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IAI X-SEL Operation Manual

Manual is about: P/Q/PCT/QCT Type

Summary of X-SEL

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    Ethernet operation manual third edition.

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    Please read before use thank you for purchasing our product. This operation manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and f...

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    Table of contents safety guide 1 1. Overview 11 2. Interface specifications 13 3. Interface board 14 3.1 name of each part 14 3.2 monitor led indications 15 4. Remote i/o (modbus/tcp y ethernet/ip) 16 4.1 setup of ethernet environment 16 4.2 remote i/o setup procedure 17 4.3 setup procedure for exce...

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    -1- safety guide when designing and manufacturing a robot system, ensure safety by following the safety guidess provided below and taking the necessary measures. Regulations and standards governing industrial robots safety measures on mechanical devices are generally classified into four categories ...

  • Page 8: Industrial Safety and Health

    -2- requirements for industrial robots under ordinance on industrial safety and health work area work condition cutoff of drive source measure article signs for starting operation article 104 outside movement range during automatic operation not cut off installation of railings, enclosures, etc. Art...

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    -3- applicable models of iai’s industrial robots machines meeting the following conditions are not classified as industrial robots according to notice of ministry of labor no. 51 and notice of ministry of labor/labor standards office director (ki-hatsu no. 340): (1) single-axis robot with a motor wa...

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    -4- safety precautions for our products the common safety precautions for the use of any of our robots in each operation. No. Operation description description 1 model selection Ɣ this product has not been planned and designed for the application where high level of safety is required, so the guaran...

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    -5- no. Operation description description 3 storage and preservation Ɣ the storage and preservation environment conforms to the installation environment. However, especially give consideration to the prevention of condensation. Ɣ store the products with a consideration not to fall them over or drop ...

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    -6- no. Operation description description 4 installation and start (4) safety measures Ɣ 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. Ɣ when the produ...

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    -7- no. Operation description description 6 trial operation Ɣ 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. Ɣ after the teaching or programming operati...

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    -8- no. Operation description description 9 modification and dismantle Ɣ do not modify, disassemble, assemble or use of maintenance parts not specified based at your own discretion. 10 disposal Ɣ when the product becomes no longer usable or necessary, dispose of it properly as an industrial waste. Ɣ...

  • Page 15: Alert Indication

    -9- 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 danger this indicates an imminently hazardous situation ...

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    -10-.

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    -11- 1. Overview this option allows the x-sel controller to perform control in an open network environment using the ethernet infrastructure, the de-facto standard and most common form of communication media for linking pcs and host computers. (1) remote i/o control (modbus/tcp y ethernet/ip) the x-...

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    - 12 - a hierarchy of the functions provided by the x-sel ethernet option is shown below. Functions are selected by parameters. Additionally, the network environment parameters must be set. Exception status invalid exception status (upper two digits of the error number) valid client (pc software con...

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    - 13 - 2. Interface specifications item specification network specification 10base-t/100base-t (auto-negotiation) communication standard ieee802.3 communication speed 10/100 mbps (auto-negotiation) remote i/o open modbus/tcp ethernet/ip tcp/ip message communication class 1 read coil class 1 read inp...

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    - 14 - 3. Interface board 3.1 name of each part (note) the dip switches are used to set the least significant byte of the ip address. With the x-sel system, however, the ip address is set by a controller parameter without the use of dip switches. Set all switches to off. (setting the switches in any...

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    - 15 - 3.2 monitor led indications the operating condition of the interface board and its connection status to ethernet can be checked via the four leds provided on the front panel of the interface board. * the led indications of operating condition and connection condition vary between modbus/tcp a...

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    - 16 - 4. Remote i/o (modbus/tcp y ethernet/ip) 4.1 setup of ethernet environment the x-sel controller provides ip addresses and other network-definition areas in its i/o parameters for control of modbus/tcp y ethernet/ip operation. Set the necessary parameters according to the network environment b...

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    - 17 - 4.2 remote i/o setup procedure the system is configured only with the remote i/os of modbus/tcp y ethernet/ip, with the i/o port numbers being specified according to fixed port assignment. 4.2.1 configuration with modbus/tcp or ethernet/ip only (no expansion i/o board) the following settings ...

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    - 18 - [i/o parameters: xsel-p/q/px/qx] no. Parameter name setting input range remarks 1 i/o port assignment type 0 0~20 0: fixed assignment i/o port numbers are specified by parameters. 1: automatic assignment (priority sequence: slot 1~) 2 standard i/o input-port start number based on fixed assign...

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    - 19 - 4.2.2 combined use of expansion i/o board (modbus/tcp y ethernet/ip + expanded i/o) the following settings are applicable when the standard i/o ports are mapped on modbus/tcp y ethernet/ip (input-port start no. 0 and output-port start no. 300), while the i/o boards are used with port assignme...

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    - 20 - [i/o parameters: xsel-p/q/px/qx] no. Parameter name setting input range remarks 1 i/o port assignment type 0 0~20 0: fixed assignment i/o port numbers are specified by parameters. 1: automatic assignment (priority sequence: slot 1~) 2 standard i/o input-port start number based on fixed assign...

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    - 21 - 4.3 setup procedure for exception status support the x-sel ethernet option supports the function that notifies the host of an error condition (the upper two digits of the error number) of the x-sel controller using an exception code stored in modbus/tcp. By setting bits 0 to 3 of i/o paramete...

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    - 22 - 4.4 correspondence of modbus/tcp address and x-sel i/o modbus/tcp can address the same object using either bit addressing or word addressing. The di area (bit numbers from no. 0 up to no. 299 can be defined) of the x-sel controller is mapped in the word address 0x400 (1024) (coil and holding ...

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    - 23 - 4.4.1 little endian operation the default endian mode of di/do operation commands of the x-sel controller is the little endian. In the little endian mode, the remote i/o field accessed via word operation with an in, inb, out or outb command of the x-sel controller will have its upper and lowe...

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    - 24 - [modbus/tcp output areas (assignment of x-sel di area 300 onward), fmio = 0] address bit7 (msb) 6 5 4 3 2 1 0 (lsb) x-sel di 7 6 5 4 3 2 1 0 modbus/tcp bit address 16384 16385 16386 16387 16388 16389 16390 16391 modbus/tcp word address 1024 lower byte modbus output coil 1 2 3 4 5 6 7 8 modbus...

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    - 25 - 4.4.2 big endian operation to align the word handling between modbus/tcp and the x-sel controller, the i/o operation mode must be set to the big endian with an fmio command before executing a di/do operation command in any x-sel task. With this setting the remote i/o field accessed via word o...

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    - 26 - [modbus/tcp output areas (assignment of x-sel di area 300 onward), fmio = 0] address bit7 (msb) 6 5 4 3 2 1 0 (lsb) x-sel di 7 6 5 4 3 2 1 0 modbus/tcp bit address 16384 16385 16386 16387 16388 16389 16390 16391 modbus/tcp word address 1024 upper byte modbus output coil 1 2 3 4 5 6 7 8 modbus...

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    - 27 - 4.5 installation to a modbus/tcp system no special tools are required for operation of the x-sel controller via modbus/tcp on ethernet. Simply set the controller parameters, connect the ethernet cable and turn on the power. The modbus/tcp server in the controller will be started, enabling rem...

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    - 28 - 5. Iai protocol b/tcp this protocol uses tcp packets embedded with the message format of iai protocol b for serial communication. The controller supports the slaves under this protocol, regardless of the connection method (client or server). (the connected device always becomes the protocol m...

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    - 29 - [i/o parameters] no. Parameter name setting input range remarks 124 network attribute 5 (manu mode) 1h or 3h (auto mode) 10h or 30h 0h~ffffffffh ethernet tcp/ip message communication attribute ethernet client/server type 0: do not use 1: client (assign own port number automatically) (2: clien...

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    - 30 - 138 subnet mask (ml) 255 0~255 139 subnet mask (l) 0 0~255 140 default gateway (h) 0 0~255 141 default gateway (mh) 0 0~255 142 default gateway (ml) 0 0~255 143 default gateway (l) 0 0~255 … … … … … 149 iai protocol b/tcp: ip address of connection destination (manu mode) (h) 192 1~255 * setti...

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    - 31 - 4. One of the two ports will be used for connection, depending on the manu/auto mode. 5. The port will be enabled at the following intervals: x when the initialization after power on reset is complete x when no iai protocol serial-communication message has been received for approximately five...

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    - 32 - 5.2 ethernet connection of x-sel pc software 5.2.1 software versions supporting this function (1) pc software v2.1.0.0 or later (japanese version) v2.1.0.0e or later (english version) 5.2.2 function (1) connection confirmation a. Selecting the communication port select “ethernet” in the port ...

  • Page 39

    - 33 - c. Selecting the controller entering the port number and clicking the [ok] button switches the display to the select controller screen. Figure 3 each time a connection is established from a controller, the ip address of the connecting controller is added to the list. Select the ip address of ...

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    - 34 - (2) connection destination change select “controller (c)” o “request release pause (l)” from the menu. * this menu item will be added only when connections have been established from two or more controllers. Figure 4 select the ip address of the controller with which you want to communicate, ...

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    - 35 - 5.2.3 items to note (1) when connecting via ethernet, the ip address parameter must be set via serial connection beforehand in accordance with the applicable environment. (2) if a firewall (including the firewall function of virus protection software) is installed in the pc, etc., the port bl...

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    - 36 - 6. Transmission by sel program four channels of ascii-based, delimiter-controlled communication (ch31 through ch34) are supported, using a set of transmission commands in a system roughly equivalent to that used in the x-sel controller’s serial communication. (the specification of each sel co...

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    - 37 - [i/o parameters] no. Parameter name setting input range remarks 124 network attribute 5 00***100h (channel 31) 00**1*00h (channel 32) 00*1**00h (channel 33) 001***00h (channel 34) or, 00***300h (channel 31) 00**3*00h (channel 32) 00*3**00h (channel 33) 003***00h (channel 34) 0h~ffffffffh ethe...

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    - 38 - 135 own ip address (l) 1 1~254 * setting of “0” and “255” is prohibited. 136 subnet mask (h) 255 0~255 137 subnet mask (mh) 255 0~255 138 subnet mask (ml) 255 0~255 139 subnet mask (l) 0 0~255 140 default gateway (h) 0 0~255 141 default gateway (mh) 0 0~255 142 default gateway (ml) 0 0~255 14...

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    - 39 - 6.2 ethernet option sel commands z open (channel open) [* when the ethernet option is used] command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional open channel number prohibited c...

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    - 40 - (note 8) the diagram below explains the mechanism of “socket interface.” * bear in mind that “socket,” “connect,” “write,” “read,” “close,” “bind,” “listen” and “accept” are not sel language commands (sel commands). (1) client open (2) server open data transmission end of socket communication...

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    - 41 - [example] let 90 192 ip address of connection destination (h) = 192 let 91 168 ip address of connection destination (mh) = 168 let 92 72 ip address of connection destination (ml) = 72 let 93 101 ip address of connection destination (l) = 101 let 94 64514 port number of connection destination ...

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    - 42 - 50~: device error information 50 invalid message id 51 invalid message type 52 invalid command 53 invalid data size 54 invalid frame count 55 invalid frame number 56 invalid offset 57 invalid address 58 invalid response 59 flash config error 60~64 invalid to be defined 1-7 101 invalid ip-addr...

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    - 43 - z clos (channel close) [* when the ethernet option is used] command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional clos channel number prohibited cc [function] close the channel s...

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    - 44 - z read (read) [* when the ethernet option is used] command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional read channel number column number cc [function] read a character string f...

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    - 45 - z writ (write) [* when the ethernet option is used] command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional writ channel number column number cc [function] write a character string...

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    - 46 - z ipcn (ip address/port number settings of connection destination) [* when the ethernet option is used] command, declaration extension condition (ld, a, o, ab, ob) input condition (i/o, flag) command, declaration operand 1 operand 2 output (output, flag) optional optional ipcn channel number ...

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    - 47 - 7. Common items to note (be sure to read this section.) (1) the ethernet option will be enabled when a reset is executed on the controller equipped with an ethernet interface board, following a parameter setup (ethernet option function-selection parameter and network environment parameters) b...

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    - 48 - (10) if a firewall (including the firewall function of virus protection software) is installed in the pc, etc., the port block must be canceled or the firewall function disabled before a connection can be made. (this is because the very purpose of firewall software is to block external connec...

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    - 49 - appendix: x-sel (cartesian/ix scara) ethernet option parameters [i/o p a rameters] setting req uir e ment a: required (func tion sel ection) b: required (net w o rk envir onment, etc.) c: check ed (as a rule, the default value on the p a ra met er list must be used.) modbu s/tcp etherne t/ip ...

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    - 50 - setting req uir e ment a: required (func tion sel ection) b: required (net w o rk envir onment, etc.) c: check ed (as a rule, the default value on the p a ra met er list must be used.) modbu s/tcp etherne t/ip iai protocol b/t cp t ransmission b y sel program no. Parameter name default value ...

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    - 51 - setting req uir e ment a: required (func tion sel ection) b: required (net w o rk envir onment, etc.) c: check ed (as a rule, the default value on the p a ra met er list must be used.) modbu s/tcp etherne t/ip iai protocol b/t cp t ransmission b y sel program no. Parameter name default value ...

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    - 52 - setting req uir e ment a: required (func tion sel ection) b: required (net w o rk envir onment, etc.) c: check ed (as a rule, the default value on the p a ra met er list must be used.) modbu s/tcp etherne t/ip iai protocol b/t cp t ransmission b y sel program no. Parameter name default value ...

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    - 53 - setting req uir e ment a: required (func tion sel ection) b: required (net w o rk envir onment, etc.) c: check ed (as a rule, the default value on the p a ra met er list must be used.) modbu s/tcp etherne t/ip iai protocol b/t cp t ransmission b y sel program no. Parameter name default value ...

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    - 54 - setting req uir e ment a: required (func tion sel ection) b: required (net w o rk envir onment, etc.) c: check ed (as a rule, the default value on the p a ra met er list must be used.) modbu s/tcp etherne t/ip iai protocol b/t cp t ransmission b y sel program no. Parameter name default value ...

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    - 55 - setting req uir e ment a: required (func tion sel ection) b: required (net w o rk envir onment, etc.) c: check ed (as a rule, the default value on the p a ra met er list must be used.) modbu s/tcp etherne t/ip iai protocol b/t cp t ransmission b y sel program no. Parameter name default value ...

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    Manual no.: me0140-3a (march 2013) the information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2013. Mar. Iai corporation. All rights reserved. 13.03.000 head office: 577-1 obane shimizu-ku shizuoka city shizuoka 424-0103, japan tel...