 0 to 15: Reserved
58 Current control word 6 0H 0000H to FFFFH Bits 0 to 15: Reserved
59 Current control word 7 0H 0000H to FFFFH Bits 0 to 15: Reserved
60 Current control word 8 0H 0000H to FFFFH Bits 0 to 15: Reserved
61 (For expansion) 0H
62 (For expansion) 0H
63 (For expansion) 0H
64 (For expansion) 0H
65 (For expansion) 0H
66 (For expansion) 0H
67 (For expansion) 0H
Current control query When
6.4 Driver Parameters (All types)

68 0H 0000H to FFFFH Upper word of rated speed

information 01 rotary is
Current control query used
69 0H 0000H to FFFFH 0.001 rad/s Lower word of rated speed
information 02
Current control query When
70 0H 0000H to FFFFH Upper word of maximum speed
information 03 rotary is
Current control query used
71 0H 0000H to FFFFH 0.001 rad/s Lower word of maximum speed
information 04
Current control query
72 0H 0000H to FFFFH Upper word of rated current
information 05
mA
Current control query
73 0H 0000H to FFFFH Lower word of rated current
information 06
Bits 0 to 7: Maximum current
Current control query
74 0H 0000H to FFFFH (percentage of rated current) (� 0.1)
information 07
Bits 8 to 15: Number of pole pairs
Current control query
75 0H 0000H to FFFFH Upper word of linear motor lead
information 08
0.001 mm
Current control query
76 0H 0000H to FFFFH Lower word of linear motor lead
information 09
Bits 0 to 3: Linear motor specification
Current control query
77 0H 0000H to FFFFH (1: Linear, 0: Rotary)
information 10
Bits 4 to 15: Reserved
Bits 0 to 7: Maximum current limit in
Current control query
78 0H 0000H to FFFFH current control part (percentage of rated
information 11
current) (� 0.1)
Current control query
79 0H 0000H to FFFFH
information 12
Current control query
80 0H 0000H to FFFFH
information 13

372
Driver Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Current control query
81 0H 0000H to FFFFH
information 14
Current control query
82 0H 0000H to FFFFH
information 15
Current control query
83 0H 0000H to FFFFH
information 16
Current control query
84 0H 0000H to FFFFH
information 17
Current control query
85 0H 0000H to FFFFH
information 18
Current control query
86 0H 0000H to FFFFH
information 19
Current control query
87 0H 0000H to FFFFH
information 20
Current control query
88 0H 0000H to FFFFH

Chapter 6 Parameter
information 21
Current control query
89 0H 0000H to FFFFH
information 22
Current control query
90 0H 0000H to FFFFH
information 23
Current control query
91 0H 0000H to FFFFH
information 24
Current control query
92 0H 0000H to FFFFH
information 25
Current control query
93 0H 0000H to FFFFH
information 26
Current control query
94 0H 0000H to FFFFH
information 27
Current control query
95 0H 0000H to FFFFH
information 28
Current control query
96 0H 0000H to FFFFH
information 29
Current control query
97 0H 0000H to FFFFH
information 30

6.4 Driver Parameters (All types)

373
 6.5 Encoder Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Type (upper)
1 Space
(Manufacturing information)
Type (middle)
2 Space
(Manufacturing information)
Type (lower)
3 Space
(Manufacturing information)
Manufacturing data
4 Space
(Manufacturing information)
Manufacturing data
5 Space
(Manufacturing information)
Manufacturing data
6 Space
(Manufacturing information)
Manufacturing data
7 Space
(Manufacturing information)
Chapter 6 Parameter

Board type
8 80 0 to 255
(Function information)
Constructed Capacity (Motor
Rated Output) (compatible
9 003CH 0000H to FFFFH (* Data for other models)
with X/E ) (Function
information)
Constructed Voltage (Motor Highest bit is AC/DC classification bit
10 Voltage) (compatible withX/E) 00C8H 0000H to FFFFH (OFF:ACON:DC)
(Function information) (* Data for other models)
High-order: motor identification number
(converted to motor identification
bit number)
Low-order: motor identification number
Motor • Encoder Configuration (converted to encoder
11 information (compatible with 0000H 0000H to FFFFH identification bit number)
X/E) (Function information) * Information near the encoder is
prioritized when the encoder ID is
available to acquire directly from the
encoder system due to a
communication with the encoder.
Encoder Resolution (upper Pulses when rotary (before dividing
12 word) (compatible with X/E) 0002H 0000H to FFFFH frequency)/rev 0.001�m when
6.5 Encoder Parameters (All types)

(Function information) linear/pulse (before dividing frequency)

Encoder Resolution (lower (* Data for other models)
13 word) (compatible with X/E) 0000H 0000H to FFFFH
(Function information)
Bit 0: Linear indication bit (1:Linear, 0:
Rotary)
(*Data for other models)
Bit 1: ABS specification bit
(1: ABS, 0: INC)
Motor • encoder characteristic (* Data for other models)
14 word (compatible with X/E) 0004H 0000H to FFFFH Bit 2: Magnetic pole sensor installation
(function information) bit
(1: Installed, 0: Not installed)
(* Data for other models)
Bit 3: Brake installation bit
(1: Installed, 0: Not installed)
Bits 4 to 15: Reserved
Adjust the rated load level.
Motor • encoder control word
15 3834 -32768 to 32767 * Positive value � Direction in which
1 (function information)
overload occurs easily
Motor • encoder control word
16 0000H 0000H to FFFFH Bits 0 to 15: Reserved
2 (function information)
Motor • encoder control word
17 0000H 0000H to FFFFH Bits 0 to 15: Reserved
3 (function information)
Bits 0 to 7: Encoder parameter data
Motor • encoder control word version
18 0001H 0000H to FFFFH
4 (function information) (0: X, 1: nX)
Bits 8 to 15: Reserved

374
Encoder Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
19 (Function information) 0000H 0000H to FFFFH
20 (Function information) 0000H 0000H to FFFFH
21 (Function information) 0000H 0000H to FFFFH
22 (Function information) 0000H 0000H to FFFFH
Card parameter
23 0000H 0000H to FFFFH
(by board type)
Card parameter
24 0000H 0000H to FFFFH
(by board type)
Card parameter
25 0000H 0000H to FFFFH
(by board type)
Card parameter
26 0000H 0000H to FFFFH
(by board type)
Card parameter
27 0000H 0000H to FFFFH
(by board type)
Card parameter

Chapter 6 Parameter
28 0000H 0000H to FFFFH
(by board type)
Card parameter
29 0000H 0000H to FFFFH
(by board type)
Card parameter
30 0000H 0000H to FFFFH
(by board type)

6.5 Encoder Parameters (All types)

375
 6.6 I/O Devices Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Type (upper)
1 Space
(Manufacturing information)
Type (middle)
2 Space
(Manufacturing information)
Type (lower)
3 Space
(Manufacturing information)
Manufacturing data
4 Space
(Manufacturing information)
Manufacturing data
5 Space
(Manufacturing information)
Manufacturing data
6 Space
(Manufacturing information)
Manufacturing data
7 Space
(Manufacturing information)
Chapter 6 Parameter

8 Board type (Function information) 0 0 to 255

Function information 01 0000H to
9 0000H
(by board type) FFFFH
Function information 02 0000H to
10 0000H
(by board type) FFFFH
Function information 03 0000H to
11 0000H
(by board type) FFFFH
Function information 04 0000H to
12 0000H
(by board type) FFFFH
Function information 05 0000H to
13 0000H
(by board type) FFFFH
Function information 06 0000H to
14 0000H
(by board type) FFFFH
Function information 07 0000H to
15 0000H
(by board type) FFFFH
Function information 08 0000H to
16 0000H
(by board type) FFFFH
Function information 09 0000H to
17 0000H
(by board type) FFFFH
Function information 10 0000H to
18 0000H
(by board type) FFFFH
Function information 11 0000H to
19 0000H
6.6 I/O Devices Parameters (All types)

(by board type) FFFFH

Function information 12 0000H to
20 0000H
(by board type) FFFFH
Function information 13 0000H to
21 0000H
(by board type) FFFFH
Function information 14 0000H to
22 0000H
(by board type) FFFFH
0000H to
23 Device parameter (by board type) 0000H
FFFFH
0000H to
24 Device parameter (by board type) 0000H
FFFFH
0000H to
25 Device parameter (by board type) 0000H
FFFFH
0000H to
26 Device parameter (by board type) 0000H
FFFFH
0000H to
27 Device parameter (by board type) 0000H
FFFFH
0000H to
28 Device parameter (by board type) 0000H
FFFFH
0000H to
29 Device parameter (by board type) 0000H
FFFFH
0000H to
30 Device parameter (by board type) 0000H
FFFFH
0000H to
31 Device parameter (by board type) 0000H
FFFFH

376
I/O Devices Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
0000H to
32 Device parameter (by board type) 0000H
FFFFH
0000H to
33 Device parameter (by board type) 0000H
FFFFH
0000H to
34 Device parameter (by board type) 0000H
FFFFH
0000H to
35 Device parameter (by board type) 0000H
FFFFH
0000H to
36 Device parameter (by board type) 0000H
FFFFH
0000H to
37 Device parameter (by board type) 0000H
FFFFH
0000H to
38 Device parameter (by board type) 0000H
FFFFH
0000H to
39 Device parameter (by board type) 0000H

Chapter 6 Parameter
FFFFH
0000H to
40 Device parameter (by board type) 0000H
FFFFH
0000H to
41 Device parameter (by board type) 0000H
FFFFH
0000H to
42 Device parameter (by board type) 0000H
FFFFH
0000H to
43 Device parameter (by board type) 0000H
FFFFH
0000H to
44 Device parameter (by board type) 0000H
FFFFH
0000H to
45 Device parameter (by board type) 0000H
FFFFH
0000H to
46 Device parameter (by board type) 0000H
FFFFH
0000H to
47 Device parameter (by board type) 0000H
FFFFH
0000H to
48 Device parameter (by board type) 0000H
FFFFH
0000H to
49 Device parameter (by board type) 0000H
FFFFH
0000H to
50 Device parameter (by board type) 0000H
FFFFH

6.6 I/O Devices Parameters (All types)

0000H to
51 Device parameter (by board type) 0000H
FFFFH
0000H to
52 Device parameter (by board type) 0000H
FFFFH
0000H to
53 Query information 1 (by board type) 0000H
FFFFH
0000H to
54 Query information 2 (by board type) 0000H
FFFFH
0000H to
55 Query information 3 (by board type) 0000H
FFFFH
0000H to
56 Query information 4 (by board type) 0000H
FFFFH
0000H to
57 Query information 5 (by board type) 0000H
FFFFH
0000H to
58 Query information 6 (by board type) 0000H
FFFFH
0000H to
59 Query information 7 (by board type) 0000H
FFFFH
0000H to
60 Query information 8 (by board type) 0000H
FFFFH
0000H to
61 Query information 9 (by board type) 0000H
FFFFH
0000H to
62 Query information 10 (by board type) 0000H
FFFFH

377
 I/O Devices Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
0000H to
63 Query information 11 (by board type) 0000H
FFFFH
0000H to
64 Query information 12 (by board type) 0000H
FFFFH
0000H to
65 Query information 13 (by board type) 0000H
FFFFH
0000H to
66 Query information 14 (by board type) 0000H
FFFFH
0000H to
67 Query information 15 (by board type) 0000H
FFFFH
0000H to
68 Query information 16 (by board type) 0000H
FFFFH
0000H to
69 Query information 17 (by board type) 0000H
FFFFH
0000H to
70 Query information 18 (by board type) 0000H
Chapter 6 Parameter

FFFFH
0000H to
71 Query information 19 (by board type) 0000H
FFFFH
0000H to
72 Query information 20 (by board type) 0000H
FFFFH
0000H to
73 Query information 21 (by board type) 0000H
FFFFH
0000H to
74 Query information 22 (by board type) 0000H
FFFFH
0000H to
75 Query information 23 (by board type) 0000H
FFFFH
0000H to
76 Query information 24 (by board type) 0000H
FFFFH
0000H to
77 Query information 25 (by board type) 0000H
FFFFH
0000H to
78 Query information 26 (by board type) 0000H
FFFFH
0000H to
79 Query information 27 (by board type) 0000H
FFFFH
0000H to
80 Query information 28 (by board type) 0000H
FFFFH
0000H to
81 Query information 29 (by board type) 0000H
FFFFH
6.6 I/O Devices Parameters (All types)

0000H to
82 Query information 30 (by board type) 0000H
FFFFH

378
6.7 Other Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
1 Auto-start program number 0 0 to 128 (Invalid if “0” is set)
The start trigger is determined from the “I/O
processing program start type at operation/program
abort.”
I/O processing program
(Note: This program will be started before
2 number at 0 0 to 128
confirming an abort of other programs.)
operation/program abort
(Invalid if “0” is set)
* If the setting is valid, the number of user program
tasks that can be used will decrease by 1.
This program will be started when an
all-operation-pause command is issued due to an
I/O processing program all-operation-pause factor. (Only when a program is
3 number at all operation 0 0 to 128 running)
pause (Invalid if “0” is set)

Chapter 6 Parameter
* If the setting is valid, the number of user program
tasks that can be used will decrease by 1.
0: Cancel only the program in which an error of
operation-cancellation level or higher has
generated. (If the error requires the drive source
to be cut off or a servo-OFF or all-axis
servo-OFF request to be issued, all programs
4 Program abort type at error 0 0 to 5 other than the “I/O processing program at
operation/program abort” will be cancelled.)
1: Cancel all programs other than the “I/O
processing program at operation/program abort”
when an error of operation-cancellation level or
higher has generated.
0: When all-operation-cancellation factor has
generated (Only when a program is running)
1: When all-operation-cancellation factor has
generated (Always)
I/O processing program 2: All-operation-cancellation factor + Error of
5 start type at 0 0 to 5 operation-cancellation level or higher (“Other
operation/program abort parameter No. 4 = 0” is considered) (Only when
a program is running)
3: All-operation-cancellation factor + Error of
operation-cancellation level or higher (“Other
parameter No. 4 = 0” is considered) (Always)
PC/TP reconnection delay * The setting will become effective after the
6 14000 1 to 99999 msec
at software reset controller, PC or TP is restarted.

6.7 Other Parameters (All types)

7 (For expansion) 0
8 (For expansion) 0
Reserved by the system
9 0 0 to 9
(change is prohibited)
0: Abort operations/programs
1: Recovery after reset
2: Operation continued (Only during automatic
operation.
* Operation commands from the PC software/TP
will be aborted on the PC software/TP side.)
3: Abort operations/programs (Software reset when
the emergency stop is reset. The home-return
completion status of incremental-encoder axes
Emergency-stop recovery
10 0 0 to 4 will be reset (EG approximation swap).)
type
4: Abort operations/programs (Error reset (only with
an error of operation-cancellation level or lower)
and auto-start program start (only if AUTO mode
AND I/O parameter No. 33 = 1 AND I/O
parameter No. 44 � 1 AND
all-operation-cancellation factor is not present)
when the emergency stop is reset). There must
be a minimum interval of 1 second after an
emergency stop is actuated before it is reset.

379
 Other Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
0: Abort operations/programs
1: Recovery after reset
Enable switch
2: Operation continued (Only during automatic
11 (deadman/enable switch) 0 0 to 2
operation.
recovery type
* Operation commands from the PC/TP will be
aborted on the PC/TP side.)
0: Program is running and all-operation-cancellation
Automatic operation factor is not present
12 0 0 to 3
recognition type 1: [Program is running or in AUTO mode] and
all-operation-cancellation factor is not present
13 (For expansion) 0
14 (For expansion) 0
15 (For expansion) 0
16 (For expansion) 0
17 (For expansion) 0
Chapter 6 Parameter

18 (For expansion) 0
19 (For expansion) 0
Reserved by the system
20 2 0 to 2
(change is prohibited)
0: Always enable edit and SIO/PIO start (Initial
condition after connection = With safety speed)
1: Select edit and start (with password) (EU, etc.)
21 Manual mode type 0 0 to 5 2: Always enable edit and SIO/PIO start (Initial
condition after connection = Without safety
speed (cancellation))
* Referenced by the PC/TP.
22 Control use region 0 0 to 99 0: J, 1: E, 2: EU
PSIZ command function 0: Maximum number of point data areas
23 0 0 to 5
type 1: Number of point data used
Local variable number for
storing SEL 1 to 99,
24 99
communication command 1001 to 1099
return code
25 (For expansion) 0
26 (For expansion) 0
27 (For expansion) 0
28 (For expansion) 0
29 (For expansion) 0
Reserved (Change is prohibited)
0H to
30 Option Password 00 0H * Change is prohibited unless instructed by the
6.7 Other Parameters (All types)

FFFFFFFFH
manufacturer.
Reserved (Change is prohibited)
0H to
31 Option Password 01 0H * Change is prohibited unless instructed by the
FFFFFFFFH
manufacturer.
Reserved (Change is prohibited)
0H to
32 Option Password 02 0H * Change is prohibited unless instructed by the
FFFFFFFFH
manufacturer.
33 (For expansion) 0H
34 (For expansion) 0H
35 (For expansion) 0H

380
Other Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Bits 0 to 3: Protect type
(0: Read/write, 1: Read only,
2: No read/write)
Bits 4 to 7: Protect release method
(0: Special operation)
Bits 8 to 11: Protect range maximum number
(1’s place, BCD)
Bits 12 to 15: Protect range maximum number
PC/TP data protect setting 0H to (10’s place, BCD)
36 0H
(Program) FFFFFFFFH Bits 16 to 19: Protect range minimum number
(1’s place, BCD)
Bits 20 to 23: Protect range minimum number
(10’s place, BCD)
* Referenced by the PC/TP
* Data cannot be protected for program Nos. 100
to 128 which are outside the allowable setting
range (these programs are not covered by the

Chapter 6 Parameter
data protection specification.)
Bits 0 to 3: Protect type (0: Read/write, 1:
Read only, 2: No read/write)
Bits 4 to 7: Protect release method (0: Special
operation)
Bits 8 to 11: Protect range maximum number
(10’s place, BCD)
Bits 12 to 15: Protect range maximum number
(100’s place, BCD)
Bits 16 to 19: Protect range maximum number
(1000’s place, BCD)
Bits 20 to 23: Protect range minimum number
PC/TP data protect setting 0H to (10’s place, BCD)
37 0H
(Position) FFFFFFFFH Bits 24 to 27: Protect range minimum number
(100’s place, BCD)
Bits 28 to 31: Protect range minimum number
(1000’s place, BCD)
* The value in the 1’s place is considered “0” for
both the protect range maximum/minimum
numbers.
* Referenced by the PC/TP
* Data cannot be protected for program Nos. 9991
to 20000 which are outside the allowable setting
range (these programs are not covered by the
data protection specification.)

6.7 Other Parameters (All types)

Bits 0 to 3: Protect type (Parameter)
(0: Read/write, 1: Read only,
2: No read/write)
Bits 4 to 7: Protect release method
(Parameter)
PC/TP data protect setting 0H to (0: Special operation)
38 0H
(Symbol, parameter) FFFFFFFFH Bits 8 to 11: Protect type (Symbol)
(0: Read/write, 1: Read only,
2: No read/write)
Bits 12 to 15: Protect release method (Symbol)
(0: Special operation)
* Referenced by the PC/TP

381
 Other Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Bits 0 to 3: Protect type (tool coordinate offset)
(0: Read/write, 1: Read only,
2: No read/write)
Bits 4 to 7: Protect release method (tool
coordinate offset)
(0: Special operation)
Bits 8 to 11: Protect type (work coordinate
offset)
(0: Read/write, 1: Read only,
2: No read/write)
PC/TP data protect setting 0H to Bits 12 to 15: Protect release method (work
39 0H coordinate offset)
(coordinate system) FFFFFFFFH (0: Special operation)
Bits 16 to 19: Protect type (simple contact check
zone definition coordinates)
(0: Read/write, 1: Read only,
2: No read/write)
Bits 20 to23: Protect release method (simple
contact check zone definition
Chapter 6 Parameter

coordinates)
(0: Special operation)
* Referenced by the PC/TP
Note: Valid only on SCARA axes
Reserved by the system 0H to
40 83H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
41 0H
(change is prohibited) FFFFFFFFH
Reserved by the system 0H to
42 6H
(change is prohibited) FFFFFFFFH
Reserved by the system
43 0H
(change is prohibited)
44 (For expansion) 0
Bits 0 to 3: Enable start from PC/TP in AUTO
mode = Used exclusively by the
manufacturer
(0: Do not enable, 1: Enable)
Bits 4 to 7: PIO program start (input port 000)
Single Startup selected
(0: Normal 1: Single Startup)
* If set to Single Startup, the next PIO
program start (Input Port 000) will not
be accepted while the program of the
same number as the program which
had PIO program start (Input Port
Special start condition 0H to 0000) previously is being executed.
Bits 8 to 11: Permission of auto program start
6.7 Other Parameters (All types)

45 0
setting FFFFFFFFH when all-operation-cancellation factor
is present
(0: Do not permit, 1: Permit)
Bits 12 to 15: Permission of ON edge acceptance
for PIO program start (input port 000)
when all-operation-cancellation factor
is present
(0: Do not permit, 1: Permit)
* This parameter specifies an
ON-edge acceptance condition. If
the starting condition is not satisfied,
an “Error No. A1E: Start condition
non-satisfaction error” will generate.

382
Other Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Bits 0 to 3: Variable-value format type in
response message to
real-number/variable query
(0: Big endian with four upper/lower
binary-converted bytes reversed,
1: Big endian)
Bits 4 to 7: Decimal-place rounding selection for
real-number � integer-variable
assignment in LET/TRAN commands
(0: Do not round, 1: Round)
Bits 8 to 11: Reserved by the system
* Change strictly prohibited unless
specified by the manufacturer.
Bits 12 to 15: Selection of processing to be
0H to performed when subroutine first step
46 Other setting bit pattern 1 2001H input condition is not specified when
FFFFFFFFH TPCD command = 1
(0: Do not execute, 1: Execute,

Chapter 6 Parameter
2: Error)
Bits 16 to 19: Reserved by the system
Bits 20 to 23: Continuous recovery
movement/operation resumption
timing type
(0: Resume operation after completion of
continuous recovery movement of all axes
using the same task (same as before),
1: Hold resumption of operation while any axis
is performing continuous recovery operation
(This does not mean the system will wait for
completion of continuous recovery
movement.))
Bits 0 to 3: Select if using calendar function
(0: Not to use
1: Use
2: Not to use (using passed time after
having reset))
* Clear all in the error list after a
change is made.
Bits 4 to 7: 7-segment display element
0H to switchover
47 Other setting bit pattern 2 1H (0: Enable
FFFFFFFFH 1: Disable)
* The display switches in emergency
stop / ENB / cold start, operation
cancel level error if set to enable.
Bits 8 to 11: Whether to use servo monitoring IO
monitor function

6.7 Other Parameters (All types)

(0: Not to use
1: Use)
Bits 12 to 31: For future extension
48 (For expansion) 0

383
 Other Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
0: Display controller status
1: Display motor current indicator
The current pattern of each axis is displayed
instead of “ready status” or “program run
number.”
“Minimum indicator-displayed axis number”
(far-right column) is specified by “Other
parameter No. 50.”

0 < Motor current to rating ratio (%) � 25

25 < Motor current to rating ratio (%) � 50

Chapter 6 Parameter

50 < Motor current to rating ratio (%) � 75

75 < Motor current to rating ratio (%) � 100

Panel 7-segment display
49 0 0 to 9
data type
100 < Motor current to rating ratio (%) � 150

150 < Motor current to rating ratio (%) � 200

200 < Motor current to rating ratio (%)

2: Display user information number (U001 to

U999)
The user information number is displayed
instead of “ready status” or “program run
number” only when the user information number
is not “0.” “Global integer variable number for
specifying user information number” is specified
by “Other parameter No. 50.”
3: IA Net Station Number Display (IA00 to IA63)
IA Net Occupied Station Top Number is
displayed instead of “Ready Status Display” only
6.7 Other Parameters (All types)

when IA Net is used.

Auxiliary specification for * Refer to the Remarks field for “Other parameter
-99999999 to
50 panel 7-segment display 0 No. 49.”
99999999
data type
51 (For expansion) 0
Reserved by the system
52 0
(change is prohibited)
Bit 0: Fan 1 condition monitored
(0: Disable, 1: Enable)
Bit 1: Fan 2 condition monitored
(0: Disable, 1: Enable)
Bit 2: Fan 3 condition monitored
Fan Condition Monitoring 0H to (0: Disable, 1: Enable)
53 3FH
Setting 1 FFFFFFFFH Bit 3: Fan 4 condition monitored
(0: Disable, 1: Enable)
Bit 4: Fan 5 condition monitored
(0: Disable, 1: Enable)
Bit 5: Fan 6 condition monitored
(0: Disable, 1: Enable)

384
Other Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
Bit 0:Fan 7 condition monitored
(0: Disable, 1: Enable)
Bit 1: Fan 8 condition monitored
(0: Disable, 1: Enable)
Bit 2: Fan 9 condition monitored
(0: Disable, 1: Enable)
Fan Condition Monitoring 0H to Bit 3: Fan 10 condition monitored
54 0H
Setting 2 FFFFFFFFH (0: Disable, 1: Enable)
Bit 4: Fan 11 condition monitored
(0: Disable, 1: Enable)
Bit 5: Fan 12 condition monitored
(0: Disable, 1: Enable)
Bits 16 to 19: Fan condition monitoring error level
(0:Message level, 1:Cold start level)
55 (For expansion)
56 (For expansion)

Chapter 6 Parameter
57 (For expansion)
58 (For expansion)
59 (For expansion)
60 (For expansion)
61 (For expansion)
62 (For expansion)
63 (For expansion)
64 (For expansion)
65 (For expansion)
66 (For expansion)
67 (For expansion)
68 (For expansion)
69 (For expansion)
70 (For expansion)
71 (For expansion)
72 (For expansion)
73 (For expansion)
74 (For expansion)
75 (For expansion)
76 (For expansion)
77 (For expansion)
78 (For expansion)
79 (For expansion)

6.7 Other Parameters (All types)

80 (For expansion)
81 (For expansion)
82 (For expansion)
83 (For expansion)
84 (For expansion)
85 (For expansion)
86 (For expansion)
87 (For expansion)
88 (For expansion)
89 (For expansion)
90 (For expansion)
91 (For expansion)
92 (For expansion)
93 (For expansion)
94 (For expansion)
95 (For expansion)
96 (For expansion)
97 (For expansion)
98 (For expansion)
99 (For expansion)
100 (For expansion)
101 (For expansion)

385
 Other Parameters (All types)
Default
No. Parameter name value Input range Unit Remarks
(reference)
102 (For expansion)
103 (For expansion)
104 (For expansion)
105 (For expansion)
106 (For expansion)
107 (For expansion)
108 (For expansion)
109 (For expansion)
110 (For expansion)
111 (For expansion)
112 (For expansion)
113 (For expansion)
114 (For expansion)
115 (For expansion)
Chapter 6 Parameter

116 (For expansion)

117 (For expansion)
118 (For expansion)
119 (For expansion)
120 (For expansion)
121 to
(For expansion)
200
6.7 Other Parameters (All types)

386
 Encoder Process Type
Each Axis Accepted/Unaccepted Each Axis

6.8
Each Axis Each Axis Each Axis
Each Axis Parameter Current Parameter Each Axis
Parameter Parameter No.67 Each Axis Each Axis Each Axis Parameter
Parameter No.66 Position No.44 Parameter
No.68 Short-cut control Parameter Parameter Parameter No.50
No.1 Rotation Expression Measurem No.51 Input Unit
Linear selection for Spurious No.7 No.8 No.47 Gear
Axis operation Movement ABS INC (Approxima- ent Gear Ratio
Sliding Axis rotational INC Soft limit� Soft limit- Screw Lead Ratio
type Axis Mode tely) Adjustmen Denominator
Mode Select movement axis Numerator
Select t

0
Counter
(Normal � � � Enable Enable
Range
Mode)

0 • Distance mm
(linear 1 • Speed mm/sec
(Infinite Disable Disable Enable Enable Enable Enable
movement • Acceleration/
axis) stroke mode) Deceleration G
-10000 to
Duty cycle Disable Disable
� � � 9999.999
timeout (Note) (Note)
(Rotary)
check
detection
necessary

0
(Shortcut control not
0 selected)
Counter
(Normal Do not set any � � � Enable Enable
Range • angle mm � deg
Mode) value except for
Parameters for Linear / Rotation Controls

0 in normal
mode • Angular velocity
mm/sec � deg/sec

• Angular acceleration
1
and deceleration G
(rotation
Disable 0 Disable Disable Enable Enable = 9807mm/sec2
movement Counter
(Shortcut control not � � � � 9807deg/sec2
axis) Range
selected = 9807×2�/360
Disable rad/sec2
Disable
1 (Fixed at
(Fixed at 0 ”deg” shows the angle
(Index Mode) 359.999
inside) of a solid of revolution
inside)
on the tip
1 00 to
(Shortcut control not � � � 359.999
selected (Rotary)
Shown in the list below are the combinations of parameters for linear and rotation controls:

(Note): “Error No. CBE Target Tracking Data Boundary Violation Error” will be issued if having a positioning command except for ‘JxWx’ exceeding the coordinate range approximately from -9990 to 9990.

387
: “Error No. CC5 Positioning Boundary Excess Error” will be issued if executing a positioning command except for ‘JxWx’ out of the coordinate range approximately from -9990 to 9990.

6.8 Parameters for Linear / Rotation Controls Chapter 6 Parameter

 6.9 Manual Operation Types
By setting to Parameter “Manual Operation Type” (Other Parameter No. 21), the parameter
can be changed so SIO program startup and PIO program startup cannot be conducted
without inputting a password.

(1) PC software
[1] Setting = 0 (Always enable edit and SIO/PIO start)
Functions
Jog, move,
Operation type Password SIO program PIO program
Edit Safety speed continuous
start start
move
With safety speed Not required � � � � �
Without safety
Not required � � � �
speed

[2] Setting = 1 (Select edit and start (with password))

Functions
Chapter 6 Parameter

Jog, move,
Operation type Password SIO program PIO program
Edit Safety speed continuous
start start
move
Edit and jog Not required � � �
SIO start and jog
1817 � � �
(safety speed)
SIO start and jog 1818 � �
SIO/PIO start and
1819 � � �
jog

(2) Teaching pendant

[1] Setting = 0 (Always enable edit and SIO/PIO start)
*1 Functions
Safety-speed enable Jog, move,
Password SIO program PIO program
selection Edit Safety speed continuous
start start
move
Enable Not required � � � � �
Disable Not required � � � �

[2] Setting = 1 (Select edit and start (with password))

Functions
Safety-speed enable Jog, move,
Password SIO program PIO program *1
selection Edit Safety speed continuous
start start
move
6.9 Manual Operation Types

Enable Not required � � � � (*2)

Disable 1818 � � � (*2)

Functions
PIO start prohibition Jog, move,
Password SIO program PIO program
selection Edit Safety speed continuous *1
start start
move
Prohibit Not required � (*3) � �
Enable 1819 � (*3) � � �

(*1) PIO program start is enabled only in modes other than the edit mode.
(*2) In accordance with the “PIO start prohibition selection” setting.
(*3) In accordance with the “Safety-speed enable” setting.

388
6.10 Parameter Setting (Applied)
You can add functions or set dedicated functions to I/O ports by changing parameter values.
Setting examples under different operating conditions are explained below.
Before changing each parameter, be sure to read the applicable section in the parameter list.

Section to
Desired Operation
Pick up
1 Want to Operate the System Tentatively Without Using I/Os 6.10.1
Want to Output an Auto Operation Determination Signal from the XSEL
2 6.10.2
Controller
3 Want to Retain Current Output Statuses Even during Emergency Stop 6.10.3
4 Want to Start an Emergency Program 6.10.4
Want to Enable Auto Recovery (Restart) upon Cancellation of Emergency
5 6.10.5
Stop
Want to Enable Auto Recovery (Error Reset) upon Cancellation of
6 6.10.6

Chapter 6 Parameter
Emergency Stop
7 Want to Return to the Condition Immediately before Emergency Stop 6.10.7
8 Want to Restart the XSEL Controller Externally 6.10.8
9 Want to Turn ON the Servo Externally 6.10.9
10 Want to make a home-return on all the single axis actuators externally 6.10.10
11 Want to Execute the XSEL Controller Program Externall 6.10.11
Want to execute a program externally by making an indication of a
12 6.10.12
program number in binary
13 Want to Pause the XSEL Controller Externally 6.10.13
14 Want to Reset Errors Externally 6.10.14
15 Want to Release the Actuator Brake Externally 6.10.15
16 Want to Switch between AUTO and MANU Modes Externally 6.10.16
17 Want to Change Input Port Assignments 6.10.17
18 Want to output that all the single axis actuators are at the home position 6.10.18
Want to output that home-return operation is complete on all the single
19 6.10.19
axis actuators
Want to output that a single axis actuator got into the area (zone) which
20 6.10.20
has been set
21 Want to Output the Error Level 6.10.21
22 Want to Output the Emergency Stop Status 6.10.22
23 Want to Know the Current Operation Mode 6.10.23
24 Want to Output an Absolute-encoder Backup Battery Voltage Low Alarm 6.10.24
25 Want to Change Output Port Assignments 6.10.25
26 Want to Use a General-purpose RS232C Port Connector 6.10.26 6.10 Parameter Setting (Applied)
Want to Know the Current Value of Electric Current without Connecting a
27 6.10.27
Teaching Tool
28 Want to Monitor Variables without Connecting a Teaching Tool 6.10.28

389
 6.10.1 Want to Operate the System Tentatively Without Using I/Os
If you want to perform a test operation before wiring the I/Os and fieldbus, disable the error
monitor functions for I/Os and fieldbus. (The I/Os and fieldbus whose error monitor function
was disabled cannot be used.)
Parameter No. Set Value Description
I/O parameter No.10 0 I/O1 Error monitor disabled
I/O parameter No.11 0 I/O2 Error monitor disabled
I/O parameter No.18 0 Error monitor disabled
I/O parameter No.235 0 Network I/F Module 2 error monitor disabled

6.10.2 Want to Output an Auto Operation Determination Signal from the XSEL
Controller
A signal output to determine auto operation can be set using output port 303.
Classification during an automatic operation is changed by the setting in Other Parameter No.
12.
Chapter 6 Parameter

Parameter No. Set Value Description

Turn output port 303 ON during auto
I/O parameter No.49 2
operation
I/O parameter No.12 0 Auto operation if a program is running
Auto operation if a program is running or the
I/O parameter No.12 1
AUTO mode is active

6.10.3 Want to Retain Current Output Statuses Even during Emergency Stop
To retain the current statuses of output ports even when an emergency stop is actuated or the
safety gate becomes open, set a range of output ports whose status you want to retain.
Parameter No. Set Value Description
Lower-limit
Set the lower limit of output ports whose
I/O parameter No.70 output port
status is retained
number
Upper-limit
Set the upper limit of output ports whose
I/O parameter No.71 output port
status is retained
number

6.10.4 Want to Start an Emergency Program

To operate an emergency program when an emergency stop signal is input or the safety gate
becomes open, set an emergency program number and range of output ports to be used.
6.10 Parameter Setting (Applied)

* Programs which do not involve actuator operations are the only program that can be
operated.
Parameter No. Set Value Description
Emergency
Other parameter No.2 program
number
Lower-limit
I/O parameter No.70 output port Set the lower limit of output ports to be used
number
Upper-limit
I/O parameter No.71 output port Set the upper limit of output ports to be used
number

390
6.10.5 Want to Enable Auto Recovery (Restart) upon Cancellation of
Emergency Stop
You can automatically restart the system (via software reset) when the emergency stop is
cancelled, and execute the program.

Parameter No. Set Value Description

Execution
Other parameter No.1 program
number
Restart (via software reset) upon
Other parameter No.10 3
cancellation of emergency stop
Execute the program after restart if in the
I/O parameter No.33 1
AUTO mode

6.10.6 Want to Enable Auto Recovery (Error Reset) upon Cancellation of

Chapter 6 Parameter
Emergency Stop
You can automatically reset the error when the emergency stop is cancelled, and execute the
program.
Parameter No. Set Value Description
Execution
Other parameter No.1 program
number
Reset the error upon cancellation of
Other parameter No.10 4
emergency stop
Execute the program after error reset if in the
I/O parameter No.33 1
AUTO mode
Restore the cutoff drive source upon removal
I/O parameter No.4 0
of the cause of cutoff (emergency stop)

6.10.7 Want to Return to the Condition Immediately before Emergency Stop

Only during auto operation [refer to other parameter No. 12], operation can be resumed upon
cancellation of emergency stop from the condition immediately before the emergency stop
signal was input.
Cancel the emergency stop switch and then turn ON input port 005 (to produce an OFF � ON
edge).
Parameter No. Set Value Description
Continue operation upon cancellation of
Other parameter No.10 2
emergency stop
6.10 Parameter Setting (Applied)
Set input port 001 as the soft reset signal
I/O parameter No.31 1
input port
Set input port 005 as the soft reset
I/O parameter No.31 1
cancellation signal input port

6.10.8 Want to Restart the XSEL Controller Externally

You can restart the controller (via software reset) by inputting an ON signal to input port 001
for at least 1 second.
Parameter No. Set Value Description
Set input port 001 as the soft reset signal
I/O parameter No.31 1
input port

391
 6.10.9 Want to Turn on the Servo Externally
The servo turns on when input port 002 turns ON (at the OFF � ON edge), and turns off when
the port turns OFF (at the ON � OFF edge).
Parameter No. Set Value Description
Set input port 002 as the servo ON signal
I/O parameter No.32 1
input port

6.10.10 Want to make a home-return on all the single axis actuators externally
Single axis actuator will make home-return operation once on-edge (OFF � ON) is input to
Input Port 015.
However, home-return operation cannot be conducted in SCARA Robot.
Parameter No. Set Value Description
Set input port 015 as the Home-Return
XSEL-R/S I/O Parameter
1 Signal Input port, All axes have returned
No.45
home
Chapter 6 Parameter

XSEL-R/S I/O Parameter Set input port 015 as the Home-Return

2
No.45 Signal Input port, All Increment Axes Homing
Set input port 015 as the Home-Return
XSEL-R/S I/O Parameter
1 Signal Input port, Absolute axis has returned
No.45
home
XSEL-R/S I/O Parameter Set input port 015 as the Home-Return
2
No.45 Signal Input port, All Increment Axes Homing

6.10.11 Want to Execute the XSEL Controller Program Externally

The program is executed when input port 003 turns ON (at the OFF�ON edge), and stops
when the port turns OFF (at the ON�OFF edge).
The ON status must be retained for at least 100 ms to ensure reliable operation.
Parameter No. Set Value Description
Execution
Other parameter No.1 program
number
Set input port 003 as the servo ON signal
I/O parameter No.33 2
input port

6.10.12 Want to execute a program externally by making an indication of a

program number in binary
By setting I/O Parameter No. 30 to 2, an indication of program number can be conducted in
6.10 Parameter Setting (Applied)

binary to execute a program. The program number is to be indicated in Input Port No. 007 to
013.
BCD is indicated as a program number at delivery.
Parameter No. Set Value Description
Set Input Port 000 to indicate the program
I/O parameter No.30 2
number in binary to execute a program

6.10.13 Want to Pause the XSEL Controller Externally

The XSEL controller pauses when input port 006 is turned OFF. To cancel the pause, turn ON
input port 006 and also 005 (the pause is cancelled at the OFF�ON edge).
Parameter No. Set Value Description
Set input port 005 as the pause cancellation
I/O parameter No.35 1
signal input port
Set input port 006 as the pause signal input
I/O parameter No.36 1
port

392
6.10.14 Want to Reset Errors Externally
Errors other than cold-start level errors are reset when input port 013 is turned ON (errors are
reset at the OFF�ON edge).
Parameter No. Set Value Description
Set input port 013 as the error reset signal
I/O parameter No.43 2
input port

6.10.15 Want to Release the Actuator Brake Externally

The actuator brake can be forcibly released by setting a brake release signal input port and
turning this input port ON.
Parameter No. Set Value Description
Brake release input
I/O parameter No.62
port number for axis 1
Brake release input
I/O parameter No.63
port number for axis 2

Chapter 6 Parameter
Brake release input
I/O parameter No.64
port number for axis 3
Brake release input
I/O parameter No.65
port number for axis 4
Brake release input
I/O parameter No.66
port number for axis 5
Brake release input
I/O parameter No.67
port number for axis 6
Brake release input
I/O parameter No.68
port number for axis 7
Brake release input
I/O parameter No.69
port number for axis 8

6.10.16 Want to Switch between AUTO and MANU Modes Externally

Set a mode switching signal input port.
The mode is determined as follows according to the current status of the mode switch and
status of the specified port.
Mode Status of specified port Status of mode switch
AUTO OFF
AUTO
MANU ON
OFF
MANU
ON
6.10 Parameter Setting (Applied)
Parameter No. Set Value Description
Mode switching
I/O parameter No.79 signal input port
number

393
 6.10.17 Want to Change Input Port Assignments
You can select input functions by I/O parameter Nos. 30 to 45 and assign them to desired
input ports.
Parameter No. Set Value Description
Input port number to
I/O parameter No.283 assign input function
selection 000 to
Input port number to
I/O parameter No.284 assign input function
selection 001 to

Input port number to

I/O parameter No.297 assign input function
selection 014 to
Input port number to
I/O parameter No.298 assign input function
Chapter 6 Parameter

selection 015 to

6.10.18 Want to output that all the single axis actuators are at the home position
It can be confirmed that all the single axis actuators are at the home position.
However, output cannot be made in SCARA Robot.
Current Position Output port 304
Home ON
Other than home OFF

Parameter No. Set Value Description

Set to output when all the single axis
I/O parameter No.50 1
actuators are at the home position

6.10.19 Want to output that home-return operation is complete on all the single
axis actuators
It can be confirmed that all the single axis actuators are at the home position.
However, output cannot be made in SCARA Robot.
Status Output port 304
Home return completion ON
Home-return incomplete OFF

Parameter No. Set Value Description

6.10 Parameter Setting (Applied)

Set to output when all the single axis

I/O parameter No.50 2
actuators completed home-return operation

394
6.10.20 Want to output that a single axis actuator got into the area (zone) which
has been set
Four areas (zones) and output ports can be set to each axis of single axis actuators. It can be
confirmed that the actuator got into the area (zone) which has been set.
It is necessary to secure 3msec or more for zone going-through time for the process of output
signal.
However, for SCARA Robot, it is a simple interference check zone which differs from this
setting.
[Refer to SEL language programming manual]�
Current Position Output port: Set in Each Axis Parameter No. 88
Zone 1 Invasion ON
Zone 1 Not Invasion OFF

Current Position Output port: Set in Each Axis Parameter No. 91

Zone 2 Invasion ON
Zone 2 Not Invasion OFF

Chapter 6 Parameter
Current Position Output port: Set in Each Axis Parameter No. 94
Zone 3 Invasion ON
Zone 3 Not Invasion OFF

Current Position Output port: Set in Each Axis Parameter No. 97

Zone 4 Invasion ON
Zone 4 Not Invasion OFF

Parameter No. Set Value Description

Each Axis Parameter No.86 Zone 1 maximum value
Each Axis Parameter No.87 Zone 1 minimum value
Each Axis Parameter No.88 Zone 1 Output port No.
Each Axis Parameter No.89 Zone 2 maximum value
Each Axis Parameter No.90 Zone 2 minimum value
Each Axis Parameter No.91 Zone 2 Output port No.
Each Axis Parameter No.92 Zone 3 maximum value
Each Axis Parameter No.93 Zone 3 minimum value
Each Axis Parameter No.94 Zone 3 Output port No.
Each Axis Parameter No.95 Zone 4 maximum value
Each Axis Parameter No.96 Zone 4 minimum value
Each Axis Parameter No.97 Zone 4 Output port No.
(Note) Output port cannot be set duplicated.� 6.10 Parameter Setting (Applied)

395
 [Example for Setting]
Below describes an example for how to set the following area (zone) to Zone1.
1st axis: Output Port No. 311 turns on once getting into 150mm to 200mm
2nd axis: Output Port No. 312 turns on once getting into 75mm to 125mm

2nd axis

1st axis

st
Each Axis Parameter 1 axis 2nd axis
No.86 200000 125000
Chapter 6 Parameter

No.87 150000 75000

No.88 311 312
Maximum and minimum values can be set in 0.001mm unit.

6.10.21 Want to Output the Error Level

The level of each error can be indicated using output ports 300 and 301.
Error level Output port 300 Output port 301
Message level or lower ON ON
Operation-cancellation level OFF ON
Cold-start level OFF OFF

Parameter No. Set Value Description

Turn ON output port 300 only for message
I/O parameter No.46 2
level errors
Turn ON output port 301 for message level
I/O parameter No.47 3
and operation-cancellation level errors

6.10.22 Want to Output the Emergency Stop Status

Whether or not an emergency stop status is currently actuated can be checked from the status
of output port 302.
Current status Output port 302
Emergency stop not actuated ON
6.10 Parameter Setting (Applied)

Emergency stop actuated OFF

Parameter No. Set Value Description

Turn OFF output port 302 if an emergency
I/O parameter No.48 2
stop is actuated

396
6.10.23 Want to Know the Current Operation Mode
The current operation mode can be checked from the status of output port 303.
Current operation mode Output port 303
AUTO ON
MANU OFF

Parameter No. Set Value Description

I/O parameter No.48 2 Turn ON output port 302 in the AUTO mode

6.10.24 Want to Output an Absolute-encoder Backup Battery Voltage Low Alarm

Output port 314 can be turned ON when the battery voltage drops.
* The output status will be retained until the power is reconnected and controller is restarted.
Parameter No. Set Value Description
I/O parameter No.60 1

Chapter 6 Parameter
6.10.25 Want to Change Output Port Assignments
You can select output functions by I/O parameter Nos. 46 to 61 and assign them to desired
output ports.
Parameter No. Set Value Description
Output port number to
I/O parameter No.299 assign input function
selection 300 to
Output port number to
I/O parameter No.300 assign input function
selection 301 to

Output port number to

I/O parameter No.313 assign input function
selection 314 to
Output port number to
I/O parameter No.314 assign input function
selection 315 to

6.10.26 Want to Use a General-purpose RS232C Port Connector

The factory-set SIO channel numbers and specifications are as follows.
6.10 Parameter Setting (Applied)
Specifications
Baud rate: 38.4 kbps
Data length: 8
Stop bit: 1
Parity type: None
Channel 1 Communication mode: RS232

Channel 2

Details are set using the following parameter numbers:

Channel 1 � I/O parameter Nos. 201 to 203
Channel 2 � I/O parameter Nos. 213 to 215
Turn OFF all of the system operation setting switches from 1 to 4 when using Chanel 2 as a
general-purposed RS232C port.

397
 I/O Parameter Settings (Reference)
No. Parameter name Default value Input range Unit
201 Attribute 1 of SIO channel 1 opened to user (standard mount) 28100001H 0H to FFFFFFFFH None
213 Attribute 1 of SIO channel 2 opened to user (standard mount) 28100001H 0H to FFFFFFFFH None

Bits 28 to 31: Baud rate type (0: 9.6, 1: 19.2, 2: 38.4, 3: 57.6, 4: 76.8, 5: 115.2 kbps)
Bits 24 to 27: Data length (7: 7 bit, 8: 8 bit)
Bits 20 to 23: Stop bit length (1: 1 bit, 2: 2 bit)
Bits 16 to 19: Parity type (0: None, 1: Odd, 2: Even)
Bits 12 to 15: Reserved by the system
Bits 8 to 11: Reserved by the system
Bits 4 to 7: Reserved by the system
Bits 0 to 3: Use selection (0: Do not use, 1: Use)

Baud rate 0: 9.6 kbps 1: 19.2 kbps 2: 38.4 kbps 3: 57.6 kbps 4: 76.8 kbps 5: 115.2 kbps
Data length 7, 8
Chapter 6 Parameter

Stop bit length 1, 2

Parity type 0: None, 1: Odd, 2: Even
Reserved by the system
Reserved by the system
Reserved by the system
Use selection (0: Do not use, 1: Use)

No. Parameter name Default value Input range Unit

202 Attribute 2 of SIO channel 1 opened to user (standard mount) 00000001H 0H to FFFFFFFFH None
214 Attribute 2 of SIO channel 2 opened to user (standard mount) 00000001H 0H to FFFFFFFFH None

� Settings
Bits 28 to 31: Reserved by the system
Bits 24 to 27: Reserved by the system
Bits 20 to 23: Reserved by the system
Bits 16 to 19: Character transmission interval (msec)
Bits 12 to 15: Communication method (0: Full duplex, 1: Half duplex)
Bits 8 to 11: Send operation type in half duplex communication
(0: Do not check CTS-ON when sending,
1: Check CTS-ON when sending)
6.10 Parameter Setting (Applied)

Bits 0 to 7: Minimum receive �

send delay time in half duplex communication (msec)

No. Parameter name Default value Input range Unit

203 Attribute 3 of SIO channel 1 opened to user (standard mount) 01118040H 0H to FFFFFFFFH None
215 Attribute 3 of SIO channel 2 opened to user (standard mount) 01118040H 0H to FFFFFFFFH None

� Settings
Bits 28 to 31: Flow control type
(0: None, 1: Xon/Xoff, 2: Hardware)
* This setting is valid in full duplex communication.
* If flow control is performed, select 38.4 kbps or lower. If the baud rate is
higher, an overrun error, etc., may occur.
Bits 24 to 27: Xon send selection when sending after SIO-CPU reset is enabled
(0: Do not send, 1: Send)
* This setting is valid in full duplex communication and only when Xon/Xoff
flow control is performed.

398
 Bits 20 to 23: Enable selection for sending with port open
(0: Disable, 1: Enable)
* This setting is valid in full duplex communication and only when Xon/Xoff
flow control is performed.
Bits 16 to 19: Selection for Xon/Xoff send with port closed
(0: Do not send, 1: Xon send, 2: Xoff send)
* This setting is valid in full duplex communication and only when Xon/Xoff
flow control is performed.
Bits 8 to 15: Flow control high limit (byte)
Bits 0 to 7: Flow control low limit (byte)
* If the set values are such that the condition “Flow control low limit � SCI
receive buffer size/Flow control high limit” is met, both the flow control high
limit and low limit are replaced with values corresponding to one-fourth the
SCI receive buffer to perform the applicable processing.

6.10.27 Want to Know the Current Value of Electric Current without Connecting a
Teaching Tool

Chapter 6 Parameter
Current can be monitored on the panel window.
Current can be monitored for up to four axes of consecutive axis numbers.
[Setting]
Other parameter No. 49 = 1
Other parameter No. 50 = Smallest axis number among the axes to be monitored
Example) If other parameter No. 49 is set to 1 and other parameter No. 50 to 3 for a 6-axis
controller, the far right segment represents axis 3.

6 axis 5 axis 4 axis 3 axis

If parameters are entered and written to the flash ROM and then a software reset (restart) is
performed, a segment pattern indicating the motor current as a percentage of rated current
(%) is displayed instead of “ready status display”/“current program number display.”
Displayed segment patterns and corresponding percentages of rated motor current (%) are
shown below.
6.10 Parameter Setting (Applied)

0 < Motor current to rating ratio 100 < Motor current to rating ratio
(%) � 25 (%) � 150

25 < Motor current to rating ratio 150 < Motor current to rating ratio
(%) � 50 (%) � 200

50 < Motor current to rating ratio 200 < Motor current to rating ratio
(%) � 75 (%)

75 < Motor current to rating ratio

(%) � 100

The thick segments are lit.

399
 6.10.28 Want to Monitor Variables without Connecting a Teaching Tool
Global integer variables can be displayed on the panel window.
Positive integers of 1 to 999 can be displayed.
Parameter No. Set Value Description
Other parameter No.49 2
Variable number of the
Other parameter No.50 global integer variable
to be monitored

If parameters are entered and written to the flash ROM and then a software reset (restart) is
performed, the content of the global integer variable displayed instead of “ready status
display”/“current program number display.” The far left segment shows “U.”

Display example
Chapter 6 Parameter
6.10 Parameter Setting (Applied)

400
6.11 Servo Adjustment
At the delivery from the factory, the parameter settings are established to obtain the stable
operational characteristics in an operation within the rated (maximum) transportable weight
defined for the actuator.
However, the preset setting cannot always be the optimum load condition in the actual use. In
such cases, it may be necessary to adjust the servo.
In this section, explains in basic how to adjust the servo.

Caution : • Do not attempt to adjust the servo on SCARA Robot. It may cause a
failure operation.
• It is very dangerous to make extreme settings. They may devices
including the actuator to be damaged and/or people to be injured. Take
sufficient note on the setting.
Do not forget to make a record so the setting can be put back in any
time.

Chapter 6 Parameter
Please contact us if there is a problem or cannot reach to solve the
problem.

Phenomenon that
No. How to adjust
requires adjustment
1 � Increase the setting of Each Axis Parameter No. 60 “Position
Takes time to finish
positioning Gain”. When the set value is increased, the follow-up ability to
the position command becomes better. As a reference for the
Positioning accuracy is setting, it should be from 30 to 55, 80 at the maximum. If the
not appropriate value is too large, an overshoot is caused easily and may
cause noise or vibration.
Shorter cycle time is To secure the stability of the control system, also make an
desired adjustment of the setting in Driver Parameter No. 43 “Velocity
Loop Gain” in increasing direction when having Each Axis
Parameter No. 60 “Position Gain” increased.
When increasing the setting in Driver Parameter No. 43
“Velocity Loop Gain”, increase little by little approximately in
20% to the initial setting for every increase. Prioritize Each Axis
Parameter No. 60 “Position Gain” for the adjustment.

2 Vibration is generated at � It is concerned “Acceleration/Deceleration Setting” is too

acceleration/deceleration extreme or the structure on the device that the actuator is
6.11 Servo Adjustment

mounted is too weak. Reinforce the whole device first if

possible.
� Decrease “Acceleration/Deceleration Setting”.
� Have the setting in Each Axis Parameter No. 60 “Position Gain”
increased.
Decreasing the setting in Each Axis Parameter No. 60 “Position
Gain” makes the finishing time longer.
3 � Have the setting in Driver Parameter No. 443 “Velocity Loop
Speed is uneven during
the movement Gain” increased. By setting a bigger number, the follow-up
ability to the speed command becomes better. Setting the value
Speed accuracy is not too big makes the mechanical components easy to vibrate. As
appropriate a reference for the setting, increase the value little by little by
20% from the initial setting.

401
 Phenomenon that
No. How to adjust
requires adjustment
4 Abnormal noise is � Input Driver Parameter No. 45 “Torque Filter Time Constant”. Try
generated / Especially, to increase by 50 as a reference for the setting. If the setting is
when stop and too large, it may cause a loss of control system stability and lead
operation in low speed the generation of vibration.
(less than 50mm/sec),
comparatively high [Important] Prior to Adjustment:
noise is generated. This phenomenon is likely to occur when the stiffness of the
mechanical components is not sufficient. The actuator itself may
also resonate if its stroke is over 600mm or it is belt-driven type.
Before having an adjustment, check if:
1) Check if the settings in Each Axis Parameter No. 60 “Position
Gain” and Driver Parameter No. 43 “Velocity Loop Gain” are
extreme. Check if Driver Parameter No. 44 “Velocity Loop
Integrated Gain” is set too low.
Chapter 6 Parameter

2) Check if the stiffness of the load is secured as much as

possible. Check if any looseness or play on the attachments.
3) Is the actuator body installed solidly with specified torque?
4) Check if there is any warpage on the actuator attachment base
surface.
5 � Make the condition optimized with Parameter No. 60 “Position
Want to increase
tracking accuracy Gain” and Driver Parameter No. 43 “Velocity Loop Gain”
adjusted by referring to the way to adjust stated in No. 1 to 3 in
Want to increase the previous page.
velocity constancy [Reference]
Selection of an actuator (motor) is the most important element.
Want to increase Servo is very sensitive to the amount of load inertia. For a servo
response sensibility motor, if the moment of inertia on the load side (load inertia) is
too big to the moment of inertia of the motor itself (motor inertia),
the motor gets swung by the load, thus the control will become
unstable. Therefore, it is necessary to make the load inertia ratio
small in order to improve the accuracy in tracking, positioning,
velocity constancy or response sensibility.
It is recommended to have the lead on the ball screw for the
actuator as small as possible and have the actuator with one
rank higher motor capacity if accuracy is expected in tracking,
velocity constancy or response sensibility for such purpose as
painting.
The best way is to calculate the load inertia and select the mostly
suited actuator.
6.11 Servo Adjustment

6 � Set Each Axis Parameter No. 119 “FSG”.

Start of movement is
slow due to large static As a reference for the setting, it should be from 10 to 50, and as
friction of load the setting gets high, the deviation gets small, thus the response
gets improved.
Response for start and Vibration or noise may get generated if the setting is too high.
stop is low due to large The setting is to be adjusted when improvement is required on
inertia of load the responsibility only after an adjustment is made to Each Axis
Parameter No. 60 “Position Gain” and Driver Parameter No. 43
Shorter takt time is “Velocity Loop Gain”.
desired

402
Chapter 7 Troubleshooting
7.1 Action to Be Taken upon Occurrence of Problem
When a trouble is occurred, take an action following the steps described below in order to
have a rapid recovery and to avoid the recurrence of the same trouble.

1) Check on 7-Segment Display Windows and LED Displays on Controller

� Check the 7-segment display windows on the controller (or panel unit).
[Refer to the “Chapter 7 Table 1” for the displayed contents.]
� Check the LED on the controller (or panel unit).
�
Displayed Contents of LED Lamps on Controller
Name Status when LED is on
RDY CPU Rready (Program operation available)
CPU Alarm (Error of message level or higher)
ALM
Error in CPU hardware�
Emergency stop, error in CPU hardware or
EMG
power-related hardware error

Chapter 7 Troubleshooting
PSE Power-related hardware error
Error in system lock or power-related hardware
CLK
error
CP_ON Control power supply normal.

Displayed Contents of LED Lamps on Panel unit

Name Status when LED is on
RDY CPU Rready (Program operation available)
CPU Alarm (Error of message level or higher)
ALM
Error in CPU hardware
Emergency stop, error in CPU hardware or
EMG
power-related hardware error
HPS All axes have completed home-return operation

7.1 Action to Be Taken upon Occurrence of Problem

403
 2) LED Check when Connecting Extension I/O Unit (Option)
� Check the LED lamps on the extension I/O unit (option).

Status LED Display 1 Displayed Contents of 6 LED Lamps on Controller

Name Lamp
Color Description
PWR condition
PSE PWR � Green Power ON
× - Power OFF
PSE � Orange Internal power supply
Status LED Display 2 error
ALM
× - Internal power in normal
C-ERR condition
LINK ALM(Note 1) � Orange � Error in mounted PIO
board
� System abnormality
× - System Normal
C-ERR � Orange � Reduction in number
of stations
� IA Net communication
Chapter 7 Troubleshooting

error
× - IA Net communication in
normal condition
LINK � Green IA Net communication in
normal condition with
connected controllers
× - Communication not
established with
connected controllers

Status LEDs Name Lamp

Color Description
above slots condition
RDY1 RDY4
RDY1 to � Green In the normal operation
�
RDY4 × - � I/O Not to use
� Error
7.1 Action to Be Taken upon Occurrence of Problem

� I/O board not Eqipped

3) If there is/isn’t an alarm generated in host controller (such as PLC)

4) Check the voltage of the main power supply.
5) Check the voltage of the PIO power supply.
6) Check the voltage of theBrake power supply (For the actuator with the brake)
7) Check for the details of the alarm. (Note 1)
For the alarm codes, check on a teaching tool such as the PC software.
8) Disconnection or incomplete connection of connector related components
9) Check on the connection, wire breakage and pinch of cables
When checking the electrical conductivity, cut off the main power of the devices mounted
to this controller (to prevent electric shock) and remove the cables on the measured part
(to avoid conductivity due to sneak circuit) prior to the check.
10) Check the I/O signals.
Check with using a teaching tool such as the host controller (e.g. PLC) or PC software
that there is no inconsistency in the conditions of the input and output signals.
11) Check on noise preventing actions (e.g. connection of ground line, connection of noise
killer, etc.)
12) Review the events leading to the occurrence of a problem, as well as the operating
condition at the time of occurrence.��������
13) Cause Analysis
14) Treatment

Note 1: Time when an alarm has issued can be checked.

404
 Establish the clock setting using a teaching tool such as the PC software at the
first time the power is supplied to the controller.
[Refer to an instruction manual of a teaching tool such as the PC software for how
to establish the clock setting.]
Once the clock setting is established, the data can be retained for approximately
ten days with the power to the controller being off. Without the setting conducted
or when clock data is lost, the system starts with the time at 00h00m January 1,
2000 at the power being turned on.�Even if the time data is lost, a generated error
code can be retained.
The alarms applicable for this function are those stated in Section 8.4 Alarm. Any
error which may occur in a teaching tool such as the PC software is not included.

Note 1:� To handle a trouble, the cause is to be narrowed down by getting rid of the things
that can certainly be considered as normal. Please check all the items mentioned
in 1) to 11) before making a contact with us.

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

405
 Table 1 Panel window display list (1/2) Application control codes
Display Priority (*1) Description
The AC power is cut off. (Momentary power failure or power-supply
voltage drop is also a possibility.)
A system-shutdown level error is present.

Data is being written to the flash ROM.

An emergency stop is currently actuated (other than in the update mode).

The enable switch (deadman switch/safety gate) is off

(other than in the update mode).

A cold-start level error is present.

Chapter 7 Troubleshooting

An operation-cancellation level error is present.

Waiting for a drive-source cutoff reset signal to be input

(other than in the update mode).

Operation is paused (waiting for restart) (other than in the update mode).

All axis servos are interlocked (other than in the update mode).

A message level error is present.

The main CPU core is in the update mode.

7.1 Action to Be Taken upon Occurrence of Problem

The main CPU core is being updated.

The main CPU core has been updated.

The slave is being updated.

The slave is being updated.(* changes in a way drawing a shape of “8”)

The slave has been updated.

A program is running (last started program). The applicable program
number is shown.

The initialization sequence number is shown.

Ready status (AUTO mode)

Ready status (MANU mode)

*1 The smaller the value, the higher the priority.

406
Table 1 Panel window display list (2/2) Application control codes
Display Priority (*1) Description
A cold-start level error is present.

An operation-cancellation level error is present.

A message level error is present.
In updating mode
The application is in the update mode.
The application is being updated.
The application has been updated.
Jump to the application
Flash ROM check process (core)
Flash ROM check process (application)

Chapter 7 Troubleshooting
SDRAM check process
*1 The smaller the value, the higher the priority.

7.1 Action to Be Taken upon Occurrence of Problem

407
 7.2 Error Level Control
Display Error
Program run (Application only) Error
System error (7-segme Error list LED
Error Error No. reset
assignment nt (Applicati output Remarks
level (HEX) (Applicat
source display, on only) (MAIN Other parameter Other parameter ion only)
etc.) only) No. 4 = 0 No. 4 = 1
MAIN application 800 to 88F
MAIN core 890 to 8AF Special error
level
Secret

level provided
�
for maintenance
PC 8B0 to 8DF purposes
TP 8E0 to 8FF
MAIN application
MAIN core -
PC
PC (Update tool)
TP
MAIN application 200 to 24F
MAIN core -
�
PC 250 to 29F (Battery
Message level

PC (Update tool) 2A0 to 2CF and

Chapter 7 Troubleshooting

fieldbus
TP 2D0 to 2FF Status display,
� errors will Enabled.
MAIN application 900 to 93F input error, etc.
be
MAIN core 940 to 97F registere
d in an
PC 980 to 9AF
error list.)
PC (Update tool) 9B0 to 9BF
TP 9C0 to 9FF
MAIN application A00 to A6F
MAIN core A70 to A9F

PC AA0 to ACF
TP AD0 to AFF
MAIN application The program in
MAIN core - which the error
generated will
PC be cancelled.
PC (Update tool) (Except for axis
errors, a All programs Errors affecting
TP
cancellation other than the operation. The
Operation-cancellation level

MAIN application 400 to 4CF factor is present “I/O processing system will
MAIN core - only for the program at attempt to reset
moment the operation/progra minor errors
PC 4D0 to 4DF
7.2 Error Level Control

error occurs.) m abort” will be below this level

PC (Update tool) 4E0 to 4EF * However, in cancelled. using an
� � Enabled.
the case of an (Except for axis auto-reset
error requiring errors, a function via
servo OFF or cancellation external active
all-axis servo factor is present command
OFF, all only for the (SIO/PIO)
programs other moment the (application
TP 4F0 to 4FF error occurs.) only).
than the “I/O
processing
program at
operation/progra
m abort” will be
cancelled.
PC: PC software, TP: Teaching pendant
* Secret-level errors are not actual errors. Internal statuses are registered in an error list as secret-level errors, when
deemed necessary, in order to facilitate error analysis.

408
 Display Error
Program run (Application only) Error
System error (7-segme Error list LED
Error No. reset
assignment nt (Applicati output Remarks
Error (HEX) (Applicat
source display, on only) (MAIN Other parameter Other parameter ion only)
level
etc.) only) No. 4 = 0 No. 4 = 1
MAIN application B00 to B9F The program in
MAIN core BA0 to BBF which the error
generated will
be cancelled.
PC BC0 to BDF (Except for axis
errors, a All programs Errors affecting
TP BE0 to BFF cancellation other than the operation. The
Operation-cancellation level

MAIN application C00 to CCF factor is present “I/O processing system will
only for the program at attempt to reset
MAIN core CD0 to CDF operation/progra minor errors
moment the
error occurs.) m abort” will be below this level
PC CE0 to CEF * However, in cancelled. using an
� � Enabled.
the case of an (Except for axis auto-reset
error requiring errors, a function via
servo OFF or cancellation external active
all-axis servo factor is present command
OFF, all only for the (SIO/PIO)
programs other moment the (application
TP CF0 to CFF than the “I/O error occurs.) only).
processing
program at
operation/progra

Chapter 7 Troubleshooting
m abort” will be
cancelled.
MAIN application
MAIN core -
PC The program in
PC (Update tool) which the error
generated will
TP be cancelled.
MAIN application 600 to 6CF * However, in
MAIN core - the case of an
error requiring
PC 6D0 to 6DF drive-source All programs The controller
Cold-start level

PC (Update tool) 6E0 to 6EF cutoff, servo other than the power must be
TP 6F0 to 6FF � OFF or all-axis “I/O processing reconnected
Not
� � (Core servo OFF program at (MAIN only).
MAIN application D00 to D8F enabled.
only) (initialization operation/progra (The CPU and
MAIN core D90 to DAF error, power m abort” will be OS will run
PC DB0 to DCF error, etc.), all cancelled. properly.)
programs other
PC (Update tool) DD0 to DDF than the “I/O
TP DE0 to DFF processing
MAIN application E00 to E8F program at
operation/progra
MAIN core E90 to EBF m abort” will be
cancelled.

7.2 Error Level Control

PC EC0 to EDF
TP EE0 to EFF
MAIN application
MAIN core -
System-down level

PC
The controller
PC (Update tool)
power must be
TP Not reconnected
� � � All programs will be cancelled.
MAIN application FF0 to FBF enabled. (MAIN only).
(The CPU and
MAIN core FC0 to FCF
OS will not run.)

PC FD0 to FDF
TP FE0 to FEF
PC: PC software, TP: Teaching pendant

409
 7.3 Error List (MAIN application)

In the panel window, the error numbers follow E in the display.

Error
Error name Description, action, etc.
No.
200 Encoder parameter data version The version of encoder parameter data is not supported by
mismatch warning this controller. Update the encoder parameters.
201 EMG logic error A broken pin in the controller is suspected
202 ENB logic error A broken pin in the controller is suspected
203 Drive-source cutoff relay DET The drive-source cutoff relay may have fused.
(MELT) error
206 Updating system mode error (IAI An update command was received other than in the
protocol) update mode.
207 Update file name error (IAI The name of the update program file selected in the
protocol) update mode is invalid.
Select the correct file and repeat the updating procedure
from the beginning.
208 Time data error The time data is invalid. Check the data.
Chapter 7 Troubleshooting

209 Unsupported control constant table The control constant table ID is not supported.
ID error Check the data.
20A Control constant table The message of the control constant table change/query
change/query error command contains error.
Check the message that has been sent.
20B Control constant table write data The specified control constant table write data type is
type specification error invalid.
Check the message that has been sent.
20C Control constant table The management information regarding the control
Message level errors

management information mismatch constant table is invalid.

error Confirm that the control constant table is supported by the
controller.
20D Flash busy reset timeout error Error erasing/writing the flash ROM
20E Motorola S-byte count error The update program file is invalid.
Check the file.
20F Updating target specification error The system application received an updating target
(Received by the application) specification command.
To update the program, restart the controller and repeat
7.3 Error List (MAIN application)

the updating procedure from the beginning.

211 IA Net link error� IA Net link error was detected.
Check if the stations indicated in I/O parameters No. 605
and 606 are connected to IA Net properly, or if the station
numbers are duplicated in the IA Net network.�
212 IA Net break station detection error A station that cannot be joined in the IA Net communication
cycle was detected.
Check if there is a controller or unit with the station number
greater than what is set in I/O parameter No. 604 “IA Net
Final Station Number”�
213 IA Net mail undefined error code Undefined IA Net mail error code was received.
receive error� There is a concern that there is a function that is available
in other controllers and units in the IA Net network, but is
not available on this controller.
Update the application in the main CPU board.�
214 IA Net stop detection error was detected.
IA Net stop detection error�
Check if there is an IA Net related error being occurred.�
215 External terminal block overcurrent Overcurrent on external terminal block or an error in the
or power supply failure� power supply to external terminal block�
216 DO output current error� There is a failure in DO output current.�
217 24V I/O power supply failure� There is a failure in 24V I/O power supply.�

410
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
220 RC-axis multiple use error (SIO) An attempt was made to acquire the right to use a RC-axis
which is already in use.
221 RC-axis right-to-use acquisition There is no free RC-axis use management area.
error (SIO)
223 RC gateway utilizing method error Operation cannot be made with the method to use RC
(SIO) gateway that is currently being tried.
224 RC-gateway status command error Operation cannot be made with the RC-gateway status
(SIO) command that is currently being tried.
225 RC-axis number error (SIO) The specified RC-axis number is invalid.
226 RC-position number error� (SIO) The specified RC-position number is invalid.
227 Rejection error during program run An attempt was made to perform an all error reset or
single-rotation data/multi-rotation data reset on an encoder
for which an all error reset or single-rotation
data/multi-rotation data reset is not permitted while a
program is running.

Chapter 7 Troubleshooting
228 Calendar clock lost error All error reset or 1-Turn data / Multi-Rotation data reset
(RTC oscillation stop detection)� was tried on an encoder which is not allowed to execute all
error reset or 1-turn data / Multi-rotation data reset while a
program is being executed.
229 RTC device access error Clock data was lost due to a drop of voltage supplied to the
calendar IC.
Message level errors

Establish the clock setting again.

22A RTC device data error It is a data access error to the RTC device.
Reset the clock the clock settings again.
22B Position data comment lost error It is a clock data error off the calendar function.
Reset the clock the clock settings again.
22C RC gateway communication The system would not operate with the current
identification error (SIO) communication classification.
In Fieldbus type, RC button in X-SEL PC Software cannot
be used.
Connect to RC PC software directly.
22D Error in number of maintenance There is a failure in the number of maintenance information
information change change.
22E Maintenance information type error There is an error in Maintenance information Type.�

7.3 Error List (MAIN application)

22F Maintenance information number There is an error in Maintenance information number.�
error
231 Exceeded movement count The total number of movement has exceeded the value set
threshold� in each axis parameter No. 221 “Total movement count
threshold”.
232 Exceeded operated distance The total driving distance has exceeded the value set in
threshold� each axis parameter No. 222 “Total operated distance
threshold”.
233 Fan error The fan is stopped or degenerated.
Contact our company because it might heat up
because of the controller’s fan stop.
234 Baseboard CPU error There is an error on baseboard CPU.
Contact our company because it might heat up
because of the controller’s fan stop.

411
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
400 Mounted-SIO unopen error (S) An attempt was made to use a channel that is not open.
401 Mounted-SIO in-use error An attempt was made to open a channel that has already
been opened by other task.
402 Mounted-SIO unopen error (M) An attempt was made to use a channel not opened by the
applicable task.
403 Mounted-SIO duplicate WRIT WRIT commands were executed simultaneously by
execution error multiple tasks for the same channel.
404 Mounted-SIO unused channel An attempt was made to use a channel specified as “not
selection error used” by a parameter.
Check I/O parameter Nos. 201, 213, etc.
405 RC gateway communication Operation cannot be made with the RC gateway
identification error (SEL) communication type that is currently being tried.
For example, such types as RMPI and RMDI cannot be
used in Fieldbus specifications.
406 Flash busy reset timeout Error erasing/writing the flash ROM
Chapter 7 Troubleshooting

407 Control constant table The management information regarding the control
management information mismatch constant table is invalid.
error If this error occurs when the controller is started, the
control constant table may need to be updated.
408 Control constant table ID error The control constant table ID is invalid.
Operation-cancellation level errors

409 Encoder control constant error An encoder control constant relating to power-source
(Power-source voltage control) voltage control is invalid.
The encoder power-source voltage cannot be adjusted
(the encoder power will be supplied without voltage
adjustment).
40A Encoder power-source voltage The encoder power-source voltage cannot be adjusted
calculation error (the encoder power will be supplied without voltage
adjustment).
Check the “motor/encoder configuration information” in
driver parameter No. 26 and encoder parameter No. 11.
40B Speed control parameter Check driver parameter Nos. 38, 39, 40, 43, 44, 45, etc.
calculation error
40C Vision system initializing It is the condition where the vision system initializing is
incomplete error incomplete.
Check such things as the input port number setting in all
7.3 Error List (MAIN application)

axes parameter No. 88 or if the vision system is in the

initial complete condition.
40D Vision system response timeout Communication response from vision system is not
error obtained.
Check such things as the settings of bits 4 to 7 and 160 to
164 in I/O parameter No. 129, settings in all axes
parameter No. 62, 63 and 89, or if data is sent when a
capturing command is made in the vision system.
40E Tracking parameter error There is an abnormality in the tracking related parameter.
Check if the settings for the parameters related to tracking
in All Axes parameter No. 61 to 95 are properly
established.
If the conveyor tracking adjustment is not conducted
properly, do the conveyor tracking adjustment, first.
40F Tracking work coordinates error The current work coordinates definition data differs from
the work coordinates definition data in conveyor tracking
adjustment.
Select the work coordinates at the conveyor tracking
adjustment before the tracking action.

412
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
410 Tracking system initializing Initializing of vision system is not complete.
incomplete error Check if the tracking system classification in all-axes
parameter No. 61 is not set to system not used.
411 Error of tracking system being Tracking system is in use by another task.
used by other task Use the tracking system in the same task.
412 Exclusion mode indication error A mode that cannot be selected at the same time is
indicated. Check if quick return mode and tracking mode
are selected at the same time.
413 Prohibited command execution A prohibited command while in the tracking operation is
error during tacking operation tried to be executed.
Execute the command after the tracking operation is
finished by TRAC command.
414 Number of detected standby work The number of detected works standby for the tracking
overflowing error operation between the camera (Vision system) and the
robot or the work detection sensor and robot (number of
works in waiting line for TRAC command execution)

Chapter 7 Troubleshooting
exceeded the capacity of standby works.
Try to make the number of standby work pieces reduced
by reducing the number of work pieces on the conveyor,
shortening the distance from the sensor (vision sensor or
photoelectric sensor) to the tracking start position, or
shortening the tracking operation cycle time.
This error may also occur when TRAC command is not
Operation-cancellation level errors

executed quickly after a work is detected.

415 Unsupported Identification code An identification code that is not supported is received
received error (Tracking vision from vision system.
system I/F data communication) Check the sent data.
416 Received message error (Tracking An invalid data was received from vision system.
vision system I/F data Check if the sent data is in a different format.
communication)
417 Number of received works error The number of works received from vision system
(Tracking vision system I/F data exceeded the upper limit of the number of works that can
communication) be captured in 1 shot.
Have a treatment not to exceed the upper limit such by
spread the pitch between works on the conveyor.
418 Work information handling busy It is the tracking / vision system I/F internal process error.

7.3 Error List (MAIN application)

error The process cannot be continued because the work
information handling process is busy.
There is also a possibility that error No. 414 is occurred at
the same time.
419 Work information handling timeout It is the tracking / vision system I/F internal process error.
error The work information handling process reached a timeout.
41A Incorrect control system transition 1) A transition command to the closed loop position control
command error was issued during the anti-vibration control operation.
2) A transition command to the anti-vibration control was
issued during the closed loop position control operation.
41F RC axis MANU mode detection It is detected that drive mode status signal in RC axis
(SCON, etc.) has turned to MANU mode.
�Check the mode switch and other related on RC
controller and set to AUTO mode.
420 Constant (Non-pressing) torque The setting exceeds the constant (non-pressing) torque
limit violation error limit. Unexpected load or finish of operation can be
considered.
421 SCARA and liner axes SCARA and linear sliding axes are indicated at the same
simultaneous indication error� time. SCARA axes and linear sliding axes cannot operate
at the same time.
Check the axis patterns and position data.

413
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
422 Multi-slider command position It is detected that an actuator got into the multi-slider servo
overapproach error command position overapproach area.
Get the actuator out of the area with such operation as jog,
and then move onto the next operation.
423 Multi-slider actual position It is detected that an actuator got into the multi-slider servo
overapproach error actual position overapproach area.
Get the actuator out of the area with such operation as jog,
and then move onto the next operation.�
424 Size over error of position number The expanded position number in the received command
data in response message is not supported, so a response cannot be sent
successfully.
The connected PC software, TP, etc., may not support the
expanded data.
Among others, check if the version of the connected PC
software or TP supports the controller.
425 Mount SIO communication mode There is an error in Communication Mode.
(Purpose of use) error
Chapter 7 Troubleshooting

426 Number of retries for vision system The number of retries exceeded the setting in all-axes
image capturing command issue parameter No. 111 racking control 5 Bits 0 to 7: Tracking
exceeded error vision system image capturing command issue retry
Number.
There is a possibility of communication block or excess
Operation-cancellation level errors

data received from outside the system.

Check if there is any problem in noise generation, short
circuit or breakage of communication cable, connection to
the peripheral equipment or communication setting.
429 User defined memory block There is an error in the user defined memory block
number error numbers.
Make sure that no number out of the range is selected.
42A User defined memory block type There is an error in the user defined memory block type.
error Check that the indicated user defined memory block is not
invalid or is not a data type out of those applicable for
operation.
42B User defined memory block There is an error in the user defined memory block
address error address. Make sure that no address out of the range is
selected.
7.3 Error List (MAIN application)

42C Bit number error There is an error in the bit number.

Make sure that no bit number out of the range is selected.
42D Error in number of data applicable There is an error in the number of data applicable for user
for user defined memory block defined memory block.
Make sure that the number of data applicable for the
indicated user defined memory block is not 0.
42F Positioning timeout error at home Positioning did not complete when determining the home
determination position for the linear semi-absolute actuator.
It can be considered there was a failure in servo gain
adjustment or an interference of an actuator when
determining the home position.
430 UBM management area checksum Corrupted flash ROM data.
error Save the user-data backup memory to the flash ROM.
432 UBM SRAM data corruption error Corrupted data backed up in the user-data backup
memory.
Check the battery.
433 RC-gateway minor fault error The RC gateway generated a minor fault.
434 RC gateway RC axis A detached RC-axis was detected.
communication error Check the cable connection.

414
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
435 RC gateway RC axis operation The operation disabled error has generated on RC axis.
disabled error � The specified RC position number is outside the
allowable range.
(RC internal RC position data specification mode)
� The specified speed, acceleration/deceleration, etc., is
outside the allowable range.
(X-SEL internal RC position data specification mode)�
436 RC-gateway command alarm A gateway command generated an alarm.
generation
437 RC-axis number error (SEL) The specified RC-axis number is invalid.
438 RC-position number error (SEL) The specified RC-position number is invalid.
439 RC position data utilizing method Operation is not possible in the current RC-gateway
error (SEL) operation mode.
43A RC-gateway status command error Operation is not possible in the current RC-gateway
(SEL) status.
43B RC-axis pattern not-set error The RC-axis pattern is not yet set. Issue a RAXS

Chapter 7 Troubleshooting
command.
43C RC-axis in-use servo OFF error The servo of a RC-axis currently in use (performing
processing) was turned OFF.
43D RC-axis multiple use error (SEL) An attempt was made to acquire the right to use a RC-axis
already in use.
Operation-cancellation level errors

43E Error RC-axis use error An attempt was made to use a RC-axis generating an
error.
43F RC-axis right-to-use acquisition There is no free RC-axis use management area.
error
440 Servo-OFF RC-axis use error An attempt was made to use a RC-axis whose servo was
OFF.
441 RC-axis home return incomplete The RC-axis has not yet completed home return.
error
442 Inappropriate RC-axis completed After RC-axis position after completion of RC-axis
position error positioning is inappropriate.
444 Extension motion control board There is a mistake in the indication of the extension motion
axis number error� control board axis number.�

7.3 Error List (MAIN application)

445 Extension motion control board The axis pattern setting is not established. Perform XAXS
axis pattern unspecified error� Command.�
446 Extension motion control board There is a mistake in the indication of the extension motion
axis position number error� control board axis position number.�
447 Extension motion control board An indication was made on an extension motion control
position data uncreated axis board axis that the position data domain has not created.
indication error� Check if the indicated axis is defined in I/O parameter No.
531, or if a position data creation related error or UBM
related error has been issued.�
448 Extension motion control board Use of an extension motion control board axis was tried on
servo-off axis use error that with the servo being off.�
449 Extension motion control board Acquirement of the right to use the extension motion
axis duplicated use error� control board axis which is already used was tried.
This error occurs also when a positioning operation
command (such as XMVP) has been executed while the
position data positioning complete band is set effective,
and then a synchronizing start command (such as XCAS
and XSFS) was tried to be executed. In such a case,
execute XPED command before executing a synchronizing
start command, and wait for the operation to complete.�

415
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
44A Right to use extension motion There is no blank in the extension motion control board
control board axis acquirement axis use control area.
error� �
44B Right to use extension motion Acquirement of the right to use the extension motion
control board axis already acquired control board axis was newly tried in the condition the right
error (New acquirement failure)� is already acquired.
�
44C Right to use extension motion Failure was occurred in the continuous acquirement of the
control board axis non-acquired right to use the extension motion control board axis.
error (Continuous acquirement �
failure)�
44D Extension motion control board The home-return operation of the extension motion control
axis home-return incomplete error board axis is not complete.
44E Extension motion control board An execution of an operation command was tried while the
operation command error at servo is off.
servo-off (Main CPU detection)�
Chapter 7 Troubleshooting

44F Error-issued extension motion Use of an extension motion control board axis with an
control board axis use error (Main error being issued was tried.
CPU detection)�
Operation-cancellation level errors

450 Servo-off error in extension motion Servo was turned off on the extension motion control
control board axis use board axis which is in use (in process).
451 Extension motion control board It is a process logic error.
direct command type error
452 Slave driver alarm detection An alarm signal on the slave driver (SCON, ACON, PCON,
etc.) controlled by the extension motion control board or a
main CPU axis error (at main CPU axis control) was
detected.
It can be concerned that an alarm has generated on the
slave driver, the power is not turned on or cable is broken
(on pulse input and output board).
Check the condition of the slave driver or breakage of the
cable (on pulse input and output board).
453 Extension motion control board Home-return complete signal of the slave driver could not
axis home-return complete timeout be confirmed.
error Check if the operation mode of the slave driver is set to
7.3 Error List (MAIN application)

PIO Startup Forbidden or a cable is broke (on pulse input

and output board).
454 Extension motion control board Positioning complete signal of the slave driver could not be
axis positioning complete timeout confirmed.
error Check if the operation mode of the slave driver is set to
PIO Startup Forbidden or a cable is broke (on pulse input
and output board).
455 Extension motion control board The operation setting of the synchronizing electronic can
synchronizing electronic cam indicated in operation 2 in XCAS command is incorrect.
operation setting error
456 Extension motion control board The operation setting of the independent electronic can
independent electronic cam indicated in operation 2 in XCTM command is incorrect.
operation setting error
457 Extension motion control board The operation setting of the electronic shaft indicated in
electronic shaft operation setting operation 2 in XSFS command is incorrect.
error

416
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
458 Slave driver servo-on signal cutoff It was detected the servo-on signal of the slave driver
error (SCON, ACON, PCON, etc.) was turned off during the
servo-on control of the extension motion control board
axis.
For the pulse input and output board, check on cables if
there is any breakage. This error occurs also when only
the slave driver gets into the condition of emergency stop,
or the servo is turned off from the support tool of the slave
driver during the servo-on command from X-SEL.
459 Slave driver MANU mode detection It was detected that the operation mode status signal of
the slave driver (such as SCON) has turned to MANU
Mode during the extension motion control board axis in
servo-on control.
Check the mode switch and so on.
45A Extension motion control board Selected input channel in the extension motion control
input channel number error board is inappropriate.
Check if a channel number out of the range or a channel

Chapter 7 Troubleshooting
which is set as not to use in the parameter setting is
selected.
45B Input channel counter error during Input channel counter was tried to be cleared during
extension motion control board synchronizing process on the extension motion control
synchronizing process board.
Operation-cancellation level errors

45C Extension motion control board The extension motion control board input channel on
error-issued input channel use which an error is being occurred was tried to be used.
error
45D Extension motion control board Slave axis operation program was finished during the
synchro-slave axis program finish extension motion control board synchronizing process.
detection This error also occurs when the slave axis operation
program is cancelled due to an error issuance for a reason
other than axis related while in the synchronizing process.
In case the master axis and the slave axes run in different
programs, it is forbidden to end only the slave axis
operation program while in the synchronizing process.
Finish the program after the synchronizing process is
finished.
When using the PC software or teaching pendant to finish
the program, use the all operation cancel or finish from the

7.3 Error List (MAIN application)

master axis operation program.
45E Extension motion control board Make sure to operate the slave axes in the same program
synchro-master axis program finish as the master axis if the slave axes are those that the
detection enable switch effective axis is the master axis unless
‘11111111’ is set to All Axis parameter No. 9 “Enable switch
(Dead man’s switch, safety gate) effective physical axis
pattern”.
460 Extension motion control board Synchronizing process was tried to start on the extension
synchro-master axis error motion control board with an axis that an error is being
detection issued as the master axis.
Check the error issued on the master axis.
461 Extension motion control board The servo on the master axis has been turned off while the
synchro-master axis servo-off error extension motion control board was in synchronizing
process.
The servo on the master axis cannot be turned off while in
synchronizing process.
Finish the synchronizing process before turning the servo
off.

417
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
462 Extension motion control board Cancel of a pause was tried while in synchronizing
input channel synchro-slave axis process with the extension motion control board input
reboot error channel as the master axis.
Cancelling a pause and rebooting cannot be conducted
during synchronizing process with an input channel as the
master axis.
463 Extension motion control board Cancel of a pause was tried while in an operation of the
independent electronic cam extension motion control board independent electronic
operation axis reboot error cam.
Cancelling a pause and rebooting cannot be conducted
during an independent electronic cam operation.
464 Extension motion control board An error has occurred during controller inside
serial bus command code error communication.
The followings are concerned as the cause;
Communication problem caused by noise, short-circuit,
circuit problem, etc. (Controller inside communication
problem)
Chapter 7 Troubleshooting

Mismatch in the firmware version in main CPU application

and that in extension motion control board application
(Mistake in matching).
465 Extension motion control board Writing command was executed again during flash ROM
duplicated flashlight command writing.
denial error Finish the writing before executing the next writing
Operation-cancellation level errors

command.
466 Extension motion control board The number of extension motion control board flash ROM
flash ROM delete times violation deletion times has exceeded the allowable value.
error
467 Extension motion control board An error has occurred while in extension motion control
flash ROM Writing error board flash ROM writing.
468 Extension motion control board An operation command was issued to an axis with the
operation command error at servo being off.
servo-off (Slave CPU detection) Issue an operation command to an axis with the servo
being on.
469 Extension motion control board An error has occurred during controller inside
servo undefined command communication.
detection error The followings are concerned as the cause;
7.3 Error List (MAIN application)

Communication problem caused by noise, short-circuit,

circuit problem, etc. (Controller inside communication
problem)
Mismatch in the firmware version in main CPU application
and that in extension motion control board application
(Mistake in matching).
46A Extension motion control board An error has occurred during controller inside
servo unsupported function error communication.
The followings are concerned as the cause;
Communication problem caused by noise, short-circuit,
circuit problem, etc. (Controller inside communication
problem)
Mismatch in the firmware version in main CPU application
and that in extension motion control board application.�
46B Extension motion control board Velocity change was tried on an extension motion control
velocity change condition error board control axis that the velocity change is unavailable
(S-shaped motion use operation axis, etc.).
46C Extension motion control board There is an error in the velocity indication.
velocity indication error
46D Extension motion control board The target position or the movement track exceeds the
target data boundary violation error positioning boundary.

418
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
46E Extension motion control board The target position or the movement track exceeds the soft
target data soft limit violation error limit.
46F Extension motion control board An error has occurred during controller inside
packet command operand error communication.
The followings are concerned as the cause;
Communication problem caused by noise, short-circuit,
circuit problem, etc. (Controller inside communication
problem)
Mismatch in the firmware version in main CPU application
and that in extension motion control board application.�
470 Extension motion control board There is an error in internal servo
servo failure acceleration/deceleration.
acceleration/deceleration error
471 Extension motion control board The followings are concerned as the cause;
command velocity excess error Axis velocity has exceeded the maximum velocity set in
the parameter while synchronizing process was
conducted.

Chapter 7 Troubleshooting
The velocity has exceeded the safety speed when set to
Manual Mode and the safety speed being effective.
Check the movement speed of the synchro-master axis,
profile of the electronic cam table and so on.
472 Extension motion control board The acceleration speed has exceeded the maximum
command acceleration/deceleration set in the parameter while
Operation-cancellation level errors

acceleration/deceleration excess synchronizing process was conducted.

error Check the movement speed of the synchro-master axis,
acceleration/deceleration, profile of the electronic cam
table, and so on.
473 Extension motion control board The actuator reached a position that it cannot stop in the
servo command position soft limit soft limit range with the indicated deceleration setting while
violation error synchronizing process was conducted.
Check the movement speed of the synchro-master axis,
acceleration/deceleration, profile of the electronic cam
table, and so on.�
474 Extension motion control board An operation command was generated to an axis with an
error -Issued axis use error (Slave error being issued.
CPU detection)�

7.3 Error List (MAIN application)

475 Extension motion control board Errors as listed below exist in the electronic can table data;
data error at electronic cam table 1) The maximum phase is set to 0.
execution� 2) Number of the displacement data is less than two or
exceeds the maximum number.
3) A table number which does not exist has indicated
4) The displacement at the start point is not 0.
5) Check on the electronic cam table data.
476 Extension motion control board There is an error in the Acceleration/Deceleration
acceleration/deceleration indication Indication.�
error
477 Extension motion control board Synchronizing process was tried to start during the
master axis synchronizing start home-return operation of the master axis.
error during home-return
478 Extension motion control board Synchronizing process was tried to start during the
master axis synchronizing start pressing operation of the master axis.�
error during Pressing Operation
479 Extension motion control board The master axis tried to make the home-return operation
synchro-master axis home-return while the extension motion control board was in
execution error synchronizing process.
47A Extension motion control board The master axis tried to make the pressing operation while
synchro-master axis pressing the extension motion control board was in synchronizing
execution error process.

419
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
47B Slave communication error There was an error generated in the slave communication
process. If a communication related error is occurred on
other slaves at the same time on the error list, it is
concerned a communication problem due to noise,
short-circuit or circuit problem.
Check the slave card.
47C Extension motion control board There is a mistake in the axis setting for the extension
synchronized operation axis setting motion control board synchronizing process.
error If a setting is established to have the synchronized
electronic cam and the master axis of the electronic shaft
synchronizing operation as the slave axes, an axes setting
that the relation of slave axis -> master axis is closed in a
loop cannot be made.
47D Slave driver home-return complete It was detected the home-return complete signal is turned
signal cutoff error off for the slave driver (SCON, ACON, PCON, etc.)
controlled by the extension motion control board.
Check on such problems as cable breakage on the pulse
Chapter 7 Troubleshooting

input and output board.

47E Extension motion control board Synchronizing process was tried to start while the counter
input channel synchronizing start clear was executed when the master axis is an extension
error during counter clear motion control board input channel.
47F Extension motion control board There was an error occurred between the axes in a
synchronized axis error detection synchronizing relation while the extension motion control
Operation-cancellation level errors

board is in synchronizing process.

Check if any error is generated on the slave axes, master
axis, axes that are operated by the commands same as
the master axis or the slave axes that are connected by
synchronization below them.
491 IA Net stop detection error at IAI IA Net is not working properly during the IAI protocol
protocol transfer� transfer in IA Net.
Confirm that the IA Net board is mounted in the
appropriate way or the IA Net is working properly.�
492 IA Net IAI protocol mail sending IAI protocol communication failed in IA Net.
error� Check the condition of IA Net connection, communication
station number, I/O parameters No. 602 to 605, etc.�
496 Extension motion control board A change cannot be made in the coordinate system data
7.3 Error List (MAIN application)

coordinate system data change while an extension motion control board axis is in
forbidden error during axis operation.
operation * for SCARA only�
497 Servo slave operation command The command from the slave operation command issuer
velocity excess error unit has exceeded the maximum velocity.
� For a pulse input and output board slave operation, make
sure the setting Pulse input and output board output
channel parameter No. 12 does not exceed the values in
each axis parameter No. 27 and 28.
498 Servo slave operation command Confirmation cannot be made on the stop of the slave
issuer stop confirmation timeout operation command.
error
49A Extension motion control board The value on the counter of the command pulse input
command pulse counter excess channel exceeded the range between -2,147,482,624 and
error 2,147,482,623 during synchronizing process.
If the input channel is set as the synchro-master axis, use
the product with the input pulse in the range described
above.
49B SEL program source symbol SEL program is destroyed.
management domain sum check Initialize the SEL program.
error

420
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
49C SEL program source symbol SEL program is destroyed.
management domain ID error Initialize the SEL program.
49D Symbol definition table Symbol definition table is destroyed.
management domain sum check Initialize the symbol definition table.
error
49E Symbol definition table Symbol definition table is destroyed.
management domain ID error Initialize the symbol definition table.
Operation-cancellation level errors

49F Position data comment flash ROM Position data comment is destroyed.
status error Save the position data to flash ROM.
4A0 Position data comment Position data comment is destroyed.
management domain sum check Save the position data to flash ROM.
error
4A1 Position data comment Position data comment is destroyed.
management domain ID error Save the position data to flash ROM.
4A2 Position data comment sum check Position data comment is destroyed.
error Save the position data to flash ROM.

Chapter 7 Troubleshooting
4A3 UBM management domain ID error User data retaining memory data is destroyed.
Initialize the user data retaining memory.
4A4 Maintenance information data Maintenance information data is destroyed.
management domain sum check Initialize the maintenance information data.�
error
4A5 Maintenance information data Maintenance information data is destroyed.
management domain ID error� Initialize the maintenance information data.�
4A6 Maintenance information data sum Maintenance information data is destroyed.
check error� Initialize the maintenance information data.�

7.3 Error List (MAIN application)

421
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
500 Slave board flash ROM writing There is a failure in the flash ROM writing in the slave
error� board.
A malfunction of the slave board can be concerned.
Check the mounted slave board.�
501 Slave board flash ROM writing Confirmation could not be made for the completion of the
complete confirmation timeout flash ROM writing in the slave board.
error� A malfunction of the slave board can be concerned.
Check the mounted slave board. Also, check if any of error
No. 6BE, 6BF, 6C0, 6C4 or 6C5 is issued at the same time.
502 Slave sending data generative There was an error in generating slave sending data.�
logic error�
503 Extension motion control board A normal startup could not be confirmed for the extension
standby confirmation timeout error motion control board.
Check the mounted extension motion control board.
504 Extension motion control board The initializing sequence in the extension motion control
target information initializing error� board information did not finish in normal condition.
Chapter 7 Troubleshooting

Check the mounted extension motion control board.

505 Extension motion control board The settings for the parameters related to the assignment of
axis control input and output ports the extension motion control board axis control input and
assignment parameter error� output ports are inappropriate.
Check in I/O parameters No. 534 to 581 if there is an
inappropriate port number or a duplication in the indicated
input and output port numbers with those for other systems
when using the pulse input and output board.
506 Emergency stop and enable The setting for the emergency stop and enable switches
Cold-start level errors

switches recovery type parameter recovery type parameter is inappropriate.

error� If an extension motion control board is mounted, an
indication of operation continuous recovery cannot be
made.
Check in other parameters No. 10 and 11.
507 Extension motion control board There is an error in the setting of the position data for the
axis position data setting error� extension motion control board axis.
Check in I/O parameters No. 530, 531 and 532.
508 Extension motion control board Access was tried to an invalid position data in the extension
axis position data valid address motion control board.
7.3 Error List (MAIN application)

error� �
509 Extension motion control board Access right for DPRAM could not be acquired for a certain
DPRAM access right timeout error period of time.
50A Extension motion control board There was an error detected in the DPRAM access right
DPRAM access logic error (Main control.
CPU detection)�
50B Extension motion control board An error has occurred during controller inside
undefined DPRAM format ID error communication.
(Main CPU detection)� The followings are concerned as the cause;
Communication problem caused by noise, short-circuit,
circuit problem, etc. (Controller inside communication
problem)
Mismatch in the firmware version in main CPU application
and that in extension motion control board application
(Mistake in matching).�
50C Extension motion control board DPRAM data sum check error was detected.
DPRAM data sum check error A malfunction of the extension motion control board can be
(Main CPU detection)� concerned.
Check the mounted extension motion control board.
50D Extension motion control board Duplicating malfunction error occurred on the extension
duplicating malfunction error� motion control board.

422
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
50E Extension motion control board Standby has turned off on the extension motion control
CPU standby cutoff error� board CPU.
50F Extension motion control board Servo control underflow error was detected in the extension
slave CPU servo underflow motion control board.
detection error (Main CPU Rebooting of the power is required.
detection)�
510 Extension motion control board There was an error issued in the extension motion control
error board. This error occurs when the error coded issued on
the extension motion control board is not applicable for the
main CPU board software.
Have an appropriate counteraction following the contents in
the error list.
� If Info. 2 in the error list is 76h;
The same error as error No. 49A has occurred on the
extension motion control board.
� Refer to the applicable section for the error number.
� For any other cases, contact us with the contents stated

Chapter 7 Troubleshooting
in the error list.
511 Extension motion control board Confirmation cannot be made for the servo on/off.
axis servo on/off timeout error Check the joint of the servo-on signal when the pulse input
and output board.
This error may also occur when the operation mode of the
slave driver is set to PIO Startup Forbidden.
Cold-start level errors

512 Extension motion control board Confirmation could not be made for the completion of the
axis stop command complete extension motion control board axis stop command.
confirmation timeout error
513 Extension motion control board Confirmation could not be made for the completion of the
axis stop cancel complete extension motion control board axis stop cancel.
confirmation timeout error
514 Extension motion control board There was an error issued on the input channel in the
input channel error extension motion control board.
Check if the setting is properly established for the input
channel parameter on the extension motion control board
and so on.
515 Extension motion control board A cable breakage was detected on the input channel in the
input channel cable breakage error extension motion control board.

7.3 Error List (MAIN application)

Check on the cables. A reboot of the power supply is
required.
516 Extension motion control board There is an error in extension motion control board axis
axis control logic error (Main CPU control logic.�
detection)
517 Extension motion control board There is a concern that the parameter data inside the flash
parameter check sum error ROM could be destroyed.
A malfunction of the hardware may also be concerned if the
error cannot be solved even after having a rewriting of the
parameter data to the flash ROM and then conducting the
software reset.
518 Extension motion control board There is a concern that the electronic cam table data inside
electronic cam table check sum the flash ROM could be destroyed.
error A malfunction of the hardware may also be concerned if the
� error cannot be solved even after having a rewriting of the
electronic cam table data to the flash ROM and then
conducting the software reset.

423
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
519 Extension motion control board There is a concern that the data is not written properly to
parameter flash ROM status error the flash ROM, or data is written with an old version which
� is not compatible.
A malfunction of the hardware may also be concerned if the
error cannot be solved even after having a rewriting of the
parameter data to the flash ROM and then conducting the
software reset.
51A Extension motion control board There is a concern that the data is not written properly to
electronic cam table flash ROM the flash ROM, or data is written with an old version which
status error is not compatible.
A malfunction of the hardware may also be concerned if the
error cannot be solved even after having a rewriting of the
electronic cam table data to the flash ROM and then
conducting the software reset.
51B Extension motion control board There is an error in the data read from FPGA register on the
FPGA register reading/writing error extension motion control board.
The followings are concerned as the cause;
Chapter 7 Troubleshooting

Communication problem caused by noise, short-circuit,

circuit problem, etc. (Controller inside communication
problem)
Mismatch in the firmware version in main CPU application
and that in extension motion control board application.�
51C Extension motion control board The size of the electronic cam table assigned in the
electronic cam table size parameter does not match with the actual electronic cam
Cold-start level errors

unmatched error table size. It occurs when a change is made to the setting in
Common parameter No. 2 “Electronic Cam table Area
Assignment” on the extension motion control board.
Conduct the software reset after writing the electronic cam
table data to the flash ROM.
51D Extension motion control board The servo control logic error has occurred.
servo control logic error
51E Extension motion control board There is an error in the setting of the output channel
axis control parameter error parameter on the pulse input and output board.
Check the settings in output channel parameters No. 5 to
12 and so on.
51F Extension motion control board Positioning distance setting is too big.
7.3 Error List (MAIN application)

positioning distance overflow error

520 Extension motion control board An error has occurred during controller inside
undefined DPRAM format ID error communication.
(Slave CPU detection)� The followings are concerned as the cause;
Communication problem caused by noise, short-circuit,
circuit problem, etc. (Controller inside communication
problem)
Mismatch in the firmware version in main CPU application
and that in extension motion control board application
(Mistake in matching).�
521 Extension motion control board An error has occurred during controller inside
Packet command Hand Shake communication.
logic error The followings are concerned as the cause;
Communication problem caused by noise, short-circuit,
circuit problem, etc. (Controller inside communication
problem)
Mismatch in the firmware version in main CPU application
and that in extension motion control board application
(Mistake in matching).�

424
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
522 Extension motion control board An error has occurred during controller inside
DPRAM hand shake logic error communication.The followings are concerned as the cause;
(Slave CPU detection) Communication problem caused by noise, short-circuit,
circuit problem, etc. (Controller inside communication
problem)
Mismatch in the firmware version in main CPU application
and that in extension motion control board application
(Mistake in matching).�
523 Extension motion control board There was an error detected in the hardware check at the
DPRAM reading/writing error board startup.The followings are concerned as the cause;�
(Slave CPU detection)� Communication problem caused by noise, short-circuit,
circuit problem, etc. (Controller inside communication
problem)
Mismatch in the firmware version in main CPU application
and that in extension motion control board application
(Mistake in matching).�
524 Extension motion control board An error has occurred during controller inside

Chapter 7 Troubleshooting
unsupported packet command communication.The followings are concerned as the cause;
error Communication problem caused by noise, short-circuit,
circuit problem, etc. (Controller inside communication
problem)
Mismatch in the firmware version in main CPU application
and that in extension motion control board application
(Mistake in matching).�
525 Extension motion control board The servo control underflow error of the main CPU board
Cold-start level errors

main CPU servo underflow was detected while the extension motion control board was
detection error (Slave CPU in use.
detection) Rebooting of the power is required.
526 Extension motion control board There was an error in the setting of the input channel
pulse input setting parameter error parameter on the extension motion control board.
Check the settings in Input channel parameters No. 1 to 2.
527 Extension motion control board There was an error in the setting of the output channel
pulse output setting parameter parameter on the pulse input and output board.
error� Check the settings in output channel parameters No. 1 to 3.
528 Extension motion control board The emergency stop signal was detected from the main
main CPU emergency stop signal CPU.

7.3 Error List (MAIN application)

detection error
529 Extension motion control board There is an error in the axis type of the main CPU control
undefined main axis type error master axis.It can be concerned that the firmware version of
the main CPU application and that of the extension motion
control board application do not match (combination is
incorrect).
52A Extension motion control board There is an error in the setting of Common parameter No. 2
electronic cam table Area “Electronic Cam table Area Assignment” on the extension
assignment parameter error motion control board.
The following things can be concerned;
1) The total number of the tables exceeds 64, or
2) The total table size exceeds 64
52B Function unsupported extension The extension motion control board does not support the
motion control board error function in the condition of use.
Check the firmware version of the extension control board
to make sure that it supports the used function.
52C Extension motion control board The setting of I/O parameter No. 533 is incorrect. For
synchronizing main CPU control SCARA axis, all have to be set to the same type.
master axis position type
parameter error

425
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
52D Extension motion control board There is a mistake in the parameter setting for when
main CPU axis control parameter conducting the main CPU axis control with the pulse input
error and output board.
Check if the number of the main CPU axis set in output
channel parameter No. 18 on the pulse input and output
board is incorrect, the main CPU axis is not indicated as the
slave operation (Each axis parameters No. 167 and 168), or
the main CPU axis and the resolution related parameters
do not match (Output channel parameters No. 5, 6, 10 and
11 on the pulse input and output board).�
52F Extension motion control board The slave monitor data register sum check error was
slave monitor data register sum detected. It can be concerned that there is a communication
check error� disturbance (controller internal communication failure) due
to noise, short-circuit, circuit failure, etc. check on the
mounted extension motion control board.
530 Extension motion control board It was detected that the pulse cable is broken.
pulse cable breakage detection� Check the cables.
Chapter 7 Troubleshooting

531 Slave operation parameter error There is a mistake in the parameter setting in the slave
operation indication (Each axis parameter No. 167 and
168). If the unit commanding the slave operation is in the
extension motion control board axis slave operation, the
following things can be concerned.
� It is an operational condition that cannot be indicated as
the slave operation indication (such as rotation movement
Cold-start level errors

axis shortcut control select, linear sliding axis infinite

stroke mode, synchro-slave axis or ZR unit).
� The extension motion control board is not mounted.
� The device number making the slave operation command
is inappropriate.
� The parameter setting on the extension motion control
board making the slave operation command is not set to
the main CPU control setting.
532 Drive invalid indication parameter There is a mistake in the parameter setting (Each axis
error parameter No. 166) in the drive invalid indication.
The followings things are concerned.
� Each axis parameter No. 38 = 1 (ABS)
� Resonance or maximum speed related parameter (Each
7.3 Error List (MAIN application)

axis parameters No. 28, 42, 43, 44, 47, 50 and 51) is out
of the range
� It is an operation condition that cannot make the drive
invalid indication (synchro and ZR units, etc.).
533 Extension motion control board Data transfer was failed to send the coordinate system data
coordinate system data transfer to the extension motion control board.
error� It is an error during the controller internal communication.
The followings are concerned as the cause;
Communication problem caused by noise, short-circuit,
circuit problem, etc. (Controller inside communication
problem)
Mismatch in the firmware version in main CPU application
and that in extension motion control board application
(Mistake in matching).�
548 IA Net resizing overlapping error� Several stations executed the resizing.
There is a concern multiple stations are subject to resizing
execution.
Check the conformity of I/O parameter No. 603 with the
controller on the same network.�

426
In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
552 IA Net link error� IA Net link error was detected.
Confirm that all the controllers occupying the stations
indicated in I/O parameters No. 603 and 604 are connected
properly to IA Net.
This error also occurs when the occupied stations indicated
in I/O parameters No. 601 and 602 are duplicating with
other controllers connected to IA Net.�
553 IA Net message command sending Message command could not be sent due to the busy
Busy error� condition at the process of IA Net message command
sending.�
554 IA Net message command sending IA Net message command could not be completed to be
timeout error� sent in the specified time.
There is a concern of message commands not being able
to be sent properly.�
556 IA Net message command domain Access right to IA Net message command domain could not
access right acquirement timeout be gained in the specified time.�
error�

Chapter 7 Troubleshooting
560 Number of IA Net occupied station The number of IA Net occupied stations has exceeded the
exceeded error� number allowed in the system.�
561 IA Net I/O assignment number The number of IA Net I/O assignments has exceeded the
Cold-start level errors

overflow error� specified range.�

562 Extension I/O unit parameter error There is a failure in the extension I/O unit parameters.
1) the station numbers for a controller and an extension I/O
unit are duplicated, 2) an extension I/O unit with a station
number greater than the value set in I/O parameter No. 604
�IA Net final station number� is attempted to be used.�
563 Extension I/O unit DO duplication Multiple controllers attempted to use DO in one I/O board
error� on the extension I/O unit.�
564 Extension I/O unit initial Initial communication with the extension remote I/O unit
Communication timeout error� was not established correctly.
It could be considered that;
1) extension remote I/O unit is not connected, 2) power is
not supplied to extension remote I/O unit, or 3) wrong unit
number is set in I/O parameters�
565 Extension I/O unit board I/O board in an extension I/O unit was not detected.�

7.3 Error List (MAIN application)

undetected error�
566 Extension I/O unit undefined error Undefined extension I/O unit error code was detected.
code detection� This error occurs when the main CPU board software is not
applicable for the error code of the extension I/O unit.
Updating is required on the application in the main CPU
board.�
567 IA Net communication cycle time There is an error in the communication cycle time of IA Net.
error�
568 Extension I/O unit self checking There is a failure in the CPU program of extension I/O unit.
error�
569 Extension I/O unit initial There is a failure in the extension I/O unit parameters.
communication parameter error� Make sure that the I/O parameters No. 20 and 716, etc., are
identical to those of the other extension I/O unit controller.

427
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
56A CC-Link system domain use error CC-Link system domain cannot be used as the system
input and output port of X-SEL. It can be considered as the
cause that CC-Link system domain is used as a system
output as shown below. Check the I/O parameter settings.
1) Input and output function select port number
2) Zone output port number
3) Simple interference check zone output port number
4) Vision system I/F capturing command physical output
port number
5) Tracking vision system capturing command physical
output port number
6) Pulse input and output board control output port number
601 EMG logic error There is a concern of pin bending breakage inside the
controller.
602 ENB logic error There is a concern of pin bending breakage inside the
controller.
603 Drive-source cutoff relay DET The drive-source cutoff relay may have fused.
Chapter 7 Troubleshooting

(MELT) error
604 Power-supply board CPU ready A ready status of the power-supply board cannot be
OFF error confirmed.
605 Forced discharge error Abnormal forced discharge. The drive-source cutoff relay
may be abnormal.
The power must be reconnected.
606 Regenerative discharge error Abnormal regenerative discharge.
Cold-start level errors

The power must be reconnected.

607 Motor power-source voltage low Low voltage was detected in the motor power circuit.
error
608 Power-supply board Power-supply board FRCDCSTR-ON could not be
FRCDCSTR-ON timeout error confirmed within the specified time.
609 Power-supply board Power-supply board RBONSTR-ON could not be confirmed
RBONSTR-ON timeout error within the specified time.
60A Power-supply board Power-supply board RBONSTR-OFF could not be
RBONSTR-OFF timeout error confirmed within the specified time.
60B Power-supply board Power-supply board FRCDCSTR-OFF could not be
FRCDCSTR-OFF timeout error confirmed within the specified time.
7.3 Error List (MAIN application)

60C Power-system overheat error An overheated power-supply board, regenerative resistor,

etc., was detected.
The power must be reconnected.
60D Slave board CPU ready OFF error A ready status of the driver board, etc. (other than
(other than power supply) power-supply board) cannot be confirmed.
60E Dynamic brake ON/OFF timeout Dynamic brake ON/OFF cannot be confirmed within the
error specified time.
60F Power-supply board synchronous A communication failure occurred between the
send timing error 1 (CPSDBSYER) power-supply board and FPGA (main).
610 Power-supply board synchronous A communication failure occurred between the
send timing error 2 (CPCLKER) power-supply board and FPGA (main).
611 Power-supply board synchronous A communication failure occurred between the
communication LRC error power-supply board and FPGA (main).
612 Power-supply board synchronous A communication failure occurred between the
communication timeout error power-supply board and FPGA (main).
613 Driver synchronous communication A communication failure occurred between the driver board
driver read error and FPGA (main).
614 Driver synchronous communication A communication failure occurred between the driver board
LRC error and FPGA (main).

428
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
615 Driver synchronous communication A communication failure occurred between the driver board
toggle error and FPGA (main).
61A Mounted-SIO watchdog timer error The mounted-SIO CPU system is abnormal.
61B Mounted-SIO parameter data error There is an invalid mounted-SIO parameter.
Check I/O parameter Nos. 201 to 224.
61C Mounted-SIO parameter transfer The mounted-SIO parameter transfer format is invalid.
format error
61D Mounted-SIO other slave error An error occurred in the mounted-SIO CPU.
Record or save the detailed information of the error list.
61E Mounted-SIO F-send/receive An overflow was detected in the FIFO (FPGA) for main
queue overflow error (M) CPU-mounted-SIO communication.
61F Mounted-SIO control command FIFO (FPGA)-FULL was detected at mounted-SIO control
PUT disable error command PUT.
620 Mounted-SIO control command Completion of the mounted-SIO control command cannot
completion timeout error be confirmed after the specified time.

Chapter 7 Troubleshooting
621 Mounted-SIO logic error A logic error in mounted-SIO control.
622 Mounted-SIO undefined control An undefined control command was received from the
command receive error mounted-SIO.
623 Driver error detail code acquisition A driver error occurred, but an error detail code could not be
error acquired.
624 Undefined driver error A driver error occurred.
625 Driver-side detection synchronous A communication failure occurred between the driver board
communication error and FPGA (main).
Cold-start level errors

626 Driver IPM15V voltage low error A low voltage was detected in the driver IPM15V circuit.
627 Driver current detection A/D offset A driver current detection A/D offset error was detected.
over error
628 Driver error (Driver error reserved by the system)
629 Driver error (Driver error reserved by the system)
62A Driver error (Driver error reserved by the system)
62B Driver error (Driver error reserved by the system)
62C Driver error (Driver error reserved by the system)
62D Driver error (Driver error reserved by the system)

7.3 Error List (MAIN application)

62E Driver error (Driver error reserved by the system)
62F Driver error (Driver error reserved by the system)
630 Updating system code error The updating system code is invalid.
(Application detection)
631 Updating unit code error The updating unit code is invalid.
(Application detection)
632 Updating device number error The updating device number is invalid.
(Application detection)
633 Feedback pulse synchronization Abnormal feedback pulse synchronization (detected in the
error (Detected in the speed loop) speed loop).
634 Feedback pulse synchronization Abnormal feedback pulse synchronization (detected in the
error (Detected in the position loop) position loop).
635 Deadman/enable switch requiring Reset the deadman/enable switch, and then reconnect the
reset recovery open power.
636 Serial encoder command busy The system was busy when the serial encoder command
error was issued.
637 Serial encoder command timeout Completion of the serial encoder command cannot be
error confirmed after the specified time.
638 Speed control parameter setting The system was busy when the speed control parameter
command busy error setting command was issued.

429
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
639 Speed control parameter setting Completion of the speed control parameter setting
command timeout error command cannot be confirmed after the specified time.
63B ABZ encoder logic error An encoder phase-A/B electrical level pattern error was
detected. The power must be reconnected.
63C Encoder/motor control constant The flash ROM data is corrupted.
table checksum error
63D ABZ encoder specification error An ABZ encoder cannot be installed for this axis.
Check the “motor/encoder configuration information” in
driver parameter No. 26 and encoder parameter No. 11.
63E ABZ encoder magnetic-pole sensor Check if the encoder cable is connected.
signal logic error
63F Encoder control constant error The encoder control constant is invalid.
640 Motor control constant error The motor control constant is invalid.
641 Encoder power-source voltage Check driver parameter Nos. 32, 33, etc.
control parameter error
Chapter 7 Troubleshooting

642 Speed loop parameter error Check driver parameter Nos. 43, 44, 45, etc.
643 Encoder resolution division error Check “Axis-specific parameter No. 43: Encoder division
ratio.”
644 Encoder/motor combination Check driver parameter No. 26, encoder parameter No. 11.
mismatch error (encoder
resolution)
645 DAC transfer completion check A timeout occurred during DAC transfer when the encoder
timeout error when encoder power power was supplied.
Cold-start level errors

was supplied
646 Encoder EEPROM read busy error The encoder is faulty or an encoder communication failure
occurred.
647 Encoder EEPROM write address The encoder is faulty or an encoder communication failure
mismatch error occurred.
648 Encoder EEPROM read address The encoder is faulty or an encoder communication failure
mismatch error occurred.
649 Undefined serial encoder Installation of serial encoder is not defined.
installation error Check the “motor/encoder configuration information” in
driver parameter No. 26 and encoder parameter No. 11.
7.3 Error List (MAIN application)

64A Undefined serial encoder The serial encoder command is not defined.
command error
64B Serial encoder command packet The serial encoder command packet is invalid.
error
64C 1-revolution data reset error at A 1-revolution data reset was commanded when the servo
servo ON (serial encoder was ON. Turn OFF the servo.
command)
64D Encoder reset command timeout An encoder communication failure.
error (serial encoder command)
64E ABS data query command timeout An encoder communication failure.
error (serial encoder command)
64F Encoder error reset error at servo Turn OFF the servo before resetting an encoder error.
ON (serial encoder command)
650 Encoder receive timeout error An encoder communication failure.
(during initialization
communication)
652 Serial encoder command control The serial encoder command control job is invalid.
job error
653 Encoder control job logic error The encoder control job logic is invalid.
654

430
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
655 Encoder receive timeout error at An encoder communication failure.
serial encoder command issuance
657 Torque limit parameter error Check driver parameter Nos. 38, 39, 40, etc.
65A Unsupported encoder ID error The encoder is not supported. No encoder control constant
record is available that corresponds to the encoder ID.
Check the installed encoder.
65B Unsupported encoder error (main The encoder is not supported. No encoder control constant
information) record is available that corresponds to the encoder ID, or
the record is invalid.
Check the “motor/encoder configuration information” in
driver parameter No. 26 and encoder parameter No. 11.
65C Unsupported motor error (main The motor is not supported. No motor control constant
information) record is available that corresponds to the motor ID, or the
record is invalid.
Check the “motor/encoder configuration information” in
driver parameter No. 26 and encoder parameter No. 11.

Chapter 7 Troubleshooting
65D Unsupported motor error (driver The motor is not supported. The motor ID bit number is
information) outside the range of “maximum supported motor ID
number” when the driver parameter, “Use motor control
data in driver flash ROM” is specified. Check the
“motor/encoder configuration information” in driver
parameter No. 26 and encoder parameter No. 11.
65E Current detection circuit type The motor control constant, “Current detection circuit
Cold-start level errors

mismatch error specification” does not match the driver parameter,

“Installation type word 1, current detection circuit type.”
Check the “motor/encoder configuration information” in
driver parameter No. 26 and encoder parameter No. 11.
65F Main/driver motor control data A motor control constant does not match the corresponding
mismatch error driver parameter (rated speed, maximum speed, rated
current, maximum current number of pole pairs, linear
motor lead, linear motor specification).
Check the “motor/encoder configuration information” in
driver parameter No. 26 and encoder parameter No. 11.
660 Maximum motor speed mismatch The axis-specific parameter, “Maximum motor speed” does
error not match the motor control constant, “Maximum speed”
Check the “motor/encoder configuration information” in

7.3 Error List (MAIN application)

driver parameter No. 26 and encoder parameter No. 11.
661 Encoder/motor combination The linear/rotary type does not match between the encoder
mismatch error (linear/rotary type) and motor.
Check the “motor/encoder configuration information” in
driver parameter No. 26 and encoder parameter No. 11.
662 Mechanical angle 360-degree The calculated pulse count based on 360 mechanical angle
pulse count calculation error degrees is invalid. (The calculated value is “0,” or in the
case of a linear encoder, the calculated value has fraction.)
663 Software DB specification error The value in the driver parameter, “Software DB
specification” is invalid.
664 Current control band number The value in the driver parameter, “Current control band
specification error number” is invalid.
665 Driver/encoder communication line All-axis parameter No. 101 or 102, “Driver/encoder
channel number specification error communication line channel setting” is invalid (invalid value,
duplicate specifications).
666 Driver initialization communication All-axis parameter No. 103 or 104, “Driver initialization
type specification error communication type setting” is invalid (invalid value,
duplicate specifications, mismatch).

431
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
667 Invalid driver initialization Initialization communication line channel number is not
communication line specification specified for a valid axis.
error at specification of valid axis Check all-axis parameter No. 1, “Valid axis pattern,” Nos.
101 and 102, “Driver/encoder communication line channel
setting” and Nos. 103 and 104, “Driver initialization
communication type setting.”
668 Driver target information The initialization sequence of driver target information did
initialization error not complete successfully.
Check the installed driver board.
Check all-axis parameter Nos. 101, 102, 103 and 104, or
driver parameter No. 26, encoder parameter No. 11.
669 Encoder target information The initialization sequence of encoder target information did
initialization error not complete successfully.
Check the installed encoder.
Check all-axis parameter Nos. 101, 102, 103 and 104, or
driver parameter No. 26, encoder parameter No. 11.
66A Power-system target information The initialization sequence of power-system target
Chapter 7 Troubleshooting

initialization error information did not complete successfully.

Check the installed power-supply board.
Check the power-supply board parameters.
66B Slave communication error An error response was received during slave
response error communication.
66C SCI LRC error (slave The message LRC of slave communication is invalid.
communication)
Cold-start level errors

66D Slave communication target ID The target ID of slave communication is invalid.

error
66E Slave communication block The block number of slave communication is invalid.
number error
66F Target specification error due to no
The specified target of slave communication (driver or
axis number encoder) is invalid (no axis number is assigned for the
target ID, or an internal driver board axis is specified).
670 Target board type error The target board type is invalid.
671 Encoder control data error The encoder control data is invalid or cannot be acquired.
Take the same actions specified for error Nos. 65A, 65B
and 669.
7.3 Error List (MAIN application)

672 Motor control data error The motor control data is invalid or cannot be acquired.
Take the same actions as specified for error Nos. 65C, 65D,
668 and 669.
674 Tracking encoder breakage error There is a breakage in the tracking encoder cable.
Power Reboot is needed.
675 Tracking ABZ encoder logic error An abnormality is detected on A- and B-phase electrical
level pattern of the tracking encoder.
Power Reboot is needed.
676 ABZ encoder magnetic-pole sensor Check if the encoder cable is connected.
signal read error
677 ABZ encoder phase-Z clear Check if the encoder cable is connected.
position error
678 Extension I/O assignment There is an error in a parameter related to the extended I/O
parameter error assignment.

679 Extension I/O assignment number The number of extended I/O assignment exceeded the
overflow error specification range.
67A Extended I/O duplicated Extended I/O assignment has duplicated.
assignment error

432
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
681 Brake power supply error� Servo was tried to be turned on without inputting the brake
power.�
Check the brake power supply.�
685 I/O function selection port number Invalid setting of I/O port number specified for I/O function
error selection.
Check the settings of I/O parameter Nos. 62 to 65, 76, 77,
283 to 330, etc.
69A Encoder / motor control constant There is a concern that the data is not properly written to
table control domain sum check the flash ROM (for such reasons as the power to the
error� controller was turned off during writing process).�
69B Encoder / motor control constant There is a concern that the data is not properly written to
table control domain ID error� the flash ROM (for such reasons as the power to the
controller was turned off during writing process).�
69C Parameter management domain There is a concern that the data is not properly written to
sum check error the flash ROM (for such reasons as the power to the
� controller was turned off during writing process).�

Chapter 7 Troubleshooting
69D Parameter management domain ID There is a concern that the data is not properly written to
error� the flash ROM (for such reasons as the power to the
controller was turned off during writing process).�
69E Position data management domain The position data is destroyed.
sum check error� Initialize the position data and store it in the flash ROM.
69F Position data management domain The position data is destroyed.
ID error� Initialize the position data and store it in the flash ROM.
6A0 UBM flash ROM status error User data retaining memory is not properly written to the
Cold-start level errors

flash ROM or is written with an old version that is not

compatible.
6A1 UBM data construction change The data construction of the user data retaining memory
error was changed. Initialize the memory.
6A2 UBM Size overflow error A setting is established exceeding the user data retaining
memory capacity.
� There are too many position points for RC gateway.
6A3 UBM excess use function error There are too many functions that use the user data
retaining memory. Use the unit within eight functions.
6A4 RC axis position data construction Invalid setting of RC-axis position data.

7.3 Error List (MAIN application)

definition error Example:
� The value of other parameter No. 501 is greater than the
value of other parameter No. 503.
� An axis outside the range set in other parameter No. 502
is set as being valid.
6A5 RC-axis position data effective An attempt was made to access invalid RC-axis position
address error data.
6A6 RC-gateway DPRAM access error An illegal DPRAM access error occurred between the main
(Main) and SIO boards (main CPU side).
6A7 RC-gateway DPRAM access error An illegal DPRAM access error occurred between the main
(Mounted SIO) and SIO boards (mounted SIO side).
6A8 RC-gateway major fault error The mounted-SIO generated a major fault.
Example:
� All valid RC-axis have detached (unconnected or broken
cable, etc.).
� The power supply switch on the main CPU board has a
voltage of 0 V.
� The mounted SIO could not obtain the DPRAM access
permission for the specified time or longer.
� The mounted SIO generated a CPU error or other major
error.

433
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
6A9 RC-gateway link initialization A timeout occurred while initializing the RC-axis link.
timeout error
6AA RC-gateway DPRAM access The DPRAM access permission could not be obtained for
permission timeout error the specified time or longer.
6AB RC-gateway command issue A gateway command cannot be issued.
timeout error
6AC RC-axis control JOB logic error The logic of the RC-axis control job is invalid.
6AD RC-axis control command logic Invalid RC-axis control logic
error
6AE Mounted-SIO operation mode An invalid operation mode was set for the mounted SIO.
specification error
6AF Mounted-SIO RC-gateway function Invalid RC-gateway parameter setting
selection parameter error
6B0 Mounted-SIO RC-gateway logic Invalid logic during RC gateway initialization
error
Chapter 7 Troubleshooting

6B1 RC-gateway unsupported error The configuration of the RC gateway system is invalid.
(Mounted SIO)
6B2 RC-gateway I/O assignment Invalid assignment setting in the PLC through mode
parameter error
6B3 RC-axis controlJOB timeout error No response was returned from the RC-axis within the
specified time.
6B4 RC-gateway emergency stop The emergency stop status of the X-SEL controller does not
mismatch error match the emergency stop status of the RC controller.
Cold-start level errors

Check the connection.

6B5 Broken belt error The drive belt in the actuator became broken.
6B6 Allowable time for exceeding The torque command has exceeded the
continuous-operation enable “Continuous-operation enable torque” for the “Allowable
torque over error time for exceeding continuous-operation enable torque” or
longer.
6B7 Hardware-unsupported encoder The FPGA of the encoder is not supported.
error Check the versions whose FPGA is supported.
6B8 Driver-unsupported encoder error The driver of the encoder is not supported. Check the
versions whose driver is supported.
7.3 Error List (MAIN application)

6B9 Servo ON error at encoder An attempt was made to perform a multi-rotation data reset
multi-rotation data reset on an encoder for which a multi-rotation data reset is not
permitted while the servo is ON.
6BA Encoder-count indetermination An error was detected that makes the encoder count
factor detection error indeterminable.
6BB Deviation overflow error (Before The command cannot be executed.
completion of home return) Check if the operation is locked and also check the wiring,
encoder, motor, etc.
There is a possibility of mismatched electrical angle.
6BC Standstill deviation overflow error While at standstill the axis may have moved due to an
(Before completion of home return) external force, or its operation may have been locked
during deceleration.
This error may also generate when the operation is locked
during jogging (due to contact with an obstruction, contact
with a mechanical end while jogging before home return,
etc.) or upon detection of abnormal wiring, encoder failure
or motor failure during deceleration.
There is a possibility of mismatched electrical angle.
6BD Position data construction change A change was made to the position data definition numbers
error of axes parameter.
Initialize the position data and store it in the flash ROM.�

434
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
6BE Position data parameter setting There is an error in the position data definition numbers of
error axes parameter.
6BF Position data sum check error Position data is destroyed.
� Initialize the position data and store it in the flash ROM.�
6C7 SEL global data control domain SEL global data is destroyed.
sum check error Initialize the SEL global data.�
6C8 SEL global data control domain ID SEL global data is destroyed.
error� Initialize the SEL global data.�
6C9 SEL global data sum check error� SEL global data is destroyed.
Initialize the SEL global data.�
6CA Fieldbus master parameter error There is a fault in Fieldbus Master parameter error.
Example:
Cold-start level errors

� There is a wrong setting in the fieldbus master equipment

parameter.
� Check I/O No. 225.
� The total I/O size of the connected slaves has exceeded

Chapter 7 Troubleshooting
the upper limit of the fieldbus master capacity.
� Check I/O parameter No. 432 to 447.
6CB Fieldbus master link error There is an error detected in the network connection
between the fieldbus master and all the slaves.
Check the status of the monitor LEDs on the front of the
board.
Example:
� Cable not connected properly, wire breakage,
communication power not supplied, terminal resistor not
applied.
� Node address is duplicated.
6CC RC gateway simultaneous use Both SIO type and Fieldbus type turned effective.�I/O �
error Check I/O parameters No. 213, 225 and 431, and make
only one valid from SIO type and fieldbus type.
6CB RC gateway use method logic error There is an error in the RC gateway use method logic.
� Please contact us.

7.3 Error List (MAIN application)

435
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
801 SCIF overrun status (IAI protocol Communication failure.
reception) Check for noise, connected equipment and communication
setting.
802 SCIF receive ER status (IAI Communication failure.
protocol reception) Check for noise, shorted/disconnected communication
cable, connected equipment and communication setting.
This error will also occur when establishing communication
with the PC/TP wrongly connected to SIO-CH1 being
opened to the user.
803 Receive timeout status (IAI protocol The transfer interval after the first received byte is too long.
reception) Possible causes include disconnected communication
cable and error in the connected equipment.
804 SCIF overrun status (SEL Communication failure.
reception) Check for noise, connected equipment and communication
setting.
805 SCIF receive ER status (SEL Communication failure.
Chapter 7 Troubleshooting

reception) Check for noise, shorted/disconnected communication

cable, connected equipment and communication setting.
806 SCIF receive ER status due to Communication failure.
other factor (SEL reception) Take the same action specified for error No. 804 or 805.
807 Drive-source cutoff relay ER status The motor-drive power ON status remains ON even when
the drive source is cut off.
The drive-source cut-off relay contacts may have been
melted.
808 Power OFF status during slave The power was turned off while writing slave parameters.
Secret level errors

parameter write (This error can be detected only when a backup battery is
used.)
809 Power OFF status during data write The power was turned off while writing data to the flash
to flash ROM ROM. (This error can be detected only when a backup
battery is used.)
80A Expanded-SIO overrun status (SEL Communication failure.
reception) Check for noise, connected equipment and communication
setting.
80B Expanded-SIO parity ER status Communication failure.
(SEL reception) Check for noise, shorted/disconnected communication
7.3 Error List (MAIN application)

cable, connected equipment and communication setting.

80C Expanded-SIO framing ER status Communication failure.
(SEL reception) Check for noise, shorted/disconnected communication
cable, connected equipment and communication setting.
80D Expanded-SIO receive ER status Communication failure.
due to other factor (SEL reception) Take the same action specified for error No. 80A, 80B or
80C.
80E Expanded-SIO receive buffer The receive buffer overflowed.
overflow status (SEL reception) Excessive data was received from outside.
80F Ethernet control status 1 Ethernet control information (for analysis)
810 Ethernet control status 2 Ethernet control information (for analysis)
811 Maintenance information 1 Maintenance information (for analysis)
812 Maintenance information 2 Maintenance information (for analysis)
813 Maintenance information 3 Maintenance information (for analysis)
814 Maintenance information 4 Maintenance information (for analysis)
815 Maintenance information 5 Maintenance information (for analysis)
81A Mounted-SIO overrun status (SEL Communication failure.
reception) Check for noise, connected equipment and communication
setting.

436
In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
81B Mounted-SIO parity ER status (SEL Communication failure.
reception) Check for noise, shorted/disconnected communication
cable, connected equipment and communication setting.

81C Mounted-SIO framing ER status Communication failure.

(SEL reception) Check for noise, shorted/disconnected communication
cable, connected equipment and communication setting.
81D Mounted-SIO S-receive queue The receive queue in the mounted-SIO CPU overflowed.
overflow status (SEL reception) Excessive data was received from outside.
81E Mounted-SIO M-receive temporary The temporary receive queue in the main CPU overflowed.
queue overflow status (SEL Excessive data was received from outside.
Secret level errors

reception)
81F Mounted-SIO M-receive buffer The receive buffer overflowed.
overflow status (SEL reception) Excessive data was received from outside.
820 DRV status 820 (This is not an error, but maintenance information.)

Chapter 7 Troubleshooting
(TO_SELECTEDDATA)
821 Tracking system adjustment The tracking system adjustment classification indication is
classification indication error not appropriate Indicate only the allowable classification
type.
*It is an error only for SCARA
822 RC-gateway modbus Modbus communication was retried. (This is not an error.)
communication retry status
823 Power-off status during slave data The power was turned off while in the process of the data
flash ROM writing flash ROM writing on a slave board on such as the
extension motion control board.
824 Controller power-on Log This is the log for the controller power-on clock.
(This is not an error.)
825 Controller software reset Log This is the log for the controller software reset clock. (This
is not an error.)

7.3 Error List (MAIN application)

437
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
900 Blank step shortage error There are not enough blank steps to save step data.
Provide enough blank steps needed to save step data.
901 Step number error The step number is invalid.
902 Symbol-definition table number The symbol-definition table number is invalid.
error
903 Position number error The position number is invalid.
904 Variable number error The variable number is invalid.
905 Flag number error The flag number is invalid.
906 I/O port/flag number error The I/O port/flag number is invalid.
910 Command error (IAI protocol HT The command ID is not supported or invalid. (Reserved by
reception) the system)
911 Message conversion error (IAI The transmitted message does not match the message
protocol HT reception) format or contains invalid data. (Reserved by the system)
912 PC/TP servo-movement command Any axis movement command issued to the axis specified
acceptance-enable input OFF error in I/O parameter No. 78 from the PC/TP will not be
Chapter 7 Troubleshooting

accepted while the input port specified in I/O parameter No.

77 is OFF. (Important: The acceptance-enable input port will
become invalid once the operation is started.)
913 Multiple-program simultaneous Starting of multiple programs is prohibited.
start prohibition error
914 Abnormal absolute-data backup Check/replace the absolute-data backup battery and check
battery voltage the encoder cable connection, and then perform an
absolute reset.
Message level errors

915 Board type error The indicated board type is inappropriate.

916 Non-mounted device indication The indicated device is not mounted.
error
917 Slave Writing data type indication The indicated slave writing data type is inappropriate.
error
918 Number of slave parameters error� The indicated number of slave parameters is inappropriate.
919 Flash Writing denial error during Flash ROM writing of the pulse input and output board is
Operation commanded while an axis is in operation.
91A Electronic cam table section The indicated number of the electronic cam table section
Definition data number error (Main definition data is inappropriate.
7.3 Error List (MAIN application)

CPU detection)
91B Electronic cam table displacement The indicated number off the electronic cam table
data number error (Main CPU displacement data is inappropriate.
detection)
91C Extension motion control board An acquirement of the right to use was tried on the
axis duplicated use error (SIO� extension motion control board axis which is already in use.
PIO)�
91D Right to use extension motion There is no blank in the extension motion control board axis
control board axis acquirement use control area.
error (SIO�PIO)�
91E Right to use extension motion Acquirement of the right to use the extension motion control
control board axis already acquired board axis was newly tried in the condition the right is
error (New acquirement failure) already acquired.
(SIO�PIO)
91F Right to use extension motion Failure was occurred in the continuous acquirement of the
control board axis non-acquired right to use the extension motion control board axis.
error (Continuous acquirement
failure) (SIO�PIO)
920 Extension motion control board There is a mistake in the indication of the extension motion
axis number error control board axis number.

438
In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
921 Extension motion control board There is a mistake in the indication of the extension motion
axis position number error control board axis position number.

922 Extension motion control board An inappropriate parameter type was indicated in the
parameter type indication error� process of the extension motion control board parameter
reading/writing.
923 Extension motion control board An inappropriate parameter number was indicated in the
parameter number indication error process of the extension motion control board parameter
reading/writing.
924 Extension motion control board An inappropriate number of parameters was indicated in the
number of parameters indication process of the extension motion control board parameter
error� reading/writing.
925 Extension motion control board An inappropriate parameter device number was indicated in
parameter device number the process of the extension motion control board
indication error� parameter reading/writing.
926 Extension motion control board An inappropriate command type was indicated while in the

Chapter 7 Troubleshooting
flash ROM writing command type process of the flash ROM writing to the extension motion
error control board.
927 Extension motion control board An inappropriate table number was indicated while in the
electronic cam table number process of the electronic cam table data
indication error� reading/writing/clear.
928 Extension motion control board An inappropriate table section definition data number was
electronic cam table section indicated while in the process of the electronic cam table
definition data number indication data reading/writing/clear.
error
Message level errors

929 Extension motion control board An inappropriate table section definition number of data was
electronic cam table section indicated while in the process of the electronic cam table
definition number of data indication data reading/writing/clear.
error (Slave CPU detection)
92A Extension motion control board An inappropriate table displacement data number was
electronic cam table displacement indicated while in the process of the electronic cam table
data number indication error data reading/writing/clear.
92B Extension motion control board An inappropriate table number of displacement data was
electronic cam table number of indicated while in the process of the electronic cam table
displacement data indication error data reading/writing/clear.

7.3 Error List (MAIN application)

(Slave CPU detection)
92C Extension motion control board A writing command to the flash ROM was issued while in
flash ROM writing command denial the extension motion control board control axis operation.
error during axis in use Confirm that all the extension motion control board control
axes are stopped (not in use), and then conduct the writing
to the flash ROM again.
92D Extension motion control board A writing command to the electronic cam table data was
electronic cam table Writing issued while in the extension motion control board control
command denial error during axis axis operation.
in use Confirm that all the extension motion control board control
axes are stopped (not in use), and then conduct the writing
again.
92E Extension motion control board An inappropriate number of electronic cam tables was
number of electronic cam table s indicated while in the process of the electronic cam table
indication error data reading/writing/clear.�
92F Extension motion control board An inappropriate data type was indicated while in the
nemory initializing data type initializing process of the extension motion control board
indication error memory.
930 Coordinate system number error The coordinate system number is invalid.
* It is an error only for SCARA
931 Coordinate system type error The coordinate system type is invalid.
* It is an error only for SCARA

439
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
932 Specification error for number of The specified number of coordinate system definition data
coordinate system definition data is invalid.
* It is an error only for SCARA

933 Axis number error The axis number is invalid.

* It is an error only for SCARA
934 SCARA ABS reset special There is an error in the SCARA ABS reset special
movement operation type error movement operation type.
* It is an error only for SCARA
935 Positioning operation type error The positioning operation type is invalid.
936 Simple contact check zone number The simple contact check zone number is invalid.
error
938 Specification error for number of The specified number of simple contact check zone data is
simple contact check zone data invalid.
Chapter 7 Troubleshooting

939 Simple contact check zone entry An entry into the simple contact check zone was detected.
detected (message level (Message level specification)
specification)
93A R- axis CP Job forbidden error out Move each axis into the operation range with JOG
of operation range (when there is operation.
tool X and Y offset)
93B Extension motion control board Automatic update of the home preset cannot be performed
Home preset automatic update while in the synchronizing process of the extension motion
Message level errors

forbidden error during axis control board axis

synchronizing process
A03 Absolute-data backup battery The voltage of the absolute-data backup battery is low.
voltage-low warning (Driver Check the battery connection or replace the battery.
analysis)
A04 System mode error at core update An update command was received when the system was
not in the core update mode.
Before updating the core, confirm that a chip resistance for
setting core update mode is provided on the board. (For
maintenance)
A05 Motorola S record format error The update program file is invalid. Check the file.
7.3 Error List (MAIN application)

A06 Motorola S checksum error The update program file is invalid. Check the file.
A07 Motorola S load address error The update program file is invalid. Check the file.
A08 Motorola S write address over error The update program file is invalid. Check the file.
A09 Flash-ROM timing limit over error Error writing the flash ROM
(Write)
A0A Flash-ROM timing limit over error Error erasing the flash ROM
(Erase)
A0B Flash-ROM verify error Error erasing/writing the flash ROM
A0C Flash-ROM ACK timeout Error erasing/writing the flash ROM
A0D Head sector number specification Error erasing the flash ROM
error
A0E Sector count specification error Error erasing the flash ROM
A0F Write-destination offset address Error writing the flash ROM
error (Odd-numbered address)
A10 Write-source data buffer address Error writing the flash ROM
error (Odd-numbered address)
A11 Invalid core-code sector block ID The core program already written to the flash ROM is
error invalid.

440
In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
A12 Core-code sector block ID erase The number of times the flash ROM can be erased was
count Over exceeded.

A13 Flash-ROM write request error When updating, a flash-ROM write command was received
when erase is incomplete before a flash-ROM erase command.
Check the update program file and perform update again.
A14 Busy-status reset timeout error at A busy-status reset timeout occurred after executing
EEPROM write EEPROM write.
A15 EEPROM write request error due An EEPROM write request was received for a driver or
to no-EEPROM in target other unit with CPU not equipped with EEPROM.
A16 EEPROM read request error due to An EEPROM read request was received for a driver or
no-EEPROM in target other unit with CPU not equipped with EEPROM.
A17 Message checksum error (IAI The checksum in the received message is invalid.
protocol reception)

Chapter 7 Troubleshooting
A18 Message header error (IAI protocol The header in the received message is invalid.
reception) Invalid header position (message is 9 bytes or less) is
suspected, among other reasons.
A19 Message station number error (IAI The station number in the received message is invalid.
protocol reception)
Message level errors

A1A Message ID error (IAI protocol The ID in the received message is invalid.
reception)
A1C Message conversion error The transmitted message does not match the message
format or contains invalid data.
Check the transmitted message.
A1D Start mode error A start not permitted in the current mode (MANU/AUTO)
was attempted.
A1E Start condition non-satisfaction Start was attempted when the start condition was not
error satisfied, such as when an all-operation-cancellation factor
(see the 7-segment display: Drive-source cutoff, mode
switching, error, auto-start switch OFF edge, deadman
switch, safety gate, emergency stop, etc.) was present or
the flash ROM was being written.

7.3 Error List (MAIN application)

A1F Axis duplication error (SIO � PIO) The applicable axis is currently in use.
A20 Servo-control-right acquisition error The servo control right is not available.
(SIO � PIO)
A21 Servo-control-right The servo control right has already been acquired.
duplicate-acquisition error (SIO �
PIO)
A22 Servo-control-right non-acquisition An attempt to retain the servo control right has failed.
error (SIO � PIO)
A23 Absolute-data backup battery The voltage of the absolute-data backup battery is low.
voltage-low warning (Main Check the battery connection or replace the battery.
analysis)
A25 Step count specification error The specified number of steps is invalid.
A26 Program count specification error The specified number of programs is invalid.
A27 Program non-registration error The applicable program is not registered.
A28 Reorganization disable error during A program-area reorganization operation was attempted
program run while a program was running. End all active programs first.
A29 Active-program edit disable error An edit operation was attempted to a program currently not
running. End the applicable program first.
A2A Program inactive error The specified program is not running.

441
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
A2B Program-run command refusal Programs cannot be run from the TP/PC software
error in AUTO mode connector in the AUTO mode.
A2C Program number error The program number is invalid.

A2D Inactive program resumption error A resumption request was received for a program currently
not running.
A2E Inactive program pause error A pause request was received for a program currently not
running.
A2F Breakpoint error The step number specified as a breakpoint is invalid.
A30 Breakpoint setting-count The number of breakpoints to be set exceeds the limit
specification error value.
A31 Parameter change value error The value of parameter changed is invalid.
Chapter 7 Troubleshooting

A32 Parameter type error The parameter type is invalid.

A33 Parameter number error The parameter number is invalid.
A34 Card-parameter buffer read error Error reading the card-parameter buffer
A35 Card-parameter buffer write error Error writing the card-parameter buffer
A36 Parameter change refusal error Parameters cannot be changed during operation (program
during operation is running, servo is in use, etc.).
A37 Card manufacturing/function The card manufacturing/function information cannot be
information change refusal error changed.
Message level errors

A38 Parameter change refusal error An attempt was made to change a parameter whose
during servo ON change is not permitted while the servo is ON.
A39 Non-acquired card parameter An attempt was made to change a parameter for a card not
change error recognized at reset.
A3A Device number error The device number is invalid.
A3C Memory initialization type The specified memory initialization type is invalid.
specification error
A3D Unit type error The unit type is invalid.
A3E SEL write data type specification The specified SEL write data type is invalid.
7.3 Error List (MAIN application)

error
A3F Flash-ROM write refusal error The flash ROM cannot be written while a program is
during program run running.
A40 Data change refusal error during Data cannot be changed while the flash ROM is being
flash ROM write written.
A41 Duplicate flash-ROM write Another flash-ROM write command was received while the
commands refusal error flash ROM was being written.
A42 Direct monitor prohibition error Direct monitor is prohibited while the flash ROM is being
during flash ROM write written.
A43 P0/P3-area direct monitor Direct monitor in the P0/P3 areas is prohibited.
prohibition error
A44 Position-data count specification The specified number of position data is invalid.
error
A45 Symbol-record count specification The specified number of symbol records is invalid.
error
A46 Variable-data count specification The specified number of variable data is invalid.
error
A48 Error-detail query type 1 error Error-detail query type 1 is invalid.
A49 Error-detail query type 2 error Error-detail query type 2 is invalid.
A4A Monitoring data type error The data type for monitoring data query is invalid.

442
In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
A4B Monitoring-record count The specified number of records for monitoring data query
specification error is invalid.
A4C Monitoring-operation special The driver special command ACK generated a timeout
command register busy error during monitoring operation.

A4E Parameter register busy error at The driver special command ACK generated a timeout at
issuance of slave command issuance of a slave command.
A4F Software reset refusal error during Software reset (SIO) is prohibited during operation
operation (program is running, servo is in use, etc.).
A50 Drive-source recovery request The drive-source cutoff factor (error, deadman switch,
refusal error safety gate, emergency stop, etc.) has not been removed.
A51 Operation-pause reset request The all-operation-pause factor (drive-source cutoff,
refusal error operation-pause signal, deadman switch, safety gate,
emergency stop, etc.) has not been removed.

Chapter 7 Troubleshooting
A53 Refusal error due to servo ON A processing not permitted during servo ON was attempted.
A54 Refusal error due to unsupported The function is not supported.
function
A55 Refusal error due to exclusive A processing not opened to users other than the
manufacturer function manufacturer was attempted.
A56 Refusal error due to invalid data The data is invalid.
A57 Program start duplication error An attempt was made to start a program currently running.
A58 BCD error warning The BCD value being read may be invalid, or the value
Message level errors

being written (variable 99) may be a negative value, among

other reasons.
A59 IN/OUT command port flag error The number of I/O ports (flags) may have exceeded 32,
warning among other reasons. Check the I/O port (flag)
specifications.
A5B Character-string � value The specified number of converting characters is invalid or
conversion error warning characters that cannot be converted to value are included.
A5C Copying-character count error The specified number of copying characters is invalid.
warning with SCPY command

7.3 Error List (MAIN application)

A5D SCIF open error in non-AUTO The channel was opened in a non-AUTO mode. In the
mode MANU mode, the PC/TP connection must be forcibly
disconnected before opening the serial channel opened to
the user. Exercise caution.
A5E I/O-port/flag count specification The specified number of I/O ports/flags is invalid.
error
A5F Fieldbus error (LERROR-ON) A LERROR-ON was detected.
A60 Fieldbus error (LERROR-BLINK) A LERROR-BLINK was detected.
A61 Fieldbus error (HERROR-ON) A HERROR-ON was detected.
A62 Fieldbus error (HERROR-BLINK) A HERROR-BLINK was detected.
A63 Fieldbus not ready Fieldbus ready cannot be confirmed.
A64 SCIF overrun error (SIO bridge) Communication failure.
Check for noise, connected equipment and communication
setting.
A65 SCIF receive error (SIO bridge) Communication failure.
Check for noise, shorted/disconnected communication
cable, connected equipment and communication setting.
A66 SCI overrun error (SIO bridge) Communication failure.
Check for noise, circuit failure and slave card.

443
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
A67 SCI framing error (SIO bridge) Communication failure.
Check for noise, shorting, circuit failure and slave card.

A68 SCI parity error (SIO bridge) Communication failure.

Check for noise, shorting, circuit failure and slave card.
A69 Data change refusal error during An attempt was made to change data whose change is
operation prohibited during operation (program is running, servo is in
use, etc.).
Message level errors

A6A Software reset refusal error during Software reset is prohibited while data is being written to
write the flash ROM or slave parameters are being written.
A6B Fieldbus error (FBRS link error) A FBRS link error was detected.
Chapter 7 Troubleshooting

A6C PC/TP start command refusal error Starting from the PC software/TP connector is prohibited in
in AUTO mode the AUTO mode.
A6D P0/P3/FROM-area direct write Direct write to the P0/P3/FROM areas is prohibited.
prohibition error
A6E Refusal error during write A processing not permitted while data is being written to the
flash ROM or slave parameters are being written was
attempted.
A6F Driver monitor type mismatch error The monitor type supported by the standard DIO board or
based on the capacity of FROM on the main CPU board
does not match the monitor type on the PC software side
(selected on the monitor screen).
7.3 Error List (MAIN application)

444
In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
B00 SCHA setting error The setting of SCHA command is invalid.
B01 TPCD setting error The setting of TPCD command is invalid.
B02 SLEN setting error The setting of SLEN command is invalid.
B03 Home-return method error The setting of “Axis-specific parameter No. 10,
Home-return method” is invalid. (Not incremental encoder
AND current position 0 home is specified, etc.)
B04 1-shot-pulse output excessive The number of BTPN and BTPF timers operating in one
simultaneous use error program simultaneously exceeds the upper limit (16).
B05 Estimate-stroke over error at home The operation at home return exceeded the estimate
return stroke. The home sensor or creep sensor may be faulty,
among other reasons.
B06 Expanded-SIO in-use error An attempt was made to open a channel already opened
by other task.
B07 Expanded-SIO unopen error An attempt was made to use a channel not opened by own
task.

Chapter 7 Troubleshooting
B08 Expanded-SIO duplicate WRIT WRIT commands were executed simultaneously by
execution error multiple tasks for the same channel.
B09 Expanded-SIO RS485 WRIT and READ commands were executed
WRIT/READ simultaneous simultaneously in the RS485 mode.
execution error
B0A Expanded-SIO An attempt was made to use a channel not assigned
Operation-cancellation level errors

unassigned-channel use error properly.

Check I/O parameter Nos. 100 to 111 and the statuses of
I/O slots.
B0B Pressing release WAIT timeout Pressing time has passed the allowable limit without a
error command for pressing release from the host system during
the stopper pressing position acquirement or pressing
operation at stopper pressing method absolute reset.
It is concerned that the connection of the PC software may
be cut due to a communication failure.
Reconnect the PC software and restart the process from
the first step.
B0C Pressing release movement The unit is in a condition that the pressing release
condition non-established error movement cannot be performed during the stopper
pressing position acquirement or pressing operation at

7.3 Error List (MAIN application)

stopper pressing method absolute reset.
Pressing operation is cancelled due to such reasons as an
error generation or emergency stop.
Restart the process from the first step.
B0D Stopper pressing movement start The start position for stopper pressing movement is too
position error close to the stopper during the stopper pressing position
acquirement or pressing operation at stopper pressing
method absolute reset. Put the start position further from
the stopper and try again.
B10 Z-phase search timeout error Z-phase cannot be detected.
Check items such as the operation restrain, wiring, motor
or home sensor.
B11 Home sensor escape timeout error The escape from the home sensor has not been
confirmed within the specified time period.
Check the stuck, wiring, motor or home sensor, etc.
B12 SEL command return dome SEL command return dome storage variable number error
storage variable number error
B15 Input port debug filter type error There is an error in the input port debug filter type setting.
B16 SEL operand indication error There is an error in the SEL command language operand
indication.

445
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
B17 Parameter register busy error in Driver special command ACK has timed out in the slave
slave command issuance command issuance.
B18 Device number error There is an error in the device number
B19 Unit type error There is an error in the unit type.
B1A ABS reset indication error There is an error in the selection in the ABS reset using the
option function, etc. (Ex: Simultaneous selection of two or
more axes, or selection of the axis except for that of the
ABS encoder, etc.)
B1B EtherNet non-closed socket open Without closing the socket, it was tried to get open again.
error
B1C EtherNet I/F used in other task The channel already open in another task is tried to get
error open again.
B1D EtherNet non-open error The channel that is not open in its own task is tried to be
used.
B1E EtherNet WRIT execution WRIT command was executed by multiple tasks at the
Chapter 7 Troubleshooting

duplicated error same time to the same channel, or WRIT command was
executed again without CLOS command -> OPEN
command not being executed after WRIT was failed (due
to communication error, etc.).
B1F Ethernet job busy error A new task was tried to be stared while the EtherNet mail
box control job is busy.
Operation-cancellation level errors

B20 Ethernet uninitialized device use The Ethernet system tries to be used while the initialization
error of the Ethernet devices has not been completed.
Check I/O parameters such as No. 123 to 159, 14, 15, and
so on depending on the purpose of use.
B21 Ethernet IP address error An error will generate under the following conditions during
normal use.When IP address (H) (first octet) through IP
address (L) (fourth octet) are given as IP_H, IP_MH,
IP_ML and IP_L, the error conditions are described as
follows:
IP_H � 0 or IP_H = 127 or IP_H > 255
or IP_MH < 0 or IP_MH > 255
or IP_ML < 0 or IP_ML > 255
or IP_L � 0 or IP_L � 255
Check I/O parameters No. 132 to 135, 149 to 152, 154 to
7.3 Error List (MAIN application)

157 or the integer variable connected IP address indicated

in IPCN command.
B22 Ethernet port number error An error will generate if own port number < 1025, or own
port number > 65535,
or own port number duplication,
or connection-destination port number for client � 0,
or connection-destination port number for client > 65535,
or connection-destination port number for server < 0,
or connection-destination port number for server > 65535
is satisfied.
Check I/O parameter Nos. 144 to 148, 159, 153, and 158,
the port number of connection destination specified by an
IPCN command in an integer variable, or the like.
B26 Ethernet communication mode It is the communication mode error.
error�
B27 Vision system specifying error� The vision system I/F attempted to be used is different
from the vision system I/F that is currently used.
Release the used vision system (SLVS command
operation 1 [0]) before indicating a vision system I/F to be
used.

446
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
B28 Vision system I/F initializing Initializing for the vision system I/F is incomplete.
incomplete error� Check I/O parameters No. 165 to 169 and 351 to 367, All
Axes parameters No. 121 and 141 and so on.
B29 Vision system I/F used in other The specified vision system I/F is used in another task.
Task error�
B2A Vision system I/F capturing There is an error in the Z-axis position at GTVD command
position failure error execution.
Check All Axes parameters No. 125, 130, 145 and 150 and
so on.
B44 Load weight setting error The load weight exceeded the maximum transportable
weight of the robot.
Check the weight setting.
* It is an error only for SCARA
B4B Load weight change forbidden The load weight that the servo system currently uses
error during servo use cannot be changed.
B4D Arm system setting error There is an error in the arm system settings.

Chapter 7 Troubleshooting
The current arm system is different from the target arm
system of the position if the target arm system data is set
to the position that the SCARA CP movement (linear
interpolation, arch interpolation movement, etc.) is to be
conducted.
In this case, make the current arm system and the target
arm system of the position the same.
Operation-cancellation level errors

* It is an error only for SCARA

B4E Position gain switchover error The position gain could not be switched over. It may be
concerned that;
•� A position gain switchover was tried to be conducted to
the axis in move or pressing operation,
•� The program was finished during the position gain
switchover, or
•� The actuator does not stay in the positioning band due
to generated vibration, etc.
B70 Coordinate system definition data The flash ROM data is corrupted.
checksum error
B71 Coordinate system number error The coordinate system number is invalid.

7.3 Error List (MAIN application)

B72 Coordinate system type error The coordinate system type is invalid.
B73 Change prohibition error for Changing the coordinate system data currently used by the
coordinate system data in use by servo system is prohibited.
servo
B74 CP operation limited area Invasion It was detected that the actuator got into the CP operation
error�(PTP and JOG available on restriction band.
each axis) PTP operation and JOG operation of each axis are
available.
B75 Singularity calculation error CP calculation cannot be performed because it is a
singularity.
Check if there is any error in the coordinates due to the
2nd arm home position failure.
B77 Current arm system setting error The arm system to be set and the 2nd arm actual angle
are not matched, or in the condition that the coordinates
are not determined.
B78 Current arm system unsettled error Currently, the arm system is not unsettled.
B79 R- axis servo-off detection error It was detected that the servo has been turned off on the
during posture control adjustment R-axis during the posture control adjustment.
B7A Z- axis servo-off detection error It was detected that the servo has been turned off on the
during RZ structure adjustment Z- axis during RZ structure adjustment.
* for SCARA only

447
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
B7B Target track error in back side The target position or the movement track is in the
keep-out area keep-out area at the back side.
B7C Target track error in CP operation The target position or the movement track is in the CP
restriction band operation restriction band.
(PTP and JOG available on each PTP operation and JOG operation of each axis are
axis)� available.
B7D Physically unachievable target A target that is not achievable with the construction of the
Setting error 1st and 2nd axes arm length was indicated.
Check the settings in “Each axis parameter No. 138 arm
length” and the target value.
B7F Servo use purpose error There is an error in the purpose of the servo use.
B80 Specification-prohibited axis error Specification of the axis is prohibited.
Set an axis that can be specified.
B81 Axis-specific PTP multiple-axis Axis-specific PTP operation was specified for multiple
specification error axes.
Axis-specific PTP operation can be specified only for one
Chapter 7 Troubleshooting

axis.
B82 Jog multiple-axis specification error Jog/inching was specified for multiple axes.
Jog/inching can be specified only for one axis.
B83 Rc = 0 WAIT timeout error at R -axis 0 positioning timeout error has occurred. Check the
Zc-Axis home-return restrictions in operation, wiring, encoder motor and so on.
B84 Arm length error There is an error in the arm length. Check the setting in
Operation-cancellation level errors

“Each Axis Parameter No. 138 Arm Length”.

B85 Operation start position The operation start position cannot be acquired in the
acquirement error in application application servo use work area.
servo use work area

B86 SEL PTRQ command preparation There is an error in the setting of PTRQ Command.
Process Error Check if the set value is out of the allowable range.
B87 Tool datum point target track error The target position or the movement track is in the area of
in keep-out circle the tool datum keep-out circle.
B88 Logic error at effective target data An internal logic error has occurred during the effective
calculation target data calculation.
B89 SCARA CP logic error An internal logic error has occurred during the SCARA CP
7.3 Error List (MAIN application)

process.
B8C Simple contact check zone entry An entry into the simple contact check zone was detected.
detected (operation-cancellation (Operation-cancellation level specification)
level specification)
B8D SLPR parameter type specification The specified SLPR parameter type is invalid.
error
B8E SEL STPR command preparation An error similar to error Nos. A3A, A39 and A35 was
error detected.
B8F Positioning time calculation error A positioning time calculation error occurred.
B90 Transit distance calculation error Transit distance calculation error has occurred.
B91 Main excess Speed Necessity An excess velocity is requested. This error also may occur
error when passing near a singularity with CP operation.
Program the CP operation under a consideration to make
away from the singularities.
This error could be avoided by reducing the indicated
velocity.

B96 Servo-off axis detection error It was detected that the servo has turned off for the
during structure adjustment adjustment axis during the structure adjustment process.

448
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
C02 Executable program count over Execution requests were received for programs exceeding
error the number that can be executed simultaneously.

C03 Non-registered program A number not yet registered among program Nos. 1 to 128
specification error was specified via an I/O or in a program.
C04 Program entry point non-detection A request was made to execute a program number for
error which no program steps are registered.
C05 Program first-step BGSR error The program specified for execution starts with BGSR.
C06 Executable step non-detection The program specified for execution does not contain
error executable program steps.
C07 Subroutine non-definition error The subroutine specified for call is not defined.
C08 Subroutine duplicate-definition The same subroutine number is defined at multiple
error locations.
C0A Tag duplicate-definition error The same tag number is defined at multiple locations.
C0B Tag non-definition error The tag specified as the jump destination of a GOTO

Chapter 7 Troubleshooting
statement is not defined.
C0C DW/IF/IS/SL pair-end mismatch The branching command syntax is invalid.
error Correspondence with the last appearing branching
command is invalid when EDIF, EDDO or EDSL is used.
Check the correspondence between IF/IS command and
EDIF, DO command and EDDO or SLCT command and
Operation-cancellation level errors

EDSL.
C0D DW/IF/IS/SL no pair-end error EDIF, EDDO or EDSL is not found.
Check the correspondence between IF/IS command and
EDIF, DO command and EDDO or SLCT command and
EDSL.
C0E BGSR no pair-end error There is no EDSR for BGSR, or no BGSR for EDSR.
Check the correspondence between BGSR and EDSR.
C0F DO/IF/IS over-nesting error The number of nests in a DO or IF/IS command exceeds
the limit value.
Check for excessive nesting or branching out of or into the
syntax using a GOTO command.
C10 SLCT over-nesting error The number of nests in a SLCT command exceeds the
limit value.

7.3 Error List (MAIN application)

Check for excessive nesting or branching out of or into the
syntax using a GOTO command.
C11 Subroutine over-nesting error The number of nests in a subroutine exceeds the limit
value.
Check for excessive nesting or branching out of or into the
syntax using a GOTO command.
C12 DO/IF/IS under-nesting error The EDIF or EDDO position is invalid.
Check the correspondence between IF/IS command and
EDIF or DO command and EDDO, or branching out of or
into the syntax using a GOTO command.
C13 SLCT under-nesting error The EDSL position is invalid.
Check the correspondence between SLCT and EDSR, or
branching out of or into the syntax using a GOTO
command.
C14 Subroutine under-nesting error The EDSR position is invalid.
Check the correspondence between BGSR and EDSR, or
branching out of or into the syntax using a GOTO
command.
C15 SLCT next-step command code The program step next to SLCT must be WHEQ, WHNE,
error WHGT, WHGE, WHLT, WHLE, WSEQ, WSNE, OTHE or
EDSL.

449
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
C16 Create stack failed Initialization of the input-condition-status storage stack has
failed.
C17 Expansion-condition code error Input program step error. The expansion condition code is
invalid.
C18 Expansion-condition LD The number of LDs processed simultaneously exceeds the
simultaneous processing over error limit value.
C19 Expansion-condition LD shortage There is not enough LD when expansion condition A or O
error 1 is used.
C1A Expansion-condition LD shortage There is not enough LD when expansion condition AB or
error 2 OB is used.
C1C Unused-LD detection error An attempt was made to execute a command based on
multiple LD condition that has been saved, without using it
in expansion condition AB or OB.
C1F Input-condition CND shortage error The necessary input condition is not found when an
expansion condition is used.
Chapter 7 Troubleshooting

C21 Input-condition use error with Input-condition prohibited commands prohibit the use of
input-condition prohibited input conditions.
command
C22 Invalid command position error A command for which input condition is prohibited cannot
with input-condition prohibited be included in an input condition nest.
command
C23 Invalid operand error Program step error. The necessary operand data is invalid.
C24 Operand type error Program step error. The operand data type is invalid.
C25 Actuator control declaration error The setting of actuator control declaration command is
invalid.
C26 Timer setting-range over error The timer setting is invalid.
C27 Timeout setting-range over error The timeout setting is invalid.
during wait
C28 Tick count setting-range error The Tick count setting is invalid.
C29 DIV command divisor 0 error “0” was specified as the divisor in the DIV command.
C2A SQR command range error The operand value in the SQR command is invalid. Input a
value larger than “0” as data in a SQR command.
C2B BCD display digit range error The specified number of BCD display digits is invalid.
7.3 Error List (MAIN application)

Specify a value between 1 and 8.

C2C Program number error A number not yet registered among program Nos. 1 to 64
was specified.
C2D Step number error The step number is invalid.
C2E Blank step shortage error There are not enough blank steps to save step data.
Provide enough blank steps needed to save step data.
C2F Axis number error The axis number is invalid.
C30 Axis pattern error The axis pattern is invalid.
C32 Operating-axis addition error An operation axis of the position data was added during
during command execution the calculation process of the continuous position
movement or pressing movement.
C33 Base axis number error The base axis number is invalid.
C34 Zone number error The zone number is invalid.
C35 Position No. error The Position No. is invalid.
C36 I/O port/flag number error The I/O port/flag number is invalid.
C37 Flag number error The flag number is invalid.
C38 Tag number error The tag number is invalid.
C39 Subroutine number error The subroutine number is invalid.

450
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
C3A User-open communication channel The channel number of the communication channel
number error opened to the user is invalid.
C3B Parameter number error The parameter number is invalid.
C3C Variable number error The variable number is invalid.
C3D String number error The string number is invalid.
C3E String-variable data count The specified number of string variables exceeds the area,
specification error etc.
C40 String-variable delimiter Delimiter cannot be detected in the string variable.
non-detection error
C41 String-variable copy size over error The copy size of string variable is too large.
C42 Character count non-detection The character-string length is not defined in string
error during string processing processing.
Execute a string processing command after defining the
length with a SLEN command.
C43 Character-string length error during The character-string length used in string processing is

Chapter 7 Troubleshooting
string processing invalid.
Check the value of character-string length defined by a
SLEN command.
C45 Symbol definition table number The symbol definition table number is invalid.
error
C46 Blank area shortage error with There is not enough area to store the source symbols.
source-symbol storage table Check the number of times source symbol can be used.
Operation-cancellation level errors

C47 Symbol search error Definitions are not found for the symbols used in the
program steps.
C48 SIO-message continuous The transmitted SIO message does not match the
conversion error message format or contains invalid data.
Check the transmitted message.
C49 SEL-SIO in-use error The SIO is being used by other interpreter task.
C4A SCIF unopen error Serial channel 1 opened to the user is not opened in the
target task.
Open the channel using an OPEN command first.
C4B Delimiter non-definition error An end character is not defined.
Set an end character using a SCHA command first.

7.3 Error List (MAIN application)

C4E SIO invalid usage OPEN error The usage of serial channel opened to the user does not
match the parameter.
Check “I/O parameter No. 90, Usage of SIO channel
opened to user.”
C4F SEL program/source symbol The flash ROM data has been destroyed.
checksum error
C50 Symbol definition table checksum The flash ROM data has been destroyed.
error
C51 Position data checksum error The flash ROM data has been destroyed.
C53 Invalid flash-ROM SEL global The SEL global data/error lists in the flash ROM are
data/error list error invalid.
C54 Flash-ROM SEL global data/error The SEL global data/error lists in the flash ROM are
list duplication error duplicated.
C55 Flash-ROM erase count over error The number of time the flash ROM containing SEL global
for SEL global data/error lists data/error lists can be erased was exceeded.
C56 Timing limit over error (Flash ROM Error erasing the flash ROM
erase)
C57 Flash-ROM verify error (Flash Error erasing the flash ROM
ROM erase)
C58 Flash-ROM ACK timeout error Error erasing the flash ROM
(Flash ROM erase)

451
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
C59 Head sector number specification Error erasing the flash ROM
error (Flash ROM erase)
C5A Sector count specification error Error erasing the flash ROM
(Flash ROM erase)
C5B Timing limit over error (Flash ROM Error writing the flash ROM
write)
C5C Flash-ROM verify error (Flash Error writing the flash ROM
ROM write)
C5D Flash-ROM ACK timeout error Error writing the flash ROM
(Flash ROM write)
C5E Write-destination offset address Error writing the flash ROM
error (Flash ROM write)
C5F Write-source data buffer address Error writing the flash ROM
error (Flash ROM write)
C60 No SEL global data/error list write There is no area to write the erased SEL global data/error
Chapter 7 Troubleshooting

area error lists.

C61 SEL-data flash-ROM erase count The number of times the flash ROM containing SEL data
over error can be erased was exceeded.
C62 Operation command error at servo An attempt was made to execute an operation command
OFF when the servo was OFF.
C63 Servo operation condition error The servo is not in an operation-enabled condition.
Operation-cancellation level errors

C64 Invalid servo The internal servo acceleration/deceleration is invalid.

acceleration/deceleration error
C65 Servo ON/OFF logic error The servo ON/OFF logic between the main and driver is
invalid.
C66 Axis duplication error An attempt was made to acquire the control right to an axis
already in use.
C67 Servo-control-right acquisition error There is no space in the servo user management area.
C68 Servo-control-right The servo control right has already been acquired.
duplicate-acquisition error
C69 Servo-control-right non-acquisition A user who doesn’t have the servo control right attempted
error to retain the control right.
C6A Pressing Operation Flag Logic It is the pressing process internal logic error.
7.3 Error List (MAIN application)

Error
C6B Deviation overflow error The command cannot be followed.
Check for operation restriction, wiring, encoder, motor, etc.
C6C Movement error during absolute Axis movement was detected while acquiring absolute
data acquisition encoder data after the power was turned on.
The power may have been turned or a software reset
executed while the actuator was moving due to external
force such as reactive force of a self-supported cable or
while the installation location was vibrating.
Or, a software reset may have been executed. Absolute
coordinates cannot be confirmed in this condition.
C6D Maximum installable axes over The specified number of axes exceeded the number of
error installable axes as a result of axis shift with a base
command.
C6E Servo-OFF axis use error An attempt was made to use an axis whose servo is OFF.
C6F Home-return incomplete error Home return has not completed yet.
This error may also occur if operation is performed
immediately after changing an encoder parameter,
performing an absolute encoder reset or resetting an
encoder error, without first executing a software reset or
reconnecting the power.

452
In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
C70 Absolute coordinate Absolute coordinates have not been confirmed. The power
non-confirmation error must be reconnected.
This error may also occur if operation is performed
immediately after changing an encoder parameter,
performing an absolute encoder reset or resetting an
encoder error, without first executing a software reset or
reconnecting the power.
C71 Synchro slave-axis command error A command was issued to the synchro slave axis.
C72 Overrun error The overrun sensor was actuated.
C73 Target-locus soft limit over error The target position or movement locus exceeds a soft limit.
* In the case of a SCARA specification, position data may
not exist for the applicable axis.
C74 Actual-position soft limit over error The actual position exceeds a soft limit by the “soft
limit/actual position margin” or more.
C75 Motion-data-packet generation The motion-data-packet generation logic is invalid.
logic error

Chapter 7 Troubleshooting
C76 Movement-position count over Too many packets are generated simultaneously.
error
C77 Handling-packet overflow error The servo handling packets overflowed.
C78 Motion-data-packet overflow error The servo motion data packets overflowed.
C79 Pole sense operation error Operation is disabled in the pole sense mode.
C7A Servo unsupported function error An attempt was made to use an unsupported function.
Operation-cancellation level errors

C7B Odd-pulse slide error Internal servo calculation error

C7C Odd-pulse processing logic error Internal servo calculation error
C7D Packet pulse shortage error Internal servo calculation error
C7E Quadratic equation solution error An error was detected while calculating a quadratic
equation solution.
C7F No valid specified axis error No valid axes are specified.
C80 Servo-packet calculation logic error Internal servo calculation error
If the controller is of absolute-encoder specification and an
“Error No. C74, Actual-position soft limit over error” is also
present, an absolute reset may not have been executed
correctly and consequently a servo packet calculation

7.3 Error List (MAIN application)

overflow occurred due to a current position error.
If this is the case, perform an absolute reset again by
following the procedure specified in the operation manual.
(Performing an “encoder error reset” operation in the
absolute reset window alone does not allow the controller
to recognize the current position correctly.
Always perform an absolute reset by strictly following the
specified procedure.)
C81 Operation-amount logic during Servo processing logic error
servo ON
C82 Servo direct command type error Servo processing logic error
C83 Servo calculation method type The servo calculation method type is invalid.
error
C84 In-use axis servo OFF error The servo of an axis currently in use (being processed)
was turned off.
C85 Non-installed driver error Driver is not installed for the applicable axis.
C86 Driver servo ready OFF error The ready signal for the driver of the applicable axis is
OFF.
C87 SEL unsupported function error An attempt was made to use a function not supported by
SEL.
C88 Speed specification error The specified speed is invalid.

453
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
C89 Acceleration/deceleration The specified acceleration/deceleration is invalid.
specification error
C8B Circle/arc calculation logic error The arc calculation logic is invalid.
C8D Circle/arc calculation error Position data that cannot be used in arc movement was
specified. Check the position data.
C8E Position deletion error during The final position data was deleted while continuous
command execution position movement was being calculated.
C8F Axis operation type error The axis operation type is invalid. Check “Axis-specific
parameter No. 1, axis operation type” and perform
operation appropriate for the operation type specified.
C90 Spline calculation logic error The spline processing logic is invalid.
C91 2 or more axes indication for Pressing operation of 2 or more axes was indicated.
pressing error
C92 Pressing approach distance and There is an error in indication of the pressing approach
velocity Indication error distance or velocity.
Chapter 7 Troubleshooting

C93 System output operation error The user attempted a system output operation (through the
port specified by I/O parameter for output function
selection or the zone output port specified by axis-specific
parameter).
C94 PIO program number error The program number specified by the PIO is outside the
range of 1 to 128.
C95 AUTO program number error The setting of “Other parameter No. 1, Auto-start program
Operation-cancellation level errors

number” is invalid.
C96 Start error from operation-abort (This error should not occur now that the specification has
program been changed.)
C97 Program number error for I/O The setting of “Other parameter No. 2, I/O processing
processing program at program number at operation/program abort” is invalid.
operation/program abort
C98 Program number error for I/O The setting of “Other parameter No. 3, I/O processing
processing program at operation program number at all operation pause” is invalid.
pause
C99 Home sensor non-detection error The home sensor cannot be detected.
Check the wiring and sensor.
C9A Creep sensor non-detection error The creep sensor cannot be detected.
7.3 Error List (MAIN application)

Check the wiring and sensor.

C9B Phase Z non-detection error Phase Z cannot be detected.
Check the wiring and encoder.
There is a concern that the sliders are getting close to
each other if the actuator is the battery-free absolute
encoder and the multi-slider type. In such a case, have
clearance between the sliders and conduct the
home-return operation again.
C9C Defective phase-Z position error The phase-Z position is defective.
Normal wear and tear of the mechanical ends and home
sensor may also be a reason. Readjustment is necessary.
C9D Card parameter write error Error writing card parameters
C9E Servo calculation overflow error Internal servo calculation error
CA1 Abnormal absolute-data backup Check the connection of the absolute-data backup
battery voltage (Driver analysis) battery/replace the battery and/or check the encoder cable
connection, and then perform an absolute reset.
CA2 Abnormal absolute-data backup Check the connection of the absolute-data backup
battery voltage (Main analysis) battery/replace the battery and/or check the encoder cable
connection, and then perform an absolute reset.
CA3 Slave setting data out-of-range The data set to the slave is outside the allowable range.
error

454
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
CA4 Slave error response An error response was returned from the slave.
CA5 Stop deviation overflow error Movement may have occurred during stopping due to
external force or operation may have been restricted
during deceleration. This error may also generate when jog
operation is restricted (due to contact with an obstacle,
contact with a mechanical end before home return, etc.) or
when wiring error, faulty encoder or faulty motor is
detected during deceleration.
CA6 Palletizing number error The specified palletizing number is invalid.
CA7 Setting error of even-numbered The set even-numbered row count for palletizing zigzag is
row count for palletizing zigzag invalid.
CA8 Setting error of palletizing pitches The set palletizing pitches are abnormal.
CA9 Setting error of placement points in The set X/Y-axis direction counts for palletizing are invalid.
palletizing-axis directions
CAA Palletizing PASE/PAPS Neither PASE nor PAPS palletizing-setting command is
non-declaration error set. Set either command.

Chapter 7 Troubleshooting
CAB Palletizing position number error The specified palletizing position number is invalid.
CAC Palletizing position number setting The specified palletizing position number exceeds the
over position number range calculated for the current palletizing
setting.
CAD Palletizing PX/PY/PZ-axis Any two of the specified PX, PY and PZ-axes for palletizing
Operation-cancellation level errors

duplication error are the same axis.

CAE Insufficient valid axes for palletizing There are not enough valid axes in the position data for
3-point teaching position data palletizing 3-point teaching.
Axes to comprise the palletizing PX/PY planes cannot be
specified.
CAF Excessive valid axes for palletizing There are too many valid axes in the position data for
3-point teaching position data palletizing 3-point teaching.
Axes to comprise the palletizing PX/PY planes cannot be
specified.
CB0 Mismatched valid axes for The valid axis pattern in the position data for palletizing
palletizing 3-point teaching position 3-point teaching does not match.
data
CB1 Offset setting error at palletizing Zigzag offset (not zero) cannot be set in palletizing 3-point

7.3 Error List (MAIN application)

3-point teaching teaching, if the reference point is the same as the end
point of the PX-axis.
CB2 BGPA/EDPA pair-end mismatch The BGPA/EDPA syntax is invalid. EDPA was declared
error before BGPA, or another BGPA was declared after BGPA
without first declaring EDPA.
CB4 Arch-motion Z-axis non-declaration Z-axis has not been declared by PCHZ or ACHZ.
error
CB5 BGPA non-declaration error during Palletizing setting cannot be performed without first
palletizing setting declaring BGPA. Declare BGPA.
CB6 Palletizing point error The palletizing points are invalid (non-Z-axis components
for arch-motion movement are absent, etc.).
CB7 Arch-trigger non-declaration error Declare arch triggers using PTRG or ATRG.
CB8 No 3-point teaching setting error at The palletizing angle cannot be acquired until setting by
palletizing angle acquisition palletizing 3-point teaching is complete.
CB9 PX/PY-axis indeterminable error at Angle cannot be calculated because there are too many
palletizing angle acquisition valid axes in the 3-point teaching position data and thus
PX/PY-axes cannot be specified.
CBA Reference-axis/PY/PY-axis Angle cannot be calculated because the reference axis for
mismatch error at palletizing angle angle calculation is neither of the axes comprising the
acquisition PX/PY-axes as set by 3-point teaching.

455
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
CBB Reference-point/PX-axis end-point Angle cannot be calculated because the reference point of
duplication error at palletizing 3-point teaching is the same as the PX-axis end-point data
angle acquisition other than the PZ-axis component and thus arc tangent
cannot be calculated.
CBC Palletizing motion calculation error Trapezoid control calculation error for palletizing motion
CBD MOD command divisor 0 error “0” was specified as the divisor in the MOD command.
CBE Target-locus boundary over error The target position or movement locus exceeded the
positioning boundary in the infinite-stroke mode.
CBF Positioning distance overflow error The positioning distance is too large.
If the controller is of absolute-encoder specification and an
“Error No. C74, Actual-position soft limit over error” is also
present, an absolute reset may not have been executed
correctly and consequently a servo packet calculation
overflow occurred due to a current position error.
If this is the case, perform an absolute reset again by
following the procedure specified in the operation manual.
Chapter 7 Troubleshooting

(Performing an “encoder error reset” operation in the

absolute reset window alone does not allow the controller
to recognize the current position correctly.
Always perform an absolute reset by strictly following the
specified procedure.)
Operation-cancellation level errors

CC0 Axis mode error The axis mode is invalid.

CC1 Speed change condition error An attempt was made to change the speed of an axis
whose speed cannot be changed (axis operating in
S-motion, etc.).
CC2 Driver parameter list number error The driver parameter list number is invalid.
CC3 Angle error The angle is invalid.
CC4 SEL data error The SEL data is invalid.
CC5 Positioning boundary pull-out error An attempt was made to execute a command not permitted
outside the positioning boundary.
CC6 Driver error primary detection A driver error was found by primary detection.
CC7 Palletizing movement PZ-axis PZ-axis component is not found in the axis pattern during
pattern non-detection error palletizing movement.
CC8 Arch top Z-axis pattern Z-axis component relating to the highest position of arch
7.3 Error List (MAIN application)

non-detection error motion is not found in the axis pattern during arch motion
operation.
CC9 Arch trigger Z-axis pattern Z-axis component relating to arch motion is not found in
non-detection error the axis pattern of the arch-trigger declaration point data.
CCA Arch top/end-point reversing error The coordinates of highest point and end point are
reversed during arch motion operation.
CCB Arch start-point/trigger reversing The coordinates of start point and start-point arch trigger
error are reversed during arch motion operation.
CCC Arch end-point/trigger reversing The coordinates of end point and end-point arch trigger are
error reversed during arch motion operation.
CCD Drive-source cutoff axis use error An attempt was made to use an axis whose drive source is
cut off.
CCE Error axis use error An attempt was made to use an axis currently generating
an error.
CCF Palletizing The PX/PY(/PZ)-axes set by PASE/PCHZ are not valid in
reference-point/valid-axis the axis pattern of the reference- position data set by
mismatch error PAST.

456
In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
D01 Encoder EEPROM-write timeout The encoder is faulty or failure occurred in the encoder
error communication.
D02 Encoder EEPROM-read timeout The encoder is faulty or failure occurred in the encoder
error communication.
D03 Encoder count error Faulty encoder or defective encoder assembly condition is
suspected.
D04 Encoder one-revolution reset error The encoder is faulty or has turned.
D05 Encoder-EEPROM write The encoder is faulty or failure occurred in the encoder
acceptance error communication.
D06 Encoder received-data error The encoder is faulty or failure occurred in the encoder
communication.
D07 Driver logic error The driver CPU board is in a condition where it cannot
operate normally.
D08 Encoder CRC error The encoder is faulty or failure occurred in the encoder
communication.

Chapter 7 Troubleshooting
D09 Driver overspeed error The motor speed exceeded the upper limit.
D0A Driver overload error The power input to the motor exceeded the upper limit.
D0B Driver EEPROM data error Failure during write or EEPROM failure
D0C Encoder EEPROM data error Failure during write or EEPROM failure
D0E Axis sensor error An error occurred in the axis sensor.
D0F Power stage temperature error The power stage board exceeded the upper temperature
limit.
Cold-start level errors

D10 IPM error A failure occurred in the motor drive circuit.

D11 Driver abnormal interruption error The driver CPU board is in a condition where it cannot
operate normally.
D12 Encoder disconnection error The encoder cable is disconnected.
The power must be reconnected.
D13 FPGA watchdog timer error Failure in the interface with the main CPU
D14 Current loop underrun error Failure in the interface with the main CPU
D15 Driver-CPU down status error An error occurred in the driver CPU board.
D17 Main-CPU alarm status error Failure in the interface with the main CPU
D18 Speed loop underrun error Failure in the interface with the main CPU

7.3 Error List (MAIN application)

D19 Encoder receive timeout error The encoder is faulty or failure occurred in the encoder
communication.
D1A Driver command error An error occurred in the CPU bus command.
D1B Serial bus receive error Failure in the interface with the main CPU
D1C Encoder overspeed error The motor speed exceeded the upper limit.
D1D Encoder full-absolute status error The motor ran at the specified speed or above when the
power was turned on.
D1E Encoder counter overflow error The encoder rotation counter exceeded the upper limit.
D1F Encoder rotation error Faulty encoder or defective encoder assembly condition is
suspected.
D20 Driver error (Refer to error No. CA1.)
D22 Encoder rotation reset error The encoder is faulty or has turned.
D23 Encoder alarm reset error Faulty encoder
D24 Encoder ID error The encoder is faulty or failure occurred in the encoder
communication.
D25 Encoder configuration mismatch The encoder configuration information is outside the
error function information range.
D26 Motor configuration mismatch error The motor configuration information is outside the function
information range.

457
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
D40 Coordinate system data control Coordinate system data is destroyed.
domain sum check error Initialize the coordinate system data.�
D41 Coordinate system data control Coordinate system data is destroyed.
domain ID error� Initialize the coordinate system data.�
D42 Coordinate system data sum check Coordinate system data is destroyed.
error� Initialize the coordinate system data.�
D43 Fan error The fan is stopped or degenerated.
It should be replaced, because it might heat up because of
the controller’s fan stop.
D44 Baseboard CPU error There is an error on baseboard CPU.
D45 Hardware and software mismatch System software that is not compatible with the hardware
error is being updated.
Check the compatibility of the system software with the
hardware and update again.
D50 Fieldbus error (FBMIRQ timeout) A FBMIRQ timeout was detected.
Check the statuses of monitor LEDs on the front panel of
Chapter 7 Troubleshooting

the board by referring to the operation manual for the field

network board.
D51 Fieldbus error (FBMIRQ reset) A FBMIRQ reset error was detected.
Check the statuses of monitor LEDs on the front panel of
the board by referring to the operation manual for the field
network board.
D52 Fieldbus error (FBMBSY) A FBMBSY was detected.
Check the statuses of monitor LEDs on the front panel of
Cold-start level errors

the board by referring to the operation manual for the field

network board.
D53 Fieldbus error (BSYERR) A BSYERR was detected. The power must be
reconnected.
Check the statuses of monitor LEDs on the front panel of
the board by referring to the operation manual for the field
network board.
D54 Window lock error (LERR) A LERR was detected. The power must be reconnected.
Check the statuses of monitor LEDs on the front panel of
the board by referring to the operation manual for the field
network board.
7.3 Error List (MAIN application)

D55 Fieldbus error (Min busy) A Min busy error was detected.
Check the statuses of monitor LEDs on the front panel of
the board by referring to the operation manual for the field
network board.
D56 Fieldbus error (MinACK timeout) A Min ACK timeout was detected.
Check the statuses of monitor LEDs on the front panel of
the board by referring to the operation manual for the field
network board.
D57 Fieldbus error (MoutSTB timeout) A Mout STB timeout was detected.
Check the statuses of monitor LEDs on the front panel of
the board by referring to the operation manual for the field
network board.
D58 Fieldbus error (INIT timeout) An INIT timeout was detected.
Check the statuses of monitor LEDs on the front panel of
the board by referring to the operation manual for the field
network board.
D59 Fieldbus error (DPRAM write/read) A DPRAM write/read error was detected.
Check the statuses of monitor LEDs on the front panel of
the board by referring to the operation manual for the field
network board.

458
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
D5A Fieldbus error (TOGGLE timeout) A TOGGLE timeout was detected.
Check the statuses of monitor LEDs on the front panel of
the board by referring to the operation manual for the field
network board.
D5B Fieldbus error (Access-privilege An access-privilege retry over error was detected.
retry over) Check the statuses of monitor LEDs on the front panel of
the board by referring to the operation manual for the field
network board.
D5C Fieldbus error (Access-privilege An access-privilege open error was detected.
open error) Check the statuses of monitor LEDs on the front panel of
the board by referring to the operation manual for the field
network board.
D5D Fieldbus error (FBRS link error) A FBRS link error was detected.
Check the statuses of monitor LEDs on the front panel of
the board by referring to the operation manual for the field
network board.

Chapter 7 Troubleshooting
D5E Fieldbus error (Mailbox response) A mailbox response error was detected.
Check the statuses of monitor LEDs on the front panel of
the board by referring to the operation manual for the field
network board.
D5F Network I/F Module Class The type of I/F module specified in I/O parameter No. 225
Mismatch error� and the type of network module actually mounted do not
match.
�Check the setting in I/O parameter No. 225 and the
combination of network I/F module actually mounted.�
Cold-start level errors

D60 Expanded-SIO 2/4 CH insulation An Expanded-SIO insulation power error was detected.
power error
D61 Expanded-SIO 1/3 CH insulation An Expanded-SIO insulation power error was detected.
power error
D62 Expanded-SIO An Expanded-SIO clock oscillation error was detected.
baud-rate-generator clock
oscillation error
D63 Expanded-SIO UART paging error An Expanded-SIO paging error was detected.
D64 Expanded-SIO assignment error The “board channel assignment number” or “expanded-I/O
slot assignment number” in I/O parameter Nos. 100, 102,

7.3 Error List (MAIN application)

104, 106, 108 or 110 may be outside the input range or
duplicated, a serial communication expansion board may
not be installed in the specified slot, or a “communication
mode” other than RS232C may have been selected when
the “board channel assignment number” is other than “1” or
“2,” among other reasons.
D65 Power supply board mismatch The inserted power supply board (standard / high capacity)
error does not match with that set in the parameter.
D66 In-rush current control circuit error The in-rush current control relay is not working properly
even though the power is turned on.
D67 Motor/encoder configuration The “motor/encoder configuration information” (motor
information mismatch error identification number and encoder identification number) in
driver parameter No. 26 does not match the “motor/
encoder configuration information” (motor identification
number and encoder identification number) in encoder
parameter No. 11.
Check the parameter values, encoder cable connection,
etc.
D68 No remote-mode control support Hardware supporting remote-mode control is not installed,
board error although remote-mode control (AUTO/MANU) is specified
in I/O parameter No. 79.

459
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
D69 External terminal block overcurrent Overcurrent or power-supply error in the external terminal
or power-supply error block
D6A Hardware unsupported function An attempt was made to use a function not supported by
error the hardware.
D6B Overrun error The overrun sensor was actuated.
D6C Actual-position soft limit over error
The actual position exceeded a soft limit by the “soft
limit/actual position margin” or more.
D6D Logic error A logic error occurred.
D6F Optional password error The optional function specified for use requires an optional
password. Check other parameter Nos. 30 to 32, etc.,
depending on the function to be used.
D70 Optional use permission error Check if an option is specified in a system program where
use of the option is not permitted.
D71 Multi-slider master parameter error There is a failure in the multi-slider related parameter
settings.
Chapter 7 Troubleshooting

Check the setting in “Each Axis Parameter No. 104

Multi-Slider Excess Approach Detection Applicable Axis
Indication” and so on. There is a concern of a failure in the
both slider axis number mutual indication, indication of an
axis number physically unfeasible considering the structure
of the linear axis, or the synchro-slave axis number
indication.
D75 Fieldbus master parameter error� There is a fault in Fieldbus parameter error.
Check in I/O parameters No. 226 to 227, 237 to 238 and
Cold-start level errors

other considerable numbers.

It could be considered that;
•� A node address out of the range was set.
•� A communication speed out of the range is set.�
D76 Fieldbus module non-mounted Fieldbus module is not mounted.
error
D77 Fieldbus error �Exception�� Exception error was detected.
Check the condition of the LED lamps for the fieldbus
monitor by following the instruction manual for the field
network board.
D78 Encoder initialization error An encoder initialization error generated.
7.3 Error List (MAIN application)

D79 Encoder hardware error An encoder hardware error generated.

D7A Encoder ABS detection error An encoder ABS detection error generated.
D7B Encoder transducer error An encoder transducer error generated.
D7C Encoder signal strength error An encoder signal strength error generated.
D7D Encoder signal alarm error An encoder signal alarm error generated.
D7E Encoder thermal alarm error An encoder thermal alarm error generated.
D7F Ball screw spline axis parameter Check the axis-specific parameters Nos. 1, 38, 65, 104
error and 109 and all-axes parameter No. 1, etc.
D80 SCARA unsupported function error A function not supported by SCARA was tried to be used.
D81 Parameter error at effective target An error was detected in the parameter at the calculation
data calculation of the effective target data. Check Each Axes Parameters
No. 7, 8, 138 and so on.
D82 Simple contact check zone output For example, a value other than an output port/global flag
number specification error number (0 is permitted) may have been entered, or the
entered value may be the same as an output number
already specified in an I/O parameter for output function
selection.
D83 Simple contact check zone number The simple contact check zone number is invalid.
error

460
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
D84 Absolute track switchover error The encoder did not succeed to switch to the absolute
track output.
Encoder malfunction can be concerned.
D85 Absolute track reading error The absolute track signal has changed at the same point.
Encoder malfunction or encoder cable breakage can be
concerned.
D86 Absolute data abnormality error There is an error in the encoder information.
Encoder malfunction can be concerned.
D87 Absolute data parity error The absolute track signal is in the parity error.
Encoder malfunction or encoder cable breakage can be
concerned.
D88 Encoder information abnormality There is an error in the information acquired from the
error encoder.
Encoder malfunction or encoder cable breakage can be
concerned.�
D8A Optimized There is an error in the internal parameter settings for the

Chapter 7 Troubleshooting
acceleration/deceleration, optimized acceleration and SCARA Z position-horizontal
Zposition and horizontal movement movement optimization functions. The optimized
optimization functions internal acceleration or SCARA Z position-horizontal movement
parameter error optimization function cannot be used.
D8B Axis structure definition parameter There is an error in the axis structure definition related
error parameter settings.
D8C Vision system I/F parameter error� There is an error in the parameter settings.
Check I/O Parameters No. 165 to 169 and 351 to 367 and
All Axes Parameters No. 61, 112, 121 and 141.
Cold-start level errors

D8F Simple Interference check zone There is an error in the way to indicate the simple
defined coordinate indication error interference check zone defined coordinate.
Indicate the defined coordinate to the 1st to 4th axes or 5th
to 8th axes.
E01 DMA address error DMA transfer error
E02 SCIF send-buffer overflow error The SCIF send buffer overflowed.
E03 SCI send-buffer overflow error The SCI send buffer overflowed.
E04 SCIF receive-buffer overflow error The SCIF receive buffer overflowed.
Excessive data was received from outside.

7.3 Error List (MAIN application)

E05 SCI receive-buffer overflow error The SCI receive buffer overflowed.
Excessive data was received from the slave.
E06 Receive timeout error (Slave Response from the slave cannot be recognized.
communication)
E07 SCI overrun error (Slave Communication failure.
communication) Check for noise, circuit failure and slave card.
E08 SCI framing error (Slave Communication failure.
communication) Check for noise, shorting, circuit failure and slave card.
E09 SCI parity error (Slave Communication failure.
communication) Check for noise, shorting, circuit failure and slave card.
E0A SCI CRC error (Slave The CRC in the message is invalid.
communication)
E10 SCIF communication mode error The communication mode is invalid.
E11 SCI communication mode error The communication mode is invalid.
E12 SIO-bridge SCIF send-queue The send queue overflowed.
overflow error
E13 SIO-bridge SCI send-queue The send queue overflowed.
overflow error
E14 SCI receive-data-register full wait Communication failure.
timeout error Check for noise, shorting, circuit failure and slave card.

461
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
E15 SCI overrun error Communication failure.
Check for noise, shorting, circuit failure and slave card.
E16 Program end confirmation timeout The program cannot be ended.
error
E17 I/O-processing-program start logic The I/O-processing-program start logic is invalid.
error
E18 Task ID error The task ID is invalid.
E19 WAIT factor error The WAIT factor is invalid.
E1A WAIT logic error The WAIT logic is invalid.
E1B Position-data valid address error Position-data valid address is not set.
E1C Source data error The source data is invalid.
E1D Unaffected output number error The unaffected output number is invalid.
A value other than an output port number (“0” is
acceptable) may be input in I/O parameter Nos. 70 to 73.
E1E Zone parameter error A value other than an output port/global flag number (“0” is
Chapter 7 Troubleshooting

acceptable) or duplicate numbers may be input in

axis-specific parameter Nos. 88, 91, 94 and 97, or the
output number specified as system output in the I/O
parameter for output function selection may be duplicated,
among other reasons.
E1F I/O assignment parameter error A value other than an I/O port number (“-1” is acceptable)
or other than an I/O head port number + [multiple of 8] may
be input in I/O parameter Nos. 2 to 9, or a value other than
Cold-start level errors

a [multiple of 8] may be input in I/O parameter Nos. 14 to

17.
E20 I/O assignment duplication error I/O assignments are duplicated.
Check I/O parameter Nos. 2 to 9 and 14 to 17 and the I/O
slot card type (number of I/Os), etc.
E21 I/O assignment count over error The I/O assignments exceed the specified range. Check
I/O parameter Nos. 2 to 9 and 14 to 17 and the I/O slot
card type (number of I/Os).
E22 Header error (Slave The header in the message received from the slave card is
communication) invalid.
E23 Card ID error (Slave The card ID in the message received from the slave card is
7.3 Error List (MAIN application)

communication) invalid.
E24 Response type error (Slave The response type in the message received from the slave
communication) card is invalid.
E25 Command type error (Slave The command type of the transmitting command is invalid.
communication)
E26 Target type error The target type is invalid.
E27 No target error Target (driver card, I/O card, encoder or other slave card)
is not installed.
E29 EEPROM error (EWEN/EWDS not EEPROM access error (when writing)
permitted)
E2A Read compare mismatch error EEPROM access error (when writing)
during EEPROM write
E2B Abnormal response error when An abnormal response was received when a
sending EEPROM information slave-EEPROM information acquisition command was
acquisition command sent.
E2C Maximum receive size over error The maximum receive size exceeds the limit value when a
when sending EEPROM slave-EEPROM information acquisition command is sent.
information acquisition command

462
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
E2D Receive-data checksum error The checksum of receive data is invalid when a
when sending EEPROM slave-EEPROM information acquisition command is sent.
information acquisition command
E2E No required power stage error The required power stage is not installed for the valid axes.
E2F No required regenerative The required regenerative resistance is not installed for the
resistance error valid axes.
E30 No required motor-drive power The required motor-drive power is not installed for the valid
error axes.
E31 No standard I/O slot error Standard I/O unit is not installed.
E32 No control power error Control power unit is not installed.
E33 Slave response logic error The slave response logic is invalid.
E34 Slave block number out of range The slave block number is out of range.
E37 Slave data setting prohibited Setting of slave data is prohibited.
E38 Faulty slave EEPROM The slave EEPROM is faulty.
E39 No encoder EEPROM error The encoder is not equipped with EEPROM.

Chapter 7 Troubleshooting
E3A Absolute encoder error Absolute encoder is specified illegally.
E3C Undefined slave-command error An undefined slave-command error code was detected.
code detected
E3D SEL program/position/parameter Data is not written to the flash ROM correctly or written in
flash ROM status error an old, incompatible application version.
E3E Parameter checksum error The flash ROM data has been destroyed.
E3F Gain parameter error The setting of “Axis-specific parameter No. 60, Position
Cold-start level errors

gain,” etc., is invalid.

E40 Rotational-movement axis Check axis-specific parameter Nos. 67, 66, 38, 37, 1, etc.
parameter error
E41 Servo-motion data packet shortage There are not enough servo-motion data packets.
error
E42 Servo job error The servo job is invalid.
E45 Servo undefined command An undefined command was detected during servo
detection error processing.
E46 Maximum receive size over error at The receive size is too large when acquiring absolute data.
absolute-data acquisition

7.3 Error List (MAIN application)

E47 No normal response error at Normal response is not received when acquiring absolute
absolute-data acquisition data.
E49 Encoder rotation error An encoder rotation error was detected.
E4A Encoder rotation counter overflow An encoder rotation counter overflow error was detected.
error
E4B Encoder count error An encoder count error was detected.
E4C Encoder overspeed error An encoder overspeed error was detected.
E4D Driver phase-Z detection logic error A phase-Z detection completion status was notified from
the driver in a mode other than the phase-Z detection
operation mode.
E4E Phase-Z count parameter error Check axis-specific parameter Nos. 23, 38, 37, etc.
E4F Synchronizing parameter error Check each axis parameters No. 65 and 39 and all axes
parameter No. 1 and so on.
E50 Driver special command ACK cannot be detected for the driver special command.
ACK-timeout error
E51 Drive unit error (DRVESR) Error notification from the driver
E52 Encoder error (DRVESR) Error notification from the driver
E53 Driver CPU error (DRVESR) Error notification from the driver
E54 Servo control error (DRVESR) Error notification from the driver

463
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
E55 Command error (DRVESR) Error notification from the driver
E56 Motor temperature error Error notification from the driver
(DRVESR)
E58 Servo ON/OFF timeout error Servo ON/OFF cannot be confirmed.
E59 Brake ON/OFF timeout error Brake ON/OFF cannot be confirmed.
E5A Pole sense non-detection error Motor magnetic pole cannot be detected.
E5B Detection OFF error upon pole The motor-magnetic-pole detection status bit (Psenex) is
sense completion turned OFF after completion of pole sense.
E5C Hold-at-stop servo job error The servo job is invalid.
E5D Servo packet error The servo packets are invalid.
E5E Servo-control-right management The servo-control-right management array number is
array number error invalid.
E5F Length conversion parameter error Check axis-specific parameter Nos. 47, 50, 51, 42, 1, etc.
E60 Slave maximum receive size over The slave receive size is too large.
error
Chapter 7 Troubleshooting

E61 Slave no normal response Normal response cannot be received from the slave.
reception error
E62 Sending-slave CPU type error The CPU type of the sending slave is invalid.
E63 Message-buffer information type The message-buffer information type is invalid.
error
E64 Abnormal standby power detection Abnormal standby power was detected.
error
E65 Regenerative resistance A regenerative resistance temperature error was detected.
Cold-start level errors

temperature error
E66 AC-power overvoltage error An AC-power overvoltage error was detected.
E67 Motor-power overvoltage error A motor-power overvoltage error was detected.
E68 Emergency-stop status requiring Reset the emergency stop and then reconnect the power.
reset recovery (not error)
E69 Abnormal 24-V I/O power source The 24-V I/O power source is abnormal. (Turn on the 24-V
power before turning on the control power.)
E6A Safety-gate open status requiring Close the safety gate and then reconnect the power.
reset recovery (not error)
7.3 Error List (MAIN application)

E6B Shutdown factor indeterminable Shutdown factor cannot be determined.

error
E6C DO output current error The DO output current is abnormal.
E6D Drive-source cutoff relay error The drive-source cutoff relay may have been melted.
When turning on the power to a Q type controller, turn on
the control power first, confirm that the SDN contacts are
closed, and then turn on the drive power. (This error
generates when the control power and drive power have
been turned on simultaneously.)
E6E Power-stage rating (W) mismatch A power stage with inappropriate rated capacity (W) is
error installed.
E6F Power-stage rating (V) mismatch A power stage with inappropriate rated voltage (V) is
error installed.
E70 Motor-drive power rating (V) A motor-drive power source with inappropriate rated
mismatch error voltage (V) is installed.
E71 Encoder configuration information An encoder whose configuration information is outside the
outside supported function range supported by the driver unit is installed.
information range
E72 Motor configuration information A motor whose configuration information is outside the
outside supported function range supported by the driver unit is installed.
information range

464
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
E73 Encoder resolution mismatch error The encoder resolution in the system’s axis-specific
parameter and that of the installed encoder do not match.
E74 Encoder division ratio mismatch The encoder division ratio in the system’s axis-specific
error parameter and that of the installed encoder do not match.
E75 Encoder linear/rotary type The encoder linear/rotary type in the system’s axis-specific
mismatch error parameter and that of the installed encoder do not match.
E76 Encoder ABS/INC type mismatch The encoder ABS/INC type in the system’s axis-specific
error parameter and that of the installed encoder do not match.
E77 Magnetic-pole sensor installation The magnetic-sensor installation specification in the
specification mismatch error system’s axis-specific parameter and that of the installed
encoder do not match.
E78 Brake installation specification The brake installation specification in the system’s
mismatch error axis-specific parameter and that of the installed encoder do
not match.
E79 Abnormal response error when An abnormal response was received when an
sending EEPROM-data setting EEPROM-data setting slave command was sent.

Chapter 7 Troubleshooting
slave command
E7A Maximum receive size over error The receive size exceeded the limit value when an
when sending EEPROM-data EEPROM-data setting slave command was sent.
setting slave command
E7B Motor-drive power ON timeout Abnormal current flow from the motor-drive power source
error
E7C Register read/write test error Error reading/writing the register
E7E Parameter error The parameter is invalid.
Cold-start level errors

E7F Stroke parameter error Check axis-specific parameter Nos. 7, 8, 1, etc.

E80 Unsupported card error An unsupported card is installed in an I/O slot.
E81 Priority auto-assignment card Priority auto-assignment card cannot be detected.
non-detection error
E82 Card mismatch error The combination or positioning of I/O slot cards has a
problem.
E83 I/O slot card error The I/O slot card is invalid.
E84 Resolution parameter error Check axis-specific parameter Nos. 47, 50, 51, 44, 42, 43,
1, 37, etc.

7.3 Error List (MAIN application)

E85 Driver ready OFF factor Driver ready OFF factor cannot be determined.
indeterminable error
E86 Fieldbus error (FBVCCER) A fieldbus error (FBVCCER) was detected.

E87 Fieldbus error (FBPOWER) A fieldbus error (FBPOWER) was detected.

E88 Power error (Other) A power error (Other) was detected.
This error also generates when the power OFF � ON
interval is short. After the power has been turned off, be
sure to wait for at least 5 seconds before turning it back on.
Abnormal regenerative resistance temperature is also
suspected.
E89 SCIF open error in non-AUTO In a mode other than AUTO, opening of the serial 1
mode (Servo in use) channel (also used by the PC software/TP port) from a
SEL program is prohibited while the servo is in use (to
ensure safety).
E8A SEL program flash-ROM status Data is not written to the flash ROM correctly or written in
error an old, incompatible application version.
E8B Symbol definition table flash-ROM Data is not written to the flash ROM correctly or written in
status error an old, incompatible application version.
E8C Position data flash-ROM status Data is not written to the flash ROM correctly or written in
error an old, incompatible application version.

465
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
E8D Parameter flash-ROM status error Data is not written to the flash ROM correctly or written in
an old, incompatible application version.
Cold-start level errors

E8F Fieldbus logic error Invalid logic during Fieldbus initialization.

In the panel window, the error numbers follow E in the display.

Error Error name Description, action, etc.
No.
Chapter 7 Troubleshooting

F00 Shutdown error (hi_sysdwn () A shutdown error (hi_sysdwn () definition) was detected.
definition)
F03 to Shutdown error (OS call error) A shutdown error (OS call error) was detected.
F58
F60 System-down level error-call A system-down level error-call procedure error was
procedure error detected.
F61 Interpreter-task end task ID error An interpreter-task end task ID error was detected.
F62 Abnormal standby power detection Abnormal standby power was detected.
error
F63 Regenerative resistance A regenerative resistance temperature error was detected.
temperature error

F64 AC-power overvoltage error An AC-power overvoltage error was detected.

System-down level error

F65 Motor-power overvoltage error A motor-power overvoltage error was detected.

F66 Servo control underrun error A servo control underrun error was detected.
7.3 Error List (MAIN application)

F67 FROM-write bus width error A write operation other than 32-bit long word access was
detected while writing the flash ROM.
F68 FROM write protect error Write operation to a write-protected flash ROM area
(FRMWE bit in DEVCTR = 1) was detected.
F69 Boot watchdog error A FPGA boot watchdog was detected. The core program
may not be running properly.
F6A� Undefined exception/interruption An undefined exception/interruption occurred.
FA0 error
FB0 TMU0 interruption error TMU0 interruption error was detected.
FB1 Application code SDRAM copy The sum of 4 bytes does not match between the
error (Checksum) corresponding sections after FROM � SDRAM program
copy.
FB2 Installed flash ROM type mismatch The flash ROM type anticipated in the software does not
(Application) match the flash ROM type actually installed. Check the
combination of software and hardware.
FB8 Undefined NMI error An undefined NMI interruption occurred.
FF0 to Shutdown error (hi_sysdwn() A shutdown error (hi_sysdwn() definition) was detected.
FFF definition)

466
�Error List (MAIN core)

In the panel window, the error numbers follow E in the display.

Error
Error name Description, action, etc.
No.
A70 SCIF overrun error Communication error.
Check for noise, connected equipment and communication
setting. (When updating the application, connect to a PC
and use IAI’s update tool.)
A71 SCIF framing error Communication error.
Check for noise, shorted/disconnected communication
cable, connected equipment and communication setting.
(When updating the application, connect to a PC and use
IAI’s update tool.)
A72 SCIF parity error Communication error.
Check for noise, shorted/disconnected communication
cable, connected equipment and communication setting.
(When updating the application, connect to a PC and use
IAI’s update tool.)

Chapter 7 Troubleshooting
A73 IAI protocol header error Communication protocol error.
Check for noise and connected equipment. (When
updating the application, connect to a PC and use IAI’s
update tool.)
A74 IAI protocol terminal ID error Communication protocol error.
Check for noise and connected equipment. (When
updating the application, connect to a PC and use IAI’s
update tool.)
A75 IAI protocol command ID error Communication protocol error.
Message level errors

Check for noise and connected equipment. (When

updating the application, connect to a PC and use IAI’s
update tool.)
A76 IAI protocol checksum error Communication protocol error.
Check for noise and connected equipment. (When
updating the application, connect to a PC and use IAI’s
update tool.)
A77 Motorola S record type error The update program file is invalid. Check the file.
A78 Motorola S checksum error The update program file is invalid. Check the file.
A79 Motorola S load address error The update program file is invalid. Check the file.

7.3 Error List (MAIN application)

A7A Motorola S write address over error The update program file is invalid. Check the file.
A7B Flash timing limit over error (Write) Error writing the flash ROM (When updating)
A7C Flash timing limit over error (Erase) Error erasing the flash ROM (When updating)
A7D Flash verify error Error erasing/writing the flash ROM (When updating)
A7E Flash ACK timeout Error erasing/writing the flash ROM (When updating)
A7F Head sector number specification Error erasing the flash ROM (When updating)
error
A80 Sector count specification error Error erasing the flash ROM (When updating)
A81 Write-destination offset address The address written during flash ROM write (when
error (Odd-numbered address) updating) is invalid. Check the update program file.
A82 Write-source data buffer address Error writing the flash ROM (When updating)
error (Odd-numbered address)
A83 Invalid code sector block ID error The flash ROM is new, or the program currently written to
the flash ROM is invalid because the last update was
aborted. The ROM can be updated without problem.
A84 Code sector block ID erase count The number of times the flash ROM was erased exceeded
over the allowable count.

467
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
A85 FROM write request error before When updating, a flash-ROM write command was received
erase is complete before a flash-ROM erase command.
Confirm that the update program file is valid and then
perform update again.
A86 Absolute-encoder backup battery The voltage of the absolute-data backup battery is low.
voltage-low warning (Driver Check the battery connection or replace the battery.
detection)
A87 Motorola S-byte count error (Core The update program file is invalid. Check the file.
detection)
A88 Message conversion error (Core The received message does not conform to the message
detection) format or contains invalid data.
Check the message sent from the host communication
device.
A89 Updating target non-specification During update, an update command was received before
error (Core detection) the updating target was specified properly.
Check if an appropriate updating PC tool is used and the
Message level errors
Chapter 7 Troubleshooting

target specification and other settings in the updating PC

tool are correct.
A8A Updating system code error (Core The system code in the message received with the
detection) updating target specification command does not match the
controller system.
Check the target specification and other settings in the
updating PC tool.
A8B Updating unit code error (Core The unit code in the message received with the updating
detection) target specification command does not match any
updatable unit in the controller.
Check the target specification and other settings in the
updating PC tool.
A8C Updating device number error The specified device number in the message received with
(Core detection) the updating target specification command is not
appropriate.
Check the target specification and other settings in the
updating PC tool.
A8D Flash busy reset timeout (Core Error erasing/writing the flash ROM
detection)
7.3 Error List (MAIN application)

A8E Unit type error (Detection in core The unit type in command receiving message is in an error
area) or a type that is not supported.

468
In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
CD0 Drive error (Driver detection) Error notification from the driver
Operation-cancellation level errors

CD1 Encoder error (Driver detection) Error notification from the driver
CD2 Driver CPU error (Driver detection) Error notification from the driver
CD3 Servo control error (Driver Error notification from the driver
detection)
CD4 Command error (Driver detection) Error notification from the driver
CD5 Motor temperature error (Driver Error notification from the driver
detection)

Chapter 7 Troubleshooting
7.3 Error List (MAIN application)

469
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
E90 Core code flash-ROM status error The core program is invalid. Contact the manufacturer.
E91 Application code flash-ROM status The application program is invalid. Contact the
error manufacturer.
E92 Core code sum error The core program is invalid. Contact the manufacturer.
E93 Application code sum error The application program is invalid.
Contact the manufacturer.
E94 Timing limit over error (Flash erase) Error erasing the flash ROM
E95 Flash verify error (Flash erase) Error erasing the flash ROM
E96 Flash ACK timeout (Flash erase) Error erasing the flash ROM
E97 Head sector number specification Error erasing the flash ROM
error (Flash erase)
E98 Sector count specification error Error erasing the flash ROM
(Flash erase)
E99 Timing limit over error (Flash write) Error writing the flash ROM
Chapter 7 Troubleshooting

E9A Flash verify error (Flash write) Error writing the flash ROM
E9B Flash ACK timeout (Flash write) Error writing the flash ROM
E9C Write-destination offset address Error writing the flash ROM
error (Flash write)
E9D Write-source data buffer address Error writing the flash ROM
error (Flash write)
E9E Watchdog reset occurrence error A WDT (watchdog timer) was manually reset (error
Cold-start level errors

detection).
E9F Exception occurrence error while An exception occurred while the block bit in the CPU
BL = 1 (NMI) status register was “1.” (NMI)
EA0 Exception occurrence error while An exception occurred while the block bit in the CPU
BL = 1 (Other than NMI) status register was “1.” (Other than NMI)
EA1 Bit exception reset due to This reset occurs when there are multiple TLB entries
command/data TLB duplication corresponding to the virtual address.
EA2 Undefined exception/interruption An undefined exception/interruption occurred.
error
EA3 AC-power cutoff detection error An AC-power cutoff was detected.
EA4 Abnormal standby power detection Abnormal standby power was detected.
7.3 Error List (MAIN application)

error
EA5 Regenerative resistance A regenerative resistance temperature error was detected.
temperature error
EA6 AC-power overvoltage error An AC-power overvoltage error was detected.
EA7 Motor-power overvoltage error A motor-power overvoltage error was detected.
EA8 FROM-write bus width error A write operation other than 32-bit long word access was
detected while writing the flash ROM.
EA9 FROM write protect error Write operation to a write-protected flash ROM area
(FRMWE bit in DEVCTR = 1) was detected.
EAA SDRAM write/read test error The SDRAM is faulty. Contact the manufacturer.
EAB Application-update SCIF An overflow occurred in the send queue.
send-queue overflow error
EAC Servo control underrun error A servo control underrun error was detected.
EAD Boot error A FPGA boot watchdog was detected. The core program
may not be running properly.
EAE Application-update SCIF Excessive data is received from outside. (Confirm that a
receive-queue overflow error PC and IAI’s update tool are used to update the
application.)

470
 In the panel window, the error numbers follow E in the display.
Error
Error name Description, action, etc.
No.
EAF Installed flash ROM type mismatch The flash ROM type anticipated in the software does not
Cold-start level errors

(Core) match the flash ROM type actually installed. Check the
combination of software and hardware.
EB0 Undefined NMI error (Core) An undefined NMI interruption occurred.
EB2 Flash busy release timeout (core Malfunction of the flash ROM. The flash ROM is not
detection) released from the busy status.

Chapter 7 Troubleshooting
7.3 Error List (MAIN application)

471
 7.3 Error List (MAIN application) Chapter 7 Troubleshooting

472
Chapter 8 Appendix
8.1 Example of Safety Circuit for S/SX/SXD type

Chapter 8 Appendix
(Conforming to Safety Category)
S/SX/SDX types (global specifications) are the controllers applicable for the safety categories.
In this section, shows samples of circuit diagrams for Categories 3 and 4, however, it is not
possible for us to confirm the conformation to the safety categories in the system that you
construct. Therefore, it is necessary to construct the circuit that conforms to the safety
category required for the system with the circuit examples as a reference.

[1] DC24V
SDN Out-

SDN Out+ [2]

AC200V
three
phase

MG Relay MG
Contactor (NEO SC) Contactor (NEO SC)

(Conforming to Safety Category)

8.1 Example of Safety Circuit for S-type X-SEL Controllers
E24V

DET +24V [18]

DET IN [9]

Reset switch

Teaching pendant

Emergency stop pushbuttom External emergency stop switch

EMG line+ [6]
External
EMG Safety relay unit
EMG SW
switch (G9SA-301 by Omron)
contact 1
EMG line- [5] contact 1

EMG2 line+ [4]

External
EMG SW EMG
contact 2 switch
EMG line- [3] contact 2

EMGin +24V [7]

EMGin IN [8]

Double position switch

for enable control Safety gate switch
ENB1 line+ [15]

DEAD MAN External

SW SGATE
contact 1 ENB1 line- [14] contact 1

ENB2 line+ [13]

DEAD MAN External
SW SGATE
contact 2 ENB2 line- [12] contact 2

ENBin +24V [16]

ENBin IN [17]

473
 8.1.1 Safety Circuit Operation Timings
Shown below are examples of operations based on the following settings:
I/O parameter No. 44 = 0 (Drive-source cutoff reset input enabled)
I/O parameter No. 24, bits 0 to 3 = 0 (RDY = ON when the system is normal)
Chapter 8 Appendix

I/O parameter No. 47 = 3 (Output port 301 = ON when the system is normal)

[1] Emergency stop

200-VAC control power

Successful start of CPU

I/O output signal at port No.301,

ready output

RDY (system I/O)

8.1.1 Safety Circuit Operation Timings

SDN (S Type)
(system I/O)

EMG1, EMG2 (S Type)

(system I/O)
Emergency stop switch = ON Emergency stop switch = OFF
ENB1, ENB2 (S Type)
(system I/O)

No error
Secret level error

No error
Message level error

No error
Operation-cancellation level error

No error
Cold-start level error

No error
System-shutdown level error

474
 [2] Power on during emergency stop

200-VAC control power

Chapter 8 Appendix
Successful start of CPU

I/O output signal at port No.301,

ready output

RDY (system I/O)

SDN (QAR Type)

(system I/O)

EMG1, EMG2 (S Type)

8.1.1 Safety Circuit Operation Timings

(system I/O) RDY, SDN = ON upon cancellation of emergency stop
ENB1, ENB2 (S Type)
(system I/O)

Secret level error No error

No error
Message level error

No error
Operation-cancellation level error

No error
Cold-start level error

No error
System-shutdown level error

The same timings also apply when the power is turned on while the enable switch is OFF.

475
 [3] Enable operation

200-VAC control power

Chapter 8 Appendix

Successful start of CPU

I/O output signal at port No.301,

ready output

RDY (system I/O)

SDN (S Type)
(system I/O)

EMG1, EMG2 (S Type)

(system I/O)
8.1.1 Safety Circuit Operation Timings

ENB1, ENB2 (S Type)

(system I/O)
Enable switch = ON Enable switch = OFF

Secret level error

No error
Message level error

No error
Operation-cancellation level error

No error
Cold-start level error

No error
System-shutdown level error

476
[4] Occurrence of system-shutdown level error

200-VAC control power

Chapter 8 Appendix
Successful start of CPU

I/O output signal at port No.301,

ready output

RDY (system I/O)

SDN (S Type)
(system I/O)

EMG1, EMG2 (S Type)

(system I/O)

8.1.1 Safety Circuit Operation Timings

ENB1, ENB2 (S Type)
(system I/O)

No error
Secret level error

No error
Message level error

No error
Operation-cancellation level error

No error
Cold-start level error
Occurrence of error

System-shutdown level error

477
 [5] Occurrence of cold-start level error

200-VAC control power

Chapter 8 Appendix

Successful start of CPU

I/O output signal at port No.301,

ready output

RDY (system I/O)

The timings of SDN and RDY vary slightly

SDN (S Type) depending on the specific nature of the error.
(system I/O)
SDN turns OFF when cancellation of
all the programs,
errors that require servo-off on
all the axes, etc.
8.1.1 Safety Circuit Operation Timings

(initializing error, power supply error, etc.).

EMG1, EMG2 (S Type)
(system I/O)

ENB1, ENB2 (S Type)

(system I/O)

Secret level error No error

Message level error No error

No error
Operation-cancellation level error
Occurrence of error

Cold-start level error

No error
System-shutdown level error

478
[6] Occurrence of operation-cancellation level error

200-VAC control power

Chapter 8 Appendix
Successful start of CPU

I/O output signal at port No.301,

ready output

RDY (system I/O)

SDN (S Type)
(system I/O)

EMG1, EMG2 (QAR Type)

(system I/O)

8.1.1 Safety Circuit Operation Timings

ENB1, ENB2 (QAR Type)
(system I/O)

Secret level error No error

Message level error No error

Occurrence of error
Operation-cancellation level error
RDY and SDN are not affected by errors
below the operation-cancellation level.
No error
Cold-start level error

No error
System-shutdown level error

479
 8.2 Stopping method and Recovery
8.2.1 Stopping method
Chapter 8 Appendix

Actuator operation can be stopped in two methods: normal operation stop and emergency
stop.
(1) Normal operation stop
Normal position control is active: Set a deceleration operation plan and cause the
actuator to decelerate to a stop, according to the plan,
under normal position control
(2) Stop with immediate servo-off
Cancel the operation plan and immediately turn off the servo (power supply to the motor is
cut off).

How operation is stopped in each condition is explained below.

Stopping
Stop command, Condition Remarks
method
Pause (1)
Servo OFF (1)
Since the motor drive source is cut off by hardware means,
8.2 Safety Circuit Operation Timings
8.2.1 Stopping method

Emergency stop (1) the deceleration operation plan may have to be forcibly
stopped beforehand.
Stop is made when the following four commands are
SEL program command (1) issued.
HOLD, CANC, STOP, ABPG
Errors not described in list (1)
Errors in list (2)
�
Error of stop with immediate servo-off in (2)
Error No. Error name
625 Driver-side detection synchronization communication error
626 Driver IPM15V voltage drop error
627 Driver current detection A/D offset exceeded
633 Feedback pulse synchronization error (detected on speed loop side)
634 Feedback pulse synchronization error (detected on position loop side)
652 Serial encoder command control JOB error
653 Encoder control JOB logic error
677 ABZ encoder Z-phase clear position error
6B5 Belt breaking error
6BB Deviation overflow error (home return not yet complete)
6BC Stop deviation overflow error (home return not yet complete)
B05 Estimate stroke exceeded during home return
B10 Z-phase search timeout error
B11 Home sensor pull-out timeout error
C6B Deviation overflow error
C99 Home sensor non-detection error
C9A Creep sensor non-detection error
C9B Z-phase non-detection error
C9C Z-phase position problem error
CA5 Stop deviation overflow error
CC6 Driver error initial detection
D03 Encoder count error
D0A Driver overload error
D10 IPM error (POE0)
D15 Driver CPU down status error
D17 Main CPU alarm status error
D19 Encoder receive timeout error
F00 to FBF All system-down level errors
�
�

480
8.2.2 Recovery

[1] Drive-source recovery request

(1) Method of drive-source recovery request

Chapter 8 Appendix
Recovery of drive source can be requested by one of the following methods:
� Set I/O parameter No. 44 to “1” (input selection function 014 = drive-source cutoff reset
input), and then turn ON input port No. 14 (a request is issued at the ON edge).
� Click Controller (C) from the menu of the PC software and then select Drive-source
Recovery Request (P).

(2) Situation where recovery of drive source must be requested

Recovery of drive source must be requested only in the following situation:
� A cause that cut off the drive source occurred when I/O parameter No. 44 was set to “1,”
after which you have removed the cause and now want the restore the drive source.

(3) Operation timings

Shown below is an example of operation based on the following settings:
I/O parameter No. 44 = 1 (Drive-source cutoff reset input enabled)
I/O parameter No. 24, bits 0 to 3 = 0 (RDY = ON when the system is normal)
I/O parameter No. 47 = 3 (Output port 301 = ON when the system is normal)

8.2.2 Recovery
200-VAC control power

Successful start of CPU

I/O input signal at port No.14,

drive-source cutoff reset input
I/O output signal at port No.301,
ready output

RDY (system I/O)

SDN (S/SX/SXD Type)

(system I/O)

EMG1, EMG2 (S/SX/SXD Type)

(system I/O)
Emergency stop switch = ON Emergency stop switch = OFF
ENB1, ENB2 (S/SX/SXD Type)
(system I/O)
200-VAC drive power

With S/SX/SXD type controllers, supply the

drive power after SDN has turned off.
With R/RX/RXD type controllers, the drive
power is supplied automatically when a
drive-source cutoff reset signal is input.

481
 [2] Operation-pause reset request
(1) Method of operation-pause reset request
Reset of operation pause can be requested by one of the following methods:
� Set I/O parameter No. 35 to “1” (input selection function 005 = operation-pause reset
Chapter 8 Appendix

signal), and then turn ON input port No. 5 (a request is issued at the ON edge).
� Click Controller (C) from the menu of the PC software and then select Operation-pause
Reset Request (L).

(2) Situation where reset of operation pause must be requested

Reset of operation pause must be requested only in the following situations:
� An emergency stop was actuated during auto operation when other parameter No. 10
was set to “2 (emergency stop recovery type = recovery with continued operation (only
during auto operation)),” after which you have cancelled the emergency stop and now
want to restore the operation (reset the operation pause).
� Auto operation was stopped with the deadman switch or enable switch when other
parameter No. 11 was set to “2 (deadman/enable switch recovery type = recovery with
continued operation (only during auto operation)),” after which you have cancelled the
stop and now want to restore the operation (reset the operation pause).
� A signal to turn OFF input port No. 6 was input (operation was paused) during auto
operation when I/O parameter No. 36 was wet to “1 (input selection function 006 =
operation pause signal),” after which a signal to turn ON input port No. 6 was input and
8.2.2 Recovery

now you want to restore the operation (reset the operation pause).

* If the situations of [1] (2) and [2] (2) exist simultaneously, a drive-source recovery request
must be issued first, followed by an operation-pause reset request.

482
8.3 Specifications List for Connectable Single Axis Actuator
The specifications stated in this specifications list are focused only to those necessary for
operational condition settings. Please refer to the Catalog or Instruction Manual for the

Chapter 8 Appendix
actuator for other more detailed specifications.
Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
12 600 0.3 – – –
20 6 300 0.3 – – –
3 150 0.2 – – –
0.3 – – –
12 600 High Accel/
Horizontal/ Deceleration Type: – – –
RA4C
Vertical 1.0
30 0.3 – – –
6 300 High Accel/
Deceleration Type: – – –
1.0
3 150 0.2 – – –
12 600 0.3 – – –
20 6 300 0.3 – – –
3 150 0.2 – – –

8.3 Specifications List for Connectable Single Axis Actuator

0.3 – – –
12 Horizont 600 High Accel/
RGS4C al/ Deceleration Type: – – –
Vertical 1.0
30 0.3 – – –
6 300 High Accel/
Deceleration Type: – – –
1.0
3 150 0.2 – – –
12 600 0.3 – – –
20 6 300 0.3 – – –
RCS2 3 150 0.2 – – –
(Rod Type) 0.3 – – –
12 600 High Accel/
Horizontal/ Deceleration Type: – – –
RGD4C
Vertical 1.0
30 0.3 – – –
6 300 High Accel/
Deceleration Type: – – –
1.0
3 150 0.2 – – –
12 600 0.3 – – –
20 6 300 0.3 – – –
3 Horizontal/ 150 0.2 – – –
RA4D
12 Vertical 600 0.3 – – –
30 6 300 0.3 – – –
3 150 0.2 – – –
12 600 0.3 – – –
20 6 300 0.3 – – –
3 Horizontal/ 150 0.2 – – –
RGS4D
12 Vertical 600 0.3 – – –
30 6 300 0.3 – – –
3 150 0.2 – – –
12 600 0.3 – – –
20 6 300 0.3 – – –
3 Horizontal/ 150 0.2 – – –
RGD4D
12 Vertical 600 0.3 – – –
30 6 300 0.3 – – –
3 150 0.2 – – –

483
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
12 600 0.3 – – –
Chapter 8 Appendix

20 6 300 0.3 – – –
3 Horizontal/ 150 0.2 – – –
RA4R
12 Vertical 600 0.3 – – –
30 6 300 0.3 – – –
3 150 0.3 – – –
12 600 0.3 – – –
20 6 300 0.3 – – –
3 Horizontal/ 150 0.2 – – –
RGD4R
12 Vertical 600 0.3 – – –
30 6 300 0.3 – – –
3 150 0.2 – – –
800
16 (at 50 to 250st) 0.3 – – –
755 (at 300st)
400
60 8 (at 50 to 250st) 0.3 – – –
377 (at 300st)
200
4 (at 50 to 250st) 0.2 – – –
188 (at 300st)
8.3 Specifications List for Connectable Single Axis Actuator

Horizontal/ 0.3 – – –
RA5C 800
16 Vertical (at 50 to 250st) High Accel/
755 (at 300st) Deceleration Type: – – –
1.0
RCS2
(Rod Type) 0.3 – – –
100 400
8 (at 50 to 250st) High Accel/
377 (at 300st) Deceleration Type: – – –
1.0
200
4 (at 50 to 250st) 0.2 – – –
188 (at 300st)
800
12 (at 50 to 250st) 0.3 – – –
755 (at 300st)
400
60 6 (at 50 to 250st) 0.3 – – –
377 (at 300st)
200
3 (at 50 to 250st) 0.2 – – –
188 (at 300st)
Horizontal/ 0.3 – – –
RGS5C 800
12 Vertical (at 50 to 250st) High Accel/
755 (at 300st) Deceleration Type: – – –
1.0
0.3 – – –
100 400
6 (at 50 to 250st) High Accel/
377 (at 300st) Deceleration Type: – – –
1.0
200
3 (at 50 to 250st) 0.2 – – –
188 (at 300st)

484
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
800

Chapter 8 Appendix
16 (at 50 to 250st) 0.3 – – –
755 (at 300st)
Horizontal/ 400
60 8 (at 50 to 250st) 0.3 – – –
Vertical
377 (at 300st)
200
4 (at 50 to 250st) 0.2 – – –
188 (at 300st)
RGD5C
800
16 (at 50 to 250st) 0.3 – – –
755 (at 300st)
400
Horizontal/
100 8 (at 50 to 250st) 0.3 – – –
RCS2 Vertical
377 (at 300st)
(Rod Type)
200
4 (at 50 to 250st) 0.2 – – –
188 (at 300st)
800
16 (at 50 to 250st) 0.3 – – –
755 (at 300st)
400
8 (at 50 to 250st) 0.3 – – –

8.3 Specifications List for Connectable Single Axis Actuator

Horizontal/ 377 (at 300st)
RA5R 60
Vertical
200
4 (at 50 to 250st) 0.2 – – –
188 (at 300st)
8 400 0.2 – – –
4 200 0.1 – – –
12 600 0.3 � �
20 6 300 0.3
3 Horizontal/ 150 0.2
RA4C
12 Vertical 600 0.3 � � –
30 6 300 0.3 � � –
3 150 0.2 � � –
12 600 0.3 � � –
20 6 300 0.3 � � –
RCS2W 3 Horizontal/ 150 0.2 � � –
RA4D
(Rod Type) 12 Vertical 600 0.3 � � –
30 6 300 0.3 � � –
3 150 0.2 � � –
12 600 0.3 � � –
20 6 300 0.3 � � –
3 Horizontal/ 150 0.2 � � –
RA4R
12 Vertical 600 0.3 � � –
30 6 300 0.3 � � –
3 150 0.2 � � –

485
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
0.3 – – –
Chapter 8 Appendix

10 665 High Accel/

Deceleration Type: – – –
1.0
Horizontal/
SA4C 20 0.3 – – –
Vertical
5 330 High Accel/
Deceleration Type: – – –
1.0
2.5 165 0.2 – – –
10 665 0.3 – – –
Horizontal/
SA4D 20 5 330 0.3 – – –
Vertical
2.5 165 0.2 – – –
10 665 0.3 – – –
Horizontal/
SA4R 20 5 330 0.3 – – –
Vertical
2.5 165 0.2 – – –
0.3 – – –
1000
Horizontal (at 50 to 550st) High Accel/
20 Deceleration Type: – – –
980 (at 600st)
0.8
Vertical 800 0.2 – – –
0.3 – – –
800
8.3 Specifications List for Connectable Single Axis Actuator

12 (at 50 to 450st) High Accel/

Deceleration Type: – – –
RCS2 SA5C 20 760 (at 500st)
0.8
(Slider Type) 0.3 – – –
Horizontal/ 400
6 Vertical (at 50 to 450st) High Accel/
Deceleration Type: – – –
380 (at 500st)
0.8
200
3 (at 50 to 450st) 0.2 – – –
190 (at 500st)
800
12 (at 50 to 450st) 0.3 – – –
760 (at 500st)
Horizontal/ 400
SA5D 20 6 (at 50 to 450st) 0.3 – – –
Vertical
380 (at 500st)
200
3 (at 50 to 450st) 0.2 – – –
190 (at 500st)
800
12 (at 50 to 450st) 0.3 – – –
760 (at 500st)
Horizontal/ 400
SA5R 20 6 (at 50 to 450st) 0.3 – – –
Vertical
380 (at 500st)
200
3 (at 50 to 450st) 0.2 – – –
190 (at 500st)

486
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1300 0.3 – – –

Chapter 8 Appendix
(at 50 to 500st) High Accel/
Horizontal
20 1160 (at 550st) Deceleration Type: – – –
990 (at 600st) 1.0
Vertical 800 0.2
800 0.3 – – –
(at 50 to 450st)
12 760 (at 500st) High Accel/
640 (at 550st) Deceleration Type: – – –
SA6C 30 540 (at 600st) 1.0
400 0.3 – – –
Horizontal/ (at 50 to 450st)
6 380 (at 500st) High Accel/
Vertical
320 (at 550st) Deceleration Type: – – –
270 (at 600st) 1.0
200
(at 50 to 450st)
3 190 (at 500st) 0.2 – – –
160 (at 550st)
135 (at 600st)
800
(at 50 to 450st)
12 760 (at 500st) 0.3 – – –

8.3 Specifications List for Connectable Single Axis Actuator

RCS2 640 (at 550st)
(Slider Type) 540 (at 600st)
400
Horizontal/ (at 50 to 450st)
SA6D 30 6 380 (at 500st) 0.3 – – –
Vertical
320 (at 550st)
270 (at 600st)
200
(at 50 to 450st)
3 190 (at 500st) 0.2 – – –
160 (at 550st)
135 (at 600st)
800
(at 50 to 450st)
12 760 (at 500st) 0.3 – – –
640 (at 550st)
540 (at 600st)
400
Horizontal/ (at 50 to 450st)
SA6R 30 6 380 (at 500st) 0.3 – – –
Vertical
320 (at 550st)
270 (at 600st)
200
(at 50 to 450st)
3 190 (at 500st) 0.2 – – –
160 (at 550st)
135 (at 600st)

487
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
Chapter 8 Appendix

800 0.3 – – –
(at 50 to 600st)
16 High Accel/
640 (at 700st)
480 (at 800st) Deceleration Type: – – –
1.0
400 0.3 – – –
Horizontal/ (at 50 to 650st)
SA7C 60 8 High Accel/
Vertical 320 (at 700st)
240 (at 800st) Deceleration Type: – – –
0.8
200
(at 50 to 650st)
160
4 0.2 – – –
(at to 700st)
120
(at to 800st)
800
(at 50 to 600st)
16 0.3 – – –
640 (at 700st)
480 (at 800st)
400
(at 50 to 650st)
RCS2 8 0.3 – – –
Horizontal/ 320 (at 700st)
SA7R 60
8.3 Specifications List for Connectable Single Axis Actuator

(Slider Type) Vertical 240 (at 800st)

200
(at 50 to 650st)
160
4 0.2 – – –
(at to 700st)
120
(at to 800st)
600
(at 50 to 500st)
12 0.3 – – –
470
Horizontal/ (at to 600st)
SS7C 60
Vertical 300
(at 50 to 500st)
6 0.3 – – –
230
(at to 600st)
600
(at 50 to 500st)
12 0.3 – – –
470
Horizontal/ (at to 600st)
SS7R 60
Vertical 300
(at 50 to 500st)
6 0.3 – – –
230
(at to 600st)

488
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1000

Chapter 8 Appendix
(at 50 to 600st)
960
(at to 700st)
765
20 0.3 – – –
(at to 800st)
625
(at to 900st)
515
(at to 1000st)
100
500
(at 50 to 600st)
480
(at to 700st)
380
10 0.3 – – –
(at to 800st)
310
(at to 900st)
255
Horizontal/ (at to 1000st)
SS8C
Vertical 1000
(at 50 to 600st)
960
(at to 700st)

8.3 Specifications List for Connectable Single Axis Actuator

765
20 0.3 – – –
(at to 800st)
625
(at to 900st)
515
RCS2 (at to 1000st)
150
(Slider Type) 500
(at 50 to 600st)
480
(at to 700st)
380
10 0.3 – – –
(at to 800st)
310
(at to 900st)
255
(at to 1000st)
1000
(at 50 to 600st)
960
(at to 700st)
765
100 20 0.3 – – –
(at to 800st)
625
(at to 900st)
515
Horizontal/ (at to 1000st)
SS8R
Vertical 500
(at 50 to 600st)
480
(at to 700st)
380
150 10 0.3 – – –
(at to 800st)
310
(at to 900st)
255
(at to 1000st)

489
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
10 665 0.3 – – –
Chapter 8 Appendix

Horizontal/
SA4C 20 5 330 0.3 – – –
Vertical
2.5 165 0.2 – – –
1000
Horizonta (at 50 to 550st) 0.3 – – –
20
980 �at 600st)
Vertical 800 0.2 – – –
800
12 (at 50 to 450st) 0.3 – – –
SA5C 20 760 �at 500st)
400
Horizontal/
6 (at 50 to 450st) 0.3 – – –
Vertical
380 �at 500st)
200
3 (at 50 to 450st) 0.2 – – –
190 �at 500st)
1300
(at 50 to 500st)
Horizonta 0.3 – – –
20 1160 �at 550st)
990 �at 600st)
Vertical 800 0.2 – – –
8.3 Specifications List for Connectable Single Axis Actuator

800
(at 50 to 450st)
RCS2CR 12 760 �at 500st) 0.3 – – –
(Slider Type) 640 �at 550st)
SA6C 30 540 �at 600st)
400
(at 50 to 450st)
Horizontal/
6 380 �at 500st) 0.3 – – –
Vertical
320 �at 550st)
270 �at 600st)
200
(at 50 to 450st)
3 190 �at 500st) 0.2 – – –
160 �at 550st)
135 �at 600st)
800
(at 50 to 600st)
16 0.3 – – –
640 �at 700st)
480 �at 800st)
400
(at 50 to 650st)
8 Horizontal/ 0.3 – – –
SA7C 60 320 �at 700st)
Vertical 240 �at 800st)
200
(at 50 to 650st)
160
4 0.2 – – –
(at to 700st)
120
(at to 800st)

490
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
600

Chapter 8 Appendix
(at 50 to 500st)
12 0.3 – – –
470
Horizontal/ (at to 600st)
SS7C 60
Vertical 300
(at 50 to 500st)
6 0.3 – – –
230
(at to 600st)
1000
(at 50 to 600st)
960
(at to 700st)
765
20 0.3 – – –
(at to 800st)
625
(at to 900st)
515
(at to 1000st)
100
500
(at 50 to 600st)
480
(at to 700st)
380
RCS2CR 10 0.3 – – –
(at to 800st)

8.3 Specifications List for Connectable Single Axis Actuator

(Slider Type) 310
(at to 900st)
255
Horizontal/ (at to 1000st)
SS8C
Vertical 1000
(at 50 to 600st)
960
(at to 700st)
765
20 0.3 – – –
(a to 800st)
625
(at to 900st)
515
(at to 1000st)
150
500
(at 50 to 600st)
480
(at to 700st)
380
10 0.3 – – –
(at to 800st)
310
(at to 900st)
255
(at to 1000st)

491
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
300
Chapter 8 Appendix

(at 50 to 650st)
260
(at to 700st)
230
(at to 750st)
200
(at to 800st)
180
(at to 850st)
5 0.3 – – –
170
(at to 900st)
150
(at to 950st)
135
(at to 1000st)
120
(at to 1050st)
110
RCS3 Horizontal/ (at to 1100st)
SA8 100
(Slider Type) Vertical 600
(at 50 to 650st)
530
(at to 700st)
8.3 Specifications List for Connectable Single Axis Actuator

470
(at to 750st)
410
(at to 800st)
370
(at to 850st)
10 0.5 – – –
340
(at to 900st)
310
(at to 950st)
270
(at to 1000st)
250
(at to 1050st)
230
(at to 1100st)

492
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1200

Chapter 8 Appendix
(at 50 to 650st)
1070
(at to 700st)
940
(at to 750st)
840
(at to 800st)
750
Horizontal/ (at to 850st)
20 0.7 – – –
Vertical 670
(at to 900st)
610
(at to 950st)
550
(at to 1000st)
500
(at to 1050st)
460
(at to 1100st)
SA8 100
1800
(at 50 to 650st)
1610
(at to 700st)

8.3 Specifications List for Connectable Single Axis Actuator

1420
Horizontal (at to 750st) 1.0 – – –
1260
(at to 800st)
1120
RCS3 (at to 850st)
30
(Slider Type) 1010
(at to 900st)
910
(at to 950st)
830
Vertical (at to 1000st) 0.7 – – –
760
(at to 1050st)
690
(at to 1100st)
600
(at 50 to 650st)
530
(at to 700st)
470
(at to 750st)
410
(at to 800st)
370
Horizontal/ (at to 850st)
SA8 150 10 0.5 – – –
Vertical 340
(at to 900st)
310
(at to 950st)
270
(at to 1000st)
250
(at to 1050st)
230
(at to 1100st)

493
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1200
Chapter 8 Appendix

(at 50 to 650st)
1070
(at to 700st)
940
(at to 750st)
840
(at to 800st)
750
Horizontal/ (at to 850st)
20 0.7 – – –
Vertical 670
(at to 900st)
610
(at to 950st)
550
(at to 1000st)
500
(at to 1050st)
460
(at to 1100st)
SA8 150
1800
(at 50 to 650st)
1610
(at to 700st)
8.3 Specifications List for Connectable Single Axis Actuator

1420
Horizontal (at to 750st) 1.0 – – –
1260
(at to 800st)
RCS3 1120
(Slider Type) (at to 850st)
30
1010
(at to 900st)
910
(at to 950st)
830
Vertical (at to 1000st) 0.7 – – –
760
(at to 1050st)
690
(at to 1100st)
300
(at 50 to 600st)
275
(at to 650st)
240
(at to 700st)
215
(at to 750st)
Horizontal/ 190
SS8 100 5 0.3 – – –
Vertical (at to 800st)
170
(at to 850st)
150
(at to 900st)
140
(at to 950st)
125
(at to 1000st)

494
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
600

Chapter 8 Appendix
(at 50 to 600st)
550
(at to 650st)
485
(at to 700st)
430
(at to 750st)
385
10 0.5 – – –
(at to 800st)
345
(at to 850st)
310
(at to 900st)
280
(at to 950st)
255
Horizontal/ (at to 1000st)
Vertical 1200
(at 50 to 600st)
1105
(at to 650st)
970
(at to 700st)

8.3 Specifications List for Connectable Single Axis Actuator

860
(at to 750st)
RCS3 770
SS8 100 20 0.7 – – –
(Slider Type) (at to 800st)
690
(at to 850st)
625
(at to 900st)
565
(at to 950st)
515
(at to 1000st)
1800
(at 50to 600st)
1660
(at to 650st)
Horizontal 1460 1.0 – – –
(at to 700st)
1295
(at to 750st)
30 1155
(at to 800st)
1035
(at to 850st)
935
Vertical (at to 900st) 0.7 – – –
850
(at to 950st)
775
(at to 1000st)

495
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
600
Chapter 8 Appendix

(at 50 to 600st)
550
(at to 650st)
485
(at to 700st)
430
(at to 750st)
385
10 0.5 – – –
(at to 800st)
345
(at to 850st)
310
(at to 900st)
280
(at to 950st)
255
Horizontal/ (at to 1000st)
Vertical 1200
(at 50 to 600st)
1105
(at to 650st)
970
(at to 700st)
8.3 Specifications List for Connectable Single Axis Actuator

860
(at to 750st)
RCS3 770
SS8 150 20 0.7 – – –
(Slider Type) (at to 800st)
690
(at to 850st)
625
(at to 900st)
565
(at to 950st)
515
(at to 1000st)
1800
(at 50 to 600st)
1660
(at to 650st)
Horizontal 1460 1.0 – – –
(at to 700st)
1295
(at to 750st)
30 1155
(at to 800st)
1035
(at to 850st)
935
Vertical (at to 900st) 0.7 – – –
850
(at to 950st)
775
(at to 1000st)

496
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
300

Chapter 8 Appendix
(at 50 to 650st)
250
(at to 700st)
220
(at to 750st)
190
(at to 800st)
170
(at to 850st)
5 0.3 – – –
160
(at to 900st)
140
(at to 950st)
130
(at to 1000st)
120
(at to 1050st)
110
(at to 1100st)
600
(at 50 to 650st)
500
(at to 700st)

8.3 Specifications List for Connectable Single Axis Actuator

440
(at to 750st)
390
(at to 800st)
350
RCS3CR Horizontal/ (at to 850st)
SA8 100 10 0.5 – – –
(Slider Type) Vertical 320
(at to 900st)
290
(at to 950st)
260
(at to 1000st)
240
(at to 1050st)
220
(at to 1100st)
1200
(at 50 to 650st)
1010
(at to 700st)
890
(at to 750st)
790
(at to 800st)
710
(at to 850st)
20 0.7 – – –
640
(at to 900st)
580
(at to 950st)
530
(at to 1000st)
480
(at to 1050st)
440
(at to 1100st)

497
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1800
Chapter 8 Appendix

(at 50 to 650st)
1510
(at to 700st)
1340
Horizontal (at to 750st) 1.0 – – –
1190
(at to 800st)
1070
100 30 (at to 850st)
960
(at to 900st)
870
(at to 950st)
790
Vertical (at to 1000st) 0.7 – – –
720
(at to 1050st)
660
(at to 1100st)
600
(at 50 to 650st)
500
(at to 700st)
8.3 Specifications List for Connectable Single Axis Actuator

440
(at to 750st)
390
(at to 800st)
350
RCS3CR (at to 850st)
SA8 10 0.5 – – –
(Slider Type) 320
(at to 900st)
290
(at to 950st)
260
(at to 1000st)
240
(at to 1050st)
220
Horizontal/ (at to 1100st)
150
Vertical 1200
(at 50 to 650st)
1010
(at to 700st)
890
(at to 750st)
790
(at to 800st)
710
(at to 850st)
20 0.7 – – –
640
(at to 900st)
580
(at to 950st)
530
(at to 1000st)
480
(at to 1050st)
440
(at to 1100st)

498
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1800

Chapter 8 Appendix
(at 50 to 650st)
1510
(at to 700st)
1340
Horizontal (at to 750st) 1.0 – – –
1190
(at to 800st)
1070
SA8 150 30 (at to 850st)
960
(at to 900st)
870
(at to 950st)
790
Vertical (at to 1000st) 0.7 – – –
720
(at to 1050st)
660
(at to 1100st)
300
(at 50 to 600st)
275
(at to 650st)

8.3 Specifications List for Connectable Single Axis Actuator

240
(at to 700st)
215
RCS3CR (at to 750st)
(Slider Type) 190
5 0.3 – – –
(at to 800st)
170
(at to 850st)
150
(at to 900st)
140
(at to 950st)
125
Horizontal/ (at to 1000st)
SS8 100
Vertical 600
(at 50 to 600st)
550
(at to 650st)
485
(at to 700st)
430
(at to 750st)
385
10 0.5 – – –
(at to 800st)
345
(at to 850st)
310
(at to 900st)
280
(at to 950st)
255
(at to 1000st)

499
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1200
Chapter 8 Appendix

(at 50 to 600st)
1105
(at to 650st)
970
(at to 700st)
860
(at to 750st)
Horizontal/ 770
20 0.7 – – –
Vertical (at to 800st)
690
(at to 850st)
625
(at to 900st)
565
(at to 950st)
515
(at to 1000st)
100
1800
(at 50 to 600st)
1660
(at to 650st)
Horizontal 1460 1.0 – – –
(at to 700st)
8.3 Specifications List for Connectable Single Axis Actuator

1295
(at to 750st)
RCS3CR 1155
SS8 30
(Slider Type) (at to 800st)
1035
(at to 850st)
935
Vertical (at to 900st) 0.7 – – –
850
(at to 950st)
775
(at to 1000st)
600
(at 50 to 600st)
550
(at to 650st)
485
(at to 700st)
430
(at to 750st)
Horizontal/ 385
150 10 0.5 – – –
Vertical (at to 800st)
345
(at to 850st)
310
(at to 900st)
280
(at to 950st)
255
(at to 1000st)

500
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1200

Chapter 8 Appendix
(at 50 to 600st)
1105
(at to 650st)
970
(at to 700st)
860
(at to 750st)
Horizontal/ 770
20 0.7 – – –
Vertical (at to 800st)
690
(at to 850st)
625
(at to 900st)
565
(at to 950st)
515
RCS3CR (at to 1000st)
SS8 150
(Slider Type) 1800
(at 50 to 600st)
1660
(at to 650st)
Horizontal 1460 1.0 – – –
(at to 700st)

8.3 Specifications List for Connectable Single Axis Actuator

1295
(at to 750st)
30 1155
(at to 800st)
1035
(at to 850st)
935
Vertical (at to 900st) 0.7 – – –
850
(at to 950st)
775
(at to 1000st)
10 Horizontal/ 330 0.2 – – –
A4R 20
5 Vertical 165 0.2 – – –
RCS2 12 Horizontal/ 400 0.2 – – –
A5R 20
(Arm Type) 6 Vertical 200 0.2 – – –
12 Horizontal/ 400 0.2 – – –
A6R 30
6 Vertical 200 0.2 – – –
RCS2 Deceleration
(Gripper GR8 60 ratio – 400 0.3 – – –
Type) 1/5
16 800 0.3 – – –
60 8 400 0.3 – – –
RCS2 4 Horizontal/ 200 0.2 – – –
F5D
(Flat Type) 16 Vertical 800 0.3 – – –
100 8 400 0.3 – – –
4 200 0.2 – – –

501
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
Deceleration
Chapter 8 Appendix

RT6 60 ratio � 500mm/s � – – –

1/18
Deceleration
RT6R 60 ratio � 500mm/s � – – –
1/18
Deceleration
RT7R 60 ratio � 500mm/s � – – –
1/4
Deceleration
RTC8L 12 ratio � 750mm/s � – – –
1/24
Deceleration
ratio � 1200mm/s
RCS2 1/15 – – –
RTC8HL 20 �
(Rotary Type) Deceleration – – –
ratio � 750mm/s
1/24
Deceleration
ratio � 1200mm/s
1/15 – – –
RTC10L 60 �
Deceleration – – –
ratio � 750mm/s
1/24
8.3 Specifications List for Connectable Single Axis Actuator

Deceleration
ratio � 800mm/s
1/18 – – –
RTC12L 150 �
Deceleration – – –
ratio � 600mm/s
1/30

502
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
Horizontal 1.0 – – –

Chapter 8 Appendix
16 960
Vertical 0.7 – – –
SXM Horizontal 0.6 – – –
60 8 480
SYM Vertical 0.5 – – –
Horizontal 0.5 – – –
4 240
Vertical 0.3 – – –
8 Vertical 480 0.3 – – –
SZM 60
4 Vertical 240 0.3 – – –
1800
(at 100 to 700st)
1290
(at to 800st)
30 Horizontal 1.0 – – –
1045
(at to 900st)
860
(at to 1000st)
1200
ISA (at 100 to 700st)
Horizontal 860 1.0 – – –
ISPA
(Slider (at to 800st)
20
Type) 695
(at to 900st)
Vertical 0.8 – – –

8.3 Specifications List for Connectable Single Axis Actuator

570
MXM (at to 1000st)
100
MYM 600
(at 100 to 700st)
Horizontal 430 0.6 – – –
(at to 800st)
10
345
(at to 900st)
Vertical 280 0.5 – – –
(at to 1000st)
300
(at 100 to 700st)
Horizontal 215 0.5 – – –
(at to 800st)
5
170
(at to 900st)
Vertical 140 0.3 – – –
(at to 1000st)

503
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
600
Chapter 8 Appendix

(at 100 to 700st)

430
(at 800st)
10 Vertical 0.5 – – –
345
(at 900st)
280
(at 1000st)
MZM 100
300
(at 100 to 700st)
215
(at 800st)
5 Vertical 0.3 – – –
170
(at 900st)
140
(at 1000st)
1800
(at 100 to 700st)
Horizontal 1.0 – – –
1290
(at to 800st)
30
1045
(at to 900st)
ISA Vertical 660 1.0 – – –
ISPA (at to 1000st)
8.3 Specifications List for Connectable Single Axis Actuator

(Slider 1200
Type) (at 100 to 700st)
Horizontal 860 1.0 – – –
MXM (at to 800st)
200 20
MYM 695
(at to 900st)
Vertical 570 0.8 – – –
(at to 1000st)
600
(at 100 to 700st)
Horizontal 430 0.6 – – –
(at to 800st)
10
345
(at to 900st)
Vertical 280 0.5 – – –
(at to 1000st)
600
(at 100 to 700st)
430
(at 800st)
MZM 200 10 Vertical 0.5 – – –
345
(at 900st)
280
(at 1000st)

504
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1800

Chapter 8 Appendix
(at 800 to 1100st)
1650
(at 1200st)
1500
(at 1300st)
1425
(at 1400st)
1200
(at 1500st)
30 Horizontal 0.3 – – –
1050
(at 1600st)
900
(at 1700st)
825
(at 1800st)
750
(at 1900st)
ISA 675
ISPA (at 2000st)
MXMX 200
(Slider 1200
Type) (at 800 to 1100st)
1100
(at 1200st)

8.3 Specifications List for Connectable Single Axis Actuator

1000
(at 1300st)
950
(at 1400st)
800
(at 1500st)
20 Horizontal 0.3 – – –
700
(at 1600st)
600
(at 1700st)
550
(at 1800st)
500
(at 1900st)
450
(at 2000st)

505
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1200
Chapter 8 Appendix

(at 100 to 800st)

Horizontal 920 1.0 – – –
(at to 900st)
20 765
(at to 1000st)
645
Vertical (at to 1100st) 0.8 – – –
550
LXM (at to 1200st)
200
LYM 600
(at 100 to 800st)
Horizontal 460 0.6 – – –
(at to 900st)
380
10
(at to 1000st)
320
Vertical (at to 1100st) 0.5 – – –
270
(at to 1200st)
600
(at 100 to 800st)
460
(at to 900st)
8.3 Specifications List for Connectable Single Axis Actuator

380
LZM 200 10 Vertical 0.5 – – –
(at to 1000st)
320
(at to 1100st)
ISA 270
ISPA (at to 1200st)
(Slider 2400
Type) (at 100 to 800st)
Horizontal 1840 1.0 – – –
(at to 900st)
1530
40
(at to 1000st)
1290
Vertical (at to 1100st) 1.0 – – –
1100
LXM (at to 1200st)
400
LYM 1200
(at 100 to 800st)
Horizontal 920 1.0 – – –
(at to 900st)
765
20
(at to 1000st)
645
Vertical (at to 1100st) 0.8 – – –
550
(at to 1200st)
600
(at 100 to 800st)
460
(at to 900st)
380
LZM 400 10 Vertical 0.5 – – –
(at to 1000st)
320
(at to 1100st)
270
(at to 1200st)

506
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1200

Chapter 8 Appendix
(at 1000 to 1200st)
1150
(at 1300st)
1000
(at 1400st)
950
(at 1500st)
830
(at 1600st)
740
(at 1700st)
650
(at 1800st)
200 20 Horizontal 0.3 – – –
590
(at 1900st)
540
(at 2000st)
490
(at 2100st)
440
(at 2200st)
410
(at 2300st)

8.3 Specifications List for Connectable Single Axis Actuator

370
(at 2400st)
ISA 340
ISPA (at 2500st)
LXMX
(Slider 2400
Type) (at 1000 to 1200st)
2300
(at 1300st)
2000
(at 1400st)
1900
(at 1500st)
1660
(at 1600st)
1480
(at 1700st)
1300
(at 1800st)
400 40 Horizontal 0.3 – – –
1180
(at 1900st)
1080
(at 2000st)
980
(at 2100st)
880
(at 2200st)
820
(at 2300st)
740
(at 2400st)
680
(at 2500st)

507
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1200
Chapter 8 Appendix

(at 1000 to 1200st)

1150
(at 1300st)
1000
(at 1400st)
950
(at 1500st)
830
(at 1600st)
740
(at 1700st)
650
(at 1800st)
LXMX 400 20 Horizontal 0.3 – – –
590
(at 1900st)
540
(at 2000st)
490
(at 2100st)
440
(at 2200st)
410
(at 2300st)
8.3 Specifications List for Connectable Single Axis Actuator

370
(at 2400st)
ISA 340
ISPA (at 2500st)
(Slider 12000
Type) (at 1000 to 1200st)
1150
(at 1300st)
1000
(at 1400st)
950
(at 1500st)
830
(at 1600st)
740
(at 1700st)
650
(at 1800st)
LXUWX 200 20 Horizontal 0.3 – – –
590
(at 1900st)
540
(at 2000st)
490
(at 2100st)
440
(at 2200st)
410
(at 2300st)
370
(at 2400st)
340
(at 2500st)

508
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
2400

Chapter 8 Appendix
(at 1000 to 1200st)
2300
(at 1300st)
2000
(at 1400st)
1900
(at 1500st)
1660
(at 1600st)
1480
(at 1700st)
1300
(at 1800st)
40 Horizontal 0.3 – – –
1180
(at 1900st)
1080
(at 2000st)
980
(at 2100st)
880
(at 2200st)
820
(at 2300st)

8.3 Specifications List for Connectable Single Axis Actuator

740
(at 2400st)
ISA 680
ISPA (at 2500st)
LXUWX 400
(Slider 1200
Type) (at 1000 to 1200st)
1150
(at 1500st)
1000
(at 1500st)
950
(at 1500st)
830
(at 1600st)
740
(at 1700st)
650
(at 1800st)
20 Horizontal 0.3 – – –
590
(at 1900st)
540
(at 2000st)
490
(at 2100st)
440
(at 2200st)
410
(at 2300st)
370
(at 2400st)
340
(at 2500st)

509
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
2400
Chapter 8 Appendix

(at 100 to 800st)

1840
Horizontal (at 900st) 1.0 – – –
1530
40 (at 1000st)
1290
(at 1100st)
1100
Vertical (at 1200st) 1.0 – – –
950
(at 1300st)
1200
(at 100 to 800st)
920
Horizontal 1.0 – – –
(at 900st)
765
600 (at 1000st)
20
645
(at 1100st)
550
Vertical (at 1200st) 0.8 – – –
475
(at 1300st)
8.3 Specifications List for Connectable Single Axis Actuator

600
ISA (at 100 to 800st)
ISPA 460
WXM Horizontal 0.6 – – –
(Slider (at 900st)
Type) 380
(at 1000st)
10
320
(at 1100st)
270
Vertical (at 1200st) 0.5 – – –
235
(at 1300st)
2000
(at 100 to 1000st)
Horizontal 1840 1.0 – – –
(at 1100st)
50
1570
(at 1200st)
Vertical 1360 1.0 – – –
(at 1300st)
750 1250
(at 100 to 900st)
Horizontal 1090 1.0 – – –
(at 1000st)
920
25
(at 1100st)
785
Vertical (at 1200st) 0.8 – – –
680
(at 1300st)

510
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
2400

Chapter 8 Appendix
(at 900 to 1200st)
2200
(at 1300st)
1965
(at 1400st)
1725
(at 1500st)
1530
(at 1600st)
1365
(at 1700st)
1225
(at 1800st)
40 Horizontal 0.3 – – –
1110
(at 1900st)
1005
(at 2000st)
915
(at 2100st)
840
(at 2200st)
770
(at 2300st)

8.3 Specifications List for Connectable Single Axis Actuator

710
(at 2400st)
ISA 655
ISPA (at 2500st)
WXMX 600
(Slider 1200
Type) (at 900 to 1200st)
1100
(at 1300st)
980
(at 1400st)
860
(at 1500st)
765
(at 1600st)
680
(at 1700st)
610
(at 1800st)
20 Horizontal 0.3 – – –
555
(at 1900st)
500
(at 2000st)
455
(at 2100st)
420
(at 2200st)
385
(at 2300st)
355
(at 2400st)
325
(at 2500st)

511
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
2000
Chapter 8 Appendix

(at 900 to 1700st)

1930
(at 1800st)
1740
(at 1900st)
1580
(at 2000st)
1440
50 Horizontal 0.3 – – –
(at 2100st)
1320
(at 2200st)
1210
(at 2300st)
1115
(at 2400st)
1035
(at 2500st)
ISA 1250
ISPA (at 900 to 1500st)
WXMX 750
(Slider 1200
Type) (at 1600st)
1075
(at 1700st)
8.3 Specifications List for Connectable Single Axis Actuator

965
(at 1800st)
870
(at 1900st)
790
25 Horizontal 0.3 – – –
(at 2000st)
720
(at 2100st)
660
(at 2200st)
605
(at 2300st)
555
(at 2400st)
515
(at 2500st)

512
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
2000

Chapter 8 Appendix
(at 100 to 700st)
1965
Horizontal (at to 800st) 1.0 – – –
1605
(at to 900st)
40 1335
(at to 1000st)
1130
(at to 1100st)
Vertical 970 1.0 – – –
(at to 1200st)
840
(at to 1300st)
1000
(at 100 to 700st)
980
Horizontal (at to 800st) 1.0 – – –
800
(at to 900st)
600 665
20
(at to 1000st)
565
(at to 1100st)

8.3 Specifications List for Connectable Single Axis Actuator

Vertical 485 0.8 – – –
(at to 1200st)
420
(at to 1300st)
500
ISDACR (at 100 to 700st)
ISPDACR 490
W
(Slider Horizontal (at to 800st) 0.6 – – –
Type) 400
(at to 900st)
330
10
(at to 1000st)
280
(at to 1100st)
Vertical 240 0.5 – – –
(at to 1200st)
210
(at to 1300st)
2000
Horizontal (at 100 to 1000st) 1.0 – – –
1780
(at to 1100st)
50
1525
(at to 1200st)
Vertical 0.8 – – –
1320
(at to 1300st)

750 1250
(at 100 to 900st)
Horizontal 1050 1.0 – – –
(at to 1000st)
890
25
(at to 1100st)
760
(at to 1200st)
Vertical 660 0.8 – – –
(at to 1300st)

513
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
2000
Chapter 8 Appendix

(at 1000 to 1300st)

1965
(at 1400st)
1725
(at 1500st)
1530
(at 1600st)
1365
(at 1700st)
1225
(at 1800st)
1110
40 Horizontal 0.3 – – –
(at 1900st)
1005
(at 2000st)
915
(at 2100st)
840
(at 2200st)
770
(at 2300st)
710
(at 2400st)
8.3 Specifications List for Connectable Single Axis Actuator

ISDACR 655
ISPDACR (at 2500st)
WX 600
(Slider 1000
Type) (at 1000 to 1300st)
980
(at 1400st)
860
(at 1500st)
765
(at 1600st)
680
(at 1700st)
610
(at 1800st)
555
20 Horizontal 0.3 – – –
(at 1900st)
500
(at 2000st)
455
(at 2100st)
420
(at 2200st)
385
(at 2300st)
355
(at 2400st)
325
(at 2500st)

514
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
2000

Chapter 8 Appendix
(at 1000 to 1700st)
1930
(at 1800st)
1740
(at 1900st)
1580
(at 2000st)
1440
50 Horizontal 0.3 – – –
(at 2100st)
1320
(at 2200st)
1210
(at 2300st)
1115
(at 2400st)
1035
(at 2500st)
ISDACR 1250
ISPDACR (at 1000 to 1500st)
WX 750
(Slider 1200
Type) (at 1600st)
1075
(at 1700st)

8.3 Specifications List for Connectable Single Axis Actuator

965
(at 1800st)
870
(at 1900st)
790
25 Horizontal 0.3 – – –
(at 2000st)
720
(at 2100st)
660
(at 2200st)
605
(at 2300st)
555
(at 2400st)
515
(at 2500st)

515
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
240
Chapter 8 Appendix

(at 100 to 600st)

Horizontal 0.5
165
4 (at to 700st) – – –
130
(at to 800st)
Vertical 100 0.4
(at to 900st)
480
(at 50 to 600st)
Horizontal 0.7
330
SXM 50 (at to 700st)
8 – – –
260
(at to 800st)
Vertical 210 0.6
(at to 900st)
960
(at 50 to 600st)
Horizontal 1.2
655
(at to 700st)
16 – – –
515
(at to 800st)
ISB Vertical 415 0.8
ISPB (at to 900st)
8.3 Specifications List for Connectable Single Axis Actuator

(Slider 240
Type) (at 130 to 580st)
Horizontal 165 0.5
(at to 680st)
4 – – –
130
(at to 780st)
Vertical 100 0.4
(at to 880st)
480
(at 130 to 580st)
Horizontal 0.7
330
8 (at to 680st)
SXL 50 – – –
260
(at to 780st)
Vertical 210 0.6
(at to 880st)
960
(at 130 to 580st)
Horizontal 1.2
655
(at to 680st)
16 – – –
515
(at to 780st)
Vertical 415 0.8
(at to 880st)

516
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
300

Chapter 8 Appendix
(at 100 to 700st)
Horizontal 215 0.5
(at to 800st)
5 170 – – –
(at to 900st)
140
Vertical (at to 1000st) 0.4
115
(at to 1100st)
600
(at 100 to 700st)
Horizontal 430 0.7
(at to 800st)
345
10 – – –
(at to 900st)
280
Vertical (at to 1000st) 0.6
ISB 230
ISPB 100 (at to 1100st)
MXM
(Slider 200 1200
Type) (at 100 to 700st)
Horizontal 860 1.2
(at to 800st)

8.3 Specifications List for Connectable Single Axis Actuator

695
20 – – –
(at to 900st)
570
Vertical (at to 1000st) 1.0
460
(at to 1100st)
1800
(at 100 to 700st)
Horizontal 1290
(at to 800st)
1045
30 1.2 – – –
(at to 900st)
860
Vertical (at to 1000st)
690
(at to 1100st)

517
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
300
Chapter 8 Appendix

(at 120 to 670st)

Horizontal 215 0.5
(at to 770st)
5 170 – – –
(at to 870st)
140
Vertical (at to 970st) 0.4
115
(at to 1070st)
600
(at 120 to 670st)
Horizontal 430 0.7
(at to 770st)
345
10 – – –
(at to 870st)
280
Vertical (at to 970st) 0.6
ISB 230
ISPB 100 (at to 1070st)
MXL
(Slider 200 1200
Type) (at 120 to 670st)
Horizontal 860 1.2
(at to 770st)
8.3 Specifications List for Connectable Single Axis Actuator

695
20 – – –
(at to 870st)
570
Vertical (at to 970st) 1.0
460
(at to 1070st)
1800
(at 120 to 670st)
Horizontal 1290
(at to 770st)
1045
30 1.2 – – –
(at to 870st)
860
Vertical (at to 970st)
690
(at to 1070st)

518
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1200

Chapter 8 Appendix
(at800 to 1100st)
1100
(at to 1200st)
1000
(at to 1300st)
950
(at to 1400st)
800
(at to 1500st)
20 Horizontal 0.4 – – –
700
(at to 1600st)
600
(at to 1700st)
550
(at to 1800st)
500
(at to 1900st)
ISB 450
ISPB (at to 2000st)
MXMX 200
(Slider 1800
Type) (at800 to 1100st)
1650
(at to 1200st)

8.3 Specifications List for Connectable Single Axis Actuator

1500
(at to 1300st)
1425
(at to 1400st)
1200
(at to 1500st)
30 Horizontal 0.4 – – –
1050
(at to 1600st)
900
(at to 1700st)
825
(at to 1800st)
750
(at to 1900st)
675
(at to 2000st)

519
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
600
Chapter 8 Appendix

(at 100 to 800st)

460
Horizontal (at to 900st) 0.7
380
10 (at to 1000st) – – –
320
(at to 1100st)
270
Vertical (at to 1200st) 0.6
220
(at to 1300st)
1200
(at 100 to 800st)
920
Horizontal (at to 900st) 1.2
ISB 765
ISPB 200 (at to 1000st)
LXM 20 – – –
(Slider 400 645
Type) (at to 1100st)
550
Vertical (at to 1200st) 1.0
440
(at to 1300st)
8.3 Specifications List for Connectable Single Axis Actuator

2400
(at 100 to 800st)
1840
Horizontal (at to 900st)
1530
(at to 1000st)
40 1.2 – – –
1290
(at to 1100st)
1100
Vertical (at to 1200st)
880
(at to 1300st)

520
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
600

Chapter 8 Appendix
(at 120 to 770st)
460
Horizontal (at to 870st) 0.7
380
10 (at to 970st) – – –
320
(at to 1070st)
270
Vertical (at to 1170st) 0.6
220
(at to 1270st)
1200
(at 120 to 770st)
920
Horizontal (at to 870st) 1.2
ISB 765
ISPB 200 (at to 970st)
LXL 20 – – –
(Slider 400 645
Type) (at to 1070st)
550
Vertical (at to 1170st) 1.0
440
(at to 1270st)

8.3 Specifications List for Connectable Single Axis Actuator

2400
(at 120 to 770st)
1840
Horizontal (at to 870st)
1530
(at to 970st)
40 1.2 – – –
1290
(at to 1070st)
1100
Vertical (at to 1170st)
880
(at to 1270st)

521
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1200
Chapter 8 Appendix

(at 1000 to 1200st)

1150
(at to 1300st)
1000
(at to 1400st)
950
(at to 1500st)
830
(at to 1600st)
740
(at to 1700st)
650
200 (at to 1800st)
20 Horizontal 0.4 – – –
400 590
(at to 1900st)
540
(at to 2000st)
490
(at to 2100st)
440
(at to 2200st)
410
(at to 2300st)
8.3 Specifications List for Connectable Single Axis Actuator

370
(at to 2400st)
ISB 340
ISPB LXMX (at to 2500st)
(Slider LXUWX 2400
Type) (at 1000 to 1200st)
2300
(at to 1300st)
2000
(at to 1400st)
1900
(at to 1500st)
1660
(at to 1600st)
1480
(at to 1700st)
1300
(at to 1800st)
400 40 Horizontal 0.4 – – –
1180
(at to 1900st)
1080
(at to 2000st)
980
(at to 2100st)
880
(at to 2200st)
820
(at to 2300st)
740
(at to 2400st)
680
(at to 2500st)

522
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1080

Chapter 8 Appendix
(at 50 to 100st)
1250
(at to 900st)
Horizontal 1160
(at to 1000st)
970
25 (at to 1100st) 1.2 – – –
830
(at to 1200st)
720
(at to 1300st)
Vertical 620
(at to 1400st)
550
(at to 1500st)
1080
(at 50 to 100st)
SSPA 1530
(Slider LXM 750 (at to 200st)
Type) 1870
(at to 300st)
Horizontal 2160
(at to 400st)

8.3 Specifications List for Connectable Single Axis Actuator

2420
(at to 500st)
2500
(at to 900st)
50 1.2 – – –
2320
(at to 1000st)
1950
(at to 1100st)
1660
(at to 1200st)
Vertical 1440
(at to 1300st)
1250
(at to 1400st)
1100
(at to 1500st)

523
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
240
Chapter 8 Appendix

(at to 500st)
230
Horizontal 0.5
(at to 550st)
200
(at to 600st)
4 170 – – –
(at to 170st)
150
(at to 700st)
Vertical 0.4
135
(at to 750st)
120
(at to 800st)
480
(at to 500st)
460
Horizontal 0.7
(at to 550st)
400
ISDB (at to 600st)
ISPDB 8 345 – – –
S 60
(Slider (at to 650st)
Type)
8.3 Specifications List for Connectable Single Axis Actuator

305
(at to 700st)
Vertical 0.6
270
(at to 750st)
240
(at to 800st)
960
(at to 500st)
920
Horizontal 1
(at to 550st)
795
(at to 600st)

16 690 – – –
(at to 650st)
610
(at to 700st)
Vertical 0.8
540
(at to 750st)
480
(at to 800st)

524
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]

Chapter 8 Appendix
300
(at to 600st)
270
(at to 650st)
240
Horizontal 0.5
(at to 700st)
215
(at to 750st)
190
(at to 800st)

5 170 – – –
(at to 850st)
155
(at to 900st)
140
(at to 950st)
Vertical 0.4
130
(at to 1000st)
120
(at to 1050st)
110
ISDB
(at to 1100st)
ISPDB 100
M

8.3 Specifications List for Connectable Single Axis Actuator

(Slider 200
600
Type)
(at to 600st)
545
(at to 650st)
480
Horizontal 0.7
(at to 700st)
430
(at to 750st)
380
(at to 800st)

10 345 – – –
(at to 850st)
310
(at to 900st)
285
(at to 950st)
Vertical 0.6
260
(at to 1000st)
240
(at to 1050st)
220
(at to 1100st)

525
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
Chapter 8 Appendix

1200
(at to 600st)
1085
(at to 650st)
960
Horizontal 1
(at to 700st)
855
(at to 750st)
765
(at to 800st)

20 690 – – –
(at to 850st)
625
(at to 900st)
570
(at to 950st)
Vertical 1
520
(at to 1000st)
475
(at to 1050st)
440
ISDB
(at to 1100st)
ISPDB 100
M
8.3 Specifications List for Connectable Single Axis Actuator

(Slider 200 1800

Type) (at to 600st)
1630
(at to 650st)
1440
Horizontal 1
(at to 700st)
1280
(at to 750st)
1150
(at to 800st)

30 1035 – – –
(at to 850st)
935
(at to 900st)
850
(at to 950st)
Vertical 1
780
(at to 1000st)
715
(at to 1050st)
660
(at to 1100st)

526
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]

Chapter 8 Appendix
1200
(at to 1100st)
1100
(at to 1200st)
1000
(at to 1300st)
20 Horizontal 0.4 – – –
950
(at to 1400st)
800
(at to 1500st)
700
(at to 1600st)
MX 200
1800
(at to 1100st)
1650
(at to 1200st)
1500
(at to 1300st)
30 Vertical 0.4 – – –
1425
(at to 1400st)
1200
(at to 1500st)

8.3 Specifications List for Connectable Single Axis Actuator

1050
(at to 1600st)
ISDB
ISPDB 600
(Slider (at to 650st)
Type) 585
(at to 700st)
520
(at to 750st)
470
Horizontal 1
(at to 800st)
425
(at to 850st)
385
(at to 900st)
350
(at to 950st)
200
L 10 – – –
400
320
(at to 1000st)
295
(at to 1050st)
275
(at to 1100st)
255
Vertical 1
(at to 1150st)
235
(at to 1200st)
220
(at to 1250st)
205
(at to 1300st)

527
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
1200
Chapter 8 Appendix

(at to 650st)
1165
(at to 700st)
1045
(at to 750st)
940
Horizontal 1
(at to 800st)
850
(at to 850st)
770
(at to 900st)
705
(at to 950st)
20 – – –
645
(at to 1000st)
595
(at to 1050st)
545
(at to 1100st)
505
Vertical 1
(at to 1150st)
470
8.3 Specifications List for Connectable Single Axis Actuator

(at to 1200st)
ISDB 440
ISPDB 200 (at to 1250st)
L
(Slider 400 410
Type) (at to 1300st)

1800
(at to 800st)
1700
(at to 850st)
1540
Horizontal 1
(at to 900st)
1410
(at to 950st)
1290
(at to 1000st)

40 1185 – – –
(at to 1050st)
1095
(at to 1100st)
1015
(at to 1150st)
Vertical 1
940
(at to 1200st)
875
(at to 1250st)
815
(at to 1300st)

1200
(at to 1200st)
1150
(at to 1300st)
1000
20 Horizontal 0.4 – – –
ISDB (at to 1400st)
ISPDB 200 950
LX (at to 1500st)
(Slider 400
Type) 830
(at to 1600st)
1800
(at to 1500st)
40 Horizontal 0.4 – – –
1600
(at to 1660st)

528
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
SXMS-A – – –

Chapter 8 Appendix
60 12 Horizontal 720 0.8
SXMS-I – – –
SXMM-A – – –
NS 60 12 Horizontal 720 0.8
SXMM-I – – –
(Absolute
type only) SZMS-A – – –
60 12 Vertical 600 0.7
SZMS-I – – –
SZMM-A – – –
60 12 Vertical 600 0.7
SZMM-I – – –
30 1800 1.0 – – –
MXMS 200 Horizontal
20 1200 0.8 – – –
30 1800 1.0 – – –
MXMM 200 Horizontal
20 1200 0.8 – – –
30 1800 0.3 – – –
MXMXS 200 Horizontal
20 1200 0.3 – – –
MZMS 200 20 Vertical 1000 0.5 – – –
MZMM 200 20 Vertical 1000 0.5 – – –
NS
40 Horizontal 2400 1.0 – – –
LXMS 400
20 Horizontal 1300 1.0 – – –
40 Horizontal 2400 1.0 – – –
LXMM 400
20 Horizontal 1300 1.0 – – –

8.3 Specifications List for Connectable Single Axis Actuator

40 Horizontal 2400 0.3 – – –
LXMXS 400
20 Horizontal 1300 0.3 – – –
LZMS 400 20 Vertical 1000 0.8 – – –
LZMM 400 20 Vertical 1000 0.8 – – –
60 Horizontal 0.3 – – –
SA 35 1750
100 Horizontal 0.3 – – –
IF
200 Horizontal – – –
MA 35 1750 0.3
400 Horizontal – – –
60 Horizontal 0.3 – – –
NM 25 1250
100 Horizontal 0.3 – – –
100 Horizontal 0.3 – – –
FS WM 25 1250
200 Horizontal 0.3 – – –
LM 400 25 Horizontal 1250 0.3 – – –
HM 400 40 Horizontal 2000 0.3 – – –

529
 Max. Acceleration/ Min. Max. Rated
Motor
Actuator Lead Mounting Max. speed Deceleration Pressing Pressing Pressing
Type output
series direction Speed Force Force Speed
[W] [mm] [mm/s] [G] [N] [N] [mm/s]
Decelera
Chapter 8 Appendix

tion ratio 360 – – –

1/50
30 30 �
Decelera
tion ratio 180 – – –
1/100
RS �
Decelera
tion ratio 360 – – –
1/50
60 60 �
Decelera
tion ratio 180 – – –
1/100
S10SS 3.0 – – –
100S 90 Horizontal 2500
S10SM 3.0 – – –
S15SS 3.0 – – –
LSAS S15SM 3.0 – – –
S15HS 200S 50 Horizontal 2500 3.0 – – –

S15HM 3.0 – – –

100
(vertical � 1005 0.3 – 74.8 –
axis )
8.3 Specifications List for Connectable Single Axis Actuator

S Vertical
100
(rotation � 2200(mm/s) 0.3 – – –
axis)
ZR
200
(vertical � 1256 0.3 – 171 –
axis )
M Vertical
200
(rotation � 2200(mm/s) 0.3 – – –
axis)

530
Chapter 9 Warranty
9.1 Warranty Period
�
One of the following periods, whichever is shorter:
� 18 months after shipment from our company

Chapter 9 Warranty
� 12 months after delivery to the specified location
�
9.2 Scope of the Warranty
�
Our products are covered by warranty when all of the following conditions are met. Faulty
products covered by warranty will be replaced or repaired free of charge:
(1) The breakdown or problem in question pertains to our product as delivered by us or our
authorized dealer.
(2) The breakdown or problem in question occurred during the warranty period.
(3) The breakdown or problem in question occurred while the product was in use for an
appropriate purpose under the conditions and environment of use specified in the operation
manual and catalog.
(4) The breakdown of problem in question was caused by a specification defect or problem, or

9.3 Honoring the Warranty 9.4 Limited Liability

9.1 Warranty Period 9.2 Scope of the Warranty
by a quality issue with our product.

Note that breakdowns due to any of the following reasons are excluded from the scope of
warranty:
[1] Anything other than our product
[2] Modification or repair performed by a party other than us (unless we have approved such
modification or repair)
[3] Anything that could not be easily predicted with the level of science and technology
available at the time of shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
[5] Natural fading of paint or other symptoms of aging
[6] Wear, depletion or other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or
maintenance

Note that the warranty only covers our product as delivered and that any secondary loss arising
from a breakdown of our product is excluded from the scope of warranty.

9.3 Honoring the Warranty

As a rule, the product must be brought to us for repair under warranty.

9.4 Limited Liability

(1) We shall assume no liability for any special damage, consequential loss or passive loss such
as a loss of expected profit arising from or in connection with our product.
(2) We shall not be liable for any program or control method created by the customer to operate
our product or for the result of such program or control method.

531
 9.5 Conditions of Conformance with Applicable Standards/Regulations,
Etc., and Applications
(1) If our product is combined with another product or any system, device, etc., used by the
customer, the customer must first check the applicable standards, regulations and/or rules.
The customer is also responsible for confirming that such combination with our product
conforms to the applicable standards, etc. In such a case we will not be liable for the
Chapter 9 Warranty

conformance of our product with the applicable standards, etc.

(2) Our product is for general industrial use. It is not intended or designed for the applications
specified below, which require a high level of safety. Accordingly, as a rule our product
cannot be used in these applications. Contact us if you must use our product for any of
these applications:
[1] Medical equipment pertaining to maintenance or management of human life or health
[2] A mechanism or mechanical equipment intended to move or transport people (such as
a vehicle, railway facility or aviation facility)
[3] Important safety parts of mechanical equipment (such as safety devices)
[4] Equipment used to handle cultural assets, art or other irreplaceable items
(3) Contact us at the earliest opportunity if our product is to be used in any condition or
environment that differs from what is specified in the catalog or operation manual.

9.6 Other Items Excluded from Warranty

9.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications
9.6 Other Items Excluded from Warranty

The price of the product delivered to you does not include expenses associated with
programming, the dispatch of engineers, etc. Accordingly, a separate fee will be charged in the
following cases even during the warranty period:
[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance and inspection
[3] Technical guidance and education on operating/wiring methods, etc.
[4] Technical guidance and education on programming and other items related to programs

532
Trouble Report Sheet

Trouble Report Sheet

533
 Change History
Revision Date Revision Description
2012.09 First Edition

2012.10 Edition 1B
Note corrected

2012.11 Second Edition

Construction change
� 2.3.4 Connection of PIO moved into 2.2.7 PIO Circuit in 2.2 Circuit
Diagram (Example)
� [3] Connection of PIO and [4] Wiring in 2.3.5 Connection of Extension I/O
Units moved into 2.2.10 Extension I/O Unit (Option) in 2.2 Circuit Diagram
(Example)
� 8.4 Synchro Function and 8.5 How to Absolute Reset on Synchronizing
Type moved to 5.3 in Chapter 5 Special Function
� 8.7 Multi-Slider Near-Miss Detection (Collision Prevention) Function
moved into 5.4
Pg. 29 Partly corrected in Starting Procedures
Pg. 63 Changed in Calculation Table for Necessary Number of
Regenerative Units.
Pg. 78 and 79 Way to draw Emergency Stop Circuit changed
Change History

Pg. 103 Sentences deleted after “Set it to a hexadecimal value based

on the extension I/O board attachment condition.” in Details of
Parameters of 604 IA Net Final Station Number
Pg. 103 Set Value changed to “0H” for 605 IA Net All Connected
Station Patterns (31-00)
Content of pattern changed to “Put the setting value to “0H”
and the setting is automatically adjusted.”
Pg. 440 LSA deleted.
Note corrected

2012.12 Third Edition

Contents added in SCARA Robot IX-NNN10040, 12040 Controller and
XSEL-SX-NNN10040, 12040.

2013.01 Forth Edition

� “High Acceleration/Deceleration” added to 1.1.5 How to read the model.
� SCARA Axis, Z-axis and R-axis added to absolute reset.
� RCS2-SRA7BD/SRGS7BD/SRGD7BD and RCS2-��5N deleted from
Specifications List for Connectable Single Axis Actuator. “Absolute type
only” added to NS-SXM�.
� Note corrected

534
�
Manual No.: ME0313-4A (January 2013)

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/

Technical Support available in USA, Europe and China

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

TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143
TEL (630) 467-9900 FAX (630) 467-9912
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com

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

TEL 06196-88950 FAX 06196-889524

SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com

The information contained in this document is subject to change without notice for purposes of
product improvement.
Copyright © 2013. Jan. IAI Corporation. All rights reserved.
13.01.000