Xsel-P Q PX QX-RC Gateway (Me0188-6b)

X-SEL Controller
RC Gateway Function
Operation Manual Sixth Edition
x SIO Type XSEL- P/Q/PX/QX

R/S/RX/SX
RXD/SXD
x Fieldbus Type XSEL- R/S/RX/SX
RXD/SXD
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 fully understand the contents explained herein to
ensure safe use of the product.
The CD or DVD that comes with the product contains Operation Manuals for IAI products.
When using the product, refer to the necessary portions of the applicable Operation Manual by printing
them out or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product
can reference it quickly when necessary.
[Important]
x This Operation Manual is original.
x The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI
shall assume no responsibility for the outcome of any operation not specified herein.
x Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
x If you have any question or comment regarding the content of this manual, please contact the IAI
sales office near you.
x Using or copying all or part of this Operation Manual without permission is prohibited.
x The company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.
Table of Contents
Safety Guide....................................................................................................................1
Precautions in Handling.................................................................................................9
Starting procedures......................................................................................................10
1. Control Method Overview.....................................................................................11

1.1 Communication system........................................................................................................... 12
1.2 Operation system.................................................................................................................... 14
1.3 Name and Function of Each Part Relating to RC Gateway Function ..................................... 15
1.3.1 For SIO type ............................................................................................................... 15
1.3.2 For Fieldbus type (option) .......................................................................................... 17
2. Specification..........................................................................................................20
2.1 SIO type .................................................................................................................................. 20
2.1.1 Communication type .................................................................................................. 20
2.1.2 Teaching Tool ............................................................................................................. 21
2.1.3 Operation Manuals Related to This Product .............................................................. 21
2.1.4 Input and Output Timing (SIO Type) .......................................................................... 22
2.2 Fieldbus type........................................................................................................................... 23
2.2.1 Communication type .................................................................................................. 23
2.2.2 Teaching Tool ............................................................................................................. 23
2.2.3 Operation Manuals Related to This Product .............................................................. 24
2.2.4 Input and Output Timing (Fieldbus Type)................................................................... 25
3. Wiring.....................................................................................................................27
3.1 Notes on Wiring....................................................................................................................... 27
3.2 Wiring method ......................................................................................................................... 28
3.2.1 Wiring Method of SIO type ......................................................................................... 29
3.2.2 Wiring Method of Fieldbus type ................................................................................. 42
4. RC Gateway Function setting ..............................................................................46

4.1 Setting Procedure ................................................................................................................... 46
4.1.1 Before Starting Setup (Regarding Binary and Hexadecimal Numbers) ..................... 47
4.1.2 Master (X-SEL) Settings 1 (In common for Fieldbus type and SIO type) .................. 48
4.2 Settings for SIO type............................................................................................................... 51
4.2.1 Master (X-SEL) Setting 2 ........................................................................................... 51
4.2.2 Slave (axis to be controlled) Setting .......................................................................... 53
4.3 Settings for Fieldbus type ....................................................................................................... 60
4.3.1 Master (X-SEL) Setting 2 ........................................................................................... 60
4.3.2 Slave (axis to be controlled) Setting .......................................................................... 65
5. Program Creating..................................................................................................84
5.1 Operation Using the X-SEL Position Data Mode .................................................................... 87
5.2 Operation with Method to Use Position Data in RC................................................................ 91
5.3 Program Language Used by the RC Gateway ....................................................................... 97
5.3.1 List of Program Language Commands ...................................................................... 97
5.3.2 Explanation of Commands ....................................................................................... 100
5.4 Notes on Resuming Interrupted Operation ........................................................................... 122
5.5 Checking the Completed Position (Positioning Band) .......................................................... 123
6. Appendix..............................................................................................................126
6.1 List of Additional I/O Parameters .......................................................................................... 126
6.2 Troubleshooting for Communication ..................................................................................... 132
6.2.1 Error Code List ......................................................................................................... 132
6.2.2 Troubleshooting........................................................................................................ 138
6.3 Adding the Gateway Function to Existing XSEL-P/Q/PX/QX Controllers............................. 145
Change History ...........................................................................................................146

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 Selection Ɣ This product has not been planned and designed for the application 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.)
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Ɣ 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
Ɣ 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 Ɣ When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
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 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.
Ɣ 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.
Ɣ Do not step or sit on the package.
Ɣ Do not put any heavy thing that can deform the package, on it.
Ɣ When using a crane capable of 1t or more of weight, have an operator who
has qualifications for crane operation and sling work.
Ɣ When using a crane or equivalent equipments, make sure not to hang a load
that weighs more than the equipment’s capability limit.
Ɣ Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Ɣ Do not get on the load that is hung on a crane.
Ɣ Do not leave a load hung up with a crane.
Ɣ Do not stand under the load that is hung up with a crane.
3 Storage and Ɣ The storage and preservation environment conforms to the installation
Preservation environment. However, especially give consideration to the prevention of
condensation.
Ɣ Store the products with a consideration not to fall them over or drop due to
an act of God such as earthquake.
4 Installation and (1) Installation of Robot Main Body and Controller, etc.
Start Ɣ 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.
Ɣ 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.
Ɣ 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 and (2) Cable Wiring
Start Ɣ Use our company’s genuine cables for connecting between the actuator and
controller, and for the teaching tool.
Ɣ 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.
Ɣ Perform the wiring for the product, after turning OFF the power to the unit, so
that there is no wiring error.
Ɣ 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.
Ɣ 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.
Ɣ 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
Ɣ 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.
Ɣ 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).
Ɣ Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100: or below).
3
Operation
No. Description
Description
4 Installation and (4) Safety Measures
Start Ɣ When the work is carried out with 2 or more persons, make it clear who is to
Ɣ 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.
Ɣ Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Ɣ 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.
Ɣ 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.
Ɣ 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.
Ɣ Take the measure so that the work part is not dropped in power failure or
emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Ɣ 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.
Ɣ 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 Ɣ When the work is carried out with 2 or more persons, make it clear who is to
Ɣ 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.
Ɣ 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.
Ɣ 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.
Ɣ Place a sign “Under Operation” at the position easy to see.
* 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 Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is to
Ɣ After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
Ɣ 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.
Ɣ 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.
Ɣ 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 Ɣ Check before starting the automatic operation or rebooting after operation
Operation stop that there is nobody in the safety protection fence.
Ɣ Before starting automatic operation, make sure that all peripheral equipment
is in an automatic-operation-ready state and there is no alarm indication.
Ɣ Make sure to operate automatic operation start from outside of the safety
protection fence.
Ɣ 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.
Ɣ 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 Ɣ When the work is carried out with 2 or more persons, make it clear who is to
and Inspection be the leader and who to be the follower(s) and communicate well with each
Ɣ 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.
Ɣ When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
Ɣ 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.
Ɣ 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.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ For the grease for the guide or ball screw, use appropriate grease according
to the Operation Manual for each model.
Ɣ Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
Ɣ 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.
Ɣ 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 Ɣ Do not modify, disassemble, assemble or use of maintenance parts not
and Dismantle 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 When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Ɣ Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Ɣ 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.
Ɣ See Overseas Specifications Compliance Manual to check whether
complies if necessary.
Ɣ 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 injury.
Danger
This indicates a potentially hazardous situation which, if the product

Warning
is not handled correctly, could result in death or serious injury.
Warning
This indicates a potentially hazardous situation which, if the product

Caution is not handled correctly, may result in minor injury or property Caution
damage.
This indicates lower possibility for the injury, but should be kept to
Notice
use this product properly. Notice
7
8
Precautions in Handling
1. Sending an address or a function that is not mentioned in this manual may disable the ROBO Cylinder
from operating normally or may cause to perform an unexpected movement.
Do not attempt to send a function or address out of the indication.
2. For the RC controller which operates under the setting of RC Gateway Function, the safety speed
function that controls the maximum speed compulsorily is ineffective. (This does not activate even with
Mode Changeover Switch (AUTO/MANU) of X-SEL controller.)
3. For the RC controller setting, connect a teaching tool such as the PC software to the teaching port on
each RC controller, and start the communication with X-SEL controller after the setting is complete.
4. Turn OFF the power to the RC controller and X-SEL controller when inserting/removing connectors or
lay out the wires. Leaving the power ON while doing so may cause an electric shock or malfunction of
the components.
5. To avoid an operation error due to noise, conduct the noise protection treatment to the electric devices
sharing the same power supply or in the same system.
6. SIO type and Fieldbus type cannot be applied in RC Gateway Function at the same time.
7. In Fieldbus type (dedicated for R/S/RX/SX/RXD/SXD), the wiring tools of DeviceNet (cables, T-junction
taps, etc.) are to be used. However, it is not available to connect to DeviceNet as the network.
Connection is only available between X-SEL controller and DeviceNet type RC controller of IAI.
8. When using SCON-CA with RC Gateway Function, an actuator of the direct drive motor type cannot be
connected.
9
Starting procedures
Check of Items to Prepare Beforehand
• Are all the necessary things such as purchased No
items, instruction manuals and teaching tool Check in the instruction manual for each unit.
prepared? Contact us or our agency.
Yes
Installation and Wiring (Chapter 3)

Have the actuators and controllers installed and connected following the instructions in each instruction manual of
X-SEL controller, RC controller actuator and this manual.
• Have you performed the frame grounding (FG) and protective earthing (PE)?
• Has the noise countermeasure been taken?
Yes
Power Supply
Connect the controller to PC with the dedicated cable, put
AUTO/MANU switch to “MANU” side and turn the power on.
RC gateway function Setting (Chapter 4) If an alarm is generated, operate the

1) Conduct the function settings for the X-SEL controller. teaching tool to check the details of the
No
2) Conduct the function settings for the slave controllers. alarm contents and have the
• Is XSEL controller showing RDY and monitoring LED (for network appropriate treatment.
status display) being turned ON in normal condition?
Yes
Initial Operation Check If an alarm is generated, operate the

No teaching tool to check the details of the
Press the SV button in the button display for each axis in the PC
software to turn the servo ON. After the servo is ON, press the HM alarm contents and have the
button in the button display for each axis to conduct a home-return appropriate treatment.
operation.
• Press it to perform the home-return operation.
Yes
Emergency Stop Circuit Check

Does the emergency stop circuit (drive cutoff circuit) operate in No
Check the emergency stop circuit.
normal condition and the servo turn OFF at the same time when the
emergency stop switch is pressed?
Position Data Edit and Program Edit (Chapter 5)

Register the position data and create the program.
Performance Check
Check the system operation and have an adjustment.
Now, the operation adjustment is complete.

Conduct an adjustment by the system.

10
1. Control Method Overview
RC Gateway Function (SIO Type and Fieldbus Type) enables an operation in the network with the X-SEL
1. Outline of Control Method

controller as the master and RC (ROBO Cylinder : Described as RC from now) controller as the slave, and
is able to operate the RC (ROBO Cylinder) axes with SEL language programs.
The existing RC Gateway Function (SIO Type) uses RS232C port equipped on X-SEL controller in
standard to construct a simple network system. Also, Fieldbus Type enables to construct a system with the
communication network faster than the existing SIO type by adding the dedicated network board (option).
This manual explains how to set up RC Gateway Function (SIO type and Fieldbus type).
Refer to the separate instruction manual for how to handle X-SEL controller.
Caution
࣭ SIO type is the standard function for P/Q/PX/QX/R/S/RX/SX/RXD/SXD type X-SEL
controllers.
࣭ Fieldbus type is an optional function for R/S/RX/SX/RXD/SXD type X-SEL controllers.
11
1.1 Communication system
RC Gateway Function can be selected from two types of communication systems and two types of
1.Outline of Control Method
operation systems.
[1] For SIO type

For XSEL-P/Q/PX/QX Controllers, the slave (RC Controller) is to be connected with RS485
communication system using SIO converter or RS232C Converter Unit.
For XSEL-R/S/RX/SX Controllers, switching over between RS232C and RS485 settings is available
by the system operation setting switches provided on the controller unit. Put it on RS485 setting.
Neither of SIO converter or RS232C Converter Unit is necessary (Note 1) and the slave (RC Controller)
can directly be connected.
Ɣ System Configuration Example
System Operation Switches
General-purpose RS232C port connector 2

The RC gateway function can be used only with this connector.
* If the controller is set up to operate in the RC gateway function
mode, this connector cannot be used in any other communication
XSEL method.
-P/Q/PX/QX An error “425: Mount SIO communication mode error” (Purpose of use) will occur.
R/S/RX(D)/SX(D) General-purpose RS232C port connector 1
SIO converter
or
RS232C ⇔ RS485
conversion unit ROBONET
(Note 1) SCON-C PCON-SE ACON-SE (SIO type)
(Note 1) It is not necessary for XSEL-R/S/RX(D)/SX(D).

(Turn ON System Operation Switch No. 2 on the operation panel of XSEL controller.)
Applicable Controller
Controller name Model No. Applicable version
XSEL-P/Q V0.68 or later
XSEL-PX/QX V0.34 or later
X-SEL Controller XSEL-R/S 㸫
XSEL-RX/SX 㸫
XSEL-RXD/SXD 㸫
PCON-SE 㸫
ACON-SE 㸫
RC Controller SCON-C 㸫
ROBONET_SIO type 㸫
ERC2-SE 㸫
(Note) Network constructing components [Refer to Section 3.2.1.]
12
[2] For Fieldbus type (DeviceNet Communication system)
Connect an X-SEL controller and slaves (RC controllers) with DeviceNet system.
Ɣ System Configuration Example

RC Gateway
Fieldbus Board
(option)
XSEL-
R/S/RX(D)/
SX(D)
SCON-CA-DV PCON-DV MSEP-DV MSCON-DV

ACON-DV
Applicable Controller
Controller name Model No. Applicable version
Equipped with XSEL-R/S RC Gateway Fieldbus
V1.04 or later
Board (option)
Equipped with XSEL-RX/SX RC Gateway
X-SEL Controller V1.05 or later
Fieldbus Board (option)
Equipped with XSEL-RXD/SXD RC Gateway
㸫
PCON-C-DV
PCON-CG-DV
㸫
PCON-CA-DV
PCON-CFA-DV
RC Controller ACON-C-DV
㸫
ACON-CG-DV
SCON-CA-DV 㸫
MSEP-DV 㸫
MSCON-DV
Refer to Item 3.2.2, for the network components.
13
1.2 Operation system
[1] To use position data in X-SEL

It is the method to perform operation using the RC position data set in X-SEL controller.
(Note) If the number of effective axes increases, the number of positions will decrease.
Largest axis number Number of positions (per axis)

0 to 7 512
8 455
9 409
10 372
11 341
12 315
13 292
14 273
15 256
[2] To use position data in RC

It is the method to perform operation using the position data set in RC controller.ᴾ
The number of positions available for setting depends on the specifications of each controller.
14
1.3 Name and Function of Each Part Relating to RC Gateway Function
1.3.1 For SIO type

(1) XSEL-P/Q/PX/QX
[1] +5V supply switch
[2] RC gateway function

connector [S2]
[1] +5V supply switch

If a SIO converter is used, set this switch to the left position. (+5V will not be output.)
If a RS232C converter unit (RCB-CV-GW) is used, set the switch to the right position. (+5V will be
output.)
Caution: If the port is used as a standard RS232C port, be sure to set this switch to the left position (so
that +5V will not be output). Failure to do so may cause shorting of the +5V power output circuit
depending on how the connection cable is wired.
[2] RC gateway function connector [S2]

For SIO type, use the general-purposed RS232C Port Connector 2.
Connect to RC Controller and ROBONET using SIO Converter.
Connector : D-sub, 9-pin (Controller: Male end / Cable: Female end)
Interface standard : RS232C
Pin number Signal name Details
1 CD Carrier Detection (not used)
2 RD Receive Data
3 SD Send Data
4 ER Equipment Ready
5 SG Signal Ground
6 DR Data Set Ready
7 RS Request to Send
8 CS Clear to Send
9 +5V RCB-CV-GW Converter Power
15
(2) XSEL-R/S/RX/SX/RXD/SXD
[1] System Operation

Setting Switches
[2] RC gateway function

connector [S2]
[1] System Operation Setting Switches

These are switches to set the operation mode of the system. (Normally, they are all OFF.)
When setting to RC Gateway Function, turn ON the switch No. 2
[2] RC gateway function connector [S2]

For SIO type, use the general-purposed RS232C Port Connector 2. Switch the setting over to RS485
communication with the system operation switches and connect directly to RC controller and
ROBONET.
Connector: D-sub, 9 pin (Controller side: Male, Cable Side: Female)

Pin number Signal name Details
1 (CD) (Carrier Detection: Not used)
2 (RD) (Receive Data (RXD): Not used) (Note 1)
Do not connect anything.
3 (SD)
(Send Data (TXD): Not used)
4 (ER)
(Equipment Ready (DTR): Not used)
5 SG Signal Ground
6 (DR)
Data Set Ready (DSR): Not used)
Sent and received data A (Positive side)
7 SA
(RS485)
Sent and received data B (Negative side)
8 SB
(RS485)
9 NC Not used
Note 1 Short-circuit Pin 2 (RD) to the signal ground Pin 5 (SG).
16
1.3.2 For Fieldbus type (option)
(1) XSEL-R/S/RX/SX/RXD/SXD

The position to mount the fieldbus board for the gateway is fixed to I/O Slot 1 (I/O1).
[1] Monitor LEDs
[2] DIP Switch
[3] Fieldbus Connector
[4] I/O slot 1 (I/O1)
[5] Network I/F Module 1 [6] Network I/F Module 2
17
[1] Monitor LEDs
NS MS
ScannerMode
The conditions of the slaves (each controller) and the network can be checked with the three LED
lamps, MS, NS and ScannerMode, mounted on the front face of RC Gateway Fieldbus Board.
Indication
LED Color Indication Description
Status
Illuminating Online, connection of more than one line is established
Green
Flashing Online, no connection established
NS Illuminating Critical link error
(Network Status) Red
Flashing Connection timeout occurred in at least one node
No power supply to DeviceNet
- OFF
Not online
Illuminating Normal operation
Green
Flashing In automatic baud rate process
MS
Illuminating Serious trouble
(Module Status) Red
Flashing Slight trouble
- OFF No power supply to DeviceNet
Green Illuminating In DeviceNet Master operation
Scanner Mode
- OFF No power supply to DeviceNet
[2] DIP switch

Not for use. (There should be no problem no matter what the setting of this switch is.)
18
[3] Fieldbus connector
Connect the slaves (IAI controllers applicable for RC Gateway Fieldbus Type) to X-SEL.
(Note) RC Gateway can only connect to IAI RC by DeviceNet.

Connector : MSTBA2.5/5-G-5.08AU M
Interface Standard : DeviceNet
Red
White
No color
Blue
Black
Type Color Contents Symbol

Blue Signal “Low” side CAN L
Signal cable
White Signal “High” side CAN H
Red Communication power “+” side V+
Power supply cable
Black Communication power “-” side V-
Shield cable No color Shield S
[4] I/O Slot 1

This is the slot that a PIO board or the Fieldbus board for RC Gateway is to be attached.
(Note) The position to mount the fieldbus board is fixed to I/O Slot 1 (I/O1).
[5] Network I/F Module 1

This is the slot that the option board for the field network is to be attached. Connection to a host
controller (PLC, etc.) with the field network is available.
Field Network: EtherNet/IP, EtherCAT
[6] Network I/F Module 2

This is the slot that the option board for the field network is to be attached. Connection to a host
controller (PLC, etc.) with the field network is available.
Field Network: DeviceNet, CC-Link, PROFIBUS
19
2. Specification
2.1 SIO type

2.1.1 Communication type
2. Specification
Item Specification
Transmission path structure IAI’s dedicated multi-drop differential communication
Communication method Half-duplex
Synchronization method Start-stop
Transmission path format XSEL-P/Q/PX/QX X-SEL SIO converter: EIA (RS)-232
SIO converter Each RC controller: EIA
(RS)-485, 2-wire type
XSEL-R/S/RX/SX EIA (RS)-485, 2-wire type
/RXD/SXD (Switchover with system operation switches)
Baud rate 230.4 kbps

Character length 8 bits
Stop bit 1 bit
Parity bit None
Error control method CRC check
Communication cable length Total cable length: 100 m or less
Number of connected axes Maximum 16 axes
Communication cable Twisted pair cable, 2 pairs
(Recommended model: HK-SB/20276×L 2P×AWG22 by Taiyo
Electric Wire & Cable)
Communication protocol Modbus protocol
Transmission mode RTU mode
*CRC: Cyclic Redundancy Check
(A data error detection method commonly used in synchronous transmission)
20
2.1.2 Teaching Tool
For XSEL-P/Q/PX/QX (Note 1)
Teaching tool name Model Applicable versions
RC PC Software
2. Specification
RCM-101-MW (RS232C communication type) Refer to the operation manual of the
Parameter or RCM-101-USB (USB communication type) corresponding slave controller.
Configuration tool
PC Interface IA-101-X-MW (RS232C communication type)
V.7.02.00.00 or later
Software for XSEL or IA-101-X-USB (USB communication type)
RCM-E
RCM-P
Refer to the operation manual of the
CON-T/TG corresponding slave controller.
Teaching Pendant CON-PT/PD/PG
CON-PTA/PDA/PGA
IA-T-X/XD V1.46 or later
SEL-T/TD V1.01 or later
Note 1 For the teaching tolls for XSEL-R/S/RX/SX/RXD/SXD, refer to Instruction Manual “X-SEL
Controllers R/S/RX/SX Types” provided separately.
2.1.3 Operation Manuals Related to This Product

No. Name Manual No.
1 Operation Manual for XSEL-P/Q controller ME0148
2 Operation Manual for XSEL-PX/QX controller ME0152
3 Operation Manual for XSEL-R/S/RX/SX/RXD/SXD ME0313
4 Operation manual for PCON-C/CG/CF controller ME0170
5 Operation manual for PCON-SE controller ME0163
6 Operation Manual for ACON-C/CG controller ME0176
7 Operation Manual for ACON-SE controller ME0171
8 Operation Manual for SCON-C controller ME0161
9 Operation Manual for ROBONET ME0208
10 Operation Manual for ERC2 Controller ME0159
11 Operation Manual for RC PC Software RCM-101-MW/RCM-101-USB ME0155
12 Operation Manual for SEL PC Software IA-101-MW/IA-101-USB ME0154
13 Teaching Pendant RCM-E Operation Manual ME0174
14 Teaching Pendant RCM-P Operation Manual ME0175
15 Teaching Pendant CON-T/TG Operation Manual ME0178
16 Touch Panel Teaching CON-PT/PD/PG Operation Manual ME0227
17 Touch Panel Teaching CON-PTA/PDA/PGA Operation Manual ME0295
18 Teaching Pendant IA-T-X/XD Operation Manual ME0160
19 Teaching Pendant SEL-T/TD/TG Operation Manual ME0183
21
2.1.4 Input and Output Timing (SIO Type)
The response time (Time it takes RC controller to respond back to XSEL controller's query) can be
calculated by the formula below:
2. Specification
Response time [msec] = Yt + Xt + 2 × (Mt + n) + Command processing time

Mt = 10 [msec] × m : SIO Link (Modbus) Cycle time
m : Number of link axes
n : (Maximum axis number + 2) /2…………………………… (Decimals to be rounded down)
Yt : SEL Program ĺ RC Controller transmission delay time… 1ms or more (It may increase due to
number of executed SEL programs or
number of effective axes.)
Xt : RC Controller ĺ SEL Program transmission delay time… 2ms or more (It may increase due to
Notice : x If the number of the control axes is big, the response time is longer since n is
increased.
x Yt and Xt may fluctuate depending on the number of executed SEL programs or
number of effective axes.
x The time that the command reaches the RC controller after SEL Command
execution is approximately the half of the response time.
x When a communication error is generated, the SIO Link Cycle Time (Mt) may be
longer since a retry or axis disconnection recovery treatment is necessary to be
conducted.
SEL Program
Yt : SEL Program Xt : SEL Program
X-SEL → RC Controller transmission → RC Controller
Controller delay time transmission
Sending to and delay time
receiving from
RC Controller Mt+n : SIO Link Mt+n : SIO Link
(Modbus) Cycle time (Modbus) Cycle time
+ X-SEL internal + X-SEL internal
delay time delay time
Command processing
RC Controller time
(Operating time, etc.)
22
2.2 Fieldbus type
2.2.1 Communication type
Item Specification
Transmission path structure IAI’s dedicated differential communication (Multi-Drip, T-Junction)
2. Specification
Communication method Half-duplex
Synchronization method Polling
Transmission path format Complying with DeviceNet
Baud rate 500 kbps
Communication cable length Total cable length: 100 m or less
Number of connected axes Maximum 16 axes
Slave I/O Data Size Up to 288bytes for both Input and Output (Note 1)
Communication cable Cable dedicated for DeviceNet
Master node address 63 fixed
Slave node address 0 to 15
Communication protocol Original
MSTBA2.5/5-G-5.08AU M (Manufactured by PHOENIX CONTACT)
Connector
Cable Side : SMSTB 2.5/5-ST-5.08AU
Communication Power Supply 24V DC
Consumption Current of
60mA
Communication
Note 1 In the case that the data size exceeds 288bytes, even when the number of axes is 16 or less, an
error occurs and the communication becomes unavailable.
2.2.2 Teaching Tool

Refer to Instruction Manual “X-SEL Controllers R/S/RX/SX Types” provided separately.
23
2.2.3 Operation Manuals Related to This Product
No. Name Manual No.

1 Operation Manual for XSEL-R/S/RX/SX/RXD/SXD ME0313
2. Specification
2 Operation manual for PCON-C/CG/CF controller ME0170

3 Operation manual for PCON-CA/CFA controller ME0289
4 Operation Manual for ACON-C/CG controller ME0176
5 Operation Manual for SCON-CA controller ME0243
6 Operation Manual for DeviceNet ACON/PCON/SCON-CA controller ME0256
7 Operation Manual for MSEP ME0299
8 Operation Manual for MSCON ME0306
9 Operation Manual for RC PC Software RCM-101-MW/RCM-101-USB ME0155
10 Operation Manual for SEL PC Software IA-101-MW/IA-101-USB ME0154
11 Teaching Pendant RCM-E Operation Manual ME0174
12 Teaching Pendant RCM-P Operation Manual ME0175
13 Teaching Pendant CON-T/TG Operation Manual ME0178
14 Touch Panel Teaching CON-PT/PD/PG Operation Manual ME0227
15 Touch Panel Teaching CON-PTA/PDA/PGA Operation Manual ME0295
16 Teaching Pendant IA-T-X/XD Operation Manual ME0160
17 Teaching Pendant SEL-T/TD/TG Operation Manual ME0183
24
2.2.4 Input and Output Timing (Fieldbus Type)
The response time (Time it takes RC controller to respond back to XSEL controller's query) can be
calculated by the formula below:
2. Specification
Response time [msec] = Yt + Xt + 2 × (Ft + Mt) + Command processing time
Yt : SEL Program ĺ RC Controller transmission delay time… 2ms or more (It may increase due to
Xt : RC Controller ĺ SEL Program transmission delay time… 2ms or more (It may increase due to
Ft : Fieldbus Link Cycle Time
x In the case that the Multi-axis (MSEP or MSCOM) units only are connected:
Ft = Ȉ {0.316 + 0.076 × (THBYTE + TABYTE × Ni)} + 1.0
Ȉ : Total No. of the controller connected multi-axis (MSEP or MSCOM) units
(= No. of Connected Nodes)
THBYTE : Number of header domain bytes. Fixed to 16
TABYTE : Number of bytes for each axis.16 for method to use position data in X-SEL, and 8 for
method to use position data in RC
Ni : No. of connected axes of the multi-axis (MSEP or MSCOM) units per controller
x When connecting only CON single axis (A/PCON, SCON-CA)

Ft = 1.532 × N + 1.0 (Method to use position data in X-SEL)
Ft = 0.556 × N + 1.0 (Method to use position data in RC)
N : Number of connected nodes (= number of connected axes)
Mt : Modbus Line Time (Added only for MSEP or MSCOM): 10ms
Caution : x Regarding the response time of Fieldbus Type, because the communication data
length of DeviceNet is 8 bytes, the communication speed becomes slow if the
number of communication bytes for each node exceeds 8 bytes. For instance,
even though the communication size in the method to use the position data in RC
is 80 bytes for input and output, for MSEP (8-axis connection: 1 node), it is 20
[ms], but for CON single axis (10-axis connection: 10 nodes), it iis 9 [ms].
x Yt increases with the facts such as the number of SEL programs executed at the
same time or the number of effective axes in the RC Gateway Funciton.
x When a communication error is generated, the Fieldbus Link Time Ft and Modbus
Link Time Mt may be longer since such actions as a retry will take place.
25
MSEP, MSCON
SEL Command Start

2. Specification
SEL Command Yt Yt : SEL Command Start Xt

X-SEL Executed → Fieldbus output delay time
Controller
Fieldbus
Output Ft Ft
Ft : Fieldbus Link
Cycle time
MSEP MSEP
Control Signal Mt Mt : Modbus Mt
MSCON
Controller (MSCON) LIink time
Control Signal
of Each Axis Command processing time
A/PCON, SCON-CA
SEL Command Start
SEL Command
Executed Yt Xt
X-SEL
Controller
Fieldbus
Output Xt
Ft Ft
A/P CON,
SCON-CA Control Signal
Command processing time
Controller of Each Axis
26
3. Wiring
3.1 Notes on Wiring
[1] Provide noise elimination measures for the electrical devices located along the same power-supply
path or in the same system according to the operation manuals for the X-SEL controller, RC controller
and ROBONET.
3. Wiring
[2] If multiple power-supply units are used to supply 24V DC power to RC controllers, connect the 0V
lines of the power supplies for respective controllers.
Power Power
supply 1 supply 2
+ +
− −
0V (common)
[3] Be sure to shield the communication cable. Connect the cable’s shield to a single point ground.
[4] Make sure emergency stop signals are input simultaneously to the X-SEL and each RC controller
/ROBONET. If the emergency stop timing of the X-SEL varies from that of the RC controller/ROBONET
by a specified time (approx. 5 seconds) or longer, the X-SEL will generate an error “6B4: RC gateway
emergency stop inconsistency error”(Note 1) and enter the emergency stop mode (cold-start level).
Note1 Ɣ Connecting some ERC2 controllers or avoiding this error detection on other controllers, set
bits 0 to 3 of the X-SEL controller’s I/O parameter No. 507 to “1.”
(The setting of I/O Parameter No. 507 is available in V0.90 or later for X-SEL P/Q and
V0.42 or later for X-SEL PX/QX. Refer to 6.1 for details.)
Ɣ If the RC controller is connected via the X-SEL, this error will not occur.
Emergency stop ON!
27
3.2 Wiring method
RC gateway function has SIO type and Fieldbus type. Wiring method and necessary equipment differ
between each type.
Refer to the following examples to perform the wiring layout suitable for each type.
3. Wiring
28
3.2.1 Wiring Method of SIO type
[1]-1 Wiring diagram (Example 1: When SIO converter is used for XSEL-P/Q/PX/QX)
Caution: Use a common 0V line for the 24V power supply for each controller.
(Except for SCON)
3. Wiring
XSEL-P/Q/PX/QX
Set the +5V supply switch to the left position.

(5V cannot be output)
IAI’s teaching pendant or PC software can be connected. (Female) Connect to general-purpose

Note, however, that the teaching pendant/PC software RS232C port connector S2.
cannot be connected simultaneously with the X-SEL RS232C cross cable
controller. To be provided by the customer
If the two are connected at the same time, proper
communication cannot be performed and errors will (commercial product).
generate. (Turn OFF the X-SEL controller power while the
teaching pendant/PC software is in use). Peripherals to be provided by the customer.
(Female) (Purchase all other components from IAI.)
SIO converter PORT

RS232
Junction
RCB-TU-SIO ON (5-1473574-4 by AMP) You can also
(RS232C ⇔ RS485)
LED1 LED2
J4 J5 B A replace these with a

(With built-in 220Ω TB2
e-CON connector terminal block.
terminal resistor)
TB1
(1473562-4 by AMP)
EMG1
EMG2
24V
FG
0V
Recommended cable 1
Network (HK-SB/20276×L (m) 2P×AWG22 Terminal resistor R = 220Ω
connection cable by Taiyo Cabletec Corporation) (Not required if a
CB-ERC2-CTL001 To be provided by the customer. ROBONET is connected.)
Recommended cable 2
To be provided by the customer
Controller link cable according to the connection
CB-RCB-CTL002 diagram shown in 3.2.1 [1]-2.
(Supplied with one each of
junction, e-CON connector and
220Ω, 1/4W terminal resistor)
ROBONET
PCON-SE SCON-C RUN/A LM
E MG
T
RDY /ALM
TX/RX
3
RDY /ALM
TX /RX
3
Power I/O Cable for SIO type

E RROR
C 2 2
ACON-SE
S TA TUS S TATUS
1 1 1
S TA TUS
0 0 0
MODE (AUTO) BK (RLS) BK (RLS)
CB-ERC2-PWBIO-□□□
MANU RLS RLS
MODE BK BK
AUTO NOM NOM
A DRS ADRS
SIO
□□□ indicates the cable length. SV/ALM
Example: 050 = 5 m
SIO
ERC2-SE PC
MOT
BK
MPC
MP O
24V
EMG-
Caution: Ɣ Multiple ROBONET GatewayR_SIO units cannot be connected to a single

network.
Ɣ Since the ROBONET has a built-in terminal resistor, connect the ROBONET to
the junction farthest away from the X-SEL (at the end of the trunk line).
Do not connect a terminal resistor to the junction.
29
SIO communication components required by the configuration shown in Example 1
Name Model Quantity

SIO converter RCB-TU-SIO-A or B 1
Purchased Power I/O Cable for SIO type CB-ERC2-PWBIO-ƑƑƑ 1
from IAI Network connection cable CB-ERC2-CTL001 1
Controller link cable CB-RCB-CTL002 2
3. Wiring
RS232C cross cable (D-sub, 9-pin) (Commercial product) 1

Provided by Recommended cables 1, 2 HK-SB/20276 (Taiyo Cabletec Corporation) Lm
the customer e-CON connector 3-1473562-4 (AMP) 1
4-1473562-4 (AMP) 1
The above table only lists the components required for SIO communication. The customer must provide
other components that are required, such as a safety circuit, power supply and cables for their connection.
ƑƑƑ in the table indicates the cable length. Example: 050 = 5 m
30
[1]-2 Connection diagram (Example 1: When SIO converter is used for XSEL-P/Q/PX/QX)
RS232C cable (cross)

Cable length: Not longer than 10 m
(commercial product) SIO converter
RCB-TU-SIO
General-purpose
RS232C port
connector 2 J3 (D-sub, 9-pin)
CD 1 1 NC
3. Wiring
2 2
RD 2 2 RD
3 3
SD 3 3 SD
4 4 NC
XSEL ER
5 5
SG 5 5 SG
DR 6 6 NC
RS 7 7 NC
CS 8 8 NC
+5V 9 9 NC
D-sub connector (9P Female)
J4 or J5
e-CON connector (4-1473562-4 by AMP) / Housing color: Green
Recommended cable 1
SIO converter Recommended: Taiyo 4-way junction
RCB-TU-SIO Cabletec Corporation (5-1473574-4 by AMP)
HK-SB/20276×L
2P×AWG22
1 1 1
2 2 2
XSEL 3 3 3 To [1] (next page)
General-purpose J3 4 4 4
RS232C port
connector 2
e-CON connector
(4-1473562-4 by AMP)
Housing color: Green
Network connection cable Controller link cable
ERC2-SE CB-ERC2-CTL001 CB-RCB-CTL002
1 OR 1 1 OR 1 1 OR 1 1 YW 1
SGA
2 BL 2 2 BL 2 2 BL 2 2 OR 2
SGB
3 BR 3 3 BR 3 GN 3 3 BL 7
+5V 4
4 GN 4 4 GN 4
GND
Power I/O Cable for SIO type PCON-SE, ACON-SE
CB-ERC2-PWBIO Nth controller (N = Maximum 16)
e-CON connector (3-1473562-4 by AMP)
Housing color: Orange
(Except for SCON)
31
Recommended cable 1
Recommended: Taiyo
Cabletec Corporation 4-way junction (5-1473574-4 by AMP)
HK-SB/20276×
2P×AWG22 Terminal resistor R = 220Ω
1 1 (Supplied with the
controller link cable)
2 2 Not required if a
From [1] ROBONET is connected.
3
3. Wiring
(previous page) 4
e-CON connector
(4-1473562-4 by AMP)
Recommended cable 2
Recommended: Taiyo Cabletec Corporation
HK-SB/20276×L
SCON-C 2P×AWG22 ROBONET_GatewayR_SIO
1 1 1
SGA SA
2 2 2
SGB SB
7 3 3
GND SG
Nth controller (N = Maximum 16)

MC1.5/4-ST-3.5
(Supplied)
e-CON connector
(3-1473562-4 by AMP)
(Except for SCON)
32
[2]-1 Wiring diagram (Example 2: When RS232 conversion unit is used for XSEL-P/Q/PX/QX)
(Except for SCON)
XSEL-P/Q/PX/QX
3. Wiring
Set the +5V supply switch to the right position.
(there is an output)
RS232 conversion unit (Female) Connect to general-purpose

RCB-CV-GW RS232C port connector 2.
Communication cable
CB-RCB-SIO-□□□
□□□ indicates the cable length. Peripherals to be provided by the customer.
Example: 050 = 5 m (Purchase all other components from IAI.)
Junction
(5-1473574-4 by AMP) You can also
replace these with
e-CON connector a terminal block.
(1473562-4 by AMP)
Recommended cable 1
Network (HK-SB/20276×L (m) 2P×AWG22
connection cable by Taiyo Cabletec Corporation) Terminal resistor R = 220Ω
CB-ERC2-CTL001 To be provided by the customer. (Not required if a
ROBONET is connected.)
Recommended cable 2
To be provided by the
Controller link cable customer according to the
CB-RCB-CTL002 connection diagram shown
(Supplied with one each of in 3.2.1 [2]-2.
junction, e-CON connector
and 220Ω, 1/4W terminal resistor)
ROBONET
EMG
RDY /ALM
TX/RX
RDY /ALM
TX /RX

T 3 3
E RROR
C 2 2
ACON-SE
S TA TUS STATUS
1 1 1
S TA TUS
0 0 0
MANU RLS RLS
MODE BK BK
AUTO NOM NOM
A DRS ADRS
SIO
Example: 050 = 5 m
S IO
ERC2-SE PC
MOT
BK
MPC
MPO
24V
E MG-

network.
33
Components required by the configuration shown in Example 2
Name Model Quantity

RS232 conversion unit RCB-CV-GW 1
Communication cable CB-RCB-SIO-ƑƑƑ 1
Purchased
from IAI Power I/O Cable for SIO type CB-ERC2-PWBIO-ƑƑƑ 1
Network connection cable CB-ERC2-CTL001 1
3. Wiring
Controller link cable CB-RCB-CTL002 2

Provided by Recommended cables 1, 2 HK-SB/20276 (Taiyo Cabletec Corporation) Lm
34
[2]-2 Circuit diagram (Example 2: When RS232 conversion unit is used for XSEL-P/Q/PX/QX)
RJ11 connector (modular jack)
4-way junction
XSEL (5-1473574-4 by AMP)
general-purpose Communication cable
RS232C port 2 CB-RCB-SIO
3. Wiring
connector 2 1 1
4 2 2
5 3 3 [1] A
e-CON connector
(4-1473562-4 by AMP)
RS232 Housing color: Green
conversion unit
RCB-CV-GW Network connection cable Controller link cable
1 OR 1 1 OR 1 1 OR 1 1 YW 1
SGA SGA
2 BL 2 2 BL 2 2 BL 2 2 OR 2
SGB SGB
3 BR 3 3 BR 3 GN 3 3 BL 7
+5V GND
4 GN 4 4 GN 4 4
GND
CB-ERC2-PWBIO
Recommended cable 1 e-CON connector (3-1473562-4 by AMP)
Recommended: Taiyo Housing color: Orange
Cabletec Corporation
HK-SB/20276× 4-way junction (5-1473574-4 by AMP)
2P×AWG22
1 1 Terminal resistor R = 220Ω
(Supplied with the controller
2 2
link cable)
Not required if a ROBONET
[1] A 3 is connected.
e-CON connector
Recommended cable 2 (4-1473562-4 by AMP)
Recommended: Taiyo Housing color: Green
HK-SB/20276×L
SCON-C 2P×AWG22
ROBONET_GatewayR_SIO
1 1 1
SGA SA
2 2 2
SGB SB
7 3 3
GND SG
MC1.5/4-ST-3.5
(Supplied)
e-CON connector
(3-1473562-4 by AMP)
(Except for SCON)
35
[3]-1 Wiring drawing (Example 3: When RS232 conversion unit is used to connect only 1 axis for
XSEL-P/Q/PX/QX)
XSEL-P/Q/PX/QX Set the +5V supply switch to the left position.

(no output)
3. Wiring
(Female) Connect to general-purpose

RS232 conversion unit
RS232C port connector 2.
RCB-CV-MW
Communication cable
CB-RCA-SIO-□□□
□□□ indicates the cable length.
Example: 050 = 5 m
PCON-SE, ACON-SE, SCON-C
SV/ALM
SIO
PC
MOT
BK
MPC
MPO
24V
EMG-
Parts required by the configuration in Example 3

Name Model Quantity
Parts to be purchased from RS232 conversion unit RCB-CV-MW 1
IAI Communication cable CB-RCA-SIO-ƑƑƑ 1
The above table lists only the parts used directly for SIO communication. Other parts, such as safety
circuits, power supplies and wirings to connect the foregoing, must be provided separately.
In the table, ƑƑƑ indicates the cable length. Example: 050 = 5 m
[3]-2 Wiring drawing (Example 3: When RS232 conversion unit is used to connect only 1 axis for
XSEL-P/Q/PX/QX)
RJ11 connector (modular jack)

Communication
XSEL cable
general-purpose 2 CB-RCA-SIO PCON-SE, ACON-SE, SCON-C
RS232C port 1
SGA
connector 2
4 2
SGB
5 7
GND
6 3
+5V
RS232 conversion unit

RCB-CV-MW
36
[4]-1 Wiring diagram (Example 4: When connecting to XSEL-R/S/RX/SX/RXD/SXD)
(Except for SCON)
Turn ON only No. 2 in the system operation setting switches
3. Wiring
XSEL-R/S/RX/SX/ [Keep the others turned OFF]
RXD/SXD
(Female) Connect to general-purpose

RS232C port connector 2.
SIO Port RC Gateway
Communication Cable
□□□ indicates the cable length.
Example: 005 = 0.5 m Peripherals to be provided by the customer.
(Purchase all other components from IAI.)
Junction
(5-1473574-4 by AMP) You can also
replace these with
e-CON connector a terminal block.
(1473562-4 by AMP)
Recommended cable 1
Network (HK-SB/20276×L (m) 2P×AWG22
connection cable by Taiyo Cabletec Corporation) Terminal resistor R = 220Ω
CB-ERC2-CTL001 To be provided by the customer. (Not required if a
ROBONET is connected.)
Recommended cable 2
To be provided by the
Controller link cable customer according to the
CB-RCB-CTL002 connection diagram shown
(Supplied with one each of in 3.2.1 [4]-2.
junction, e-CON connector
and 220Ω, 1/4W terminal resistor)
ROBONET
EMG
RDY /ALM
TX/RX
RDY /ALM
TX /RX

T 3 3
E RROR
C 2 2
ACON-SE
S TA TUS STATUS
1 1 1
S TA TUS
0 0 0
MANU RLS RLS
MODE BK BK
AUTO NOM NOM
A DRS ADRS
SIO
Example: 050 = 5 m
S IO
ERC2-SE PC
MOT
BK
MPC
MPO
24V
E MG-

network.
37
Components required by the configuration shown in Example 4
Name Model Quantity

Power I/O Cable for SIO type CB-ERC2-PWBIO-ƑƑƑ 1
Network connection cable CB-ERC2-CTL001 1
Purchased
from IAI Controller link cable CB-RCB-CTL002 2
SIO Port RC Gateway CB-RS-SIOƑƑƑ 1
3. Wiring
Communication Cable
Provided by Recommended cables 1, 2, 3 HK-SB/20276 (Taiyo Cabletec Corporation) Lm
38
[4]-2 Circuit diagram (Example 4: When connecting to XSEL-R/S/RX/SX/RXD/SXD)
XSEL-R/S/RX/SX/
RXD/SXD
D-sub, 9 pin D-sub, 9 pin

connector connector 4-way junction
(male) (female) (5-1473574-4 by AMP)
3. Wiring
1 1
1 1
2 2
2 2
3 3
4 4
3 3 [1] A
SG 5 5
6 6
SA 7 7
SB 8 8 e-CON connector
9 9 (4-1473562-4 by AMP)
Network connection cable Controller link cable
1 OR 1 1 OR 1 1 OR 1 1 YW 1
SGA SGA
2 BL 2 2 BL 2 2 BL 2 2 OR 2
SGB SGB
3 BR 3 3 BR 3 GN 3 3 BL 7
+5V GND
4 GN 4 4 GN 4 4
GND
CB-ERC2-PWBIO
Recommended cable 1 e-CON connector (3-1473562-4 by AMP)
Recommended: Taiyo Housing color: Orange
HK-SB/20276× 4-way junction (5-1473574-4 by AMP)
2P×AWG22
1 1 Terminal resistor R = 220Ω
(Supplied with the controller
2 2
link cable)
Not required if a ROBONET
[1] A 3 is connected.
e-CON connector
Recommended cable 2 (4-1473562-4 by AMP)
Recommended: Taiyo Housing color: Green
HK-SB/20276×L
SCON-C 2P×AWG22
ROBONET_GatewayR_SIO
1 1 1
SGA SA
2 2 2
SGB SB
7 3 3
GND SG
MC1.5/4-ST-3.5
(Supplied)
e-CON connector
(3-1473562-4 by AMP)
(Except for SCON)
39
[5] SIO converter for X-SEL and RC controller connection (RCB-TU-SIO)
This is a RS232C RS485 converter.
[4] Link connector (J4, J5)
[3] Link-connection terminal block (TB1)

[5] Power-supply
emergency-stop
[2] Monitor LEDs (LED1, LED2) terminal block (TB2)
3. Wiring
[6] PORT switch

[1] D-sub, 9-pin connector
[7] Mini-DIN, 8-pin connector
1) D-sub, 9-pin connector

This connector provides connection points with the host.
Connect to general-purpose RS232C port connector 2 (S2) on the X-SEL controller using a RS232C
cross cable (commercial product).
2) Monitor LEDs (LED1, LED2)

x LED1 : This LED turns ON/blinks while the RC controller is sending data.
x LED2 : This LED turns ON/blinks while the host is sending data.
3) Link-connection terminal block (TB1)

This terminal block provides connection points for linking RC controllers.
x A : Connect to pin 1 on the RC controller’s communication connector (SGA).
x B : Connect to pin 2 on the RC controller’s communication connector (SGB).
4) Link connectors (J4, J5)

These connectors provide connection points with the RC controller.
An optional link cable (CB-RCB-CLT002) can be connected directly.
5) Power-supply & emergency-stop terminal block (TB2)

x EMG1, EMG2 : Contact outputs for the emergency stop switch on the teaching pendant
When the PORT switch is in the ON position, EMG1 and EMG2 are connected
to the emergency stop switch on the teaching pendant. When the PORT switch
is in the OFF position, EMG1 and EMG2 are shorted.
x 24V : Supply +24V power. (Current consumption: 0.1 A or less)
x 0V : Supply 0V power. (Use a common 0V line for 24V DC controllers.)
x FG : A FG connection terminal.
* Applicable wires Single wire I0.8 to 1.2 mm
Stranded wire AWG18 to 20 (stripped by 10 mm, with wire tips soldered)
6) PORT switch
x ON : When a teaching pendant is used
x OFF : When no teaching pendant is used
7) Mini-DIN, 8-pin connector

This connector provides connection points with the teaching pendant or PC software.
This connector can be used when no X-SEL controller is connected or a X-SEL controller is connected
but its power is turned OFF.
40
[6] Emergency stop system configuration example
24V 0V
Teaching pendant
Emergency
3. Wiring
stop release
switch SIO J1
Emergency
converter
stop switch
(Note 1)
PORT
EMG2 switch CR
EMG1
CR
MC
X-SEL
System I/O (Note1) The maximum flowing current
CR between EMG1 and EMG2 is
(Note 2) EMGin ( +24V)
0.1A. Set the coil capacity to be
EMGin (in) above it.
MC Power connector
(Note2) Use the contact capacity 0.2A
R
or more.
S Drive Source
T (Note3) The contact capacity on MC
varies depending on the
connected actuator. See the
ACON/PCON instruction manual for the main
unit.
MC
(Note 3) MPI
CR MPO
EMG−
(Note 2)
SCON/SCON-CA
System I/O
CR
(Note 2) EMG+ (+24V)
EMG −
MC Power connector
R
Drive Source
(Note 3)
S
ROBONET
EMG connector
CR
(Note 2) EMG+
EMG−
x EMG1 and 2 can be used to reflect the status of the emergency stop switch on the teaching
pendant in the emergency stop circuit of the system.
If a teaching pendant is used, turn the PORT switch to the ON side.
(This enables the emergency stop circuit of the teaching pendant.)
x To comply with the safety categories, make sure to follow the instructions in the operation manual
of each controller for the emergency stop and driving source cutoff for each controller.
41
3.2.2 Wiring Method of Fieldbus type
[1]-1 Wiring
Peripheral devices prepared separately by customer

XSEL-R/S/RX(D)/SX(D) (for those out of the area, purchase from IAI.)
24V DC Power When RC controller is
Supply for DeviceNet connected additionally
3. Wiring
ACON-DV
PCON-DV
SCON-CA-DV
T-junction tap
Equipped with RC Gateway

MSEP-DV
MSCON-DV
Caution:
Prepare the peripheral devices for DeviceNet (T-junction tap, cable, etc.) separately.
Unless otherwise specified, follow DeviceNet Standard for the contents related to the wiring
and network power supply.
Use a common 0V line for the 24V power supply for each controller. (Except for SCON)
When using SCON-CA, an actuator of the direct drive motor type cannot be connected.
42
Components Necessary to Construct Layout in Example
The following is just an example. Prepare the wiring components dedicated for DeviceNet
specifications.
Name Model Quantity
Communications (Thick) DCA2-5C10 (OMRON) Lm
cable (Thin) DCA1-5C10 (OMRON) Lm
T-junction tap DCN1-2R (OMRON) 1
3. Wiring
Provided by the T-junction tap DCN1-4R (OMRON) 1
customerr Terminal resistance 121: r1% 1/4W 2
Voltage: 24V DC r10%
Communication
Current: DeviceNet Master + Slaveᴾ 1
power supply
Total of communication power supply
In the table above, shows only the wiring components for Fieldbus Type.
Prepare separately the other necessary components such as the power device.
43
[1]-2 Connection diagram
24V DC power supply

( Network power supply)
(Follow DeviceNet Standards for those
such as the decision of power capacity)
0V FG 24V
Class D grounding
3. Wiring
XSEL-R/S/RX(D)/SX(D) (Formerly Class-III grounding)

The connector of 1 3 5 (Note) Grounding should be only one
RC Gateway Fieldbus board point in the network
T-junction tap
Fieldbus Connector DC-N1-4R
1 1 1
V-(BK)
2 2 2
CAN_L (BL)
3 3 3
S [1] A
4 4 4
CAN_H (WT)
V+(RD) 5 5 5
Communication cable main line 1 2 3 4 5 1 2 3 4 5 Communication cable main line

Terminal Resistance 121W Communication
cable branch line
1 2 3 4 5 1 2 3 4 5
MSEP-DV MSCON
-DV
CAN_H (WT)
CAN_H (WT)
V-(BK)
CAN_L(BL)
S
V+(RD)
V-(BK)
CAN_L (BL)
S
V+(RD)
DeviceNet
Communication DeviceNet
Connector Communication
Connector
T-junction tap
DCN1-2R
1 1
2 2
3 3 When RC controller
[1] A 4 4 is connected additionally
5 5
Communication cable main line Communication cable main line

1 2 3 4 5
Communication
cable branch line 1 2 3 4 5 When no more RC controller is connected
(connect a terminal resistor 121W on the end of main line)
PCON/ACON/
SCON-CA-DV
CAN_H (WT)
V-(BK)
CAN_L(BL)
S
V+(RD)
DeviceNet
Communication
Connector
(Except for SCON-CA)
44
[2] Emergency stop system configuration example
24V 0V
Emergency
Stop Release
Emergency
Switch
Stop Switch
3. Wiring
CR
CR
MC
X-SEL
System I/O
CR (Note1) Use the contact
(Note 1)
EMGin (+24V) capacity 0.2A or more.
EMGin (in) (Note 2) The MC’s contact
MC Power Connector capacity varies
R depending on the
S Drive Source actuator to be
T connected. Check it in
(Note 2) the instruction manual
for the main machine.
ACON-DV/PCON-DV
MC
(Note 2)
MPI
CR MPO
(Note 1)
EMG-
SCON-CA-DV/MSCON
System I/O
CR
(Note 1) EMG+ (+24V)
EMG−
MC Power Connector
R
Drive Source
S
(Note 2)
MSEP-DV
MC
(Note 2) MPI SLOT
CR MPO SLOT
(Note 1) EMG−
x To comply with the safety categories, make sure to follow the instructions in the instruction
manual of each controller for the emergency stop and driving source cutoff for each controller.
45
4. RC Gateway Function setting
4.1 Setting Procedure
Conduct the settings for the master (X-SEL) and the slaves (axis to be controlled: ROBO Cylinder (RC)
controller, etc.) following the procedure stated below.
Master (X-SEL) Settings 1 (In common for Fieldbus type and SIO type)
[Refer to Section 4.1.2]
1) Operation Method Setting

2) Slave (axis ot be controlled) construction setting
3) Setting for number of used positions
SIO type Fieldbus type

Communication
Type?
Master (X-SEL) Settings 2 Master (X-SEL) Settings 2

[Refer to Section 4.2.1] [Refer to Section 4.3.1]
1) Communication Setting 1) Interface Setting
2) Setting to activate Fieldbus type
3) Setting of controller type on slave side
Slave (Axis ot be controlled) Settings Slave (Axis ot be controlled) Settings

[Refer to Section 4.2.2] [Refer to Section 4.3.2]
1) Baud Rate Setting 1) Operation Mode Setting
2) Axis No. Setting 2) Node address and Axis number setting
3) Data input and output format setting
PCON-SE
ACON-SE PCON Refer to 4.3.2 (1)
Refer to 4.2.2 (1)
ERC2-SE ACON
SCON-C SCON-CA Refer to 4.3.2 (2)
ROBONET Refer to 4.2.2 (2) MSCON Refer to 4.3.2 (3)
46
4.1.1 Before Starting Setup (Regarding Binary and Hexadecimal Numbers)
Inputting parameters of RC Gateway setting are in decimal numbers, binary and hexadecimal numbers.
Have the setting done by referring to the following. (if the last digit of the set value is H set in a hexadecimal
number, while in a binary number if the last digit is b.)
x Binary number
Binary number expresses all numeral figures with using two symbols: 0 and 1.
The number increases in the order of 0, 1, and then the digit changes next and becomes 10.
In such way, binary number proceeds as 20 (1), 21 (2), 22 (4), 23 (8). The numbers in brackets are decimal
numbers. For example, a number 1101 can be expressed as shown below in the binary number.

Digit of 23’s place Digit of 22’s place Digit of 21’s place Digit of 20’s place
1 1 0 1
1 u 23 1 u22 0 u21 1 u20 1 u 8 1 u4 0 u2 1 u1 䢢13 (the decimal system)
x Hexadecimal numbers
Hexadecimal number expresses a numeral figure with using numbers from 0 to 9 and alphabets from A to F.
the number increases in the order of 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, A (10), B (11), C (12), D (13), E (14), F (15),
and then the digit changes for the next value (16) and becomes 10. The numbers in brackets are decimal
numbers.
Example 1 : 001340H is expressed in the binary number;
Bits 20 to 23 Bits 16 to 19 Bits 12 to 15 Bits 8 to 11 Bits 4 to 7 Bits 0 to 3

0000 0000 0001 0011 0100 0000
In the decimal number it is 4,928.
Example 2 : 12345FH is expressed in the binary number;
Bits 20 to 23 Bits 16 to 19 Bits 12 to 15 Bits 8 to 11 Bits 4 to 7 Bits 0 to 3

0001 0010 0011 0100 0101 1111
In the decimal number it is 1,193,055.
47
4.1.2 Master (X-SEL) Settings 1 (In common for Fieldbus type and SIO type)
The setting should be conducted following the procedure indicated below after connecting the PC software
(IA-101-X-ƑƑƑ) to X-SEL controller.
[Preparation 1] Displaying the parameter setting screen

Start the X-SEL PC software, click Parameter, and then click Edit.
[Preparation 2] When the parameter edit screen appears, select the I/O tab.
48
[Procedure 1] Operation method setting
Select using position data in from the master (X-SEL) controller memory or slave (RC
controller) controller memories.
Default
No. I/O Parameter Unit Set Value
factory setting
0: To use position data in
216 RC Gateway Function Select - X-SEL 0
1: To use position data in RC
[Procedure 2] Settings for Slave (Controlled Side) Axes pattern

Set the axis number for each slave.

Default
factory setting
RC Gateway Link Axes Pattern
217
(15-8)
- 00000000b to 11111111b 00000000b
RC Gateway Link Axes Pattern
218
(7-0)
Assign an axis number from 0 to 15 to each of the connected slave axes. Set the bit
corresponding to the assigned axis number to “1”. This parameter indicates the axis
number that conducts an operation.
Set “0” for those axes that are connected but will not be used.
Parameter No.217
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Axis No 15 Axis No 14 Axis No 13 Axis No 12 Axis No 11 Axis No 10 Axis No 9 Axis No 8
1: Used 1: Used 1: Used 1: Used 1: Used 1: Used 1: Used 1: Used
0: Not used 0: Not used 0: Not used 0: Not used 0: Not used 0: Not used 0: Not used 0: Not used
Parameter No.218
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Axis No 7 Axis No 6 Axis No 5 Axis No 4 Axis No 3 Axis No 2 Axis No 1 Axis No 0
1: Used 1: Used 1: Used 1: Used 1: Used 1: Used 1: Used 1: Used
0: Not used 0: Not used 0: Not used 0: Not used 0: Not used 0: Not used 0: Not used 0: Not used
(Example 1) When axis of Axis No.0 to 7 is used:

I/O Parameter No.217 = 00000000b
(Example 2) When axis of Axis No.0 to 11 is used:

For the setting of this parameter, refer to the list below and match the settings to those for the slave (axis to
be controlled).
Communication
Slave Side Controller Remarks
System
PCON-SE/ACON-SE/SCON-C/ERC2-SE Refer to 4.2.2 (1) [Procedure 1]
SIO type
ROBONET_SIO type Refer to 4.2.2 (2) [Procedure 4]
PCON-DV/ACON-DV/SCON-CA-DV Refer to 4.3.2 (1) [Procedure 1]
Fieldbus type MSEP-DV Refer to 4.3.2 (2) [Procedure 2 to 4]
MSCON-DV Refer to 4.3.2 (3) [Procedure 2 to 4]
49
[Procedure 3] Setting of number of used positions (Set this only in method to use position data in X-SEL)
Set the number of positions to be used and the maximum value of the axis number for
when using the position data in X-SEL.
Default
factory setting
Number of RC Gateway
501 - 1to 512 0
Position Data
Maximum Axis Number for RC
502 Gateway Position Data - 0to 15 0
Definition
Number of Position Data for RC

503 Gateway Position Data - 1to 512 0
Definition
(1) I/O Parameter No.501

Input the number of positions of the axis that has the most positioning points among the
connected axes. However, there is a restriction to the maximum number of positions for each
axis depending on the number of connected axes. Have the setting done by referring to the
following.
Number of connected axes Number of positions (per axis)

0 to 7 512
8 455
9 409
10 372
11 341
12 315
13 292
14 273
15 256

Input the maximum value of the used axis number.

Input the same value as that in No. 501.
* Go ahead to Section 4.2 for SIO type and 4.3 for Fieldbus type.
50
4.2 Settings for SIO type
4.2.1 Master (X-SEL) Setting 2
Continued from the previous page, X-SEL PC software is used in the setting process.
[Procedure 1] Communication setting

Have the setting done to use RS232C Communication Port in RC Gateway Function. Set
“1” to the 1st and 4th digits from the end. Do not change the other digits.
Default
factory setting

Free-for-User SIO Channel 2
213 - 28101001H 28100001H
Attribute 1 (Mount Standard)
28101001H
4th digit from end 1st digit from end
1st digit from end 0 : Communication port not to be used

1 : Communication port allowed to be used
4th digit from end 0 : RS232C mode

1 : RC Gateway mode (Baud Rate 230.4kbps)
51
[Procedure 2] Reflection of changed parameters
Click the parameter send button to send the changed parameters to X-SEL and then write
into the flash ROM.
After that, a message appears to ask whether to software reset X-SEL. Have the reset.
1) Parameter send button

2) Yes
3) OK
4) Yes
Caution㸸 After the parameters are written in the flash ROM, Error Code 6A1 (UBM Data
Construction Change Error) will be generated if conducting a software reset. The
way how to solve in case this error is generated is as described below.
Click on Controller (C) ĺ Memory Initializing (I) ĺ User Data Retaining Memory (U)
in XSEL PC Software to perform an initializing of the memory. After writing into the
flash ROM, perform a software reset or reboot the power. Conduct a software reset
or reboot the power after writing to flash ROM. By initializing the memory, the
capacity in RC position data is ensured and the error will be solved.
52
4.2.2 Slave (axis to be controlled) Setting
(SCON-C, PCON-SE, ACON-SE, ERC2-SE, ROBONET)
(1) SCON-C, PCON-SE, ACON-SE and ERC2-SE.
* Refer to (2) in this section for ROBONET.
The setting of the slave axis controllers is to be conducted by connecting a teaching tool such as
the PC software to one controller after another. In this section, explains how to conduct the settings
with using the PC software (RC PC Software: RCM-101-ƑƑƑ).
Set the mode-changeover switch to MANU side for SCON.
[Preparation 1] Connection to PC (Connect to one after another for the setting)

SV/ALM
SIO
PC
MOT
BK
MPC
MPO
24V
EMG-
PC Software Accessory Cable

( RS232C⇔ RS485 conversion unit
or
USB⇔ RS485 with converter adapter)
53
[Procedure 1] Axis No. Setting
The setting of the axis numbers differ for each SCON-C, PCON-SE, ACON-SE and
ERC2-SE.
In the below, describes the setting for SCON-C first, and then the settings for PCON-SE,
ACON-SE and ERC2-SE.
x SCON-C setting
Set the axis number with the hexadecimal rotary switch allocated on the front panel.
Set the arrow to the desired axis number with using a slotted screw driver.
Caution㸸 Have the setting of the axis number not duplicated. It should also not duplicate with
the ROBONET construction units.
It is not necessarily be in numbers in a row.
Setting axis number 0 Setting axis number 1 Setting axis number 10
x The Setting of PCON-SE, ACON-SE and ERC2-SE

Click Setting o Controller o Addressing axis number in RC PC Software.
In Addressing axis number window, input the axis numbers (from 0 to 15) and click OK.
Input the axis

number for setting
54
[Procedure 2] Display of Parameter Setting Window
Start the RC PC software, click Parameter, and then click Edit.

[Procedure 3] Selecting axis to set parameters
Select the axis number of the controller that the setting is to be conducted, and click OK.
If asked for the password to be provided, input the password (5119).
From the “Connected axes” box, select the

axis number to be set up, and click >.
Confirm that the axis number is moved to the
“Selected axes” box, and click OK.
[Procedure 4] Baud rate setting

Have the setting for Parameter No.16 SIO Baud Rate to 230400bps.
Have the setting for Parameter No.17 Slave Station Transmitter Activation Minimum
Waiting Time (RTIM) to 2msec.
Default factory
No. Parameter Unit Set Value
setting
16 SIO baud rate [bps] bps 230400 38400
Slave station transmitter
17 activation minimum waiting time msec 2 5
(RTIM)
If a number other than indicated above is set in Parameter No.16 or 17, the
communication cannot be performed.
55
[Procedures 5] Reflection of Changed Parameters
After writing the parameter by clicking the parameter writing button, reboot the power to
the slave axis controller.
Set the mode-changeover switch to AUTO side for SCON.
Parameter writing button

56
(2) For ROBONET
* Refer to (1) in this section for SCON-C, PCON-SE, ACON-SE and ERC2-SE.
The setting of ROBONET is to be conducted with connecting Gateway Parameter Setting Tool to the
TP port (SIO) provided on the front panel of GateWayR Unit.
Set the MODE switch on the front panel of GateWayR Unit to MANU side.
[Preparation 1] Connection to PC
MODE Switch

TP Port (SIO)
( RS232C ⇔ RS485 conversion unit
or
USB ⇔ RS485 with converter adapter)
[Preparation 2] Display of Parameter Setting Window

Open Gateway Parameter Setting Tool, and click Read button and then Yes.
Read button
[Procedures 1] Baud Rate Setting

Set the baud rate to 230400bps.
57
[Procedures 2] Writing the Set Baud Rate
Click Write button and then Yes.
Write button
[Procedures 3] Setting of User Setting Switch

Open the front cover on GateWayR Unit and Turn ON Switch No.2 in the user setting
switches (DIPSW) inside the front cover (and leave it on from now ON).
(Condition the front cover being open)

1 2 3 4
Put No. 2 to the right (PCB) side
ON
[Procedures 4] Setting axis number of ROBONET

Set the axis number to each unit (RACON and RPCON) constructing ROBONET. Set the
axis number to each unit with using the rotary switch (hexadecimal number) on the front
panel.
Set the arrow to the desired axis number with using a slotted screw driver.
Caution: Have the setting of the axis number not duplicated. It should also not duplicate with
the slave axis controllers other than ROBONET construction units.
It is not necessarily be in numbers in a row.
58
[Procedures 5] Rebooting
Set the MODE switch on the front panel of GateWayR Unit to AUTO side.
Re-input the power to the ROBONET.
59
4.3 Settings for Fieldbus type
4.3.1 Master (X-SEL) Setting 2

X-SEL PC software is used in the setting process.
[Procedure 1] Interface setting
This parameter is set at the shipment from the factory, and is available only for reference.
Default
factory setting
000H
: RC Gateway
Fieldbus board not used Installed
5H before
: Mounting RC Gateway delivery in
225 Network I/F Module Control -
Fieldbus board to network accordance
dedicated slot with mounted
500H position.
: Mounting RC Gateway
Fieldbus board to I/O 1
[Procedure 2] Fieldbus type valid setting

Set whether to valid/invalid RC Gateway Fieldbus Function. Set the following parameter to
“1”.
Default
No. I/O Parameter Name Unit Set Value
factory setting
0: RC Gateway
Invalid Fieldbus Function
431 Fieldbus Master Function Select - 0H
1: RC Gateway
Valid Fieldbus Function
60
[Procedure 3] Setting for controller definition on slave (axis to be controlled)
Have the settings for the construction definitions of Fieldbus Slaves 0 to 15 (I/O
Parameters No. 432 to 447).
Establish the settings for the node addresses of each slave connected to X-SEL.
Explanation for setting values 00 00 00 H

3) 2) 1)
(1) : Connected Controller Type Setting

Not used : 00 MSEP : 01 ACON/PCON : 02 SCON-CA : 03 MSCON: 04

(2) : Slave Input Size Setting
x In the case of MSEP or MSCON: The slave input size is calculated using the following formula
and the value converted from decimal one to hexadecimal one is set.
Slave Input Size [byte] = Header Capacity (Note 1) + (Capacity per axis (Note 2) × No. of Connected
Axes)
* 1: Header Capacity = Fixed 16 bytes
* 2: Capacity per axis (Method to use position data in XSEL) = 16 bytes
Capacity per axis (Method to use position data in RC) = 8 bytes
For the method to use position data in XSEL for ACON/PCON/SCON-CA : 10
For the method to use position data in RC for ACON/PCON/SCON-CA : 08
(3) : Slave Output Size Setting

x In the case of MSEP or MSCON: The slave output size is calculated using the following
formula and the value converted from decimal one to hexadecimal one is set.
Slave output Size [byte] = Header Capacity (Note 1) + (Capacity per axis (Note 2) × No. of
Connected Axes)
* 1: Header Capacity = Fixed 16 bytes
* 2: Capacity per axis (Method to use position data in XSEL) = 16 bytes
Capacity per axis (Method to use position data in RC) = 8 bytes
For the method to use position data in XSEL for ACON/PCON/SCON-CA : 10
For the method to use position data in RC for ACON/PCON/SCON-CA : 08
Example) First Unit MSEP 8-axis type Method to use position data Set Value
in XSEL No.432...909001H
Slave input output Size = 144 bytes No.440...101002H
Second Unit ACON Method to use position data in XSEL No.441...101003H
Third Unit SCON-CA Method to use position data in XSEL
61
Default
factory setting
Fieldbus Slave
0 Construction Definition Refer to explanation
432 - 000000H
(Registration of controller type for setting values
connected to Node Address 0)
Fieldbus Slave
433 - 000000H

Fieldbus Slave
434 - 000000H
Fieldbus Slave
435 - 000000H
Fieldbus Slave
436 - 000000H
Fieldbus Slave
437 - 000000H
Fieldbus Slave
438 - 000000H
Fieldbus Slave
439 - 000000H
Fieldbus Slave
440 - 000000H
Fieldbus Slave
441 - 000000H
Fieldbus Slave
442 - 000000H
62
Default
factory setting
Fieldbus Slave
443 - 000000H
Fieldbus Slave
444 - 000000H

Fieldbus Slave
445 - 000000H
Fieldbus Slave
446 - 000000H
Fieldbus Slave
447 - 000000H
63
[Procedure 4] Writing Process of Changed Parameters to Memory
Click the parameter send button to send the changed parameters to X-SEL and then write
into the flash ROM.
A confirmation window appears to ask whether to software reset X-SEL. Select the reset.
1) Parameter send button

2) Yes
3) OK
4) Yes
Caution㸸 After the parameter is written to the Flash ROM, Error Code 6A1 (UBM Data
Construction Change Error) will be generated if the software reset is performed. In
case this error is issued, see below for how to cancel the error.
In such a case, click on Controller (C) o Memory Initializing (I) o User Data
Retaining Memory (U) in XSEL PC Software to perform an initializing of the memory.
After writing into the flash ROM, perform a software reset or reboot the power.
By initializing the memory, the capacity in RC position data is ensured and the error
will be solved.
64
4.3.2 Slave (axis to be controlled) Setting
(1) In the case of PCON, ACON, SCON-CA
The setting of the slave axis controllers is to be conducted by connecting a teaching tool such as the
PC software to one controller after another. In this section, explains how to conduct the settings with
using the PC software (RC PC Software: RCM-101-ƑƑƑ).

[Preparation 1] Connection to PC

( RS232C⇔ RS485 conversion unit
or
USB⇔ RS485 with converter adapter)
[Procedure 1] Axis number setting

Set the axis number of the slave controller in a hexadecimal number to the rotary switch
on the front panel.
Axis No. Setting

Rotary Switch
65
[Procedure 2] Display of Parameter Setting Window
Start the RC PC software, click Parameter, and then click Edit.
[Procedure 3] Selecting axis to set parameters

Select the axis number of the controller that the setting is to be conducted, and click OK.
If asked for the password to be provided, input the password (5119).

From the “Connected axes” box, select the
axis number to be set up, and click >.

Confirm that the axis number is moved to the
“Selected axes” box, and Click OK.

[Procedure 4] Operation mode setting

Set the same method as the operation method selected in Section 4.1.2 [Procedure 1] in
Parameter No. 84.
• Set to “2” when using the position data in X-SEL.
• Set to “1” when using the position data in RC.
Default
factory setting
1: Position / Simple Direct
84 Fieldbus operation mode - Mode 0
2: Half Direct Mode
66
[Procedure 5] Axis number and Node address setting
Set the node address set in Section 4.3.1 [Procedure 3] to Parameter No. 85.
Default
factory setting
Fieldbus
85 - 0 to 15 0
Node address
(Example) When connecting ACON to Axes No.0 to 2 and SCON-CA to No.3, and operating with the
method to use position data in X-SEL:
Setting of I/O Setting of I/O

Node address Axis No. setting Parameter No.218 Parameter No.432
Slave controller
(Slave controller rotary switch on XSEL to 435 on XSEL
model
parameterNo.85) setting [Refer to 4.1.2 [Refer to 4.2.1
[Procedure 2]] [Procedure 3]]
ACON first unit 0 0
No.432 to 434㸸
ACON second unit 1 1
00001111b 101002H
ACON third unit 2 2
SCON-CA 3 3 No.435㸸 101003H
[Procedure 6] Data input and output format setting

Set the order to send and receive the communication data. In this parameter, set 2.
If setting a number other than 2, the communication cannot be performed.
Default
factory setting
Fieldbus
90 - 2 3
I/O format
[Procedure 7] Reflection of changed parameters

After writing the parameter by clicking the parameter writing button, reboot the power to
the slave axis controller.
Set the Mode Changeover Switch to “AUTO” side.
Parameter writing button
67
(2) MSEP
The setting of MSEP is to be carried out with being connected to PC with the enclosed cable, and with
using “Gateway Parameter Setting Tool” and “RC PC Software”.
Set the MODE switch on the front panel of MSEP main machine to MANU side.

[Preparation] Connection to PC

MODE switch

PC Software Accessory Cable TP port
(RS232CRS485 conversion unit) (SIO)
or
(USBRS485 with converter adapter)

[Procedure 1] Gateway Parameter Setting Tool Startup
1) Start up ROBONET Gateway Parameter Setting Tool, select MSEP GW and click on
OK button.

2) MSEP (unit number) becomes available to select. Select the unit number to be
connected and click on the OK button. If MSEP is connected to PC one to one, select
0.

68

3) Once the main window is open, click on Read button and then click Yes.
Read button

[Procedure 2] Setting for Address
Set the Fieldbus node address within the range from 0 to 14.
Set the top axis number (Axis No.) of MSEP set in the master (X-SEL) as the node
address.
Example 1) When connecting 2 units of MSEP to a slave controller

Axis number on Axis number on
Model Code of Address setting value
slave side master side (X-SEL)
Slave Controller (Node Address)
(Axis No.) (Axis No.)
0 0
1 1
2 2
1 MSEP 0 3 3
4 4
5 5
6 6
7 7
0 8
1 9
2 10
3 11
2 MSEP 8 4 12
5 13
6 14
7 15
69
Example 2) When connecting PCON, MSEP, SCON-CA to a slave controller
Model Code of Address setting value
Slave Controller (Node Address)
1 PCON 0 0 0
0 1
1 2
2 3
2 MSEP 3 4
1
4 5
5 6
6 7
7 8
3 SCON-CA 9 9 9
Caution: When connecting MSEP to the slave controller, eight axes at the maximum are
able to be connected to one unit of MSEP controller. Therefore, the node
addresses and the axis numbers (Axis No.) would not be the same unlike in a
case to use multiple controllers that is capable to connect one axis. Refer to
Examples 1 and 2 above and pay attention not to duplicate the node address.

[Procedure 3] Setting of Top Axis Number
Click “Setting (S)” ĺ “Unit Number” in the main window, and set the same number as the
top axis number (Axis No.) input in [Procedure 2] in the Unit Number window shown
below.

70
[Procedure 4] Setting for Number of Axes and Map Setting
1) Set the number of axes to be used.
2) For the map setting, have the setting following the operation methods below.
• Method to use position data in XSEL : Set all the axes to Positioning Mode
(Refer to Example 1)
• Method to use position data in RC : Set all the axes to Positioner Mode 1
(Refer to Example 2)

3) Once the setting for the number of axes and map setting are conducted, the number of
input and output bytes is displayed automatically to the occupation information.

Convert these displayed values (decimal system) to the hexadecimal values and make
sure that the (hexadecimal) values set for the XSEL parameters (I/O parameter Nos.
432 to 447) using the “Procedure 3” in Item 4.3.1, are the same. The displayed values
are decimal values.

Example 1. Method to use position data in XSEL
1) Number of Axes
2) Mode setting
3) Information

Example 2. Method to use position data in RC
1) Number of Axes
2) Mode setting
3) Information
71
[Procedure 5] Swap setting
1) Click on Setting button and then click Specialty Parameter.


2) Make BYTE swap “valid”.
Make WORD swap in D-WORD Data “invalid”.

72
[Procedure 6] Parameter Writing
Write the edited operation mode setting parameters to MSEP. Click on the Write button
shown below and a confirmation window pops up. Click on the Yes button.
If the writing is finished in normal condition, writing complete window appears. Click OK.
Write button

[Procedure 7] MSEP Rebooting
A confirmation window for Gateway unit reboot opens. Click Yes to accept the reboot.

[Procedure 8] Parameter Writing Check
After rebooting, a confirmation window for parameter reading appears for confirmation of
the written contents. Click “Yes” to accept the reading.
Once the reading process is complete, confirm that the written contents are reflected.
If the writing process is not completed properly, have the setting complete again from
Procedure 1.
Establish the setting in ROBONET Gateway Parameter Setting Tool.
73
[Procedure 9] RC PC Software Startup
Start up RC PC Software.
[Refer to the operation manual of the PC software for the details of the RC PC software.]

[Procedure 10] Operation Pattern Selected
1) Select the initial setting of SEP from the controller menu.


2) Select the axis number which the setting is to be conducted.

3) Select Positioner Mode in IO pattern select and click on OK button.

74

4) The confirmation window for controller reboot opens. Click Yes.


5) The operation pattern setting is required on all the MSEP constructing axes. Repeat
the procedures 1) to 4) if multiple axes are connected.

[Procedure 11] Rebooting
Set the MODE switch on the front panel of MSEP main machine to AUTO side.
Reboot the MSEP power.
75
(3) In case of MSCON
The setting of MSCON is to be carried out with being connected to PC with the enclosed cable, and
with using “Gateway Parameter Setting Tool”.
Set the operation mode setting switch located on the front panel on the MSCOM main machine, to
MANU side.
[Preparation] Connection to PC
Operation Mode
Setting Switch

(RS232CRS485 conversion unit)
or
(USBRS485 with converter adapter) TP Port
(SIO)
[Procedure 1] Gateway Parameter Setting Tool Startup

1) Start up Gateway Parameter Setting Tool, select MSCON GW and click on OK button.
2) Now, the MSCON (Unit No.) can be selected. Select the unit No. to be connected and
click the OK button. If MSCON is connected to PC one to one, select 0.
76
3) The main screen will be displayed. When the Read button is pressed, the confirmation
window opens. Click Yes.
Once the parameter reading is completed in normal condition, the reading complete
window opens. Click OK.

[Procedure 2] Address Setting
Set the Fieldbus node address within the range from 0 to 14.
Set the head axis No. (Axis No.) of MSCON set in the master side (X-SEL) as the node
address.
77
Example 1) Two MSCONs are connected to the Slave Controller
Slave Controller Value set for Address
Model No. (Node address)
0 0
1 1
2 2
1 MSCON 0
3 3
4 4
5 5
0 6
1 7
2 8
2 MSCON 6
3 9
4 10
5 11
Example 2) PCON, MSCON or SCON-CA are connected to the Slave Controller

Slave Controller Value set for Address
Model No. (Node address)
1 PCON 0 0 0
0 1
1 2
2 3
2 MSCON 1
3 4
4 5
5 6
3 SCON-CA 7 7 7
Caution: When MSCON is connected to the slave controller, max. 6 axes can be
connected to a single MSCON controller. Therefore, unlike the case where two or
more controllers each of which can be connected to only one axis, is used, the
node address is not the same as the axis No. (Axis No.).
Be careful not to set the duplicate node address No., referring to the above
Examples 1 and 2.

78
[Procedure 3] Setting of Top Axis Number
Click “Setting (S)” ĺ “Unit Number” in the main window, and set the same number as
the top axis number (Axis No.) input in [Procedure 2] in the Unit Number window shown
below.
79
[Procedure 4] Operation Mode Setting and Occupation Information Confirmation
1) Select “Direct Value, Positioner Mode”.
2) Perform the following setting based on the Method to use position data.
• Method to use position data in XSEL : Set it to All Axes “Direct Value Setting
(Positioning)”. (Refer to Example 1)
• Method to use position data in RC : Set it to All Axes “Positioner 1”. (Refer to
Example 2)
3) When the operation mode setting 1 or 2 is performed, the I/O byte count is displayed
automatically in the Occupation Information area.
Convert these displayed values (decimal system) to the hexadecimal values and make
sure that the (hexadecimal) values set for the XSEL parameters (I/O parameter Nos.
432 to 447) using the “Procedure 3” in Item 4.3.1, are the same. The displayed values
are decimal values.
Example 1. Method to use position data in XSEL
1)
3) 2)
Example 2. Method to use position data in RC
1)
3)
2)
80
[Procedure 5] Set the byte
1) Setting Ѝ Click Special Parameters.

2) Make Byte Swap effective.
Make Byte Swap ineffective.
81
[Procedure 6] Parameter Writing
Write the edited operation mode setting parameters to MSCON. Click on the Write
button shown below and a confirmation window pops up. Click on the Yes button.
If the writing is finished in normal condition, writing complete window appears. Click OK.
[Procedure 7] MSCON Re-start

A confirmation window for Gateway Unit reboot opens. Click “Yes” to accept the reboot.
[Procedure 8] Confirmation of Written Parameters

After rebooting, a confirmation window for parameter reading appears for confirmation of
the written contents.
Once the reading process is complete, confirm that the written contents are reflected.
If the writing process is not completed properly, have the setting complete again from
Step 1.
When the confirmation is done, end the Gateway Parameter Setting Tool.
82
[Procedure 9] PIO Pattern Confirmation
Confirm that the MSCON parameter No. 25 “PIO Pattern Selection” has been set to “8”
(Initial Value set in the factory before shipping), using the RC PC software. If not, the
communication is not available.
83
5. Program Creating
Operations are performed using a program that sets positioning data and determines the operation
sequence and how each operation is performed. How operations are performed in each of the two
operation modes used by the RC gateway function is explained below.
The program is in common for Fieldbus and SIO Types.
Method to use position data in X-SEL

Operations are performed by setting the position data of the slave axis in the master controller (X-SEL
controller).
Although up to 512 points can be set per axis, take note that increasing the number of effective axes
decreases the number of specifiable positions.
The table below shows the relationship of the largest axis number among the connected axes and the
5. Program Creating
maximum number of position data points that can be set.

(The same relationship applies to the number of positions available with each ROBONET, MSEP and
MSCON axis.)
Largest axis number Number of positions
0 to 7 512
8 455
9 409
10 372
11 341
12 315
13 292
14 273
15 256
Method to use position data in RC

Operations are performed with an X-SEL program using the position data set in each slave-axis controller
(RC controller or ROBONET, MSEP and MSCON).
The number of positions corresponds to whatever is permitted for the each slave controller.
The maximum number of positions for each axis is determined by each controller as well as the applicable
parameters set in the controller. Refer to the operation manual for each controller.
<Reference>
The maximum number of position data for each axis when using the method to use the position data in RC
in Fieldbus Type
Max. Number of
Controller Operation Mode
Position Data
MSEP Positioner 1 Mode 256
MSCON Positioner 1 Mode 256
A/PCON Position / Simple Direct Mode 768
SCON-CA Position / Simple Direct Mode 768
84
Comparison table of two operation modes
Method to use RC position data in Method to use RC position data in

Key function
X-SEL RC
Number of connectable axes 16 axes 16 axes
Storage location of position data User-data backup memory in the Backup memory in the RC
X-SEL controller
Number of positions Maximum 512 points Varies according to the RC
(maximum 64 kb) controller specification.
Management of position data X-SEL PC software is used. RC PC software is used.
Management of RC controller
RC PC software is used. RC PC software is used.
parameters
Specification of travel speed Set in the RC position data table in Set in the position data table
5. Program Creating
the X-SEL. in the RC.
Setting of Set in the Set separately in the
acceleration/deceleration “acceleration/deceleration” field of “acceleration” and “deceleration”
the RC position data table in the fields of the position data table
X-SEL. in the RC.
Management of position
RPGT command, etc. Not supported.
data
Servo ON/OFF RSON command, RSON command,
SEL language
RSOF command RSOF command

commands
Home return RHOM command RHOM command

Positioning RMVP command, etc.
RMVP command only.
Positioning (incremental) RMPI command, etc.
Operation details are set in the
(for SIO type only)
position data table in the RC.
Push RPUS command
Deceleration stop RSTP command RSTP command
Management of position X-SEL PC software cannot be
X-SEL PC software can be used.
data used.
RC PC software cannot be used.
RC PC software can be used.
Servo ON/OFF X-SEL PC software cannot be
used.
PC software operations

Home return X-SEL PC software cannot be
used.
Positioning X-SEL PC software cannot be
used.
Jogging X-SEL PC software cannot be
used.
Inching operation X-SEL PC software cannot be
used.
Zone setting Set by a user parameter of the RC Set by a user parameter of the RC
controller. controller for each position.
Zone output ZONE1, ZONE2 PZONE (Note 1), ZONE1, ZONE2
Note 1 There is no PZONE when the slave controller is MSEP.
85
Comparison of Functions between Fieldbus type and SIO type (Different part limitation)

Function Fieldbus type SIO type
Enable
Disable
(When in MANU mode for RC
Safety speed of each slave axis (No matter whether AUTO or
controller equipped with MODE
MANU on XSEL)
switch)
Relative movement command
RMPI and RMDI command not
(Method to use position data in Enable
available to use
XSEL)
Error Code
(For method to use position data Simple Alarm Code None
5. Program Creating
in RC)
Set for each RC (slave axis) Enable for setting with connection
Position data edit controller of RC PC Software via teaching
(For method to use position data (Not enable to connect RC PC port on XSEL
in RC) Software via teaching port on (Enable to set with the wiring
XSEL) condition of RC Gateway)
86
5.1 Operation Using the X-SEL Position Data Mode
An example of operation in which one RC controller is used to move an actuator back and forth between
position data Nos. 0 and 1 is explained.
Install the X-SEL PC software beforehand.
Enter position data first, and then create a program.
Caution: When supplying the power, turn ON the slave controller (RC Controller, ROBONET, MSEP
or MSCON) prior to or at the same time as X-SEL.
If the X-SEL is started first, it will recognize an slave controller power error and generate an
RC gateway major failure error.
5. Program Creating
(1) Starting the PC software
Click Start, point to Programs, point to IAI, point to X_SEL, and then select X-SEL PC Software.
When the connection confirmation screen appears, click OK to start the PC software.
(2) Editing position data

Follow the procedure below to edit position data:
1) Click Controller, point to RC Gateway, point to RC Axis Position Data Edit, and then select 0
Axis0 to open the RC axis position data edit screen.
87
2) Enter the following data, starting from position No. 0.
After all data has been

entered, click the write
button to write the data.
5. Program Creating
Target position Positioning band
Speed
Acceleration/ Current-limiting value during
deceleration push-motion operation
z Pos (target position) [mm]

Input the target position that the actuator is to be moved towards.
Absolute coordinate specification: Distance from the actuator home
Incremental coordinate specification: Incremental distance from the current position (travel)
Whether the target position is specified in absolute coordinates or incremental coordinates
(Note1)
is determined by the applicable SEL language command.
(Example: RMVP command o Absolute coordinate specification / RMPI command o
Incremental coordinate specification)
z Vel (speed) [mm/s]
Enter the speed at which to move the actuator.
z Acc (acceleration/deceleration) [G]
Enter the acceleration/deceleration at which to move the actuator.
Separate values cannot be set for acceleration and deceleration.
z Push (current-limiting value during push-motion operation) [%]
Enter the current-limiting value during push-motion operation (RPUS command). Enter “0” if
push-motion operation is not used.
z Inp (positioning band) [mm]
Enter how long before the target position will the controller recognize completion of positioning.
In the case of push-motion operation (RPUS command), enter the maximum push distance
from the target position.
When you are finished with No.0, enter the same set of data for No.1 in the same manner. If
there are multiple positioning points, enter data one by one in a desired positioning sequence,
starting from No.0.
Note 1 The relative coordinate commands (RMPI and RMDI) cannot be used in Fieldbus Type.
After all data has been entered, click the data write button to write the data.
Caution: x Set position data value within each actuator spec.

x Position data starts from No.0, which is different on the X-SEL.
88
(3) Editing a program
Follow the procedure below to edit a program:
1) Click Program and then select Edit to open the program edit screen.
5. Program Creating
2) Select the program number of the program you want to use.
If No. 1 is to be used, select

No. 1 with the cursor, and
then click Read.
89
3) Next, enter the program. Since it is a back and forth operation between Position No. 0 and No. 1,
the detail of the program will be as shown in the figure below.
After the program has been entered, click the write button to write the program.
After the program has been

entered, click the write Clicking [Z] causes the actuator to operate back and
button to write the program. forth between position No. 0 and position No. 1.
5. Program Creating
Declaration which uses axial No.0

Servo ON
Home return command
Repeated operation start position
It moves the Position No. 0
Repeated operation start position to jump
End
The program is executed line Enter SEL language

by line from No. 1. (This does commands/ Enter these fields if required
not apply to jump commands, declarations (5.3). for each SEL language
branch commands, etc.) command/declaration.
For other operations, create programs by referring to 5.3, “Program Language Used by the RC
Gateway.”
Caution: If the following error occurs, the causes listed below are suspected:
(SIO)
[Causes]
x Other SEL program is currently running.
x There is an RC axis whose servo is turned ON.
90
5.2 Operation with Method to Use Position Data in RC
For Fieldbus Type, edit the position data of the RC controllers on each RC controller using the RC PC
software. Therefore, it is unnecessary to have the process in 2) of procedures (1) to (3), and start from 3) in
Procedure (3).
An example of operation in which one RC controller is used to move an actuator back and forth between
position data Nos. 0 and 1 is explained.
Install the X-SEL PC software and RC PC software beforehand. (If the SEL-T or SEL-TD is used, refer to
the operation manual for the SEL-T or SEL-TD.)
Enter position data first, and then create a program.
Caution: When supplying the power, turn ON the slave controller (RC Controller, ROBONET, MSEP
or MSCON) prior to or at the same time as X-SEL.
5. Program Creating
If the X-SEL is started first, it will recognize an slave controller power error and generate an
RC gateway major failure error.
(1) Starting the X-SEL PC software (checking the baud rate) (Not necessary for Fieldbus Type)
Click Start, point to Programs, point to IAI, point to X_SEL, and then select X-SEL PC Software.
When the connection confirmation screen appears, write down the Baud Rate (bps). Next, select
CANCEL, restart the PC software, and then shut it down immediately.
Write down
the baud rate.
(2) Setting the baud rate in the RC PC software (Not necessary for Fieldbus Type)
Set the baud rate for each connected RC controller or ROBONET.
1) Click Start, point to Programs, point to IAI, point to RoboCylinder, and then select RC PC
Software.
2) When the RC PC software is started, click Setting, and then select Application.
91
3) In the Baud Rate (bps) field, set the same value specified in the connection confirmation screen
of the X-SEL PC software (refer to 5.2 (1)).
Select the same baud rate set

in the connection confirmation
screen of the X-SEL PC
software, and then click OK.
5. Program Creating
4) After the setting is finished, shut down the RC PC software.

5) Connect the X-SEL and PC using the communication cable supplied with the PC software.
(3) Editing position data (For Fieldbus Type, connect RC PC Software to each RC controller, start them
up, and proceed to 3).)
Follow the procedure below to edit position data:
Turn ON the RC controller power and ROBONET power before or simultaneously as the X-SEL
power.
Click Start, point to Programs, point to IAI, point to X-SEL, and then select X-SEL PC Software to
start the PC software.
For the SCON, set the mode selector switch on the controller to the MANU position.
For the ROBONET, set the mode selector switch on the GateWayR unit to the MANU (top) position.
1) Click the RC button in the menu bar.
RC button
Caution: x For the details of parameters and positions of your RC controller or ROBONET, refer to
the operation manual for each controller.
x You can also connect a PC to the RC controller directly and change parameters or edit
position data using the RC PC software.
ĺ In this case, you must reconnect the power after setting parameters/position data.
92
2) When the following screen appears, select both Start “PC Interface Software for RC” and
Off-line Work (Port Close), and then click the Yes button.
5. Program Creating
Notice: If the RC PC software is not yet installed, a file non-detection error will occur. Install the RC
PC software.
93
3) The RC PC software is started.
After all data has been

entered, click the write
button to write the data.
5. Program Creating
Acceleration/deceleration
Position Speed
Click Position, click Edit/Teaching, and then select the axis number of the axis whose data you
want to edit, to open the position data edit screen.
z Position [mm]
Enter the target position to move the actuator to.
Absolute coordinate specification: Distance from the actuator home
Incremental coordinate specification: Incremental distance from the current position (travel)
Whether the target position is specified in absolute coordinates or incremental coordinates is
determined by the applicable position data.
For details on position data, refer to the operation manual for each RC controller.
z Speed [mm/s]
Enter the speed at which to move the actuator.
z ACC [G]
Enter the acceleration at which to move the actuator.
z DCL [G]
Enter the deceleration at which to move the actuator.
When you are finished with No. 0, enter the same set of data for No.1 in the same manner. If
there are multiple positioning points, enter data one by one in the desired positioning
sequence, starting from No.0.
After all data has been entered, click the data write button to write the data.
Caution: x Set each position data value within the applicable specification range of the actuator.
x The numbers of the position data column start from No. 0 unlike X-SEL.
x If no slave controller is set, the RC PC software cannot be connected. (Refer to 4.2.2.)
x If the baud rate set in the X-SEL PC software does not match the baud rate of the RC
controller, the RC PC software cannot be connected. (Refer to 5.2 (1) and 5.2 (2).)
4) Shut down the RC PC software. For the SCON, ROBONET, MSEP or MSCON, return the mode
selector switch to the AUTO position.
94
(4) Editing a program
Follow the procedure below to edit a program:
1) Click Controller, point to Reconnect, and then select OK to connect to the X-SEL PC software.
2) Click the GW button to switch to the gateway mode. GW button
5. Program Creating
3) Click Program and then select Edit to open the program edit screen.
4) Select the program number of the program you want to use.
If No. 1 is to be used, select

No. 1 with the cursor, and
then click Read.
95
5) Next, enter the program. Since the actuator is operated continuously between position Nos. 0 and
1 in this example, the program should look like the one shown below.
After the program has been entered, click the write button to write the program.
After the program has been

entered, click the write Clicking [Z] causes the actuator to operate back and
button to write the program. forth between position No. 0 and position No. 1.
5. Program Creating
Declaration which uses axial No.0

Servo ON
Home return command
Repeated operation start position
Repeated operation start position to jump
End
The program is executed line Enter SEL language

by line from No. 1. (This does commands/ Enter these fields if required
not apply to jump commands, declarations (5.3). for each SEL language
branch commands, etc.) command/declaration.
* For other operations, create programs by referring to 5.3, “Program Language Used by the RC
Gateway.”
Caution: If the following error occurs, the causes listed below are suspected:
(SIO)
[Causes]
x Other SEL program is currently running.
x There is an RC axis whose servo is turned ON.
96
5.3 Program Language Used by the RC Gateway
5.3.1 List of Program Language Commands
A list of program language (SEL language) commands relating to the RC gateway is shown.
This manual only covers those commands needed by the RC gateway function to operate RC axes. For
more information on X-SEL controller programming and commands, refer to the operation manual for your
X-SEL controller.
In the list, shows whether each command language can be used or not in each method of RC position data
use with ż and ×.
(Available: ż, Unavailable: ×)
RC position
Category Condition Command data mode Operand 1 Operand 2 Output Function Page
X-SEL RC
5. Program Creating
Assign the RC axis position to
Free RPGT ż × RC axis number Position number CC 100
variable 199
Assign the value of variable 199 as the
Free RPPT ż × RC axis number Position number CP 101
position in the RC axis position table
Free RPCR ż × RC axis number Variable number CP Clear RC axis position data 102
Free RPCP ż × RC axis number Variable number CP Copy RC axis position data 103
Free RPRD ż × Position number Prohibited CP Read the current RC axis position 104
Read the current RC axis position
Free RPRQ ż ż RC axis number Variable number CP 105
(direct reading of 1 axis)
Assign the value of variable 199 as the
RC axis position operations
Free RPVL ż × RC axis number Position number CP 106

speed in the RC axis position table
Assign the value of variable 199 as
Free RPAD ż × RC axis number Position number CP the acceleration/deceleration in the 107
RC axis position table
Free RPIP ż × RC axis number Position number CP the positioning band in the RC axis 108
position table
Free RPTQ ż × RC axis number Position number CP the current-limiting value in the RC 109
axis position table
Assign the speed in the RC axis
Free RGVL ż × RC axis number Position number CP 110
position table to variable 199
Assign the acceleration/deceleration
Free RGAD ż × RC axis number Position number CP in the RC axis position table to 110
variable 199
Assign the positioning band in the RC
Free RGIP ż × RC axis number Position number CP 111
axis position table to variable 199
Assign the current-limiting value in the
Free RGTQ ż × RC axis number Position number CP 111
RC axis position table to variable 199
Upper byte of Lower byte of
Free RAXS ż ż CP Set the RC axis pattern 112
axis pattern axis pattern
RC actuator control commands
Free RSON ż ż Prohibited Prohibited PE Turn ON the RC axis servo 113

Free RSOF ż ż Prohibited Prohibited PE Turn OFF the RC axis servo 113
Free RHOM ż ż Prohibited Prohibited PE Perform home return of the RC axis 114
Move the RC axis via position
Free RMVP ż ż Position number Prohibited PE 115
specification
Free RMPI ż(Note 1) × Position number Prohibited PE Move the RC axis incrementally 116
Move the RC axis via direct value
Free RMVD ż × RC axis number Variable number PE 117
specification
Move the RC axis incrementally via
Free RMDI ż(Note 1) × RC axis number Variable number PE 118
direct value specification
Move the RC axis via push-motion
Free RPUS ż × RC axis number Position number PE 119
operation
Free RSTP ż ż Prohibited Prohibited PE Decelerate the RC axis to a stop 120
information
Acquisition
of RC axis
Free RCST ż ż Variable number RC axis number CP Get the RC axis status 121
Output operation type

CC: Command successful, CP: Command accepted, PE: Operation complete
(Note 1) RMPI and RMDI are invalid for Fieldbus Type. Using them would generate (405) RC Gateway Communication Identification
Error (SEL).
97
Ɣ Reference: Relationships between Existing SEL Commands and RC Gateway
Function
The relationships between the RC gateway function and existing commands are listed below.
How each command is affected by
Command category Commands
RC gateway function
Variable assignment LET, TRN, CLR Not affected
Arithmetic operation ADD, SUB, MULT, DIV, MOD Not affected
Function operation SIN, COS, TAN, ATN, SQR Not affected
Logic operation AND, OR, EOR Not affected
CPEQ, CPNE, CPGT, CPGE, CPLT,
Comparison Not affected
CPLE
BTON, BTOF, BTNT, WTON, WTOF, IN,
5. Program Creating
I/O port & flag operation Not affected

INB, OUT, OUTB, BTPN, BTPF, FMIO
PGET, PPUT, PCLR, PCPY, PRED,
Invalid (Use the corresponding RC
Position operation PTST, PVEL, PACC, PDCL, PAXS, PSIZ,
commands specified in 2.3.1.)
GVEL, GACC, GDCL, PRDQ
Timer TIMW, TIMC, GTTM Not affected
Invalid (Specify using RC position
VEL, ACC, DCL, PAPR
data)
OVRD Valid
OFST, DEG, BASE, GRP Invalid
Valid (The operation specified by
HOLD type 2 becomes exactly the
Actuator control HOLD same as the operation specified by
declaration (normal) HOLD type 1 (= the servo does not
Turn OFF).)
CANC Valid
VLMX, DIS, POTP Invalid
Invalid (A similar operation can be
QRTN performed by increasing the
positioning band.)
SVON, SVOF, HOME, MOVP, MOVL,
MVPI, MVLI, PATH, CIR, ARC, JBWF,
Actuator control JBWN, JFWF, JFWN, STOP, PSPL,
Invalid
command (normal) PUSH, CIR2, ARC2, CHVL, ARCD,
ARCC, PBND, CIRS, ARCS, PTRQ,
MOVD, MVDI
ACHZ, ATRG, OFPZ, BGPA, EDPA,
PASE, PAPT, PAPS, PAPN, PSLI, PAPI,
Invalid (Palletizing cannot be
Palletizing ARCH, PACH, PMVP, PMVL, PTNG,
performed using RC axes.)
PINC, PDEC, PSET, PAPG, PCHZ,
PTRG, OFAZ, PEXT, AEXT, PARG, PAST
Not affected (Set on the RC
Zone WZNA, WZNO, WZFA, WZFO
controller side.)
System information
AXST, PGST, SYST Not affected
acquisition
If the RC gateway function is
enabled, any attempt to establish
communication using standard SIO
OPEN, CLOS, READ, WRIT channel 2 will generate an error.
Communication
(Communication using standard
SIO channel 1 is possible even
when the RC gateway is enabled.)
SCHA, TMRD, TMRW, IPCN Not affected
98
How each command is affected by
Command category Commands
RC gateway function
SCPY, SCMP, SGET, SPUT, STR, STRH,
String operation Not affected
VAL, VALH, SLEN
Task control EXIT, EXPG, ABPG, SSPG, RSPG Not affected
Simulated ladder task
TPCD, CHPR, TSLP, OUTR, TIMR Not affected
build
Program control GOTO, TAG, EXSR, BGSR, EDSR Not affected
IFEQ, IFNE, IFGT, IFGE, IFLT, IFLE,
Structured IF Not affected
ISEQ, ISNE, ELSE, EDIF
DWEQ, DWNE, DWGT, DWGE, DWLT,
Structured DO Not affected
DWLE, LEAV, ITER, EDDO
SLCT, WHEQ, WHNE, WHGT, WHGE,
5. Program Creating
Multi-branching WHLT, WHLE, WSEQ, WSNE, OTHE, Not affected
EDSL
Expanded command ECMD Not affected
MRUW, MRSW, MRID, MRBW, MRBD,
MRMW, MRMD, MWIW, MWID, MWBW,
MWBD, MWMW, MWMD, MBOW,
Memory operation Not affected
MBOD, MBFW, MBFD, MBNW, MBND,
MBTW, MBTD, MDCW, MDCD, MECW,
MECD, SUMB
99
5.3.2 Explanation of Commands
(1) Position data operation commands
RC position X-SEL ż: Valid

z RPGT (Read RC axis position data) data mode RC ×: Invalid (Note 1)
Command, declaration
Extension condition Input condition Output operation
(LD, A, O, AB, OB) (I/O, flag) Command, type (output, flag)
Operand 1 Operand 2
declaration
RC axis Position
Free Free RPGT CC
number number
5. Program Creating
Note 1 If the command is executed, an RC position data use method error (439) will occur.
[Function] Read the position of RC axis into variable 199.
[Example 1] RPGT 1 2 Read the position of RC position No.2 of axis 1 into variable
199.
No. Pos Vel Acc Push Inp

0 5.00 300 0.3 0 0.10
1 380.00 300 0.3 0 0.10
2 200.00 300 0.3 0 0.10

“200.00” is stored in variable 199.
[Example 2] LET 1 2 Assign “2” to variable 1.

LET 2 3 Assign “3” to variable 2.
RPGT *1 *2 Read the RC position corresponding to the content “3” of
variable 2 of the axis specified by the content “2” of variable
1, into variable 199.
100
z RPPT (Write RC axis position data) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
RC axis Position
Free Free RPPT CP
number number
[Function] Write the value of variable 199 to the specified position data position [mm].
5. Program Creating
RPPT 1 2 Write the content “150” of variable 199 to RC position No.2
of axis 1.
Position data of axis 1

0 5.00 300 0.3 0 0.10
1 380.00 300 0.3 0 0.10
2 150.00 300 0.3 0 0.10
Variable 199 150

RPPT *1 *2 Write the content “150” of variable 199 to the RC position
corresponding to the content “3” of variable 2 of the axis
specified by the content “2” of variable 1.
101
z RPCR (Clear RC axis position data) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
RC axis Variable
Free Free RPCR CP
number number n
[Function] Clear the position data in the range specified by variable No.n and variable No.n+1
5. Program Creating
Once the data is cleared, the applicable fields will become blank.
Variable number Set item

n Position number from which to start clearing data
n+1 Position number at which to end clearing data
[Example] LET 200 0 Assign “0” to variable 200.

RPCR 1 200 Clear “1” from position No.0 of axis 1.

0
Cleared.
1
2 200.00 300 0.3 0 0.10
102
z RPCP (Copy RC position data) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
RC axis Variable
Free Free RPCP CP
number number n
[Function] Copy the position data in variable No.n+1 to variable No.n.
5. Program Creating
n Position number to copy to
n+1 Position number to copy from
[Example] LET 200 2 Assign “2” to variable 200.

RPCP 1 200 Copy the data of position No.0 of axis 1 to No.2.

0 5.00 100 0.2 0 0.20
1 380.00 300 0.3 0 0.10 Copied.
2 5.00 100 0.2 0 0.20
103
z RPRD (Read current RC axis position) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
Position
Free Free RPRD Prohibited CP
number
[Function] Read the current position of the axis specified in the RAXS command explained in 2.3.2 (2) of
5. Program Creating
the “Software” chapter in this manual, into a position number.
Notice: Before executing this command, set the axis pattern using the RAXS command.
If the RAXS is not yet executed, an error “(43B) RC axis pattern not yet set error” will occur.
[Example 1] RAXS 0 111 Set the axis pattern as axes 0, 1 and 2.

RPRD 100 Read the current positions of axes 0 to 2 each into RC
position No.100.

100 5.00 300 0.3 0 0.10

The current position of axis 1 is input.

100 500.00 200 0.3 0 0.10


100 100.00 300 0.3 0 0.10

[Example 2] RAXS 0 111 Set the axis pattern as axes 0, 1 and 2.

LET 1 100 Set “100” in variable 1.
RPRD *1 0 to 2 Read the current positions of axes 0 to 2 each into the RC
position corresponding to the content “100” of variable 1.
104
z RPRQ (Read current RC axis position [direct reading RC position X-SEL ż: Valid
of 1 axis]) data mode RC ż: Valid
Operand 1 Operand 2
declaration
RC axis Variable
Free Free RPDQ CP
number number
[Function] Read the current position of the RC axis into the variable specified by operand 2.
With this command, the current position can be acquired more quickly than when the RPRD
5. Program Creating
command is used.
[Example] RPDQ 2 100 Read the current position of axis 2 into variable No.100.
105
z RPVL (Write RC axis speed data) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
RC axis Position
Free Free RPVL CP
number number
[Function] Write the value of variable 199 as the speed [mm/s] for the position data specified by operand 2.
5. Program Creating

RPVL 1 2 Write the speed in variable 199, or “100” mm/s, to RC
position No.2 of axis 1.

0 5.00 300 0.3 0 0.10
1 380.00 300 0.3 0 0.10
2 200.00 100 0.3 0 0.10

Variable 199 100

RPVL *1 *2 Write the speed in variable 199, or “100” mm/s, to the RC
position number corresponding to the content “3” of variable
2 of the axis specified by the content “2” of variable 1.
106
z RPAD (Write RC axis acceleration/deceleration RC position X-SEL ż: Valid
data) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
RC axis Position
Free Free RPAD CP
number number
[Function] Write the value of variable 199 as the acceleration/deceleration [G] for the position data
5. Program Creating
specified by operand 2.
[Example 1] LET 199 0.1 Assign “0.1” to variable 199.

RPAD 1 2 Write the acceleration/deceleration in variable 199, or “0.1”
G, to RC position No. 2 of axis 1.

0 5.00 300 0.3 0 0.10
1 380.00 300 0.3 0 0.10
2 200.00 300 0.1 0 0.10
Variable 199 0.1

RPAD *1 *2 Write the acceleration/deceleration in variable 199, or “0.3”
G, to the RC position number corresponding to the content
“3” of variable 2 of the axis specified by the content “2” of
variable 1.
107
z RPIP (Write RC axis positioning band data) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
RC axis Position
Free Free RPIP CP
number number
[Function] Write the value of variable 199 as the positioning band [mm] for the position data specified by
5. Program Creating
operand 2.

PRIP 1 2 Write the positioning band in variable 199, or “0.2” mm, to
RC position No.2 of axis 1.

0 5.00 300 0.3 0 0.10
1 380.00 300 0.3 0 0.10
2 200.00 300 0.3 0 0.20

Variable 199 0.2

RPIP *1 *2 Write the positioning band in variable 199, or “0.2” mm, to the
RC position number corresponding to the content “3” of
variable 2 of the axis specified by the content “2” of variable 1.
108
z RPTQ (Write RC axis current-limiting value data RC position X-SEL ż: Valid
during push-motion operation) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
RC axis Position
Free Free RPTQ CP
number number
[Function] Write the value of variable 199 as the current-limiting value during push-motion operation [%]
5. Program Creating
for the position data specified by operand 2.

RPTQ 1 2 Write the current-limiting value in variable 199, or “50” %, to
RC position No.2 of axis 1.

0 5.00 300 0.3 0 0.10
1 380.00 300 0.3 0 0.10
2 200.00 300 0.3 50 0.10
Variable 199 50

RPTQ *1 *2 Write the current-limiting value in variable 199, or “50” %, to
the RC position number corresponding to the content “3” of
variable 2 of the axis specified by the content “2” of variable 1.
109
z RGVL (Read RC axis speed data) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
RC axis Position
Free Free RGVL CP
number number
[Function] Read the speed [mm/s] for the position data specified by operand 2, into variable 199.
5. Program Creating
[Example] RGVL 2 1 Read the speed for RC position No.1 of axis 2 into variable
199.

0 5.00 300 0.3 0 0.10
1 380.00 200 0.3 0 0.10

Variable 199 200

X-SEL ż: Valid
RC position
z RGAD (Read RC axis acceleration/deceleration data mode RC ×: Invalid (Note 1)
data)
Operand 1 Operand 2
declaration
RC axis Position
Free Free RGAD CP
number number
[Function] Read the acceleration/deceleration [G] for the position data specified by operand 2, into
variable 199.
[Example] RGAD 2 1 Read the acceleration/deceleration for RC position No.1 of

axis 2 into variable 199.

0 5.00 300 0.3 0 0.10
1 380.00 300 0.2 0 0.10

Variable 199 0.2
110
z RGIP (Read RC axis positioning band data) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
RC axis Position
Free Free RGIP CP
number number
[Function] Read the positioning band [mm] for the position data specified by operand 2, into variable 199.
5. Program Creating
[Example] RGIP 2 1 Read the positioning band for RC position No.1 of axis 2
into variable 199.

0 5.00 300 0.3 0 0.10
1 380.00 300 0.2 0 0.10
Variable 199 0.10
z RGTQ (Read RC axis current-limiting value data RC position X-SEL ż: Valid

during push-motion operation) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
RC axis Position
Free Free RGTQ CP
number number
[Function] Read the current-limiting value during push-motion operation [%] for the position data
specified by operand 2, into variable 199.
[Example] RGTQ 2 1 Read the current-limiting value for RC position No.1 of axis
2 into variable 199.

0 5.00 300 0.3 0 0.10
1 380.00 300 0.2 30 0.10
Variable 199 30
111
(2) Operation commands

z RAXS (Set RC axis pattern) data mode RC ż: Valid
Operand 1 Operand 2
declaration
Upper byte Lower byte
Free Free RAXS of axis of axis CP
pattern pattern
5. Program Creating
[Function] Set the axis pattern for axes 8 to 15 in operand 1 and that for axes 0 to 7 in operand 2.
The axes specified by the total axis pattern are operated simultaneously.
Operand 1 Operand 2
Axis 8 Axis 0
: :
Axis 15 Axis 7
Be sure to set the axis pattern if any of the commands listed below is used.
(Set “1” for the axes numbers corresponding to the axes that are used, or set “0” for the axes
numbers corresponding to the axes that are not used.)
If no axis pattern is set, an error “(43B) RC axis pattern not yet set error” will occur.
x RPRD : Read current RC axis position
x RSON : Turn ON RC axis servo
x RSOF : Turn OFF RC axis servo
x RHOM : Return RC axis to home
x RMVP : Move RC axis via position specification
x RMPI : Move RC axis incrementally
x RSTP : Decelerate RC axis to stop
[Example] RAXS 1010101 10101010 Set the axis pattern as axes 1, 3, 5, 7, 8, 10, 12 and 14.
RSON Turn ON the servos for the specified axes.
RMVP 20 Move the specified axes to position No.20.
112
z RSON (Turn ON RC axis servo) data mode RC ż: Valid
Operand 1 Operand 2
declaration
Free Free RSON Prohibited Prohibited PE
[Function] Turn ON the servo for the RC axis specified in the RAXS command explained in 5.3.2 (2) of
5. Program Creating
the chapter in this manual.
[Example] RAXS 0 1100 Set the axis pattern as using axes 2 and 3.
RSON Turn ON the servos for the specified axes.

z RSOF (Turn OFF RC axis servo) data mode RC ż: Valid
Operand 1 Operand 2
declaration
Free Free RSOF Prohibited Prohibited PE
[Function] Turn OFF the servo for the RC axis specified in the RAXS command explained in 5.3.2 (2) of
the chapter in this manual.
Notice: Before executing this command, set the axis pattern using the RAXS command. If the RAXS
is not yet executed, an error “(43B) RC axis pattern not yet set error” will occur.
RSOF Turn OFF the servos for the specified axes.
113
z RHOM (Return RC axis to home) data mode RC ż: Valid
Operand 1 Operand 2
declaration
Free Free RHOM Prohibited Prohibited PE
[Function] Return to its home the RC axis specified in the RAXS command explained in 5.3.2 (2) of the
chapter in this manual.
5. Program Creating
The servo will turn ON automatically for each axis returning to its home.
RHOM Return the specified axes to their home.
114
z RMVP (Move RC axis via position specification) data mode RC ż: Valid
Operand 1 Operand 2
declaration
Position
Free Free RMVP Prohibited PE
number
[Function] Move the RC axis specified in the RAXS command explained in 5.3.2 (2) of the chapter in this
manual, to the position number specified by operand 1.
5. Program Creating
The output turns OFF when the axis movement is started, and will turn ON when the
movement is completed.
Caution: The specific operation varies depending on whether the X-SEL position data mode or RC
position data mode is used.
[1] Method to use position data in X-SEL
o The actuator moves to the position number specified by operand 1 via PTP operation.
[2] Method to use position data in RC
o The specific operation varies depending on the applicable RC position data.
RC position data item

No.
Push Incremental Description of operation
Move to the position number specified by operand 1 via PTP
1 0 0
operation.
Move incrementally by the travel equivalent to the position
2 0 1
number specified by operand 1 (PTP).
Move to the position number specified by operand 1, and
then perform push-motion operation.
3 Other than 0 0
If the load is missed by a single axis in push-motion
operation, the output will Turn OFF.
Move to the position number specified by operand 1, and
then perform push-motion operation.
4 Other than 0 1
If the load is missed by a single axis in push-motion
operation, the output will Turn OFF.
[Example 1] RAXS 0 11 Set the axis pattern as axes 0 and 1.

RMVP 10 Move the specified axes to position No.10.

RMVP *1 Move the specified axes to position No.10 corresponding to
the content “10” of variable 1.
115
RC position X-SEL ż: Valid (Note 2)
z RMPI (Move RC axis incrementally) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
Position
Free Free RMPI Prohibited PE
number
Note 2 For Fieldbus Type, (405) RC Gateway Communication Classification Error will be generated
5. Program Creating
[Function] Move the RC axis specified in the RAXS command explained in 5.3.2 (2) of the chapter in this
manual, by the travel equivalent to the position data specified by operand 1.

RMPI 10 Move the axes by the travel equivalent to position No.10.

RMPI *1 Move the specified axes by the travel equivalent to position
No.10 corresponding to the content “10” of variable 1.
116
z RMVD (Move RC axis via absolute direct-value RC position X-SEL ż: Valid
position specification) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
RC axis Variable
Free Free RMVD PE
number number n
[Function] Perform absolute position movement using the values of variable Nos. n to n+3.
5. Program Creating

n Target position
n+1 Speed [mm/s]
n+2 Acceleration/deceleration [G]
n+3 Positioning band [mm]
[Setting types of operation 1]

Operation 1 Specification of executing axis
0 to 15 The RC axis of the specified number moves by absolute positioning.
-1 The RC axis specified in the RAXS command moves by absolute
positioning.
* The specification of “-1” is valid only with X-SEL P/Q controllers of V0.87 or later and
X-SEL PX/QX controllers of V0.42 or later.
[Example] LET 300 100 Set the target position as “100” mm.
LET 301 200 Set the speed as “200” mm/s.
LET 302 0.3 Set the acceleration/deceleration as “0.3” G.
LET 303 0.1 Set the positioning band as “0.1” mm.
RMVD 1 300 Move RC axis 1 via absolute position specification.
117
z RMDI (Move RC axis via incremental direct-value RC position X-SEL ż: Valid (Note 2)
position specification) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
RC axis Variable
Free Free RMDI PE
number number
Note 2 For Fieldbus Type, (405) RC Gateway Communication Classification Error will be generated
5. Program Creating
[Function] Perform incremental position movement using the values of variable Nos. n to n+3.

n Travel
n+1 Speed [mm/s]
n+2 Acceleration/deceleration [G]
n+3 Positioning band [mm]

0 to 15 The RC axis of the specified number moves by absolute positioning.
-1 The RC axis specified in the RAXS command moves by absolute
positioning.
[Example] LET 300 50 Set the travel as “50” mm.

LET 301 200 Set the speed as “200” mm/s.
LET 302 0.3 Set the acceleration/deceleration as “0.3” G.
LET 303 0.1 Set the positioning band as “0.1” mm.
RMDI 1 300 Move RC axis 1 via incremental position specification.
118
z RPUS (Move RC axis via push-motion operation) data mode RC ×: Invalid (Note 1)
Operand 1 Operand 2
declaration
RC axis Position
Free Free RPUS PE
number number
[Function] Move the axis to the target position corresponding to the position number specified by
5. Program Creating
operand 2, and then cause the axis to push the load by the positioning band specified by the
position data.
Set the push force as the current-limiting value during push-motion operation for the position
data.
The output will turn ON if the load is confirmed as being pushed, and turn OFF if a missed
load is detected.

0 to 15 The RC axis of the specified number The output turns ON if a load is
moves in the push-motion operation confirmed as being pushed by the
mode. specified axis.
-1 The all RC axes specified in the RAXS The output turns ON if loads are
command move in the push-motion confirmed as being pushed by all
operation mode. specified axes.
-2 The RC axis specified in the RAXS The output turns ON if a load is
command moves in the push-motion confirmed as being pushed by any
operation mode. one of all specified axes.
Caution: x If a positive sign is appended to the positioning band data, the load will be pushed in the
direction of increasing coordinates from the start point of the RPUS command toward the
target position.
x Appending a negative sign pushes the load in the direction of decreasing coordinates.
(The operation differs from the PUSH command.)
[Example] RPUS 3 10 Move RC axis 3 to position No.10 and cause it to push the
load.
Positioning band for position 10 (maximum push distance)
● ● ●
Start point End point after missing the load
Target position for position No. 10
119
z RSTP (Stop RC axis movement) data mode RC ż: Valid
Operand 1 Operand 2
declaration
Free Free RSTP Prohibited Prohibited PE
[Function] Decelerate the RC axis specified in the RAXS command explained in 5.3.2 (2) of the chapter
in this manual, to a stop.
5. Program Creating
This command is effective on RC axis control commands other than RSOF.
[Example] RAXS 0 11 Set the axis pattern as axes 0 and 1.

RSTP Decelerate the specified axes to a stop.
120
(3) Information read commands
z RCST (Read RC axis status) data mode RC ż: Valid
Operand 1 Operand 2
declaration
Variable RC axis
Free Free RCST CP
number number
[Function] Read the RC axis status into variable No.n specified by operand 1.
Read the completed position number into variable No.n+1. (Refer to Notice 2.)
5. Program Creating
Notice 1: The specific status varies depending on whether the X-SEL position data mode or RC
position data mode is used.
Variable number Acquired item

n RC axis status
n+1 Completed position number
Bit structure of RC axis status

Bit
Method to use position data in X-SEL Method to use position data in RC
Name Explanation Name Explanation
27-31 - Reserved. - Reserved.
RC axis alarm RC axis alarm
(Alarm detected by the X-SEL) (Alarm detected by the X-SEL)
26 ALMX ALMX
* ALMX is a RC-axis alarm that ALM + X-SEL * ALMX is a RC-axis alarm that ALM +
have detected. X-SEL have detected.
25 USE RC axis in use USE RC axis in use
24 LNK RC axis link status LNK RC axis link status
16-23 - Reserved. - Reserved.
15 RMDS Operation Mode RMDS Operation Mode
14 ALML Light Error Alarm ALML Light Error Alarm
13 ZON2 Zone 2 ZON2 Zone 2
12 ZON1 Zone 1 ZON1 Zone 1
11 - Reserved. PZON Position zone
10 - Reserved. MODS Teaching mode status
9 SFTY Safety speed enabled status SFTY Safety speed enabled status
8 BALM Low battery voltage BALM Low battery voltage
7 EMG Emergency stop status EMG Emergency stop status
6 PSFL Load missed during push-motion operation PSFL Load missed during push-motion operation
5 CRDY Controller ready CRDY Controller ready
4 SON Servo ON status SON Servo ON status
3 MOVE Moving MOVE Moving
2 HEND Home return complete HEND Home return complete
1 PEND Positioning complete PEND Positioning complete
An alarm occurred that makes it impossible An alarm occurred that makes it impossible
0 ALM to continue operation. ALM to continue operation.
(Alarm detected by the RC axis) (Alarm detected by the RC axis)
Notice 2: Completed position numbers are set only in the RC position data mode.
In the X-SEL position data mode, “0” is always set.
[Example] RCST 200 10 Get the status of RC axis 10 into variable 200.
121
5.4 Notes on Resuming Interrupted Operation
If any RC axis movement specified in a SEL program was interrupted and then the operation is
subsequently resumed according to any of the conditions listed in [1], [2] and [3] below, the RC axis will not
resume its operation from the point of interruption, but it will start an entirely new operation instead (=
restart the movement command to the specified position):
[1] Turn OFF the servo for the current RC axis while the SEL program is paused, and then restart the
program.
[2] Operation is continued due to the recovery processing after an emergency stop was cancelled (other
parameter No.10 = 2).
[3] Operation is continued due the recovery processing upon switching of the enable switch from OFF to
ON (other parameter No.11 = 2).
5. Program Creating
Caution: When an incremental movement command is interrupted and then the operation is
subsequently resumed, the axis will move by the incremental travel from the position of
resumption. Accordingly, exercise due caution that the target position will change and
contact may occur.
(This is not the problem with an absolute movement command, in which case the axis will
move to the initial target position.)
Example
x Interruption/resumption of relative movement command for RC axis
Interruption & resumption
z Current position Position of interruption & resumption

{ Target position Target position after resumption
If the movement is interrupted after 30mm while the axis is moving by 40mm incrementally from the
current position of 10mm, the recovery operation may cause the axis to move by 40mm from the 30mm
position to reach the 70mm position.
x Interruption/resumption of absolute movement command for RC axis

Interruption & resumption
Move to the initial target position from the position of
resumption, because this is an absolute movement.
z Current position Position of interruption & resumption

{ Target position
In the case of absolute movement, the axis will move to the initial target position (coordinate: 50 mm)
from the position of resumption (coordinate: 30 mm). (The target position will not change.)
122
5.5 Checking the Completed Position (Positioning Band)
In the “Method to use position data in X-SEL”, whether or not the positioning command (RMVP, RMPI,
RMVD or RMDI) has completed is checked only based on the output signal PEND (positioning complete
signal) issued by the RC controller.
Target position
Actuator movement The PEND turns ON while the current
Positioning band actuator position is within the positioning
ON
band from the target position.
PEND OFF
Accordingly, follow the example below if you want to check whether the current position is within the
5. Program Creating
positioning band after the positioning command has completed.
Caution: In the “Method to use position data in RC”, the output signal PEND is output while the
current actuator position is inside the positioning band set in the position table.
Accordingly, there is no need to check the completed position.
(Example) Program that performs completed position check
RC axis 4 moves back and forth between position No.0 and position No.1.
x Position data of RC axis 4
0 0 75 0.3 0 0.5
1 200.00 75 0.3 0 0.5
Operation of main program
[1] Set a variable number for

Operation of subroutine 1 subroutine preparation
[2] Execute subroutine 1 (get the
[1] Get the target position from the target position for position No. 0)
position data [3] Move the axis to position No. 0
[2] Get the positioning band from the via the RMVP command
position data [4] Execute subroutine 2 (check the
[3] Calculate the lower limit of target completed position for position
position No. 0) Operation of subroutine 2
(Lower limit of target position = [5] The program ends due to a
Target position – Positioning band) completion check error (600 or [1] Get the current position of
[4] Calculate the upper limit of target 601 turns ON) the RC axis
position [6] Set a variable number for [2] Compare the current position
(Upper limit of target position subroutine preparation against the lower limit of
= Target position [7] Execute subroutine 1 (get the target position (a flag turns
+ Positioning band) target position for position No. 1) ON if an error is found)
[8] Move the axis to position No. 1 [3] Compare the current position
via the RMVP command against the upper limit of
[9] Execute subroutine 2 (check the target position (a flag turns
completed position for position ON if an error is found)
No. 1)
[10] The program ends due to a
completion check error
(602 or 603 turns ON)
123
Program examples
x Main program
Step E N Cnd Cmnd Operand1 Operand2 Pst Comment
1 RAXS 0 10000
2 TAG 1
3
4 // Move via PTP to position No.0
5 LET 100 4 [1] RC axis number
6 LET 101 0 [1] Position number
7 LET 102 110 [1] Lower limit of target position
8 LET 103 111 [1] Upper limit of target position
9 LET 104 600 [1] Lower-limit error flag number
5. Program Creating
10 LET 105 601 [1] Upper-limit error flag number

11 EXSR 1 [2] Execute subroutine 1
[3] Move to position No.0 via
12 RMVP *101
RMVP command
14 600 [5] Error detection
15 O 601 GOTO 11 [5] End of program
16
17 // Move via PTP to position No.1
18 LET 100 4 [6] RC axis number
19 LET 101 1 [6] Position number
20 LET 102 110 [6] Lower limit of target position
21 LET 103 111 [6] Upper limit of target position
22 LET 104 602 [6] Lower-limit error flag number
23 LET 105 603 [6] Upper-limit error flag number
[8] Move to position No.1 via
25 RMVP *101
RMVP command
27 602 [10] Error detection
28 O 603 GOTO 11 [10] End of program
29
30 N 15 GOTO 1
31 TAG 11
32 EXIT
33
124
x Subroutine 1
34 //--------------------------------------------
35 // Obtain the upper/lower limits of target position.
36 // * Numbers between 1100 and 1199 are used for task variables within the subroutine.
37 //
38 // Argument 1: L real number 100: RC axis number
39 // Argument 2: L real number 101: Position number
40 // Argument 3: L real number 102: Variable number for lower limit of target position
41 // Argument 4: L real number 103: Variable number for upper limit of target position
42 //--------------------------------------------
43 BGSR 1
5. Program Creating
44 RPGT *100 *101 [1] Get target position
45 LET *102 *199
46 LET *103 *199
47 RGIP *100 *101 [2] Get positioning band
48 LET 1100 *199
49 SUB *102 *1100 [3] Lower limit of target position
50 ADD *103 *1100 [4] Upper limit of target position
51 EDSR
52
x Subroutine 2
53 //--------------------------------------------
54 // Check the completed position against the upper/lower limits.
55 // * Numbers between 1100 and 1199 are used for task variables within the subroutine.
56 //
57 // Argument 1: L real number 100: RC axis number
58 // Argument 2: L real number 101: Position number (Not used)
59 // Argument 3: L real number 102: Variable number for lower limit of target position
60 // Argument 4: L real number 103: Variable number for upper limit of target position
61 // Argument 5: L real number 104: Lower-limit error flag number
62 // Argument 6: L real number 105: Upper -limit error flag number
63 //--------------------------------------------
64 BGSR 2
65 BTOF *104 *105
[1] Get current position of RC
66 RPRQ *100 1100
axis
[2] Check lower limit of target
67 CPGT *102 *1100 *104
position
[3] Check upper limit of target
68 CPLT *103 *1100 *105
position
69 EDSR
125
6. Appendix
6.1 List of Additional I/O Parameters
The shaded parameters in bold are new parameters.

For the parameters in the X-SEL controller, refer to the operation manual for the X-SEL controller.
Default
No. Parameter name value Input range Unit Remarks
(reference)
[8] [7] [6] [5] [4] [3] [2] [1] H m Enter as HEX
values of 0 to F.
[8] Bits 28 to 31: Baud rate type for RS232C
communication
(0: 9.6 / 1: 19.2 / 2: 38.4
6. Appendix
3: 57.6 / 4: 76.8 / 5: 115.2 kbps)

[7] Bits 24 to 27: Data length for RS232C
communication (7 or 8)
[6] Bits 20 to 23: Stop bit length for RS232C
Free-for-User SIO
0H to communication (1 or 2)
213 Channel 2 Attribute 1 28100001H
FFFFFFFFH [5] Bits 16 to 19: Parity type for RS232C
(mounting standard)
communication (0: None / 1: Odd / 2: Even)
[4] Bits 12 to 15: Operation mode
(0: RS232C / 1: RC gateway)
* Only channel 2 is valid in the RC gateway
mode.
[3] Bits 8 to 11: (Reserved.)
[2] Bits 4 to 7: (Reserved.)
[1] Bits 0 to 3: SIO use selection
(0: Not used / 1: Used)
[8] [7] [6] [5] [4] [3] [2] [1] H m Enter as HEX
values of 0 to F.
[8] [7] Bits 24 to 31: (Reserved.)
[6] Bits 20 to 23: Change prohibited.
[5] Bits 16 to 19: Character transmission interval
[msec]
Free-for-User SIO [4] Bits 12 to 15: Communication method
0H to
214 Channel 2 Attribute 2 00000001H (0: Full-duplex / 1: Half-duplex)
FFFFFFFFH
(mounting standard) [3] Bits 8 to 11: Send operation type for
half-duplex communication
(0: Do not check CTS-ON at send /
1: Check CTS-ON at send)
[2] [1] Bits 0 to 7: Minimum receive o send
switching delay time in half-duplex
communication [msec]
126
I/O parameters (The shaded parameters in bold are new parameters: Continued)
Default
(reference)
[8] [7] [6] [5] [4] [3] [2] [1] H m Enter as HEX
values of 0 to F.
[8] Bits 28 to 31: Flow control type
(0: None / 1: Xon/Xoff / 2: Hardware)
* Select a baud rate of 38.4 kbps or below if
flow control is performed.
* This setting is valid only in full-duplex
communication.
[7] Bits 24 to 27: Xon send selection when send
is enabled after SIO-CPU reset
(0: Do not send / 1: Send)
communication with Xon/Xoff flow control.
6. Appendix
[6] Bits 20 to 23: Send enable selection at port
open
Free-for-User SIO
0H to (0: Disable / 1: Enable)
FFFFFFFFH * This setting is valid only in full-duplex
(mounting standard)
[5] Bits 16 to 19: Xon/Xoff send selection at port
close
(0: Do not send / 1: Send Xon / 2: Send Xoff)
[4] [3] Bits 8 to 15: Flow control high limit (byte)
[2] [1] Bits 0 to 7: Flow control low limit (byte)
* If a value that establishes “Flow control low
limit t SCI receive buffer size – Flow
control high limit” is set, both the flow
control high limit and low limit will be
replaced by a value corresponding to one
fourth of the SCI receive buffer size and the
replaced limits will be used for processing.
[8] [7] [6] [5] [4] [3] [2] [1] H m Enter as HEX
values of 0 to F.
* This parameter is effective only in the RC
RC gateway function 0H to gateway mode.
216 00000000H
selection FFFFFFFFH [8] [7] [6] [5] [4] Bits 12 to 31: (Reserved.)
[3] [2] [1] Bits 0 to 11: I/O pattern
(0: Method to use position data in X-SEL /
1: Method to use position data in RC)
Axis pattern for RC 0B to Axis pattern for RC gateway link (axis Nos. 15 to
217 0B
gateway link (15 to 8) 11111111B 8)
Axis pattern for RC 0B to
218 0B Axis pattern for RC gateway link (axis Nos. 7 to 0)
gateway link (7 to 0) 11111111B
Free-for-User SIO
0H to
FFFFFFFFH
(mounting standard)
Free-for-User SIO
0H to
FFFFFFFFH
(mounting standard)
127
Default
(reference)
Free-for-User SIO
0H to
FFFFFFFFH
(mounting standard)
Free-for-User SIO
0H to
FFFFFFFFH
(mounting standard)
Free-for-User SIO
0H to
FFFFFFFFH
(mounting standard)
Free-for-User SIO
0H to
FFFFFFFFH
(mounting standard)
[8] [7] [6] [5] [4] [3] [2] [1] H m Enter as HEX
6. Appendix
values of 0 to F.
Set [8] to [4] to 0.
[3] Bits 8 to 11㸸 Network Module 3 Station Type
(0㸸 Not Equipped)
Network I/F 0H to
225 00000000H (5㸸 Fieldbus Master Board)
Module Control FFFFFFFFH
[2] Network I/F Module 2 Station Type
(0㸸 Not Mounted)
[1] Network I/F Module Station Type
0㸸 Automatic Identification)
(5㸸 Fieldbus Master Board)
Bits 0-3 㸸 Function Select
(0㸸 Disable / 1㸸 RC gateway)
Bits 4-7 㸸 Offline slave data Processing
Fieldbus Master 0H to
431 0H F Selection
Function Select FFFFFFFFH
(0㸸 Clear /
1㸸 Hold (most recent normal
retain)
Bits 0-7 㸸 Connection controller Station
Type
(0㸸 Disconnected /
1㸸 MSEP
Fieldbus slave 0H to
432 0H F 2㸸 ACON/PCON /
0 Composition definition FFFFFFFFH
3㸸 SCON-CA)
4㸸 MSCON
Bits 8-15 㸸 Slave Input size (byte)
Bits 16-23 㸸 Slave Output size (byte)
433 0H F (I/O Parameter Equivalent to No.432)
128
Default
(reference)
6. Appendix
Fieldbus Bits 0-11 㸸 EPR (Expected Packet Rate)
0H to
448 configuration 4BH F Bits 12-19 㸸 ISD (Interscan Delay)
FFFFFFFFH
attribute 1 * Perform the setting to make ISD*3 < EPR.
Number of RC gateway Number of position data points used in the
501 128 0 to 512
position data points Method to use position data in X-SEL
Largest axis number for Largest axis number used for allocating the RC
502 definition of RC gateway 0 0 to 15 axis position data area in the user-data backup
position data memory
Number of position data points used for allocating
the RC axis position data area in the user-data
Number of position data backup memory
503 points for definition of RC 0 0 to 512 * If “0” is set, the area is not allocated.
gateway position data * If a value other than “0” is set, the area is
allocated regardless of whether the RC
gateway function is enabled or disabled.
Port number of first
occupied/shared input 1000 to
504 1000 1000 + (multiple of 16)
port in RC gateway PLC 3999
through mode
Port number of first
occupied/shared output 4000 to
505 4000 4000 + (multiple of 16)
port in RC gateway PLC 6999
through mode
Timeout period for
Set the connection timeout period for the RC PC
506 connection of RC PC 3000 0 to 99999 ms
software.
software to RC gateway
[8] [7] [6] [5] [4] [3] [2] [1] H m Enter as HEX
values of 0 to F.
Set [8] to [5] to “0.”
[4] Bits 12 to 15㸸 Time to wait for link in initializing
(5 to F [s])
0H to [3] Bits 8 to 11㸸 Data refresh delay time
507 RC gateway attribute 1 0
FFFFFFFFH (0 to F [10ms])
[2] Bits 4 to 7㸸 Data refresh check time
(3 to F [Number of times])
[1] Bits 0 to 3㸸 Emergency stop non-conformance
check
(0: Have a check, 1: Not to have a check)
129
Default
(reference)
508 (For future expansion) 0
When the applicable port turns ON, the brake is
Input port number for
forcibly released. (Pay attention to a falling load.)
511 forced release of RC axis 0 0 to 3999
* Invalid, if “0” is set. (This parameter is invalid if
0 brake
input port No.0 is specified.)
1 brake
6. Appendix

2 brake
3 brake
4 brake
5 brake
6 brake
7 brake
8 brake
9 brake
10 brake
11 brake
12 brake
130
Default
(reference)
13 brake
14 brake
15 brake
6. Appendix
131
6.2 Troubleshooting for Communication
6.2.1 Error Code List
Level No. Error name Description/action
Message 220 RC axis multiple-use error (SIO) An attempt was made to get the right of use over an
RC axis that is already is in use.
o Check if the applicable RC axis is used in multiple
programs.
221 RC axis right-of-use acquisition No space is available in the RC-axis use management
error area.
o Contact IAI.
223 RC gateway operation mode The applicable operation cannot be performed in the
error (SIO) current RC gateway operation mode.
o Check Bits 0 to 11 in I/O Parameter No. 216.
6. Appendix
224 RC gateway status command The applicable operation cannot be performed in the
error (SIO) current RC gateway status.
About RC Gateway Status
x Gateway Status : Condition to perform normal
operation
x PC Software Connection Status
: Condition to connect RC PC
Software via X-SEL
An operation commands from X-SEL such as RC
Gateway SEL Command are prohibited. This error will
be generated in such cases.
The switchover of conditions is to be conducted with
“GW” and “RC” buttons in the menu bar of X-SEL PC
Software.
o When operating RC axes from X-SEL, press “GW”
button in X-SEL PC Software.
225 RC axis number error (SIO) The RC axis number is not specified correctly.
o Check the RC axis number.
226 RC position number error (SIO) The RC position number is not specified correctly.
o Check the RC position number.
22C RC gateway communication The system would not operate with the current
type (SIO) communication classification.
oIn Fieldbus type, RC button in X-SEL PC Software
cannot be used. Connect to RC PC Software directly.
132
Operation 405 RC Gateway Communication An operation cannot be made with the current RC
cancellation Classification Error (SEL) Gateway Communication Classification.
o RMPI or RMDI cannot be used in Fieldbus type.
41F RC axis MANU mode detection It is detected that Drive Mode Status Signal in RC axis
(SCON, etc.) has turned to MANU Mode.
o Check MODE switch and turn it to AUTO Mode.
425 Mounted-SIO communication A communication mode error.
mode (Purpose of use) error Example: A communication command (OPEN, CLOS,
READ or WRIT) was executed for a channel
currently using the RC gateway function.
o Communication commands using RS232C
connector (S2) cannot be made when RC Gateway
is activated in SIO type.
430 UBM management area check The flash ROM data is corrupt.
6. Appendix
sum error o Save the data in the user-data backup memory to
the flash ROM again.
431 UBM data check sum error The flash ROM data is corrupt.
o Save the data in the user-data backup memory to
432 Backup RAM data (UBM) The data backed up to the user-data backup memory is
destruction error corrupt.
o Check the battery.
433 RC gateway minor failure error A minor failure occurred in the RC gateway.
o Reset the error.
434 RC gateway RC axis Communication error of RC axis (disconnection) was
communication error detected.
o Check the cable connection.
435 RC gateway RC axis operation An alarm occurred that makes it impossible for the RC
impossible error axis to operation.
Example:
x The RC position number in the command is outside
the specified range.
(for method to indicate RC position data in RC)
o Check the program.
x The RC position No., speed,
acceleration/deceleration or other item in the
command is outside the specified range.
(for method to indicate RC position data in X-SEL)
o Check the program and RC position.
Data shown below is stored for the error detail

information as a reference.
Info1: RC axis number that an error has occurred
Info2: RC axis status
(Detail is the same as status obtainable in RCST
Command)
Info3: RC axis alarm code
Refer to the operation manual of RC controller for
details.
436 RC gateway command alarm An alarm occurred as a result of a gateway command.
o Contact IAI.
437 RC axis number error (SEL) The RC axis number is not specified correctly.
o Check the RC axis number.
133
Operation 438 RC position number error (SEL) The RC position number is not specified correctly.
cancellation o Check the RC position number.
439 RC position data use method An operation cannot be made with the current position
error (SEL) data use method. An unavailable SEL command is
executed.
ĺ Check the program. Check Bits 0 to 11 in I/O
Parameter No. 216.
43A RC gateway status error The applicable operation cannot be performed in the
current RC gateway status.
x Gateway Status : Condition to perform normal
operation
x PC Software Connection Status
: Condition to connect RC PC
Software via X-SEL
6. Appendix
An operation commands from X-SEL such as RC

Gateway SEL Command are prohibited. This error will
be generated in such cases.
The switchover of conditions is to be conducted with
“GW” and “RC” buttons in the menu bar of X-SEL PC
Software.
o When operating RC axes from X-SEL, press “GW”
button in X-SEL PC Software.
43B RC axis pattern not yet set error No PC axis pattern has been set.
o Issue the RAXS command.
43C Servo OFF for RC axis in use The servo for the RC axis in use (= target axis of the
error processing in progress) turned OFF.
o Check if there is duplication in the use of RC axis
among multiple programs.
43D RC axis multiple-use error An attempt was made to get the right of use over an
(SEL) RC axis that is already is in use.
o Check if there is duplication in the use of RC axis
among multiple programs.
43E Error RC axis used error An attempt was made to use the RC axis currently
generating an error.
o Reset the error generated by the applicable RC
controller.
(For information on how to reset the applicable error,
refer to the operation manual for each RC controller.)
43F RC axis right-of-use acquisition No space is available in the RC-axis use management
error area.
o Contact IAI.
440 Servo-off RC axis used error An attempt was made to use an RC axis whose servo
is currently turned OFF.
o Turn ON the servo.
441 RC axis not yet completed The RC axis has not yet completed home return.
home return error o Perform home return operation.
(Execute the RHOM command.)
442 Inappropriate RC axis position The RC axis position upon completion of RC axis
after positioning error positioning is inappropriate with respect to the position
specified in the X-SEL command.
(This error occurs only in the RC position data
specification mode.)
134
Cold start 6A0 UBM flash ROM status error The data in the user-data backup memory is not
correctly written to the flash ROM, or the data written to
the flash ROM data was written in an old version not
compatible with the current flash ROM.
o Save the data in the user-data backup memory to
6A1 UBM data structure change The data structure in the user-data backup memory
error was changed.
o Initialize the memory.
6A2 UBM size overflow error The settings exceed the size of the user-data backup
memory.
o Reduce the number of RC gateway positions.
6A3 Excessive UBM functions error Too many functions are used that access the user-data
backup memory.
6. Appendix
o Limit the number of applicable functions to 8 or less.
6A4 RC Axis Position Data RC axis position data is abnormal.
Construction Definition Error Example:
x The value of other parameter No.501 is greater than
the value of other parameter No.503.
x An axis outside the range specified in other
parameter No.502 is effective.
6A5 RC axis position data An attempt was made to access invalid position data of
invalid-address error the RC axis.
o Contact IAI.
6A6 RC gateway DPRAM access An error occurred due to illegal DPRAM access
error (main) between the main board and SIO board.
o Contact IAI.
6A7 RC gateway DPRAM access An error occurred due to illegal DPRAM access
error (mounted SIO) between the main board and SIO board.
o Contact IAI.
6A8 RC gateway major failure error A major failure occurred in the mounted SIO.
Example:
x All of the effective RC axes are disconnected (not
recognized) (due to cable disconnection, wire
breakage, etc.)
o Check the wiring.
x +5 supply switch on the main CPU board is 0V.
o *Refer to 2.3.
x The mounted SIO could not obtain the DPRAM
access right for a specified period of time.
o Contact IAI.
x A major error, such has a CPU error, occurred in the
mounted SIO.
o Contact IAI.
6A9 RC gateway link initialization The link with the RC axis could not be initialized within
timeout error the specified period of timeout.
o Check the RC controller power and wiring.
6AA RC gateway DPRAM The right to access the DPRAM could not be obtained
access-right timeout error for a specified period of time.
o Contact IAI.
6AB RC gateway command issue The gateway command cannot be issued.
wait timeout error o Contact IAI.
135
Cold start 6AC RC axis control JOB logic error A logic error occurred in the RC axis control JOB.
o Contact IAI.
6AD RC axis control command logic A logic error occurred in the RC axis control command.
error o Contact IAI.
6AE Mounted-SIO operation mode An invalid mode was set for the mounted SIO.
specification error o Check Bits 12 to 15 in I/O Parameter No. 213.
6AF Mounted-SIO RC gateway There is an invalid RC gateway parameter setting.
function selection parameter o Check Bits 0 to 11 in I/O Parameter No. 216.
error
6B0 Mounted-SIO RC gateway logic An invalid logic was detected during RC gateway
error initialization.
o Contact IAI.
6B1 RC gateway not supported error The system configuration makes the RC gateway
(mounted SIO) invalid.
6. Appendix
o Contact IAI.
6B2 RC gateway I/O assignment [SIO Type] There is an invalid I/O assignment setting
parameter error regarding the RC gateway.
o Check the settings of parameter Nos. 504 and 505.
[Fieldbus Type] There is a wrong setting in the node
addresses.
o Check the settings of parameter Nos. 217, 218, and
432 to 447.
6B3 RC axis control JOB timeout No response was received from the RC axis for a
error specified period of time.
o Check the RC controller power and wiring.
o Check that RC controller is in AUTO Mode.
6B4 RC gateway emergency-stop The emergency stop status of the X-SEL controller
inconsistency error does not match the emergency stop status of the RC
controller.
o Check the connection.
o To stop this error from generating, set I/O parameter
No.507 accordingly by referring to 6.1.
6CA Fieldbus master parameter There is a fault in Fieldbus Master Parameter Error.
error Example:
x There is a wrong setting in the Fieldbus master
equipment parameter.
oCheck the connection I/O No.225.
x The total I/O size of the connected slaves has
exceeded the upper limit of the Fieldbus master
capacity (288byte).
oCheck the connection 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:
x Cable not connected properly, wire breakage,
communication power not supplied, terminal resistor
not applied.
x Node address duplication.
136
Cold start 6CC RC Gateway simultaneous use Both SIO Type and Fieldbus Type turned effective.
error oThey cannot be used at the same time. Check I/O
Parameters No. 213, 225 and 431, and make either
of SIO Type or Fieldbus Type effective.
6CD RC Gateway Use Method Logic It is a RC Gateway use method logic error.
Error o Contact IAI.
6. Appendix
137
6.2.2 Troubleshooting
x Condition: Communication cannot be performed properly!
Follow the flowchart to identify the applicable cause and check the corresponding action specified in a
box.
ż=YES, ×=NO
The details of each [Check] item accompanied by an asterisk (*) are explained at the end of the flowchart.
Was communication okay before?
○→
Communication disabled with all controllers?
×
○→
↓
Communication is disabled
6. Appendix
with all controllers o [1] Faulty host or X-SEL o [Repair the host or X-SEL]
[2] Open communication cable or poor contact due to vibration,
etc. o [Repair the open cable]
[3] Cable breakage on DeviceNet communication power supply
(24V) (Fieldbus type) o [Repair the open cable]
×→
with a certain controller o [1] Faulty controller o [Replace]
[2] Open communication cable between the controller and
junction o [Repair the open cable]
[3] Detached terminal resistor o [Install the resistor again]
[4] Invalid setting of controller axis No.
(Controllers have been swapped, parameters were
initialized, controller software was updated, etc.)
o [Check] *3
[5] Invalid setting of controller baud rate
o [Check] *4
[6] Invalid setting of transmitter activation time
o [Check] *4
[7] Operation mode is set to MANU Mode on the controller.
o [Switch over to AUTO Mode]
Communication cable partially movable?

○ The cable is partially movable o Open communication cable o [Repair the open cable]
Power-supply voltage to each device appropriate? (Each RC controller, SIO converter, etc.)
○ Abnormal power-supply voltage o [Correct the power-supply voltage]
Problem occurred after change in surrounding environment? (Change regarding a nearby device, etc.)
○ Problem occurred
o Malfunction due to noise
after a change
o [[1] Check if the wiring route of the communication cable has been
changed] *5
[[2] Check if each RC controller is connected to the FG terminal] *5
[[3] Install a clamp filter in the power supply line]
Continue to the next page [[4] Check the grounding of the control panel] *5
138
Continued from the previous page
Problem occurred after relocation?

○ Problem occurred after relocation o [1] Open communication cable o [Repair the open cable]
[2] Loose communication cable connector
o [Check the connection]
Problem occurred after addition of controller?
○ Problem occurred after a
controller was added o [1] Invalid axis number setting of the added controller o [Check] *3
1), 2) and 3) are SIO type [2] Invalid baud rate setting of the added controller o [Check] *4
5), 7) and 8) are Fieldbus type [3] Invalid transmitter activation time setting of the added controller
o [Check] *4
[4] Inappropriate installation position of the terminal resistor
6. Appendix
o Apply a terminal resistor to the junction
(for SIO type) or junction tap (for Fieldbus
type) that is furthest from the host
[5] Wrong setting in the slave input and output size

o [Check Section 4.3.1]
[7] Wrong setting in the node addresses
o [Check Section 4.3.1 and 4.3.2]
[8]Wrong setting in the fieldbus operation mode

New system started?

○ (Here, a new system includes a system that has been assembled anew based on an existing design.)
↓
Communication disabled with all controllers?
○
↓
[Check the connection using RC PC Software for SIO Type] *1
○→
with all controllers o [1] Inappropriate wiring of the communication cable
between the host and junction o [Check the wiring] *2
[2] Abnormal power supply of the system
o [Check the power-supply voltage]
p
Check if a common 0V line is used
o [Use a common 0V line]
[3] Duplicate controller axis number o [Check] *3
[4] Inconsistent controller baud rate setting o [Check] *4
Continue to the next page
139
×→
Communication is disabled [1] Inappropriate wiring of the communication cable
with a certain controller o between the controller and junction
o [Check the wiring] *2
[3] Duplicate controller axis number o [Check] *3
[4] Inconsistent controller baud rate setting o [Check] *4
6. Appendix
[Check with connecting PC software to each controller for Fieldbus Type]
○→
Communication is disabled with all controllerso [1] DeviceNet communication power (24V) not supplied
ĺ [Power line connection]
p
Check if a common 0V line is used
o [Use a common 0V line]

ĺ [Check Section 4.3.1]
[5] Wrong setting in the fieldbus operation mode
×→
Communication is disabled with a certain controller
o[1] Terminal resistor not connected
o Connect a terminal resistor to the
junction tap close to the controller that is
furthest from XSEL or communication
connector
[5] Wrong setting in the fieldbus operation mode
Continue to the next page
140
Communication occasionally disabled?
○ Malfunction due to noise o [[1] Check if the wiring route of the communication cable has been
changed] *5
[[2] Check if each RC controller is connected to the FG terminal] *5
[[3] Install a clamp filter in the power supply line]
[[4] Check the grounding of the control panel]
6. Appendix
141
*1 Disconnect the X-SEL communication cable from J3 (D-sub, 9-pin connector) on the SIO converter
and connect the RC PC software (RCM-101-MW: RS232C type or RCM-101-USB: USB type) to J1
(mini-DIN, 8-pin connector) on the SIO converter.
[1] Start the RC PC software.
[2] Click Setting, and then select Application.
Check the following items:
x Does the port shown on the communication setting screen correspond to the port number of the PC
port currently in use?
x Isn’t the last axis number set to a value greater than the number of connected axes?
(If any incorrect setting was found, set the item correctly and then restart the RC PC software.)
Click Setting, and then

select Application.
6. Appendix
Check if this number is the

same as the port number of
the PC port currently in use.
Check if this value is

greater than the number
of connected axes.
142
[3] Click Position, and then select Edit/Teaching.
The position data edit axis select window appears and the connected axes are listed as shown in the
figure below.
Communication is possible with the axes whose axis number is shown in the “Connected axes” field.
Click Position, and then

select Edit/Teaching.
6. Appendix
Check if the axes numbers of all
connected axes are shown in this field.
In this example, axis 1 is normal, while
other axes are either generating an
error or not connected.
[4] Reconnect the power to all connected RC and ROBONET controllers.
x Checking from the teaching pendant

You can also perform this check using the teaching pendant.
Select Connect, select TB Operation Mode, and then select Teaching 1. When the “Select axis number”
screen appears, check if all of the controllers are shown as connected axis numbers.
It’s an error if the controller is not displayed on the connected axis numbers.
143
*2 Check the wiring again by referring chapter of this manual.
*3 Check the axis No. setting again by referring chapter of this manual. (Check for any duplicate axis
No..)
*4 Check the baud rate setting again by referring chapter of this manual.
Set the same baud rate (230.4 Kbps) for all controllers including the X-SEL, RC and ROBONET
controllers.
*5 Check if the instructions on installation environment and noise prevention in the operation manuals for
your X-SEL, RC and ROBONET controllers are observed.
When wiring the communication cable, make sure the cable does not lie parallel with power lines and
pulse signal lines.
Check if the communication cable is shielded properly.
If the condition does not improve after checking the applicable items according to the above flowchart,
contact IAI.
6. Appendix
When contacting IAI, also inform us of the specific phenomenon you are experiencing and the checks
performed using the flowchart.
144
6.3 Adding the Gateway Function to Existing XSEL-P/Q/PX/QX
Controllers
If the gateway function is to be added to an existing XSEL controller, the following steps must be followed:
[1] Replace the main CPU board (model: IAMC4802-020).
[2] Update the application software
[3] Obtain a version of X-SEL PC software supporting the gateway.
[4] Add RC Gateway Fieldbus Board if Fieldbus Type is desired
List of software supporting gateway
Software supporting gateway Version

Main CPU application (P/Q) SIO type V0.68 or later
Controller firmware Main CPU application (PX/QX) SIO type V0.34 or later
6. Appendix
Main CPU core V0.14 or later
Mounted SIO Application (RC gateway function support version) V3.00 or later
PC software SIO type V7.02.00.00 or later
Teaching pendant SEL-T application SIO type V1.01 or later
If you wish to add the gateway function to an existing XSEL controller, take note that the controller must be
returned to IAI for modification. Contact the IAI sales office near you.
145
Change History
Revision date Revision description
2007.11 Released the first edition
2008.09 Second edition
x Page 2 : Added note stating that no other communication system cannot be
used if the general-purposed RS232C Port Connector 2 is used for
Gateway Function
Correction made to statement in XSEL part for teaching tool
x Page 15 : Added a wiring drawing for using a RS232C conversion unit to
connect only one axis.
x Page 17 : Changed the system configuration example using SIO converter to
one showing the configuration example of an emergency-stop system.
x Page 28 : Added how the RC axis is affected when X-SEL inputs are set to
functions other than “general-purpose input.”
Change History
x Pages 43, 44 : Added the relationships of existing SEL commands and the RC
gateway function.
2009.04 Third edition

x Page 7 : Added an explanation of the additional function relating to the “6B4”
error. (applicable version also added)
x Page 42 : Pages correction
x Pages 63 to 65 : Added a function
x Page 75 : Added a function to I/O parameter No.507
x Page 80 : Added an explanation of the additional function relating to the “6B4”
error.
2010.06 Fourth edition : “Before Use” added in the first page after the front cover is opened.
: “Safety Guide” added in the first page after the contents pages.
: “Change History” added in the last page
: Back cover updated
2012.09 Fifth edition : Fieldbus Type added

: XSEL-R/S/RX(D)/SX(D) added
2013.07 Sixth edition : Note added to state direct drive motor type actuator cannot be
connected to SCON-CA
2015.03 6B edition : Treatment for fact that XSEL-P/Q/PX/QX types cannot be connected
for Fieldbus Type
Related pages (9, 11, 13, 17, 19, 23, 24, 42, 44, 145)
146
Manual No.: ME0188-6B (March 2015)
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
Phairoj Kijja Tower 12th Floor, 825, Bangna-Trad RD., Bangna, Bangkok 10260, Thailand
TEL +66-2-361-4458 FAX +66-2-361-4456
The information contained in this document is subject to change without notice for purposes of
product improvement.
Copyright © 2015. Mar. IAI Corporation. All rights reserved.
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X-SEL Controller

x SIO Type XSEL- P/Q/PX/QX

1. Control Method Overview.....................................................................................11

4. RC Gateway Function setting ..............................................................................46

Change History ...........................................................................................................146

Safety Precautions for Our Products

Level Degree of Danger and Damage Symbol

This indicates an imminently hazardous situation which, if the

This indicates a potentially hazardous situation which, if the product

This indicates a potentially hazardous situation which, if the product

Installation and Wiring (Chapter 3)

RC gateway function Setting (Chapter 4) If an alarm is generated, operate the

Initial Operation Check If an alarm is generated, operate the

Emergency Stop Circuit Check

Position Data Edit and Program Edit (Chapter 5)

Now, the operation adjustment is complete.

1. Outline of Control Method

[1] For SIO type

Ɣ System Configuration Example

System Operation Switches

General-purpose RS232C port connector 2

(Note 1) It is not necessary for XSEL-R/S/RX(D)/SX(D).

1. Outline of Control Method

SCON-CA-DV PCON-DV MSEP-DV MSCON-DV

[1] To use position data in X-SEL

Largest axis number Number of positions (per axis)

[2] To use position data in RC

1. Outline of Control Method

[1] +5V supply switch

[2] RC gateway function

[1] +5V supply switch

[2] RC gateway function connector [S2]

[1] System Operation

[2] RC gateway function

[1] System Operation Setting Switches

[2] RC gateway function connector [S2]

Connector: D-sub, 9 pin (Controller side: Male, Cable Side: Female)

1. Outline of Control Method

[1] Monitor LEDs

[2] DIP Switch

[3] Fieldbus Connector

[4] I/O slot 1 (I/O1)

[5] Network I/F Module 1 [6] Network I/F Module 2

[2] DIP switch

1. Outline of Control Method

Type Color Contents Symbol

[4] I/O Slot 1

[5] Network I/F Module 1

[6] Network I/F Module 2

2.1 SIO type

Baud rate 230.4 kbps

2.1.3 Operation Manuals Related to This Product

Response time [msec] = Yt + Xt + 2 × (Mt + n) + Command processing time

2.2.2 Teaching Tool

No. Name Manual No.

2 Operation manual for PCON-C/CG/CF controller ME0170

x When connecting only CON single axis (A/PCON, SCON-CA)

Mt : Modbus Line Time (Added only for MSEP or MSCOM): 10ms

SEL Command Start

x SIO Type XSEL- P/Q/PX/QX