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

Transcription

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

2 PalmSized Unit Capable of Driving a Payload of kg New models of 0mm arm length and cleanroom specification were added to the lineup, further extending the utility and applications of the IXNNN/NNC series. Features Standard and cleanroom specifications are available in three arm lengths of mm, 0 mm and 0 mm. Optional connectortype cables for connection between the controller and actuator The motor/encoder cables can be specified as connector types (optional) for added ease of handling and replacement. Compact size ideal for installation in limited space maximum work envelope of mm can be ensured in a small installation space of 7 (W) x (D) mm, enabling substantial size reduction of your production line. Ultracompact size yet powerful Offering rated and maximum load capacities of 0. kg and kg, respectively (*) Despite their small size, a 0.kg load can be transferred at high speed. If the acceleration is reduced, a load of up to kg can be transferred. (*) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. Highspeed performance achieving a cycle time of 0. second The dynamic performance and highly rigid body ensures outstanding highspeed performance that is among the best in its class. The cycle time was measured on the IXNNN based on reciprocating movements over a horizontal distance of 00 mm and vertical distance of mm, carrying a 0.kg load. List rm length 0 0 Standard specification Cleanroom specification Standard specification Cleanroom specification Standard specification Cleanroom specification Rated (kg) (kg) 0..0 IXNNN ➀T➁ IXNNC ➀T➁ IXNNN0 ➀T➁ IXNNC0 ➀T➁ IXNNN0 ➀T➁ IXNNC0 ➀T➁ pplicable page P P P P6 P P7 ➀ and ➁ indicate the cable length and option(s), respectively. Maintenance Parts Flange : IX FL Use this flange to install a load on the Z axis shaft (weight: g). pplicable models: IXNNN/0/0 IXNNC/0/ h7(0.0) bsolute Reset djustment Jig : JG (For arm length /0/0) Use this adjustment jig to perform an absolute reset if the absolute data stored in the encoder was lost. bsolute Data Backup Battery (Replacement Battery) : B6 (For arm length /0/0) This absolute data backup battery allows the current position to be retained even after the power is cut off. (One battery is shipped with the actuator as a standard accessory.). H7 6 Note on Use If the load on the Zaxis is within the rated load capacity (0. kg), the Zaxis will not drop even after the power is cut off. If the rated load capacity is exceeded, however, the Zaxis may drop when the power is cut off or an emergency stop is actuated. If the Zaxis will be carrying a large load, specify a zaxis brake (optional). IXNNN

3 IXNNN specification items IX Ultra Compact SCR Robot: Standard, rm Length mm, Vertical xis 0mm NNN Standard type rm length mm Vertical axis 0mm L:m (standard) L:m T pplicable controller XSELPX/QX Option(s) (Blank): No option B: Zaxis brake JY: Connectortype cable /Specifications IXNNN T xis configuration xis rm xis rm xis Vertical axis rm length 7 Motor capacity (W) Work Positioning envelope repeatability ± ± 0mm ±0.00 (XY) ±0.00 operating speed (Note ) 0mm/s (composite speed) 70mm/s Cycle time (sec) (Note ) (kg) (Note ) Rated xis push thrust (N) Push motion thrust xis allowable load inertial moment (kg m ) (Note ) torque (N m) xis Rotating axis ± ± /s Common Specifications Encoder type bsolute mbient temperature/humidity Temperature 0~0 C, humidity 0~%RH or less (noncondensing) User wiring core, WG6 cable with shield / Connector: SMP0VNC (JST) Weight.7kg User piping ir tube (outer diameter /inner diameter ) x (normal working pressure 0.7MPa) L : m L : m larm indicator (Note 6) Small red LED indicator x (VDC power supply required) Dimensions The CD drawings can be downloaded from II's website. D CD R R7 R6. 0 h7( 0.0) Section 0 7 Detail view of vertical axis tip Work envelope. LM indicator (.) (white) User connector, pins SMP0VNC by JST (black) 7..7 (.) () M, depth st 6 M, depth 6 Same on the opposite side (*) 6 (white) (black) (6) Cable wiring space *: The M, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *: For the LM indicator to illuminate, the customer must provide a circuit that receives signals from the controller s I/O output and applies VDC to the LED terminal in the user wiring connector pplicable Controller Specifications pplicable controller XSELPX XSELQX Feature ble to control SCR + axes Conforming to safety category I/O Powersupply points (input/output) voltage 9 points /9 points Threephase 00VC Page P Caution (Note ) Based on PTP operation. In CP operation, the maximum speed is limited. (Note ) The cycle time is based on reciprocating movements over a horizontal distance of 00 mm and vertical distance of mm, carrying a 0.kg load. (Note ) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. The value under Push motion indicates the thrust generated when a push command is executed from a program. The value under thrust indicates the maximum thrust during normal positioning operation. (Note ) n equivalent allowable inertial moment at the center of rotation of axis. The offset from the center of rotation of axis to the gravity center of the tool must not exceed 7. mm. (Note 6) For the LM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies VDC to the LED terminal in the user wiring connector. IXNNN

4 IXNNN0 specification items IX Ultra Compact SCR Robot: Standard, rm Length 0mm, Vertical xis 0mm NNN0 Standard type rm length 0mm Vertical axis 0mm L:m (standard) L:m T pplicable controller XSELPX/QX Option(s) (Blank): No option B: Zaxis brake JY: Connectortype cable /Specifications IXNNN0 T xis configuration xis rm xis rm xis Vertical axis rm length 7 7 Motor capacity (W) Work Positioning envelope repeatability ± ± 0mm ±0.00 (XY) ±0.00 operating speed (Note ) 0mm/s (composite speed) 70mm/s Cycle time (sec) (Note ) (kg) (Note ) Rated xis push thrust (N) Push motion thrust xis allowable load inertial moment (kg m ) (Note ) torque (N m) xis Rotating axis ± ± /s Common Specifications Encoder type bsolute mbient temperature/humidity Temperature 0~0 C, humidity 0~%RH or less (noncondensing) User wiring core, WG6 cable with shield / Connector: SMP0VNC (JST) Weight.7kg User piping ir tube (outer diameter /inner diameter ) x (normal working pressure 0.7MPa) L : m L : m larm indicator (Note 6) Small red LED indicator x (VDC power supply required) Dimensions The CD drawings can be downloaded from II's website. D CD R0 R. 0 h7(0.0) Section 0 7 R7 Detail view of vertical axis tip Work envelope. LM indicator (.) (white) User connector, pins SMP0VNC by JST (black) 7..7 (.) () M, depth st 6 M, depth 6 Same on the opposite side (*) 6 (white) (black) (6) Cable wiring space *: The M, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *: For the LM indicator to illuminate, the customer must provide a circuit that receives signals from the controller s I/O output and applies VDC to the LED terminal in the user wiring connector... IXNNN0 pplicable Controller Specifications pplicable controller XSELPX XSELQX Feature ble to control SCR + axes Conforming to safety category I/O Powersupply points (input/output) voltage 9 points /9 points Threephase 00VC Page P Caution (Note ) Based on PTP operation. In CP operation, the maximum speed is limited. (Note ) The cycle time is based on reciprocating movements over a horizontal distance of 00 mm and vertical distance of mm, carrying a 0.kg load. (Note ) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. The value under Push motion indicates the thrust generated when a push command is executed from a program. The value under thrust indicates the maximum thrust during normal positioning operation. (Note ) n equivalent allowable inertial moment at the center of rotation of axis. The offset from the center of rotation of axis to the gravity center of the tool must not exceed 7. mm. (Note 6) For the LM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies VDC to the LED terminal in the user wiring connector.

5 IXNNN0 specification items IX Ultra Compact SCR Robot: Standard, rm Length 0mm, Vertical xis 0mm NNN0 Standard type rm length 0mm Vertical axis 0mm L:m (standard) L:m T pplicable controller XSELPX/QX Option(s) (Blank): No option B: Zaxis brake JY: Connectortype cable /Specifications IXNNN0 T xis configuration xis rm xis rm xis Vertical axis rm length 0 7 Motor capacity (W) Work Positioning envelope repeatability ± ± 0mm ±0.00 (XY) ±0.00 operating speed (Note ) mm/s (composite speed) 70mm/s Cycle time (sec) (Note ) (kg) (Note ) Rated xis push thrust (N) Push motion thrust xis allowable load inertial moment (kg m ) (Note ) torque (N m) xis Rotating axis ± ± /s Common Specifications Encoder type bsolute mbient temperature/humidity Temperature 0~0 C, humidity 0~%RH or less (noncondensing) User wiring core, WG6 cable with shield / Connector: SMP0VNC (JST) Weight.0kg User piping ir tube (outer diameter /inner diameter ) x (normal working pressure 0.7MPa) L : m L : m larm indicator (Note 6) Small red LED indicator x (VDC power supply required) Dimensions The CD drawings can be downloaded from II's website. 6 D CD R0 R6. 0 h7(0.0) Section 0 7 R7 Detail view of vertical axis tip Work envelope. LM indicator (.) (white) User connector, pins SMP0VNC by JST (black) 7..7 (.) () M, depth st 6 M, depth 6 Same on the opposite side (*) 6 () (white) (black) (6) Cable wiring space *: The M, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *: For the LM indicator to illuminate, the customer must provide a circuit that receives signals from the controller s I/O output and applies VDC to the LED terminal in the user wiring connector... pplicable Controller Specifications pplicable controller XSELPX XSELQX Feature ble to control SCR + axes Conforming to safety category I/O Powersupply points (input/output) voltage 9 points /9 points Threephase 00VC Page P Caution (Note ) Based on PTP operation. In CP operation, the maximum speed is limited. (Note ) The cycle time is based on reciprocating movements over a horizontal distance of 00 mm and vertical distance of mm, carrying a 0.kg load. (Note ) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. The value under Push motion indicates the thrust generated when a push command is executed from a program. The value under thrust indicates the maximum thrust during normal positioning operation. (Note ) n equivalent allowable inertial moment at the center of rotation of axis. The offset from the center of rotation of axis to the gravity center of the tool must not exceed 7. mm. (Note 6) For the LM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies VDC to the LED terminal in the user wiring connector. IXNNN0

6 IXNNC specification items /Specifications IX * Refer to the cover for the details of model specification items. Ultra Compact SCR Robot: Cleanroom, rm Length mm, Vertical xis 0mm NNC Cleanroom type rm length mm Vertical axis 0mm L:m (standard) L:m T pplicable controller XSELPX/QX Option(s) (Blank): No option B: Zaxis brake JY: Connectortype cable xis configuration xis xis rm rm IXNNC T xis Vertical axis xis Rotating axis Common Specifications rm length 7 Motor capacity (W) Work Positioning envelope repeatability ± ±0.00 ±0 (XY) 0mm ±0.00 ± ±0.00 operating speed (Note ) 0mm/s (composite speed) 70mm/s 00 /s Cycle time (sec) (Note ) (kg) (Note ) Rated xis push thrust (N) Push motion thrust xis allowable load inertial moment (kg m ) (Note ) torque (N m) Encoder type bsolute Suction rate 90Nl/min User wiring core, WG6 cable with shield / Connector: SMP0VNC (JST) Cleanliness level Conforming to class 0 User piping ir tube (outer diameter /inner diameter ) x (normal working pressure 0.7MPa) mbient temperature/humidity Temperature 0~0 C, humidity 0~%RH or less (noncondensing) larm indicator (Note 6) Small red LED indicator x (VDC power supply required) Weight.kg Suction pipe joint Quick pipe joint, accepting tube of outer diameter 6 L : m L : m Dimensions The CD drawings can be downloaded from II's website. D CD 6 0 h7(0.0) (0.) 7. Provide a clearance of approx. 0. mm when installing a tool. Section R 0 0 R7. R7 Detail view of vertical axis tip. (6) Cable wiring space *: The hole is covered with a set screw. The M, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *: For the LM indicator to illuminate, the customer must provide a circuit that receives. signals from the controller s I/O output and applies VDC to the LED terminal in the 6. user wiring connector. *: The intended cleanliness performance can be achieved by maintaining negative pressure inside the robot via suction from the suction joint. (Dust will generate if internal air is not suctioned.) st LM indicator 6 M, depth 6 Same on the opposite side (*). () (.7) (.) (.) (white) (white) 9 Work envelope User connector, pins SMP0VNC by JST (black) M, depth 6 6 quick joint for suction (*) (black) IXNNC pplicable Controller Specifications pplicable controller XSELPX XSELQX Feature ble to control SCR + axes Conforming to safety category I/O Powersupply points (input/output) voltage 9 points /9 points Threephase 00VC Page P Caution (Note ) Based on PTP operation. In CP operation, the maximum speed is limited. (Note ) The cycle time is based on reciprocating movements over a horizontal distance of 00 mm and vertical distance of mm, carrying a 0.kg load. (Note ) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. The value under Push motion indicates the thrust generated when a push command is executed from a program. The value under thrust indicates the maximum thrust during normal positioning operation. (Note ) n equivalent allowable inertial moment at the center of rotation of axis. The offset from the center of rotation of axis to the gravity center of the tool must not exceed 7. mm. (Note 6) For the LM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies VDC to the LED terminal in the user wiring connector.

7 IXNNC0 specification items /Specifications IX * Refer to the cover for the details of model specification items. Ultra Compact SCR Robot: Cleanroom, rm Length 0mm, Vertical xis 0mm NNC0 Cleanroom type rm length 0mm Vertical axis 0mm L:m (standard) L:m T pplicable controller XSELPX/QX Option(s) (Blank): No option B: Zaxis brake JY: Connectortype cable xis configuration xis xis rm rm IXNNC T xis Vertical axis xis Rotating axis Common Specifications rm length 7 7 Motor capacity (W) Work Positioning envelope repeatability ± ±0.00 ± (XY) 0mm ±0.00 ± ±0.00 operating speed (Note ) 0mm/s (composite speed) 70mm/s 00 /s Cycle time (sec) (Note ) (kg) (Note ) Rated xis push thrust (N) Push motion thrust xis allowable load inertial moment torque (kg m ) (Note ) (N m) Encoder type bsolute Suction rate 90Nl/min User wiring core, WG6 cable with shield / Connector: SMP0VNC (JST) Cleanliness level Conforming to class 0 User piping ir tube (outer diameter /inner diameter ) x (normal working pressure 0.7MPa) mbient temperature/humidity Temperature 0~0 C, humidity 0~%RH or less (noncondensing) larm indicator (Note 6) Small red LED indicator x (VDC power supply required) Weight.kg Suction pipe joint Quick pipe joint, accepting tube of outer diameter 6 L : m L : m Dimensions The CD drawings can be downloaded from II's website. D CD (0.) R0 R h7 (0.0) Provide a clearance of approx. 0. mm when installing a tool. Section 0 7 R7 Detail view of vertical axis tip 9 Work envelope. (6) Cable wiring space st LM indicator M, depth 6 Same on the opposite side (*) () (.7) (.) (.) (white) (white) User connector, pins SMP0VNC by JST (black) M, depth 6 6 quick joint for suction (*) (black) *: The hole is covered with a set screw. The M, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *: For the LM indicator to illuminate, the customer must provide a circuit that receives signals from the controller s I/O output and applies VDC to the LED terminal in the 6. user wiring connector. *: The intended cleanliness performance can be achieved by maintaining negative pressure inside the robot via suction from the suction joint. (Dust will generate if internal air is not suctioned.).. pplicable Controller Specifications pplicable controller XSELPX XSELQX Feature ble to control SCR + axes Conforming to safety category I/O Powersupply points (input/output) voltage 9 points /9 points Threephase 00VC Page P Caution (Note ) Based on PTP operation. In CP operation, the maximum speed is limited. (Note ) The cycle time is based on reciprocating movements over a horizontal distance of 00 mm and vertical distance of mm, carrying a 0.kg load. (Note ) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. The value under Push motion indicates the thrust generated when a push command is executed from a program. The value under thrust indicates the maximum thrust during normal positioning operation. (Note ) n equivalent allowable inertial moment at the center of rotation of axis. The offset from the center of rotation of axis to the gravity center of the tool must not exceed 7. mm. (Note 6) For the LM indicator to operate, the customer must provide a circuit that receives signals from 6 an I/O output, etc., and applies VDC to the LED terminal in the user wiring connector. IXNNC0

8 IXNNC0 specification items /Specifications IX * Refer to the cover for the details of model specification items. Ultra Compact SCR Robot: Cleanroom, rm Length 0mm, Vertical xis 0mm NNC0 Cleanroom type rm length 0mm Vertical axis 0mm L:m (standard) L:m T pplicable controller XSELPX/QX Option(s) (Blank): No option B: Zaxis brake JY: Connectortype cable xis configuration xis rm xis rm IXNNC T xis Vertical axis xis Rotating axis Common Specifications rm length 0 7 Motor capacity (W) Work Positioning envelope repeatability ± ±0.00 ± (XY) 0mm ±0.00 ± ±0.00 operating speed (Note ) mm/s (composite speed) 70mm/s 00 /s Cycle time (sec) (Note ) (kg) (Note ) Rated xis push thrust (N) Push motion thrust xis allowable load inertial moment (kg m ) (Note ) torque (N m) Encoder type bsolute Suction rate 90Nl/min User wiring core, WG6 cable with shield / Connector: SMP0VNC (JST) Cleanliness level Conforming to class 0 User piping ir tube (outer diameter /inner diameter ) x (normal working pressure 0.7MPa) mbient temperature/humidity Temperature 0~0 C, humidity 0~%RH or less (noncondensing) larm indicator (Note 6) Small red LED indicator x (VDC power supply required) Weight.kg Suction pipe joint Quick pipe joint, accepting tube of outer diameter 6 L : m L : m Dimensions The CD drawings can be downloaded from II's website. D CD (0.) R0 R h7(0.0) Detail view of vertical axis tip Provide a clearance of approx. 0. mm when installing a tool. Section R7 Work envelope. (6) Cable wiring space 6. *: The hole is covered with a set screw. The M, depth 6 extends through the arm. If the mounting screw is too long, the tip of the screw will contact the internal mechanism parts. Exercise caution. *: For the LM indicator to illuminate, the customer must provide a circuit that receives signals from the controller s I/O output and applies VDC to the LED terminal in the 6. user wiring connector. *: The intended cleanliness performance can be achieved by maintaining negative pressure inside the robot via suction from the suction joint. (Dust will generate if internal air is not suctioned.) st LM indicator M, depth 6 Same on the opposite side (*) () (.7) (.) (.) (white) (white) User connector, pins SMP0VNC by JST (black) M, depth 6 6 quick joint for suction (*) (black) 7 IXNNC0 pplicable Controller Specifications pplicable controller XSELPX XSELQX Feature ble to control SCR + axes Conforming to safety category I/O Powersupply points (input/output) voltage 9 points /9 points Threephase 00VC Page P Caution (Note ) Based on PTP operation. In CP operation, the maximum speed is limited. (Note ) The cycle time is based on reciprocating movements over a horizontal distance of 00 mm and vertical distance of mm, carrying a 0.kg load. (Note ) The rated load capacity indicates the maximum weight that can be operated at the maximum speed and rated continuous acceleration. The maximum load capacity indicates the maximum weight that can be transferred at lower speed and acceleration. The value under Push motion indicates the thrust generated when a push command is executed from a program. The value under thrust indicates the maximum thrust during normal positioning operation. (Note ) n equivalent allowable inertial moment at the center of rotation of axis. The offset from the center of rotation of axis to the gravity center of the tool must not exceed 7. mm. (Note 6) For the LM indicator to operate, the customer must provide a circuit that receives signals from an I/O output, etc., and applies VDC to the LED terminal in the user wiring connector.

9 Controller XSELPX/QX SCR and singleaxis robots can be controlled simultaneously with one controller. Features Controlling a maximum of 6 axes (SCR robots + singleaxis robots) In addition to SCR robots, up to two axes of singleaxis robots or cartesian robots can be controlled (total output: 00 W). xes program 6 xes Global type for applications that require conformance to safety category The global type does not have a builtin drivesource cutoff circuit. Instead, it cuts off the drive source using an external safety circuit. This design conforms to safety category under ISO 9. Both the largecapacity type (PX) and largecapacity global type (QX) conform to the CE Mark standard. Compact, high performance and CEcompliant pprox. 0% slimmer than II s conventional controllers (XSEL generalpurpose controllers) Significantly faster than II s conventional controllers (command processing time is roughly onehalf) Connectable to DeviceNet, CCLink, Ethernet and other field networks Conforming to the CE Mark standard XSEL Controller type IX robot type Motor output Motor output Dedicated Standard Expansion I/O flat cable Powersupply of axis of axis 6 network slot I/O I/O length voltage 6 7 Standard Expansion I/O 9 0 I/O Controller type IX robot type Motor output Motor output Dedicated I/O flat Powersupply of axis of axis 6 network slot Slot Slot Slot Slot cable length voltage XSEL PX (Largecapacity, axis type) PX NNW~00 (Largecapacity, axis type) (Dustproof/splashproof type) PX6 (Largecapacity, 6axis type) QX (Largecapacity, global axis type) QX (Largecapacity, global axis type) QX6 (Largecapacity, global 6axis type) Indicate the series name. NNN~00 (Standard type) NSN06~6 (Highspeed type) TNN0~ (Wall mount type) UNN0~ (Wall mount, inverse type) HNN00~00 (Ceiling mount type) INN00~00 (Inverse type) NNC~00 (Cleanroom type) Controller type Indicate the controller type. PX: Largecapacity, dedicated SCR specification PX: Largecapacity, axis (SCR + axis) specification PX6: Largecapacity, 6axis (SCR + axes) specification QX: Largecapacity, dedicated SCR specification conforming to safety category QX: Largecapacity, axis (SCR + axis) specification conforming to safety category QX6: Largecapacity, 6axis (SCR + axes) specification conforming to safety category IX robot type Indicate the type of the SCR robot to be operated. Notes * If the arm length is 700 or 00, the maximum number of connectable axes is (SCR + axis). * With the highspeed types, the maximum number of connectable axes is (SCR only). Blank Blank (No single axis) (No single axis) 0 0 (0W) (0W) 0 0 (0W) (0W) (W) (W) (00W) (00W) (00W) (00W) (00W) (00W) 0 L 0 L (0W) (0W) 70 L 70 L (70W) (70W) Blank (No network) DV (DeviceNet) CC (CCLink) PR (ProfiBus) ET (Ethernet) E (Not used) N NPN/6 N NPN6/ N NPN/ P PNP/6 P PNP6/ P PNP/ E (Not used) N NPN/6 N NPN6/ N NPN/ P PNP/6 P PNP6/ P PNP/ Motor output of axis (singleaxis robot) 6 Indicate the motor output of the singleaxis robot to be connected to axis of PX, PX6, QX or QX6. In, enter codes corresponding the encoder type and desired option(s). * If multiple options are to be specified, indicate the applicable codes in alphabetical order after the encoder type. If no option is installed, indicate only the encoder type. (Encoder type : bsolute / I: Incremental) (Options B: Brake / C: Creep sensor / L: Limit switch / M: Masteraxis designation in synchronized operation / S: Slaveaxis designation in synchronized operation) Leave the space blank for PX or QX. Motor output of axis 6 (singleaxis robot) Indicate the motor output of the singleaxis robot to be connected to axis 6 of PX6 or QX6. The same explanation for axis applies to the codes to be entered in. Leave the space blank for PX or QX. 7 E (Not used) N NPN/6 N NPN6/ N NPN/ P PNP/6 P PNP6/ P PNP/ E (Not used) N NPN/6 N NPN6/ N NPN/ P PNP/6 P PNP6/ P PNP/ Standard specification: m (m) (m) 0 (None) Expansion I/O (slots to ) Indicate the specification of the expansion slots (slots to ). Take note that the external will change if the expansion slots are used. 9 I/O flat cable length Indicate the length of the signal wire connecting the I/O board and PLC. * If you have selected E (Not used) for the standard and expansion I/Os, this field is automatically filled with 0 (None). 0 Powersupply voltage Indicate the voltage of the main controller power supply. XSEL PX/QX Threephase 00V Dedicated network slot Indicate an applicable code if you require connection to DeviceNet, CCLink, ProfiBus or Ethernet. Standard I/O (slot ) Indicate the specification of the standard slot (slot ).

10 RB IN RB RB+ RB RB+ RB OUT Specifications Largecapacity type Largecapacity global type Total output when maximum number of axes are connected Control power input Motor power input Powersupply capacity Safety circuit configuration Drivesource cutoff method Enable input Position detection method Speed setting (*) cceleration/deceleration setting (*) Programming language Number of program steps Number of positions Number of programs (number of multitasking programs) mbient operating temperature/humidity Weight (*) PX PX/PX6 QX QX/QX6 00W Singlephase 00/0VC, %, +0% Threephase 00/0VC, 0%, +0% 0V (*) 0V 0V (*) 0V Redundant configuration not supported Redundant configuration supported Internal cutoff relay safety circuit ContactB input (internal power supply type) ContactB input (external power supply type, redundant) Incremental encoder / absolute encoder mm / sec ~ 000mm / sec 0.0 G ~ G Super SEL language 00 steps (total) 000 positions (total) 6 programs (6 programs) 0~0 C, 0~9% (noncondensing).kg.7kg.kg kg * Based on operation of IXNNN/0/0 robots for the PX/QX types, or operation of IXNNN/0/0 robots and two 70watt axes for the PX/PX6/QX/QX6 types. * Based on operation of two 70watt axes of arm length 00/0. * The maximum limit varies depending on the actuator type. * The weight includes the absolute battery, brake mechanism and expansion I/O box. System Configuration Connectable ctuator Highspeed, highprecision type Standard type Dustproof type Cleanroom specification ntielectrostatic specification Small type Compact type Highrigidity belt type Slim belt type Rotating axis ROBO Cylinder Notes The standard motor/encoder cables are not of connector type. If you require connectortype cables that permit replacement, specify the option for connectortype cables (code: JY). Motor cable: m (standard) / m (refer to P.0) Encoder cable: m (standard) / m (refer to P.0) ISP series IS series ISD series ISDCR series ISDCR ESD DS/DSCR(T) series SS/SSCR series IF series FS series RS series RCSSS/SM RCSSSR/SMR RCSR/F RCSRB70/RB7 Equipment PLC, etc. I/O flat cable: m (Supplied with the controller) Connection to Various Field Networks Device Net CCLink ProfiBus Ethernet Serial Communication Port Standard/RS, channels Teaching Pendant Refer to P. 0 m PC Software RS cable: m (Supplied with the PC software) Regenerative unit (Refer to P. 0) Regenerative unit cable: m (Supplied with the regenerative unit) Threephase 00VC Control Power Supply Singlephase 00VC Motor Drive Power Supply System I/O Emergency stop Enable System ready Expansion I/O Multipoint Drivesource cutoff circuit (Provided by the customer) * pplicable to the global type only (not required for the standard type). 9

11 RB RB RB RB+ IN RB RB + OUT Options Teaching Pendant : ITX (Standard) ITXD (With deadman switch) ITX (NSI/CE Mark compliant type) Teaching devices offering functions for program/position input, test operation, monitoring and more. * ITX/XD of version.0 or older and ITX of version.0 or older cannot be used with the PX/QX controllers. ITX/XD ITX PC Software : I0XMX With a PC cable (Dsub, 9pin connector on PC end) For Windows 9/9/NT/000/ME Support software combining all functions needed for program/position input and debugging. * Version.0..0 or older cannot be used with the PX/QX controllers. Regenerative Unit : REU This unit converts regenerative current produced when the motor decelerates, into heat. You need one or more regenerative units according to the total output of singleaxis motors connected to the controller. (No regenerative unit is required for SCR robots.) Refer to the table at right for the rough guideline on how to determine if your system needs a regenerative unit(s). Motor output 0~00W ~00W ~00W ~0W ~00W ~000W Horizontal application Vertical application Not required Not required Not required unit unit unit unit unit unit unit unit units Dimensions ~0W ~00W units units units units Cables Connectortype Motor Cable CBXM00(m) CBXM00(m) L (0) (0) () (6) (Front view) Controller end (9) () Robot end () (Front view) Wire Color Signal No. GREEN PE RED U 0.7sq WHITE V BLCK W No. Signal Color Wire U RED V WHITE 0.7sq W BLCK(crimped) PE GREEN Connectortype Encoder Cable CBXP00(m) CBXP00(m) (7) () 6 (Front view) () L () 9 Robot end Controller end () () (Front view) Wire Color Signal No. 0 EV 0V LS 6 CLEEP OT RSV WG6 (soldered) B+ B Z+ Z Orange SRD+ Green SRD Purple BT + Gray BT Red VCC Black GND Blue BKR Yellow BKR+ The shield is clamped to the hood Drain & shield (braided) cable No Signal BT + BT SD SD VCC GND FG BK BK+ Color Purple Gray Orange Green Red Black Drain Blue Yellow Wire WG6 (soldered) I/O Flat Cable (XSEL) CBXPIO * Enter a desired cable length (L) up to 0 m in. Example) 00 = m 0 9 L Flat cable WG (0 cores) No connector at the end No Color Brown Red Orange Yellow Green Blue Purple Gray White Black Brown Red Orange Yellow Green Blue Purple Wire Flat cable, pressure welded No Color Gray White Black Brown Red Orange Yellow Green Blue Purple Gray White Black Brown Red Orange Yellow Wire Flat cable, pressure welded No Color Green Blue Purple Gray White Black Brown Red Orange Yellow Green Blue Purple Gray White Black Wire Flat cable, pressure welded 0

12 Catalog No.: CJ0096 (May 006) Dimensions The external of XSEL PX/QX controllers vary depending on the number of connected axes and specified option(s) (brake and/or expansion I/O). Refer to the table below and identify the number corresponding to the external of your controller, and reference the drawing bearing the same number. SCR robot Brake Largecapacity type (PX) Controller Largecapacity global type (QX) SCR only (PX) SCR + directcoupled axis(es) (PX/PX6) SCR only (QX) SCR + directcoupled axis(es) (QX/QX6) Without expansion I/O With expansion I/O Without expansion I/O With expansion I/O Without expansion I/O With expansion I/O Without expansion I/O With expansion I/O NNN NNN0 NNN0 NNC NNC0 NNC0 Not equipped Equipped 7 9 (*) (*) (*) (*) (*) (*) (*) If the directcoupled axis has a brake or is of absolute encoder specification, refer to external 6. If the directcoupled axis has a brake or is of absolute encoder specification, refer to external. (*) If the directcoupled axis has a brake or is of absolute encoder specification, refer to external. (*) If the directcoupled axis has a brake or is of absolute encoder specification, refer to external 6. SCR only (PX) Largecapacity type (PX) 9. SCR + directcoupled axis(es) (PX/PX6) Largecapacity global type (QX) SCR only (QX) SCR + directcoupled axis(es) (QX/QX6) Side view (common) Without expansion I/O (0) With expansion I/O * ll controller types have the same height. II merica, Inc. II Industrieroboter GmbH Head Office 690 W 7th Street, Torrance, C 900 Ober der Röth, D6 Schwalbach am Taunus, Germany Chicago Office: 6 Hamilton Parkway ltasca, IL New Jersey Office: 7 South Main Street, SuiteF, Marlboro, NJ 0776 Website: The information contained in this catalog is subject to change without notice for the purpose of product improvement.