Horizontal Articulated Robot High-Speed Products. New High-speed Products

Transcription

1 Horizontal rticulated Robot HighSpeed Products New High Products

2 1 IX SCR Robot Index 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 3mm mm 6mm mm 8mm IXNNN21H IXNNN31H IXNNN2H (3H) IXNNN62H (63H) IXNNN2H (4H) IXNNN82H (84H) 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 IXNSN16H IXNSN616H Page P1 P16 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 2mm 3mm mm 6mm mm 8mm IXNNW21H IXNNW31H IXNNW2H (3H) IXNNW62H (63H) IXNNW2H (4H) IXNNW82H (84H) Page P1 P18 P19 P2 P21 P22 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 IXTNN31H IXTNN31H Page P23 P24

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 IXUNN31H IXUNN31H Page P23 P24 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 mm 8mm IXHNN2H IXHNN62H IXHNN2H (4H) IXHNN82H (84H) Page P2 P26 P2 P 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 mm 8mm IXINN2H IXINN62H IXINN2H (4H) IXINN82H (84H) Page P2 P26 P2 P 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 cleanliness class 1 is required. rm 2mm 3mm mm 6mm mm 8mm IXNNC21H IXNNC31H IXNNC2H (3H) IXNNC62H (63H) IXNNC2H (4H) IXNNC82H (84H) Page P29 P3 P31 P32 P33 P34 IX SCR Robot Index 2

4 SCR robot Index IX SCR Robot Series Table of Specifications/Precautions Greatly reduced through improved high performance The IX series achieves bestinclass specifications in every aspect from high performance and load to repeated positioning accuracy. 1 2 Optimum Highest Speed, Load Capacity and ccuracy in Its Class :. 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 high type. *2 ±.1 mm/±. if the arm is /8 *3 Based on an arm of /8 3mm (12 Inch) cceleration Function 2mm (1 Inch) 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 φ4 and two φ6 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 φ4 joint φ6 joint φ4 joint User connector Brakerelease switch Spacer *1 24 V DC 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. Easy Programming The IX Series uses programs written in the Super SEL language, a wellestablished command language used by Cartesian robots. 3 Improved 3 IX SCR Robot Fast acceleration (deceleration) with a light 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. Slow acceleration (deceleration) with a heavy load 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. 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. Simple 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.

5 SCR robot Description of Items 8Complete bsolute Operation ll models adopt a 1bit 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.) 9Widest 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. IX SCR Robot 4

6 SCR robot Index IX SCR Robot Series Table of Specifications/Precautions Table of Specifications IX 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 (*1) Vertical axis stroke 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 /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 6 mm mm 8 mm IXNNN21H IXNNN31H IXNNN2H (3H) IXNNN62H (63H) IXNNN2H (4H) IXNNN82H (84H) IXNSN16H IXNSN616H IXNNW21H IXNNW31H IXNNW2H (3H) IXNNW62H (63H) IXNNW2H (4H) IXNNW82H (84H) IXTNN31H IXTNN31H IXUNN31H IXUNN31H IXHNN2H IXHNN62H IXHNN2H (4H) IXHNN82H (84H) IXINN2H IXINN62H IXINN2H (4H) IXINN82H (84H) IXNNC21H IXNNC31H IXNNC2H (3H) IXNNC62H (63H) IXNNC2H (4H) IXNNC82H (84H) Page P9 P1 P11 P12 P13 P14 P1 P16 P1 P18 P19 P2 P21 P22 P23 P24 P23 P24 P2 P26 P2 P P2 P26 P2 P P29 P3 P31 P32 P33 P34

7 SCR robot Description of Items 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 /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 ) 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 % 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 % (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 V DC 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 V DC power must be supplied, regardless of whether or not the brakerelease switch is used. (Supply 24 V DC from a dedicated power supply separate from the 24 V DC 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 high products 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 s of this document. IX SCR Robot Precautions 6

8 IX SCR Robot Description of Specifications SCR robot Index Table of Specifications/Precautions Refer to the opposite for details on each item in the model number (1 through 4). The selection range for each item varies depending on the robot type. For details, refer to the corresponding to each type. [IX 21H/31H/ H/6 H/ H/8 H series] 1 Series 2 Type 3 Cable 4 pplicable controller IX SCR robot L m (standard) T2 XSELPX/QX 1L 1m NNN 21H 31H 2H 3H 62H 63H 2H 4H 82H 84H Type rm 2mm rm 3mm rm mm rm 6mm rm mm 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 NSN 16H 616H HighSpeed Type rm mm rm 6mm Vertical axis 16mm Vertical axis 16mm NNW 21H 31H 2H 3H 62H 63H 2H 4H 82H 84H rm 2mm rm 3mm rm mm Dustproof/ rm 6mm Splashproof Type rm mm 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 TNN 31H 31H Wall Mount type rm 3mm rm 3mm Vertical axis 1mm Vertical axis 1mm UNN 31H 31H Wall Mount Inverse Type rm 3mm rm 3mm Vertical axis 1mm Vertical axis 1mm HNN 2H 62H 2H 4H 82H 84H Ceiling Mount Type rm mm rm 6mm rm mm rm 8mm Vertical axis mm Vertical axis mm Vertical axis mm Vertical axis 4mm Vertical axis mm Vertical axis 4mm INN 2H 62H 2H 4H 82H 84H Inverse type rm mm rm 6mm rm mm rm 8mm Vertical axis mm Vertical axis mm Vertical axis mm Vertical axis 4mm Vertical axis mm Vertical axis 4mm NNC 21H 31H 2H 3H 62H 63H 2H 4H 82H 84H Clean Room Type rm 2mm rm 3mm rm mm rm 6mm rm mm 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

9 SCR robot IX SCR Robot Series Description of Items 1 Series Indicate the name of each series. 2 Type Indicate the type (standard, high, dustproof/splashproof, wallmount, ceilingmount or clean room), arm and Zaxis. NNN Type UNN Wall Mount Inverse Type NSN HighSpeed Type HNN Ceiling Mount Type Dustproof/Splashproof Type INN Ceiling Mount Inverse Type TNN Wall Mount type NNC Clean Room Type NNW 3 Cable Indicate the of cable connecting the robot and the controller. Select from two s: m (standard) and 1 m. 4 pplicable controller Indicate the type of controller to be connected. T2:XSELPX/QX IX SCR Robot Description of Specifications 8

10 9 IXNNN21H SCR robot IXNNN21H items IX NNN21H T2 Small SCR robot, type rm 2mm, Vertical axis 1mm Series Type Cable pplicable controller type rm 2mm Vertical axis1 mm *For details on the model items, refer to 8. /Specifications L : m (standard) 1L : 1 m T2: XSELPX/QX xis configuration IXNNN21H 1 T2 xis 1 xis 2 xis 3 rm 1 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in 1. rm Work envelope ±12 ±13 1mm ±36 Repeatability ±.1 (XY) ±.1 ±. Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial moment (kg m2) (Note 6) llowable torque (N. m) 3191 ) /s *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/deceleration Settings on 4. Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 1conductor WG26 Dsub/1pin connector with shield (socket) 1.1Kg ir tube (O.D. 4, I.D. 2.) x 3 (Normal working pressure.8 MPa) pplicable controller T2: XSELPX/QX larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) 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 H (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. R12 12 User spacer O.D. φ height 1, M4, depth (*1) Detail view of panel 4 (Mechanical end) 249. (16) Operation prohibited area φ3 8 1 φ11 (I.D.) φ16h( ).18 Detailed view of tip ST (Mechanical end) φ surface Tapped hole for installation of peripheral (4M4, depth 12), same on the other side (69) 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 User wiring cable m/1 m ir tube (3 pcs).1m pplicable Specifications pplicable XSELPX XSELQX I/O points (inputs/outputs) 6 axes, 24 W 192/192 points Powersupply voltage Threephase V C p. 3 For explanations of through (Note 9), refer to 6.

11 IXNNN31H Small SCR robot, type rm 3mm, Vertical axis 1mm items IX NNN31H T2 SCR robot Series Type Cable pplicable controller /Specifications type rm 3mm Vertical axis 1mm *For details on the model items, refer to 8. L : m (standard) 1L : 1 m T2: XSELPX/QX IXNNN31H 1 T2 xis configuration xis 1 rm 1 xis 2 xis 3 Vertical axis rm Work envelope ±12 ±13 1mm Repeatability ±.1 (XY) ± ) 1316 Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) xis 4 Rotating axis ±36 ±. 16 /s *In the model number above, specify the cable in 1. *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 1conductor WG26 Dsub/1pin connector with shield (socket) 18.2Kg ir tube (O.D. 4, I.D. 2.) x 3 (Normal working pressure.8 MPa) pplicable controller T2: XSELPX/QX larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) 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 H (intersection between reamer holes ±.2 mm) rm 1 stopper CD φ4 (red) Red LED (*2) φ4 (black) User spacer O.D. φ height 1, M4, depth (*1) Detail view of panel φ4 (white) Brakerelease switch User connector 12 4 (Mechanical end) stopper 1 (24.) φ9 φ16 counterbore, depth. (16) R3 R R12 16 Operation prohibited area R φ φ11 (I.D.) φ16h(.18 ) Detailed view of tip ST (Mechanical end) φ Tapped hole for installation of peripheral (4M4, depth 12), same on the other side (69) 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 User wiring cable m/1 m ir tube (3 pcs).1m pplicable Specifications pplicable XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) 192/192 points Powersupply voltage Threephase V C p. 3 For explanations of through (Note 9), refer to 6. IXNNN31H1

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) NNN2H: : type rm mm, Vertical axis mm NNN3H: : type rm mm, Vertical axis 3mm *For details on the model items, refer to 8. /Specifications L : m (standard) 1L : 1 m T2: XSELPX/QX IXNNN2H 1 T2 [IXNNN3H 1 T2] xis configuration xis 1 rm 1 xis 2 xis 3 Vertical axis rm Work Repeatability envelope ±12 ±14 mm [3mm] ±.1 (XY) ± ) 143 Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) xis 4 Rotating axis *In the model number above, specify the cable in 1. 1 ±36 ±. 18 /s * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 2conductor WG26 Dsub/2pin connector with shield (socket) 29.Kg ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) T2: XSELPX/QX L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) The CD drawings can be (23.2) stopper CD (13) 12 (9) 1 R R * [ ] indicates vertical axis 3mm (optional) specifications. φ146 φ112 (Mechanical end) 82[92] ST[3ST] 4[] 2 19 (182.4) 1[] (Mechanical end) (3.2) 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 R4 12 rm 1, stopper rm φ11 hole, φ24 counterbore, depth (684.1) (81.) (6.6) Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m φ44 R2 (Operation prohibited area) φ6 airtube 63 φ4 airtube Dsub/2pin Red Yellow connector for user wiring, socket Black White fixing jig M2.6 Red LED (*3) Detailed view of tip (18.) Brakerelease switch Spacer O.D. φ height 1 3 M4, depth (*2) Detail view of panel. 19 section φ14 hollow φ2h(.21) pplicable Specifications pplicable XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) 192/192 points Powersupply voltage Threephase V C p. 3 For explanations of through (Note 9), refer to 6. 11IXNNN H

13 IXNNN6 H items IX NNN6 H T2 Medium SCR robot, type rm 6mm Vertical axis mm (3mm) SCR robot Series Type Cable pplicable controller NNN62H: : type rm 6mm, Vertical axis mm NNN63H: type rm 6mm, Vertical axis 3mm *For details on the model items, refer to 8. /Specifications L : m (standard) 1L : 1 m T2: XSELPX/QX IXNNN62H 1 T2 [IXNNN63H 1 T2] xis configuration xis 1 xis 2 xis 3 rm 1 Vertical axis rm Work Repeatability envelope ±12 ±14 mm [3mm] ±.1 (XY) ± ) 143 Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6 (N. m) xis 4 Rotating axis 1 ±36 ±. 18 /s 1 *In the model number above, specify the cable in. * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 2conductor WG26 Dsub/2pin connector with shield (socket) 3.Kg ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) T2: XSELPX/QX L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) 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] 4[] 2 19 (182.4) 1[] (Mechanical end) (3.2) Panel 3 M4, depth 8 Same on the other side (*1) R4 rm 1 12 rm 1 stopper (9) 1 4 φ11 hole φ24 counterbore, depth (684.1) (81.) (6.6) 12 R φ44 R24 R2 (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. φ height 1 3 M4, depth (*2) Detail view of panel (18.) *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. 4 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 φ2h(.21) pplicable Specifications pplicable XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) 192/192 points Powersupply voltage Threephase V C p. 3 For explanations of through (Note 9), refer to 6. IXNNN6 H 12

14 R3 SCR robot IXNNN H items IX NNN H T2 Series Type Cable pplicable controller NNN2H : type L : m (standard) T2: XSELPX/QX rm mm, Vertical axis mm NNN4H : type 1L : 1 m rm mm, Vertical axis 4mm *For details on the model items, refer to 8. /Specifications Large SCR robot, type rm mm Vertical axis mm (4mm) IXNNN2H 1 T2 [IXNNN4H 1 T2] xis configuration xis 1 xis 2 xis 3 rm 1 Vertical axis rm Work Repeatability envelope ±12 ±14 mm [4mm] ±.1 (XY) ±.1 1 ) 1614 Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) xis 4 Rotating axis ±36 ± /s *In the model number above, specify the cable in. 1 * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 46. Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 2conductor WG26 Dsub/2pin connector with shield (socket) 8Kg ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) pplicable controller T2: XSELPX/QX ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) The CD drawings can be (6) 3 (91.) stopper 3 (26.) surface CD * [ ] indicates vertical axis 4mm (optional) specifications. (φ188) (φ144) (169) 962[1162] [8] ST[4ST] 4[4] 6 (Mechanical end) 3 (263.4) 6 (Mechanical end) 22. (134.6) *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 Panel 2 3 M4, depth 8, Same on the other side (*1) 468 (R) (34) 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. φ height 1 M4, depth (*2) R (Operation prohibited area) 63 Red Black Yellow White 3 Detail view of panel φ18 hollow φ2h(.21) Detailed view of tip R21. (18.) section 23. pplicable Specifications pplicable XSELPX XSELQX axes, 24 W I/O points (inputs/outputs) 192/192 points Powersupply voltage Threephase V C p. 3 For explanations of through (Note 9), refer to 6. 13IXNNN H

15 R3 IXNNN8 H Large SCR robot, type rm 8mm Vertical axis mm (4mm) items IX NNN8 H T2 SCR robot Series Type Cable pplicable controller NNN82H : type L : m (standard) T2: XSELPX/QX rm 8mm, Vertical axis mm 1L : 1 m NNN84H : type rm 8mm, Vertical axis 4mm *For details on the model items, refer to 8. /Specifications IXNNN82H 1 T2 [IXNNN84H 1 T2] xis configuration xis 1 xis 2 xis 3 rm 1 Vertical axis rm Work Repeatability envelope ±12 ±14 mm [4mm] ±.1 (XY) ±.1 86 ) 1614 Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) xis 4 Rotating axis ±36 ± /s *In the model number above, specify the cable in 1. * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 46. Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 2conductor WG26 Dsub/2pin connector with shield (socket) 6Kg ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) T2: XSELPX/QX L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) The CD drawings can be (6) 3 (11.) 4 Stopper (26.) CD (169) (9) 268 * [ ] indicates vertical axis 4mm (optional) specifications. (φ188) (φ144) [1162] [8] ST[4ST] 4[4] 6 (Mechanical end) 3 (263.4) 6 (Mechanical end) 22. (134.6) Panel 2 3 M4, depth 8, Same on the other side (*1) 468 (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 4 R Dsub/2pin connector for user wiring, socket fixing jig M2.6 Spacer O.D. φ height 1 M4, depth (*2) 1 1 Red Black φ18 hollow φ2h(.21) 2 (Operation prohibited area) 63 Yellow White 3 Detail view of panel Detailed view of tip R.8 (18.) section 23. pplicable Specifications pplicable XSELPX XSELQX axes, 24 W I/O points (inputs/outputs) 192/192 points Powersupply voltage Threephase V C p. 3 For explanations of through (Note 9), refer to 6. IXNNN8 H14

16 SCR robot IXNSN16H Medium SCR robot, High type rm mm, Vertical axis 16mm items IX NSN16H T2 Series Type Cable pplicable controller High type rm mm Vertical axis 16mm L : m (standard) 1L :1 m T2: XSELPX/QX /Specifications xis configuration rm Work Repeatability envelope Rated xis 3 (vertical axis) push force (N) (Note ) xis 1 rm 1 2 ±12 ±.1 xis ±14 (XY) IXNSN16H 1 T2 ) xis 3 Vertical axis 16mm ± range xis 4 Rotating axis 1 ±36 ±.1 18 /s *In the model number above, specify the cable in 1. *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 46. xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 2conductor WG26 Dsub/2pin connector with shield (socket) 32Kg ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) T2: XSELPX/QX L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) The CD drawings can be CD (23.2) stopper R R (Mechanical end) (13) 12 (9) 1 Panel R φ11 hole φ24 counterbore, depth 8.8 R2 (Operation prohibited area) φ146 φ (182.4) ST (Mechanical end) 2 (3.2) 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. 4 (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. φ height 1 M4, depth (*2) Red Yellow Black White 3 φ3 (18.) Detail view of panel Detailed view of tip 1 section φ11 (hollow) φ16h(.18) pplicable Specifications pplicable I/O points Powersupply (inputs/outputs) voltage Generalpurposetype XSELPX Threephase 192/192 points V C XSELQX *When the high type, a PX/QX singleaxis robot cannot be connected. p. 3 For explanations of through (Note 9), refer to 6. 1 IXNSN16H

17 IXNSN616H Medium SCR robot, High type rm 6mm, Vertical axis 16mm items IX NSN616H T2 SCR robot *For details on the model items, refer to 8. /Specifications Series Type Cable pplicable controller High type rm 6mm Vertical axis 16mm L : m (standard) 1L : 1 m T2: XSELPX/QX IXNSN616H 1 T2 xis configuration xis 1 rm 1 xis 2 xis 3 Vertical axis rm Work Repeatability envelope ±12 ±14 16mm ±.1 (XY) ±.1 83 ) range Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) xis 4 Rotating axis 1 ±36 ±.1 18 /s *In the model number above, specify the cable in 1. *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 46. Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 2conductor WG26 Dsub/2pin connector with shield (socket) 33Kg ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) T2: XSELPX/QX L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) 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) 12 (9) 1. (Mechanical end) Panel R φ11 hole φ24 counterbore, depth (Operation prohibited area) R2 φ146 φ (182.4) ST (Mechanical end) 2 (3.2) 2 3 M4, depth 8 Same on the other side (*1) rm 1 rm 1 stopper 3 (116) (684.1) (8.1) Dsub/2pin connector for user wiring, socket fixing jig M2.6 Red LED (*3) Brake release switch Spacer O.D. φ height 1 M4, depth (*2) 63 3 φ3 (18.) φ6 airtube quick joint φ4 airtube quick joint Red Yellow Black White Detail view of panel 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. 4 Cables/tubes /encoder cable m/1m Brake power cable m/1m User Wiring Cable m/1m ir tube (4 pcs).1m section φ11 (hollow) φ16h(.18) Detailed view of tip pplicable Specifications pplicable I/O points Powersupply (inputs/outputs) voltage Generalpurposetype XSELPX Threephase 192/192 points V C XSELQX When the high type, a PX/QX singleaxis robot cannot be connected. p. 3 For explanations of through (Note 9), refer to 6. IXNSN616H16

18 SCR robot IXNNW21H *For details on the model items, refer to 8. xis configuration rm Small SCR robot, Dustproof/Splashproof type rm 2mm, Vertical axis 1mm items IX NNW21H T2 /Specifications Series Type Cable pplicable controller Dustproof/Splashproof type rm 2mm, Vertical axis 1mm L : m (standard) 1L: 1 m T2: XSELPX/QX Work Repeatability envelope Rated xis 3 (vertical axis) push force (N) (Note ) xis 1 rm 1 12 ± ±.1 xis ±12 (XY) IXNNW21H 1 T2 ) xis 3 Vertical axis 1 1mm ± xis 4 Rotating axis ±36 ±. 16 /s *In the model number above, specify the cable in 1. *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 1conductor WG26 waterproof connector with shield 21Kg larm indicator (Note ) ir tube (O.D. 4, I.D. 2.) x 3 (Normal working pressure.8 MPa) Small red LED indicator x 1 (24 V DC must be supplied.) pplicable controller Cable (Note 9) Protective structure T2: XSELPX/QX L: m (standard), 1L: 1 m (optional) 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 surface 2 φ8 H 92. (intersection between reamer holes ±.2 mm) 13 rm 1 stopper Red LED (*2) User spacer height 1, M4, depth (*1) User connector 1pin 12 Detail view of panel 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 23 (168.) φ11 (I.D.) φ16h(.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. 2 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 XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) 192/192 points Powersupply voltage Threephase V C p. 3 For explanations of through (Note 9), refer to 6. 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. 1IXNNW21H

19 IXNNW31H items IX NNW31H T2 Small SCR robot, Dustproof/Splashproof type rm 3mm, Vertical axis 1mm SCR robot *For details on the model items, refer to 8. /Specifications Series Type Cable pplicable controller Dustproof/Splashproof type rm 3mm, Vertical axis 1mm xis configuration rm L : m (standard) 1L: 1 m T2: XSELPX/QX Work Repeatability envelope Rated xis 3 (vertical axis) push force (N) (Note ) xis 1 rm 1 22 ± ±.1 xis ±13 (XY) IXNNW31H 1 T2 ) xis 3 Vertical axis 1 1mm ± xis 4 Rotating axis ±36 ±. 16 /s *In the model number above, specify the cable in 1. *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 1conductor WG26 waterproof connector with shield 22Kg ir tube (O.D. 4, I.D. 2.) x 3 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) T2: XSELPX/QX L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) 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 H (intersection between reamer holes ±.2 mm) rm 1 stopper Red LED (*2) Brakerelease switch φ4 (black) φ4 (whilte) User spacer height 1, M4, depth (*1) φ4 (red) User connector 1pin Detail view of panel φ11 (I.D.) φ16h(.18) φ3 Detailed view of tip Tapped hole for installation of peripheral (M4. 4 locations) Same on the other side ST (Mechanical end) 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 φ (24.) (168.) φ9 φ16 counterbore, depth (698.) Maintain at 1 mm or more R R R162. R12 Operation prohibited area 12 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 XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) 192/192 points Powersupply voltage Threephase V C p. 3 For explanations of through (Note 9), refer to 6. 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. IXNNW31H18

20 SCR robot IXNNW H items IX NNW H T2 Series Type Cable pplicable controller NNW2H: L : m (standard) T2: XSELPX/QX rm mm, Vertical axis mm NNW3H: 1L: 1 m rm mm, Vertical axis 3mm *For details on the model items, refer to 8. /Specifications Medium SCR robot, Dustproof/Splashproof type rm mm, Vertical axis mm (3mm) IXNNW2H 1 T2 [IXNNW3H 1 T2] xis configuration xis 1 xis 2 xis 3 rm 1 Vertical axis rm Work Repeatability envelope ±12 ±14 mm [3mm] ±.1 (XY) ± ) 143 Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) xis 4 Rotating axis 1 ±36 ±. 18 /s *In the model number above, specify the cable in 1. * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 23conductor WG26 waterproof connector with shield 32.Kg ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) T2: XSELPX/QX L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) 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) (23.2) (9) 1 12 R R * [ ] indicates vertical axis 3mm (optional) specifications. R φ11 hole φ24 counterbore, depth 8.8 R2 (Operation prohibited area) 8[9] 88[688] 2 14 ST[3ST] 4 (Mechanical end) 3 M4, depth 8 (Same on the other side) Seal with set screw. (*3) (83) (684) (6) ir inlet for air purge O.D. φ6 (I.D. φ4) (12) φ6 airtube φ4 airtube Red LED (*2) Spacer O.D. φ height1 M4, depth (*1) Brakerelease switch Red 62. Black 3 Yellow White 23pin connector for user wiring (16) Detail view of panel [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. 4 (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 φ2h(.21) Detailed view of tip section pplicable Specifications pplicable XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) 192/192 points Powersupply voltage Threephase V C p. 3 For explanations of through (Note 9), refer to 6. 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 Medium SCR robot, Dustproof/Splashproof type rm 6mm, Vertical axis mm (3mm) items IX NNW6 H T2 SCR robot Series Type Cable pplicable controller NNW62H: L : m (standard) T2: XSELPX/QX rm 6mm, Vertical axis mm NNW63H: 1L: 1 m rm 6mm, Vertical axis 3mm *For details on the model items, refer to 8. /Specifications IXNNW62H 1 T2 [IXNNW63H 1 T2] xis configuration xis 1 xis 2 xis 3 rm 1 Vertical axis rm Work Repeatability envelope ±12 ±14 mm [3mm] ±.1 (XY) ± ) 1393 Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) xis 4 Rotating axis 1 ±36 ±. 1 /s *In the model number above, specify the cable in 1. * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 23conductor WG26 waterproof connector with shield 34.Kg ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) T2: XSELPX/QX L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) 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 8[9] 2 14 ST[3ST] 4 (Mechanical end) (83) φ6 airtube φ4 airtube 3 M4, depth 8 (Same on the other side) Seal with set screw. (*3) 2 2 (684) (6) ir inlet for air purge O.D. φ6 (I.D. φ4) (12) Red LED (*2) Spacer O.D. φ height1 M4, depth (*1) Black White 29 Brakerelease switch Detail view of panel [18] 4 (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 section 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 φ2h(.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. ir tube (4 pcs).1m Detailed view of tip (4) pplicable Specifications pplicable XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) 192/192 points Powersupply voltage Threephase V C p. 3 For explanations of through (Note 9), refer to 6. 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 IXNNW H items IX NNW H T2 Series Type Cable pplicable controller NNW2H: L : m (standard) T2: XSELPX/QX rm mm, Vertical axis mm NNW4H: 1L : 1 m rm mm, Vertical axis 4mm *For details on the model items, refer to 8. /Specifications Large SCR robot, Dustproof/Splashproof type rm mm, Vertical axis mm (4mm) IXNNW2H 1 T2 [IXNNW4H 1 T2] xis configuration xis 1 xis 2 xis 3 rm 1 Vertical axis rm Work Repeatability envelope ±12 ±14 mm [4mm] ±.1 (XY) ±.1 1 ) 1614 Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) xis 4 Rotating axis ±36 ± /s *In the model number above, specify the cable in. 1 * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 46. Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 23conductor WG26 waterproof connector with shield 6Kg ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) pplicable controller T1: XSELKX, T2: XSELPX/QX ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) 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) *[ ] indicates vertical axis 4mm (optional) specifications. The CD drawings can be (6) ir inlet for air purge (Note 4) (91.) 3 3 (26.) stopper pplicable tube O.D. φ6 (I.D. φ4) CD (13) (9) (34) 1 (34) 223 (R) 414 drilled through φ3 counterbore, depth R R21. (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.) (83) (83.) (936.) (Operation prohibited area) φ6 airtube 63 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. φ height1 M4, depth. 3 Detail view of panel 119 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 φ2h(.21) Detailed view of tip section pplicable Specifications pplicable XSELPX XSELQX axes, 24 W I/O points (inputs/outputs) 192/192 points Powersupply voltage Threephase V C p. 3 For explanations of through (Note 9), refer to 6. 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 IXNNW H

23 R3 IXNNW8 H items IX NNW8 H T2 Large SCR robot, Dustproof/Splashproof type rm 8mm, Vertical axis mm (4mm) SCR robot Series Type Cable pplicable controller NNW82H: L : m (standard) T2: XSELPX/QX rm 8mm, Vertical axis mm NNW84H: 1L: 1 m rm 8mm, Vertical axis 4mm *For details on the model items, refer to 8. /Specifications IXNNW82H 1 T2 [IXNNW84H 1 T2] xis configuration xis 1 xis 2 xis 3 rm 1 Vertical axis rm Work Repeatability envelope ±12 ±14 mm [4mm] ±.1 (XY) ±.1 86 ) 1614 Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) xis 4 Rotating axis ±36 ± /s *In the model number above, specify the cable in. 1 * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 46. Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 23conductor WG26 waterproof connector with shield 62Kg ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) pplicable controller T2: XSELPX/QX ir tube (O.D. 4, I.D..) x 2 (Normal working pressure.8 MPa) Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) 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) *[ ] indicates vertical axis 4mm (optional) specifications. The CD drawings can be (6) ir inlet for air purge (Note 4) (11.) 3 4 (26.) stopper pplicable tube O.D. φ6 (I.D. φ4) CD (169) (9) 268 R8 R.8 (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. 6 9 (34) 1 (34) (R) rm 1 Stopper PT3/8 Plug 414 drilled through φ3 counterbore, depth (83.) (83) (122.) (936.) (Operation prohibited area) 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. φ height 1 M4, depth 3 Detail view of panel. 119 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 φ2h(.21) Detailed view of tip section pplicable Specifications pplicable XSELPX XSELQX axes, 24 W I/O points (inputs/outputs) 192/192 points Powersupply voltage Threephase V C p. 3 For explanations of through (Note 9), refer to 6. 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 3 SCR robot IXTNN31H IXUNN31H Small SCR robot, Wallmount type rm 3mm, Vertical axis 1mm Small SCR robot, Wallmount inverse type rm 3mm, Vertical axis 1mm items IX NN31H T2 Series Type Cable pplicable controller TNN31H : Wallmount type L : m (standard) T2: XSELPX/QX rm 3mm, Vertical axis 1mm 1L: 1 m UNN31H : Wallmount inverse type rm 3mm, Vertical axis 1mm *For details on the model items, refer to 8. /Specifications xis configuration rm Work Repeatability envelope Rated xis 3 (vertical axis) push force (N) (Note ) xis 1 rm 1 1 ± ±.1 IXTNN31H T2 xis ±13 (XY) 1 ) IXUNN31H 1 T2 xis 3 Vertical axis 1 1mm ± xis 4 Rotating axis ±36 ±. 16 /s 1 *In the model number above, specify the cable in. *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 1conductor WG26 Dsub/1pin connector with shield (socket) 2.8Kg ir tube (O.D. 4, I.D. 2.) x 3 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) T2: XSELPX/QX L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) 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 2.) The CD drawings can be CD φ4 (red) Red LED (*2) φ4 (black) User spacer O.D. φ height 1, M4, depth (*1) Detail view of panel φ φ11 (I.D.) φ16h(.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 32. 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 (3.) rm 1 stopper 12 R R3 2 φ8h (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 XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) 192/192 points Powersupply voltage Threephase V C p. 3 For explanations of through (Note 9), refer to IXTNN31H/IXUNN31H

25 IXTNN31H IXUNN31H Small SCR robot, Wallmount type rm 3mm, Vertical axis 1mm Small SCR robot, Wallmount inverse type rm 3mm, Vertical axis 1mm items IX NN31H T2 SCR robot Series Type Cable pplicable controller TNN31H : Wallmount type L : m (standard) T2: XSELPX/QX rm 3mm, Vertical axis 1mm UNN31H : Wallmount inverse type 1L: 1 m rm 3mm, Vertical axis 1mm *For details on the model items, refer to 8. /Specifications IXTNN31H 1 T2 IXUNN31H 1 T2 xis configuration xis 1 rm 1 xis 2 xis 3 Vertical axis rm Work Repeatability envelope ±12 ±13 1mm ±.1 (XY) ± ) 1316 Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) xis 4 Rotating axis *In the model number above, specify the cable in 1. ±36 ±. 16 /s *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 1conductor WG26 Dsub/1pin connector with shield (socket) 21.9Kg ir tube (O.D. 4, I.D. 2.) x 3 (Normal working pressure.8 MPa) pplicable controller Cable (Note 9) T2: XSELPX/QX L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) 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 2.) The CD drawings can be CD φ4 (red) Red LED (*2) φ4 (black) User spacer O.D. φ height 1, M4, depth (*1) 3 φ Detail view of panel 1 φ11 (I.D.) φ16h( ) Enlarged view of tip φ4 (white) Brakerelease switch User connector Tapped hole for installation of peripheral (4M4, depth 12) Same on the other side (Mechanical end) ST (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.) (3.) 12 R12 rm 1 stopper R φ8h (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 XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) Powersupply voltage Threephase 192/192 points p. 3 V C For explanations of through (Note 9), refer to 6. IXTNN31H/IXUNN31H 24

26 SCR robot IXHNN2H IXINN2H items IX NN2H T2 Series Type Cable pplicable controller HNN2H : Ceilingmount type L : m (standard) T2: XSELPX/QX rm mm, Vertical axis mm INN2H : Inverse type 1L: 1 m rm mm, Vertical axis mm *For details on the model items, refer to 8. /Specifications xis configuration xis 1 rm ± ±.1 IXHNN2H 1 T2 xis 2 2 ±13 (XY) ) IXINN2H 1 T2 xis 3 Vertical axis mm ± xis 4 Rotating axis 1 ±36 ±. 18 /s *In the model number above, specify the cable in. 1 *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 2conductor WG26 Dsub/2pin connector with shield (socket) 3.Kg ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) pplicable controller T2: XSELPX/QX ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) Brakerelease switch (Note 8 llows remote release of Zaxis (24 VDC required) The CD drawings can be CD Medium SCR robot, Ceilingmount type, rm mm Vertical axis mm Medium SCR robot, Inverse type, rm mm Vertical axis mm rm Work Repeatability envelope Rated xis 3 (vertical axis) push force (N) (Note ) *For the inverse type, the following illustrations should be turned upside down. (See 2.) xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) View B: Detailed view of base mount R4 2 φ112 φ146 4 φ11 hole φ24 counterbore, depth (9) 1 4 ST (182.4) 19 2 (13). (Mechanical end) (Mechanical end) 2 Panel 3 (3.2) (111) (.6) (23.2) rm 1 stopper 3 M4, depth 8 Same on the other side (*1) 4 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. φ height 1, M4, depth (*2) R Detail view of panel (18.) R2 (Operation prohibited area) Yellow White R191.3 φ section φ14 hollow φ2h (.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 XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) Powersupply voltage Threephase 192/192 points p. 3 V C For explanations of through (Note 9), refer to 6. 2 IXHNN2H/IXINN2H

27 IXHNN62H IXINN62H Medium SCR robot, Ceilingmount type, rm 6mm Vertical axis mm Medium SCR robot, Inverse type, rm 6mm Vertical axis mm items IX NN62H T2 SCR robot *For details on the model items, refer to 8. /Specifications R φ11 hole φ24 counterbore, depth View B (9) 1 (13) xis configuration xis 1 rm ± ±.1 IXHNN62H 1 T2 xis 2 2 ±14 (XY) ) IXINN62H 1 T2 xis 3 Vertical axis mm ± xis 4 Rotating axis 1 ±36 ±. 18 /s *In the model number above, specify the cable in. 1 *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. Encoder type bsolute mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) User wiring 2conductor WG26 Dsub/2pin connector with shield (socket) 31.Kg ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) pplicable controller T2: XSELPX/QX ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) Cable (Note 9) L: m (standard), 1L: 1 m (optional) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) The CD drawings can be Series Type Cable pplicable controller HNN62H : Ceilingmount type rm 6mm, Vertical axis mm INN62H : Inverse type rm 6mm, Vertical axis mm L : m (standard) 1L: 1 m T2: XSELPX/QX CD (823.2) 2 3 Panel rm rm 1 Work Repeatability envelope Rated R6 xis 3 (vertical axis) push force (N) (Note ) 14 * For the inverse type, the following illustrations should be turned upside down. (See 2.) 14 R24 xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) 12 Detailed view of base mount surface 2 φ112 φ (Mechanical end) (182.4) 19 2 (3.2) (111) 3 (.6) 2 (6) (mounting center) φ23 (Recommended mounting dimension) Red LED (*3) Brakerelease switch (18.) (Operation prohibited area) φ6 airtube 63 φ4 airtube Dsub/2pin Red Yellow connector for user wiring, socket Black White fixing jig M 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. φ height1, M4, depth (*2) 3 Detail view of panel section φ14 hollow φ2h (.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 XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) Powersupply voltage Threephase 192/192 points p. 3 V C For explanations of through (Note 9), refer to 6. IXHNN62H/IXINN62H 26

28 SCR robot IXHNN H IXINN H items IX NN H T2 Series Type Cable pplicable controller HNN2(4)H: Ceilingmount type L : m (standard) T2: XSELPX/QX rm mm, Vertical axis mm (4)mm INN2(4)H : Inverse type 1L: 1 m rm mm, Vertical axis mm (4)mm *For details on the model items, refer to 8. /Specifications xis configuration xis 1 rm 1 IXHNN2H 1 T2 [IXHNN4H 1 T2] IXINN2H 1 T2 [IXINN4H 1 T2] xis 2 xis 3 Vertical axis xis 4 Rotating axis *In the model number above, specify the cable in. Large SCR robot, Ceilingmount type, rm mm Vertical axis mm (4mm) Large SCR robot, Inverse type, rm mm Vertical axis mm (4mm) rm Work Repeatability envelope ±12 ±14 mm [4mm] ±36 ±.1 (XY) ±.1 ±. 1 ) /s Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load 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 cceleration/ Deceleration Settings on 46. Encoder type User wiring larm indicator (Note ) Brakerelease switch (Note 8) The CD drawings can be (R) 6 9 (34) (φ144) (φ188) (34) View B: Detailed view of base mount (92) 268 * [ ] indicates vertical axis 4mm (optional) specifications. bsolute 2conductor WG26 Dsub/2pin connector with shield (socket) ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) Small red LED indicator x 1 (24 V DC must be supplied.) llows remote release of Zaxis (24 VDC required) CD 414 drilled through φ3 counterbore, depth * For the inverse type, the following illustrations should be turned upside down. (See 2.) 6 (Mechanical end) [4 st] [4] 6 (Mechanical end) (169) 6 (Mechanical end) st 4 6 (Mechanical end) 3 (263.4) 22. (6) [(12.)] (4.) 3 [1] (134.6) 61 1 (92.) (64) (81) 2 (26.8) stopper 3 M4, depth 8 Same on the other side mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 8Kg pplicable controller T2: XSELPX/QX Cable (Note 9) L: m (standard), 1L: 1 m (optional) 91 B (2.) rm 1 stopper 1. (mounting center) R 124. φ31 (Recommended mounting dimension) (82) stopper φ6 airtube 63 φ4 airtube Red Yellow User Connector DSub/2pin, socket Black White fixing jig M2.6 LM BK SW (Brakerelease switch) Spacer O.D. φ Height 1 M4 depth 3 Detail view of panel φ18 hollow φ2h(.21) Detailed view of tip (18.) section 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. 23. pplicable Specifications pplicable XSELPX XSELQX axes, 24 W I/O points (inputs/outputs) Powersupply voltage Threephase 192/192 points p. 3 V C For explanations of through (Note 9), refer to 6. 2 IXHNN H/IXINN H

29 IXHNN8 H IXINN8 H Large SCR robot, Ceilingmount type, rm 8mm Vertical axis mm (4mm) Large SCR robot, Inverse type, rm 8mm Vertical axis mm (4mm) items IX NN8 H T2 SCR robot *For details on the model items, refer to 8. Series Type Cable pplicable controller HNN82(84)H: Ceilingmount type rm 8mm, Vertical axismm(4)mm INN82(84)H : Inverse type L : m (standard) T2: XSELPX/QX 1L: 1 m rm 8mm, Vertical axismm(4)mm xis 1 rm 1 IXHNN82H 1 T2 [IXHNN84H 1 T2] xis 2 IXINN82H 1 T2 xis 3 Vertical axis [IXINN84H 1 T2] xis 4 Rotating axis *In the model number above, specify the cable in. xis configuration rm Work Repeatability envelope ±12 ±14 mm [4mm] ±36 ±.1 (XY) ±.1 ±. 86 ) /s Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load 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 cceleration/ Deceleration Settings on 46. Encoder type User wiring larm indicator (Note ) Brakerelease switch (Note 8) (R) 6 9 (34) The CD drawings can be (φ144) (φ188) (34) View B: Detailed view of base mount bsolute 2conductor WG26 Dsub/2pin connector with shield (socket) ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) Small red LED indicator x 1 (24 V DC must be supplied.) llows remote release of Zaxis (24 VDC required) 414 drilled through φ3 counterbore, depth (92) 268 * [ ] indicates vertical axis 4mm (optional) specifications. CD 6 (Mechanical end) [4 st] [4] 6 (Mechanical end) *For the inverse type, the following illustrations should be turned upside down. (See 2.) (169) 6 (Mechanical end) st 4 6 (Mechanical end) 3 (263.4) 22. (6) (134.6) (12.) 3 4 [1] 3 (81) (44) [(16)] (64) 2 stopper 3 M4, depth 8 Same on the other side (36.8) mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) 8Kg pplicable controller T2: XSELPX/QX Cable (Note 9) L: m (standard), 1L: 1 m (optional) B (2.) 1. (mounting center) rm 1 stopper φ31 (Recommended mounting dimension) (9) stopper 63 φ6 airtube φ4 airtube Red Yellow User Connector Black White DSub/2pin, socket fixing jig M2.6 LM BK SW (Brakerelease switch) Spacer O.D. φ Height 1 3 M4 depth Detail view of panel φ18 hollow φ2h(.21) Detailed view of tip (18.) section 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. 23. pplicable Specifications pplicable XSELPX XSELQX axes, 24 W I/O points (inputs/outputs Powersupply voltage Threephase 192/192 points p. 3 V C For explanations of through (Note 9), refer to 6. IXHNN8 H/IXINN8 H

30 SCR robot IXNNC21H items IX NNC21H T2 Small SCR robot, Cleanroom type rm 2mm, Vertical axis 1mm Series Type Cable pplicable controller Cleanroom type rm 2mms Vertical axis 1mm *For details on the model items, refer to 8. L : m (standard) 1L: 1 m T2: XSELPX/QX /Specifications xis configuration rm Work envelope Repeatability Rated xis 3 (vertical axis) push force (N) (Note ) xis 1 rm 1 12 ± ±.1 xis ±12 (XY) IXNNC21H 1 T2 ) xis 3 xis 4 Vertical axis Rotating axis 1 1mm ±36 ±.1 ± /s *In the model number above, specify the cable in. 1 *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. xis 4 allowable load llowable inertial moment (kg m2) (Note 6) llowable torque (N. m) Encoder type User wiring larm indicator (Note ) Brakerelease switch (Note 8) bsolute 1conductor WG26 Dsub/1pin connector with shield (socket) ir tube (O.D. 4, I.D. 2.) x 3 (Normal working pressure.8 MPa) Small red LED indicator x 1 (24 V DC must be supplied.) llows remote release of Zaxis (24 VDC required) Vacuum joint pplicable tube O.D. 12 Suction rate 6 Nl/min Cleanliness class Conforming to class 1 (.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 H (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. φ height 1, M4, depth (*1) User connector 12 1 stopper (424.) φ9 φ16 counterbore, depth. R2 R12. Detail view of panel 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 (1) Maintain at 1 mm or more () 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 User wiring 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 XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) Powersupply voltage Threephase 192/192 points p. 3 V C For explanations of through (Note 9), refer to 6. In order to use the cleanroom type in an environment with cleanliness class 1, 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 IXNNC21H

31 IXNNC31H Small SCR robot, Cleanroom type rm 3mm, Vertical axis 1mm items IX NNC31H T2 SCR robot Series Type Cable pplicable controller Cleanroom type L : m (standard) T2: XSELPX/QX rm 3mm, 1L: 1 m Vertical axis 1mm *For details on the model items, refer to 8. /Specifications xis configuration rm Work envelope Repeatability Rated xis 3 (vertical axis) push force (N) (Note ) xis 1 rm 1 22 ± ±.1 xis ±13 (XY) IXNNC31H 1 T2 ) xis 3 Vertical axis 1 1mm ± xis 4 Rotating axis ±36 ±. 16 /s *In the model number above, specify the cable in. 1 *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. xis 4 allowable load llowable inertial moment (kg m2) (Note 6) llowable torque (N. m) Encoder type User wiring larm indicator (Note ) Brakerelease switch (Note 8) bsolute 1conductor WG26 Dsub/1pin connector with shield (socket) ir tube (O.D. 4, I.D. 2.) x 3 (Normal working pressure.8 MPa) Small red LED indicator x 1 (24 V DC must be supplied.) llows remote release of Zaxis (24 VDC required) Vacuum joint pplicable tube O.D. 12 Suction rate 6 Nl/min Cleanliness class Conforming to class 1 (.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 H (intersection between reamer holes ±.2 mm) rm 1 stopper CD φ4 (red) Red LED (*2) φ4 (black) User spacer O.D. φ height 1, M4, depth (*1) Detail view of panel φ4 (white) Brakerelease switch User connector (Mechanical end) stopper 249. (24.) φ9 φ16 counterbore, depth. (1) 12 R R R12 Operation prohibited area 12 R For installation of peripherals Tapped hole (4M4, depth 12) Same on the other side φ11 (I.D.) φ16h (.18) φ3 Detailed view of tip 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 () 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 XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) Powersupply voltage Threephase 192/192 points p. 3 V C For explanations of through (Note 9), refer to 6. In order to use the cleanroom type in an environment with cleanliness class 1, 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. IXNNC31H 3

32 SCR robot IXNNC H items IX NNC H T2 Series Type Cable pplicable controller NNC2H: L : m (standard) T2: XSELPX/QX rm mm, Vertical axis mm NNC3H: 1L: 1 m rm mm, Vertical axis 3mm *For details on the model items, refer to 8. /Specifications Medium SCR robot, Cleanroom type rm mm Vertical axis mm (3mm) IXNNC2H 1 T2 [IXNNC3H 1 T2] xis configuration xis 1 rm 1 xis 2 xis 3 Vertical axis rm Work envelope ±12 ±14 mm [3mm] Repeatability ±.1 (XY) ± ) Rated 1 xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial moment (kg m2) (Note 6).6 llowable torque (N. m) 3. xis 4 Rotating axis 1 ±36 ±. 18 /s *In the model number above, specify the cable in. 1 * SCR robots cannot operate continuously at 1% and acceleration. *[ ] indicates vertical axis 3mm specifications. ll other specifications are common to both the vertical axis mm and 3mm. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. Encoder type bsolute Vacuum joint Quick joint, pplicable tube O.D. 12 User wiring 2conductor WG26 Dsub/2pin connector with shield (socket) Suction rate 6 Nl/min ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) Cleanliness class Conforming to class 1 (.1 μm) ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) mbient temperature/humidity Temperature: 4 C, humidity: 2 8%RH or less (no condensation) larm indicator (Note ) Small red LED indicator x 1 (24 V DC must be supplied.) 31.Kg Brakerelease switch (Note 8) llows remote release of Zaxis (24 VDC required) Cable (Note 9) L: m (standard), 1L: 1 m (optional) The CD drawings can be (23.2) CD (13) 12 (9) 1 R R1.4 * [ ] indicates vertical axis 3mm (optional) specifications. (Mechanical end) 89[99] 2 9[69] ST[3ST] 14 (Mechanical end) 4 2 Panel 3 M4, depth 8 (Same on the other side) Seal with set screw. (*3) R4 12 rm 1 4 φ11 hole φ24 counterbore, depth (82) (66.1) (684.1) Vacuum joint for tube O.D. φ12 (I.D. φ8) R2 Operation prohibited area φ6 63 airtube quick joint φ4 airtube quick joint Dsub/2pin Red Yellow connector for user wiring, socket Black White fixing jig M2.6 Red LED (*3) Brakerelease switch Spacer O.D. φ Height 1 3 M4 depth (*2) Detail view of panel (18.) [18] 2 (88.) The values within [ ] indicate the specifications for axis 3 (vertical axis) 3 mm. *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 (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 φ2h(.21) pplicable Specifications pplicable XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) Powersupply voltage Threephase 192/192 points p. 3 V C For explanations of through (Note 9), refer to 6. In order to use the cleanroom type in an environment with cleanliness class 1, 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 IXNNC6 H items IX NNC6 H T2 Medium SCR robot, Cleanroom type rm 6mm, Vertical axis mm (3mm) SCR robot Series Type Cable pplicable controller NNC62H: L : m (standard) T2: XSELPX/QX rm 6mm, Vertical axis mm NNC63H: 1L: 1 m rm 6mm, Vertical axis 3mm *For details on the model items, refer to 8. /Specifications IXNNC62H 1 T2 [IXNNC63H 1T2] xis configuration xis 1 rm 1 xis 2 xis 3 Vertical axis rm Work envelope ±12 ±14 mm [3mm] Repeatability ±.1 (XY) ± ) Rated 1 xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial moment (kg m2) (Note 6).6 llowable torque (N. m) 3. xis 4 Rotating axis 1 ±36 ±. 18 /s *In the model number above, specify the cable in 1. *[ ] indicates vertical axis 3mm specifications. ll other specifications are common to both the vertical axis mm and 3mm. *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 4. Encoder type User wiring larm indicator (Note ) Brakerelease switch (Note 8) bsolute 2conductor WG26 Dsub/2pin connector with shield (socket) ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) Small red LED indicator x 1 (24 V DC must be supplied.) llows remote release of Zaxis (24 VDC required) Vacuum joint Quick joint, pplicable tube O.D. 12 Suction rate Nl/min Cleanliness class Conforming to class 1 (.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. 89[99] 2 9[69] 14 ST[3ST] 82[18] 4 (Mechanical end) (Mechanical end) Panel 3 M4, depth 8 (Same on the other side) Seal with set screw. (*3) rm 1 R φ11 hole φ24 counterbore, depth 4 (88.) (63) The values within [ ] indicate the specifications for axis 3 (vertical axis) 3 mm. *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) Cables/tubes *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 /encoder cable m/1m applicable LED terminal in the user wiring. Brake power cable m/1m *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 User Wiring Cable m/1m contact internal components. In addition, be sure to seal screws with tape. ir tube (4 pcs).1m (82) (684.1) (66.1) Vacuum joint for tube O.D. φ12 (I.D. φ8) R Operation prohibited area φ6 63 airtube quick joint φ4 airtube quick joint Dsub/2pin Red Yellow connector for user wiring, socket Black White fixing jig M2.6 Red LED (*3) Brakerelease switch Spacer O.D. φ Height 1 M4 depth (*2) Detail view of panel Detailed view of tip (18.) section φ14 hollow φ2h.21 ( ) pplicable Specifications pplicable XSELPX XSELQX 6 axes, 24 W I/O points (inputs/outputs) Powersupply voltage Threephase 192/192 points p. 3 V C For explanations of through (Note 9), refer to 6. In order to use the cleanroom type in an environment with cleanliness class 1, 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 H32

34 R3 SCR robot IXNNC H items IX NNC H T2 Large SCR robot, Cleanroom type rm mm, Vertical axis mm (4mm) Series Type Cable pplicable controller NNC2H: rm mm, Vertical axis mm NNC4H: rm mm, Vertical axis 4mm *For details on the model items, refer to 8. /Specifications L : m (standard) 1L: 1 m T2: XSELPX/QX IXNNC2H 1 T2 [IXNNC4H 1 T2] xis configuration xis 1 xis 2 xis 3 rm 1 Vertical axis rm Work Repeatability envelope ±12 ±14 mm [4mm] ±.1 (XY) ±.1 1 ) 1614 Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) xis 4 Rotating axis ±36 ± /s *In the model number above, specify the cable in 1. * SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 46. Encoder type User wiring larm indicator (Note ) Brakerelease switch (Note 8) bsolute 2conductor W26 Dsub/2pin connector with shield (socket) ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) Small red LED indicator x 1 (24 V DC must be supplied.) llows remote release of Zaxis (24 VDC required) Vacuum joint Quick joint, pplicable tube O.D. 12 Suction rate 8 Nl/min Cleanliness class Conforming to class 1 (.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) (91.) 3 stopper (26.) pplicable tube O.D. φ12 (I.D. φ8) * [ ] indicates vertical axis 4mm (optional) specifications. (169) (9) 268 R R21. (φ188) (φ144) 12.[122.] 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) 468 (R) (34) rm 1 stopper ir joint (back side) (34) (122.) 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. φ Height 1 M4 depth (*2) 2 (Operation prohibited area) Red Black 63 3 Yellow White Detail view of panel (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 φ2h(.21) Detailed view of tip section pplicable Specifications pplicable XSELPX XSELQX axes, 24 W I/O points (inputs/outputs) Powersupply voltage Threephase 192/192 points p. 3 V C For explanations of through (Note 9), refer to 6. In order to use the cleanroom type in an environment with cleanliness class 1, 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 IXNNC H

35 R3 IXNNC8 H items IX NNC8 H T2 Large SCR robot, Cleanroom type rm 8mm, Vertical axis mm (4mm) SCR robot Series Type Cable pplicable controller NNC82H: rm 8mm, Vertical axis mm NNC84H: rm 8mm, Vertical axis 4mm *For details on the model items, refer to 8. L : m (standard) 1L: 1 m T2: XSELPX/QX *The model described above refers to the set containing a robot and controller. /Specifications IXNNC82H 1 T2 [IXNNC84H 1 T2] xis configuration xis 1 xis 2 xis 3 rm 1 Vertical axis rm Work Repeatability envelope ±12 ±14 mm [4mm] ±.1 (XY) ±.1 86 ) 1614 Rated xis 3 (vertical axis) push force (N) (Note ) xis 4 allowable load llowable inertial llowable moment torque (kg m2) (Note 6) (N. m) xis 4 Rotating axis 1 *In the model number above, specify the cable in. ±36 ± /s *SCR robots cannot operate continuously at 1% and acceleration. For details on the conditions, refer to cceleration/ Deceleration Settings on 46. Encoder type User wiring larm indicator (Note ) Brakerelease switch (Note 8) bsolute 2conductor W26 Dsub/2pin connector with shield (socket) ir tube (O.D. 6, I.D. 4) x 2 (Normal working pressure.8 MPa) ir tube (O.D. 4, I.D. 2.) x 2 (Normal working pressure.8 MPa) Small red LED indicator x 1 (24 V DC must be supplied.) llows remote release of Zaxis (24 VDC required) Vacuum joint Quick joint, pplicable tube O.D. 12 Suction rate 8 Nl/min Cleanliness class Conforming to class 1 (.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 (11.) 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.8 (φ188) (φ144) 12.[122.] 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) 468 ir joint (back side) (34) 414 drilled through φ3 counterbore, depth (122.) () (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. φ Height 1 M4 depth (*2) 2 (Operation prohibited area) Red Black 63 3 Yellow White Detail view of panel (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 φ2h(.21) Detailed view of tip pplicable Specifications pplicable XSELPX XSELQX axes, 24 W I/O points (inputs/outputs) Powersupply voltage Threephase 192/192 points p. 3 V C For explanations of through (Note 9), refer to 6. In order to use the cleanroom type in an environment with cleanliness class 1, 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. 43.) (Emergency stop switch) (Provided by the user) Encoder cable m (standard) m Brake power cable ( m) (Y termination at end) User wiring cable ( m) (Y termination at end) ir tube (.1m) (4 pcs) Computer connection cable ( m) CBSTE1MWEB CBST1MWEB (Supplied with computer software) (Refer to p. 44.) Computer software (optional) I11XMW I11XUSBMW I11XMW (Refer to pp. 43 and 44.) 24 V DC 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: Three phase V C (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 CBXPIO * 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 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 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 Description B3 Battery for storing the encoder's absolute data JG1~4 Jig needed to perform an absolute reset p. 36 IXFL1~3 Flange for mounting objects on the tip of the Zaxis Options Name Teaching pendant (dustproof) Teaching pendant (NSI) Computer software (DOS/V) Computer software (USB) Computer software (compatible with ) 3 SCR Robot System Configuration Drawing Description SELT SELTD Compatible with protective structure IP4 Complies with CE/NSI protocols p. 43 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. 44

37 SCR Robot Series Robot Options SCR robot 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 /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 / φ2h φ6 M φ34h φ φ34h φ IXFL3 For arm /8 4 4φ. 4φ. 4 4φ. 4 Note φ φh φ6 φh φ6 Use IXFL2 with arm /6 of the high type φh( ) 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 SCR robot PX/QX For SCR robots Program controller 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 type Large type (safetycategorycompatible specifications) External view Description Capable of a SCR robot and 2 singleaxis robots PX type compatible with the Safety Category 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 9,999 steps 2, positions 24 W Threephase V C B Complies with Category 4 Safety rating ROBO Cylinder gateway function CE equipment CE, NSI equipment 3 XSEL

39 SCR robot [XSELPX/QX type] *The specifications for axis and axis 6 are entered for models PX/QX/PX6/QX6. *With arm /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 3 ThreePhase V C PX LargeCapacity xis Type C Creep Sensor bsolute 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 NNN21H~84H NSN16H~616H NNC21H~84H NNW21H~84H TNN31H~31H UNN31H~31H HNN2H~84H INN2H~84H Type HighSpeed Type Clean Room Type Splashproof Type Wall Mount type Wall Mount Inverse Type Ceiling Mount Type 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 W Servo 1 1W Servo W 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 RCS2R/ SR series actuators. XSEL 38

40 RB RB IN RB RB+ RB RB+ OUT SCR robot 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) Control power supply drive power supply System I/O Singlephase V C Threephase V C Emergency stop Enable Main power Singlephase V C/Threephase V C System ready *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: 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 V81BXZ4 Singlephase R V81BWZ4 (Manufacturer: Okaya Electric Industries) 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 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 24 W Singlephase /23 V C, 1%+1% Threephase /23 V C, ±1% Max. 33 V Redundancy not Redundancy Internal cutoff relay External cutoff relay B contact input B contact input (duplex) Incremental/absolute Super SEL language 1 programs 9,999 steps (total) 2, 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 (*1) equipment 4 C, 1% 9% (no condensation).2. kg 4. kg (*1) When four multipoint I/O boards have been installed 39 XSEL

41 I/O Wiring Diagrams Item Input power supply Input current On/Off voltage Insulation method External devices [Input Circuit] + SCR robot Input section External input specifications (NPN specifications) Specifications 24 V DC ±1% m/circuit On voltage Min. 16. V DC, Off voltage Max.. V DC Photocoupler insulation 1 Novoltage contact (with a minimum load of approx. V DC/1 m) 2 Photoelectric/proximity sensor (NPN type) 3 Sequencer transistor output (opencollector type) 4 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 peak (total current) Max..1 m/point Photocoupler insulation Uses TD64 (or equivalent). 1 Miniature relay, 2 Sequencer input unit [Output Circuit] P24 * External power supply DC24V ±1% P24 * 6Ω 3.3kΩ Input terminal Internal circuit * K type I/O 24 V connector P24 24VIN J/P/Q type I/O interface, pin no. 1 Internal circuit D Surge absorber 1Ω Load Output terminal + External * power supply DC24V N * ±1% K type I/O 24 V connector P24 24VIN I/O 24 V connector N V J/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] Input terminal External power supply DC24V ±1% + Specifications 24 V DC ±1% m/circuit On voltage Min. 8 V DC, Off voltage Max. 19 V DC Photocoupler insulation 1 Novoltage contact (with a minimum load of approx. V DC/1 m) 2 Photoelectric/proximity sensor (PNP type) 3 Sequencer transistor output (opencollector type) 4 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 J/P/Q type I/O interface, pin no. Output section External input specifications (PNP specifications) Item Load voltage load current Leak current Insulation method Specifications 24 V DC 1 m/point 4 m/8 ports (Note) Max..1 m/point Photocoupler insulation Uses TD6284 (or equivalent). External devices 1 Miniature relay, 2 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 + is 4 m, where n = or a multiple of 8. [Output Circuit] P24 * Internal circuit 1Ω Surge absorber Output terminal Load N * + External power supply DC24V ±1% * P24 N K type I/O 24 V connector 24VIN I/O 24 V connector V J/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 (J/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 (J/P/Q types: V connection; K type: NC) Pin No Category Setting (J/P/Q types: 24V connection; K type: NC) Input Output (J/P/Q types: V connection; K type: NC) Pin No Category Setting (J/P/Q types: 24V connection; K type: NC) Input Output (J/P/Q types: V connection; K type: NC) XSEL 4

42 ) ) ) ) ) ) ) SCR robot External PX (large) 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 type Cleanroom type Wallmount type Ceilingmount type High type rm 2~6 ~8 ~6 Large type (PX) SCR only (PX4) SCR + directcoupled axis (PX/PX6) Without expansion I/O With expansion I/O Without expansion I/O With expansion I/O Dimensional diagram 1 Dimensional diagram 3 ( 1) Dimensional diagram 2 Dimensional diagram 4 ( 1) Dimensional diagram 3 ( 2) Dimensional diagram 4 ( 2) Large global type (QX) SCR only (QX4) SCR + directcoupled axis (QX/QX6) Without expansion I/O With expansion I/O Without expansion I/O With expansion I/O Dimensional diagram Dimensional diagram ( 1) Dimensional diagram 6 Dimensional diagram 8 ( 1) Dimensional diagram ( 2) Dimensional diagram 8 ( 2) ( 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 /8, the maximum number of connected axes is (SCR + single axis). Without expansion I/O With expansion I/O SCR only ( P X 4 SCR + directcoupled axis ( p X / P X6 SCR only ( P X 4 ) SCR + directcoupled axis ( P X / P X 6 Dimensional diagram 1 Dimensional diagram Dimensional diagram Dimensional diagram *ll controller types have the same height. Large type (PX) Large global type (QX) Side view (common) φ 3φ 3φ 3φ SCR only ( Q X 4 SCR + directcoupled axis ( Q X / Q X6 SCR only ( Q X 4 SCR + directcoupled axis ( Q X / Q X 6 Dimensional diagram Dimensional diagram Dimensional diagram Dimensional diagram φ φ 3φ 3φ (8) XSEL

43 RB IN RB RB+ RB RB+ RB OUT SCR robot Options 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 Specifications Unit dimensions 34 mm 19 mm (H) 126 mm (D).9Kg Builtin regenerative resistor connection cable (1 m) ( 22Ω, 8 W CBSTREU1) Installation s NNN NNW TNN UNN HNN INN NNC NSN Expansion SIO board (dedicated generalpurpose type) 21H 31H **H 6**H **H 8**H 16H 616H Number of regenerative * 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 : IXNNN21H: Requires 1 ISMXM : Requires 1 Therefore, two regenerative resistance units are required. I1XMW (for RS232C connections)(main unit + joint cable 1, 2 included) I1XMWB (for RS422 connections)(main unit + joint cable 2, 1 included) I1XMWC (for RS48 connections)(main unit + joint cable 2, 1 included) Joint cable 1 : CBST232J1 / Specifications Description Joint cable 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 side 1mm Cable connection side side 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 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 Color SD Orange, Black dot RD Orange, Black dot RS Light gray, Black dot CS Light gray, Red dot ER White, Black dot DR White, Red dot SG Yellow, Black dot Wire W G24x conductors *Connection cables for external devices are not supplied. Wiring Diagram XM11 Wire Color Signal NO WG24 x 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 8m 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. 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 Number of I/O points 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 Cable (m) K 1 Connector (controller side) MSTB2./G.8UM manufactured by Phoenix Contact (*1) (*1) Cableside connector (SMSTB2./ST.8U manufactured by Phoenix Contact) is a standard accessory. XSEL 42

44 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 (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 ORNGE ORNGE/BLCK RED 2 12 RED/BLCK 1 Shield FG (Shield) 1 43 XSEL