Iai ix nnn_ nnc_specsheet
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This document provides specifications for an ultra compact SCARA robot with three different arm lengths: 120 mm, 150 mm, and 180 mm. It describes features such as standard and cleanroom specifications, compact size allowing installation in limited spaces, payload capacities of 0.2-1 kg despite small size, high speed performance with a cycle time of 0.35 seconds, and optional connector-type cables. Models for each arm length are listed along with their dimensions, performance specifications, and applicable controller.
Iai ix nnn_ nnc_specsheet
- 1. IX-NNN / NNC Arm Length 120 mm / 150 mm / 180 mm Ultra Compact SCARA Robot Ultra Compact Cleanroom SCARA Robot Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 2. A Palm-Sized Unit Capable of Driving a Maximum Payload of 1 kg Features Standard and cleanroom specifications are available in three arm lengths of 120 mm, 150 mm and 180 mm. Optional connector-type cables for connection between the controller and actuator The motor/encoder cables can be specified as connector types (optional) for added ease of handling and replacement. Compact size ideal for installation in limited space A maximum work envelope of 360 mm can be ensured in a small installation space of 47 (W) x 132 (D) mm, enabling substantial size reduction of your production line. Ultra-compact size yet powerful - Offering rated and maximum load capacities of 0.2 kg and 1 kg, respectively (*1) Despite their small size, a 0.2-kg load can be transferred at high speed. If the acceleration is reduced, a load of up to 1 kg can be transferred. (*1) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. Flange Applicable models: IX-NNN1205/1505/1805 IX-NNC1205/1505/1805 1 IX-NNN1205 The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. High-speed performance achieving a cycle time (*2) of 0.35 second The dynamic performance and highly rigid body ensures outstanding high-speed performance that is among the best in its class. (*2) The cycle time was measured on the IX-NNN1205 based on reciprocating movements over a horizontal distance of 100 mm and vertical distance of 25 mm, carrying a 0.2-kg load. Model List Maintenance Parts Note on Use 4-ø3.4 45° ø3H7 ø26 26 1.5 24.5 ø32 0 3.5 ø12h7(-0.018) Model : IX - FL - 4 Absolute Reset Adjustment Jig Model: JG-5 (For arm length 120/150/180) Absolute Data Backup Battery (Replacement Battery) Model: AB-6 (For arm length 120/150/180) New models of 180-mm arm length and cleanroom specification were added to the lineup, further extending the utility and applications of the IX-NNN/NNC series. Arm length (mm) Type Model Applicable page Load capacity Rated (kg) Maximum (kg) 120 Standard specification Cleanroom specification Standard specification Cleanroom specification Standard specification Cleanroom specification 0.2 1.0 IX-NNN1205 -➀-T2-➁ IX-NNC1205 -➀-T2-➁ IX-NNN1505 -➀-T2-➁ IX-NNC1505 -➀-T2-➁ IX-NNN1805 -➀-T2-➁ IX-NNC1805 -➀-T2-➁ P2 P5 P3 P6 P4 P7 150 180 ➀ and ➁ indicate the cable length and option(s), respectively. Use this flange to install a load on the Z-axis shaft (weight: 12 g). Use this adjustment jig to perform an absolute reset if the absolute data stored in the encoder was lost. This absolute data backup battery allows the current position to be retained even after the power is cut off. (One battery is shipped with the actuator as a standard accessory.) If the load on the Z-axis is within the rated load capacity (0.2 kg), the Z-axis will not drop even after the power is cut off. If the rated load capacity is exceeded, however, the Z-axis may drop when the power is cut off or an emergency stop is actuated. If the Z-axis will be carrying a large load, specify a z-axis brake (optional). Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 3. Series Type Cable length Applicable controller Option(s) 4.5 120 Model IX-NNN1205- -T2- Common Specifications 5 4 0 16 ø8h7( A A -0.015) ø15 Detail view of vertical axis tip (62) Cable wiring space 7.5 145° 145° Axis 4 allowable R46.1 R120 R75 load 115° Work envelope User connector, 8 pins SMP-08V-NC by JST M3, depth 6 35 Quick joint ø3 (white) Quick joint ø3 (black) Quick joint ø3 (white) Quick joint ø3 (black) Reference surface Section A-A 3 33.5 240.5 90.5 50 ALM indicator (*2) 126 42 19.5 47 18 2-M3, depth 6 Same on the opposite side (*1) (48.8) 132 Reference surface 125 75 86.5 45 24 8 30 30 75 45 86.5 3.5 39 317.5 55.3 (322) 125 (148.2) 60.5 50st 26 125.7 *1: The 2-M3, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. 85 115° *2: For the ALM indicator to illuminate, the customer must provide a circuit that receives signals from the controller’s I/O output and applies 24 VDC to the LED terminal in the user wiring connector. IX-NNN1205 2 IX-NNN1205 Model/Specifications Dimensions Axis configuration Axis 1 Axis 2 Axis 3 Axis 4 Arm 1 Arm 2 Vertical axis Rotating axis Arm length (mm) 45 75 - - Motor capacity (W) 12 12 12 60 Work envelope Positioning repeatability (mm) Maximum operating speed (Note 1) ±115° ±0.005 ±145° (XY) 50mm ±0.010 ±360° ±0.005 2053mm/s (composite speed) 720mm/s 1800°/s Cycle time (sec) (Note 2) Load capacity (kg) (Note 3) Push motion (Note 4) Maximum thrust (Note 4) Allowable inertial moment (kg • m2) (Note 5) Allowable torque (N • m) Axis 3 push thrust (N) Rated Maximum 0.35 0.2 1.0 9.8 17.8 0.000386 0.13 Encoder type User wiring User piping Alarm indicator (Note 6) Absolute 8-core, AWG26 cable with shield / Connector: SMP-08V-NC (JST) Air tube (outer diameter ø3/inner diameter ø2) x 2 (normal working pressure 0.7MPa) Small red LED indicator x 1 (24-VDC power supply required) Ambient temperature/humidity Weight Cable length Temperature 0~40°C, humidity 20~85%RH or less (non-condensing) 2.7kg 3L : 3m 5L : 5m Ultra Compact SCARA Robot: Standard Type, Arm Length 120mm, Vertical Axis 50mm Caution Applicable Controller Specifications Applicable Feature controller Maximum I/O points (input/output) Power-supply voltage Page XSEL-PX XSEL-QX Able to control SCARA + 2 axes Conforming to safety category 4 192 points /192 points Three-phase 200VAC P8 Standard type Arm length 120mm Vertical axis 50mm 3L:3m(standard) 5L:5m XSEL-PX/QX (Blank): No option B: Z-axis brake JY: Connector-type cable Model specification items IX NNN1205 T2 (Note 1) Based on PTP operation. In CP operation, the maximum speed is limited. (Note 2) The cycle time is based on reciprocating movements over a horizontal distance of 100 mm and vertical distance of 25 mm, carrying a 0.2-kg load. (Note 3) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. (Note 4) The value under “Push motion” indicates the thrust generated when a push command is executed from a program. The value under “Maximum thrust” indicates the maximum thrust during normal positioning operation. (Note 5) An equivalent allowable inertial moment at the center of rotation of axis 4. The offset from the center of rotation of axis 4 to the gravity center of the tool must not exceed 17.5 mm. (Note 6) For the ALM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies 24 VDC to the LED terminal in the user wiring connector. Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 4. Series Type Cable length Applicable controller Option(s) 4.5 150 7.5 IX-NNN1505 Model/Specifications Common Specifications 5 4 0 16 ø15 Work envelope 35 90.5 Section A-A 3 Detail view of vertical axis tip 33.5 116.5 270.5 75 75 30 50 (148.2) (48.8) 126 18 8 39 19.5 42 47 24 125 132 317.5 55.3 (322) 125 60.5 50st 26 125.7 A A 85 Axis 4 allowable R75 R150 R45.1 125° load 125° 145° 145° 30 75 75 116.5 3.5 ø8h7(-0.015) Dimensions (62) Cable wiring space ALM indicator (*2) User connector, 8 pins SMP-08V-NC by JST M3, depth 6 Quick joint ø3 (white) Quick joint ø3 (black) Quick joint ø3 (white) Quick joint ø3 (black) Reference surface 2-M3, depth 6 Same on the opposite side (*1) Reference surface *1: The 2-M3, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *2: For the ALM indicator to illuminate, the customer must provide a circuit that receives signals from the controller’s I/O output and applies 24 VDC to the LED terminal in the user wiring connector. 3 IX-NNN1505 Model IX-NNN1505- -T2- Axis configuration Axis 1 Axis 2 Axis 3 Axis 4 Arm 1 Arm 2 Vertical axis Rotating axis Arm length (mm) 75 75 - - Motor capacity (W) 12 12 12 60 Work envelope Positioning repeatability (mm) Maximum operating speed (Note 1) ±125° ±0.005 ±145° (XY) 50mm ±0.010 ±360° ±0.005 2304mm/s (composite speed) 720mm/s 1800°/s Cycle time (sec) (Note 2) Load capacity (kg) (Note 3) Push motion (Note 4) Maximum thrust (Note 4) Allowable inertial moment (kg • m2) (Note 5) Allowable torque (N • m) Axis 3 push thrust (N) Rated Maximum 0.35 0.2 1.0 9.8 17.8 0.000386 0.13 Encoder type User wiring User piping Alarm indicator (Note 6) Absolute 8-core, AWG26 cable with shield / Connector: SMP-08V-NC (JST) Air tube (outer diameter ø3/inner diameter ø2) x 2 (normal working pressure 0.7MPa) Small red LED indicator x 1 (24-VDC power supply required) Ambient temperature/humidity Weight Cable length Temperature 0~40°C, humidity 20~85%RH or less (non-condensing) 2.7kg 3L : 3m 5L : 5m Ultra Compact SCARA Robot: Standard Type, Arm Length 150mm, Vertical Axis 50mm Caution Applicable Controller Specifications Applicable Feature controller Maximum I/O points (input/output) Power-supply voltage Page XSEL-PX XSEL-QX Able to control SCARA + 2 axes Conforming to safety category 4 192 points /192 points Three-phase 200VAC P8 Standard type Arm length 150mm Vertical axis 50mm 3L:3m(standard) 5L:5m XSEL-PX/QX (Blank): No option B: Z-axis brake JY: Connector-type cable Model specification items IX NNN1505 T2 (Note 1) Based on PTP operation. In CP operation, the maximum speed is limited. (Note 2) The cycle time is based on reciprocating movements over a horizontal distance of 100 mm and vertical distance of 25 mm, carrying a 0.2-kg load. (Note 3) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. (Note 4) The value under “Push motion” indicates the thrust generated when a push command is executed from a program. The value under “Maximum thrust” indicates the maximum thrust during normal positioning operation. (Note 5) An equivalent allowable inertial moment at the center of rotation of axis 4. The offset from the center of rotation of axis 4 to the gravity center of the tool must not exceed 17.5 mm. (Note 6) For the ALM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies 24 VDC to the LED terminal in the user wiring connector. Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 5. Ultra Compact SCARA Robot: Standard Type, Arm Length 180mm, Vertical Axis 50mm Series Type Cable length Applicable controller Option(s) Positioning repeatability (mm) ±125° ±0.010 ±145° (XY) 50mm ±0.010 ±360° ±0.005 180 Vertical axis Rotating axis Arm length (mm) Absolute 8-core, AWG26 cable with shield / Connector: SMP-08V-NC (JST) Air tube (outer diameter ø3/inner diameter ø2) x 2 (normal working pressure 0.7MPa) Small red LED indicator x 1 (24-VDC power supply required) 7.5 Model/Specifications Model IX-NNN1805- -T2- Common Specifications 5 4 0 16 Axis configuration Axis 1 Axis 2 Axis 3 Axis 4 ø8h7(-0.015) ø15 Maximum operating speed (Note 1) 2555mm/s (composite speed) 720mm/s 1800°/s Ambient temperature/humidity Weight Cable length 90.5 300.5 Work envelope 75 105 Motor capacity (W) 30 50 Load capacity (kg) (Note 3) Rated Maximum 0.38 0.2 1.0 9.8 17.8 0.000386 0.13 Temperature 0~40°C, humidity 20~85%RH or less (non-condensing) 3.0kg 3L : 3m 5L : 5m 42 47 A A Axis 4 allowable load Allowable inertial moment (kg • m2) (Note 5) R61.2 Axis 3 push thrust (N) Push motion (Note 4) Maximum thrust (Note 4) Work envelope 35 Arm 1 Arm 2 Section A-A 3 Detail view of vertical axis tip ALM indicator (*2) Encoder type User wiring User piping Alarm indicator (Note 6) Dimensions 105 75 - - 12 12 12 60 (62) Cable wiring space 30 75 105 39 19.5 (1) (148.2) (48.8) 126 18 8 317.5 55.3 (322) 125 60.5 50st 26 125.7 33.5 146.5 125° Allowable torque (N • m) 125° R75 R180 85 145° 145° 4.5 24 3.5 125 146.5 132 User connector, 8 pins SMP-08V-NC by JST M3, depth 6 Quick joint ø3 (white) Quick joint ø3 (black) Quick joint ø3 (white) Quick joint ø3 (black) Reference surface 2-M3, depth 6 Same on the opposite side (*1) Reference surface *1: The 2-M3, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. Cycle time (sec) (Note 2) *2: For the ALM indicator to illuminate, the customer must provide a circuit that receives signals from the controller’s I/O output and applies 24 VDC to the LED terminal in the user wiring connector. Caution Applicable Controller Specifications Applicable Feature controller Maximum I/O points (input/output) Power-supply voltage Page XSEL-PX XSEL-QX Able to control SCARA + 2 axes Conforming to safety category 4 192 points /192 points Three-phase 200VAC P8 Standard type Arm length 180mm Vertical axis 50mm 3L:3m(standard) 5L:5m XSEL-PX/QX (Blank): No option B: Z-axis brake JY: Connector-type cable Model specification items IX NNN1805 T2 (Note 1) Based on PTP operation. In CP operation, the maximum speed is limited. (Note 2) The cycle time is based on reciprocating movements over a horizontal distance of 100 mm and vertical distance of 25 mm, carrying a 0.2-kg load. (Note 3) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. (Note 4) The value under “Push motion” indicates the thrust generated when a push command is executed from a program. The value under “Maximum thrust” indicates the maximum thrust during normal positioning operation. (Note 5) An equivalent allowable inertial moment at the center of rotation of axis 4. The offset from the IX-NNN1805 4 center of rotation of axis 4 to the gravity center of the tool must not exceed 17.5 mm. (Note 6) For the ALM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies 24 VDC to the LED terminal in the user wiring connector. IX-NNN1805 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 6. IX-NNC1205 Series Type Cable length Applicable controller Option(s) (0.5) 7.5 Provide a clearance of approx. 0.5 mm when installing a tool. Model/Specifications Common Specifications Dimensions 5 4 0 A A (-0.015) 16 ø8h7 33.5 *1: The hole is covered with a set screw. The 2-M3, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *2: For the ALM indicator to illuminate, the customer must provide a circuit that receives signals from the controller’s I/O output and applies 24 VDC to the LED terminal in the user wiring connector. 30 75 45 *3: The intended cleanliness performance can be achieved by maintaining negative pressure inside the robot via suction from the suction joint. (Dust will generate if internal air is not suctioned.) 4.5 Work envelope Axis 4 allowable M3, depth 6 (1) 3.5 125 86.5 132 24 120 240.5 90.5 50 42 47 75 45 30 3 19.5 Reference surface Reference surface 39 86.5 (62) Cable wiring space load ø6 quick joint for suction (*3) 35 (322.5) (148.7) (48.8) 360.2 24.5 50st 62 126.2 97.5 126 18 8 125 130° 130° R57.5 95 R120 R75 115° 115° 2-M3, depth 6 Same on the opposite side (*1) Section A-A Detail view of vertical axis tip User connector, 8 pins SMP-08V-NC by JST Quick joint ø3 (white) Quick joint ø3 (black) Quick joint ø3 (white) Quick joint ø3 (black) ALM indicator (*2) 5 IX-NNC1205 Model IX-NNC1205- -T2- Axis configuration Axis 1 Axis 2 Axis 3 Axis 4 Arm 1 Arm 2 Vertical axis Rotating axis Arm length (mm) 45 75 - - Motor capacity (W) 12 12 12 60 Work envelope Positioning repeatability (mm) Maximum operating speed (Note 1) ±115° ±0.005 ±130° (XY) 50mm ±0.010 ±360° ±0.005 2053mm/s (composite speed) 720mm/s 1800°/s Cycle time (sec) (Note 2) Load capacity (kg) (Note 3) Push motion (Note 4) Maximum thrust (Note 4) Allowable inertial moment (kg • m2) (Note 5) Allowable torque (N • m) Axis 3 push thrust (N) Rated Maximum 0.38 0.2 1.0 9.8 17.8 0.000386 0.13 Encoder type User wiring User piping Alarm indicator (Note 6) Absolute 8-core, AWG26 cable with shield / Connector: SMP-08V-NC (JST) Air tube (outer diameter ø3/inner diameter ø2) x 2 (normal working pressure 0.7MPa) Small red LED indicator x 1 (24-VDC power supply required) Suction pipe joint Quick pipe joint, accepting tube of outer diameter ø6 Suction rate Cleanliness level 90Nl/min Conforming to class 10 Ambient temperature/humidity Weight Cable length Temperature 0~40°C, humidity 20~85%RH or less (non-condensing) 2.8kg 3L : 3m 5L : 5m Ultra Compact SCARA Robot: Cleanroom Type, Arm Length 120mm, Vertical Axis 50mm Caution Applicable Controller Specifications Applicable Feature controller Maximum I/O points (input/output) Power-supply voltage Page XSEL-PX XSEL-QX Able to control SCARA + 2 axes Conforming to safety category 4 192 points /192 points Three-phase 200VAC P8 Cleanroom type Arm length 120mm Vertical axis 50mm * Refer to the cover for the details of model specification items. 3L:3m(standard) 5L:5m XSEL-PX/QX (Blank): No option B: Z-axis brake JY: Connector-type cable Model specification items IX NNC1205 T2 (Note 1) Based on PTP operation. In CP operation, the maximum speed is limited. (Note 2) The cycle time is based on reciprocating movements over a horizontal distance of 100 mm and vertical distance of 25 mm, carrying a 0.2-kg load. (Note 3) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. (Note 4) The value under “Push motion” indicates the thrust generated when a push command is executed from a program. The value under “Maximum thrust” indicates the maximum thrust during normal positioning operation. (Note 5) An equivalent allowable inertial moment at the center of rotation of axis 4. The offset from the center of rotation of axis 4 to the gravity center of the tool must not exceed 17.5 mm. (Note 6) For the ALM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies 24 VDC to the LED terminal in the user wiring connector. Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 7. Series Type Cable length Applicable controller Option(s) .7.5 Model/Specifications Model IX-NNC1205- -T2- Common Specifications 5 4 0 (-0.015) 16 ø8h7 (0.5) A A 4.5 30 75 75 3.5 125 116.5 132 24 150 270.5 90.5 50 42 47 75 75 30 134° Work envelope Axis 4 allowable M3, depth 6 35 Provide a clearance of approx. 0.5 mm when installing a tool. 3 19.5 39 33.5 116.5 360.2 24.5 50st 62 126.2 97.5 126 18 8 R58.6 134° 95 R75 R150 125° load 125° Reference surface Reference surface (62) Cable wiring space *1: The hole is covered with a set screw. The 2-M3, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *2: For the ALM indicator to illuminate, the customer must provide a circuit that receives signals from the controller’s I/O output and applies 24 VDC to the LED terminal in the user wiring connector. *3: The intended cleanliness performance can be achieved by maintaining negative pressure inside the robot via suction from the suction joint. (Dust will generate if internal air is not suctioned.) ø6 quick joint for suction (*3) 2-M3, depth 6 Same on the opposite side (*1) Section A-A Detail view of vertical axis tip User connector, 8 pins SMP-08V-NC by JST Quick joint ø3 (white) Quick joint ø3 (black) Quick joint ø3 (white) Quick joint ø3 (black) ALM indicator (*2) (148.7) (48.8) (322.5) 125 (1) IX-NNC1505 6 IX-NNC1505 Dimensions Axis configuration Axis 1 Axis 2 Axis 3 Axis 4 Arm 1 Arm 2 Vertical axis Rotating axis Arm length (mm) 75 75 - - Motor capacity (W) 12 12 12 60 Work envelope Positioning repeatability (mm) Maximum operating speed (Note 1) ±125° ±0.005 ±134° (XY) 50mm ±0.010 ±360° ±0.005 2304mm/s (composite speed) 720mm/s 1800°/s Cycle time (sec) (Note 2) Load capacity (kg) (Note 3) Push motion (Note 4) Maximum thrust (Note 4) Allowable inertial moment (kg • m2) (Note 5) Allowable torque (N • m) Axis 3 push thrust (N) Rated Maximum 0.38 0.2 1.0 9.8 17.8 0.000386 0.13 Encoder type User wiring User piping Alarm indicator (Note 6) Absolute 8-core, AWG26 cable with shield / Connector: SMP-08V-NC (JST) Air tube (outer diameter ø3/inner diameter ø2) x 2 (normal working pressure 0.7MPa) Small red LED indicator x 1 (24-VDC power supply required) Suction pipe joint Quick pipe joint, accepting tube of outer diameter ø6 Suction rate Cleanliness level 90Nl/min Conforming to class 10 Ambient temperature/humidity Weight Cable length Temperature 0~40°C, humidity 20~85%RH or less (non-condensing) 2.8kg 3L : 3m 5L : 5m Ultra Compact SCARA Robot: Cleanroom Type, Arm Length 150mm, Vertical Axis 50mm Caution Applicable Controller Specifications Applicable Feature controller Maximum I/O points (input/output) Power-supply voltage Page XSEL-PX XSEL-QX Able to control SCARA + 2 axes Conforming to safety category 4 192 points /192 points Three-phase 200VAC P8 Cleanroom type Arm length 150mm Vertical axis 50mm * Refer to the cover for the details of model specification items. 3L:3m(standard) 5L:5m XSEL-PX/QX (Blank): No option B: Z-axis brake JY: Connector-type cable Model specification items IX NNC1505 T2 (Note 1) Based on PTP operation. In CP operation, the maximum speed is limited. (Note 2) The cycle time is based on reciprocating movements over a horizontal distance of 100 mm and vertical distance of 25 mm, carrying a 0.2-kg load. (Note 3) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. (Note 4) The value under “Push motion” indicates the thrust generated when a push command is executed from a program. The value under “Maximum thrust” indicates the maximum thrust during normal positioning operation. (Note 5) An equivalent allowable inertial moment at the center of rotation of axis 4. The offset from the center of rotation of axis 4 to the gravity center of the tool must not exceed 17.5 mm. (Note 6) For the ALM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies 24 VDC to the LED terminal in the user wiring connector. Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 8. Series Type Cable length Applicable controller Option(s) 7.5 IX-NNC1805 Model/Specifications Common Specifications Dimensions 5 4 0 16 A A 4.5 300.5 146.5 132 30 3.5 125 24 180 90.5 50 42 47 75 105 30 Provide a clearance of approx. 0.5 mm when installing a tool. 3 19.5 39 (1) 360.2 24.5 50st 62 126.2 97.5 126 18 8 125 33.5 146.5 145° Axis 4 allowable R61.2 Work envelope load M3, depth 6 35 145° 95 125° 125° R75 R180 75 105 Reference surface Reference surface (62) Cable wiring space *1: The hole is covered with a set screw. The 2-M3, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *2: For the ALM indicator to illuminate, the customer must provide a circuit that receives signals from the controller’s I/O output and applies 24 VDC to the LED terminal in the user wiring connector. *3: The intended cleanliness performance can be achieved by maintaining negative pressure inside the robot via suction from the suction joint. (Dust will generate if internal air is not suctioned.) ø6 quick joint for suction (*3) 2-M3, depth 6 Same on the opposite side (*1) Section A-A Detail view of vertical axis tip User connector, 8 pins SMP-08V-NC by JST Quick joint ø3 (white) Quick joint ø3 (black) Quick joint ø3 (white) Quick joint ø3 (black) ALM indicator (*2) (0.5) ø8h7(-0.015) (322.5) (148.7) (48.8) 7 IX-NNC1805 Model IX-NNC1205- -T2- Axis configuration Axis 1 Axis 2 Axis 3 Axis 4 Arm 1 Arm 2 Vertical axis Rotating axis Arm length (mm) 105 75 - - Motor capacity (W) 12 12 12 60 Work envelope Positioning repeatability (mm) Maximum operating speed (Note 1) ±125° ±0.005 ±145° (XY) 50mm ±0.010 ±360° ±0.005 2555mm/s (composite speed) 720mm/s 1800°/s Cycle time (sec) (Note 2) Load capacity (kg) (Note 3) Push motion (Note 4) Maximum thrust (Note 4) Allowable inertial moment (kg • m2) (Note 5) Allowable torque (N • m) Axis 3 push thrust (N) Rated Maximum 0.41 0.2 1.0 9.8 17.8 0.000386 0.13 Encoder type User wiring User piping Alarm indicator (Note 6) Absolute 8-core, AWG26 cable with shield / Connector: SMP-08V-NC (JST) Air tube (outer diameter ø3/inner diameter ø2) x 2 (normal working pressure 0.7MPa) Small red LED indicator x 1 (24-VDC power supply required) Suction pipe joint Quick pipe joint, accepting tube of outer diameter ø6 Suction rate Cleanliness level 90Nl/min Conforming to class 10 Ambient temperature/humidity Weight Cable length Temperature 0~40°C, humidity 20~85%RH or less (non-condensing) 3.1kg 3L : 3m 5L : 5m Ultra Compact SCARA Robot: Cleanroom Type, Arm Length 180mm, Vertical Axis 50mm Caution Applicable Controller Specifications Applicable Feature controller Maximum I/O points (input/output) Power-supply voltage Page XSEL-PX XSEL-QX Able to control SCARA + 2 axes Conforming to safety category 4 192 points /192 points Three-phase 200VAC P8 Cleanroom type Arm length 180mm Vertical axis 50mm * Refer to the cover for the details of model specification items. 3L:3m(standard) 5L:5m XSEL-PX/QX (Blank): No option B: Z-axis brake JY: Connector-type cable Model specification items IX NNC1805 T2 (Note 1) Based on PTP operation. In CP operation, the maximum speed is limited. (Note 2) The cycle time is based on reciprocating movements over a horizontal distance of 100 mm and vertical distance of 25 mm, carrying a 0.2-kg load. (Note 3) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. (Note 4) The value under “Push motion” indicates the thrust generated when a push command is executed from a program. The value under “Maximum thrust” indicates the maximum thrust during normal positioning operation. (Note 5) An equivalent allowable inertial moment at the center of rotation of axis 4. The offset from the center of rotation of axis 4 to the gravity center of the tool must not exceed 17.5 mm. (Note 6) For the ALM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies 24 VDC to the LED terminal in the user wiring connector. Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 9. Controller 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8 9 10 X-SELPX/QX 8 XSEL-PX/QX SCARA and single-axis robots can be controlled simultaneously with one controller. Features 4 Axes 2 Axes 1 2 3 4 5 6 1 program 1 Controlling a maximum of 6 axes (SCARA robots + 2 single-axis robots) In addition to SCARA robots, up to two axes of single-axis robots or cartesian robots can be controlled (total output: 2400 W). 2 “Global type” for applications that require conformance to safety category 4 The “global type” does not have a built-in drive-source cutoff circuit. Instead, it cuts off the drive source using an external safety circuit. This design conforms to safety category 4 under ISO 13849-1. Both the large-capacity type (PX) and large-capacity global type (QX) conform to the CE Mark standard. 3 Compact, high performance and CE-compliant Approx. 40% slimmer than IAI’s conventional controllers (X-SEL general-purpose controllers) Significantly faster than IAI’s conventional controllers (command processing time is roughly one-half) Connectable to DeviceNet, CC-Link, Ethernet and other field networks Conforming to the CE Mark standard XSEL - - - - - - - - - Series Controller type IX robot type Motor output of axis 5 Motor output of axis 6 Dedicated network slot Expansion I/O I/O flat cable length Power-supply voltage Standard I/O Model Series XSEL PX4 (Large-capacity, 4-axis type) PX5 (Large-capacity, 5-axis type) PX6 (Large-capacity, 6-axis type) QX4 (Large-capacity, global 4-axis type) QX5 (Large-capacity, global 5-axis type) QX6 (Large-capacity, global 6-axis type) Blank (No single axis) Blank (No single axis) Blank (No network) 20 30 60 100 200 400 600 L 750 L 20 (20W) 30 (30W) 60 (60W) 100 (100W) 200 (200W) 400 (400W) 600 L (600W) 750 L (750W) (20W) (30W) (60W) (100W) (200W) (400W) (600W) (750W) DV (DeviceNet) CC (CC-Link) PR (ProfiBus) ET (Ethernet) E (Not used) N1 I/O board NPN32/16 I/O board NPN16/32 I/O board NPN48/48 I/O board PNP32/16 I/O board PNP16/32 I/O board PNP48/48 I/O board NPN32/16 I/O board NPN16/32 I/O board NPN48/48 I/O board PNP32/16 I/O board PNP16/32 I/O board PNP48/48 I/O board NPN32/16 I/O board NPN16/32 I/O board NPN48/48 I/O board PNP32/16 I/O board PNP16/32 I/O board PNP48/48 I/O board NPN32/16 I/O board NPN16/32 I/O board NPN48/48 I/O board PNP32/16 I/O board PNP16/32 I/O board PNP48/48 N2 N3 P1 P2 P3 E (Not used) N1 N2 N3 P1 P2 P3 E (Not used) N1 N2 N3 P1 P2 P3 E (Not used) N1 N2 N3 P1 P2 P3 2 Standard specification: 2m 3 (3m) 5 (5m) 0 (None) 3 Three-phase 200V Controller type IX robot type Dedicated network slot Motor output of axis 6 Motor output of axis 5 Standard I/O I/O flat cable length Power-supply voltage Expansion I/O Slot 1 Slot 2 Slot 3 Slot 4 NNN1250~8040 (Standard type) NSN5016~6016 (High-speed type) NNW2515~8040 (Dustproof/splash-proof type) TNN3015~3515 (Wall mount type) UNN3015~3515 (Wall mount, inverse type) HNN5020~8040 (Ceiling mount type) INN5020~8040 (Inverse type) NNC1205~8040 (Cleanroom type) Series Indicate the series name. Controller type Indicate the controller type. PX4: Large-capacity, dedicated SCARA specification PX5: Large-capacity, 5-axis (SCARA + 1 axis) specification PX6: Large-capacity, 6-axis (SCARA + 2 axes) specification QX4: Large-capacity, dedicated SCARA specification conforming to safety category 4 QX5: Large-capacity, 5-axis (SCARA + 1 axis) specification conforming to safety category 4 QX6: Large-capacity, 6-axis (SCARA + 2 axes) specification conforming to safety category 4 IX robot type Indicate the type of the SCARA robot to be operated. Motor output of axis 5 (single-axis robot) Indicate the motor output of the single-axis robot to be connected to axis 5 of PX5, PX6, QX5 or QX6. In , enter codes corresponding the encoder type and desired option(s). * If multiple options are to be specified, indicate the applicable codes in alphabetical order after the encoder type. If no option is installed, indicate only the encoder type. (Encoder type A: Absolute / I: Incremental) (Options B: Brake / C: Creep sensor / L: Limit switch / M: Master-axis designation in synchronized operation / S: Slave-axis designation in synchronized operation) Leave the space blank for PX4 or QX4. Motor output of axis 6 (single-axis robot) Indicate the motor output of the single-axis robot to be connected to axis 6 of PX6 or QX6. The same explanation for axis 5 applies to the codes to be entered in . Leave the space blank for PX4 or QX4. Dedicated network slot Indicate an applicable code if you require connection to DeviceNet, CC-Link, ProfiBus or Ethernet. Standard I/O (slot 1) Indicate the specification of the standard slot (slot 1). Expansion I/O (slots 2 to 4) Indicate the specification of the expansion slots (slots 2 to 4). Take note that the external dimensions will change if the expansion slots are used. I/O flat cable length Indicate the length of the signal wire connecting the I/O board and PLC. * If you have selected “E” (Not used) for the standard and expansion I/Os, this field is automatically filled with “0” (None). Power-supply voltage Indicate the voltage of the main controller power supply. Notes * If the arm length is 700 or 800, the maximum number of connectable axes is 5 (SCARA + 1 axis). * With the high-speed types, the maximum number of connectable axes is 4 (SCARA only). 1 3 5 7 8 9 2 4 6 10 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 10. 9 Specifications Total output when maximum number of axes are connected Control power input Motor power input Power-supply capacity Safety circuit configuration Drive-source cutoff method Enable input Position detection method Speed setting (*3) Acceleration/deceleration setting (*3) Programming language Number of program steps Number of positions Number of programs (number of multitasking programs) Ambient operating temperature/humidity Weight (*4) PX4 Large-capacity type Large-capacity global type PX5/PX6 QX4 QX5/QX6 310VA (*1) 3350VA (*2) 310VA (*1) 3350VA (*2) Redundant configuration not supported Internal cutoff relay Contact-B input (internal power supply type) Redundant configuration supported External safety circuit Contact-B input (external power supply type, redundant) 2400W Single-phase 200/230VAC, -15%, +10% Three-phase 200/230VAC, -10%, +10% Incremental encoder / absolute encoder 1mm / sec ~ 2000mm / sec 0.01 G ~ 1 G Super SEL language 6000 steps (total) 4000 positions (total) 64 programs (16 programs) 0~40°C, 10~95% (non-condensing) 5.2kg 5.7kg 4.5kg 5kg *1 Based on operation of IX-NNN1205/1505/1805 robots for the PX4/QX4 types, or operation of IX-NNN1205/1505/1805 robots and two 750-watt axes for the PX5/PX6/QX5/QX6 types. *2 Based on operation of two 750-watt axes of arm length 500/600. *3 The maximum limit varies depending on the actuator type. *4 The weight includes the absolute battery, brake mechanism and expansion I/O box. System Configuration Connectable Actuator High-speed, high-precision type Standard type Dustproof type Cleanroom specification Anti-electrostatic specification Small type Compact type High-rigidity belt type Slim belt type Rotating axis ROBO Cylinder PLC, etc. Motor cable: 3m (standard) / 5m (refer to P.10) Encoder cable: 3m (standard) / 5m (refer to P.10) Teaching Pendant Regenerative unit (Refer to P. 10) PC Software Refer to P. 10 Regenerative unit cable: 1m (Supplied with the regenerative unit) Connection to Various Field Networks Motor Drive Power Supply System I/O Three-phase 200VAC • Emergency stop Single-phase 200VAC • Enable • System ready • I/O board • Multipoint I/O board I/O flat cable: 2m (Supplied with the controller) 4m RS232 cable: 5m (Supplied with the PC software) ISPA series ISA series ISDA series ISDACR series ISDACR ESD DS/DSCR(T1) series SS/SSCR series IF series FS series RS series RCS-SS/SM RCS-SSR/SMR RCS-RA55/F55 RCS-RB7530/RB7535 RB-RB RB+ IN RB-RB RB+ OUT External Equipment • Device Net • CC-Link • ProfiBus • Ethernet Serial Communication Port Standard/RS232, 2 channels Control Power Supply Expansion I/O Drive-source cutoff circuit (Provided by the customer) * Applicable to the global type only (not required for the standard type). Notes The standard motor/encoder cables are not of connector type. If you require connector-type cables that permit replacement, specify the option for connector-type cables (code: JY). Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 11. 10 Teaching Pendant PC Software Model: IA-T-X (Standard) IA-T-XD (With deadman switch) IA-T-XA (ANSI/CE Mark compliant type) Model: IA-101-X-MX With a PC cable (D-sub, 9-pin connector on PC end) Teaching devices offering functions for For Windows 95/98/NT/2000/ME program/position input, test operation, monitoring and more. * IA-T-X/XD of version 1.20 or older and IA-T-XA of version 1.10 or older cannot be used with the PX/QX controllers. Model: REU-1 This unit converts regenerative current produced when the motor decelerates, into heat. You need one or more regenerative units according to the total output of single-axis motors connected to the controller. (No regenerative unit is required for SCARA robots.) Refer to the table at right for the rough guideline on how to determine if your system needs a regenerative unit(s). Support software combining all functions needed for program/position input and debugging. * Version 5.0.1.0 or older cannot be used with the PX/QX controllers. Options Cables Motor output Horizontal application Vertical application Not required Not required 1 unit 1 unit 1 unit 1 unit 2 units 2 units Not required 1 unit 1 unit 1 unit 1 unit 2 units 2 units 3 units ø5 RB RB RB IN RB RB - + - + RB OUT 175 16.6 126 34 5 195 186 Regenerative Unit IA-T-X/XD IA-T-XA External Dimensions Connector-type Motor Cable Model CB-X-MA030(3m) CB-X-MA050(5m) L 4 1 (Front view) (Front view) Controller end 1 4 Wire Color Signal No. 0.75sq GREEN U PE U V W 1 2 3 4 0.75sq (crimped) RED RED V WHITE WHITE W BLACK BLACK PE GREEN 1 2 3 4 (20) (10) Robot end (16) (ø9) (21) (21) (41) Connector-type Encoder Cable Model CB-X1-PA030(3m) CB-X1-PA050(5m) (41) (14) (13) (37) (8) (25) 1 9 1 13 14 26 L Drain & shield (braided) cable AWG26 (soldered) ----------------- - -- E24V 0V LS CLEEP OT RSV --- A+ A-B+ B-Z+ Z-SRD+ SRD- + - BAT BAT VCC GND BKR - BKR+ - 10 11 12 13 26 25 24 23 9 18 19 12345678 14 15 16 17 20 21 22 No. Signal Color Wire 123456789 The shield is clamped to the hood. I/O Flat Cable (X-SEL) Model CB-X-PIO + BAT BAT VCC BK-Orange Purple Gray * Enter a desired cable length (L) up to 10 m in . Example) 080 = 8 m L No connector at the end Flat cable AWG28 (50 cores) 2 1 50 49 No. Color Wire No. Color Wire No. Color Wire Flat cable, pressure -welded 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 0~100W ~200W ~400W ~600W ~800W ~1000W ~1200W ~1500W No. Signal Color Wire Robot end (Front view) Controller end (Front view) Wire Color Signal No. Orange Green Purple Gray Red Black Blue Yellow SD SD FG - GND BK+ Green Red Black Drain Blue Yellow AWG26 (soldered) Flat cable, pressure -welded Flat cable, pressure -welded Gray2 White2 Black2 Brown-3 Red3 Orange3 Yellow3 Green3 Blue3 Purple3 Gray3 White3 Black3 Brown-4 Red4 Orange4 Yellow4 Green4 Blue4 Purple4 Gray4 White4 Black4 Brown-5 Red5 Orange5 Yellow5 Green5 Blue5 Purple5 Gray5 White5 Black5 Brown1 Red1 Orange1 Yellow1 Green1 Blue1 Purple1 Gray1 White1 Black1 Brown-2 Red2 Orange2 Yellow2 Green2 Blue2 Purple2 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 12. Catalog No.: CJ0096-1A (May 2006) External Dimensions The external dimensions of X-SEL PX/QX controllers vary depending on the number of connected axes and specified option(s) (brake and/or expansion I/O). Refer to the table below and identify the number corresponding to the external dimensions of your controller, and reference the drawing bearing the same number. SCARA robot Controller Type Brake Large-capacity type (PX) Large-capacity global type (QX) SCARA only (PX4) Without expansion I/O SCARA + direct-coupled axis(es) (PX5/PX6) SCARA only (QX4) SCARA + direct-coupled axis(es) (QX5/QX6) NNN1205 NNN1505 NNN1805 NNC1205 NNC1505 NNC1805 Not equipped Equipped External dimensions External dimensions External dimensions External dimensions External dimensions External dimensions External dimensions External dimensions (*1) (*2) (*3) (*4) 2 4 6 8 (*1) If the direct-coupled axis has a brake or is of absolute encoder specification, refer to external dimensions . (*2) If the direct-coupled axis has a brake or is of absolute encoder specification, refer to external dimensions . (*3) If the direct-coupled axis has a brake or is of absolute encoder specification, refer to external dimensions . (*4) If the direct-coupled axis has a brake or is of absolute encoder specification, refer to external dimensions . 249 265 195 186 180 ø 49.5 75 75 49.5 5 3- 5 269 285 195 186 180 59.5 75 75 59.5 5 3- 5 322 338 195 186 180 ø 41 120 120 41 5 3- 5 342 358 195 186 180 51 120 120 51 5 3- 5 3- 5 22 120 120 22 284 300 5 42 120 120 42 324 340 5 3-ø5 58.5 120 120 58.5 357 373 5 3- 5 78.5 120 120 78.5 397 413 5 3- 5 3- ø 5 28 75 75 28 206 222 5 ø 38 75 75 38 226 242 5 3- 5 64.5 75 75 64.5 279 295 5 3- 5 3- 5 29.5 120 120 29.5 299 315 5 45.5 75 75 45.5 241 257 5 3-ø5 3- 5 20.5 120 120 20.5 281 297 5 37 120 120 37 314 330 5 3- 5 57 120 120 57 354 370 5 3- 5 External dimensions 125.3 (80) 3 Large-capacity type (PX) SCARA only (PX4) Without expansion I/O SCARA + direct-coupled axis(es) (PX5/PX6) Large-capacity global type (QX) SCARA only (QX4) SCARA + direct-coupled axis(es) (QX5/QX6) Side view (common) * All controller types have the same height. With expansion I/O Without expansion I/O With expansion I/O Without expansion I/O With expansion I/O Without expansion I/O With expansion I/O 1 3 5 7 9 11 13 15 External dimensions External dimensions External dimensions External dimensions External dimensions External dimensions External dimensions External dimensions (*1) (*2) (*3) (*4) 6 8 1 External dimensions 2 External dimensions 3 External dimensions 4 External dimensions 5 External dimensions 6 External dimensions 7 External dimensions 8 External dimensions 9 External dimensions 10 External dimensions 11 External dimensions 12 External dimensions 13 External dimensions 14 External dimensions 15 External dimensions 16 14 16 10 12 14 16 With expansion I/O ø ø ø ø ø ø ø ø ø ø Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com