IXP Series MSEL-PCX/PGX

Transcription

1 PowerCON SCARA PowerCON SCARA Program Controllers IXP Series MSEL-PCX/PGX

2 Introducing the Cost-effective Pulse Motor Type IXP to the IX Series of SCARA Robots All models come standard with battery-less absolute encoders. More Affordable Due to Pulse Motors By adopting pulse motors the IXP costs around / a conventional model. * Compared against an IAI robot based on an arm length of 50mm. The IXP achieves a payload equivalent to that of a conventional model by adopting high-output drivers. All Models Come Standard with Battery-less Absolute Encoders All IXP models come standard with battery-less absolute encoders that does not require batteries. Since battery replacement is no longer necessary, maintenance man-hours are reduced. Advantages of Battery-less Absolute Encoders The machine will not stop due to battery errors (low voltage, etc.) No cost of battery replacement No need for absolute reset or other physical tasks associated with battery replacement IX-NNN55H (Conventional product) IXP-N55 (New product) Lighter than a Conventional Model The robot weighs approx. 0% less. (Compared to: IX-NNN55) The lightweight robot can be easily assembled into your equipment. Model IX-NNN55H (Conventional product) IXP-N55 (New product) Mass 8kg 5kg kg Smaller than the conventional model.

3 Added -axis Specification and -axis* Gripper Specification The -axis has no rotational axis for greater allowable inertial load moment. It can be combined with a dedicated gripper to constitute a transfer robot with ease. * The gripper type has four axes including three SCARA robot axes and one gripper axis. Use Examples of the -axis Specification Gripper -axis gripper Work processes that require only three axes Pickup and placement of circular parts, non-directional transfer, etc. Inspecting cans for defects Defects are identified using an external camera and are screened out. CAMERA Connecting an actuator as the fourth axis A ROBO Cylinder of a rotary type, rod type, slider type, etc., can be connected to a SCARA robot -axis as its fourth axis. + 5 Product Lineup Arm length 50mm 50mm SCARA type axes axes (with rotational axis) axes axes (with rotational axis) None IXP-N55 Controller: MSEL, -axis IXP-N55 Controller: MSEL, -axis IXP-N55 Controller: MSEL, -axis IXP-N55 Controller: MSEL, -axis Gripper Medium gripper type RCP-GRSML IXP-N55GM Controller: MSEL, -axis IXP-N55GM Controller: MSEL, -axis Large gripper type RCP-GRSLL IXP-N50GL Controller: MSEL, -axis IXP-N50GL Controller: MSEL, -axis

4 Introducing the PowerCON SCARA Robot Program Controller MSEL with High-output Driver (PowerCON) Accommodating Significantly More Programs and Positions The greater storage capacity accommodates significantly more programs and positions. Number of programs Number of positions XSEL-PX (Conventional product) MSEL (New product) ,000 0,000 Smaller Size Having a size of 0mm in width x 95mm in height, the MSEL is significantly smaller than a conventional controller and saves space in your control panel. The MSEL can be installed with screws or using a DIN rail. MSEL-PCX/PGX 95mm 50% Smaller XSEL-PX 95mm 0mm 85mm Safety Category Compliant By building an appropriate external circuit, the MSEL meets the safety circuit requirements of any of Safety Categories to. Supporting Diverse I/O Interfaces Standard PIOs (IN: 6 points, OUT: 6 points) and one expansion I/O slot are available. For the expansion I/O slot, PIOs (IN: 6 points, OUT: 6 points) or field network (CC-Link, DeviceNet, PROFIBUS-DP or EtherNet/IP) can be selected. Expansion I/O slot PIO Field network IN: 6 points, OUT: 6 points

5 Applications Part Screening Parts of two different sizes are discriminated using a sensor and sorted into different boxes. Solar Battery Module Tab Solder Solar battery module cells are transferred while positioncompensated so that electrodes can be soldered onto the cells. Camera * Cells are positioncompensated using the camera and then arranged on the conveyor. Solar battery cell Sensor DVD-R Packing DVD-Rs are picked up from the conveyor and placed. Adhesive Application Adhesive is applied onto circular parts.

6 Cautionary Notes * Positioning Repeatability Positioning repeatability refers to the degree to which the robot can repeat the same positioning when operated at the same speed and acceleration/deceleration using the same arm system between two points including the start position and target position. (The values were measured at a constant ambient temperature of 0 C). Note that the positioning repeatability may be out of if the arm is changed, if the positioning is from multiple different positions to a single set position, or if the operating conditions, such as the operating speed and acceleration/deceleration settings, are changed. Notes on the Low-resolution Encoders Since the IXP is equipped with low-resolution encoders, feasible positioning points of the robot are wider apart and positioning to a specific command position may not be possible. Also note that the target position cannot be finely adjusted by less than the minimum travel. Minimum travel In the horizontal plane (Arm + Arm ) mm IXP-N55 N (MAX) IXP-N55 N (MAX) IXP-N (MAX) IXP-N (MAX) Vertical axis mm Rotational axis Degree Minimum travel Feasible position <In the horizontal plane (J-axis + J-axis)> Unfeasible position * Maximum Operating Speed for PTP Operation The maximum operating speed in the table assumes PTP command operation. The speed is limited for CP operation command (interpolation) operation. For details, refer to CP Operation under Rough Guide for SCARA Robot Acceleration/Deceleration Setting on P. 8. Also note that the speed/acceleration must be reduced as deemed appropriate when operating the vertical axis at the bottom end. * Payload The payload may be the rated payload or the maximum payload. The rated payload is the maximum mass that can be transferred at the maximum speed and maximum acceleration. The maximum payload is the maximum mass the actuator can transfer at a reduced speed/acceleration. When transferring a mass greater than the rated payload, set the load mass and inertial moment in the program, and an optimal speed/ acceleration will be applied automatically. * Standard Cycle Time The standard cycle time refers to the time required to cycle back and forth at maximum speed under the following conditions. This is a general estimate of the high-speed performance. (Arm length: 50 to 50), kg load, vertical distance: 5mm; horizontal distance: 00mm Horizontal movement Vertical movement *5 Allowable Inertial Moment at the Tip of the Vertical Axis The allowable inertial moment at the tip of the vertical axis represents an equivalent allowable inertial moment at the tip of the vertical axis of a SCARA robot (measured at the center of the guide shaft in the case of a -axis, or center of the rotating axis in the case of a -axis ). Keep the offset from the center of rotation of the tip of the vertical axis to the center of gravity of the load to 0mm or less in the horizontal direction or 00mm or less in the vertical direction. If the center of gravity of the tool is away from the center of the tip of the vertical axis, the speed/ acceleration must be reduced as deemed appropriate. Center of gravity of load 0mm or less in horizontal direction Load offset 00mm or less in vertical direction Work Envelope When changing the arm, be careful that no peripheral objects will obstruct the arm when it fully extends. Acceleration/Deceleration Setting For the setting of acceleration/deceleration, refer to Reference for SCARA Robot Acceleration/Deceleration Settings on P.8. 5 * to *5 above correspond to the numbers on the main text pages (P. 7, P. 9).

7 Explanation of the Model Items IXP Series WA Encoder type P Type Cable length Applicable controller WA Battery-less absolute N P None m P MSEL S m M 5m X Specified length R Robot cable (Up to 0m) N55 N55 N55GM N50GL N55GM N50GL N55 N55 -axis type / Arm length 50mm / Vertical axis 50mm -axis type / Arm length 50mm / Vertical axis 50mm -axis type / Arm length 50mm / Vertical axis 50mm; RCP-GRSML installed at the tip of the vertical axis -axis type / Arm length 50mm / Vertical axis 00mm; RCP-GRSLL installed at the tip of the vertical axis -axis type / Arm length 50mm / Vertical axis 50mm; RCP-GRSML installed at the tip of the vertical axis -axis type / Arm length 50mm / Vertical axis 00mm; RCP-GRSLL installed at the tip of the vertical axis -axis type / Arm length 50mm / Vertical axis 50mm -axis type / Arm length 50mm / Vertical axis 50mm (Example) IXP N 5 5 GM WA S P Number of axes: axes Vertical axis stroke: 50mm Arm length: 50mm Tip of vertical axis: RCP-GRSML installed Encoder type: Battery-less absolute Cable length: m Controller: MSEL 6

8 IXP IXP- N55 N50 N55 Model Specification Items IXP Series Number of axes : axes : axes N Arm length 50mm Vertical axis 00mm/50mm 5 WA P Arm length Vertical axis stroke 5: 50mm Gripper 5 : 50mm, no gripper 5GM : 50mm, medium gripper installed 0GL : 00mm, large gripper installed * Refer to Component Axes for the gripper types. Encoder type WA: Battery-less absolute N: None P: m S: m M: 5m Cable length X : Specified length R : Robot cable Applicable controller P: MSEL * The photograph shows a -axis. Refer to P. 5 for * through *5. The vertical axis has no brake. The unique structure holds the load in place even when the servo is turned off. The vertical axis does not support push-motion control. If a tool is installed or a spring or other buffer is provided for push-motion, the allowable push force is 60 N or less. Refer to P. 5 for the work envelope, and P. 8 for the notes on acceleration/ deceleration setting. Robot Specifications Axis configuration Arm length (mm) Work envelope Axis Arm 60 ±7 Axis Arm 90 ±7 Positioning repeatability * ±0.0mm Maximum operating speed in PTP mode * Payload (kg) * No gripper With medium gripper (GM) With large gripper (GL) Rated Maximum,76mm/s,76mm/s,908mm/s (Composite (Composite (Composite speed) speed) speed) Axis Vertical axis 50mm * ±0.0mm 70mm/s 70mm/s 89mm/s Axis Rotating axis ±60 ± /s Medium gripper GM mm (Both fingers) ±0.0mm 9mm/s (One finger) Refer to the catalog of the gripper Large gripper GL mm (Both fingers) ±0.0mm 5mm/s (One finger) RCP-GR * When the large gripper is installed, the work envelope of the vertical axis becomes 00mm. 7 Robot Specifications Encoder type User wiring User piping Standard cycle time * (sec) -axis No gripper AWGx6, AWG6x5P (shielded) * User cables are sold separately. Refer to the operation manual for detail. -axis With medium gripper (GM) Battery-less absolute encoder -axis With large gripper (GL) User wiring is not supported because the gripper wiring is used. Air tube (O.D. ø, I.D. ø.5) x (Normal working pressure 0.8 MPa) SCARA Gripper (full stroke) Allowable torque (Axis ) (N m). Allowable moment (N m).9 Ma.9 Mb.7 Mc.9 Allowable inertial moment of tip axis Rated: 0.00 Rated: 0.00 *5 (kg m ) Maximum: 0.0 Maximum: 0.00 Ambient temperature/humidity Ma.9 Mb.9 Mc Temperature: 0~0 C, humidity: 0-85% RH or less (Non-condensing) Unit weight (kg).5 Component Axes IXP-N55GM IXP-N50GL The medium gripper RCP-GRSML is installed at the tip of the vertical axis. The large gripper RCP-GRSLL is installed at the tip of the vertical axis. Price List Gripper SCARA -axis Standard price None IXP-N55 Medium gripper IXP-N55GM Large gripper IXP-N50GL Gripper SCARA -axis (with rotating axis) Standard price None IXP-N55 Cable Length <Per Axis*> Type Cable code Standard price P(m) Standard type S(m) M(5m) X06(6m)~X0(0m) Special length X(m)~X5(5m) X6(6m)~X0(0m) R0(m)~R0(m) R0(m)~R05(5m) Robot cable R06(6m)~R0(0m) R(m)~R5(5m) R6(6m)~R0(0m) * The -axis requires three cables, while the gripper and -axis require four cables.

9 IXP Dimensions D CAD CAD drawings can be downloaded from the website. 8 Reference surface 55 Reference surface ø8 h Detail view of A 90 : Mechanical end User wiring/piping exit 8 9 grommet ( locations) ø9 08 (.5) (0.5) R58.5 R50 R90 R90 60 Work envelope of the right-arm system (9) User wiring/ piping stored inside 55 9 A View B : Stroke (6): Mechanical end (6) -M, depth 6 User tap (same on the opposite side) 9 9 T slot: M (same on the opposite side) *Available only on the -axis (with rotating axis). 55 T slot: M (same on the opposite side) (00) Wiring space 57 (8) (70 max.) 5 Controller cables When exiting from the rear panel Controller cables When exiting through the grommet ø8 H depth User wiring/piping exit grommet (from which the controller cables exit) Detail view of B 8 H depth User wiring/piping stored inside Wiring (AWGx6C/AWG6x5P with shield) Piping (øx) * When the -axis is selected, three controller cables are needed. Ground connection <Gripper Specification> GM (RCP-GRSML) GL (RCP-GRSLL) M, depth 6 Tapped user holes (One on the opposite side is used for gripper wiring) Open side: 7.6 Close side:.6 -ø h7 -ø h * The vertical axis stroke is 50mm. * The overhang limit is 0mm horizontally and 00mm vertically. (Refer to *5 on P. 5.) 89: Home return -M5, depth 5 0 -M, depth 6 Tapped user holes (One on the opposite side is used for gripper wiring) Open side: 7.8 Close side: 5.8 * The vertical axis stroke is 00mm. * The overhang limit is 0mm horizontally and 00mm vertically. (Refer to *5 on P. 5.) 6. R90 R58.5 R50 60 Work envelope of the left-arm system R M, depth <Flange Dimensions> An optional flange is available. Use a flange when installing a tool, etc., at the tip of the vertical axis. Model type Standard price IXP-FL- (0).5 (8.5) ø +0.0 ø8 H8 0 ø5 ø g ø6 View C M 7.5 ± øh7 0,depth. 7.5 ±0.0 View C 5 -ø.5, through Distributed at an equal pitch along the circumference ø5 Applicable Controller Specifications Name External view Applicable controller Features Standard I/O points (input/output) Power-supply voltage Reference page PowerCON SCARA controller MSEL Up to axes 6 points/ 6 points AC00V~0V P 8

10 IXP IXP- N55 N50 N55 Model Specification Items IXP Series Number of axes : axes : axes N Arm length 50mm Vertical axis 00mm/50mm 5 WA P Arm length Vertical axis stroke 5: 50mm Gripper 5 : 50mm, no gripper 5GM : 50mm, medium gripper installed 0GL : 00mm, large gripper installed * Refer to Component Axes for the gripper types. Encoder type WA: Battery-less absolute N: None P: m S: m M: 5m Cable length X : Specified length R : Robot cable Applicable controller P: MSEL * The photograph shows a -axis. Refer to P. 5 for * through *5. The vertical axis has no brake. The unique structure holds the load in place even when the servo is turned off. The vertical axis does not support push-motion control. If a tool is installed or a spring or other buffer is provided for push-motion, the allowable push force is 60 N or less. Refer to P. 5 for the work envelope, and P. 8 for the notes on acceleration/ deceleration setting. Robot Specifications Axis configuration Arm length (mm) Work envelope Axis Arm 60 ±7 Axis Arm 90 ±7 Positioning repeatability * ±0.0mm Maximum operating speed in PTP mode * Payload (kg) * No gripper With medium gripper (GM) With large gripper (GL) Rated Maximum,8mm/s,8mm/s,060mm/s (Composite (Composite (Composite speed) speed) speed) Axis Vertical axis 50mm * ±0.0mm 70mm/s 70mm/s 89mm/s Axis Rotating axis ±60 ±0.0,000 /s Medium gripper GM mm (Both fingers) ±0.0mm 9mm/s (One finger) Refer to the catalog of the gripper Large gripper GL mm (Both fingers) ±0.0mm 5mm/s (One finger) RCP-GR * When the large gripper is installed, the work envelope of the vertical axis becomes 00mm. 9 Robot Specifications Encoder type User wiring User piping Standard cycle time * (sec) -axis No gripper AWGx6, AWG6x5P (shielded) * User cables are sold separately. Refer to the operation manual for detail. -axis With medium gripper (GM) Battery-less absolute encoder -axis With large gripper (GL) User wiring is not supported because the gripper wiring is used. Air tube (O.D. ø, I.D. ø.5) x (Normal working pressure 0.8 MPa) SCARA Gripper (full stroke) Allowable torque (Axis ) (N m). Allowable moment (N m).9 Ma.9 Mb.7 Mc.9 Allowable inertial moment of tip axis Rated: 0.00 Rated: 0.00 *5 (kg m) Maximum: 0.0 Maximum: 0.00 Ambient temperature/humidity Ma.9 Mb.9 Mc Temperature: 0~0 C, humidity: 0-85% RH or less (Non-condensing) Unit weight (kg).5 Component Axes IXP-N55GM IXP-N50GL The medium gripper RCP-GRSML is installed at the tip of the vertical axis. The large gripper RCP-GRSLL is installed at the tip of the vertical axis. Price List Gripper SCARA -axis Standard price None IXP-N55 Medium gripper IXP-N55GM Large gripper IXP-N50GL Gripper SCARA -axis (with rotating axis) Standard price None IXP-N55 Cable Length <Per Axis*> Type Cable code Standard price P(m) Standard type S(m) M(5m) X06(6m)~X0(0m) Special length X(m)~X5(5m) X6(6m)~X0(0m) R0(m)~R0(m) R0(m)~R05(5m) Robot cable R06(6m)~R0(0m) R(m)~R5(5m) R6(6m)~R0(0m) * The -axis requires three cables, while the gripper and -axis require four cables.

11 IXP Dimensions D CAD CAD drawings can be downloaded from the website. 8 Reference surface Reference surface ø8 h Detail view of A 90 (.5) User wiring/piping exit grommet ( locations) 90 -ø (0.5) R0. R50 R90 R90 7 : Mechanical end 60 Work envelope of the right-arm system Detail view of B 8 88 A : Stroke (6): Mechanical end *Available only on the -axis (with rotating axis). -M, depth 6 User tap (same on the opposite side) (6) T slot: M (same on the opposite side) T slot: M (same on the opposite side) (00) Wiring space (9) 57 5 (8) (770 max.) User wiring/ piping stored inside 55 ø8 H depth User wiring/piping exit grommet (from which the controller cables exit) 9 8 H depth User wiring/piping stored inside Wiring (AWGx6C/AWG6x5P with shield) (øx) * When the -axis is selected, three controller cables are needed. View B 55 Controller cables When exiting from the rear panel Controller cables When exiting through the grommet Ground connection <Gripper Specification> GM (RCP-GRSML) GL (RCP-GRSLL) 7 7 -M, depth 6 Tapped user holes (One on the opposite side is used for gripper wiring) Open side: 7.6 Close side:.6 -ø h7 6 * The vertical axis stroke is 50mm. * The overhang limit is 0mm 0 horizontally and 00mm vertically (Refer to *5 on P. 5.) 7. -ø h : Home return -M5, depth 5 0 -M, depth 6 Tapped user holes (One on the opposite side is used for gripper wiring) Open side: 7.8 Close side: 5.8 * The vertical axis stroke is 00mm. * The overhang limit is 0mm horizontally and 00mm vertically. (Refer to *5 on P. 5.) 6. R90 Work envelope of the left-arm system 60 R90 R0. R M, depth <Flange Dimensions> An optional flange is available. Use a flange when installing a tool, etc., at the tip of the vertical axis. Model type Standard price IXP-FL- (0).5 (8.5) ø +0.0 ø8 H8 0 ø5 ø g ø6 View C M 7.5 ± øh7 0,depth. 7.5 ±0.0 View C 5 -ø.5, through Distributed at an equal pitch along the circumference ø5 Applicable Controller Specifications Name External view Applicable controller Features Standard I/O points (input/output) Power-supply voltage Reference page PowerCON SCARA controller MSEL Up to axes 6 points/ 6 points AC00V~0V P 0

12 MSEL Controller MSEL-PCX/PGX Program Controllers for PowerCON SCARA Model List Name PowerCON SCARA controller External view Type name PCX PGX PCX PGX Type -axis standard -axis safety category -axis standard -axis safety category Standard price Safety category (*) B Can be made compliant with category B Can be made compliant with category Connected actuator IXP -axis IXP -axis + additional axis IXP -axis gripper IXP -axis (with rotating axis) Standard I/Os NPN, PNP(6IN/6OUT) Expansion I/Os NPN, CC-Link, DeviceNet, PROFIBUS-DP, EtherNet/IP Number of programs 55 Number of program steps 9,999 Number of positions 0,000 Power-supply voltage Single-phase 00 to 0 VAC *: Meeting this safety category requires the customer to install a safety circuit externally to the controller. Model MSEL SCARA WAI Additional axis WAI * An additional axis can be selected only when the controller is of the -axis type and SCARA robot is of the -axis type (without gripper). Controller type SCARA Encoder type Motor type Encoder type Options Standard I/O type Expansion I/O type PIO cable type Power-supply voltage Actuator mounting PCX -axis standard PGX -axis safety category PCX -axis standard PGX -axis safety category N55 -axis type / Arm length 50mm / Vertical axis 50mm N55 -axis type / Arm length 50mm / Vertical axis 50mm -axis type / Arm length 50mm / N55GM Vertical axis 50mm; RCP-GRSML installed at the tip of the vertical axis -axis type / Arm length 50mm / N50GL Vertical axis 00mm; RCP-GRSLL installed at the tip of the vertical axis -axis type / Arm length 50mm / N55GM Vertical axis 50mm; RCP-GRSML installed at the tip of the vertical axis -axis type / Arm length 50mm / N50GL Vertical axis 00mm; RCP-GRSLL installed at the tip of the vertical axis N55 -axis type / Arm length 50mm / Vertical axis 50mm N55 -axis type / Arm length 50mm / Vertical axis 50mm 0P 0SP 8P 8SP 5P P SP 56P (None) 0 square pulse motor 0 square pulse motor (for RAC, RABC) 8 square pulse motor 8 square pulse motor (for RAC) 5 square pulse motor square pulse motor ( square pulse motor for RCPW-RA6 highthrust ( ( ) 56 square pulse motor No option HS Home check sensor (*) NP PN E NP DV DV CC CC PR EP NPN PNP Not used Expansion PIO board (NPN ) DeviceNet board DeviceNet board (with -way connector) CC-Link board CC-Link board (with -way connector) PROFIBUS-DP board EtherNet/IP board * If CC or DV is selected, a -way connector is supplied for branch wiring. (None) Screw fixing * The home check sensor can be selected only when an incremental additional axis is used with the N55 or N55. DN 0 No cable DIN rail mounting m (standard) m 5 5m AC00~0V

13 MSEL Controller System Configuration Supplied with the SCARA robot Integrated motor-encoder cable (Refer to P.7) <Model number: CB-CAN-MPA > Standard: m / m / 5m Standard accessory/option Dummy plug (Refer to P.6) <Model number: DP-S> (Supplied with the MSEL-PGX / Supplied with the IA-0-X-USBS) Option Touch panel teaching pendant (Refer to P.6) <Model number: TB-0-SJ> * The MSEL-PCX/PGX are supported only by Ver..0 or later. Standard accessory/option Connector conversion cable (Refer to P.6) <Model number: CB-SEL-SJS00> (Supplied with the TB-0-SJ/ IA-0-X-MW-JS) Option PC software (Refer to P.6) <Model number: IA-0-X-MW-JS> (RSC cable + Connector conversion cable) <Model number: IA-0-X-USBS> (USB cable + Dummy plug) * The MSEL-PCX/PGX are supported only by Ver or later. Emergency stop switch Enable switch AC00~0V Standard accessory PIO flat cable (Refer to P.8) <Model number: CB-PAC-PIO00> Standard: m PLC Protective grounding <Actuator for Additional Axis> (Can be connected to a SCARA robot of -axis ) Integrated motor-encoder cable (Refer to P.7) <Model number: CB-PSEP-MPA > Standard: m / m / 5m Supplied with the actuator Electromagnetic contactor Expansion PIOs/various field networks Supplied with expansion PIO PIO flat cable (Refer to P.8) <Model number: CB-PAC-PIO00> Standard: m * Wire the emergency stop switch, enable switch, electromagnetic contactor, etc., as necessary. The same applies to the factory settings (shorting). Actuator RCP series Integrated motor-encoder cable (Refer to P.8) <Model number: CB-RPSEP-MPA > Standard: m / m / 5m Supplied with the actuator Integrated motor-encoder cable (Refer to P.7) <Model number: CB-CA-MPA > <Model number: CB-CA-MPA -RB> Standard: m / m / 5m Supplied with the actuator Actuator, RCP small rotary Integrated motor-encoder cable (Refer to P.7) <Model number: CB-APSEP-MPA > Standard: m / m / 5m Supplied with the actuator Actuator RCP series Integrated motor-encoder cable (Refer to P.7) <Model number: CB-CAN-MPA > <Model number: CB-CAN-MPA -RB> Standard: m / m / 5m Supplied with the actuator Actuator RCP series Actuator RCP5 series

14 MSEL Controller Basic Controller Specifications Specification item Contents Power-supply input voltage Single-phase 00 to 0 VAC±0% Power-supply current.9a typ. (AC00V),.A typ. (AC00V),.A typ. (AC0V) Power-supply frequency range 50/60Hz±5% Motor type Pulse motor (servo control) Supported encoder Incremental encoder / Battery-less absolute encoder Data storage device FlashROM/FRAM Number of program steps 9,999 Number of positions 0,000 Number of programs 55 Number of multitasks 6 Operation mode Serial communications Program Communication method RS (asynchronous communications) SIO interface Baud rate 9.6, 9., 8., 57.6, 76.8, 5.kbps Live wire TP port connection USB Number of input points 6 points Input voltage DCV±0% Standard PIO interface Input Specification Output Compliant expansion I/O interface Calendar/clock function Retention time Charge time Input current ON voltage OFF voltage Leak current Insulation method Number of output points Load voltage 7mA/circuit Min.DC6V Max.DC5V Allowable leak current: ma max. Photocoupler insulation 6 points DCV±0% Maximum current 00mA per point, 00mA per 8 points Note Saturated voltage Max.V Leak current Max.0.mA Insulation method Photocoupler insulation Expansion PIO NPN (6IN/6OUT) CC-Link (remote device station) DeviceNet PROFIBUS-DP EtherNet/IP Approx. 0 days Approx. 00 hours (fully charged) * Data can be retained even when the batteries are not fully charged. Protective functions Overcurrent, abnormal temperature, fan speed low monitoring, encoder disconnection, etc. Operating temperature range 0~0 C Operating humidity range 85% RH max. (non-condensing, non-freezing) Installation Installation direction Installed vertically (exhaust side up) Installation method Mounted with screws or using a DIN rail Rush current 5A typ. (00 V AC), 0A typ. (00 V AC): 5ms max. (Ambient temperature 5 C/ No cycling of the power) Air cooling method Forced air cooling External dimensions Width 0mm x Height 95mm x Depth 5mm Mass Approx.,00g Note : The total load current shall be 00mA for every eight points from standard I/O No. 6. (The maximum current per point shall be 00mA.)

15 MSEL Controller PIO Signal Chart Pin Layouts for Standard PIO Connector/Expansion PIO Connector Pin No. Category Assignment Pin No. Category Assignment A V P B OUT0 A V P B OUT A B OUT A B OUT 5A IN0 5B OUT 6A IN 6B OUT5 7A IN 7B OUT6 8A IN 8B OUT7 Output 9A IN 9B OUT8 0A IN5 0B OUT9 A IN6 B OUT0 A IN7 B OUT Input A IN8 B OUT A IN9 B OUT 5A IN0 5B OUT 6A IN 6B OUT5 7A IN 7B 8A IN 8B 9A IN 9B 0V N 0A IN5 0B 0V N Internal Circuits for Standard I/Os (NPN Specifications) [Input section] External input s (NPN s) Item Specifications Input voltage DCV ±0% Input current 7mA/circuit On/Off voltage On voltage Min. 6.0 VDC, Off voltage Max. 5.0 VDC Insulation method Photocoupler insulation * The port numbers in the circuit diagram below represent the factory-set port numbers. * When the input is off, the allowable leak current is ma max. [Output section] External output s (NPN s) Item Specifications Load voltage DCV ±0% Maximum load current 00mA/point, 00mA/8 points Note) Leak current Max. 0.mA/point Insulation method Photocoupler insulation Uses TD608 (or equivalent). * The port numbers in the circuit diagram below represent the factory-set port numbers. Note: The total load current shall be 00 ma for every eight points from standard I/O No. 6. (The maximum current per point shall be 00mA.) [Output circuit] Pin Nos. A, A [Output circuit] Pin Nos. A, A Internal circuit 560Ω.kΩ Input terminal Port Nos. 06 to 0 External power supply DCV ±0% Internal circuit D 0Ω Output terminal Load Port Nos. 6 to Pin Nos. 9B, 0B External power supply DCV ±0% * For the standard IOs (PNP s), refer to the operation manual. Internal Circuits for Expansion I/Os (NPN Specifications) [Input section] External input s Item Specifications Number of input points 6 points Input voltage DCV ±0% Input current ma/circuit On/Off voltage On voltage Min. 8 VDC (.5mA) Off voltage Max. 6.0 VDC (ma) Insulation method Photocoupler insulation [Output section] External output s Item Specifications Number of output points 6 points Rated load current DCV ±0% Maximum current 50mA/circuit Insulation method Photocoupler insulation [NPN ] P Each input Each input 0V 5.6kΩ Logic circuit Internal circuit [NPN ] Internal circuit 5 P Output terminal N Load External power supply

16 MSEL Controller Name of Each Part Mode switch Brake release switch Teaching connector * Motor/encoder connector Power connector MPG MPG MPG MPG USB connector System I/O connector Standard I/O connector (I/O) Expansion I/O connector (I/O) Motor drive power line connector *: Do not connect a wrong motor to the MPG, MPG, MPG or MPG connector. It may cause malfunction or failure. External dimensions Screw fixing DIN rail mounting φ ø.5 (75mm from the center of DIN rail) (0.9) 5

17 MSEL Controller Options Touch Panel Teaching Pendant Features A teaching device offering program/ position input, trial operation and monitoring functions. Model number TB-0-SJ * This model is the standard with connector conversion cable. If you are interested in the deadman switch, specify the model number of the applicable teaching pendant (TB-0D-N/TB- 0DR-N) and that of the cable (CB-TB-X050-JS). Configuration Dummy Plug Features This plug is required for the safety category (MSEL-PGX) and when the MSEL is operated using a USB cable. (The MSEL-PGX type and PC Software IA-0-X-USBS come with this dummy plug.) Model number DP-S 5m The MSEL-PCX/PGX are supported by Ver..0 or later. Connector conversion cable Features This cable is used to convert the D-sub 5-pin connector of the teaching pendant or RSC cable to the MSEL teaching connector. (The TB-0-SJ and IA-0-X-MW-JS come with this connector conversion cable.) Model number CB-SEL-SJS00 PC Software (Windows Only) Features The startup support software provides program/position input, test operation and monitoring functions, among others. With its enhanced functions required for debugging, this software helps shorten the startup time. Model number IA-0-X-MW-JS (RSC cable + Connector conversion cable) Configuration 5m 0.m RSC cable CB-ST-EMW050-EB Connector conversion cable CB-SEL-SJS00 Model number IA-0-X-USBS (USB cable + Dummy plug) Configuration Dummy plug DP-S m USB cable CB-SEL-USB00 The MSEL-PCX/PGX are supported by Ver or later. The CB-ST-EMW050-EB cannot be used when Building an enable system that uses a system I/O connector and external power supply or Building a redundant safety circuit. (The CB-ST-AMW050-EB must be used instead.) 6

18 MSEL Controller Service Parts Model number () () () (Front view) Actuator side Model number (0) (0) (Front view) Actuator side Model number (0) (8) (Front view) Actuator side CB-CAN-MPA Integrated Motor-Encoder Cable for CB-CAN-MPA -RB Integrated Motor-Encoder Robot Cable IXP/RCP5/RCD (8) L (ø8.5) (Note ) Minimum bending radius 5m or less length R = 68mm or more (for moving parts) Longer than 5m R = 7mm or more (for moving parts) L (ø8.5) (Note ) Minimum bending radius 5m or less length R = 68mm or more (for moving parts) Longer than 5m R = 7mm or more (for moving parts) * The robot cable is designed for flex-resistance: Please use the robot cable if the cable has to be installed through a cable track. (Note ) If the cable is 5m or longer, ø9. cable diameter applies for a non-robot cable and ø0 for a robot cable. * The robot cable is designed for flex-resistance: Please use the robot cable if the cable has to be installed through a cable track. (0) (Front view) Controller side (0) (6) (6) Controller side * Please indicate cable length (L) in, maximum 0m. e.g.) 080 = 8m Pin No. Signal name Pin No. Signal name øa/u VMM/V ø_a/w øb/ VMM/ ø_b/- 5 6 øa/u VMM/V ø_a/w øb/ VMM/ ø_b/ 8 LS+/BK+ 7 LS+/BK+ LS /BK S LS-/BK /A+ /A- A+/B+ A /B- B+/Z+ B /Z- 5 6 /A+ /A- A+/B+ A /B- B+/Z+ B /Z- 0 BK+/LS+ 9 BK+/LS+ BK /LS- 0 BK /LS- LS_GND 7 LS_GND 7 S 9 VPS VCC GND BAT+ FG 9 S 0 VPS VCC GND BAT+ FG CB-CA-MPA Integrated Motor-Encoder Cable for CB-CA-MPA -RB Integrated Motor-Encoder Robot Cable Additional Axis RCP (Note ) If the cable is 5m or longer, ø9. cable diameter applies for a non-robot cable and ø0 for a robot cable. * Please indicate cable length (L) in, maximum 0m. e.g.) 080 = 8m Actuator side Controller side PADP-V--S (AMP) (JST) Pin No. Signal name Pin No. Signal name A B A B A B A B A6 B6 A7 B7 A8 B8 A5 B5 A9 B9 A0 B0 A B Actuator side Pin No. A B A B A B A B A6 B6 A7 B7 A8 B8 A5 B5 A9 B9 A0 B0 A B øa/u VMM/V ø_a/w øb/ VMM/ ø_b/ LS+/BK+ LS /BK- /A+ /A- A+/B+ A /B- B+/Z+ B /Z BK+/LS+ BK /LS- LS_GND VPS VCC GND FG [PCON] (ACON) [øa] (U) [VMM] (V) [ø/a] (W) [øb ] ( ) [VMM] ( ) [ø/b] ( ) [LS+] (BK+) [LS ] (BK-) [ ] (A+) [ ] (A-) [A+] (B+) [A ] (B-) [B+] (Z+) [ B ] (Z ) [BK+] (LS+) [BK ] (LS ) [GNDLS] (GNDLS) [VPS] (VPS) [VCC] (VCC) [GND] (GND) Shield [FG] (FG) øa/u VMM/V ø_a/w øb/ VMM/ ø_b/ LS+/BK+ LS /BK- /A+ /A- A+/B+ A /B- B+/Z+ B-/Z- BK+/LS+ BK /LS LS_GND VPS VCC GND FG CB-APSEP-MPA -LC Integrated Motor-Encoder Cable for CB-APSEP-MPA Integrated Motor-Encoder Robot Cable Additional Axis RCP/RCA, etc. * Please indicate cable length (L) in, maximum 0m. e.g.) 080 = 8m (5) Minimum bending radius (ø8.5) L R = 68mm or more (for moving parts) * The robot cable is designed for flex-resistance: Please use the robot cable if the cable has to be installed through a cable track. (0) (6) Controller side Controller side Pin No Model number () (5) (5) (0) (5) () (Front view) Actuator side CB-PSEP-MPA Minimum bending radius Integrated Motor-Encoder Robot Cable L (ø8.5) R = 68mm or more (for moving parts) * Please indicate cable length (L) in, maximum 0m. e.g.) 080 = 8m Actuator side Pin No. (0) Controller side (6) st Connector nd Connector 5 6 for Additional Axis RCP [øa] [VMM] [ øb] [VMM] [ø/a] [ø/b] [BK+] [BK ] [LS+ ] [LS ] [A+ ] [A ] [B+] [B ] [VCC] [VPS] [GND] [(Spare)] Shield [FG] Controller side Pin No

19 MSEL Controller Model number (0) (8) (Front view) Actuator side Model number No connector No connector CB-RPSEP-MPA (5) Minimum bending radius CB-PAC-PIO Flat cable (0-core) x L L Integrated Motor-Encoder Robot Cable (ø8.5) R = 68mm or more (for moving parts) PIO Flat Cable B A A0 A B0 B Half-pitch MIL socket: HIF6-0D-.7R (Hirose) for Additional Axis RCP-RTBS/RTBSL/RTCS/RTCSL * Please indicate cable length (L) in, maximum 0m. e.g.) 080 = 8m Actuator side Pin No. Controller side Pin No. (0) A B A B A B A6 B6 A7 B7 A8 B8 [øa] [VMM] [ø/a] [øb] [VMM] [ø/b] [LS+] [LS ] [A+] [A ] [B+] [B ] A B Controller side A5 [BK+] 9 B5 [BK ] 0 A9 B9 A0 B0 A B [GNDLS] [VPS] [VCC] [GND] Shield[FG] (FG) (6) for MSEL/PCON-CA/MSEP-LC * Please indicate cable length (L) in, maximum 0m. e.g.) 080 = 8m HIF6-0D-.7R No. Signal name Cable color Wiring No. Signal name Cable color Wiring V V Brown- Red- B B OUT0 OUT Brown- Red- Orange- B OUT Orange- Yellow- B OUT Yellow- Green- Blue- B5 B6 OUT OUT5 Green- Blue- Purple- B7 OUT6 Purple- Gray- Flat B8 OUT7 Gray- Flat White- cable B9 OUT8 White- cable Black- (crimped) B0 OUT9 Black- (crimped) Brown- AWG8 B OUT0 Brown- AWG8 Red- Orange- B OUT B OUT Red- A A A A A5 A6 A7 A8 A9 A0 A A A A A5 A6 A7 A8 A9 A0 IN0 IN IN IN IN IN5 IN6 IN7 IN8 IN9 IN0 IN IN IN IN IN5 Yellow- Green- Blue- Purple- Gray- White- Black- B OUT B5 OUT B6 OUT5 B7 B8 B9 0V B0 0V Orange- Yellow- Green- Blue- Purple- Gray- White- Black- Reference for SCARA Robot Acceleration/Deceleration Settings If the robot must be operated continuously, make sure its operations fall within the ranges of the reference graphs for acceleration/deceleration setting and duty cycle setting. PTP Move The maximum speed and acceleration/deceleration at which the robot can operate carrying the applicable load are applied as 00% (optimal speed & optimal acceleration/deceleration function). Make adjustments so that the target speed and acceleration/deceleration can be achieved. Notes The optimal speed & optimal acceleration/deceleration function does not guarantee robot operation in all operation patterns. If significant vibration generates, reduce the speed and/or acceleration/deceleration because the robot may fail or die prematurely. Acceleration/deceleration in PTP move [%] Load [kg] Maximum speed in PTP move=00% CP Move Set the speed and acceleration/deceleration at or below the applicable values according to the graph on the right. Notes If significant vibration generates, reduce the speed and/or acceleration/deceleration because the robot may fail or die prematurely. Duty Cycle Setting The duty cycle refers to a utilization ratio expressed by the percentage of the robot operating time per cycle. For this robot, the duty cycle is limited according to the ambient temperature in order to suppress heat generation from the motor unit and reduction gears. In both PTP move and CP move, the maximum value according to the graph on the right must not be exceeded. Also remember to complete a continuous operation within 0 minutes. Notes The duty cycle must not exceed the maximum limit, as it may significantly reduce the life of the motor unit or reduction gears. Acceleration/deceleration in CP move [G] Duty [%] Load [kg] Maximum speed in CP move = 70mm/sec Ambient temperature [ºC] 8

20 CJ09-A-UST--08 IAI America, Inc. Headquarters: 690 W. 7th Street, Torrance, CA (800) 76-7 Chicago Office: 0 East State Parkway, Schaumburg, IL 607 (800) 9-0 Atlanta Office: 0 Kennestone Circle, Suite 08, Marietta, GA 0066 (888) The information contained in this product brochure may change without prior notice due to product improvements. IAI Industrieroboter GmbH Ober der Röth, D-658 Schwalbach am Taunus, Germany IAI Robot (Thailand), CO., Ltd. 85 PhairojKijja Tower th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 060, Thailand