Brochure

1. IX-1000/1200
^ ^ ^ P U [ L S S P N L U [ H J [ H [ V Y J V T
Su:peWr-LLYa3rgHeY NSLC:A*R(A9 R(ob9oVtIV[IX-ELECTROMATE
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2. The latest addition to our
offerings is the super-large
SCARA series boasting an
arm length of 1200 mm and
payload of 50 kg, both of
which are the largest among
all our SCARA robots.
The long arm extending 1200 mm allows the IX to carry work parts over a wide range of up to 2400 mm.
The IX is also space-saving because its footprint is only one-eightieth that of a Cartesian robot having
an equivalent range of operation.
Wide range of operation and small footprint 1
The IX demonstrates excellent high-speed
performance backed by its maximum
operating speed of 8308 mm/s. The IX can
certainly help you reduce cycle times.
High-speed transfer 2 The IX can carry up to 50 kg, which is one
of the highest payloads in its class. The IX
is the perfect choice if your equipment
must transfer heavy objects.
High payload 3
1200mm
2400mm 2400mm
SCARA robot
IX-NNN12040
Cartesian robot
ICSA3-G2JHB3M
Space required for installation
Range of
operation
Range of
operation
50kg
50kg Able to transfer up to 50 kg
Time needed to move a 5-kg work part over a vertical
distance of 100 mm and horizontal distance of 2400 mm.
SCARA robot
IX-NNN12040
Cartesian robot
ICSA3-B2N1HB3H
Required time
1.16 sec
2.67 sec
1
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3. IX SCARA robot
IX - - - T2
Series Type Cable length Applicable controller
Model
Robot
NNN10040
High payload type
Arm length: 1000 mm
Vertical axis: 400 mm
NNN12040
High payload type
Arm length: 1200 mm
Vertical axis: 400 mm
5L 5m
10L 10m
T2 XSEL-SX4
System Configuration
PLC Field network
DeviceNet
CC-Link
PROFIBUS-DP
EtherCAT
EtherNet/IP
Control power
Single-phase
Brake release power supply AC 200 V/230 V
DC 24 V
Power for I/O
DC 24 V
Motor power supply
3-phase
AC 200 V/230 V
PC software
RS232 version
Model: IA-101-XA-MW
Ver. 9.00.00.00 or later
Option
ANSI-compatible
Teaching pendant
Model: SEL-TD
Ver. 1.12 or later
Option
PIO cable
Model: CB-X-PIO020
Standard 2 m
(Supplied with the PIO
specification controller)
Controller
XSEL-SX4
Supplied with controller
Drive power
shut-off circuit
(Supplied by user)
5m
(Emergency
stop switch)
Comm. cable
Model: CB-ST-A1MW050-EB
Motor cable
Model: CB-SX4-MA050
Standard: 5 m
Supplied with PC software
Supplied with regenerative
resistor unit
Supplied with SCARA robot
Supplied with SCARA robot Supplied with SCARA robot
Encoder cable
Model: CB-SX4-PA050
Standard: 5 m
Absolute data backup battery
Model: AB-3
Expansion I/O unit
Model: EIOU-4-
Option
Comm. cable
Model: CB-RS-IAN
Supplied with Expansion I/O unit
DeviceNet Gateway
(Cable is supplied by user)
* Contact us for
details on driver
power shut-off
circuit.
PCON/ACON/SCON-CA
MSEP/MSCON
Regenerative
resistor unit
Model: REU-1
* Refer to P. 6.
Regenerative resistor
unit cable: 1 m
* At least four regenerative
resistor units are required.
Main power supply: Three-phase AC 200 V
* Be sure to install the following filters or equivalent on the lines connected to the power supply:
Noise filter Recommended model Three-phase: MC1320 (Manufacturer: TDK Lambda)
Single-phase: MXB-1220-33 (Manufacturer: TDK Lambda)
Ring core Recommended model ESD-R-25 (Manufacturer: NEC Tokin)
Clamp filter Recommended model Control power supply: ZCAT3035-1330 (Manufacturer: TDK)
Motor power supply: RFC-H13 (Manufacturer: Kitagawa Kogyo)
Surge protector Recommended model Three-phase: R•A•V-781BXZ-4
Single-phase: R•A•V-781BWZ-4
(Manufacturer: Okaya Electric Industries)
RB
RB+
RB-IN
RB
RB+
RB-OUT
RB
RB+
RB-OUT
RB
RB+
RB-OUT
RB
RB+
RB-OUT
RB
RB+
RB-IN
RB
RB+
RB-IN
RB
RB+
RB-IN
2
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4. IX SCARA robot
IX-NNN10040 Super-large SCARA Robot High-payload Type
Arm Length 1000 mm Vertical Axis 400 mm
* Refer to P. 2 for the details of model specification items.
(*1) Take note that the R-axis (rotational axis) cannot move unless this clearance is provided.
(*2) The ALM indicator lamp will operate only when the customer wires the controller’s I/O
signal to supply DC 24 V to the LED power supply line on the user wiring connector.
400 stroke
74.5
10
(Mechanical end)
10
(Mechanical end)
1267.5
(150)
(84.9)
500 500
1000 217
255 127 323 468
1173
278
325.5
847.5
(111.5)
(28.5)
117.5 77.5 180
50 50 50
175.5
149
(121)
4-M4, depth 8
(same on the
opposite side)
Reference
plane
Reference
plane
For FG (M4 screw)
(Wiring
space)
M connector
PG connector
175
220
(259.8)
5
220 (ø15.2)
(259.7)
155
150
41
55
20
2-M4, depth 8 50 4-ø13.5, ø25 counterbored
(8 mm from bearing surface to
installation surface)
B
12.5 235 (12.3)
59
55
20
50
41
2-M4, depth 8
C
130 (129.8)
D
12
ø10 H7(+ 0 . 0 1 5 )
0
10H7 +0.015
0
Detail view of C
4-ø6
quick joint
User wiring connector
D-sub, 37-pin, plug
Fixing screw: M2.6
R258.8
140°
140
140°
R1000 R500
R500
R500
150°
R500
150°
140°
140°
R100 0
R258.8
140
R500
R500
Range of operation of right-arm system
J1 mechanical end position: 150°
J2 mechanical end position: 160°
Range of operation of left-arm system
J1 mechanical end position: 150°
J2 mechanical end position: 160°
8
7.5 25 25 7.5
65
Detail view of B
3-M4, depth 8
4-ø6
Quick joint
Vertical axis brake
release switch
ALM indicator lamp (*2)
User wiring connector
D-sub, 25-pin, socket
Fixing screw: M2.6
Detail view of D
59 (Tool installation range) 1.2 (*1)
ø40 h7 0
-0.025
18 8
X X
38
ø29
Section view X-X
Model/Specification
Common Specifications
Applicable Controller Specification
Dimensional Drawings
* SCARA robots cannot operate continuously at the 100% speed and acceleration. For the conditions in which they
can operate, refer to Reference for Operation Limits and Operation Settings on the back cover.
NNN10040 :High-payload type
Arm length :1000 mm
Vertical axis :400 mm
5L : 5m(standard)
10L : 10m
T2 : XSEL-SX4
Series Type Cable length Applicable controller
* ➀ in the above model numbers indicates the cable length.
Encoder type Absolute (Absolute data retention battery: Model AB-3)
User wiring 25-core AWG26 with shield + D-sub, 25-pin connector (socket)
User piping Outer diameter ø6, inner diameter ø4, air tube x 4 (Normal service pressure: 0.8 MPa)
Alarm indicator lamp Red LED small indicator lamp x 1 (DC 24 V must be supplied)
Brake release switch Brake release switch to prevent vertical axis from dropping (DC 24 V must be supplied)
Ambient temperature/
humidity
Temperature: 0 to 40°C, Humidity: 20 to 85%RH or
less (non-condensing)
Robot weight 93 kg
Applicable controller T2: XSEL-SX4 (dedicated controller)
Cable length 5L: 5 m (standard) 10L: 10 m
Applicable
controller Feature Maximum I/O points
(input/output)
Power-supply
voltage
Reference
page
XSEL-SX4 Safety category 4 can be supported 192 points/192 points 3-phase, AC 200 V P5
Caution
(Note 1) When 2 kg is transferred back and forth over a horizontal distance of 300 mm and vertical
distance of 25 mm
(Note 2) The rated payload represents the maximum mass carrying which the actuator can operate
at its maximum speed and maximum acceleration. The maximum payload represents the
maximum mass achievable at the greatest sacrifice of the speed and acceleration.
(Note 3) This robot does not support push-motion operation.
Model Axis configuration
Arm
length
(mm)
Motor
capacity
(W)
Range of
operation
Positioning
repeatability
(mm)
(deg)
Maximum
operating
speed in PTP
mode
Standard
cycle times
(sec)
(Note 1)
Payload (kg)
(Note 2)
Axis 3 (Note 3)
push force thrust (N) Axis 4 allowable load
Rated Max. Upper
limit
Lower
limit
Allowable
moment of
inertia (kg•m2)
Allowable
torque
(N•m)
IX-NNN10040- ➀ -T2
Axis 1 Arm 1 500 1000 ±140 deg
±0.040 7356 mm/s
(synthesis rate)
0.59 20 50 — — 0.5 20.0
Axis 2 Arm 2 500 600 ±150 deg
Axis 3 Vertical axis — 600 400 mm ±0.020 1000 mm/s
Axis 4 Rotational axis — 400 ±360 deg ±0.010 1197.3 deg/s
 Model
Specification
Items
IX NNN10040 T2
3
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5. IX SCARA robot
IX-NNN12040 Super-large SCARA Robot, High-payload Type
Arm Length 1200 mm, Vertical Axis 400 mm
* Refer to P. 2 for the details of model specification items.
(*1) Take note that the R-axis (rotational axis) cannot move unless this clearance is provided.
(*2) The ALM indicator lamp will operate only when the customer wires the controller’s I/O
signal to supply DC 24 V to the LED power supply line on the user wiring connector.
8
7.5 25 25 7.5
65
Detail view of B
3-M4, depth 8
4-ø6
quick joint
Vertical axis brake
release switch
ALM indicator lamp (*2)
User wiring connector
D-sub, 25-pin, socket
Fixing screw: M2.6
Detail view of D
59 (Tool installation range) 1.2 (*1)
ø40 h7 0
-0.025
18 8
X X
38
ø29
Section view X-X
R1200
150°
R365.8
140°
R500
140°
R500
R700
140
Range of operation of right-arm system
J1 mechanical end position: 150°
J2 mechanical end position: 160°
R1200 R700
150°
140°
140°
140
R500
R500
R365.8
Range of operation of left-arm system
J1 mechanical end position: 150°
J2 mechanical end position: 160°
Detail view of C
500 700
847.5
278
400 stroke
325.5
(84.9) 217
(28.5)
175.5
220
(259.7)
220
(259.8)
130 (129.8) 149
10
(Mechanical end)
1200
10
(Mechanical end)
1267.5
74.5
55 20
2-M4, depth 8
For FG (M4 screw)
127 323 468
1173
255
155
150
102.5 155
50 50 50
4-M4, depth 8
(same on the opposite side)
D
B
175
5
(ø15.2)
4-ø13.5, ø25 counterbored
(8 mm from bearing surface
to installation surface)
150
(Wiring space)
12.5 235 (12.3)
59 ø10H7( +0.015
0 )
10H7( +0.015
0 )
Reference
plane
Reference
plane
C
12
117.5
(50)
55
20
50
38
2-M4, depth 8
41
4-ø6
quick joint
M connector
PG connector
User wiring connector
D-sub, 37-pin, plug
Fixing screw: M2.6
Model/Specification
Common Specifications
Applicable Controller Specification
Dimensional Drawings
* SCARA robots cannot operate continuously at the 100% speed and acceleration. For the conditions in which they
can operate, refer to Reference for Operation Limits and Operation Settings on the back cover.
NNN12040 :High-payload type
Arm length :1200 mm
Vertical axis :400 mm
5L : 5m(standard)
10L : 10m
T2 : XSEL-SX4
Series Type Cable length Applicable controller
* ➀ in the above model numbers indicates the cable length.
Encoder type Absolute (Absolute data retention battery: Model AB-3)
User wiring 25-core AWG26 with shield + D-sub, 25-pin connector (socket)
User piping Outer diameter ø6, inner diameter ø4, air tube x 4 (Normal service pressure: 0.8 MPa)
Alarm indicator lamp Red LED small indicator lamp x 1 (DC 24 V must be supplied)
Brake release switch Brake release switch to prevent vertical axis from dropping (DC 24 V must be supplied)
Ambient temperature/
humidity
Temperature: 0 to 40°C, Humidity: 20 to 85%RH or
less (non-condensing)
Robot weight 97 kg
Applicable controller T2: XSEL-SX4 (dedicated controller)
Cable length 5L: 5 m (standard) 10L: 10 m
Applicable
controller Feature Maximum I/O points
(input/output)
Power-supply
voltage
Reference
page
XSEL-SX4 Safety category 4 can be supported 192 points/192 points 3-phase, AC 200 V P5
Caution
(Note 1) When 2 kg is transferred back and forth over a horizontal distance of 300 mm and vertical
distance of 25 mm
(Note 2) The rated payload represents the maximum mass carrying which the actuator can operate
at its maximum speed and maximum acceleration. The maximum payload represents the
maximum mass achievable at the greatest sacrifice of the speed and acceleration.
(Note 3) This robot does not support push-motion operation.
Model Axis configuration
Arm
length
(mm)
Motor
capacity
(W)
Range of
operation
Positioning
repeatability
(mm)
(deg)
Maximum
operating
speed in PTP
mode
Standard
cycle times
(sec)
(Note 1)
Payload (kg)
(Note 2)
Axis 3 (Note 3)
push force thrust (N) Axis 4 allowable load
Rated Max. Upper
limit
Lower
limit
Allowable
moment of
inertia (kg•m2)
Allowable
torque
(N•m)
IX-NNN12040- ➀ -T2
Axis 1 Arm 1 700 1000 ±140 deg
±0.050 8308 mm/s
(synthesis rate)
0.66 20 50 — — 0.5 20.0
Axis 2 Arm 2 500 600 ±150 deg
Axis 3 Vertical axis — 600 400 mm ±0.020 1000 mm/s
Axis 4 Rotational axis — 400 ±360 deg ±0.010 1197.3 deg/s
 Model
Specification
Items
IX NNN12040 T2
4
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6. IX SCARA robot
Type SX4
Name Super-large SCARA controller
External view
Type Global specification
Safety category (*1) Category 4 can be supported
Number of programs 128 programs
Number of program steps 9999 steps
Number of positions 26666 positions
Power supply 3-phase AC 200 V
Model List
Model
 Dedicated Super-large SCARA Controller XSEL-SX4 Type
XSEL - SX4 - - - - - 3
Series Type SCARA robot
type
Dedicated network slot
(Slot 1) (Slot 2) (Slot 3)
I/O slot
(Slot 1) (Slot 2)
I/O
cable length
Power/
voltage
(*1) Meeting this safety category requires the customer to install a safety circuit externally to the controller.
(*) Selectable boards are different and specified
separately for dedicated network slots 1 to 3. For
each slot, select one of the specified boards and
enter the corresponding code.
(*) One of the above I/O boards can be installed in both
I/O slot 1 and slot 2, but the DG (DeviceNet Gateway
board) option can only be installed in slot 1.
(*) Both the dedicated netework slots and I/O slots can
be used at the same time.
* For the details
of options, refer
to the XSEL-R/S
controller catalog.
E Not used
IA IA net-compatible
0 No cable
2 2 m (standard)
3 3m
5 5m
3 3-phase 200 V
E Not used
DV DeviceNet
CC CC-Link
PR PROFIBUS-DP
E Not used
EP EtherNet/IP
EC EtherCAT
Super-large SCARA
Program Controller
XSEL-SX4 -SEL-SX4
NNN10040 Arm length 1000 mm/Z-axis 400 mm type
NNN12040 Arm length 1200 mm/Z-axis 400 mm type
E Not used
N1 Input 32/Output 16 (NPN)
N2 Input 16/Output 32 (NPN)
N3 Input 48/Output 48 (NPN)
P1 Input 32/Output 16 (PNP)
P2 Input 16/Output 32 (PNP)
P3 Input 48/Output 48 (PNP)
DG DeviceNet Gateway master board
5
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7. IX SCARA robot
Front view Side view
SX4
External Dimensions
Controller type SX4 type
Control power-supply input Single-phase AC 200/230 V ± 10%
Motor power-supply input Three-phase AC 200 to 230 V ± 10%
Power supply capacity 10838 VA (The specific value varies depending on the I/O and network boards.)
Safety circuit configuration Redundancy supported
Drive source breaker system External safety circuit
Emergency stop input B contact input (External power supply model, redundancy supported)
Enable input B contact input (External power supply model, redundancy supported)
Number of programs 128 programs
Number of program steps 9999 steps (total)
Number of multi-tasking programs 16 programs
Number of positions 26,666 positions
Data memory device Flash ROM + non-volatile RAM (FRAM): System battery (button battery) not required
Data input method Teaching pendant (Model: SEL-TD) or PC software (Model: IA-101-XA-MW)
Standard input/output 2 boards can be installed, including a PIO board of 48 I/O points (NPN/PNP) and a PIO board of 96 I/O points (NPN/PNP)
Expansion input/output None (A separate expansion I/O unit can be used to add up to 4 PIO boards.)
Serial communications function Teaching port (D-sub 25 pins), 2-channel RS232C ports (D-sub 9 pins) Baud rate: 115.2 kbps max.
IA net Number of connected units: 64 points / Baud rate: 12 Mbps, fixed
RC Gateway function RS232C communication port (Channel 2 only) or DeviceNet Gateway master board port.
Fieldbus communication
function
DeviceNet, CC-LINK, Profibus, EtherNet/IP, EtherCAT
(One of EtherNet/IP and EtherCAT, and one of DeviceNet, CC-LINK and Profibus, can be supported at the same time.)
Clock function Retention time: Approx. 10 days Charge time: Approx. 100 hours
Display unit Optional panel unit (PU-1) can be connected.
Regenerative resistance Built-in regenerative resistor of 1 kΩ/20 W
4 external regenerative resistor units must be connected.
Absolute battery Built into the SCARA robot (Model: AB-3)
Protective function Motor overcurrent, overload, motor driver temperature check, overload check, encoder open-circuit
check, soft limit over, system error, absolute battery error, etc.
Ambient operating temp/humidity 0 to 40°C, 85%RH or less (non-condensing). Free from corrosive gases. In particular, there shall be no significant dust.
Item Specification
Main unit dimensions W 34 mm x H 195 mm x D 126 mm
Main unit weight 0.9 kg
Built-in regenerative resistor 220 Ω 80 W
Accessories Controller connection cable
(Model: CB-ST-REU010): 1 m
Specification Table
* Refer to the operation manual or contact us for the power-supply capacity, etc.
315
359
180
186
195
57.5 100 100 57.5
5
3-ø5
(36)
125.3
(80)
3
358
374
180
186
195
59 120 120 59
125.3
5
(80)
3
3-ø5
Option [Regenerative Resistor Unit]
Model
Description
This unit converts to heat the regenerative
current generated when the motor decelerates.
The controller has an internal regenerative reistor,
but it does not offer enough capacity when the
robot operates in tough conditions, in which case
this regenerative unit is required. (Refer to the
table on the right.)
REU-1 Specification
ø5
16.6 126
34
5
175
195
186
R B O U T
R B I N
R B –
R B +
R B –
R B +
6
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8. Option [Flange]
Reference for Operation Limits and Operation Settings
PTP
Mode
CP
Mode
70
60
50
40
30
20
10
0
Transferring load (kg)
PTP mode, limitation on load overhang length (mm)
0 1020304050
Speed: 100%
Speed: 75%
Speed: 50%
70
60
50
40
30
20
10
0
Transferring load (kg)
CP mode, limitation on load overhang length (mm)
0 1020304050
Speed: 100%
Speed: 75%
Speed: 50%
Limitations on Load Overhang/
Speed Settings
100
90
80
60
70
50
40
30
20
10
0
Transferring load (kg)
PTP mode, acceleration/deceleration (%)
0 1020304050
Reference range of
continuous operation
Operable range
0.3
0.2
0.1
0
Transferring load (kg)
CP mode, acceleration/deceleration (G)
0 1020304050
Reference range of
continuous operation
Operable range
Reference for Acceleration/
Deceleration Settings
100
90
80
60
70
50
40
30
20
10
0
Duty (%)
PTP mode, acceleration/deceleration (%)
100 50 25 10
Transferring load 20 to 50 kg
Transferring load 0 to 20 kg
Duty (%)
CP mode, acceleration/deceleration (G)
0.3
0.2
0.1
0
100 9 30 08070605040
Transferring load 20 to 50 kg
Transferring load 20 kg
Transferring load 0 kg
Reference for Continuous
Operation Duties
SCARA robots cannot operate continuously at the maximum acceleration/deceleration and maximum speed.
If your robot must operate at the maximum acceleration/deceleration, provide stationary periods by referring
to the Reference for Continuous Operation Duties graph.
If your robot must operate continuously, set its acceleration/deceleration by referring to the Reference for
Acceleration/Deceleration Settings graph.
Note The 100% acceleration/deceleration means that the maximum acceleration/deceleration at which the robot can operate
optimally under the specied load condition represents 100%.
[The acceleration/deceleration represented by the 100% acceleration/deceleration when 20 to 50 kg is carried is not the same
as the acceleration/deceleration represented by the 100% acceleration/deceleration when 0 to 20 kg is carried.]
Also note that the operation settings give priority to speed when the load is 0 to 20 kg, and to actuator behavior during
operation as well as continuous operation when the load is over 20 kg.
ø110
ø68
15 3 (35) (7.2)
ø40h7
-
00
.025
Bracket
(Robot)
A
A
45 ±0.03 45 ±0.03
ø56
ø90
45°
4-ø11 through
30°
2-M6, depth 12
Flange extraction
tapped holes
2-ø8H7 +0.015
0 through
View C
Use this ange when installing tooling, etc., at the end of the Z-axis of your Super-large
SCARA NNN10040/NNN12040.
Model: IX-FL-5
CJ0198-1A-UST-1-0313
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