Horizontal Articulated SCARA Robot Basic / High-Power Specification. New. XSEL-PX/QX Controller. Controller. www. inte lligentactua tor.

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1 GB Horizontal rticulated SCR Robot Basic / HighPower Specification New Highpower 4VC 3~23 s VC New s for LargeCapacity for 2.4 KW XSELPX/QX www. inte lligentactua tor.de

2 SCR robot IX SCR Robot Series Index Table of Specifications/Precautions Type NNN Series The standard type combines the best performance and userfriendliness in its class. The wide selection of arm s (from a minimum of 2 mm to a maximum of 8 mm) provides the variety to accommodate a wide range of applications. rm * 2mm IXNNN21[H] 3mm IXNNN31[H] mm IXNNN2[H] (3[H]) 6mm IXNNN62[H] (63[H]) 7mm IXNNN72[H] (74[H]) 8mm IXNNN82[H] (84[H]) *[H]: Highpower specification Page P9 P1 P11 P12 P13 P14 HighSpeed Type NSN Series The high type offers enhanced performance at high operation by combining a highoutput motor with the standard body. This contributes to reduced s. rm mm 6mm * IXNSN16[H] IXNSN616[H] Page P1 P16 *[H]: Highpower specification Dustproof/Splashproof Type NNW Series The dustproof/splashproof type adopts a protective structure conforming to IP6. This robot can be used in environments subject to powder dust or water splashes. rm * Page 2mm 3mm mm 6mm 7mm 8mm IXNNW21[H] IXNNW31[H] IXNNW2[H] (3H) IXNNW62[H] (63[H]) IXNNW72[H] (74[H]) IXNNW82[H] (84[H]) P17 P18 P19 P2 P21 P22 *[H]: Highpower specification Wall Mount type TNN Series This robot is mounted on a wall for operation. The space below the robot can be utilized effectively, so you will have more freedom in designing your equipment. rm 3mm 3mm * IXTNN31[H] IXTNN31[H] Page P23 P24 *[H]: Highpower specification 1 IX SCR Robot Index

3 SCR robot Description of Items Wall Mount Inverse Type UNN Series This is the same as the wall mount type (TNN), but it is installed upside down. This is ideal for applications where the robot must handle loads from above. rm 3mm 3mm * IXUNN31[H] IXUNN31[H] Page P23 P24 *[H]: Highpower specification Ceiling Mount Type HNN Series This robot is mounted on a ceiling for operation. The space below the robot can be utilized effectively, so you will have more freedom in designing your equipment. rm mm 6mm 7mm 8mm * IXHNN2[H] IXHNN62[H] IXHNN72[H] (74[H]) IXHNN82[H] (84[H]) Page P2 P26 P27 P *[H]: Highpower specification Inverse type INN Series This is the same as the ceiling mount type (HNN), but it is installed upside down. This is ideal for applications where the robot must handle loads from above. rm mm 6mm 7mm 8mm * IXINN2[H] IXINN62[H] IXINN72[H] (74[H]) IXINN82[H] (84[H]) Page P2 P26 P27 P *[H]: Highpower specification Clean Room Type NNC Series This robot generates minimal particles and is ideal for operation in a clean room environment. The air inside the robot can be vacuumed if conformance to ISO cleanliness class 4 is required. rm * 2mm IXNNC21[H] 3mm IXNNC31[H] mm IXNNC2[H] (3[H]) 6mm IXNNC62[H] (63[H]) 7mm IXNNC72[H] (74[H]) 8mm IXNNC82[H] (84[H]) *[H]: Highpower specification Page P29 P3 P31 P32 P33 P34 IX SCR Robot Index 2

4 SCR robot Index IX SCR Robot Series Table of Specifications/Precautions Outstanding userfriendliness, lineup and cost performance Greatly reduced of new 3phase highpower type IXH The IX series achieves bestinclass specifications in every aspect from high performance and load to repeated positioning accuracy. 1 2 New Highest Speed, Load Capacity and ccuracy in Its Class :.29/. sec. range (*1) Repeated positioning accuracy: ±.1mm/±. (*2) load : 2 kg (*3) *1 The standard refers to the of time for the arm to cycle back and forth over a vertical distance of 2 mm and a horizontal distance of 3 mm (rough positioning). This is based on an arm of for the bacic/highpower high type NSN. *2 ±.1 mm/±. if the arm is 7/8 *3 Based on an arm of 7/8 3mm (12 Inch) 2mm (1 Inch) Optimum cceleration Function* By entering conditions, such as the transfer mass, and specifying the optimum acceleration for those conditions, operation at the minimum can easily be achieved. 4Greater Ease of Use n easily accessible Dsub/2pin connector is provided on top of the robot for user connections.two Ø4 and two Ø6 tube connectors are also available for any user tubing needs. In addition, the brakerelease switch on the robot allows you to release the brake even after the controller has been turned off.(*1) The alarm indicator alerts you of errors that occur on the robot.(*2) larm indicator Ø4 joint Ø6 joint Ø4 joint User connector Brakerelease switch Spacer *1 24 VDC power must be supplied regardless of whether or not the brakerelease switch is used. *2 In order to use the alarm indicator, it must be wired by the user. 3 Improved Fast acceleration (deceleration) with a light load *Only highpower specification type Slow acceleration (deceleration) with a heavy load Tracing ccuracy and Interpolation Function The IX Series offers greatly improved tracing accuracy as a result of a more rigid body construction in addition to a higher controller processing. The robot can also perform threedimensional arc/pass motions to allow for easy and accurate dispensing operations. P1 start position P2 end position Command Operation 1 Operation 2 Path movement consisting of many points can be PTH P1 P2 implemented with a single line in the program. Easy Programming The IX Series uses programs written in the Super SEL language, a wellestablished command language used by Cartesian robots. With Super SEL, complex operations can be programmed easily, allowing programs to be created quickly without prior knowledge of robot language. 6Zxis Push Motion Function With the Zaxis (vertical axis) push motion function, the robot can pressfit loads or control the torque. 7Simple Interference Check Zone Function maximum of 1 interference check zones can be set within the robot s work envelope. Since a signal is output when a load enters a check zone, this function is useful for conducting test operations at low. *The load must remain inside a zone for at least msec to ensure accurate detection. 3 IX SCR Robot

5 SCR robot Description of Items 8New uto Speed Control by Zxis Position* The automatically calculated robot prevents plasticity deformation of ball screw spline according to the zaxis position. Fast movement at upper zaxis position *Only highpower specification type 9Complete bsolute Operation ll models adopt a 17bit serial absolute encoder; therefore, accurate positioning can be performed without homing each time. If the need arises, an absolute reset can be performed easily and accurately using a dedicated jig. (Refer to Robot Options on p. 36.) 1 New Improved Robot Motion* The IXH 3phase highpower type is matching the acceleration/deceleration time at the PTP motion. smooth 1step movement is being achieved against to the conventional 1phase basicpower type with more agitated 2step motion of robot arm 1 and 2. VELOCITY rm 1 Slow movement at lower zaxis position *Only highpower spec. type 11Widest Variations in the Industry The IX Series provides the following variations: Type HighSpeed Type Clean Room Type Dustproof/Splashproof Type Ceiling Mount Inverse Type The five types listed above are suitable for a wide range of applications. 12 Controlling SCR Robots plus 2 dditional xes The XSELPX/QX can control SCR robots plus up to two axes in a combination of singleaxis and/or cartesian robots (total wattage: 24 W). If the SCR robot has an arm of /6, two 7 W axes can be operated together. 2 axes 1 program 4 axes 13 RoboCylinder Gateway Function Up to 16 RoboCylinder axes can be additionally operated via serial communication using the gateway function. RoboCylinders can be operated using SEL language programs. You can also change the position data of your RoboCylinder or read the current RoboCylinder position VELOCITY CC/DEL Time Match positioning time cceleration/deceleration of conventional IX type rm 1 Matching CC/DEL Time Match positioning time cceleration/deceleration of highpower IX type TIME TIME Example: SCR robot chuck consisting of a RC Gripper using the gateway function 14 Conveyor Tracking Function (Optional) For SCR robots with an arm lenght of /6 the SCR controller PX/QX can be configured to detect works on the conveyor using a vision system and handle them synchronously with the conveyor movement. Works Camera IX SCR Robot 4

6 SCR robot Index IX SCR Robot Series Table of Specifications/Precautions Table of Specifications IX Basicpower 1phase SCR Robot Series Type NNN High Speed Type NSN Dustproof/ Splash proof Type NNW Wall Mount type TNN Wall Mount Inverse Type UNN Ceiling Mount Type HNN Inverse type INN Clean Room Type NNC Type rm and maximum composite () 2 mm mm mm mm (*2) Vertical axis stroke (*1) Rated Option (kg) (kg) range range (*1) The standard s have been measured under the following conditions. (rm 2 to 6) Reciprocating movement of a 2 kg load over a vertical distance of 2 mm and a horizontal distance of 3 mm (rm 7/8) Reciprocating movement of a kg load over a vertical distance of 2 mm and a horizontal distance of 3 mm (*2) The rated load refers to the maximum load that can be carried at the maximum. The maximum load refers to the maximum load that can be carried at a reduced acceleration ratio. IX SCR Robot Table of Specifications 7 mm 8 mm IXNNN21 IXNNN31 IXNNN2 (3) IXNNN62 (63) IXNNN72 (74) IXNNN82 (84) IXNSN16 IXNSN616 IXNNW21 IXNNW31 IXNNW2 (3) IXNNW62 (63) IXNNW72 (74) IXNNW82 (84) IXTNN31 IXTNN31 IXUNN31 IXUNN31 IXHNN2 IXHNN62 IXHNN72 (74) IXHNN82 (84) IXINN2 IXINN62 IXINN72 (74) IXINN82 (84) IXNNC21 IXNNC31 IXNNC2 (3) IXNNC62 (63) IXNNC72 (74) IXNNC82 (84) Page P9 P1 P11 P12 P13 P14 P1 P16 P17 P18 P19 P2 P21 P22 P23 P24 P23 P24 P2 P26 P27 P P2 P26 P27 P P29 P3 P31 P32 P33 P34

7 SCR robot Description of Items Table of Specifications IXH Highpower 3phase SCR Robot Series Type NNN High Speed Type NSN Dustproof/ Splash proof Type NNW Wall Mount type TNN Wall Mount Inverse Type UNN Ceiling Mount Type HNN Inverse type INN Clean Room Type NNC Type rm and maximum composite () 2 mm mm mm mm (*2) Vertical axis stroke (*1) Rated Option (kg) (kg) range range (*1) The standard s have been measured under the following conditions. (rm 2 to 6) Reciprocating movement of a 2 kg load over a vertical distance of 2 mm and a horizontal distance of 3 mm (rm 7/8) Reciprocating movement of a kg load over a vertical distance of 2 mm and a horizontal distance of 3 mm (*2) The rated load refers to the maximum load that can be carried at the maximum. The maximum load refers to the maximum load that can be carried at a reduced acceleration ratio. 7 mm 8 mm IXNNN21H IXNNN31H IXNNN2H (3H) IXNNN62H (63H) IXNNN72H (74H) IXNNN82H (84H) IXNSN16H IXNSN616H IXNNW21H IXNNW31H IXNNW2H (3H) IXNNW62H (63H) IXNNW72H (74H) IXNNW82H (84H) IXTNN31H IXTNN31H IXUNN31H IXUNN31H IXHNN2H IXHNN62H IXHNN72H (74H) IXHNN82H (84H) IXINN2H IXINN62H IXINN72H (74H) IXINN82H (84H) IXNNC21H IXNNC31H IXNNC2H (3H) IXNNC62H (63H) IXNNC72H (74H) IXNNC82H (84H) Page P9 P1 P11 P12 P13 P14 P1 P16 P17 P18 P19 P2 P21 P22 P23 P24 P23 P24 P2 P26 P27 P P2 P26 P27 P P29 P3 P31 P32 P33 P34 IX SCR Robot Table of Specifications 6

8 SCR robot Index IX SCR Robot Series Table of Specifications/Precautions Notes IX SCR Robot Series Repeated positioning accuracy Repeated positioning accuracy refers to the positioning accuracy from the same start position to a single set position during repeated operation at the same and acceleration and with the same arm. (The values were measured at a constant ambient temperature of 2 C.) This is not the same as absolute positioning accuracy. Note that the repeated positioning accuracy may be out of specification if the arm is changed, if the positioning is from multiple different positions to a single set position, or if the conditions, such as the and acceleration settings, are changed. The specifications for the maximum represent the with PTP command operation. Note that high movement will be ed with CP command operation (interpolated movement). In addition, movement at the descending end on a vertical axis requires appropriate reduction in and acceleration. refers to the time required to cycle back and forth at maximum under the following conditions. This is a general estimate of the high performance (rough positioning). (rm 2~6) 2 kg load; vertical distance: 2 mm; horizontal distance: 3 mm (rm 7/8) kg load; vertical distance: 2 mm; horizontal distance: 3 mm <Note> The standard is the required of time when at maximum ; however, the robot cannot operate continuously at maximum. Horizontal movement Vertical movement (Note 4) (Note ) rm 3 (vertical axis) push force (Note 6) xis 4 allowable inertial moment (Note 7) larm indicator (Note 8) Brakerelease switch (Note 9) Cable cceleration settings is the maximum mass that can be transferred. Specifications are listed for the rated load and the maximum load. The rated load is the maximum mass that can be transferred at maximum and maximum acceleration. The maximum load is the maximum mass that can be transferred at a reduced and acceleration. When transferring a load between the rated load and the maximum load, an appropriate reduction in acceleration is required. xis 3 push force is the push force applied by the tip of the vertical axis. The maximum of the push force is 7% and 6% with the high type. (The value noted under the 'maximum ' column in the product specification section reflects this) The minimum of the push force is 4% of the maximum push force. The setting can be specified between 4% and 7% (4% and 6% for the high type) of the maximum. xis 4 allowable inertial moment is the allowable inertial moment of axis 4 (rotating axis) of the SCR robot as calculated at the center of rotation. The offset from the center of rotation of axis 4 to the tool s gravity center must be within 4 mm. If the tool's gravity center is further away from the center of axis 4, an appropriate reduction in and acceleration is required. The alarm indicator is located on top of arm 2 of the SCR robot. The alarm indicator can be wired to illuminate in certain conditions, such as when the controller generates an error. In order to use the alarm indicator, the user must provide a circuit that responds to the controller's I/O output signal by supplying 24 VDC to the applicable LED terminal in the user wiring. The brakerelease switch is also located on top of arm 2 of the SCR robot, near the alarm indicator. In order to release the brake, 24 VDC power must be supplied, regardless of whether or not the brakerelease switch is used. (Supply 24 VDC from a dedicated power supply separate from the 24 VDC power used to drive the I/O.) The motor and encoder cables of the SCR robot are directly connected to the robot. The IX Series does not use cable joints; therefore, changing the cable on the delivered robot will be difficult. Select either m (code L) or 1 m (code 1L) as the desired cable when ordering. (The air tube is 1 mm.) When performing an absolute reset or changing the arm, be careful that no peripherals will obstruct the arm when it fully extends. SCR robots operate at 1% of the maximum acceleration allowable for operation with each transfer mass. If vibrations or overload errors occur, reduce the acceleration appropriately. (Operating times differ with different transfer masses, even with the same acceleration and settings.) *For reference acceleration settings, refer to p. 4. * through (Note 9) correspond to notations on other pages of this document. 7 IX SCR Robot Precautions

9 SCR robot IX SCR Robot Series Description of Items Refer to the opposite page for details on each item in the model number ( through ). The selection range for each item varies depending on the robot type. For details, refer to the page corresponding to each type. IX 21/31/ /6 /7 /8 basicpower series [IX 21H/31H/ H/6 H/7 H/8 H highpower series] Series Type Cable pplicable controller IX SCR robot L m (standard) T2 XSELPX/QX 1L 1m NNN NSN NNW TNN 21[H] 31[H] 2[H] 3[H] 62[H] 63[H] 72[H] 74[H] 82[H] 84[H] 16[H] 616[H] 21[H] 31[H] 2[H] 3[H] 62[H] 63[H] 72[H] 74[H] 82[H] 84[H] 31[H] 31[H] / TableTop Type HighSpeed Type Dustproof/ Splashproof Type Wall Mount type rm 2mm rm 3mm rm mm rm 6mm rm 7mm rm 8mm rm mm rm 6mm rm 2mm rm 3mm rm mm rm 6mm rm 7mm rm 8mm rm 3mm rm 3mm Vertical axis 1mm Vertical axis 1mm Vertical axis mm Vertical axis 3mm Vertical axis mm Vertical axis 3mm Vertical axis mm Vertical axis 4mm Vertical axis mm Vertical axis 4mm Vertical axis 16mm Vertical axis 16mm Vertical axis 1mm Vertical axis 1mm Vertical axis mm Vertical axis 3mm Vertical axis mm Vertical axis 3mm Vertical axis mm Vertical axis 4mm Vertical axis mm Vertical axis 4mm Vertical axis 1mm Vertical axis 1mm Series Indicate the name of each series. Type Indicate the type (standard/tabletop, high, dustproof/splashproof, wallmount, ceilingmount or clean room), arm and Zaxis. NNN /TableTop Type NSN HighSpeed Type Dustproof/Splashproof Type TNN Wall Mount type UNN Wall Mount Inverse Type HNN Ceiling Mount Type INN Ceiling Mount Inverse Type NNC Clean Room Type NNW UNN 31[H] 31[H] Wall Mount Inverse Type rm 3mm rm 3mm Vertical axis 1mm Vertical axis 1mm Cable HNN 2[H] 62[H] 72[H] 74[H] 82[H] 84[H] Ceiling Mount Type rm mm rm 6mm rm 7mm rm 8mm Vertical axis mm Vertical axis mm Vertical axis mm Vertical axis 4mm Vertical axis mm Vertical axis 4mm Indicate the of cable connecting the robot and the controller. Select from two s: m (standard) and 1 m. INN 2[H] 62[H] 72[H] 74[H] 82[H] 84[H] Inverse type rm mm rm 6mm rm 7mm rm 8mm Vertical axis mm Vertical axis mm Vertical axis mm Vertical axis 4mm Vertical axis mm Vertical axis 4mm pplicable controller Indicate the type of controller to be connected. T2:XSELPX/QX NNC 21[H] 31[H] 2[H] 3[H] 62[H] 63[H] 72[H] 74[H] 82[H] 84[H] Clean Room Type rm 2mm rm 3mm rm mm rm 6mm rm 7mm rm 8mm Vertical axis 1mm Vertical axis 1mm Vertical axis mm Vertical axis 3mm Vertical axis mm Vertical axis 3mm Vertical axis mm Vertical axis 4mm Vertical axis mm Vertical axis 4mm IX SCR Robot Description of Items 8

10 SCR robot IXNNN21[H] items IX NNN21[H] T2 Small SCR robot, type rm 2mm, Vertical axis 1mm [Highpower specification] Series Type Cable pplicable controller /Specifications type rm 2mm Vertical axis1 mm L : m (standard) 1L : 1 m xis configuration rm Work envelope Repeatability IXNNN21[H] T2 xis 1 xis 2 rm ±12 ±13 ±.1 (XY) xis 3 Vertical axis 1 1mm ±.1 xis 4 Rotating axis ±36 ±. *In the model number above, specify the cable in. *[ ] indicates the highpower specification type 3142 [3191] (Composite ) 116 [1316] Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 llowable inertial moment (kg m2) (Note 6) llowable torque (N. m) [.4] [111.] [8.] 16 /s *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/deceleration Settings on page 44. bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 1conductor WG26 Dsub/1pin connector with shield (socket) 17.1Kg ir tube (O.D. ø4, I.D. ø2.) x 3 (Normal working pressure.8 MPa) pplicable controller larm indicator (Note 7) Cable (Note 9) L: m (standard), 1L: 1 m (optional) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) The CD drawings can be 92. 2φ8 H7 (intersection between reamer holes ±.2 mm) 13 rm 1 stopper CD φ4 (red) Red LED (*2) φ4 (black) φ4 (white) Brakerelease switch User connector 12 stopper (424.) φ9 φ16 counterbore, depth. 12 R2 R R 1.7 R12 12 User spacer O.D. φ7 height 1, M4, depth (*1) 7 4 (Mechanical end) 249. (167) Operation prohibited area φ3 8 1 φ11 (I.D.) φ16h7( ).18 Detailed view of tip ST (Mechanical end) φ Reference surface Tapped hole for installation of peripheral (4M4, depth 12), same on the other side (697) Tslot for installation of peripheral (M3, M4) *1: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. Maintain at 1 mm Cables/tubes or more /encoder cable m/1 m Brake power cable m/1 m cable m/1 m ir tube (3 pcs).1m pplicable Specifications pplicable I/O points (inputs/outputs) 6 axes, XSELPX###2[3] 16 [24] W 192/192 points XSELQX###2[3] Powersupply voltage SinglePhase [Threephase] 23 VC Reference page p. 37 *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. 9 IXNNN21[H]

11 IXNNN31[H] items IX NNN31[H] T2 Small SCR robot, type rm 3mm, Vertical axis 1mm [Highpower specification] SCR robot Series Type Cable pplicable controller /Specifications type rm 3mm Vertical axis 1mm L : m (standard) 1L : 1 m xis configuration IXNNN31[H] T2 xis 1 xis 2 xis 3 rm 1 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. rm Work envelope ±12 ±13 1mm ±36 Repeatability ±.1 (XY) ±.1 ±. *[ ] indicates the highpower specification type 3973 [442] (Composite ) 116 [1316] 16 /s.3 [.42] Rated 1 3 xis 3 (vertical axis) push force (N) (Note ) 9.9 [111.] 47. [8.] xis 4 llowable inertial moment (kg m2) (Note 6) llowable torque (N. m) *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 1conductor WG26 Dsub/1pin connector with shield (socket) 18.2Kg ir tube (O.D. ø4, I.D. ø2.) x 3 (Normal working pressure.8 MPa) pplicable controller larm indicator (Note 7) Cable (Note 9) L: m (standard), 1L: 1 m (optional) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) The CD drawings can be φ8 H7 (intersection between reamer holes ±.2 mm) rm 1 stopper CD φ4 (red) Red LED (*2) φ4 (black) User spacer O.D. φ7 height 1, M4, depth (*1) 7 φ4 (white) Brakerelease switch User connector 12 4 (Mechanical end) stopper 1 (24.) φ9 φ16 counterbore, depth. (167) R3 R R12 16 Operation prohibited area R φ φ11 (I.D.) φ16h7(.18 ) Detailed view of tip ST (Mechanical end) φ Tapped hole for installation of peripheral (4M4, depth 12), same on the other side (697) Tslot for installation of peripheral (M3, M4) *1: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. Maintain at 1 mm or more Cables/tubes /encoder cable m/1 m Brake power cable m/1 m cable m/1 m ir tube (3 pcs).1m pplicable Specifications pplicable I/O points (inputs/outputs) 6 axes, XSELPX###2[3] 16 [24] W 192/192 points XSELPX###2[3] Powersupply voltage Singlephase [Threephase] 23 VC Reference page p. 37 *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. IXNNN31[H]1

12 SCR robot IXNNN [H] items IX NNN [H] T2 Series Type Cable pplicable controller Medium SCR robot, type rm mm, Vertical axis mm (3mm) [Highpower specification] /Specifications NNN2[H]: [highpower] type rm mm, Vertical axis mm NNN3[H]: [highpower] type rm mm, Vertical axis 3mm L : m (standard) 1L : 1 m xis configuration IXNNN2[H] T2 (IXNNN3[H] T2) xis 1 xis 2 xis 3 xis 4 rm 1 Vertical axis Rotating axis *In the model number above, specify the cable in. rm Work Repeatability envelope ±12 ±.1 ±14 (XY) mm (3mm) ±.1 ±36 ±. *[ ] indicates the highpower specification type 63 [6381] (Composite ) 1393 [1473] 1 /s [187 /s].44 [.39] Rated 2 1 xis 3 (vertical axis) push force (N) (Note ) 12 [181] 78 [93] xis 4 llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) [3.7] * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 2conductor WG26 Dsub/2pin connector with shield (socket) 29.Kg ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note 7) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) The CD drawings can be (723.2) stopper CD (13) 12 (9) 1 R R * < > indicates vertical axis 3mm (optional) specifications. φ146 φ112 (Mechanical end) 82<92> ST<3ST> 47<7> (182.4) 1<> (Mechanical end) (73.2) 2 2 Panel 3 M4, depth 8, Same on the other side (*1) *1: The bottom hole 3 M4, depth 8 passes through the side panel of the arm. If the mounting screw is long, make sure it does not contact internal components. *2: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring R rm 1, stopper rm φ11 hole, φ24 counterbore, depth (684.1) (81.) (76.6) Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m 87.8 φ6 airtube φ4 airtube Dsub/2pin connector for user wiring, socket fixing jig M2.6 Red LED (*3) (Operation prohibited area) 63 Black White φ44 R2 Red Yellow Detailed view of tip (18.) Brakerelease switch Spacer O.D. φ7 height 1 3 M4, depth (*2) section φ14 hollow φ2h7(.21 ) pplicable Specifications pplicable 6 axes, XSELPX###2[3] 16 [24] W XSELQX###2[3] I/O points (inputs/outputs) 192/192 points Powersupply voltage Singlephase [Threephase] 23 VC Reference page p. 37 *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. 11IXNNN [H]

13 IXNNN6 [H] items IX NNN6 [H] T2 Medium SCR robot, type rm 6mm, Vertical axis mm (3mm) [Highpower specification] SCR robot Series Type Cable pplicable controller NNN62[H]: type rm 6mm, Vertical axis mm NNN63[H]: type rm 6mm, Vertical axis 3mm /Specifications L : m (standard) 1L : 1 m xis configuration xis 1 rm 1 xis 2 IXNNN62[H] T2 (IXNNN63[H] T2) xis 3 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. rm Work Repeatability envelope ±12 ±.1 ±14 (XY) mm (3mm) ±.1 ±36 ±. *[ ] indicates the highpower specification type 7121 [7232] (Composite ) 1393 [1473] 1 /s [187 /s].2 [.43] Rated xis 3 (vertical axis) push force (N) (Note ) [181] [93].6 xis 4 llowable inertial llowable moment torque (kg m2) (Note 6 (N. m) 3.3 [3.7] * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 2conductor WG26 Dsub/2pin connector with shield (socket) 3.Kg ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note 7) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) The CD drawings can be stopper (823.2) CD * < > indicates vertical axis 3mm (optional) specifications. φ146 φ112 (13) (Mechanical end) 82<92> ST<3ST> 47<7> (182.4) 1<> (Mechanical end) (73.2) Panel 3 M4, depth 8 Same on the other side (*1) R4 rm rm 1 stopper (9) 1 4 φ11 hole φ24 counterbore, depth (684.1) (81.) (76.6) 12 R (Operation prohibited area) φ6 airtube 63 φ4 airtube Dsub/2pin Red Yellow connector for user wiring, socket fixing Black White jig M2.6 Red LED (*3) Brakerelease switch Spacer O.D. φ7 height 1 M4, depth (*2) R24 R2 (18.) φ *1: The bottom hole 3 M4, depth 8 passes through the side panel of the arm. If the mounting screw is long, make sure it does not contact internal components. *2: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. 74 Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m Detailed view of tip 19 φ14 hollow section φ2h7(.21) pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page 6 axes, XSELPX###2[3] Singlephase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. IXNNN6 [H] 12

14 R3 SCR robot IXNNN7 [H] items IX NNN7 [H] T2 /Specifications Series Type Cable pplicable controller NNN72[H] : type rm 7mm, Vertical axis mm NNN74[H] : type rm 7mm, Vertical axis 4mm xis configuration rm L : m (standard) 1L : 1 m Large SCR robot, type rm 7mm, Vertical axis mm (4mm) [Highpower specification] Work Repeatability envelope Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) xis 1 rm ± ±.1 [71] xis ±14 (XY) IXNNN72[H] T2 (Composite ) mm 183 (IXNNN74[H] T2) xis 3 Vertical axis ±.1 (4mm) [1614] [.42] [34] [146.] [11.7] xis 4 Rotating axis 1 /s ±36 ±. [1266 /s] *In the model number above, specify the cable in. *[ ] indicates the highpower specification type * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 2conductor WG26 Dsub/2pin connector with shield (socket) 8Kg ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) pplicable controller ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note 7) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) The CD drawings can be (6) 3 (971.) stopper 3 (26.) Reference surface CD * < > indicates vertical axis 4mm (optional) specifications. (φ188) (φ144) (169) 962<1162> 28<8> ST<4ST> 4<74> 6 (Mechanical end) 73 (263.4) 6 (Mechanical end) 22. (134.6) Panel 2 3 M4, depth 8, Same on the other side (*1) (34) *1: The bottom hole 3 M4, depth 8 passes through the side panel of the arm. *2: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. (R) rm 1 stopper rm 1 91 (9) 414 drilled through φ3 counterbore, depth (34) (81) (83) (934) 268 Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m φ6 airtube φ4 airtube Dsub/2pin connector for user wiring, socket fixing jig M2.6 Red LED (*3) Brakerelease switch Spacer O.D. φ7 height 1 M4, depth (*2) 2 47 R Red Black φ18 hollow φ2h7(.21) 63 3 Yellow White 2 Detailed view of tip R21. (Operation prohibited area) (18.) section 23. pplicable Specifications pplicable XSELPX###2[3] XSELQX###2[3] axes, 16 [24] W I/O points (inputs/outputs) 192/192 points Powersupply voltage Singlephase [Threephase] 23 VC Reference page p. 37 *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. 13IXNNN7 [H]

15 R3 IXNNN8 [H] items IX NNN8 [H] T2 Large SCR robot, type rm 8mm, Vertical axis mm (4mm) [Highpower specification] SCR robot /Specifications Series Type Cable pplicable controller NNN82[H] : type rm 8mm, Vertical axis mm NNN84[H] : type rm 8mm, Vertical axis 4mm L : m (standard) 1L : 1 m xis configuration IXNNN82[H] T2 (IXNNN84[H] T2) xis 1 xis 2 xis 3 xis 4 rm 1 Vertical axis Rotating axis *In the model number above, specify the cable in. rm Work Repeatability envelope ±12 ±14 mm (4mm) ±36 ±.1 (XY) ±.1 ±. *[ ] indicates the highpower specification type 7121mms [786] (Composite ) 183 [1614] 1 /s [1266 /s].2 [.43] Rated 2 xis 3 (vertical axis) push force (N) (Note ) 26 [34] [146.] xis 4 llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) [11.7] * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 2conductor WG26 Dsub/2pin connector with shield (socket) 6Kg ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note 7) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) The CD drawings can be (6) 3 (171.) 4 Stopper (26.) CD (169) (9) 268 * < > indicates vertical axis 4mm (optional) specifications. 7 (φ188) (φ144) <1162> 28<8> ST<4ST> 4<74> 6 (Mechanical end) 73 (263.4) 6 (Mechanical end) 22. (134.6) Panel 2 3 M4, depth 8, Same on the other side (*1) (R) (34) rm 1 *1: The bottom hole 3 M4, depth 8 passes through the side panel of the arm. *2: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring rm 1 stopper 91 (34) 414 drilled through φ3 counterbore, depth (81) (83) (934) Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m φ6 airtube φ4 airtube Red LED (*3) Brakerelease switch 2 47 R Dsub/2pin connector for user wiring, socket fixing jig M2.6 Spacer O.D. φ7 height 1 M4, depth (*2) 1 1 Red Black φ18 hollow φ2h7(.21) 2 (Operation prohibited area) 63 3 Yellow White Detailed view of tip R28.8 (18.) section 23. pplicable Specifications pplicable XSELPX###2[3] XSELPX###2[3] axes, 16 [24] W I/O points (inputs/outputs) 192/192 points Powersupply voltage Singlephase [Threephase] 23 VC Reference page p. 37 *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. IXNNN8 [H]14

16 SCR robot IXNSN16[H] items IX NSN16[H] T2 Series Type Cable pplicable controller High type rm mm Vertical axis 16mm L : m (standard) 1L :1 m Medium SCR robot, High type rm mm, Vertical axis 16mm [Highpower specification] /Specifications xis configuration IXNSN16[H] T2 xis 1 xis 2 xis 3 rm 1 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. rm Work Repeatability envelope ±12 ±14 16mm ±36 ±.1 (XY) ±.1 ±.1 *[ ] indicates the highpower specification type 4712 [7] (Composite ) 18 [134] 18 /s [187 /s].29 [.] range Rated 1 3 xis 3 (vertical axis) push force (N) (Note ) 19 [196.] [116.] xis 4 llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) [3.7] *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 2conductor WG26 Dsub/2pin connector with shield (socket) 32Kg ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note 7) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) The CD drawings can be CD (723.2) stopper R R (Mechanical end) (13) 12 (9) 1 Panel R φ11 hole φ24 counterbore, depth 87.8 R2 (Operation prohibited area) φ146 φ (182.4) ST (Mechanical end) 2 (73.2) 2 3 M4, depth 8 Same on the other side (*1) rm 1 rm 1 stopper *1: The bottom hole 3 M4, depth 8 passes through the side panel of the arm. If the mounting screw is long, make sure it does not contact internal components. *2: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. 74 (116) (684.1) (8.1) φ6 airtube quick joint φ4 airtube Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m Dsub/2pin connector for user wiring, socket fixing jig M2.6 Red LED (*3) Brake release switch Spacer O.D. φ7 height 1 M4, depth (*2) Red Yellow Black White 3 φ3 (18.) Detailed view of tip 1 section φ11 (hollow) φ16h7(.18) pplicable Specifications pplicable XSELPX###2[3] XSELQX###2[3] 4 SCR axes, 16 [24] W I/O points (inputs/outputs) 192/192 points Powersupply voltage Singlephase [Threephase] 23 VC Reference page p. 37 *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. **When the high type, a singleaxis robot as th or 6th axis cannot be connected. For explanations of through (Note 9), refer to page 7. 1 IXNSN16[H]

17 IXNSN616[H] items IX NSN616[H] T2 Medium SCR robot, High type rm 6mm, Vertical axis 16mm [Highpower specification] SCR robot /Specifications Series Type Cable pplicable controller High type rm 6mm Vertical axis 16mm L : m (standard) 1L : 1 m xis configuration IXNSN616[H] T2 xis 1 xis 2 xis 3 rm 1 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. rm 3 2 Work Repeatability envelope 7 ± ±.1 [83] 6 ±14 (XY) (Composite ) 1 16mm ±36 ±.1 ±.1 18 [134] 18 /s [187 /s] *[ ] indicates the highpower specification type.29 [.] range Rated 1 3 xis 3 (vertical axis) push force (N) (Note ) 19 [196.] [116.] xis 4 llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) [3.7] *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 2conductor WG26 Dsub/2pin connector with shield (socket) 33Kg ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note 7) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) The CD drawings can be CD stopper (823.2) R R24 12 (13). (Mechanical end) 12 (9) 1 Panel R φ11 hole φ24 counterbore, depth (Operation prohibited area) R2 φ146 φ (182.4) ST (Mechanical end) 2 (73.2) 2 3 M4, depth 8 Same on the other side (*1) rm 1 3 rm 1 stopper (116) (684.1) (8.1) φ6 airtube quick joint φ4 airtube quick joint Dsub/2pin connector for user wiring, socket fixing jig M2.6 Red LED (*3) Brake release switch Spacer O.D. φ7 height 1 M4, depth (*2) 63 Red Yellow Black White 3 φ3 (18.) Reference surface *1: The prepared hole 3 M4, depth 8 passes through the side panel of the arm. If the mounting screw is long, make sure it does not contact internal components. *2: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. 74 Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m section φ11 (hollow) φ16h7(.18) Detailed view of tip pplicable Specifications pplicable XSELPX###2[3] XSELQX###2[3] 4 SCR axes, 16 [24] W I/O points (inputs/outputs) 192/192 points Powersupply voltage Singlephase [Threephase] 23 VC Reference page p. 37 *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. **When the high type, a singleaxis robot as th or 6th axis cannot be connected. For explanations of through (Note 9), refer to page 7. IXNSN616[H]16

18 SCR robot IXNNW21[H] items IX NNW21[H] T2 /Specifications Small SCR robot, Dustproof/Splashproof type rm 2mm, Vertical axis 1mm [Highpower specification] Series Type Cable pplicable controller Dustproof/Splashproof type rm 2mm, Vertical axis 1mm xis configuration rm L : m (standard) 1L: 1 m Work envelope Repeatability xis 1 rm 1 12 ± ±.1 [3191] xis ±13 (XY) IXNNW21[H] T2 (Composite ) xis 3 Vertical axis 1 1mm ±.1 [1316] [.4] [111.] [8.] xis 4 Rotating axis ±36 ±. 16 /s *In the model number above, specify the cable in. *[ ] indicates the highpower specification type *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/deceleration Settings on page 44. Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 llowable inertial moment (kg m2) (Note 6) llowable torque (N. m) bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 1conductor WG26 waterproof connector with shield 21Kg ir tube (O.D. ø4, I.D. ø2.) x 3 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note 7) Protective structure IP6 or equivalent Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) ir purge pressure.3 MPa or more (.6 MPa maximum) (Clean, dry air) The CD drawings can be CD Panel Reference surface φ8 H7 (intersection between reamer holes ±.2 mm) rm 1 stopper Red LED (*2) User spacer height 1, M4, depth (*1) User connector 1pin 7 12 Brakerelease switch φ4 (black) φ4 (white) φ4 (red) 1 stopper (424.) φ9 φ16 counterbore, depth. R2 R R12 Operation prohibited area R Tapped hole for installation of peripheral (4M4, depth 12) Same on the other side 237 (168.) φ11 (I.D.) φ16h7(.18) φ3 Detailed view of tip 1 2. ST (Mechanical end) 8 *1: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. 727 φ (698.) Maintain at 1 mm or more Tslot for installation of peripheral (M3, M4) Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m ir inlet for air purge O.D. φ6 (I.D. φ4) pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page XSELPX###2[3] 6 axes, SinglePhase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. Increase the air purge pressure to a range between.3 and.6 MPa until immediately before the bellows starts to inflate, and adjust the flow rate using the controller. s a purge medium, use clean, dry air free from compressor oil or other contaminants, conforming to an air filtration rating of 1 µm or less. 17IXNNW21[H]

19 IXNNW31[H] items IX NNW31[H] T2 Small SCR robot, Dustproof/Splashproof type rm 3mm, Vertical axis 1mm [Highpower specification] SCR robot /Specifications Series Type Cable pplicable controller Dustproof/Splashproof type rm 3mm, Vertical axis 1mm L : m (standard) 1L: 1 m xis configuration xis 1 rm 1 IXNNW31[H] T2 xis 2 xis 3 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. rm Work envelope Repeatability 22 ± ±.1 [442] 12 1 ±13 (XY) (Composite ) 1 1mm ±36 ±.1 ±. 116 [1316] 16 /s *[ ] indicates the highpower specification type.9 [.47] Rated 1 3 xis 3 (vertical axis) push force (N) (Note ) 9.9 [111.] 47. [8.] xis 4 llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 1conductor WG26 waterproof connector with shield 22Kg ir tube (O.D. ø4, I.D. ø2.) x 3 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note 7) Protective structure IP6 or equivalent Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) ir purge pressure.3 MPa or more (.6 MPa maximum) (Clean, dry air) The CD drawings can be CD Panel φ8 H7 (intersection between reamer holes ±.2 mm) rm 1 stopper Red LED (*2) User spacer height 1, M4, depth (*1) User connector 1pin Brakerelease switch φ4 (black) φ4 (whilte) 12 φ11 (I.D.) φ16h7(.18) φ3 Detailed view of tip φ4 (red) Tapped hole for installation of peripheral (M4. 4 locations) Same on the other side stopper *1: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring ST (Mechanical end) φ (24.) (168.) φ9 φ16 counterbore, depth (698.) Maintain at 1 mm or more R R12 R162.7 R12 Operation prohibited area Tslot for installation of peripheral (M3, M4) Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m 19.4 ir inlet for air purge O.D. φ6 (I.D. φ4) pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page 6 axes, XSELPX###2[3] Singlephase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. Increase the air purge pressure to a range between.3 and.6 MPa until immediately before the bellows starts to inflate, and adjust the flow rate using the controller. s a purge medium, use clean, dry air free from compressor oil or other contaminants, conforming to an air filtration rating of 1 µm or less. IXNNW31[H]18

20 SCR robot IXNNW [H] items IX NNW [H] T2 /Specifications Series Type Cable pplicable controller NNW2[H]: rm mm, Vertical axis mm NNW3[H]: rm mm, Vertical axis 3mm L : m (standard) 1L: 1 m Medium SCR robot, Dustproof/Splashproof type rm mm, Vertical axis mm (3mm) [Highpower specification] xis configuration xis 1 rm 1 IXNNW2[H] T2 xis 2 (IXNNW3[H] T2) xis 3 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. rm 2 2 Work Repeatability envelope 4 ±12 63 ±.1 [6381] ±14 (XY) (Composite ) mm 1393 (3mm) ±.1 [1473] 1 /s 1 ±36 ±. [187 /s] *[ ] indicates the highpower specification type.49 [.43] Rated 2 1 xis 3 (vertical axis) push force (N) (Note ) 12 [181] 78 [93] xis 4 llowable inertial moment (kg m2) (Note 6).6 llowable torque (N. m) 3.3 [3.7] * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 23conductor WG26 waterproof connector with shield 32.Kg ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note 7) Protective structure IP6 or equivalent Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) ir purge pressure.3 MPa or more (.6 MPa maximum) (Clean, dry air) The CD drawings can be CD (13) (723.2) (9) 1 12 R R * < > indicates vertical axis 3mm (optional) specifications. R φ11 hole φ24 counterbore, depth 87.8 R2 (Operation prohibited area) 87[<97> 88<688> 2 14 ST<3ST> 47 (Mechanical end) 3 M4, depth 8 (Same on the other side) Seal with set screw. (*3) (83) (684) (767) ir inlet for air purge O.D. φ6 (I.D. φ4) (12) φ6 airtube φ4 airtube Red LED (*2) Spacer O.D. φ7 height1 M4, depth (*1) Brakerelease switch Red 62. Black 3 Yellow White 23pin connector for user wiring (16) <18> *1: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. *3: The prepared hole 3 M4, depth 8 passes through the side panel of the arm. If the mounting screw is long, make sure it does not contact internal components. In addition, be sure to seal screws with tape. *4: Insert a tube O.D. φ12 into the exhaust port and extend the tube to a location away from water. 74 (89) Exhaust port (*4) (4) Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m φ14 hollow φ2h7(.21) Detailed view of tip section pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page 6 axes, XSELPX###2[3] Singlephase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. Increase the air purge pressure to a range between.3 and.6 MPa until immediately before the bellows starts to inflate, and adjust the flow rate using the controller. s a purge medium, use clean, dry air free from compressor oil or other contaminants, conforming to an air filtration rating of 1 µm or less. 19 IXNNW [H]

21 IXNNW6 [H] items IX NNW6 [H] T2 Medium SCR robot, Dustproof/Splashproof type rm 6mm, Vertical axis mm (3mm) [Highpower specification] SCR robot /Specifications Series Type Cable pplicable controller NNW62[H]: rm 6mm, Vertical axis mm NNW63[H]: rm 6mm, Vertical axis 3mm L : m (standard) 1L: 1 m xis configuration xis 1 rm 1 IXNNW62[H] T2 (IXNNW63[H] T2) xis 2 xis 3 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. rm Work Repeatability envelope ±12 ±.1 ±14 (XY) mm (3mm) ± [7232] (Composite ) 1393 [1473] 1 /s 1 ±36 ±. [187 /s] *[ ] indicates the highpower specification type. [.47] Rated xis 3 (vertical axis) push force (N) (Note ) llowable inertial moment (kg m2) (Note [181] [93].6 xis 4 llowable torque (N. m) 3.3 [3.7] * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 23conductor WG26 waterproof connector with shield 34.Kg ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note 7) Protective structure IP6 or equivalent Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) ir purge pressure.3 MPa or more (.6 MPa maximum) (Clean, dry air) The CD drawings can be (823.2) CD (13) 12 (9) * < > indicates vertical axis 3mm (optional) specifications. R φ11 hole φ24 counterbore, depth R6 R24 88<688> (Operation prohibited area) Red 62. Yellow R2 23pin connector for user wiring (16) 21 87<97> 2 14 ST<3ST> 47 (Mechanical end) (83) φ6 airtube φ4 airtube 3 M4, depth 8 (Same on the other side) Seal with set screw. (*3) 2 2 (684) (767) ir inlet for air purge O.D. φ6 (I.D. φ4) (12) Red LED (*2) Spacer O.D. φ7 height1 M4, depth (*1) Black White Brakerelease switch <18> 74 (89) Exhaust port (*4) *1: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. Cables/tubes /encoder cable m/1m φ14 hollow *3: The prepared hole 3 M4, depth 8 passes through the side panel of the arm. If the mounting screw is long, make sure it does Brake power cable m/1m φ2h7(.21) not contact internal components. In addition, be sure to seal screws with tape. User Wiring Cable m/1m *4: Insert a tube O.D. φ12 into the exhaust port and extend the tube to a location away from water. Detailed view of tip (4) ir tube (4 pcs).1m section pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page 6 axes, XSELPX###2[3] Singlephase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. Increase the air purge pressure to a range between.3 and.6 MPa until immediately before the bellows starts to inflate, and adjust the flow rate using the controller. s a purge medium, use clean, dry air free from compressor oil or other contaminants, conforming to an air filtration rating of 1 µm or less. IXNNW6 [H] 2

22 R3 SCR robot IXNNW7 [H] items IX NNW7 [H] T2 /Specifications Series Type Cable pplicable controller NNW72[H]: L : m (standard) rm 7mm, Vertical axis mm NNW74[H]: 1L : 1 m rm 7mm, Vertical axis 4mm xis configuration rm Large SCR robot, Dustproof/Splashproof type rm 7mm, Vertical axis mm (4mm) [Highpower specification] Work Repeatability envelope Rated xis 3 (vertical axis) push force (N) (Note ) xis 1 rm ± ±.1 [71] xis ±14 (XY) IXNNW72[H] T2 (Composite ) mm 183 (IXNNW74[H] T2) xis 3 Vertical axis ±.1 (4mm) [1614] [.4] [34] [146.] [11.7] xis 4 Rotating axis 1 /s ±36 ±. [1266 /s] *In the model number above, specify the cable in. *[ ] indicates the highpower specification type * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. larm indicator (Note 7) Brakerelease switch (Note 8) bsolute 23conductor WG26 waterproof connector with shield ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) llows remote release of Zaxis (24 VDC required) mbient temperature/humidity pplicable controller Cable (Note 9) Protective structure ir purge pressure Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 6Kg L: m (standard), 1L: 1 m (optional) IP6 or equivalent.3 MPa or more (.6 MPa maximum) (Clean, dry air) xis 4 llowable inertial moment (kg m2) (Note 6) llowable torque (N. m) The CD drawings can be (6) ir inlet for air purge (Note 4) (971.) 3 3 (26.) stopper pplicable tube O.D. φ6 (I.D. φ4) CD (173) (9) 268 * < > indicates vertical axis 4mm (optional) specifications. 6 9 (34) 1 (34) 223 (R) 414 drilled through φ3 counterbore, depth R7 R21. 7 (φ188) (φ144) 14.<124.> 191<9> ST<4ST> 649.<849.> 6 (Mechanical end) 14 (263.4) 6 (Mechanical end) 22. (134.6) M4, depth 8 (Same on the other side) Seal with set screw. 468 rm 1 Stopper PT3/8 Plug (122.7) (83) (83.) (936.) 82. φ4 airtube Red Yellow User Connector 24pin waterproof connector (Shield Black White terminal include in 24 pins) LM BK SW (Brakerelease switch) 2 (Operation prohibited area) φ6 airtube 63 Spacer O.D. φ7 height1 M4, depth Reference surface Note 1: The bottom hole 3 M4, depth 8 passes through the side panel of the arm. Note 2: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. Note 3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. Note 4: The air inlet can be installed in the opposite direction (by removing PT3/8 plug and switching the insertion direction of the joint). 91 Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m φ18 hollow φ2h7(.21) Detailed view of tip section pplicable Specifications pplicable XSELPX###2[3] axes, 16 [24] W XSELQX###2[3] I/O points (inputs/outputs) 192/192 points Powersupply voltage Singlephase [Threephase] 23 VC Reference page p. 37 *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. Increase the air purge pressure to a range between.3 and.6 MPa until immediately before the bellows starts to inflate, and adjust the flow rate using the controller. s a purge medium, use clean, dry air free from compressor oil or other contaminants, conforming to an air filtration rating of 1 µm or less. 21 IXNNW7 [H]

23 R3 IXNNW8 [H] items IX NNW8 [H] T2 Large SCR robot, Dustproof/Splashproof type rm 8mm, Vertical axis mm (4mm) [Highpower specification] SCR robot /Specifications Series Type Cable pplicable controller NNW82[H]: rm 8mm, Vertical axis mm NNW84[H]: rm 8mm, Vertical axis 4mm xis configuration rm L : m (standard) 1L: 1 m Work Repeatability envelope Rated xis 3 (vertical axis) push force (N) (Note ) xis 1 rm ± mms ±.1 [786] xis ±14 (XY) IXNNW82[H] T2 (Composite ) mm 183 (IXNNW84[H] T2) xis 3 Vertical axis 4 ± (4mm) [1614] [.46] [34] [146.] [11.7] xis 4 Rotating axis ±36 ±. 1 /s [1266 /s] *In the model number above, specify the cable in. *[ ] indicates the highpower specification type * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. larm indicator (Note 7) Brakerelease switch (Note 8) bsolute 23conductor WG26 waterproof connector with shield ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) llows remote release of Zaxis (24 VDC required) mbient temperature/humidity pplicable controller Cable (Note 9) Protective structure ir purge pressure Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 62Kg L: m (standard), 1L: 1 m (optional) IP6 or equivalent.3 MPa or more (.6 MPa maximum) (Clean, dry air) xis 4 llowable inertial moment (kg m2) (Note 6) llowable torque (N. m) The CD drawings can be (6) ir inlet for air purge (Note 4) (171.) 3 4 (26.) stopper pplicable tube O.D. φ6 (I.D. φ4) * < > indicates vertical axis 4mm (optional) specifications. 7 CD (φ188) (φ144) 14.<124.> 649.<849.> ST<4ST> 191<9> (169) 6 (Mechanical end) (263.4) 14 6 (Mechanical end) 22. (134.6) M4, depth 8 (Same on the other side) Seal with set screw. 6 9 (34) 1 (34) (R) rm 1 Stopper PT3/8 Plug (9) drilled through φ3 counterbore, depth (83.) (83) (122.7) (936.) R φ6 63 airtube φ4 airtube Red Yellow User Connector 24pin waterproof connector (Shield Black White terminal include in 24 pins) LM BK SW (Brakerelease switch) Spacer O.D. φ7 height 1 M4, depth 2 (Operation prohibited area) 3 R Reference surface Note 1: The bottom hole 3 M4, depth 8 passes through the side panel of the arm. Note 2: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) Note 3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. Note 4: The air inlet can be installed in the opposite direction (by removing PT3/8 plug and switching the insertion direction of the joint). Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m 1 φ18 hollow φ2h7(.21) Detailed view of tip section pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page axes, XSELPX###2[3] Singlephase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. Increase the air purge pressure to a range between.3 and.6 MPa until immediately before the bellows starts to inflate, and adjust the flow rate using the controller. s a purge medium, use clean, dry air free from compressor oil or other contaminants, conforming to an air filtration rating of 1 µm or less. IXNNW8 [H] 22

24 SCR robot IXTNN31[H] IXUNN31[H] items IX NN31[H] T2 /Specifications Small SCR robot, Wallmount type rm 3mm, Vertical axis 1mm [Highpower specification] Small SCR robot, Wallmount inverse type rm 3mm, Vertical axis 1mm [Highpower specification] Series Type Cable pplicable controller TNN31[H] : Wallmount type L : m (standard) rm 3mm, Vertical axis 1mm 1L: 1 m UNN31[H] : Wallmount inverse type rm 3mm, Vertical axis 1mm xis configuration xis 1 rm 1 IXTNN31[H] T2 xis 2 IXUNN31[H] T2 xis 3 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. rm Work envelope ±12 ±13 1mm ±36 Repeatability ±.1 (XY) ±.1 ±. *[ ] indicates the highpower specification type 36 [3616] (Composite ) 116 [1316] 16 /s.49 [.41] Rated 1 3 xis 3 (vertical axis) push force (N) (Note ) 9.9 [111.] 47. [8.] xis 4 llowable inertial moment (kg m2) (Note 6) llowable torque (N. m) *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 1conductor WG26 Dsub/1pin connector with shield (socket) 2.8Kg ir tube (O.D. ø4, I.D. ø2.) x 3 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note 7) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) * For the inverse type, the following illustrations should be turned upside down. (See page 2.) The CD drawings can be CD φ4 (red) Red LED (*2) φ4 (black) User spacer O.D. φ7 height 1, M4, depth (*1) 3 7 φ φ11 (I.D.) φ16h7(.18) Enlarged view of tip φ4 (white) Brakerelease switch User connector Tapped hole for installation of peripheral (4M4, depth 12) Same on the other side 372. ST (Mechanical end) (Mechanical end) *1: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. φ stopper Tslot for installation of peripheral (M3, M4) (49.) 12 Panel (37.) rm 1 stopper 12 R R3 2 φ8h7 (intersection between reamer holes ±.2 mm) Line of contact with the base 26 Operation prohibited area R134.6 R (2) Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m Be careful not to allow contact with the mounting wall. 4φ9 φ16 counterbore, depth. (Opposite side of counterbore) pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page 6 axes, XSELPX###2[3] Singlephase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page IXTNN31[H]/IXUNN31[H]

25 IXTNN31[H] IXUNN31[H] Small SCR robot, Wallmount type rm 3mm, Vertical axis 1mm [Highpower specification] Small SCR robot, Wallmount inverse type rm 3mm, Vertical axis 1mm [Highpower specification] items IX NN31[H] T2 SCR robot /Specifications IXTNN31[H] T2 IXUNN31[H] T2 Series Type Cable pplicable controller TNN31[H] : Wallmount type rm 3mm, Vertical axis 1mm UNN31[H] : Wallmount inverse type rm 3mm, Vertical axis 1mm L : m (standard) 1L: 1 m xis configuration xis 1 rm 1 xis 2 xis 3 Vertical axis xis 4 Rotating axis rm Work envelope ±12 ±13 1mm ±36 Repeatability ±.1 (XY) ±.1 ± [442] (Composite ) 116 [1316] *In the model number above, specify the cable in. *[ ] indicates the highpower specification type *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page /s.3 [.42] Rated 1 3 xis 3 (vertical axis) push force (N) (Note ) 9.9 [111.] 47. [8.] xis 4 llowable inertial moment (kg m2) (Note 6) llowable torque (N. m) bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 1conductor WG26 Dsub/1pin connector with shield (socket) 21.9Kg ir tube (O.D. ø4, I.D. ø2.) x 3 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note 7) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) * For the inverse type, the following illustrations should be turned upside down. (See page 2.) The CD drawings can be CD φ4 (red) Red LED (*2) φ4 (black) User spacer O.D. φ7 height 1, M4, depth (*1) 3 7 φ φ11 (I.D.) φ16h7( ) Enlarged view of tip φ4 (white) Brakerelease switch User connector Tapped hole for installation of peripheral (4M4, depth 12) Same on the other side ST (Mechanical end) 3 4 (Mechanical end) *1: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. φ16 stopper Tslot for installation of peripheral (M3, M4) (4.) (37.) R12 rm 1 stopper R φ8h7 (intersection between reamer holes ±.2 mm) Line of contact with the base Operation prohibited area R (2) R12 12 Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m Be careful not to allow contact with the mounting wall. 4φ9 φ16 counterbore, depth. (Opposite side of counterbore) pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page 6 axes, XSELPX###2[3] Singlephase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. IXTNN31[H]/IXUNN31[H] 24

26 SCR robot IXHNN2[H] IXINN2[H] items IX NN2[H] T2 /Specifications Medium SCR robot, Ceilingmount type rm mm, Vertical axis mm [Highpower specification] Medium SCR robot, Ceilingmount inverse type rm mm, Vertical axis mm [Highpower specification] Series Type Cable pplicable controller HNN2[H] : Ceilingmount type rm mm, Vertical axis mm INN2[H] : Ceilingmount inverse type rm mm, Vertical axis mm L : m (standard) 1L: 1 m xis configuration IXHNN2[H] T2 IXINN2[H] T2 xis 1 xis 2 xis 3 rm 1 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. rm Work Repeatability envelope Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 llowable inertial moment (kg m2) (Note 6) llowable torque (N. m) 2 4 ±12 63 ±.1 [6381] 2 ±13 (XY) (Composite ) mm ±.1 [1473] [.39] [181.] [93.] [3.7] 1 /s 1 ±36 ±. [187 /s] *[ ] indicates the highpower specification type *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. larm indicator (Note 7) Brakerelease switch (Note 8 The CD drawings can be bsolute 2conductor WG26 Dsub/2pin connector with shield (socket) ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) llows remote release of Zaxis (24 VDC required) CD mbient temperature/humidity pplicable controller Cable (Note 9) Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 3.Kg L: m (standard), 1L: 1 m (optional) *For the inverse type, the following illustrations should be turned upside down. (See page 2.) View B: Detailed view of base mount R4 2 φ112 φ146 4 φ11 hole φ24 counterbore, depth (9) 1 47 ST (182.4) (13). (Mechanical end) (Mechanical end) 2 Panel 3 (111) (73.2) (723.2) 2 2 (.6) 2 2 rm 1 stopper 3 M4, depth 8 Same on the other side (*1) 74 B (mounting center) rm 1 stopper φ23 (Recommended mounting dimension) (6) 12 φ6 airtube φ4 airtube Red Dsub/2pin connector for user wiring, socket Black fixing jig M2.6 Red LED (*3) Brakerelease switch Spacer O.D. φ7 height 1, M4, depth (*2) R (18.) R2 (Operation prohibited area) Yellow White R191.3 φ section φ14 hollow φ2h7 (.21) Detailed view of tip *1: The prepared hole 3 M4, depth 8 passes through the side panel of the arm. If the mounting screw is long, make sure it does not contact internal components. *2: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m pplicable Specifications pplicable I/O points (inputs/outputs) Powersupply voltage Singlephase [Threephase] 23 VC Reference page 6 axes, XSELPX###2[3] 16 [24] W 192/192 points p. 37 XSELQX###2[3] *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. 2 IXHNN2[H]/IXINN2[H]

27 SCR robot IXHNN62[H] IXINN62[H] items IX NN62[H] T2 /Specifications Series Type Cable pplicable controller HNN62[H] : Ceilingmount type rm 6mm, Vertical axis mm INN62[H] : Ceilingmount inverse type rm 6mm, Vertical axis mm Medium SCR robot, Ceilingmount type rm 6mm, Vertical axis mm [Highpower specification] Medium SCR robot, Ceilingmount inverse type rm 6mm, Vertical axis mm [Highpower specification] L : m (standard) 1L: 1 m xis configuration xis 1 rm 1 IXHNN62[H] T2 xis 2 IXINN62[H] T2 xis 3 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. rm Work Repeatability envelope ±12 ±13 mm ±36 ±.1 (XY) ±.1 ±. *[ ] indicates the highpower specification type 7121 [7232] (Composite ) [1473] [.43] 1 /s [187 /s] Rated xis 3 (vertical axis) push force (N) (Note ) llowable inertial moment (kg m2) (Note 6) [181.] [93.] xis 4 llowable torque (N. m) *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page [3.7] larm indicator (Note 7) Brakerelease switch (Note 8) The CD drawings can be R bsolute 2conductor WG26 Dsub/2pin connector with shield (socket) ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) llows remote release of Zaxis (24 VDC required) 4 φ11 hole φ24 counterbore, depth View B (9) 1 CD (13) * For the inverse type, the following illustrations should be turned upside down. (See page 2.) (823.2) 2 3 Panel rm 1 mbient temperature/humidity pplicable controller Cable (Note 9) 173 Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 31.Kg L: m (standard), 1L: 1 m (optional) 12 R R24 12 Detailed view of base mount Reference surface 2 φ112 φ (Mechanical end) (182.4) (73.2) (111) 3 (.6) 2 (6) (mounting center) φ23 (Recommended mounting dimension) Red Black (18.) (Operation prohibited area) φ6 airtube 63 φ4 airtube Dsub/2pin connector for user wiring, socket fixing jig M2.6 Red LED (*3) Brakerelease switch Yellow White R2 φ44 ST (Mechanical end) 2 2 stopper 3 M4, depth 8 Same on the other side (*1) B rm 1 stopper Spacer O.D. φ7 height1, M4, depth (*2) Detailed view of tip 19 section φ14 hollow φ2h7 (.21) *1: The prepared hole 3 M4, depth 8 passes through the side panel of the arm. If the mounting screw is long, make sure it does not contact internal components. *2: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page 6 axes, XSELPX###2[3] Singlephase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. IXHNN62[H]/IXINN62[H] 26

28 R3 SCR robot IXHNN7 [H] IXINN7 [H] items IX NN7 [H] T2 Series Type Cable pplicable controller HNN72(74)[H]: Ceilingmount type L : m (standard) rm 7mm, Vertical axis mm (4)mm INN72(74)[H] : Ceilingmount inverse type 1L: 1 m rm 7mm, Vertical axis mm (4)mm /Specifications Large SCR robot, Ceilingmount type, rm 7mm Vertical axis mm (4mm) [Highpower specification] Large SCR robot, Ceilingmount inverse type, rm 7mm Vertical axis mm (4mm) [Highpower specification] xis configuration xis 1 rm 1 IXHNN72[H] T2 xis 2 (IXHNN74[H] T2) IXINN72[H] T2 xis 3 Vertical axis (IXINN74[H] T2) xis 4 Rotating axis *In the model number above, specify the cable in. rm Work Repeatability envelope ±12 ±14 mm (4mm) ±36 ±.1 (XY) ±.1 ±. *[ ] indicates the highpower specification type 697 [71] (Composite ) 183 [1614] 1 /s [1266 /s]. [.42] Rated 2 xis 3 (vertical axis) push force (N) (Note ) 26 [34] [146.] xis 4 llowable inertial moment (kg m2) (Note 6) * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page llowable torque (N. m) 6.7 [11.7] larm indicator (Note 7) Brakerelease switch (Note 8) bsolute 2conductor WG26 Dsub/2pin connector with shield (socket) ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) llows remote release of Zaxis (24 VDC required) mbient temperature/humidity pplicable controller Cable (Note 9) Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 8Kg L: m (standard), 1L: 1 m (optional) * For the inverse type, the following illustrations should be turned upside down. (See page 2.) The CD drawings can be CD (6) (972.) 3 3 (27.) (R) 6 9 (34) (φ144) (φ188) (34) View B: Detailed view of base mount (92) 268 * < > indicates vertical axis 4mm (optional) specifications. 414 drilled through φ3 counterbore, depth 6 (Mechanical end) <4ST> <74> 6 (Mechanical end) (169) 6 (Mechanical end) ST 4 6 (Mechanical end) 73 (263.4) 22. <(12.)> (74.) 3 <17> (134.6) (64) (81) 2 (26.8) 468 stopper 3 M4, depth 8 Same on the other side (*1) B rm 1 stopper 17. (mounting center) R 124. φ31 (Recommended mounting dimension) (82) stopper *1: The bottom hole 3 M4, depth 8 passes through the side panel of the arm. *2: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. φ6 airtube φ4 airtube R7 82. Dsub/2pin connector for user wiring, socket fixing jig M φ18 hollow φ2h7(.21) 2 Detailed view of tip R21. (Operation prohibited area) Red Black 63 Yellow White Red LED (*3) Brakerelea se switch Spacer O.D. φ7 Height 1 3 M4 depth (*2) (18.) section 23. pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page axes, XSELPX###2[3] Singlephase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page IXHNN7 [H]/IXINN7 [H]

29 R3 IXHNN8 [H] IXINN8 [H] Large SCR robot, Ceilingmount type, rm 8mm Vertical axis mm (4mm) [Highpower specification] Large SCR robot, Ceilingmount inverse type, rm 8mm Vertical axis mm (4mm) [Highpower specification] items IX NN8 [H] T2 SCR robot /Specifications Series Type Cable pplicable controller HNN82(84)[H]: Ceilingmount type L : m (standard) rm 8mm, Vertical axis mm (4)mm 1L: 1 m INN82(84)[H] : Ceilingmount inverse type rm 8mm, Vertical axis mm (4)mm xis configuration xis 1 rm 1 IXHNN82[H] T2 xis 2 (IXHNN84[H] T2) IXINN82[H] T2 xis 3 Vertical axis (IXINN84[H] T2) xis 4 Rotating axis *In the model number above, specify the cable in. rm Work Repeatability envelope ±12 ±14 mm (4mm) ±36 ±.1 (XY) ±.1 ±. *[ ] indicates the highpower specification type 7121mms [786] (Composite ) 183 [1614] 1 /s [1266 /s].2 [.43] Rated 2 xis 3 (vertical axis) push force (N) (Note ) 26 [34] [146.] xis 4 llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page [11.7] bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 2conductor WG26 Dsub/2pin connector with shield (socket) 8Kg ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D.ø2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note 7) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) The CD drawings can be CD 414 drilled through φ3 counterbore, depth *For the inverse type, the following illustrations should be turned upside down. (See page 2.) (172.) (6) 3 4 (27.) (R) 6 9 (34) (φ144) (φ188) (34) View B: Detailed view of base mount (92) 268 * < > indicates vertical axis 4mm (optional) specifications. 6 (Mechanical end) <4ST> <74> 6 (Mechanical end) 6 (Mechanical end) ST 4 6 (Mechanical end) (263.4) (169) (134.6) <17> 3 (44) <(16)> (64) (81) 2 stopper 3 M4, depth 8 Same on the other side (*1) (36.8) B 17. (mounting center) rm 1 stopper φ31 (Recommended mounting dimension) (79) stopper *1: The bottom hole 3 M4, depth 8 passes through the side panel of the arm. *2: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. φ6 airtube φ4 airtube R (Operation prohibited area) φ18 hollow φ2h7(.21) 63 Dsub/2pin Red Yellow connector for user wiring, socket fixing Black White jig M2.6 Red LED (*3) Brakerelea se switch Spacer O.D. φ7 Height 1 3 M4 depth (*2) Detailed view of tip R28.8 (18.) section 23. pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs voltage page axes, XSELPX###2[3] Singlephase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. IXHNN8 [H]/IXINN8 [H]

30 SCR robot IXNNC21[H] items IX NNC21[H] T2 /Specifications Series Type Cable pplicable controller Cleanroom type rm 2mm Vertical axis 1mm L : m (standard) 1L: 1 m Small SCR robot, Cleanroom type rm 2mm, Vertical axis 1mm [Highpower specification] xis configuration xis 1 rm 1 IXNNC21[H] T2 xis 2 xis 3 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. rm Work envelope ±12 ±13 1mm ±36 Repeatability ±.1 (XY) ±.1 ± [3191] (Composite ) 116 [1316] 16 /s *[ ] indicates the highpower specification type.49 [.44] Rated 1 3 xis 3 (vertical axis) push force (N) (Note ) 9.9 [111.] 47. [8.] xis 4 llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. larm indicator (Note 7) Brakerelease switch (Note 8) bsolute 1conductor WG26 Dsub/1pin connector with shield (socket) ir tube (O.D. ø4, I.D. ø2.) x 3 (Normal working pressure.8 MPa) llows remote release of Zaxis (24 VDC required) Vacuum joint pplicable tube O.D. ø12 Suction rate 6 N liter/min Cleanliness class Conforming to ISO cleanliness class 4 (.1 µm) mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 19Kg Cable (Note 9) L: m (standard), 1L: 1 m (optional) The CD drawings can be Panel φ8 H7 (intersection between reamer holes ±.2 mm) 13 rm 1 stopper CD φ4 (red) Red LED (*2) φ4 (white) Brakerelease switch φ4 (black) User spacer O.D. φ7 height 1, M4, depth (*1) 7 User connector 12 1 stopper (424.) φ9 φ16 counterbore, depth. R2 R12. R12 R12 3 φ3 8 1 φ11 (I.D.) Detailed view of tip Tapped hole for installation of peripheral (4M4, depth 12) Same on the other side ( ) φ16h ST (Mechanical end) 8 4 (Mechanical end) φ (17) Maintain at 1 mm or more (7) 63.8 Vacuum joint for tube O.D. φ12 (I.D. φ8) Tslot for installation of peripheral (M3, M4) Operation prohibited area Cables/tubes /encoder cable Brake power cable cable ir tube (3 pcs) *1: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring m/1m m/1m m/1m.1m pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page 6 axes, XSELPX###2[3] SinglePhase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. In order to use the cleanroom type in an environment with ISO cleanliness class 4, the air inside the robot must be vacuumed from the air suction outlet located at the side (or back) of the robot base. The suction rate listed in the above table is a general estimate. Increase the suction rate according to the actual conditions. 29 IXNNC21[H]

31 IXNNC31[H] items IX NNC31[H] T2 Small SCR robot, Cleanroom type rm 3mm, Vertical axis 1mm [Highpower specification] SCR robot /Specifications Series Type Cable pplicable controller Cleanroom type rm 3mm Vertical axis 1mm L : m (standard) 1L: 1 m xis configuration xis 1 rm 1 IXNN31[H] T2 xis 2 xis 3 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. rm Work envelope ±12 ±13 1mm ±36 Repeatability ±.1 (XY) ±.1 ± [442] (Composite ) 116 [1316] 16 /s *[ ] indicates the highpower specification type.8 [.46] Rated 1 3 xis 3 (vertical axis) push force (N) (Note ) 9.9 [111.] 47. [8.] xis 4 llowable inertial moment (kg m2) (Note 6) llowable torque (N. m) *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. larm indicator (Note 7) Brakerelease switch (Note 8) bsolute 1conductor WG26 Dsub/1pin connector with shield (socket) ir tube (O.D. ø4, I.D. ø2.) x 3 (Normal working pressure.8 MPa) llows remote release of Zaxis (24 VDC required) Vacuum joint pplicable tube O.D. ø12 Suction rate 6 N liter/min Cleanliness class Conforming to ISO cleanliness class 4 (.1 µm) mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 2Kg Cable (Note 9) L: m (standard), 1L: 1 m (optional) The CD drawings can be Panel φ8 H7 (intersection between reamer holes ±.2 mm) rm 1 stopper CD φ4 (red) Red LED (*2) φ4 (black) User spacer O.D. φ7 height 1, M4, depth (*1) 7 φ4 (white) Brakerelease switch User connector (Mechanical end) stopper 249. (24.) φ9 φ16 counterbore, depth. (17) 12 R R R12 Operation prohibited area 12 R For installation of peripherals Tapped hole (4M4, depth 12) Same on the other side 3 Detailed view of tip 1 8 φ11 (I.D.) φ16h7 (.18) φ ST (Mechanical end) φ Maintain at 1 mm or more *1: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring (7) Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (3 pcs).1m Vacuum joint for tube O.D. φ12 (I.D. φ8) Tslot for installation of peripheral (M3, M4) pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page 6 axes, XSELPX###2[3] SinglePhase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. In order to use the cleanroom type in an environment with ISO cleanliness class 4, the air inside the robot must be vacuumed from the air suction outlet located at the side (or back) of the robot base. The suction rate listed in the above table is a general estimate. Increase the suction rate according to the actual conditions. IXNNC31[H] 3

32 SCR robot IXNNC [H] Medium SCR robot, Cleanroom type rm mm, Vertical axis mm (3mm) [Highpower specification] items IX NNC [H] T2 /Specifications Series Type Cable pplicable controller NNC2[H]: rm mm, Vertical axis mm NNC3[H]: rm mm, Vertical axis 3mm L : m (standard) 1L: 1 m xis configuration xis 1 rm 1 IXNNC2[H] T2 xis 2 (IXNNC3[H] T2) xis 3 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. rm Work Repeatability envelope ±12 ±.1 ±14 (XY) mm (3mm) ±.1 ±36 ±. 63 [6381] (Composite ) 1393 [1473] 1 /s [187 /s] *[ ] indicates the highpower specification type.47 [.41] Rated 2 1 xis 3 (vertical axis) push force (N) (Note ) 12 [181] 78 [93] xis 4 llowable inertial moment (kg m2) (Note 6).6 llowable torque (N. m) 3.3 [3.7] * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. larm indicator (Note 7) Brakerelease switch (Note 8) bsolute 2conductor WG26 Dsub/2pin connector with shield (socket) ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) llows remote release of Zaxis (24 VDC required) Vacuum joint Quick joint, pplicable tube O.D. ø12 Suction rate 6 N liter/min Cleanliness class Conforming to ISO cleanliness class 4 (.1 µm) mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 31.Kg Cable (Note 9) L: m (standard), 1L: 1 m (optional) The CD drawings can be (723.2) CD (13) 12 (9) 1 R R1.4 * < > indicates vertical axis 3mm (optional) specifications. (Mechanical end) 879<979> 2 97<697> ST<3ST> 14 (Mechanical end) 47 2 Panel 3 M4, depth 8 (Same on the other side) Seal with set screw. (*3) R rm 1 4 φ11 hole φ24 counterbore, depth (82) (766.1) (684.1) Vacuum joint for tube O.D. φ12 (I.D. φ8) φ6 airtube quick joint φ4 airtube quick joint Dsub/2pin connector for user wiring, socket fixing jig M2.6 Red LED (*3) Brakerelease switch Spacer O.D. φ7 Height 1 M4 depth (*2) R2 Operation prohibited area Red Black 63 3 Yellow White (18.) <18> 2 74 (88.) *1: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. *3: The prepared hole 3 M4, depth 8 passes through the side panel of the arm. If the mounting screw is long, make sure it does not contact internal components. In addition, be sure to seal screws with tape. (63) Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m 1 Detailed view of tip section φ14 hollow φ2h7(.21) pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page 6 axes, XSELPX###2[3] SinglePhase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. In order to use the cleanroom type in an environment with ISO cleanliness class 4, the air inside the robot must be vacuumed from the air suction outlet located at the side (or back) of the robot base. The suction rate listed in the above table is a general estimate. Increase the suction rate according to the actual conditions. 31 IXNNC [H]

33 SCR robot IXNNC6 [H] Medium SCR robot, Cleanroom type rm 6mm, Vertical axis mm (3mm) [Highpower specification] items IX NNC6 [H] T2 /Specifications Series Type Cable pplicable controller NNC62[H]: rm 6mm, Vertical axis mm NNC63[H]: rm 6mm, Vertical axis 3mm L : m (standard) 1L: 1 m xis configuration rm Work Repeatability envelope Rated xis 3 (vertical axis) push force (N) (Note ) xis 1 rm ± ±.1 [7232] xis 2 2 ±14 (XY) IXNNC62[H] T2 (Composite ) (IXNNC63[H] T2) Vertical axis mm xis 3 (3mm) ±.1 [1473] [.4] [181] [93] [3.7] xis 4 Rotating axis 1 ±36 ±. 1 /s [187 /s] *In the model number above, specify the cable in. *[ ] indicates the highpower specification type * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. xis 4 llowable inertial moment (kg m2) (Note 6) llowable torque (N. m) larm indicator (Note 7) Brakerelease switch (Note 8) bsolute 2conductor WG26 Dsub/2pin connector with shield (socket) ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) llows remote release of Zaxis (24 VDC required) Vacuum joint Quick joint, pplicable tube O.D. ø12 Suction rate 6 N liter/min Cleanliness class Conforming to ISO cleanliness class 4 (.1 µm) mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 32.Kg Cable (Note 9) L: m (standard), 1L: 1 m (optional) The CD drawings can be (823.2) CD (13) 12 (9) 1 R6 R24 * < > indicates vertical axis 3mm (optional) specifications. 879<979> 2 97<697> 14 ST<3ST> 82<18> 47 (Mechanical end) (Mechanical end) Panel 3 M4, depth 8 (Same on the other side) Seal with set screw. (*3) rm 1 R4 74 (88.) φ11 hole φ24 counterbore, depth (82) (684.1) (766.1) *1: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. *3: The prepared hole 3 M4, depth 8 passes through the side panel of the arm. If the mounting screw is long, make sure it does not contact internal components. In addition, be sure to seal screws with tape. (63) Vacuum joint for tube O.D. φ12 (I.D. φ8) 12 Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m 14 R Operation prohibited area φ6 airtube quick joint φ4 airtube quick joint Red Dsub/2pin connector for user Black wiring, socket fixing jig M2.6 Red LED (*3) Brakerelease switch Spacer O.D. φ7 Height 1 M4 depth (*2) Yellow White Detailed view of tip (18.) section φ14 hollow φ2h7.21 ( ) pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page 6 axes, XSELPX###2[3] SinglePhase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. In order to use the cleanroom type in an environment with ISO cleanliness class 4, the air inside the robot must be vacuumed from the air suction outlet located at the side (or back) of the robot base. The suction rate listed in the above table is a general estimate. Increase the suction rate according to the actual conditions. IXNNC6 [H]32

34 R3 SCR robot IXNNC7 [H] Large SCR robot, Cleanroom type rm 7mm, Vertical axis mm (4mm) [Highpower specification] items IX NNC7 [H] T2 Series Type Cable pplicable controller /Specifications NNC72[H]: rm 7mm, Vertical axis mm NNC74[H]: rm 7mm, Vertical axis 4mm L : m (standard) 1L: 1 m xis configuration rm Work Repeatability envelope Rated xis 3 (vertical axis) push force (N) (Note ) xis 1 rm ± ±.1 [71] xis ±14 (XY) IXNNC72[H] T2 (Composite ) (IXNNC74[H] T2) Vertical axis 4 mm xis 3 (4mm) ±.1 [1614] [.4] [34] [146.] [11.7] xis 4 Rotating axis ±36 ±. 1 /s [1266 /s] *In the model number above, specify the cable in. *[ ] indicates the highpower specification type * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page 44. xis 4 llowable inertial moment (kg m2) (Note 6) llowable torque (N. m) larm indicator (Note 7) Brakerelease switch (Note 8) bsolute 2conductor W26 Dsub/2pin connector with shield (socket) ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) llows remote release of Zaxis (24 VDC required) Vacuum joint Quick joint, pplicable tube O.D. ø12 Suction rate 8 N liter/min Cleanliness class Conforming to ISO cleanliness class 4 (.1 µm) mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 6Kg Cable (Note 9) L: m (standard), 1L: 1 m (optional) The CD drawings can be CD (6) 3 ir joint (*4) (971.) 3 stopper (26.) pplicable tube O.D. φ12 (I.D. φ8) * < > indicates vertical axis 4mm (optional) specifications. (169) (9) 268 R7 R21. 7 (φ188) (φ144) 127.<1227.> 636.<836.> 6 (Mechanical end) (263.4) < 9> ST<4ST> 6 (Mechanical end) (134.6) Panel 2 3 M4, depth 8 (Same on the other side) Seal with set screw. (*1) (R) (34) rm 1 stopper ir joint (back side) (34) (122.7) 414 drilled through φ3 counterbore, depth (83.) (83) (936.) φ6 airtube φ4 airtube Dsub/2pin connector for user wiring, socket fixing jig M2.6 Red LED (*3) Brakerelea se switch Spacer O.D. φ7 Height 1 M4 depth (*2) 2 (Operation prohibited area) Red Black 63 3 Yellow White (18.) *1: The bottom hole 3 M4, depth 8 passes through the side panel of the arm. *2: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. *4: The joint can be installed in the opposite direction (by removing PT3/8 plug and switching the insertion direction of the joint). Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m 1 φ18 hollow φ2h7(.21) Detailed view of tip section pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page 6 axes, XSELPX###2[3] SinglePhase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. In order to use the cleanroom type in an environment with ISO cleanliness class 4, the air inside the robot must be vacuumed from the air suction outlet located at the side (or back) of the robot base. The suction rate listed in the above table is a general estimate. Increase the suction rate according to the actual conditions. 33 IXNNC7 [H]

35 R3 SCR robot IXNNC8 [H] Large SCR robot, Cleanroom type rm 8mm, Vertical axis mm (4mm) [Highpower specification] items IX NNC8 [H] T2 Series Type Cable pplicable controller NNC82[H]: rm 8mm, Vertical axis mm NNC84[H]: rm 8mm, Vertical axis 4mm L : m (standard) 1L: 1 m *The model described above refers to the set containing a robot and controller. /Specifications xis configuration xis 1 rm 1 IXNNC82[H] T2 xis 2 (IXNNC84[H] T2) xis 3 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. rm Work Repeatability envelope 4 7 ± ±.1 [786] 3 4 ±14 (XY) (Composite ) 4 mm 183 (4mm) ±.1 [1614] 1 /s ±36 ±. [1266 /s] *[ ] indicates the highpower specification type.2 [.46] Rated 2 xis 3 (vertical axis) push force (N) (Note ) 26 [34] [146.] xis 4 llowable inertial moment (kg m2) (Note 6) * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to Reference cceleration/ Deceleration Settings on page llowable torque (N. m) 6.7 [11.7] larm indicator (Note 7) Brakerelease switch (Note 8) bsolute 2conductor W26 Dsub/2pin connector with shield (socket) ir tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. ø4, I.D. ø2.) x 2 (Normal working pressure.8 MPa) llows remote release of Zaxis (24 VDC required) Vacuum joint Quick joint, pplicable tube O.D. ø12 Suction rate 8 N liter/min Cleanliness class Conforming to ISO cleanliness class 4 (.1 µm) mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 62Kg Cable (Note 9) L: m (standard), 1L: 1 m (optional) The CD drawings can be CD (6) 3 (171.) stopper 4 ir joint (*4) (26.) pplicable tube O.D. φ12 (I.D. φ8) * < > indicates vertical axis 4mm (optional) specifications. (169) (9) 268 R8 R (φ188) (φ144) 127.<1227.> 636.<836.> 6 (Mechanical end) (263.4) < 9> ST<4ST> 6 (Mechanical end) Panel 2 (R) (34) (134.6) rm 1 stopper 3 M4, depth 8 (Same on the other side) Seal with set screw. (*1) ir joint (back side) (34) 414 drilled through φ3 counterbore, depth (122.7) () (83.) (83) (936.) φ6 airtube quick joint φ4 airtube Dsub/2pin connector for user wiring, socket fixing jig M2.6 Red LED (*3) Brakerelea se switch Spacer O.D. φ7 Height 1 M4 depth (*2) 2 (Operation prohibited area) Red Black 63 3 Yellow White (18.) *1: The bottom hole 3 M4, depth 8 passes through the side panel of the arm. *2: The external force applied to a spacer must not exceed 3 N in the axial direction, or 2 N m in the rotating direction. (for each spacer) *3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring. *4: The joint can be installed in the opposite direction. 91 Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m φ18 hollow section φ2h7(.21) Detailed view of tip pplicable Specifications pplicable I/O points Powersupply Reference (inputs/outputs) voltage page 6 axes, XSELPX###2[3] SinglePhase 16 [24] W 192/192 points [Threephase] p. 37 XSELQX###2[3] 23 VC *The SCR model with highpower specification [H] needs a 2.4 kw threephase type controller XSELPX/QX###3. For explanations of through (Note 9), refer to page 7. In order to use the cleanroom type in an environment with ISO cleanliness class 4, the air inside the robot must be vacuumed from the air suction outlet located at the side (or back) of the robot base. The suction rate listed in the above table is a general estimate. Increase the suction rate according to the actual conditions. IXNNC8 [H] 34

36 SCR robot SCR Robot SeriesSystem Configuration Drawing cable m (standard) Teaching pendant SELT/SELTD (Refer to p. 42.) (Emergency stop switch) (Provided by the user) Encoder cable m (standard) m Brake power cable ( m) (Y termination at end) cable ( m) (Y termination at end) ir tube (.1m) (4 pcs) Computer connection cable ( m) CBSTE1MWEB CBST1MWEB (Supplied with computer software) (Refer to p. 43.) Computer software (optional) I11XMW I11XUSBMW I11XMW (Refer to pp. 42 and 43.) 24 VDC power supply PLC PIO flat cable (2 m) CBXPIO2 (See below.) Various field networks DeviceNet (*1) CCLink (*2) ProfiBus (*3) Ethernet Serial communication units RS232C RS422 RS48 Powersupply voltage Singlephase 23 VC (basicpower spec.) Threephase 23 VC (highpower spec.) (Note1) Use a teaching pendant of Ver or later. (Note2) Use computer software of Ver or later. (*1) DeviceNet is a registered trademark of ODV. (*2) CCLink is a registered trademark of Mitsubishi Electric Corporation. (*3) ProfiBus is a registered trademark of Siemens G. (Provided by the user) Robot ccessories Caution labels seals Eyebolts Service connectors ccessories PIO flat cable CBXPIOooo *ooo represents the cable (L); supports up to 1 m. Example: 8 = 8 m No jacket Flat cable ( conductors) Robot Options Name bsolute data storage battery bsolute reset adjustment jig Flange B3 JG1~4 IXFL1~3 Description Reference page Battery for storing the encoder's absolute data Jig needed to perform an absolute reset Number Color Wire Number Color Wire Number Color Wire Brown 1 Red 1 Orange 1 Yellow 1 Green 1 Blue Gray 2 White 2 Black 2 Brown3 Red 3 Orange Green 4 Blue 4 Purple 4 Gray 4 White 4 Black 4 7 Purple 1 Flat cable, 24 Yellow 3 Flat cable, 41 Brown Flat cable, 8 Gray 1 pressurewelded 2 Green 3 pressurewelded 42 Red pressurewelded White 1 Black 1 Brown2 Red 2 Orange 2 Yellow 2 Green 2 Blue 2 Purple Blue 3 Purple 3 Gray 3 White 3 Black 3 Brown4 Red 4 Orange 4 Yellow Orange Yellow Green Blue Purple Gray White Black Flange for mounting objects on the tip of the Zaxis p. 36 Options Name Teaching pendant (dustproof) Teaching pendant (NSI) Computer software (DOS/V) Computer software (USB) Computer software (compatible with ) Description Reference page SELT SELTD Compatible with protective structure IP4 Complies with CE/NSI protocols p. 42 I11XMW llows for input and editing of position data, programs, parameters, etc. as well as manual operations. I11XUSBMW With a USBcompatible computer connection cable I11XMW With a communication cable providing a redundant emergency stop circuit p SCR Robot System Configuration Drawing

37 SCR robot SCR Robot Series Robot Options bsolute reset adjustment jig The adjustment jig is used if it is necessary to perform an absolute reset when the encoder's absolute data is lost. JG1 JG2 JG3 JG4 Note For arm /6 For arm 2/3 For arm 7/8 For high type, arm /6 JG1 JG2 JG3 JG4 Flange Use a flange when mounting an object on the tip of the Zaxis arm. φ3 φ16 φ44 φ2 φ44 φ2 IXFL1 IXFL2 Note For arm /6 For arm 2/3 For high type, arm / φ2h7 φ6 M φ34h7 φ φ34h7 φ7 IXFL3 For arm 7/8 4 4φ. 4φ. 4 4φ. 4 Note φ φh7 φ6 φh7 φ6 Use IXFL2 with arm /6 of the high type φh7( ) 2 ±.12 IXFL2 IXFL1 IXFL3 SCR Robot Series Maintenance Parts bsolute data backup battery This battery is used to store the encoder's absolute data. (Install the battery behind the rear cover of the SCR robot.) Note B3 For arm 2 8 *Four batteries are required for each robot (all SCR robot models). Since the B3 package contains a single battery, be sure to specify the required number when ordering. B3 SCR Robot Robot Options/Maintenance Parts 36

38 RB RB IN RB RB+ RB RB+ OUT SCR robot PX/QX Program controller for SCR robots List These multipleaxes program controllers can be used to control SCR robots. They can control a maximum of 6 axes simultaneously. Type name PX QX Name Large standard type Large global type (safetycategorycompatible specifications) External view Description Capable of a SCR robot and 2 singleaxis robots PX type compatible with the number of controlled axes Number of programs Number of program steps Number of positions Total wattage for connectable axes Power Safety category 6 axes 1 points 9999 steps positions Basicpower type: 16 W / Highpower type: 24 W Basicpower type: Singlephase 23 VC / Highpower type: Threephase 23 VC B Complies with Category 4 Safety rating ROBO Cylinder gateway function CE equipment CE, NSI equipment System Configuration Connectable actuators Caution cables and encoder cables differ depending on the SCR robot type that is used. Refer to the SCR robot specifications for details. cable Encoder cable External equipment PLC, etc. Various field network connections Device Net CCLink ProfiBus Ethernet Serial communications port (standard and 2ch for RS232) Teaching box Refer to pp. 43 and 44. Computer software HighSpeed HighPrecision Type Type Dustproof Type Clean Room Type ntistatic Specifications HighRigidity Belt Type Slim Belt Type Rotating axis ROBO Cylinder ISP Series IS Series ISD Series ISDCR Series ISDCR ESD IF Series FS Series RS Series RCS2 Series I/O flat cable 2 m (supplied with controller) 4m RS232 cable m (supplied with computer software) Regenerative resistance unit (Refer to p. 42.) Regenerative unit cable 1 m (supplied with regenerative unit) Main power Singlephase 23 VC/Threephase 23 VC *When connecting the power supply, install the following filter components. Noise filter Ring core Clamp filter Recommended model: Recommended model: Recommended model: Surge protector Recommended model: Control power supply drive power supply System I/O Singlephase 23 VC Single/Threephase 23 VC (basic/highpower specification) Threephase MC132 (Manufacturer: TDKLambda) Singlephase MXB12233 (Manufacturer: TDKLambda) ESDR2 (Manufacturer: NEC/Tokin) For a control power supply ZCT33133 (Manufacturer: TDK) For a motor power supply RFCH13 (Manufacturer: Kitagawa Industries) Threephase R V781BXZ4 Singlephase R V781BWZ4 (Manufacturer: Okaya Electric Industries) Emergency stop Enable System ready Drive source interrupt circuit (provided by customer) *Global type only (not required for standard type) Expansion I/O I/O board Multipoint I/O board 37 XSEL

39 SCR robot [XSELPX/QX type] *The specifications for axis and axis 6 are entered for models PX/QX/PX6/QX6. *With arm 7/8, the maximum number of connected axes is (SCR + single axis). *With the high type, the maximum number of connected axes is 4 (SCR only). XSEL ( ) ( ) Series Type IX (xis details) (xis 6 details) Type Encoder Type Option Type Encoder Type Option Network Slot (Slot 1) (Slot 2) (Slot 3) (Slot 4) I/O Cable Power/Voltage I/O Expansion I/O PX4 LargeCapacity 4xis Type B Brake I Incremental 2 SinglePhase 23 VC PX LargeCapacity xis Type C Creep Sensor bsolute 3 ThreePhase 23 VC PX6 LargeCapacity 6xis Type QX4 LargeCapacity Global 4xis Type QX LargeCapacity Global xis Type QX6 LargeCapacity Global 6xis Type L M S Home Sensor/LSCompatible Master axis specification Slave xis Specification B C L Brake Creep Sensor Home Sensor/LSCompatible 2 3 No Cable 2m 3m m I Incremental bsolute M S Master axis specification Slave xis Specification NNN21[H]~84[H] NSN16[H]~616[H] NNC21[H]~84[H] NNW21[H]~84[H] TNN31[H]~31[H] UNN31[H]~31[H] HNN2[H]~84[H] INN2[H]~84[H] Type HighSpeed Type Clean Room Type Splashproof Type Wall Mount type Wall Mount Inverse Type Ceiling Mount Type Ceiling Mount Inverse type None Not Used DV DeviceNet Connection Board CC CCLink Connection Board PR ProfiBus Connection Board ET Ethernet Connection Board E N1 N2 N3 P1 P2 P3 S Not Used Input 32/Output 16 (NPN) Input 16/Output 32 (NPN) Input 48/Output 48 (NPN) Input 32/Output 16 (PNP) Input 16/Output 32 (PNP) Input 48/Output 48 (PNP) With Expansion I/O Base *If no expansion I/O is used, enter E (Not Used) for slot 2 to slot 4. If an expansion I/O is to be used, enter the expansion I/O code (listed on the left side) at the slot position where it is to be installed. If an expansion I/O is specified, the controller chassis must be specified as the one with the expansion I/O base. If an expansion I/O will not initially be used, but will be installed later, be sure to order a chassis with an expansion I/O base, and enter S for slots 2 through W Servo W Servo 2 2W Servo W Servo 3D RCS2 3W Servo 3 3W Servo 3D RCS2 3W Servo 3 3W Servo 3R RS 3W Servo 4 4W Servo 3R RS 3W Servo 4 4W Servo 6 6W Servo 6 6W Servo 6 6W Servo 6 6W Servo 1 1W Servo 7 7W Servo 1 1W Servo 7 7W Servo 1 1W Servo 1 1W Servo Example: If an expansion I/O is installed into slot 2 and no other slots are to be used If only the expansion I/O base is to be installed and no expansion I/O are to be used XSELPX4NNN12N1N1EE23 XSELPX4NNN12N1SSS23 Note xis and axis 6 of the XSELPX/QX type cannot operate LS series or RCS2R7/SR7 series actuators. XSEL 38

40 SCR robot Table of Specifications Item type Number of controlled axes output of connected axes Control power input power input Powersupply Safety circuit configuration Drive source cutoff method Enable input Position detection method Programming language Number of programs Number of program steps Number of positions Multitasking inputs outputs Expansion inputs/outputs Serial communication Operating temperature/humidity Description PX QX 6 axes 16 W (1phasis) / 24 W (3phasis) Singlephase 23 VC, ±1%+1% 1.6 kw type: singlephase 23 VC, 1% +1% / 2.4 kw type: threephase 23 VC, ±1% Max. 33 V (*1) Redundancy not Redundancy Internal cutoff relay External cutoff relay B contact input B contact input (duplex) Incremental/absolute Super SEL language 1 programs 9999 steps (total) positions 16 programs 32 points (total of dedicated inputs + generalpurpose inputs) 16 points (total of dedicated outputs + generalpurpose outputs) Total of 384 input/output points (*2) equipment 4 C, 1% 9% (no condensation).2.7 kg 4. kg (*1) When only a SCR robot is operated. (*2) When four multipoint I/O boards have been installed. External PX large standard type / QX large global type The external dimensions of the XSEL PX/QX controllers vary depending on the type (arm ) of SCR robot that is connected, number of axes, whether or not an expansion I/O is installed and the type of directcoupled axes. Refer to the drawing for the controller with the appropriate number selected from the following table. SCR robot Type rm type 2~6 Cleanroom type Wallmount type Ceilingmount type 7~8 High type ~6 1.6/2.4 kw (1/3phasis) PX standard type; 1.6 kw (1phasis) QX global type SCR only (PX4; QX4[..]2) SCR + directcoupled axis (PX/PX6; QX/QX6[..]2) Without expansion I/O With expansion I/O Without expansion I/O With expansion I/O SCR only (QX4[..]3) Without expansion I/O 2.4 kw (3phasis) QX global type With expansion I/O SCR + directcoupled axis (QX/QX6[..]3) Without With expansion I/O expansion I/O Dimensional Dimensional Dimensional Dimensional diagram diagram Dimensional Dimensional diagram diagram Dimensional Dimensional diagram (*2) diagram (*2) diagram (*2) diagram (*2) Dimensional Dimensional Dimensional Dimensional diagram (*1) diagram (*1) diagram (*1) diagram (*1) (*1) Due to a large motor wattage of the SCR robot, the external dimensions are for the 6axes configuration, even though only four axes are installed. (*2) With arm 7/8, the maximum number of connected axes is (SCR + single axis). I/O External dimensions 1.6/2.4 kw PX standard type; 1.6 kw QX global type 9. SCR only 7 3ø 7 9. SCR + directcoupled axis External dimensions ø 42 External dimensions 38 7 SCR only 3ø kw QX global type 38 SCR + directcoupled axis External dimensions ø 2. Side view (common) expansion (8) expansion I/O Without External dimensions ø 1 External dimensions ø 78. External dimensions ø 29. External dimensions ø With * ll controller types have the same height. 39 XSEL

41 SCR robot I/O Wiring Diagrams Item Input power supply Input current On/Off voltage Insulation method External devices [Input Circuit] + Input section External input specifications (NPN specifications) Specifications 24 V DC ±1% 7 m/circuit On voltage Min. 16. V DC, Off voltage Max.. V DC Photocoupler insulation Novoltage contact (with a minimum load of approx. V DC/1 m) Photoelectric/proximity sensor (NPN type) Sequencer transistor output (opencollector type) Sequencer contact output (with a minimum load of approx. V DC/1 m) Output section External input specifications (NPN specifications) Item Load voltage load current Leak current Insulation method External devices Specifications 24 V DC 1 m/point, 4 m Uses TD64 (or equivalent). peak (total current) Max..1 m/point Photocoupler insulation Miniature relay, Sequencer input unit [Output Circuit] 24V * External power supply DC24V ±1% 24V * 6Ω 3.3kΩ Input terminal Internal circuit * K type I/O 24 V connector 24V 24VIN P/Q type I/O interface, pin no. 1 Internal circuit D 1Ω Surge absorber Load Output terminal + External * power supply DC24V N * ±1% K type I/O 24 V connector 24V 24VIN I/O 24 V connector N V P/Q type I/O interface, pin no. 1 I/O interface, pin no. Input section External input specifications (PNP specifications) Item Input power supply Input current On/Off voltage Insulation method External devices [Input Circuit] External power supply DC24V ±1% + Input terminal Specifications 24 V DC ±1% 7 m/circuit On voltage Min. 8 V DC, Off voltage Max. 19 V DC Photocoupler insulation Novoltage contact (with a minimum load of approx. V DC/1 m) Photoelectric/proximity sensor (PNP type) Sequencer transistor output (opencollector type) Sequencer contact output (with a minimum load of approx. V DC/1 m) N * 6Ω 3.3kΩ Internal circuit * N K type I/O 24 V connector V P/Q type I/O interface, pin no. Output section External input specifications (PNP specifications) Item Load voltage load current Leak current Insulation method External devices Specifications 24 V DC 1 m/point Uses TD m/8 ports (Note) (or equivalent). Max..1 m/point Photocoupler insulation Miniature relay, Sequencer input unit (Note) The maximum total load current for every 8 ports from output port no. 3 is ed to 4 m. (The total maximum load current for output port no. 3 + n to no. 3 + n + 7 is 4 m, where n = or a multiple of 8. [Output Circuit] Internal circuit 1Ω 24V * Surge absorber Output terminal Load N * + External power supply DC24V ±1% * 24V N K type I/O 24 V connector 24VIN I/O 24 V connector V P/Q type I/O interface, pin no. 1 I/O interface, pin no. I/O Signal Chart I/O Signal Chart (if N1 or P1 was selected) Expansion I/O Signal Chart (if N1 or P1 was selected) Expansion I/O Signal Chart (if N2 or P2 was selected) Pin No Category Input Output Port No Setting (P/Q types: 24V connection; K type: NC) Program start Program specification (PRG No. 1) Program specification (PRG No. 2) Program specification (PRG No. 4) Program specification (PRG No. 8) Program specification (PRG No. 1) Program specification (PRG No. 2) Program specification (PRG No. 4) larm output Ready output Emergency stop output (P/Q types: V connection; K type: NC) Pin No Category Input Output Setting (P/Q types: 24V connection; K type: NC) (P/Q types: V connection; K type: NC) Pin No Category Input Output Setting (P/Q types: 24V connection; K type: NC) (P/Q types: V connection; K type: NC) XSEL 4

42 RB+ RB IN RB RB RB+ RB OUT SCR robot Regenerative resistance unit REU1 Description This unit converts to heat the regenerative current generated when the motor decelerates. The controller has a builtin regenerative resistor; however, its is insufficient with a vertically positioned axis and a large load. Therefore, a regenerative unit is required. (Refer to the table at the right.) Specifications Item Options Unit dimensions Builtin regenerative resistor ccessories Specifications 34 mm 19 mm (H) 126 mm (D).9Kg 22Ω, 8 W connection cable (1 m) ( CBSTREU1) Installation s NNN NNW TNN UNN HNN INN NNC NSN Expansion SIO board (dedicated generalpurpose type) 21[H] 31[H] **[H] 6**[H] 7**[H] 8**[H] 16[H] 616[H] Number of regen. resistors * The required number listed above is for a single SCR robot. If singleaxis robots are connected as axis or axis 6, refer to the regenerative resistor installation standards for the controller, and then add the required number of regenerative resistors for each singleaxis robot that is used φ Example) When IXNNN21H and ISMXM : IXNNN21[H}: Requires 1 ISMXM : Requires 1 Therefore, two regenerative resistance units are required. / Specifications Joint cable side I1XMW (for RS232C connections)(main unit + joint cable, 2 included) I1XMWB (for RS422 connections)(main unit + joint cable, 1 included) I1XMWC (for RS48 connections)(main unit + joint cable, 1 included) 1 : CBST232J1 1mm Cable connection side Description Joint cable side This board is for serial communications with external devices. This board has twochannel ports, and is compatible with three communication formats using the supplied joint cable. 2 : CBST422J1 1m (1mm) mm 1 No jacket Orange, Black dot Orange, Red dot White, Black dot Light gray, Black dot Light gray, Red dot Wiring Diagram XM11 Wire Color Signal NO. WG24 x 7 conductors Orange, Black dot Orange, Black dot Light gray, Black dot Light gray, Red dot White, Black dot White, Red dot Yellow, Black dot SD RD RS CS ER DR SG XM291 NO. Signal 3 SD 2 RD 7 RS 8 CS 4 ER 6 DR SG 1 9 Color Orange, Black dot Orange, Black dot Light gray, Black dot Light gray, Red dot White, Black dot White, Red dot Yellow, Black dot Wire W G24x 7 conductors *Connection cables for external devices are not supplied. Wiring Diagram XM11 Wire Color Signal NO WG24 x 7 conductors Orange, Black dot RD+ 11 Orange, Red dot RD 12 White, Black dot TRM 13 Light gray, Black dot SD 14 Light gray, Red dot SD+ 1 *Connect to a terminal block, etc. DeviceNet connection board This is the board for connecting the XSEL controller to DeviceNet. Item Number of I/O points Communication standard Communication specifications Baud rate Communication cable Communication power supply Communication power supply consumption current Number of reserved nodes Connector Specifications 1 board: 26 input points/26 output points *Only 1 board can be installed. Interface module certified under DeviceNet 2. (certification to be obtained) Group 2 only server Insulated node on network power supply Master/slave connection Bit strobe Polling Cyclic Kbps/2 Kbps/12 Kbps (selectable with DIP switch) Baud rate Max. network Max. branch Total branch Kbps 1m 39m 2 Kbps 2m 6m 78m 12 Kbps m 16m Note: When using the thick cable for DeviceNet 24 V DC (supplied from DeviceNet) 6 m or more 1 node MSTB2./G.8UM manufactured by Phoenix Contact (*1) (*1) Cableside connector (SMSTB2./ST.8U manufactured by Phoenix Contact) is a standard accessory. CCLink connection board This is the board for connecting the XSEL controller to CCLink. Number of I/ O points Item Remote device Communication standard Baud rate Communication method Synchronization method Encoding method Transmission path type Transmission format Error control system Number of reserved stations Communication cable Connector (controller side) 1 board: 26 input points/26 output points *Only 1 board can be installed. CCLink Ver. 1.1 (certified) Specifications 1 Mbps/ Mbps/2. Mbps/62 Kbps/16 Kbps (selectable with rotary switch) Broadcast polling method Frame synchronization method NRZI Bus format (EI48 (RS48)compliant) HDLCcompliant CRC (X 16 +X 12 +X +X1) 1 to 3 stations (remote device stations) Baud rate (bps) 1M M 2.M 62K 16K Cable (m) MSTB2./G.8UM manufactured by Phoenix Contact (*1) (*1) Cableside connector (SMSTB2./ST.8U manufactured by Phoenix Contact) is a standard accessory. 41 XSEL

43 SCR robot Teaching pendant conforming to NSI standards/ce mark (dedicated generalpurpose type) SELT SELTD (NSIcompliant) The splashproof type complies to protection rating IP4. Usability has been enhanced by incorporating dedicated keys programmed for each function. In addition, SELTD is equipped with a 3position enable switch and supports NSI standards Specifications Item Operatingtemperature/humidity Item Protective structure Weight Cable Display Safety rating Specifications Temperature: 4 C, humidity: 3 8%RH or less (no condensation) IP4 (excluding the cable connector) 4g or less (excluding the cable) m 32character 8row LCD display CE mark, NSI standards (*) (*) NSI standards are only by SELTD. Note * When the controller described in this catalog, be sure to use Ver or later Computer software (for XSELPX, Windows only) I11XMW (DOS/V version) *Contact us for information about the PC98 version. Note *In order to operate the controllers described in this catalog, use software of Ver or later. *Use model I11XMW when a controller conforming to is required. This startup assistance software provides functions for program/position input, test operation and monitoring. The functions needed for debugging have been enhanced significantly to help reduce startup time. Description Software (CDROM) (Compatible with Windows 98, NT,, ME and XP) Computer connection cable ( m) + emergency stop box ( CBSTE1MWEB) Computer connection cable ( CBSTE1MW) Note When ordering a computer connection cable separately for maintenance purposes, specify model CBSTE1MWO for only the cable. When ordering a computer connection cable and an emergency stop box as a set, specify model CBSTE1MWOEB m DSub/9pin socket Connector hood FG BROWN BROWN/BLCK ORNGE ORNGE/BLCK ELP2V RED BLCK Wiring Diagram DSub/2pin plug Connector hood FG 2 2 BROWN 3 3 BROWN/BLCK 7 ORNGE ORNGE/BLCK RED 2 12 RED/BLCK 1 Shield FG (Shield) 1 XSEL 42

44 SCR robot Computer software compatible with (for XSELQX only) I11XMW (DOS/V version) This startup assistance software provides functions for program/position input, test operation and monitoring. The functions needed for debugging have been enhanced significantly to help reduce startup time. In addition, the computer connection cable provides a redundant emergency stop circuit, and complies with. Description Software (CDROM) (ccessories) *Compatible with Windows 98, NT,, ME and XP Computer connection cable ( m) + emergency stop box ( CBST1MWEB) Computer connection cable ( CBST1MW) Computer side m junction box side * Cannot be used with XSELPX. Note When ordering a computer connection cable separately for maintenance purposes, specify model CBST1MW for only the cable. When ordering a computer connection cable and an emergency stop box as a set, specify model CBST1MWEB. EMG SW box side Number Signal Color Wire 2 RXD Red/Blue 3 TXD Gray/Pink.2 sq SG Purple Black 4 DTR (Shorted).3 sq 6 DSR 7 RTS (Shorted).3 sq 8 CTS Shield Connected to the case. Soldered inside junction shell The shield is connected to pin 1 and the case. Shorted The shield is connected to the case. Shield Shield Red/Blue 1 Red/Blue Gray/Pink 2 Gray/Pink 3 4 Purple Black Purple 7 Black Shorted Shorted Yellow Yellow Green Green 12 Brown Brown White White 24 Yellow Green Brown White Shorted Shorted Number Signal Color Wire 1 FG (Shield) 2 TXD Red/Blue.2 sq 3 RXD Gray/Pink 4 RTS (Shorted).3 sq CTS 7 SG Black Purple.2 sq 6 DSR (Shorted).3 sq 2 DTR 17 SW2. C11(ENB1) (Shorted).3 sq 19 SW2. C12(ENB1) 21 SW2. C21(ENB2) (Shorted) 22 SW2. C22(ENB2).3 sq 12 SW1. NC11(EMG1) Yellow 13 SW1. NC12(EMG1) Green.2 sq 16 SW1. NC21(EMG2) Brown 24 SW1. NC22(EMG2) White Shield Connected to the case. Number Signal SW1. NC11(EMG1) SW1. NC12(EMG1) SW1. NC21(EMG2) SW1. NC22(EMG2) Color White Brown Green Yellow Wire.2 sq Yellow Green Brown White USB computer software I11XUSBMW USB conversion adapter is connected to the RS232C cable to enable use with a USB port of a computer. Description Software (CDROM) *Compatible with Windows 98, NT,, ME and XP Computer connection cable ( m) + emergency stop box + USB conversion adapter + USB cable (1 m) 1m USB conversion adapter I CV USB m *Cannot be used with XSELQX. Computer software (CD) USB cable CB SEL USB1 RS232C cable CB ST E1MW EB 43 XSEL

45 SCR robot Reference cceleration/deceleration Settings SCR robots cannot operate continuously at the maximum and maximum acceleration mentioned in the catalog. When at the maximum acceleration, provide a stopping time based on the reference range for continuous operation duty in the graphs. If the robot must operate continuously, it should operate with an acceleration setting in the reference range for continuous operation in the graphs of reference acceleration/deceleration settings. Basicpower specification type: IX 2/3/3, IX /6/7/8, IX high /6 With arm 2/3/3 With arm /6/7/8 cceleration (%) IX2/3/3 Reference acceleration/deceleration settings for IX arm 2/3/3 Reference PTP acceleration/ deceleration settings 1 setting range continuous operation Transfer load mass (kg)..1.1 Moment of inertia (kg m 2 ) IX/6 Reference acceleration/ deceleration settings for cceleration (%) IX arm /6 Reference PTP acceleration/ deceleration settings 1 Reference range of maximum setting continuous operation setting Reference range of maximum setting when arm 1 is operated over 12 degrees or more 1 Transfer load mass (kg).3.6 Moment of inertia (kg m 2 ) IX7/8 Reference acceleration/ deceleration settings for cceleration (%) IX arm 7/8 Reference PTP acceleration/ deceleration settings 1 Reference range of maximum setting continuous operation setting Reference range of maximum setting when arm 1 is operated over 12 degrees or more Transfer load mass (kg)..1 Moment of inertia (kg m 2 ) IX2 Reference acceleration/ deceleration settings for CP operation IX arm 2 Reference CP acceleration/ deceleration settings 1.6 IX3 Reference acceleration/ deceleration settings for CP operation IX arm 3 Reference CP acceleration/ deceleration settings 1.6 IX/6 Reference acceleration/ deceleration settings for CP operation IX arm /6 Reference CP acceleration/ deceleration settings 1. IX7/8 Reference acceleration/ deceleration settings for CP operation IX arm 7/8 Reference CP acceleration/ deceleration settings 1. cceleration (G) setting range continuous operation cceleration (G) setting range continuous operation Transfer load mass (kg) 1 Transfer load mass (kg) Transfer load mass (kg) cceleration (G). Reference range of maximum setting continuous operation Line of reference range for vertical axis during continuous operation cceleration (G). Reference range of maximum setting Line of reference range for vertical axis during continuous operation continuous operation Transfer load mass (kg) IX3 Reference acceleration/ deceleration settings for CP operation IX arm 3 Reference CP acceleration/ deceleration settings 1.6 With high type (arm /6) IX/6 high Reference accel./decel. settings for IX/6 high Reference accel./decel. settings for CP operation cceleration (G) setting range continuous operation Transfer load mass (kg) IX arm /6 high (NSN) Reference PTP acceleration/ deceleration settings 1 cceleration (%) Reference range of maximum setting continuous operation setting Reference range of maximum setting when arm 1 is operated over 12 degrees or more Transfer load mass (kg)..1.1 Moment of inertia (kg m 2 ) cceleration (G) IX arm /6 high (NSN) Reference CP acceleration/ deceleration settings Reference range of maximum setting continuous operation setting Transfer load mass (kg) XSEL 44