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New400VAC Models

for Large-CapacityXSEL-PX/QX

Controller

Horizontal Articulated SCARA RobotBasic / High-Power Specification

New High-power 3~230 VACModels for 2.4 KW

XSEL-PX/QXController

w w w . i n t e l l i g e n t a c t u a t o r . d e

GB

SCARA robot SCARA robotSCARA robot SCARA robot

IX SCARA Robot Series

Index Features Table of Specifications/Precautions Description of Model Items

Wall Mount Inverse TypeUNN 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.

Ceiling Mount TypeHNN 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.

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.

Clean Room TypeNNC 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 10 is required.

300mm350mm

IX-UNN3015HIX-UNN3515H

P23P24

500mm600mm700mm800mm

IX-HNN5020HIX-HNN6020HIX-HNN7020H (7040H)IX-HNN8020H (8040H)

P25P26P27P28


IX-INN5020HIX-INN6020HIX-INN7020H (7040H)IX-INN8020H (8040H)

P25P26P27P28

250mm350mm500mm600mm700mm800mm

IX-NNC2515HIX-NNC3515HIX-NNC5020H (5030H)IX-NNC6020H (6030H)IX-NNC7020H (7040H)IX-NNC8020H (8040H)

P29P30P31P32P33P34

Inverse type

Arm length PageModel




Standard TypeNNN Series

The standard type combines the best performance and user-friendliness in its class.The wide selection of arm lengths (from a minimum of 250 mm to a maximum of 800 mm) provides the variety to accommodate a wide range of applications.

High-Speed TypeNSN Series

The high-speed type offers enhanced performance at high-speed operation by combining a high-output motor with the standard body.This contributes to reduced cycle times.

Dustproof/Splash-proof TypeNNW Series The dustproof/splash-proof type adopts a protective structure conforming to IP65.This robot can be used in environments subject to powder dust or water splashes.

Wall Mount typeTNN 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.


IX-NNN2515[H]IX-NNN3515[H]IX-NNN5020[H] (5030[H])IX-NNN6020[H] (6030[H])IX-NNN7020[H] (7040[H])IX-NNN8020[H] (8040[H])

P9P10P11P12P13P14

500mm600mm

IX-NSN5016[H]IX-NSN6016[H]

P15P16

P17P18P19P20P21P22


IX-NNW2515[H]IX-NNW3515[H]IX-NNW5020[H] (5030H)IX-NNW6020[H] (6030[H])IX-NNW7020[H] (7040[H])IX-NNW8020[H] (8040[H])

300mm350mm

IX-TNN3015[H]IX-TNN3515[H]

P23P24

Arm length PageModel*

Arm length

*[H]: High-power specification




PageModel*



01 IX SCARA Robot Index



Index Features Table of Specifications/Precautions Description of Model Items

Wall Mount Inverse TypeUNN 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.

Ceiling Mount TypeHNN 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.

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.

Clean Room TypeNNC Series This robot generates minimal particles and is ideal for operation in a clean room environment.The air inside the robot can be vacuumed if conformance to ISO cleanliness class 4 is required.

300mm350mm

IX-UNN3015[H]IX-UNN3515[H]

P23P24


IX-HNN5020[H]IX-HNN6020[H]IX-HNN7020[H] (7040[H])IX-HNN8020[H] (8040[H])

P25P26P27P28


IX-INN5020[H]IX-INN6020[H]IX-INN7020[H] (7040[H])IX-INN8020[H] (8040[H])

P25P26P27P28


IX-NNC2515[H]IX-NNC3515[H]IX-NNC5020[H] (5030[H])IX-NNC6020[H] (6030[H])IX-NNC7020[H] (7040[H])IX-NNC8020[H] (8040[H])

P29P30P31P32P33P34

Inverse type









Standard TypeNNN Series

The standard type combines the best performance and user-friendliness in its class.The wide selection of arm lengths (from a minimum of 250 mm to a maximum of 800 mm) provides the variety to accommodate a wide range of applications.

High-Speed TypeNSN Series

The high-speed type offers enhanced performance at high-speed operation by combining a high-output motor with the standard body.This contributes to reduced cycle times.

Dustproof/Splash-proof TypeNNW Series The dustproof/splash-proof type adopts a protective structure conforming to IP65.This robot can be used in environments subject to powder dust or water splashes.

Wall Mount typeTNN 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.


IX-NNN2515[H]IX-NNN3515[H]IX-NNN5020[H] (5030[H])IX-NNN6020[H] (6030[H])IX-NNN7020[H] (7040[H])IX-NNN8020[H] (8040[H])

P9P10P11P12P13P14

500mm600mm

IX-NSN5016[H]IX-NSN6016[H]

P15P16

P17P18P19P20P21P22


IX-NNW2515[H]IX-NNW3515[H]IX-NNW5020[H] (5030H)IX-NNW6020[H] (6030[H])IX-NNW7020[H] (7040[H])IX-NNW8020[H] (8040[H])

300mm350mm

IX-TNN3015[H]IX-TNN3515[H]

P23P24


Arm length





PageModel*



IX SCARA Robot Index 02



FeaturesIndex Table of Specifications/Precautions Description of Model Items

1(*1)Standard cycle time: 0.29/0.28 sec. range

Repeated positioning accuracy: ±0.01mm/±0.005° (*2)(*3)

300mm (12 Inch)25mm (1 Inch)

2 New Optimum Acceleration Function*

*Only high-power specification type 6Z-Axis Push Motion Function

4Greater Ease of Use

5Easy Programming

3 Improved Tracing Accuracy andInterpolation FunctionP1 start position

P20 end position

CommandPATH P1 P20

An easily accessible D-sub/25-pin connector is provided on top of the robot for user connections.Two Ø4 and two Ø6 tube connectors are also available for any user tubing needs.In addition, the brake-release 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)

*1 24 VDC power must be supplied regardless of whether or not the brake-release switch is used.*2 In order to use the alarm indicator, it must be wired by the user.

Ø6 joint

Ø4 joint

Ø4 joint

User connector

Brake-release switchSpacer

Alarm indicator

Fast acceleration (deceleration) with a light load

Slow acceleration (deceleration) with a heavy load

7Simple Interference Check Zone FunctionOperation 1 Operation 2 Path movement consisting

of many points can be implemented with a single line in the program.

Outstanding user-friendliness, lineup and cost performanceGreatly reduced cycle time of new 3-phase high-power type IX-HThe IX series achieves best-in-class specifications in every aspect from high-speed performance and load capacity to repeated positioning accuracy.

Highest Speed, Load Capacity and Accuracy in Its Class

By entering conditions, such as the transfer mass, and specifying the optimum acceleration for those conditions, operation at the minimum cycle time can easily be achieved.

The IX Series offers greatly improved tracing accuracy as a result of a more rigid body construction in addition to a higher controller processing speed.The robot can also perform three-dimensional arc/pass motions to allow for easy and accurate dispensing operations.

The IX Series uses programs written in the Super SEL language, a well-established command language used by Cartesian robots.With Super SEL, complex operations can be programmed easily, allowing programs to be created quickly without prior knowledge of robot language.

With the Z-axis (vertical axis) push motion function, the robot can press-fit loads or control the torque.

A maximum of 10 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 speed.*The load must remain inside a zone for at least 5 msec to ensure accurate detection.

*2 ±0.015 mm/±0.005° if the arm length is 700/800*3 Based on an arm length of 700/800

Maximum load capacity: 20 kgThe standard cycle time refers to the length of time for the arm to cycle back and forth over a vertical distance of 25 mm and a horizontal distance of 300 mm (rough positioning). This is based on an arm length of 500 for the bacic-/high-power high-speed type NSN.

*1

8Complete Absolute Operation

9Widest Variations in the IndustryThe IX Series provides the following variations:▪ Standard Type

All models adopt a 17-bit 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.)

The five types listed above are suitable for a wide range of applications.

▪ High-Speed Type▪ Clean Room Type▪ Dustproof/Splash-proof Type▪ Ceiling Mount Inverse Type

03 IX SCARA Robot Features



FeaturesIndex Table of Specifications/Precautions Description of Model Items

1(*1)Standard cycle time: 0.29/0.28 sec. range

Repeated positioning accuracy: ±0.01mm/±0.005° (*2)(*3)

300mm (12 Inch)25mm (1 Inch)

2 New Optimum Acceleration Function*

*Only high-power specification type 6Z-Axis Push Motion Function

4Greater Ease of Use

5Easy Programming

3 Improved Tracing Accuracy andInterpolation FunctionP1 start position

P20 end position

CommandPATH P1 P20

An easily accessible D-sub/25-pin connector is provided on top of the robot for user connections.Two Ø4 and two Ø6 tube connectors are also available for any user tubing needs.In addition, the brake-release 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)

*1 24 VDC power must be supplied regardless of whether or not the brake-release switch is used.*2 In order to use the alarm indicator, it must be wired by the user.

Ø6 joint

Ø4 joint

Ø4 joint

User connector

Brake-release switchSpacer

Alarm indicator

Fast acceleration (deceleration) with a light load

Slow acceleration (deceleration) with a heavy load

7Simple Interference Check Zone FunctionOperation 1 Operation 2 Path movement consisting

of many points can be implemented with a single line in the program.

Outstanding user-friendliness, lineup and cost performanceGreatly reduced cycle time of new 3-phase high-power type IX-HThe IX series achieves best-in-class specifications in every aspect from high-speed performance and load capacity to repeated positioning accuracy.

Highest Speed, Load Capacity and Accuracy in Its Class

By entering conditions, such as the transfer mass, and specifying the optimum acceleration for those conditions, operation at the minimum cycle time can easily be achieved.

The IX Series offers greatly improved tracing accuracy as a result of a more rigid body construction in addition to a higher controller processing speed.The robot can also perform three-dimensional arc/pass motions to allow for easy and accurate dispensing operations.

The IX Series uses programs written in the Super SEL language, a well-established command language used by Cartesian robots.With Super SEL, complex operations can be programmed easily, allowing programs to be created quickly without prior knowledge of robot language.

With the Z-axis (vertical axis) push motion function, the robot can press-fit loads or control the torque.

A maximum of 10 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 speed.*The load must remain inside a zone for at least 5 msec to ensure accurate detection.

*2 ±0.015 mm/±0.005° if the arm length is 700/800*3 Based on an arm length of 700/800

Maximum load capacity: 20 kgThe standard cycle time refers to the length of time for the arm to cycle back and forth over a vertical distance of 25 mm and a horizontal distance of 300 mm (rough positioning). This is based on an arm length of 500 for the bacic-/high-power high-speed type NSN.

*1

IX SCARA Robot Features 04

9Complete Absolute Operation

11Widest Variations in the IndustryThe IX Series provides the following variations:▪ Standard Type

All models adopt a 17-bit 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.)

The five types listed above are suitable for a wide range of applications.

▪ High-Speed Type▪ Clean Room Type▪ Dustproof/Splash-proof Type▪ Ceiling Mount Inverse Type

13RoboCylinder Gateway FunctionUp to 16 RoboCylinder axes can be additionally operatedvia serial communication using the gateway function.RoboCylinders can be operated using SEL languageprograms. You can also change the position data of yourRoboCylinder or read the current RoboCylinder position.

14Conveyor Tracking Function (Optional)For SCARA robots withan arm lenght of 500/600the SCARA controllerPX/QX can be configuredto detect works on theconveyor using a visionsystem and handle themsynchronously withthe conveyormovement.

10New Improved Robot Motion*The IX-H 3-phase high-power type is matching theacceleration/deceleration time at the PTP motion.A smooth 1-step movement is being achieved against tothe conventional 1-phase basic-power type with moreagitated 2-step motion of robot arm 1 and 2.

8New Auto Speed Controlby Z-Axis Position**Only high-power specification type

*Only high- power spec. type

Fast movementat upper z-axis position

Acceleration/Deceleration of conventional IX type

Example: SCARA robot chuckconsisting of a RC Gripperusing the gateway function

Slow movementat lower z-axis position

The automatically calculated robot limit speed prevents plasticity deformation of ball screw spline according to the z-axis position.

4 axes

2 axes

12

34

56

1 program

12Controlling SCARA Robotsplus 2 Additional AxesThe XSEL-PX/QX can control SCARA robots plus up to two axes in a combination of single-axis and/or cartesian robots (total wattage: 2400 W). If the SCARA robot has an arm length of 500/600, two 750 W axes can be operated together.

Camera

Works

ArmArm 1

Arm 2

ACC/DEL Time

Match positioning time

VE

LOC

ITY

TIME

Acceleration/Deceleration of high-power IX type

VE

LOC

ITY

TIME

Arm 2

Arm 1

Matching ACC/DEL Time

Match positioning time



Table of Specifications/PrecautionsIndex Features Description of Model Items

05 IX SCARA Robot Table of Specifications

7232mm/s

3191mm/s

7586mm/s

6381mm/s

7586mm/s

7232mm/s

7010mm/s

4042mm/s

7010mm/s

7232mm/s

7010mm/s

6381mm/s

7586mm/s

6381mm/s

4042mm/s

4042mm/s

7586mm/s

7232mm/s

7010mm/s

6381mm/s

4042mm/s

3191mm/s

5583mm/s

5007mm/s

7586mm/s

7010mm/s

7232mm/s

6381mm/s

4042mm/s

3191mm/s P9

P10

P11

P12

P13

P14

P15

P16

P17

P18

P19

P20

P21

P22

P23

P24

P23

P24

P25

P26

P27

P28

P25

P26

P27

P28

P29

P30

P31

P32

P33

P34

IX-NNN2515H

IX-NNN3515H

IX-NNN5020H (5030H)

IX-NNN6020H (6030H)

IX-NNN7020H (7040H)

IX-NNN8020H (8040H)

IX-NSN5016H

IX-NSN6016H

IX-NNW2515H

IX-NNW3515H

IX-NNW5020H (5030H)

IX-NNW6020H (6030H)

IX-NNW7020H (7040H)

IX-NNW8020H (8040H)

IX-TNN3015H

IX-TNN3515H

IX-UNN3015H

IX-UNN3515H

IX-HNN5020H

IX-HNN6020H

IX-HNN7020H (7040H)

IX-HNN8020H (8040H)

IX-INN5020H

IX-INN6020H

IX-INN7020H (7040H)

IX-INN8020H (8040H)

IX-NNC2515H

IX-NNC3515H

IX-NNC5020H (5030H)

IX-NNC6020H (6030H)

IX-NNC7020H (7040H)

IX-NNC8020H (8040H)

0.40 150 −

0.42 150 −

0.39 200 300

0.43 200 300

0.42 200 400

0.43 200 400

160 −

160 −

0.45 150 −

0.47 150 −

0.43 200 300

0.47 200 300

0.45 200 400

0.46 200 400

0.41 150 −

0.42 150 −

0.41 150 −

0.42 150 −

0.39 200 −

0.43 200 −

0.42 200 400

0.43 200 400

0.39 200 −

0.43 200 −

0.42 200 400

0.43 200 400

0.44 150 −

0.46 150 −

0.41 2 10

2 10

2 10

2 10

2 10

2 10

5 20

5 20

5 20

5 20

2 10

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

2 10

20

200 300

0.45 200 300

0.45 200 400

0.46 200 400

TypeArm length (mm) and maximum composite speed (mm/s)

Rated Maximum StandardLoad capacity(*2) Vertical axis stroke

Model(kg) (kg) (mm)

Option

0.28range

0.29range

250mm

350mm

500mm

600mm

700mm

800mm

Table of Specifications IX-H High-power 3-phase SCARA Robot Series

3616mm/s

3616mm/s

5

205

205

205

205

205

102

102

Standard 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

Page

(sec)

Standardcycle time(*1)

(*1) The standard cycle times have been measured under the following conditions. (Arm length 250 to 600) Reciprocating movement of a 2 kg load over a vertical distance of 25 mm and a horizontal distance of 300 mm (Arm length 700/800) Reciprocating movement of a 5 kg load over a vertical distance of 25 mm and a horizontal distance of 300 mm(*2) The rated load capacity refers to the maximum load that can be carried at the maximum operating speed. The maximum load capacity refers to the maximum load that can be carried at a reduced acceleration ratio.

7121mm/s

3142mm/s

7121mm/s

6283mm/s

7121mm/s

7121mm/s

6597mm/s

3979mm/s

6597mm/s

7121mm/s

6597mm/s

6283mm/s

7121mm/s

6283mm/s

3979mm/s

3979mm/s

7121mm/s

7121mm/s

6597mm/s

6283mm/s

3979mm/s

3142mm/s

5236mm/s

4712mm/s

7121mm/s

6597mm/s

7121mm/s

6283mm/s

3979mm/s

3142mm/s P9

P10

P11

P12

P13

P14

P15

P16

P17

P18

P19

P20

P21

P22

P23

P24

P23

P24

P25

P26

P27

P28

P25

P26

P27

P28

P29

P30

P31

P32

P33

P34

IX-NNN2515

IX-NNN3515

IX-NNN5020 (5030)

IX-NNN6020 (6030)

IX-NNN7020 (7040)

IX-NNN8020 (8040)

IX-NSN5016

IX-NSN6016

IX-NNW2515

IX-NNW3515

IX-NNW5020 (5030)

IX-NNW6020 (6030)

IX-NNW7020 (7040)

IX-NNW8020 (8040)

IX-TNN3015

IX-TNN3515

IX-UNN3015

IX-UNN3515

IX-HNN5020

IX-HNN6020

IX-HNN7020 (7040)

IX-HNN8020 (8040)

IX-INN5020

IX-INN6020

IX-INN7020 (7040)

IX-INN8020 (8040)

IX-NNC2515

IX-NNC3515

IX-NNC5020 (5030)

IX-NNC6020 (6030)

IX-NNC7020 (7040)

IX-NNC8020 (8040)

0.46 150 −

0.53 150 −

0.44 200 300

0.52 200 300

0.50 200 400

0.52 200 400

160 −

160 −

0.51 150 −

0.59 150 −

0.49 200 300

0.55 200 300

0.52 200 400

0.52 200 400

0.49 150 −

0.53 150 −

0.49 150 −

0.53 150 −

0.44 200 −

0.52 200 −

0.50 200 400

0.52 200 400

0.44 200 −

0.52 200 −

0.50 200 400

0.52 200 400

0.49 150 −

0.58 150 −

0.47 2 10

2 10

2 10

2 10

2 10

2 10

5 20

5 20

5 20

5 20

2 10

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

2 10

20

200 300

0.54 200 300

0.52 200 400

0.52 200 400



Model(kg) (kg) (mm)

Option

0.29range

0.38range

250mm

350mm

500mm

600mm

700mm

800mm

Table of Specifications IX Basic-power 1-phase SCARA Robot Series

3560mm/s

3560mm/s

5

205

205

205

205

205

102

102

Standard Type NNN

High-Speed Type NSN


Wall Mount type TNN



Inverse type INN

Clean Room Type NNC

Page

(sec)





Table of Specifications/PrecautionsIndex Features Description of Model Items

7232mm/s

3191mm/s

7586mm/s

6381mm/s

7586mm/s

7232mm/s

7010mm/s

4042mm/s

7010mm/s

7232mm/s

7010mm/s

6381mm/s

7586mm/s

6381mm/s

4042mm/s

4042mm/s

7586mm/s

7232mm/s

7010mm/s

6381mm/s

4042mm/s

3191mm/s

5583mm/s

5007mm/s

7586mm/s

7010mm/s

7232mm/s

6381mm/s

4042mm/s

3191mm/s P9

P10

P11

P12

P13

P14

P15

P16

P17

P18

P19

P20

P21

P22

P23

P24

P23

P24

P25

P26

P27

P28

P25

P26

P27

P28

P29

P30

P31

P32

P33

P34

IX-NNN2515H

IX-NNN3515H

IX-NNN5020H (5030H)

IX-NNN6020H (6030H)

IX-NNN7020H (7040H)

IX-NNN8020H (8040H)

IX-NSN5016H

IX-NSN6016H

IX-NNW2515H

IX-NNW3515H

IX-NNW5020H (5030H)

IX-NNW6020H (6030H)

IX-NNW7020H (7040H)

IX-NNW8020H (8040H)

IX-TNN3015H

IX-TNN3515H

IX-UNN3015H

IX-UNN3515H

IX-HNN5020H

IX-HNN6020H

IX-HNN7020H (7040H)

IX-HNN8020H (8040H)

IX-INN5020H

IX-INN6020H

IX-INN7020H (7040H)

IX-INN8020H (8040H)

IX-NNC2515H

IX-NNC3515H

IX-NNC5020H (5030H)

IX-NNC6020H (6030H)

IX-NNC7020H (7040H)

IX-NNC8020H (8040H)

0.40 150 −

0.42 150 −

0.39 200 300

0.43 200 300

0.42 200 400

0.43 200 400

160 −

160 −

0.45 150 −

0.47 150 −

0.43 200 300

0.47 200 300

0.45 200 400

0.46 200 400

0.41 150 −

0.42 150 −

0.41 150 −

0.42 150 −

0.39 200 −

0.43 200 −

0.42 200 400

0.43 200 400

0.39 200 −

0.43 200 −

0.42 200 400

0.43 200 400

0.44 150 −

0.46 150 −

0.41 2 10

2 10

2 10

2 10

2 10

2 10

5 20

5 20

5 20

5 20

2 10

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

1 3

2 10

20

200 300

0.45 200 300

0.45 200 400

0.46 200 400



Model(kg) (kg) (mm)

Option

0.28range

0.29range

250mm

350mm

500mm

600mm

700mm

800mm

Table of Specifications IX-H High-power 3-phase SCARA Robot Series

3616mm/s

3616mm/s

5

205

205

205

205

205

102

102

Standard Type NNN

High-Speed Type NSN


Wall Mount type TNN



Inverse type INN

Clean Room Type NNC

Page

(sec)



IX SCARA Robot Table of Specifications 06



Description of Model ItemsDescription of Model ItemsIX SCARA Robot Series

Table of Specifications/PrecautionsTable of Specifications/PrecautionsIndex Features

(Note 1)Repeated positioning accuracy

(Note 4)Load capacity

(Note 5)Arm 3 (vertical axis) push force

“Axis 3 push force” is the push force applied by the tip of the vertical axis. The maximum limit of the push force is 70% and 65% with the high-speed type. (The value noted under the 'maximum limit' column in the product specification section reflects this)The minimum limit of the push force is 40% of the maximum push force.The setting can be specified between 40% and 70% (40% and 65% for the high-speed type) of the maximum.

(Note 6)Axis 4 allowable inertial moment

The offset from the center of rotation of axis 4 to the tool’s gravity center must be within 40 mm.

(Note 7)Alarm indicator

The alarm indicator is located on top of arm 2 of the SCARA robot.

(Note 8)Brake-release switch

The brake-release switch is also located on top of arm 2 of the SCARA robot, near the alarm indicator.

(Note 9)Cable length

Work envelope

(Note 2)Maximum operating speed

(Note 3)Standard cycle time

(Arm length 250~600) 2 kg load; vertical distance: 25 mm; horizontal distance: 300 mm(Arm length 700/800) 5 kg load; vertical distance: 25 mm; horizontal distance: 300 mm

Acceleration settings SCARA robots operate at 100% 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 speed settings.)*For reference acceleration settings, refer to p. 45.

*(Note 1) through (Note 9) correspond to notations on other pages of this document.

Notes IX SCARA Robot Series

Horizontal movement

“Repeated positioning accuracy” refers to the positioning accuracy from the same start position to a single set position during repeated operation at the same speed and acceleration and with the same arm. (The values were measured at a constant ambient temperature of 20 °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 operating conditions, such as the operating speed and acceleration settings, are changed.

“Axis 4 allowable inertial moment” is the allowable inertial moment of axis 4 (rotating axis) of the SCARA robot as calculated at the center of rotation.

The alarm indicator can be wired to illuminate in certain conditions, such as when the controller generates an error. In order to use the alarm indicator, the user must provide a circuit that responds to the controller's I/O output signal by supplying 24 VDC to the applicable LED terminal in the user wiring.

In order to release the brake, 24 VDC power must be supplied, regardless of whether or not the brake-release switch is used. (Supply 24 VDC from a dedicated power supply separate from the 24 VDC power used to drive the I/O.)

The motor and encoder cables of the SCARA robot are directly connected to the robot. The IX Series does not use cable joints; therefore, changing the cable length on the delivered robot will be difficult. Select either 5 m (code 5L) or 10 m (code 10L) as the desired cable length when ordering. (The air tube length is 150 mm.)

When performing an absolute reset or changing the arm, be careful that no peripherals will obstruct the arm when it fully extends.

The standard cycle time is the required length of time when operating at maximum speed; however, the robot cannot operate continuously at maximum speed.

The specifications for the maximum operating speed represent the speed with PTP command operation.Note that high-speed movement will be limited with CP command operation (interpolated movement).In addition, movement at the descending end on a vertical axis requires appropriate reduction in speed and acceleration.

“Standard cycle time” refers to the time required to cycle back and forth at maximum speed under the following conditions.This is a general estimate of the high-speed performance (rough positioning).

Vertical movement

“Load capacity” is the maximum mass that can be transferred. Specifications are listed for the rated load capacity and the maximum load capacity.The rated load capacity is the maximum mass that can be transferred at maximum speed and maximum acceleration.The maximum load capacity is the maximum mass that can be transferred at a reduced speed and acceleration.When transferring a load between the rated load capacity and the maximum load capacity, an appropriate reduction in acceleration is required.

If the tool's gravity center is further away from the center of axis 4, an appropriate reduction in speed and acceleration is required.

07 IX SCARA Robot Precautions



Description of Model ItemsDescription of Model ItemsIX SCARA Robot Series

Table of Specifications/PrecautionsTable of Specifications/PrecautionsIndex Features

(Note 1)Repeated positioning accuracy

(Note 4)Load capacity

(Note 5)Arm 3 (vertical axis) push force

“Axis 3 push force” is the push force applied by the tip of the vertical axis. The maximum limit of the push force is 70% and 65% with the high-speed type. (The value noted under the 'maximum limit' column in the product specification section reflects this)The minimum limit of the push force is 40% of the maximum push force.The setting can be specified between 40% and 70% (40% and 65% for the high-speed type) of the maximum.

(Note 6)Axis 4 allowable inertial moment

The offset from the center of rotation of axis 4 to the tool’s gravity center must be within 40 mm.

(Note 7)Alarm indicator

The alarm indicator is located on top of arm 2 of the SCARA robot.

(Note 8)Brake-release switch

The brake-release switch is also located on top of arm 2 of the SCARA robot, near the alarm indicator.

(Note 9)Cable length

Work envelope

(Note 2)Maximum operating speed

(Note 3)Standard cycle time

(Arm length 250~600) 2 kg load; vertical distance: 25 mm; horizontal distance: 300 mm(Arm length 700/800) 5 kg load; vertical distance: 25 mm; horizontal distance: 300 mm

Acceleration settings SCARA robots operate at 100% 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 speed settings.)*For reference acceleration settings, refer to p. 45.

*(Note 1) through (Note 9) correspond to notations on other pages of this document.

Notes IX SCARA Robot Series

Horizontal movement

“Repeated positioning accuracy” refers to the positioning accuracy from the same start position to a single set position during repeated operation at the same speed and acceleration and with the same arm. (The values were measured at a constant ambient temperature of 20 °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 operating conditions, such as the operating speed and acceleration settings, are changed.

“Axis 4 allowable inertial moment” is the allowable inertial moment of axis 4 (rotating axis) of the SCARA robot as calculated at the center of rotation.

The alarm indicator can be wired to illuminate in certain conditions, such as when the controller generates an error. In order to use the alarm indicator, the user must provide a circuit that responds to the controller's I/O output signal by supplying 24 VDC to the applicable LED terminal in the user wiring.

In order to release the brake, 24 VDC power must be supplied, regardless of whether or not the brake-release switch is used. (Supply 24 VDC from a dedicated power supply separate from the 24 VDC power used to drive the I/O.)

The motor and encoder cables of the SCARA robot are directly connected to the robot. The IX Series does not use cable joints; therefore, changing the cable length on the delivered robot will be difficult. Select either 5 m (code 5L) or 10 m (code 10L) as the desired cable length when ordering. (The air tube length is 150 mm.)

When performing an absolute reset or changing the arm, be careful that no peripherals will obstruct the arm when it fully extends.

The standard cycle time is the required length of time when operating at maximum speed; however, the robot cannot operate continuously at maximum speed.

The specifications for the maximum operating speed represent the speed with PTP command operation.Note that high-speed movement will be limited with CP command operation (interpolated movement).In addition, movement at the descending end on a vertical axis requires appropriate reduction in speed and acceleration.

“Standard cycle time” refers to the time required to cycle back and forth at maximum speed under the following conditions.This is a general estimate of the high-speed performance (rough positioning).

Vertical movement

“Load capacity” is the maximum mass that can be transferred. Specifications are listed for the rated load capacity and the maximum load capacity.The rated load capacity is the maximum mass that can be transferred at maximum speed and maximum acceleration.The maximum load capacity is the maximum mass that can be transferred at a reduced speed and acceleration.When transferring a load between the rated load capacity and the maximum load capacity, an appropriate reduction in acceleration is required.

If the tool's gravity center is further away from the center of axis 4, an appropriate reduction in speed and acceleration is required.

IX SCARA Robot Description of Model Items 08

[IX-□□□2515H/3515H/50□□H/60□□H/70□□H/80□□H high-power series]IX-□□□2515/3515/50□□/60□□/70□□/80□□ basic-power series

IX 5L

10L 10m

T2 XSEL-PX/QX

NNN

2515[H]3515[H]5020[H]5030[H]6020[H]6030[H]7020[H]7040[H]8020[H]8040[H]

Standard/TableTop

Type

Vertical axis 150mmVertical axis 150mmVertical axis 200mmVertical axis 300mmVertical axis 200mmVertical axis 300mmVertical axis 200mmVertical axis 400mmVertical axis 200mmVertical axis 400mm

Arm length 250mmArm length 350mmArm length 500mm

Arm length 600mm

Arm length 700mm

Arm length 800mm

NNW

2515[H]3515[H]5020[H]5030[H]6020[H]6030[H]7020[H]7040[H]8020[H]8040[H]

Dustproof/Splash-proof

Type


Arm length 250mmArm length 350mm

Arm length 500mm

Arm length 600mm

Arm length 700mm

Arm length 800mm

NNC

2515[H]3515[H]5020[H]5030[H]6020[H]6030[H]7020[H]7040[H]8020[H]8040[H]

Clean Room Type



Arm length 500mm

Arm length 600mm

Arm length 700mm

Arm length 800mm

NSN 5016[H]6016[H] High-Speed TypeVertical axis 160mmVertical axis 160mm


TNN 3015[H]3515[H] Wall Mount typeVertical axis 150mmVertical axis 150mm


UNN 3015[H]3515[H]Wall Mount Inverse Type

Vertical axis 150mmVertical axis 150mm


HNN

5020[H]6020[H]7020[H]7040[H]8020[H]8040[H]

Ceiling Mount Type

Vertical axis 200mmVertical axis 200mmVertical axis 200mmVertical axis 400mmVertical axis 200mmVertical axis 400mm


Arm length 700mm

Arm length 800mm

INN

5020[H]6020[H]7020[H]7040[H]8020[H]8040[H]

Inverse type

Vertical axis 200mmVertical axis 200mmVertical axis 200mmVertical axis 400mmVertical axis 200mmVertical axis 400mm


Arm length 700mm

Arm length 800mm

Refer to the opposite page for details on each item in the model number ( through ).The selection range for each item varies depending on the robot type. For details, refer to the page corresponding to each type.

Series Type Cable length Applicable controller

SCARA robot 5m (standard)

Indicate the length of cable connecting therobot and the controller. Select from twolengths:5 m (standard) and 10 m.

Indicate the type (standard/tabletop, high-speed, dustproof/splash-proof, wall-mount,ceiling-mount or clean room), arm lengthand Z-axis length.NNN Standard/TableTop TypeNSN High-Speed TypeNNW Dustproof/Splash-proof Type

UNN Wall Mount Inverse TypeHNN Ceiling Mount TypeINN Ceiling Mount Inverse Type

TNN Wall Mount type

NNC Clean Room Type

Applicable controller

Indicate the type of controller to beconnected.

Type

Cable length

T2:XSEL-PX/QX

Series

Indicate the name of each series.

SCARA robotSCARA robot

±0.010(XY)

09 IX-NNN2515[H]

Work envelope

Operation prohibited area

120°

120°

130°

R250

130°

73.1°

R125

160

Cables/tubes • Motor/encoder cable 5 m/10 m • Brake power cable 5 m/10 m

• User wiring cable 5 m/10 m• Air tube (3 pcs) 0.15m

Detailed view of tip

15

φ11 (I.D.) φ16h7( )

810

φ35

30

12

57

φ4 (white)quick jointφ4 (red)quick joint

φ4 (black)quick joint

Red LED (*2) Brake-release switch

User spacer O.D. φ7height 10, M4, depth 5 (*1)

Detail view of panel

User connector

*1: The external force applied to a spacer must not exceed 30 N in the axial direction, or 2 N•m in the rotating direction. (for each spacer)

250

ST1

5021

140

160

155

185

55 130

100

125 125

4-φ9φ16 counterbore, depth 0.5

Arm 1 stopper

Arm 2 stopper

120

249.5

φ16

5554

372.

5

652.

5

206

74

Reference surface

Reference surface

4 (Me

chanic

al end

)4 (

Mecha

nical e

nd)

30

126015

8

(424.5)

(167

)

(697

)

50

92.5 2-φ8 H7 (intersection between reamer holes ±0.02 mm)

15

Maintain at 100 mm or more

Tapped hole for installation of peripheral (4-M4, depth 12), same on the other side

R125

73.1°

R 105.

7

T-slot for installation of peripheral (M3, M4)

*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.

0-0.018

Model/Specifications

Common Specifications

Model

IX-NNN2515[H]- -T2

Axis configuration

Axis 1

Axis 2

Axis 3

Axis 4

Arm 1

Arm 2

Vertical axis

Rotating axis

Arm length(mm)

125

125

-

-

Motorcapacity

(W)

200

100

100

50

Work envelope

Positioning Repeatability

(mm)(Note 1)

PTP operationMaximumoperating

speed(Note 2)

±120°

±130°

150mm

±360°

±0.010

±0.005

3142mm/s[3191mm/s]

(Composite speed)1106mm/s[1316mm/s]

1600°/s

Standardcycle time

(sec)(Note 3)

Load capacity(kg) (Note 4)

Rated Maximum

Axis 3 (vertical axis)push force (N) (Note

5)

Maximum limit

Minimum limit

Allowable inertialmoment

(kg·m2) (Note 6)

Allowabletorque(N . m)

Axis 4allowable load

0.46

[0.40]1 3

90.9

[111.0]

47.5

[58.0]0.015 1.9

*In the model number above, specify the cable length in .

Encoder type

User wiring

User tubing

Alarm indicator (Note 7)

Brake-release switch (Note 8)

Absolute

15-conductor AWG26 D-sub/15-pin connector with shield (socket)

Air tube (O.D. ø4, I.D. ø2.5) x 3 (Normal working pressure 0.8 MPa)

Small red LED indicator x 1 (24 V DC must be supplied.)

Allows remote release of Z-axis (24 VDC required)

Ambient temperature/humidity

Unit weight


Cable length (Note 9)

Temperature: 0–40 °C, humidity: 20–85%RH or less (no condensation)

17.1Kg

T2: XSEL-PX/QX

5L: 5 m (standard), 10L: 10 m (optional)

For explanations of (Note 1) through (Note 9), refer to page 7.

IX-NNN2515[H]

*For details on the model items, refer to page 8.

Applicable Controller Specifications

ApplicableController

XSEL-PX-###-2[3]

XSEL-QX-###-2[3]

Features

Maximum 6 axes,1600 [2400] W supported

Maximum I/O points(inputs/outputs)

Power-supply voltage

Reference page

192/192 pointsSafety Category 4

supported

Single-Phase[Three-phase]

230 VACp. 37

Dimensions

2DCAD2D

CAD

The CAD drawings can bedownloaded from our Web site.

Model items IX NNN2515[H] T2 Series Type Cable length Applicable controller

Standard typeArm length 250mmVertical axis1 50mm

5L : 5 m (standard)10L : 10 m

T2: XSEL-PX/QX

*SCARA robots cannot operate continuously at 100% speed and acceleration.For details on the operating conditions, refer to Reference Acceleration/Deceleration Settings on page 44.

Small SCARA robot, Standard type Arm length 250mm, Vertical axis 150mm [High-power specification]

*The SCARA model with high-power specification [H] needs a 2.4 kW three-phase type controller XSEL-PX/QX-###-3.

*[ ] indicates the high-power specification type


IX-NNN3515[H]10

φ16h7( )


15

φ11 (I.D.)

810

φ35

30

0-0.018

Work envelope


135°

120°

120°

126.8°126.8°

R125

R350

160

135°

R162.7

R12512

57

φ4 (white)quick jointφ4 (red)quick joint

φ4 (black)quick joint


User spacer O.D. φ7height 10, M4, depth 5 (*1)


User connector

250

ST1

5021

140

160

155

185

55 130

100

125


Arm 1 stopper

Arm 2 stopper

120

225

249.5

φ16

5554

372.

5

652.

5

206

74

Reference surface

Reference surface

4 (Me

chan

ical e

nd)

4 (Me

chanic

al end

)

30

6015

12

8

(524.5)

(167

)

(697

)

50

92.52-φ8 H7 (intersection between reamer holes ±0.02 mm)

15


Tapped hole for installation of peripheral (4-M4, depth 12), same on the other side

*1: The external force applied to a spacer must not exceed 30 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.

• User wiring cable 5 m/10 m • Air tube (3 pcs) 0.15m

Cables/tubes • Motor/encoder cable 5 m/10 m • Brake power cable 5 m/10 m




Model

IX-NNN3515[H]- -T2

Axis configuration

Axis 1

Axis 2

Axis 3

Axis 4

Arm 1

Arm 2

Vertical axis

Rotating axis

Arm length(mm)

225

125

-

-

Motorcapacity

(W)

200

100

100

50

Work envelope


(mm)(Note 1)


speed(Note 2)

±120°

±135°

150mm

±360°

±0.010

±0.005

3973mm/s[4042mm/s]

(Composite speed)

Standardcycle time

(sec)(Note 3)


Rated Maximum

Axis 3 (vertical axis)push force (N) (Note 5)

Maximum limit

Minimum limit


(kg·m2) (Note 6)



0.53

[0.42]1 3

90.9

[111.0]

47.5

[58.0]0.015 1.9


Encoder type

User wiring

User tubing



Absolute





IX-NNN3515[H]


1106mm/s[1316mm/s]

1600°/s

±0.010(XY)


Applicable Controller Applicable Controller Specifications


Unit weight




18.2Kg

T2: XSEL-PX/QX


Dimensions

2DCAD2D

CAD



XSEL-PX-###-2[3]

XSEL-PX-###-2[3]

Features




Reference page


supported

Single-phase[Three-phase]

230 VACp. 37

*SCARA robots cannot operate continuously at 100% speed and acceleration.For details on the operating conditions, refer to Reference Acceleration/Deceleration Settings on page 44.

Small SCARA robot, Standard type Arm length 350mm, Vertical axis 150mm [High-power specification]


Standard typeArm length 350mmVertical axis 150mm


T2: XSEL-PX/QX




11IX-NNN50[H]

A

4−φ11 hole, φ24 counterbore, depth 5

Panel

(723.2)

(130

)

250250

500

200S

T<30

0ST>

470<

570>

150<

50>

5 (Me

chan

ical e

nd)

5 (Me

chan

ical e

nd)

50 75

(90)

125

75 100175

374

120

Reference surface Reference surface

R40

72

Arm 2 stopper

φ44

φ20h7( )φ14 hollow1

010

47 19

820<

920>

150

200

5

74

5

99198

(73.2)

(684

.1)

(81.

5)

25 50

(182

.4)

(765

.6)

(Operation prohibited area)

145° 145°

200

R500 R150.4

120°

87.8°

120°

R25

0

A-A section

Work envelope

0-0.021

Arm 1


Cables/tubes▪ Motor/encoder cable 5m/10m▪ Brake power cable 5m/10m▪ User Wiring Cable 5m/10m▪ Air tube (4 pcs) 0.15m

Arm 2Arm 1, Arm 2 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 30 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.

(18.

5)21

21.5

2822

.528

Brake-release switch

Red LED (*3)

119

30 7.5

63


White

Yellow

Black

Red

White

Yellow

Black

Red

φ146

φ112

20

20

3−M4, depth 8, Same on the other side (*1)

φ6 air-tube quick jointφ4 air-tube quick jointD-sub/25-pin connector for user wiring, socket fixing jig M2.6

Spacer O.D. φ7 height 10 M4, depth 5 (*2)

A

19

IX-NNN5020[H]- -T2

(IX-NNN5030[H]- -T2)

Model Axis configuration

Arm 1

Arm 2

Vertical axis

Rotating axis

Arm length(mm)

250

250

-

-

Motorcapacity

(W)

400

200

200

100

Work envelope


(mm)(Note 1)


speed(Note 2)

±120°

±145°

200mm(300mm)

±360°

±0.010(XY)

6283mm/s[6381mm/s]

(Composite speed)

±0.0101393mm/s[1473mm/s]

1200°/s[1857°/s]±0.005

Standardcycle time

(sec)(Note 3)


Rated Maximum


Maximum limit

Minimum limit


(kg·m2) (Note 6)



0.44

[0.39]2 10

152

[181]

78

[93]0.06

3.3

[3.7]


Encoder type

User wiring

User tubing



Absolute


Air tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure 0.8 MPa)





* < > indicates vertical axis 300mm (optional)


specifications.

IX-NNN50[H]



Unit weight




29.5Kg

T2: XSEL-PX/QX


Dimensions

2DCAD2D

CAD



NNN5020[H]: Standard [high-power] typeArm length 500mm, Vertical axis 200mmNNN5030[H]: Standard [high-power] typeArm length 500mm, Vertical axis 300mm


T2: XSEL-PX/QX

* SCARA robots cannot operate continuously at 100% speed and acceleration. For details on the operating conditions, refer to Reference Acceleration/Deceleration Settings on page 44.


XSEL-PX-###-2[3]

XSEL-QX-###-2[3]

Features




Reference page


supported


230 VACp. 37

Medium SCARA robot, Standard type Arm length 500mm, Vertical axis 200mm (300mm) [High-power specification]


Axis 1

Axis 2

Axis 3

Axis 4





IX-NNN60[H] 12

Model

IX-NNN6020[H]- -T2

(IX-NNN6030[H]- -T2)

Axis configurationArm

length(mm)

Motorcapacity

(W)

Work envelope


(mm)(Note 1)


speed(Note 2)

Standardcycle time

(sec)(Note 3)


Rated Maximum


Maximum limit

Minimum limit


(kg·m2) (Note 6



2 10 0.06


Encoder type

User wiring

User tubing



Absolute







* < > indicates vertical axis 300mm (optional) specifications.


IX-NNN60[H]


Unit weight




30.5Kg

T2: XSEL-PX/QX


Dimensions

2DCAD2D

CAD



NNN6020[H]: Standard typeArm length 600mm, Vertical axis 200mmNNN6030[H]: Standard typeArm length 600mm, Vertical axis 300mm


T2: XSEL-PX/QX

Medium SCARA robot, Standard type Arm length 600mm, Vertical axis 200mm (300mm) [High-power specification]


* SCARA robots cannot operate continuously at 100% speed and acceleration. For details on the operating conditions, refer to Reference Acceleration/Deceleration Settings on page 44.Common Specifications


3.3

[3.7]

78

[93]

152

[181]

0.52

[0.43]

±120°

±145°

200mm(300mm)

±360°

±0.010(XY)

7121mm/s[7232mm/s]

(Composite speed)

±0.0101393mm/s[1473mm/s]

1200°/s[1857°/s]±0.005

Arm 1

Arm 2

Vertical axis

Rotating axis

350

250

-

-

400

200

200

100

Axis 1

Axis 2

Axis 3

Axis 4


XSEL-PX-###-2[3]

XSEL-QX-###-2[3]

Features




Reference page


supported


230 VACp. 37


A-A section

Work envelope

4−φ11 holeφ24 counterbore, depth5

(823.2)

(130

)

50 75

(90)

125

75 100175

R40

Arm 2 stopper15

020

0

Reference surface

5

99198

A

φ44

φ20h7( )φ14 hollow10

1047

350250600

200S

T<30

0ST>

470<

570>

150<

50>

5 (Me

chan

ical e

nd)

5 (Me

chan

ical e

nd)

374

Reference surface

72

820<

920>

74

25 50

19

(684

.1)

(81.

5)

(182

.4) (73.2)

(765

.6)

0-0.021

(Operation prohibited area)

120°120°

145° 145°

R600 R204

R25

0

200114.3°




Arm 1

Arm 2Arm 1Arm 2 stopper (1

8.5)

2121

.528

22.5

28


Red LED (*3)

119

30 7.5

63


White

Yellow

Black

Red

White

Yellow

Black

Red

Panel

120

φ146

φ112

20

3−M4, depth 8Same on the other side (*1)

520

19

φ6 air-tube quick jointφ4 air-tube quick jointD-sub/25-pin connector for user wiring, socket fixing jig M2.6


A



13IX-NNN70[H]

23.5

(934

)(8

1)

φ4 air-tube quick joint

21.5

21D-sub/25-pin connector for user wiring, socket fixing jig M2.6

28φ6 air-tube quick joint

22.5

28(1

8.5)


Red LED (*3)

119

30 7.5

63

2047

φ25h7( )

1010

φ18 hollow

25°

Reference surface

7

131262

6 (Me

chan

ical e

nd)

6 (M

echa

nical

end)

(853

)

Reference surface

205161

504<

704>

(263

.4)

22.5 (134.6)

Arm 1Arm 2 stopper

Arm 1

Arm 2

Arm 2 stopper

(971.5)(65)

(169

)

(34)(34)223

4-14 drilled throughφ30 counterbore, depth 5

155

(R55

)

9560

(90) 268

200

(206.5)350350

3−M4, depth 8, Same on the other side (*1)96

2<11

62>

28 7 91

73

468

258<

58>

200S

T<40

0ST>

*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 30 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.

White

Yellow

Black

Red

A-A section



Panel

(φ144)

(φ188)

0-0.021

A A



250

R700

82.5°

125°

R210.5

053R

125°

145°145°

Work envelope(Operation prohibited area)

Model

IX-NNN7020[H]- -T2

(IX-NNN7040[H]- -T2)

Axis configuration

Axis 1

Axis 2

Axis 3

Axis 4

Arm 1

Arm 2

Vertical axis

Rotating axis

Arm length(mm)

350

350

-

-

Motorcapacity

(W)

750

400

400

200

Work envelope


(mm)(Note 1)


speed(Note 2)

±125°

±145°

200mm(400mm)

±360°

±0.015(XY)

±0.010

±0.005

6597mm/s[7010mm/s]

(Composite speed)

1583mm/s[1614mm/s]

1200°/s[1266°/s]

Standardcycle time

(sec)(Note 3)


Rated Maximum


Maximum limit

Minimum limit


(kg·m2) (Note 6)



0.50

[0.42]5 20

265

[304]

127.3

[146.0]0.1

6.7

[11.7]


Encoder type

User wiring

User tubing



Absolute








IX-NNN70 [H]



Unit weight




58Kg

T2: XSEL-PX/QX


Dimensions

2DCAD2D

CAD



XSEL-PX-###-2[3]

XSEL-QX-###-2[3]

Features




Reference page


supported


230 VACp. 37


NNN7020[H] : Standard typeArm length 700mm, Vertical axis 200mmNNN7040[H] : Standard typeArm length 700mm, Vertical axis 400mm


T2: XSEL-PX/QX

Large SCARA robot, Standard type Arm length 700mm, Vertical axis 200mm(400mm) [High-power specification]







IX-NNN80[H]14

23.5

(934

)(8

1)

21.5

2128

22.5

28(1

8.5)


Red LED (*3)

119

30

7.5

63

2047

) 0-0.021φ25h7(

1010

φ18 hollow

25°

Reference surface

7

131262

6 (M

echa

nical

end)

6 (M

echa

nical

end)

(853

)

Reference surface

205161

504<

704>

(263

.4)

22.5

(134.6)

StopperArm 2

(1071.5)(65)

(169

)

(34)223

4-14 drilled throughφ30 counterbore, depth 5

155

(R55

)

9560

(90)

268

200

(206.5)450350

3−M4, depth 8, Same on the other side (*1)96

2<11

62>

28 7 91

73

468

258<

58>

200S

T<40

0ST>

White

Yellow

Black

Red

A A

A-A section



250

125°

145°145°

125°

99.1°

R258.8R800

053R

*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 30 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.

(34)


Arm 1Arm 2 stopperArm 1

Arm 2

Panel


(φ188)

(φ144)

φ6 air-tube quick jointφ4 air-tube quick joint

D-sub/25-pin connector for user wiring, socket fixing jig M2.6


Model

IX-NNN8020[H]- -T2

(IX-NNN8040[H]- -T2)

Axis configuration

Axis 1

Axis 2

Axis 3

Axis 4

Arm 1

Arm 2

Vertical axis

Rotating axis

Arm length(mm)

450

350

-

-

Motorcapacity

(W)

750

400

400

200

Work envelope


(mm)(Note 1)


speed(Note 2)

±125°

±145°

200mm(400mm)

±360°

±0.015(XY)

±0.010

±0.005

7121mms[7586mm/s]

(Composite speed)

1583mm/s[1614mm/s]

1200°/s[1266°/s]

Standardcycle time

(sec)(Note 3)


Rated Maximum


Maximum limit

Minimum limit


(kg·m2) (Note 6)



0.52

[0.43]5 20

265

[304]

127.3

[146.0]0.1

6.7

[11.7]


Encoder type

User wiring

User tubing



Absolute









IX-NNN80[H]


Unit weight




60Kg

T2: XSEL-PX/QX


Dimensions

2DCAD2D

CAD



XSEL-PX-###-2[3]

XSEL-PX-###-2[3]

Features




Reference page


supported


230 VACp. 37


NNN8020[H] : Standard typeArm length 800mm, Vertical axis 200mmNNN8040[H] : Standard typeArm length 800mm, Vertical axis 400mm


T2: XSEL-PX/QX

Large SCARA robot, Standard type Arm length 800mm, Vertical axis 200mm(400mm) [High-power specification]







15 IX-NSN5016[H]

(800

.1)

(116

)

20

5.5

(Mec

hanic

al en

d)

74.5

φ11 (hollow)

15

810

φ35

(18.

5)21

21.5

28(18

2.4)

22.5

28

Brakerelease switch

Red LED (*3)

19

(684

.1)

119

30 7.5

25°(73.2)

520

150

200

775

Reference surfaceReference surface

120

5025

374

17510075

(90)

7550125

φ112

φ146

74

166.

55 (

Mech

anica

l end

)44

8.5

160S

T

500250 250


(723.2)

(130

)

63

5

4−φ11 holeφ24 counterbore, depth 5

19899

R40

Arm 1Arm 2stopper

95.5

AA


(Operation prohibited area)Work envelope


A-A section

White

Yellow

Black

Red

White

Yellow

Black

Red

145° 145°

200

R500 R150.412

0°

87.8°

120°

R25

0

Panel

Arm 2

Arm 1

0-0.018φ16h7( )


φ6air-tube quick jointφ4air-tubequick joint

D-sub/25-pin connector for user wiring, socket fixing jig M2.6

Spacer O.D. φ7 height 10 M4, depth 5(*2)

Arm 2 stopper


Model

IX-NSN5016[H]- -T2

Axis configuration

Axis 1

Axis 2

Axis 3

Axis 4

Arm 1

Arm 2

Vertical axis

Rotating axis

Arm length(mm)

250

250

-

-

Motorcapacity

(W)

750

600

200

100

Work envelope


(mm)(Note 1)


speed(Note 2)

±120°

±145°

160mm

±360°

±0.010(XY)

±0.010

±0.010

4712mm/s[5007mm/s]


1800°/s[1857°/s]

Standardcycle time

(sec)(Note 3)


Rated Maximum


Maximum limit

Minimum limit


(kg·m2) (Note 6)



0.29[0.28]range

1 3190

[196.0]

112.4

[116.0]0.015

2.2

[3.7]


Encoder type

User wiring

User tubing



Absolute






IX-NSN5016[H]



Unit weight




32Kg

T2: XSEL-PX/QX


Dimensions

2DCAD2D

CAD


Model items IX NSN5016[H] T2 Series Type Cable length Applicable controller

High-speed typeArm length 500mmVertical axis 160mm

5L :5 m (standard)10L :10 m

T2: XSEL-PX/QX


XSEL-PX-###-2[3]

XSEL-QX-###-2[3]

Features

Maximum 4 SCARA axes,1600 [2400] W supported



Reference page


supported


230 VACp. 37

*The SCARA model with high-power specification [H] needs a 2.4 kW three-phase type controller XSEL-PX/QX-###-3.**When operating the high-speed type, a single-axis robot as 5th or 6th axis cannot be connected.

Medium SCARA robot, High-speed type Arm length 500mm, Vertical axis 160mm [High-power specification]


*SCARA robots cannot operate continuously at 100% speed and acceleration.For details on the operating conditions, refer to Reference Acceleration/Deceleration Settings on page 44.Common Specifications




IX-NSN6016[H]16

350

(800

.1)

(116

)

20

5.5

(Mec

hanic

al en

d)

74.5

φ11 (hollow)

15

810

φ35

(18.

5)21

21.5

28

(182

.4)

22.5

28


Red LED (*3)

19

(684

.1)

119

30 7.5

25°(73.2)

520

150

200

775

Reference surfaceReference surface

120

5025

374

Arm 2stopper

17510075

(90)

7550125

φ112

φ146

74

166.

55 (

Mecha

nical e

nd)

448.

516

0ST

600250

(823.2)

(130

)

63

5

4−φ11 holeφ24 counterbore, depth 5

19899

R40

Arm 1Arm 2stopper

95.5

AA

White

Yellow

Black

Red

White

Yellow

Black

Red

0-0.018φ16h7( )


A-A section


120°

120°

145° 145°

R600 R204

R25

0

200114.3°


Panel

Arm 2

Arm 1


*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 30 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.

φ6air-tube quick jointφ4air-tube quick jointD-sub/25-pin connector for user wiring, socket fixing jig M2.6

Brakerelease switchSpacer O.D. φ7 height 10 M4, depth 5(*2)

Model

IX-NSN6016[H]- -T2

Axis configuration

Axis 1

Axis 2

Axis 3

Axis 4

Arm 1

Arm 2

Vertical axis

Rotating axis

Arm length(mm)

350

250

-

-

Motorcapacity

(W)

750

600

200

100

Work envelope


(mm)(Note 1)


speed(Note 2)

±120°

±145°

160mm

±360°

±0.010(XY)

±0.010

±0.010

5236mm/s[5583mm/s]


1800°/s[1857°/s]

Standardcycle time

(sec)(Note 3)


Rated Maximum

Axis 3 (vertical axis)push force (N) (Note

5)

Maximum limit

Minimum limit


(kg·m2) (Note 6)



0.29[0.28]range

1 3190

[196.0]

112.4

[116.0]0.015

2.2

[3.7]


Encoder type

User wiring

User tubing



Absolute






IX-NSN6016[H]




Unit weight




33Kg

T2: XSEL-PX/QX


Dimensions

2DCAD2D

CAD


Model items IX NSN6016[H] T2 Series Type Cable length Applicable controller

High-speed typeArm length 600mmVertical axis 160mm


T2: XSEL-PX/QX


XSEL-PX-###-2[3]

XSEL-QX-###-2[3]

Features

Maximum 4 SCARA axes,1600 [2400] W supported



Reference page


supported


230 VACp. 37

Medium SCARA robot, High-speed type Arm length 600mm, Vertical axis 160mm [High-power specification]


*SCARA robots cannot operate continuously at 100% speed and acceleration.For details on the operating conditions, refer to Reference Acceleration/Deceleration Settings on page 44.Common Specifications


*The SCARA model with high-power specification [H] needs a 2.4 kW three-phase type controller XSEL-PX/QX-###-3.**When operating the high-speed type, a single-axis robot as 5th or 6th axis cannot be connected.



17IX-NNW2515[H]

*1: The external force applied to a spacer must not exceed 30 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.

63.8°63.8°

R125

200

R125.0

120°120°

R125

120°120°

R250


Work envelopeDetail view of panel

30

108

φ11 (I.D.)φ16h7( )

φ35

15

12

57

φ4 (white) quick joint

φ4 (black) quick joint

φ4 (red)quick jointUser connector15-pin


User spacerheight 10, M4, depth 5 (*1)

0-0.018

Detailed view of tipCables/tubes▪ Motor/encoder cable 5m/10m▪ Brake power cable 5m/10m▪ User Wiring Cable 5m/10m▪ Air tube (4 pcs) 0.15m

Panel


206

7425

0

21

140

160

155185

55 130

100

125


Arm 1 stopper

Arm 2 stopper

249.5

106.

5S

T150

2.5

210

125φ16

(424.5)

Reference surface

Reference surface

4 (Me

chanic

al end

)

30

8

237

727

(698

.5)

(168

.5)

50

92.52−φ8 H7 (intersection between reamer holes ±0.02 mm)

15

1215

60

Air inlet for air purge O.D. φ6(I.D. φ4)

120


Tapped hole for installation of peripheral (4-M4, depth 12)Same on the other side

Dimensions

Encoder type

User wiring

User tubing



Absolute

15-conductor AWG26 waterproof connector with shield





Unit weight



Protective structure

Air purge pressure (Note 10)


21Kg

T2: XSEL-PX/QX


IP65 or equivalent

0.3 MPa or more (0.6 MPa maximum) (Clean, dry air)


(Note 10) Increase the air purge pressure to a range between 0.3 and 0.6 MPa

until immediately before the bellows starts to inflate, and adjust the flow rate using

the speed controller.

As a purge medium, use clean, dry air free from compressor oil or other contami-

nants, conforming to an air filtration rating of 10 µm or less.

IX-NNW2515[H]


2DCAD2D

CAD


ApplicableController Features



Reference page


supported

p. 37

Small SCARA robot, Dustproof/Splash-proof typeArm length 250mm, Vertical axis 150mm [High-power specification]

Model items IX NNW2515[H] T2 Series Type Cable length Applicable controller

Dustproof/Splash-proof typeArm length 250mm, Vertical axis 150mm

5L : 5 m (standard)

10L: 10 m T2: XSEL-PX/QX




XSEL-PX-###-2[3]

XSEL-QX-###-2[3]


Single-Phase[Three-phase]

230 VAC


±0.010(XY)

Model

IX-NNW2515[H]- -T2

Axis configuration

Axis 1

Axis 2

Axis 3

Axis 4

Arm 1

Arm 2

Vertical axis

Rotating axis

Arm length(mm)

125

125

-

-

Motorcapacity

(W)

200

100

100

50

Work envelope


(mm)(Note 1)


speed(Note 2)

±120°

±130°

150mm

±360°

±0.010

±0.005

3142mm/s[3191mm/s]


1600°/s

Standardcy

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