IX-NNN / NNC. Arm Length 120 mm / 150 mm / 180 mm. Ultra Compact SCARA Robot Ultra Compact Cleanroom SCARA Robot

Transcription

1 Ultra Compact SCR Robot Ultra Compact Cleanroom SCR Robot IXNNN / NNC rm Length mm / 0 mm / mm

2 PalmSized Unit Capable of Driving a Payload of kg New models of mm arm length and cleanroom specification were added to the lineup, further extending the utility and applications of the IXNNN/NNC series. Features Standard and cleanroom specifications are available in three arm lengths of mm, 0 mm and mm. Optional connectortype cables for connection between the controller and actuator The motor/encoder cables can be specified as connector types (optional) for added ease of handling and replacement. Compact size ideal for installation in limited space maximum work envelope of mm can be ensured in a small installation space of 7 (W) x 2 (D) mm, enabling substantial size reduction of your production line. Ultracompact size yet powerful Offering rated and maximum load capacities of 0.2 kg and kg, respectively (*) Despite their small size, a 0.2kg load can be transferred at high speed. If the acceleration is reduced, a load of up to kg can be transferred. (*) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. Highspeed performance achieving a cycle time of 0. second The dynamic performance and highly rigid body ensures outstanding highspeed performance that is among the best in its class. The cycle time was measured on the IXNNN based on reciprocating movements over a horizontal distance of 00 mm and vertical distance of 2 mm, carrying a 0.2kg load. List 0 Standard specification Cleanroom specification Standard specification Cleanroom specification Standard specification Cleanroom specification Rated (kg) (kg) IXNNN ➀T2➁ IXNNC ➀T2➁ IXNNN0 ➀T2➁ IXNNC0 ➀T2➁ IXNNN ➀T2➁ IXNNC ➀T2➁ page P2 P P P6 P P7 ➀ and ➁ indicate the cable length and option(s), respectively. Maintenance Parts Flange : IX FL Use this flange to install a load on the Z axis shaft (weight: g). models: IXNNN/0/ IXNNC/0/ h7(0.0) bsolute Reset djustment Jig : JG (For arm length /0/) Use this adjustment jig to perform an absolute reset if the absolute data stored in the encoder was lost. bsolute Data Backup Battery (Replacement Battery) : B6 (For arm length /0/) This absolute data backup battery allows the current position to be retained even after the power is cut off. (One battery is shipped with the actuator as a standard accessory.). H7 26 Note on Use If the load on the Zaxis is within the rated load capacity (0.2 kg), the Zaxis will not drop even after the power is cut off. If the rated load capacity is exceeded, however, the Zaxis may drop when the power is cut off or an emergency stop is actuated. If the Zaxis will be carrying a large load, specify a zaxis brake (optional). IXNNN

3 IXNNN specification items IX Ultra Compact SCR Robot: Standard, rm Length mm, Vertical xis 0mm NNN Standard type mm Vertical axis 0mm L:m (standard) L:m T2 controller Option(s) (Blank): No option B: Zaxis brake JY: Connectortype cable /Specifications IXNNN T2 Common Specifications xis configuration xis xis 2 xis xis rm rm 2 Vertical axis Rotating axis Motor capacity (W) Work Positioning envelope repeatability ± ±0.00 ± (XY) 0mm ±0.00 ± ±0.00 operating speed (Note ) 20mm/s (composite speed) 720mm/s 0 /s Cycle time (sec) (Note 2) (kg) (Note ) Rated xis push thrust (N) Push motion thrust xis allowable load inertial moment (kg m 2 ) (Note ) torque (N m) Encoder type bsolute User wiring core, WG26 cable with shield / Connector: SMP0VNC (JST) User piping ir tube (outer diameter /inner diameter 2) x 2 (normal working pressure 0.7MPa) larm indicator (Note 6) Small red LED indicator x (2VDC power supply required) Dimensions mbient temperature/humidity Weight Temperature 0~0 C, humidity 20~%RH or less (noncondensing) 2.7kg L : m L : m R R R6. 0 h7( 0.0) Section Detail view of vertical axis tip Work envelope. LM indicator (.) User connector, pins SMP0VNC by JST 7..7 (.2) (22) M, depth st 26 2M, depth 6 Same on the opposite side (*) 6 (62) Cable wiring space *: The 2M, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *2: For the LM indicator to illuminate, the customer must provide a circuit that receives signals from the controller s I/O output and applies 2 VDC to the LED terminal in the user wiring connector Controller Specifications controller Feature XSELPX ble to control SCR + 2 axes XSELQX Conforming to safety category I/O Powersupply points (input/output) voltage 92 points /92 points Threephase 200VC Page P (Note ) Based on PTP operation. In CP operation, the maximum speed is limited. (Note 2) The cycle time is based on reciprocating movements over a horizontal distance of 00 mm and vertical distance of 2 mm, carrying a 0.2kg load. (Note ) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. The value under Push motion indicates the thrust generated when a push command is Caution executed from a program. The value under thrust indicates the maximum thrust during normal positioning operation. (Note ) n equivalent allowable inertial moment at the center of rotation of axis. The offset from the center of rotation of axis to the gravity center of the tool must not exceed 7. mm. (Note 6) For the LM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies 2 VDC to the LED terminal in the user wiring connector. IXNNN 2

4 IXNNN0 specification items IX Ultra Compact SCR Robot: Standard, rm Length 0mm, Vertical xis 0mm NNN0 Standard type 0mm Vertical axis 0mm L:m (standard) L:m T2 controller Option(s) (Blank): No option B: Zaxis brake JY: Connectortype cable /Specifications IXNNN0 T2 Common Specifications xis configuration xis xis 2 xis xis rm rm 2 Vertical axis Rotating axis Motor capacity (W) Work Positioning envelope repeatability ± ±0.00 ± (XY) 0mm ±0.00 ± ±0.00 operating speed (Note ) 2mm/s (composite speed) 720mm/s 0 /s Cycle time (sec) (Note 2) (kg) (Note ) Rated xis push thrust (N) Push motion thrust xis allowable load inertial moment (kg m 2 ) (Note ) torque (N m) Encoder type bsolute User wiring core, WG26 cable with shield / Connector: SMP0VNC (JST) User piping ir tube (outer diameter /inner diameter 2) x 2 (normal working pressure 0.7MPa) larm indicator (Note 6) Small red LED indicator x (2VDC power supply required) Dimensions mbient temperature/humidity Weight Temperature 0~0 C, humidity 20~%RH or less (noncondensing) 2.7kg L : m L : m R0 R. 0 h7(0.0) Section R Detail view of vertical axis tip Work envelope. LM indicator (.) User connector, pins SMP0VNC by JST 7..7 (.2) (22) M, depth 6.. 0st 26 2M, depth 6 Same on the opposite side (*) 6 (62) Cable wiring space *: The 2M, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *2: For the LM indicator to illuminate, the customer must provide a circuit that receives signals from the controller s I/O output and applies 2 VDC to the LED terminal in the user wiring connector.. IXNNN0 Controller Specifications controller Feature XSELPX ble to control SCR + 2 axes XSELQX Conforming to safety category I/O Powersupply points (input/output) voltage 92 points /92 points Threephase 200VC Page P Caution (Note ) Based on PTP operation. In CP operation, the maximum speed is limited. (Note 2) The cycle time is based on reciprocating movements over a horizontal distance of 00 mm and vertical distance of 2 mm, carrying a 0.2kg load. (Note ) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. The value under Push motion indicates the thrust generated when a push command is executed from a program. The value under thrust indicates the maximum thrust during normal positioning operation. (Note ) n equivalent allowable inertial moment at the center of rotation of axis. The offset from the center of rotation of axis to the gravity center of the tool must not exceed 7. mm. (Note 6) For the LM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies 2 VDC to the LED terminal in the user wiring connector.

5 IXNNN specification items IX Ultra Compact SCR Robot: Standard, rm Length mm, Vertical xis 0mm NNN Standard type mm Vertical axis 0mm L:m (standard) L:m T2 controller Option(s) (Blank): No option B: Zaxis brake JY: Connectortype cable /Specifications IXNNN T2 Common Specifications xis configuration xis xis 2 xis xis rm rm 2 Vertical axis Rotating axis 0 Motor capacity (W) Work Positioning envelope repeatability ± ±0.00 ± (XY) 0mm ±0.00 ± ±0.00 operating speed (Note ) 2mm/s (composite speed) 720mm/s 0 /s Cycle time (sec) (Note 2) (kg) (Note ) Rated xis push thrust (N) Push motion thrust xis allowable load inertial moment (kg m 2 ) (Note ) torque (N m) Encoder type bsolute User wiring core, WG26 cable with shield / Connector: SMP0VNC (JST) User piping ir tube (outer diameter /inner diameter 2) x 2 (normal working pressure 0.7MPa) larm indicator (Note 6) Small red LED indicator x (2VDC power supply required) Dimensions mbient temperature/humidity Weight Temperature 0~0 C, humidity 20~%RH or less (noncondensing).0kg L : m L : m R R6.2 0 h7(0.0) Section R Detail view of vertical axis tip Work envelope. LM indicator (.) User connector, pins SMP0VNC by JST 7..7 (.2) (22) M, depth st 26 2M, depth 6 Same on the opposite side (*) 6 () (62) Cable wiring space *: The 2M, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *2: For the LM indicator to illuminate, the customer must provide a circuit that receives signals from the controller s I/O output and applies 2 VDC to the LED terminal in the user wiring connector.. Controller Specifications controller Feature XSELPX ble to control SCR + 2 axes XSELQX Conforming to safety category I/O Powersupply points (input/output) voltage 92 points /92 points Threephase 200VC Page P Caution (Note ) Based on PTP operation. In CP operation, the maximum speed is limited. (Note 2) The cycle time is based on reciprocating movements over a horizontal distance of 00 mm and vertical distance of 2 mm, carrying a 0.2kg load. (Note ) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. The value under Push motion indicates the thrust generated when a push command is executed from a program. The value under thrust indicates the maximum thrust during normal positioning operation. (Note ) n equivalent allowable inertial moment at the center of rotation of axis. The offset from the center of rotation of axis to the gravity center of the tool must not exceed 7. mm. (Note 6) For the LM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies 2 VDC to the LED terminal in the user wiring connector. IXNNN

6 IXNNC specification items /Specifications IX * Refer to the cover for the details of model specification items. Ultra Compact SCR Robot: Cleanroom, rm Length mm, Vertical xis 0mm NNC Cleanroom type mm Vertical axis 0mm L:m (standard) L:m T2 controller Option(s) (Blank): No option B: Zaxis brake JY: Connectortype cable IXNNC T2 Common Specifications xis configuration xis xis 2 xis xis rm rm 2 Vertical axis Rotating axis Motor capacity (W) Work Positioning envelope repeatability ± ±0.00 ± (XY) 0mm ±0.00 ± ±0.00 operating speed (Note ) 20mm/s (composite speed) 720mm/s 0 /s Cycle time (sec) (Note 2) (kg) (Note ) Rated xis push thrust (N) Push motion thrust xis allowable load inertial moment (kg m 2 ) (Note ) torque (N m) Encoder type bsolute User wiring core, WG26 cable with shield / Connector: SMP0VNC (JST) User piping ir tube (outer diameter /inner diameter 2) x 2 (normal working pressure 0.7MPa) larm indicator (Note 6) Small red LED indicator x (2VDC power supply required) Suction pipe joint Quick pipe joint, accepting tube of outer diameter 6 Dimensions Suction rate Cleanliness level mbient temperature/humidity Weight 90Nl/min Conforming to class 0 Temperature 0~0 C, humidity 20~%RH or less (noncondensing) 2.kg L : m L : m h7(0.0) (0.) 7. Provide a clearance of approx. 0. mm when installing a tool. Section R R7. R Detail view of vertical axis tip (62) Cable wiring space 6. *: The hole is covered with a set screw. The 2M, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *2: For the LM indicator to illuminate, the customer must provide a circuit that receives signals from the controller s I/O output and applies 2 VDC to the LED terminal in the 6. user wiring connector. *: The intended cleanliness performance can be achieved by maintaining negative pressure inside the robot via suction from the suction joint. (Dust will generate if internal air is not suctioned.) st LM indicator 6 2M, depth 6 Same on the opposite side (*). () 2 2 (.7) (.) (22.) 9 Work envelope User connector, pins SMP0VNC by JST M, depth 6 6 quick joint for suction (*) IXNNC Controller Specifications controller Feature XSELPX ble to control SCR + 2 axes XSELQX Conforming to safety category I/O Powersupply points (input/output) voltage 92 points /92 points Threephase 200VC Page P Caution (Note ) Based on PTP operation. In CP operation, the maximum speed is limited. (Note 2) The cycle time is based on reciprocating movements over a horizontal distance of 00 mm and vertical distance of 2 mm, carrying a 0.2kg load. (Note ) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. The value under Push motion indicates the thrust generated when a push command is executed from a program. The value under thrust indicates the maximum thrust during normal positioning operation. (Note ) n equivalent allowable inertial moment at the center of rotation of axis. The offset from the center of rotation of axis to the gravity center of the tool must not exceed 7. mm. (Note 6) For the LM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies 2 VDC to the LED terminal in the user wiring connector.

7 IXNNC0 specification items /Specifications IX * Refer to the cover for the details of model specification items. Ultra Compact SCR Robot: Cleanroom, rm Length 0mm, Vertical xis 0mm NNC0 Cleanroom type 0mm Vertical axis 0mm L:m (standard) L:m T2 controller Option(s) (Blank): No option B: Zaxis brake JY: Connectortype cable IXNNC T2 Common Specifications xis configuration xis xis 2 xis xis rm rm 2 Vertical axis Rotating axis Motor capacity (W) Work Positioning envelope repeatability ± ±0.00 ± (XY) 0mm ±0.00 ± ±0.00 operating speed (Note ) 2mm/s (composite speed) 720mm/s 0 /s Cycle time (sec) (Note 2) (kg) (Note ) Rated xis push thrust (N) Push motion thrust xis allowable load inertial moment torque (kg m 2 ) (Note ) (N m) Encoder type bsolute User wiring core, WG26 cable with shield / Connector: SMP0VNC (JST) User piping ir tube (outer diameter /inner diameter 2) x 2 (normal working pressure 0.7MPa) larm indicator (Note 6) Small red LED indicator x (2VDC power supply required) Suction pipe joint Quick pipe joint, accepting tube of outer diameter 6 Dimensions Suction rate Cleanliness level mbient temperature/humidity Weight 90Nl/min Conforming to class 0 Temperature 0~0 C, humidity 20~%RH or less (noncondensing) 2.kg L : m L : m (0.) R0 R.6 0 h7 (0.0) Provide a clearance of approx. 0. mm when installing a tool. Section R Detail view of vertical axis tip 9 Work envelope (62) Cable wiring space st LM indicator 2M, depth 6 Same on the opposite side (*) 6 () 2 (.7) (.) (22.) User connector, pins SMP0VNC by JST M, depth 6 6 quick joint for suction (*) *: The hole is covered with a set screw. The 2M, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *2: For the LM indicator to illuminate, the customer must provide a circuit that receives signals from the controller s I/O output and applies 2 VDC to the LED terminal in the. user wiring connector. *: The intended cleanliness performance can be achieved by maintaining negative pressure inside the robot via suction from the suction joint. (Dust will generate if internal air is not suctioned.). 2 Controller Specifications controller Feature XSELPX ble to control SCR + 2 axes XSELQX Conforming to safety category I/O Powersupply points (input/output) voltage 92 points /92 points Threephase 200VC Page P (Note ) Based on PTP operation. In CP operation, the maximum speed is limited. (Note 2) The cycle time is based on reciprocating movements over a horizontal distance of 00 mm and vertical distance of 2 mm, carrying a 0.2kg load. (Note ) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. The value under Push motion indicates the thrust generated when a push command is Caution executed from a program. The value under thrust indicates the maximum thrust during normal positioning operation. (Note ) n equivalent allowable inertial moment at the center of rotation of axis. The offset from the center of rotation of axis to the gravity center of the tool must not exceed 7. mm. (Note 6) For the LM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies 2 VDC to the LED terminal in the user wiring connector. IXNNC0 6

8 IXNNC specification items /Specifications IX * Refer to the cover for the details of model specification items. Ultra Compact SCR Robot: Cleanroom, rm Length mm, Vertical xis 0mm NNC Cleanroom type mm Vertical axis 0mm L:m (standard) L:m T2 controller Option(s) (Blank): No option B: Zaxis brake JY: Connectortype cable xis configuration xis xis 2 rm rm 2 IXNNC T2 xis Vertical axis xis Rotating axis Common Specifications 0 Motor capacity (W) Work Positioning envelope repeatability ± ±0.00 ± (XY) 0mm ±0.00 ± ±0.00 operating speed (Note ) 2mm/s (composite speed) 720mm/s 0 /s Cycle time (sec) (Note 2) (kg) (Note ) Rated xis push thrust (N) Push motion thrust xis allowable load inertial moment (kg m 2 ) (Note ) torque (N m) Encoder type bsolute User wiring core, WG26 cable with shield / Connector: SMP0VNC (JST) User piping ir tube (outer diameter /inner diameter 2) x 2 (normal working pressure 0.7MPa) larm indicator (Note 6) Small red LED indicator x (2VDC power supply required) Suction pipe joint Quick pipe joint, accepting tube of outer diameter 6 Dimensions Suction rate Cleanliness level mbient temperature/humidity Weight 90Nl/min Conforming to class 0 Temperature 0~0 C, humidity 20~%RH or less (noncondensing).kg L : m L : m (0.) R R6.2 0 h7(0.0) Detail view of vertical axis tip Provide a clearance of approx. 0. mm when installing a tool. Section R Work envelope (62) Cable wiring space 6. *: The hole is covered with a set screw. The 2M, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *2: For the LM indicator to illuminate, the customer must provide a circuit that receives signals from the controller s I/O output and applies 2 VDC to the LED terminal in the 6. user wiring connector. *: The intended cleanliness performance can be achieved by maintaining negative pressure inside the robot via suction from the suction joint. (Dust will generate if internal air is not suctioned.) st LM indicator 2M, depth 6 Same on the opposite side (*) 6 0. () 2 2 (.7) (.) (22.) User connector, pins SMP0VNC by JST M, depth 6 6 quick joint for suction (*) 7 IXNNC Controller Specifications controller Feature XSELPX ble to control SCR + 2 axes XSELQX Conforming to safety category I/O Powersupply points (input/output) voltage 92 points /92 points Threephase 200VC Page P Caution (Note ) Based on PTP operation. In CP operation, the maximum speed is limited. (Note 2) The cycle time is based on reciprocating movements over a horizontal distance of 00 mm and vertical distance of 2 mm, carrying a 0.2kg load. (Note ) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. The value under Push motion indicates the thrust generated when a push command is executed from a program. The value under thrust indicates the maximum thrust during normal positioning operation. (Note ) n equivalent allowable inertial moment at the center of rotation of axis. The offset from the center of rotation of axis to the gravity center of the tool must not exceed 7. mm. (Note 6) For the LM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies 2 VDC to the LED terminal in the user wiring connector.

9 Controller SCR and singleaxis robots can be controlled simultaneously with one controller. Features Controlling a maximum of 6 axes (SCR robots + 2 singleaxis robots) In addition to SCR robots, up to two axes of singleaxis robots or cartesian robots can be controlled (total output: 200 W). 2 xes program 2 6 xes 2 Global type for applications that require conformance to safety category The global type does not have a builtin drivesource cutoff circuit. Instead, it cuts off the drive source using an external safety circuit. This design conforms to safety category under ISO 9. Both the largecapacity type (PX) and largecapacity global type (QX) conform to the CE Mark standard. Compact, high performance and CEcompliant pprox. 0% slimmer than II s conventional controllers (XSEL generalpurpose controllers) Significantly faster than II s conventional controllers (command processing time is roughly onehalf) Connectable to DeviceNet, CCLink, Ethernet and other field networks Conforming to the CE Mark standard XSEL Controller type IX robot type Motor output Motor output Dedicated Standard Expansion I/O flat cable Powersupply of axis of axis 6 network slot I/O I/O length voltage Standard Expansion I/O 9 0 I/O Controller type IX robot type Motor output Motor output Dedicated I/O flat Powersupply of axis of axis 6 network slot Slot Slot 2 Slot Slot cable length voltage XSEL 2 PX (Largecapacity, axis type) PX NNW2~00 (Largecapacity, axis type) (Dustproof/splashproof type) PX6 (Largecapacity, 6axis type) QX (Largecapacity, global axis type) QX (Largecapacity, global axis type) QX6 (Largecapacity, global 6axis type) Indicate the series name. Controller type Indicate the controller type. PX: Largecapacity, dedicated SCR specification PX: Largecapacity, axis (SCR + axis) specification PX6: Largecapacity, 6axis (SCR + 2 axes) specification QX: Largecapacity, dedicated SCR specification conforming to safety category QX: Largecapacity, axis (SCR + axis) specification conforming to safety category QX6: Largecapacity, 6axis (SCR + 2 axes) specification conforming to safety category IX robot type Indicate the type of the SCR robot to be operated. Notes NNN0~00 (Standard type) NSN0~ (Highspeed type) TNN~ (Wall mount type) UNN~ (Wall mount, inverse type) HNN020~00 (Ceiling mount type) INN020~00 (Inverse type) NNC~00 (Cleanroom type) * If the arm length is 700 or 00, the maximum number of connectable axes is (SCR + axis). * With the highspeed types, the maximum number of connectable axes is (SCR only). Blank Blank (No single axis) (No single axis) (20W) (20W) (W) (W) 00 (00W) 200 (200W) 00 (00W) 0 L (0W) 0 L (0W) (W) (W) 00 (00W) 200 (200W) 00 (00W) 0 L (0W) 0 L (0W) Blank (No network) DV (DeviceNet) CC (CCLink) PR (ProfiBus) ET (Ethernet) E (Not used) N NPN2/ N2 NPN/2 N NPN/ P PNP2/ P2 PNP/2 P PNP/ E (Not used) N NPN2/ N2 NPN/2 N NPN/ P PNP2/ P2 PNP/2 P PNP/ Motor output of axis (singleaxis robot) 6 Indicate the motor output of the singleaxis robot to be connected to axis of PX, PX6, QX or QX6. In, enter codes corresponding the encoder type and desired option(s). * If multiple options are to be specified, indicate the applicable codes in alphabetical order after the encoder type. If no option is installed, indicate only the encoder type. (Encoder type : bsolute / I: Incremental) (Options B: Brake / C: Creep sensor / L: Limit switch / M: Masteraxis designation in synchronized operation / S: Slaveaxis designation in synchronized operation) Leave the space blank for PX or QX. Motor output of axis 6 (singleaxis robot) Indicate the motor output of the singleaxis robot to be connected to axis 6 of PX6 or QX6. The same explanation for axis applies to the codes to be entered in. Leave the space blank for PX or QX. 7 E (Not used) N NPN2/ N2 NPN/2 N NPN/ P PNP2/ P2 PNP/2 P PNP/ E (Not used) N NPN2/ N2 NPN/2 N NPN/ P PNP2/ P2 PNP/2 P PNP/ 2 Standard specification: 2m (m) (m) 0 (None) Expansion I/O (slots 2 to ) Indicate the specification of the expansion slots (slots 2 to ). Take note that the external dimensions will change if the expansion slots are used. 9 I/O flat cable length Indicate the length of the signal wire connecting the I/O board and PLC. * If you have selected E (Not used) for the standard and expansion I/Os, this field is automatically filled with 0 (None). 0 Powersupply voltage Indicate the voltage of the main controller power supply. XSEL PX/QX Threephase 200V Dedicated network slot Indicate an applicable code if you require connection to DeviceNet, CCLink, ProfiBus or Ethernet. Standard I/O (slot ) Indicate the specification of the standard slot (slot ).

10 RB IN RB RB RB+ RB+ RB OUT Specifications Total output when maximum number of axes are connected Control power input Motor power input Powersupply capacity Safety circuit configuration Drivesource cutoff method Enable input Position detection method Speed setting (*) cceleration/deceleration setting (*) Programming language Number of program steps Number of positions Number of programs (number of multitasking programs) mbient operating temperature/humidity Weight (*) Largecapacity type Largecapacity global type PX PX/PX6 QX QX/QX6 200W Singlephase 200/2VC, %, +0% Threephase 200/2VC, 0%, +0% 0V (*) V 0V (*) V Redundant configuration not supported Internal cutoff relay ContactB input (internal power supply type) Redundant configuration supported External safety circuit ContactB input (external power supply type, redundant) Incremental encoder / absolute encoder mm / sec ~ 2000mm / sec 0.0 G ~ G Super SEL language 00 steps (total) 000 positions (total) 6 programs ( programs) 0~0 C, 0~9% (noncondensing).2kg.7kg.kg kg * Based on operation of IXNNN/0/ robots for the PX/QX types, or operation of IXNNN/0/ robots and two 0watt axes for the PX/PX6/QX/QX6 types. *2 Based on operation of two 0watt axes of arm length 00/0. * The maximum limit varies depending on the actuator type. * The weight includes the absolute battery, brake mechanism and expansion I/O box. System Configuration Connectable ctuator Highspeed, highprecision type Standard type Dustproof type Cleanroom specification ntielectrostatic specification Small type Compact type Highrigidity belt type Slim belt type Rotating axis ROBO Cylinder Notes The standard motor/encoder cables are not of connector type. If you require connectortype cables that permit replacement, specify the option for connectortype cables (code: JY). Motor cable: m (standard) / m (refer to P.0) Encoder cable: m (standard) / m (refer to P.0) ISP series IS series ISD series ISDCR series ISDCR ESD DS/DSCR(T) series SS/SSCR series IF series FS series RS series RCSSS/SM RCSSSR/SMR RCSR/F RCSRB/RB External Equipment PLC, etc. I/O flat cable: 2m (Supplied with the controller) Connection to Various Field Networks Device Net CCLink ProfiBus Ethernet Serial Communication Port Standard/RS22, 2 channels Teaching Pendant Refer to P. 0 m PC Software RS22 cable: m (Supplied with the PC software) Regenerative unit (Refer to P. 0) Regenerative unit cable: m (Supplied with the regenerative unit) Motor Drive Power Supply Threephase 200VC Control Power Supply Singlephase 200VC System I/O Emergency stop Enable System ready Expansion I/O Multipoint Drivesource cutoff circuit (Provided by the customer) * to the global type only (not required for the standard type). 9

11 RB RB RB RB+ IN RB RB + OUT Options Teaching Pendant : ITX (Standard) ITXD (With deadman switch) ITX (NSI/CE Mark compliant type) Teaching devices offering functions for program/position input, test operation, monitoring and more. * ITX/XD of version.20 or older and ITX of version.0 or older cannot be used with the PX/QX controllers. ITX/XD ITX PC Software : I0XMX With a PC cable (Dsub, 9pin connector on PC end) For Windows 9/9/NT/2000/ME Support software combining all functions needed for program/position input and debugging. * Version.0..0 or older cannot be used with the PX/QX controllers. Regenerative Unit : REU This unit converts regenerative current produced when the motor decelerates, into heat. You need one or more regenerative units according to the total output of singleaxis motors connected to the controller. (No regenerative unit is required for SCR robots.) Refer to the table at right for the rough guideline on how to determine if your system needs a regenerative unit(s). Motor output 0~00W ~200W ~00W ~0W ~00W ~000W Horizontal application Vertical application Not required Not required Not required unit unit unit unit unit unit unit unit 2 units External Dimensions 9 6 ~0W ~00W 2 units 2 units 2 units units.6 6 Cables Connectortype Motor Cable CBXM0(m) CBXM00(m) L (20) (0) () () (Front view) Controller end (9) (2) Robot end (2) (Front view) Wire Color Signal No. GREEN PE RED U 2 0.sq WHITE V BLCK W No. 2 Signal Color Wire U RED V WHITE 0.sq W BLCK(crimped) PE GREEN Connectortype Encoder Cable CBXP0(m) CBXP00(m) (7) () 26 (Front view) () L () Controller end 9 Robot end () (2) (Front view) Wire Color Signal No. 0 E2V 0V LS 26 CLEEP 2 OT 2 RSV WG26 2 (soldered) B+ B Z+ Z Orange SRD+ Green SRD Purple BT + Gray BT Red VCC Black GND Blue BKR Yellow BKR+ The shield is clamped to the hood Drain & shield (braided) cable No Signal BT + BT SD SD VCC GND FG BK BK+ Color Wire Purple Gray Orange Green WG26 Red (soldered) Black Drain Blue Yellow I/O Flat Cable (XSEL) CBXPIO * Enter a desired cable length (L) up to 0 m in. Example) 00 = m L Flat cable WG2 (0 cores) No connector at the end No Color Brown Red Orange Yellow Green Blue Purple Gray White Black Brown2 Red2 Orange2 Yellow2 Green2 Blue2 Purple2 Wire Flat cable, pressure welded No Color Gray2 White2 Black2 Brown Red Orange Yellow Green Blue Purple Gray White Black Brown Red Orange Yellow Wire Flat cable, pressure welded No Color Green Blue Purple Gray White Black Brown Red Orange Yellow Green Blue Purple Gray White Black Wire Flat cable, pressure welded 0

12 Catalog No.: CJ0096 (May 2006) External Dimensions The external dimensions of XSEL PX/QX controllers vary depending on the number of connected axes and specified option(s) (brake and/or expansion I/O). Refer to the table below and identify the number corresponding to the external dimensions of your controller, and reference the drawing bearing the same number. SCR robot Brake Largecapacity type (PX) Controller Largecapacity global type (QX) SCR only (PX) SCR + directcoupled axis(es) (PX/PX6) SCR only (QX) SCR + directcoupled axis(es) (QX/QX6) Without expansion I/O With expansion I/O Without expansion I/O With expansion I/O Without expansion I/O With expansion I/O Without expansion I/O With expansion I/O NNN NNN0 NNN NNC NNC0 NNC Not equipped Equipped External External External External External External External External dimensions dimensions dimensions dimensions dimensions dimensions dimensions dimensions 7 9 (*) (*) (*) External External External External External External External External dimensions dimensions dimensions dimensions dimensions dimensions dimensions dimensions (*) (*) (*) (*) If the directcoupled axis has a brake or is of absolute encoder specification, refer to external dimensions 6. If the directcoupled axis has a brake or is of absolute encoder specification, refer to external dimensions. (*) If the directcoupled axis has a brake or is of absolute encoder specification, refer to external dimensions. (*) If the directcoupled axis has a brake or is of absolute encoder specification, refer to external dimensions. SCR only (PX) External dimensions 9. Largecapacity type (PX) 9. SCR + directcoupled axis(es) (PX/PX6) External dimensions Largecapacity global type (QX) SCR only (QX) SCR + directcoupled axis(es) (QX/QX6) Side view (common) External dimensions 9 External dimensions Without expansion I/O External dimensions External dimensions External dimensions External dimensions (0) External dimensions External dimensions 7.. External dimensions External dimensions With expansion I/O 22 External dimensions External dimensions External dimensions External dimensions * ll controller types have the same height.