for PowerCON SCARA MSEL-PCX/PGX Program Controllers PowerCON SCARAIXP Series Arm Length 180mm/250mm 550mm/650mm

Transcription

1 PowerCON SCARAIXP Series Program Controllers for PowerCON SCARA MSEL-PCX/PGX Series added Arm Length 18mm/25mm 55mm/65mm

2 Introducing Arm Lengths 18/25/55/65 Added in Cost-effective IXP Series, Giving More Variations to the Lineup All models come standard with battery-less absolute encoders. 1 More Affordable Due to Pulse Motors By adopting pulse motors the IXP costs around 1/2 of conventional model. * Compared against an IAI robot based on an arm length of 35mm. The IXP achieves a payload equivalent to that of a conventional model by adopting high-output drivers. 2 All Models Come Standard with Battery-less Absolute Encoders All IXP models come standard with battery-less absolute encoders that do not require batteries. Since battery replacement is no longer necessary, maintenance labor is reduced. Advantages of Battery-less Absolute Encoders The SCARA will not stop due to battery errors (low voltage, etc.) No cost of battery replacement No need for absolute reset or other physical tasks associated with battery replacement 3 1 Lighter than a Conventional Model The robot weighs approx. 3% less. (Compared to: IX-NNN3515H) The lightweight robot can be easily assembled into your system. Conventional product New product Model IX-NNN2515H IXP-4N258 Mass 17.1kg -9.1kg 8kg Model IX-NNN3515H IXP-4N3515 Mass 18kg -5kg 13kg Model IX-NNN5 H IXP-4N552 Mass 29.5kg -8.5kg 21kg IX-NNN3515H(Conventional product) Smaller than the conventional model. IXP-4N3515(New product)

3 4 Added 3-axis Specification and 4-axis* Gripper Specification The 3-axis specification has no rotational axis for greater allowable load moment of inertia. It can be combined with a dedicated gripper to constitute a transfer robot with ease. * The gripper type has four axes including three SCARA robot axes and one gripper axis. There is no 4-axis type equipped with gripper provided for Arm Length 18 Type. Gripper 4-axis gripper specification Use Examples of the 3-axis Specification Work processes that require only three axes Connecting an actuator as the fourth axis Pickup and placement of circular parts, non-directional transfer, etc. Inspecting cans for defects A ROBO Cylinder of a rotary type, rod type, slider type, etc., can be connected to a SCARA robot 3-axis specification as its fourth axis. Defects are identified using an external camera and screened out. CAMERA + 5 Supporting MSEL Controller Features of the MSEL Controller Accommodating Significantly More Programs and Positions The greater storage capacity accommodates significantly more programs and positions. Number of programs Number of positions XSEL-PX (Conventional product) MSEL (New product) , 3, Smaller Size Having a size of 13mm in width x 195mm in height, the MSEL is significantly smaller than a conventional controller and saves space in your control panel. The MSEL can be installed with screws or using a DIN rail. MSEL-PCX/PGX 195mm 5% Smaller XSEL-PX4 195mm 13mm 285mm 2

4 Product Lineup Arm length 18mm 25mm SCARA type 3-axis 4-axis (with rotational axis) 3-axis 4-axis (with rotational axis) Without gripper IXP-3N188 IXP-4N188 IXP-3N258 IXP-4N258 Payload Rated 1kg, Maximum 3kg Rated 1kg, Maximum 3kg Standard price With medium gripper Gripper model code: RCP4-GRSML IXP-3N258GM Payload Maximum.5kg *1 Standard price Arm length 35mm 45mm SCARA type 3-axis 4-axis (with rotational axis) 3-axis 4-axis (with rotational axis) Without gripper IXP-3N3515 IXP-4N3515 IXP-3N4515 IXP-4N4515 Payload Rated 1kg, Maximum 3kg Rated 1kg, Maximum 3kg Standard price With medium gripper Gripper model code: RCP4-GRSML IXP-3N3515GM IXP-3N4515GM Payload Maximum.5kg *1 Maximum.5kg *1 Standard price With large gripper Gripper model code: RCP4-GRSLL IXP-3N351GL IXP-3N451GL Payload Maximum 1.5kg *1 Maximum 1.5kg *1 Standard price Arm length 55mm 65mm SCARA type 3-axis 4-axis (with rotational axis) 3-axis 4-axis (with rotational axis) Without gripper IXP-3N552 IXP-4N552 IXP-3N652 IXP-4N652 Payload Rated 2kg, Maximum 6kg Rated 2kg, Maximum 6kg Standard price With large gripper Gripper model code: IXP-3N5515GL IXP-3N6515GL RCP4-GRSLL Payload Maximum 1.5kg *1 Maximum 1.5kg *1 Standard price With extra-large gripper Gripper model code. RCP4-GRSWL IXP-3N5515GW IXP-3N6515GW Payload Maximum 2.5kg *1 Maximum 2.5kg *1 Standard price *1: This is the maximum payload. The payload may differ in some conditions of use. Refer to the gripper selection guide in our ROBO Cylinder General Catalog. 3

5 Applications Part Screening Parts of two different sizes are classified using a sensor and sorted into different boxes. Solar Battery Module Tab Soldering Solar battery module cells are transferred while positions are adjusted so that electrodes can be soldered onto the cells. Camera * Cells' positions are adjusted using a camera and then arranged on the conveyor. Solar battery cell Sensor DVD-R Packing DVD-Rs are picked up from the conveyor and placed. Adhesive Application Adhesive is applied onto circular parts. 4

6 +Xb Warnings (*1) Positioning Repeatability Available Positioning Points Warnings (*2) Maximum Operating Speed for PTP Operation This refers to the degree to which the robot can accurately repeat the same target position when operated at the same speed, acceleration rate, and arm-type. (The values are measured at a constant room temperature of 2 C) Please note that this is not an absolute positioning accuracy. In addition, please be aware that the positioning accuracy may deviate in situations where the operating conditions have changed; for example switching the robot arms, changing from multiple opposing positions to one set position, or changing the operating speed and acceleration/deceleration rate. The positioning of the IXP can be set to units of every.1mm. However, as seen in the chart to the right, there is a possibility of discrepancies from the target of approximately.5mm (for direct teaching) or.1mm (for position data indication). These discrepancies can arise due to the point of the positioning or the condition of the 1st and 2nd arms. The least optimal position (within the periphery of the movable range) that can be designated is an arm length of 35 and a maximum of.22mm. *Please see p.25 for the values for each model. Y [mm] Xb Yb Yb.1m m.1mm.1mm Positioning Available Points Example for positions available for positioning in.1mm *.1mm (right-arm system) The maximum operating speed in the specification table assumes PTP command operation. In the case of CP command operation (interpolation), there is a limit to the speed. For more details, please refer to the "CP Operation" section of the "Estimate of SCARA Robot Acceleration/Deceleration Settings" on p.26. In addition, please note that in order to operate the vertical axis at the lowest position, the speed and acceleration rate must be appropriately reduced as well. (*3) Payload (*4) Standard Cycle Time The options are rated payload and maximum payload. The rated payload refers to the maximum load that can be transferred at the maximum speed and acceleration rate. The maximum payload refers to the load that can be transferred at a reduced speed and acceleration rate. When transporting a load that is greater than the rated payload, by programming the load and moment of inertia, the appropriate speed and acceleration rate will automatically be applied. The standard cycle time is the round-trip operation times under the conditions outlined below. This is a general estimate of high-speed performance. *For gripper-equipped models, the weight of the gripper will also be included in the transported weight. Arm length Transferring weight(kg) Horizontal movement distance(mm) Vertical movement distance(mm) Horizontal movement Cycle time (sec) Vertical movement (*5) Allowable Inertial Moment from the Tip of the Vertical Axis 5 This is the allowable inertial moment calculated at the center of the rod on the vertical axis (guide shaft for 3-axis type, and rotational axis for 4-axis type). The offset value from the center of the rotational axis to the center of gravity of the load is shown below. horizontal direction 2mm or less, vertical direction Arm length 18/25 5mm or less Arm length 35/45 horizontal direction 3mm or less, vertical direction 55/65 5mm or less If the standard payload is exceeded, it is necessary to reduce the horizontal offset value. Please refer to the instructions manual for details. Also, if a tool's center of gravity is away from the center of the axis-tip, it is necessary to reduce the speed and acceleration rate appropriately. Center of gravity of the load 2 or 3mm max. in horizontal direction Load offset 5 or 1mm max. in vertical orientation

7 (*6) Overhang Limits for the Gripper Options The overhang limit for gripper-equipped models (GM/GL/GW) is mm horizontally and 2mm or 5mm vertically from the gripper finger-tip to the piece's center of gravity. Please refer to the figure on the right. *1 Arm length 25 2mm Arm length 35/45/55/65 5mm 2mm or 5mm max. Work Envelope Acceleration/ Deceleration Setting When switching arm orientation (left/right), please be careful that no peripheral objects interfere with the arm when fully extends. For acceleration/deceleration settings, please refer to "SCARA Robot Acceleration/Deceleration Settings Guide" on p. 26. (*1) to (*6) are linked to notes in the product specifications pages (p. 7 through 18). Explanation of the Model Items IXP Series WA P3 Type Encoder type Cable length Applicable Option controller 3N188 4N188 3N258 4N258 3N258GM 3N3515 4N3515 3N3515GM 3N351GL 3N4515 4N4515 3N4515GM 3N451GL WA Battery-less absolute specification 3-axis type / Arm length 18mm / Vertical axis 8mm 4-axis type / Arm length 18mm / Vertical axis 8mm 3-axis type / Arm length 25mm / Vertical axis 8mm 4-axis type / Arm length 25mm / Vertical axis 8mm 3-axis type / Arm length 25mm / Vertical axis 8mm RCP4-GRSML installed at the tip of the vertical axis 3-axis type / Arm length 35mm / Vertical axis 15mm 4-axis type / Arm length 35mm / Vertical axis 15mm 3-axis type / Arm length 35mm / Vertical axis 15mm RCP4-GRSML installed at the tip of the vertical axis 3-axis type / Arm length 35mm / Vertical axis 1mm RCP4-GRSLL installed at the tip of the vertical axis 3-axis type / Arm length 45mm / Vertical axis 15mm 4-axis type / Arm length 45mm / Vertical axis 15mm 3-axis type / Arm length 45mm / Vertical axis 15mm RCP4-GRSML installed at the tip of the vertical axis 3-axis type / Arm length 45mm / Vertical axis 1mm RCP4-GRSLL installed at the tip of the vertical axis N P S M X R 3N552 4N552 3N5515GL 3N5515GW 3N652 4N652 3N6515GL 3N6515GW None 1m 3m 5m Specified length Robot cable (Up to 2m) P3 MSEL * Only available for arm length 55/65. Make sure to select this when the transported object is 4kg or more. 3-axis type / Arm length 55mm / Vertical axis 2mm 4-axis type / Arm length 55mm / Vertical axis 2mm 3-axis type / Arm length 55mm / Vertical axis 15mm RCP4-GRSLL installed at the tip of the vertical axis 3-axis type / Arm length 55mm / Vertical axis 15mm RCP4-GRSWL installed at the tip of the vertical axis 3-axis type / Arm length 65mm / Vertical axis 2mm 4-axis type / Arm length 65mm / Vertical axis 2mm 3-axis type / Arm length 65mm / Vertical axis 15mm RCP4-GRSLL installed at the tip of the vertical axis 3-axis type / Arm length 65mm/ Vertical axis 15mm RCP4-GRSWL installed at the tip of the vertical axis B Brake (Example) IXP 3 N GM WA S P3 Number of Vertical axis stroke: axes: 3 axes 15mm Arm length: 35mm Tip of vertical axis: RCP4-GRSML installed Cable length: 3m Encoder type: Battery-less absolute specification Controller: MSEL 6

8 IXP PowerCON SCARA IXP-3N188/4N188 Arm length 18mm Vertical axis 8mm Model Specification Items Series *Controller is not included. *Controller is not included. IXP N 188 WA P3 Number of axes 3: 3 axes 4: 4 axes Arm length: 18mm Vertical axis: 8mm Encoder type Cable length Applicable controller WA: Battery-less N: None X : Specified length P3: MSEL absolute P: 1m R : Robot cable specification S: 3m Cable length described below M: 5m P O I N T Note on selection Refer to P. 5 for *1 through *5. There is a brake equipped on the vertical axis as a standard option. The vertical axis does not support push-motion control. The allowable push force should be 45N under condition of having a buffer such as a spring on a tool or the pressing side. Refer to P. 5 for the work envelope, and P. 26 for the notes on acceleration/deceleration setting. Robot Specifications Axis configuration Arm length (mm) Work envelope Positioning repeatability *1 Maximum operating speed in PTP mode *2 Payload (kg) *3 Rated Maximum Axis 1 Arm 1 8 ±125 Axis 2 Arm 2 1 ±125 ±.1mm 253mm/s (Composite speed) Axis 3 Vertical axis 8mm ±.2mm 35mm/s 1 3 Axis 4 Rotational axis ±36 ±.1 12 /s Robot Specifications Encoder type User wiring User piping 7 3-axis specification Battery-less absolute encoder AWG26 8 O.D. ø4, I.D. ø2.5, 2 air tubes Maximum working pressure.8mpa Standard cycle time *4 (sec).57 4-axis specification Allowable torque (Axis 4) (N m).28 Allowable moment (N m).7 Allowable inertial moment from the tip of the vertical axis *5 (kg m 2 ) Ambient operating temperature/humidity Rated.1 Maximum.1 Rated.1 Maximum.3 Temperature ~ 4 C, Humidity 2 ~ 85%RH (Non-condensing) Unit weight (kg) IXP-3N188/4N188 Price List Specification Model number Standard price 3-axis specification IXP-3N188 4-axis specification IXP-4N188 Cable Length <Per Axis*> Type Cable code Standard price P (1m) Standard type S (3m) M (5m) X6 (6m) ~ X1 (1m) Special length X11 (11m) ~ X15 (15m) X16 (16m) ~ X2 (2m) R1 (1m) ~ R3 (3m) R4 (4m) ~ R5 (5m) Robot cable R6 (6m) ~ R1 (1m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R2 (2m) * The 3-axis specification requires three cables, while 4-axis specification requires four cables.

9 Dimensions IXP PowerCON SCARA 2D CAD 3D CAD CAD drawings can be downloaded from the website. ø R8 125 (37.5) R R Detailed view of C ø1 h Detailed view of B (39) 4-ø B 5 For ground connection (M3) (Approx. 12 max.) R1 (25) 6 Operation prohibited area R1 Work envelope of the right-arm system Connector for additional axis DF62P-24EP-2.2 (HIROSE) Connector for user cable SMP-8V-NC (JST)/wiring AWG26 8C Grommet for internal stored piping (ø4x2) exit Tie mount for user wiring/piping fixation C Stroke 3 (Mechanical end) 3 (Mechanical end) M3 depth 6 (same on the opposite side) (1) Wiring space (Approx. 565 max.) Connector for additional axis DF62P-24EP-2.2 (HIROSE) Connector for user cable SMP-8V-NC (JST)/wiring AWG26 8C Grommet for internal stored piping (ø4x2) exit Tie mount for user wiring/piping fixation * When the 3-axis specification is selected, three controller cables are needed Reference surface 5 (5) Reference surface 5 A 125 R (37.5) (32) ø5 H7 +.12, through 5 H Detailed view of A R18 R1 R1 R (25) 6 Operation prohibited area Work envelope of the left-arm system Applicable Controller Specifications Name PIO specification w/network board Safety category compliant specification Safety category compliant spec. w/network board External view Model number MSEL-PCX - WAI * Controller type (3:3-axis specification/4:4-axis specification) <SCARA type> * SCARA type (Refer to table on the right) 3N188 4N188 * Standard I/O (NP/PN) * Expansion I/O (Refer to table on the right) *Refer to P. 2 if considering axis connection other than IXP series. *The model code is just one example. Refer to P. 19 if using such as field network. Max. number of controlled axes Max. pos. points Input voltage Standard price MSEL-PCX - WAI Single-phase 4 3 points AC MSEL-PGX - WAI V ~ 23V MSEL-PGX - WAI IXP-3N188/4N188 Reference page P. 19 <Expansion I/O> E Not used CC CC-Link board NP Expansion PIO board NPN specification CC2 CC-Link board (with 2-way connector) DV DeviceNet board PR PROFIBUS-DP board DV2 DeviceNet board (with 2-way connector) EP EtherNet/IP board 8

10 IXP PowerCON SCARA IXP-3N258/4N258 Arm length 25mm Vertical axis 8mm Model Specification Items *Controller is not included. IXP N 25 WA P3 Series Number of axes 3: 3 axes 4: 4 axes Arm length Vertical axis stroke Gripper Encoder type Cable length Applicable controller 25: 25mm 8 : 8mm WA: Battery-less N: None X : Specified length P3: MSEL 8GM : 8mm Medium gripper installed absolute P: 1m R : Robot cable * Refer to "Attached Gripper Types" for the types of specification S: 3m Cable length described below grippers installed. M: 5m *The photograph shows a 4-axis specification. P O I N T Note on selection Refer to P. 5 for *1 through *5. There is a brake equipped on the vertical axis as a standard option. The vertical axis does not support push-motion control. The allowable push force is 45N under condition of having a buffer such as a spring on a tool or the pressing side. Refer to P. 5 for the work envelope, and P. 26 for the notes on acceleration/deceleration setting. Robot Specifications 9 Axis configuration IXP-3N258/4N258 Arm length (mm) Work envelope Axis 1 Arm 1 15 ±135 Axis 2 Arm 2 1 ±135 Positioning repeatability*1 ±.2mm Maximum operating speed in PTP mode*2 Payload (kg) *3 No gripper With medium gripper (GM) Rated Maximum 2151mm/s (Composite speed) 2151mm/s (Composite speed) Axis 3 Vertical axis 8mm ±.2mm 35mm/s 35mm/s Axis 4 Rotational axis ±36 ±.1 12 /s Medium gripper GM (Note 1) 14mm (Both fingers) ±.1mm 94mm/s (One finger) (Note 1) Refer to the gripper selection guide in our ROBO Cylinder General Catalog. (Note 2) This is the maximum payload on the gripper when it is attached to a SCARA Robot. Robot Specifications 3-axis specification 4-axis specification 3-axis specification with medium gripper (GM) Encoder type Battery-less absolute encoder * User wiring AWG26 8 User piping O.D. ø4, I.D. ø2.5, 2 air tubes Maximum working pressure.8mpa Standard cycle time *4 (sec) (at no load on gripper) Allowable torque (Axis 4) (N m).28 Allowable moment (N m).7 Ma, Mb, Mc :.7 Allowable inertial moment from the tip of the vertical axis *5 (kg m 2 ) Ambient operating temperature/humidity Rated.1 Maximum.1 Rated.1 Maximum.3 Maximum.1 Temperature ~ 4 C, Humidity 2 ~ 85%RH (Non-condensing) Unit weight (kg) *The gripper is incremental type Attached Gripper Types IXP-3N258GM RCP4-GRSML is installed at the tip of the vertical axis (Note 2) Price List Specification Model number Standard price 3-axis specification IXP-3N258 3-axis specification with medium gripper IXP-3N258GM 4-axis specification IXP-4N258 Cable Length <Per Axis*> Type Cable code Standard price P (1m) Standard type S (3m) M (5m) X6 (6m) ~ X1 (1m) Special length X11 (11m) ~ X15 (15m) X16 (16m) ~ X2 (2m) R1 (1m) ~ R3 (3m) R4 (4m) ~ R5 (5m) Robot cable R6 (6m) ~ R1 (1m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R2 (2m) * The 3-axis specification requires three cables, while the gripper specification and 4-axis specification require four cables.

11 Dimensions IXP PowerCON SCARA 2D CAD 3D CAD CAD drawings can be downloaded from the website. ø ø1 h Detailed view of C Detailed view of B (39) ø B 5 For ground connection (M3) (Approx. 2 MAX.) R15 R R1 (58.7) R R1 (25) 6 Operation prohibited area 135 Work envelope of the right-arm system (Approx. 59 MAX.) Connector for additional axis DF62P-24EP-2.2 (HIROSE) Connector for user cable SMP-8V-NC (JST)/wiring AWG26 8C Grommet for internal stored piping (ø4x2) exit Tie mount for user wiring/piping fixation C Stroke 3 (Mechanical end) 3 (Mechanical end) M3 depth 6 (same on the opposite side) (1) Wiring space Connector for additional axis DF62P-24EP-2.2 (HIROSE) Connector for user cable SMP-8V-NC (JST)/wiring AWG26 8C Grommet for internal stored piping (ø4x2) exit Tie mount for user wiring/piping fixation * When the 3-axis specification is selected, three controller cables are needed. 1 Reference surface 5 (5) Reference surface 5 Seating surface A (32) ø5 H7 +.12, through 6 5 H Detailed view of A 135 R R25 (58.7) 135 R <Gripper Specification> 2-M3 depth 6 (One on the opposite side is used for gripper wiring) 8 Stroke (Mechanical end) 3 (Mechanical end) (135) (8) GM (RCP4-GRSML) M4 depth 5 Mounting surface *The overhang limit is mm horizontally and 2mm vertically. (Refer to *6 on P. 6.) R1 R (25) 6 Operation prohibited area Work envelope of the left-arm system Applicable Controller Specifications Name External view Model number PIO specification MSEL-PCX - WAI w/network board Safety category compliant specification Safety category compliant spec. w/network board * Controller type (3:3-axis specification/4:4-axis specification) <SCARA type> * SCARA type (Refer to table on the right) 3N258 4N258 * Standard I/O (NP/PN) * Expansion I/O (Refer to table on the right) 3N258GM *Refer to P. 2 if considering axis connection other than IXP series. *The model code is just one example. Refer to P. 19 if using such as field network. Max. number of controlled axes Max. pos. points Input voltage Standard price MSEL-PCX - WAI Single-phase 4 3 points AC MSEL-PGX - WAI V ~ 23V MSEL-PGX - WAI IXP-3N258/4N258 Reference page P. 19 <Expansion I/O> E Not used CC CC-Link board NP Expansion PIO board NPN specification CC2 CC-Link board (with 2-way connector) DV DeviceNet board PR PROFIBUS-DP board DV2 DeviceNet board (with 2-way connector) EP EtherNet/IP board 1

12 IXP PowerCON SCARA IXP- 3N3515 3N351 /4N3515 Model Specification Items *Controller is not included. Arm length 35mm Vertical axis 1mm/15mm IXP N 35 WA P3 Series Number of axes 3: 3 axes 4: 4 axes Arm length Vertical axis stroke Gripper Encoder type Cable length Applicable controller 35: 35mm 15 :15mm No gripper WA: Battery-less N: None X : Specified length P3: MSEL 15GM :15mm Medium gripper installed absolute P: 1m R : Robot cable 1GL :1mm Large gripper installed specification S: 3m Cable length described below * Refer to "Attached Gripper Types" for the types of M: 5m grippers installed. *The photograph shows a 4-axis specification. P O I N T Note on selection Refer to P. 5 for *1 through *5. The vertical axis has no brake. The unique structure holds the load in place even when the servo is turned off. The vertical axis does not support push-motion control. The allowable push force is 6N under condition of having a buffer such as a spring on a tool or the pressing side. Refer to P. 5 for the work envelope, and P. 26 for the notes on acceleration/deceleration setting. Robot Specifications Axis configuration Arm length (mm) Work envelope Axis 1 Arm 1 16 ± Axis 2 Arm 2 19 ± Standard cycle time *4 (sec) 11 O.D. ø4, I.D. ø2.5, 3 air tubes (Maximum working pressure.8mpa) SCARA Gripper (full stroke) Allowable torque (Axis 4) (N m) 1.4 Allowable moment (N m) 2.9 Ma : 1.9 Mb : 2.7 Mc : 2.9 Allowable inertial moment from the tip of the vertical axis *5 (kg m 2 ) Ambient operating temperature/humidity Rated.3 Maximum.1 Rated.3 Maximum.3 Positioning repeatability *1 Maximum.2 Ma : 2.9 Mb : 2.9 Mc : 2.9 Maximum.9 Temperature ~ 4 C Humidity 2 ~ 85%RH (Non-condensing) Unit weight (kg) *The gripper is incremental type Attached Gripper Types IXP-3N3515GM The medium gripper RCP4-GRSML is installed at the tip of the vertical axis. IXP-3N351GL The large gripper RCP4-GRSLL is installed at the tip of the vertical axis. Maximum operating speed in PTP mode *2 Payload (kg) *3 No gripper With medium gripper (GM) With large gripper (GL) Rated Maximum 2726mm/s (Composite speed) 2726mm/s (Composite speed) 198mm/s (Composite speed) ±.3mm 1 3 Axis 3 Vertical axis 15mm (Note 1) ±.2mm 27mm/s 27mm/s 189mm/s Rotational axis ±36 ±.2 1 /s Axis 4 Medium gripper GM (Note 2) 14mm (Both fingers) ±.1mm 94mm/s (One finger).5 (Note 3) Large gripper GL (Note 2) 22mm (Both fingers) ±.1mm 125mm/s (One finger) 1.5 (Note 3) (Note 1) When the large gripper is installed, the work envelope of the vertical axis becomes 1mm. (Note 2) Refer to the gripper selection guide in our ROBO Cylinder General Catalog. (Note 3) This is the maximum payload on the gripper when it is attached to a SCARA Robot. Robot Specifications Price List 3-axis specification 4-axis 3-axis specification Gripper SCARA 3-axis specification Standard price No gripper specification With medium gripper (GM) With large gripper (GL) None IXP-3N3515 Encoder type Battery-less absolute encoder * Medium gripper IXP-3N3515GM User wiring AWG24 6, AWG26 5P (shielded) User wiring is not supported * User cables are sold separately. Refer to the Large gripper IXP-3N351GL because the gripper wiring is used. operation manual for detail. Gripper SCARA 4-axis specification Standard price User piping None IXP-4N3515 IXP-3N3515/351/4N3515 Cable Length <Per Axis*> Type Cable code Standard price P (1m) Standard type S (3m) M (5m) X6 (6m) ~ X1 (1m) Special length X11 (11m) ~ X15 (15m) X16 (16m) ~ X2 (2m) R1 (1m) ~ R3 (3m) R4 (4m) ~ R5 (5m) Robot cable R6 (6m) ~ R1 (1m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R2 (2m) * The 3-axis specification requires three cables, while the gripper specification and 4-axis specification require four cables.

13 Dimensions IXP PowerCON SCARA 2D CAD 3D CAD CAD drawings can be downloaded from the website Reference surface 55 Reference surface ø8 h7.15 Detailed view of A 3:Mechanical end Grommets for user wiring/piping exit 8 (2 locations) 4-ø (44.5) (12.5) R158.5 R35 R19 6 R19 Work envelope of the right-arm system 8 88 A View B : Stroke 91.5 (6): Mechanical end (216) 2-M3depth 6 User threaded hole (same on the opposite side) T slot: M3 (same on the opposite side) *Available only on the 4-axis specification T slot:m3 (same on the opposite side) Seating surface (1) Wiring space (191) (483) (Approx. 72 MAX.) Controller cables when exiting from the rear panel User wiring and piping when exiting through grommet User wiring/piping stored inside 55 ø8 H7 +.15, depth 12 Grommet for user wiring/piping exit (For controller connection cable exit) Detailed view of B User wiring/piping stored inside Wiring (AWG24x6C/AWG26x5P with shield) piping (ø4x3) * When the 3-axis specification is selected, three controller cables are needed. Ground connection 9 8 H7 +.15, depth 12 <Gripper Specification> GM (RCP4-GRSML) GL (RCP4-GRSLL) M3 depth 6 User threaded hole 77 (One on the opposite side 85 is used for gripper wiring) Open side:17.6 Close side: ø3 h7 *The vertical axis stroke is 15mm. 62 *The overhang limit is mm horizontally and 5mm vertically. (Refer to *6 on P. 6.) M5 depth 5 2-ø4 h : Home return 1 2-M3 depth 6 User threaded hole (One on the opposite side is used for gripper wiring) Open side: 27.8 Close side: *The vertical axis stroke is 1mm. *The overhang limit is mm horizontally and 5mm vertically. (Refer to *6 on P. 6.) R19 R158.5 R35 6 Work envelope of the left-arm system R Mounting surface Mounting surface 17 2-M4 depth Applicable Controller Specifications Name External view Model number PIO specification MSEL-PCX - WAI w/network board Safety category compliant specification Safety category compliant spec. w/network board * Controller type (3:3-axis specification/4:4-axis specification) <SCARA type> * SCARA type (Refer to table on the right) 3N3515 3N4515GM * Standard I/O (NP/PN) * Expansion I/O (Refer to table on the right) 3N4515 3N451GL *Refer to P. 2 if considering axis connection other than IXP series. 3N3515GM 4N3515 * The model code is just one example. Refer to P. 19 if using such as field 3N351GL 4N4515 network. Max. number of controlled axes Max. pos. points Input voltage Standard price MSEL-PCX - WAI Single-phase 4 3 points AC MSEL-PGX - WAI V ~ 23V MSEL-PGX - WAI Reference page P. 19 <Expansion I/O> E Not used CC CC-Link board NP Expansion PIO board NPN specification CC2 CC-Link board (with 2-way connector) DV DeviceNet board PR PROFIBUS-DP board DV2 DeviceNet board (with 2-way connector) EP EtherNet/IP board IXP-3N3515/351/4N

14 IXP PowerCON SCARA IXP- 3N4515 3N451 /4N4515 Model Specification Items *Controller is not included. Arm length 45mm Vertical axis 1mm/15mm IXP N 45 WA P3 Series Number of axes 3: 3 axes 4: 4 axes Arm length Vertical axis stroke Gripper Encoder type Cable length Applicable controller 45: 45mm 15 :15mm No gripper WA: Battery-less N: None X : Specified length P3: MSEL 15GM :15mm Medium gripper installed absolute P: 1m R : Robot cable 1GL :1mm Large gripper installed specification S: 3m Cable length described below * Refer to "Attached Gripper Types" for the types of M: 5m grippers installed. *The photograph shows a 4-axis specification. P O I N T Note on selection Refer to P. 5 for *1 through *5. The vertical axis has no brake. The unique structure holds the load in place even when the servo is turned off. The vertical axis does not support push-motion control. The allowable push force is 6N under condition of having a buffer such as a spring on a tool or the pressing side. Refer to P. 5 for the work envelope, and P. 26 for the notes on acceleration/deceleration setting. Robot Specifications Arm Positioning Maximum operating speed in PTP mode *2 Payload (kg) *3 Axis configuration length Work envelope repeatability (mm) *1 No gripper With medium gripper (GM) With large gripper (GL) Rated Maximum Axis 1 Arm 1 26 ± 2438mm/s 2438mm/s 26mm/s ±.3mm Axis 2 Arm 2 19 ± (Composite speed) (Composite speed) (Composite speed) 1 3 Axis 3 Vertical axis 15mm (Note 1) ±.2mm 27mm/s 27mm/s 189mm/s Rotational axis ±36 ±.2 1 /s Axis 4 Medium gripper GM (Note 2) 14mm (Both fingers) ±.1mm 94mm/s (One finger).5 (Note 3) Large gripper GL (Note 2) 22mm (Both fingers) ±.1mm 125mm/s (One finger) 1.5 (Note 3) (Note 1) When the large gripper is installed, the work envelope of the vertical axis becomes 1mm. (Note 2) Refer to the gripper selection guide in our ROBO Cylinder General Catalog. (Note 3) This is the maximum payload on the gripper when it is attached to a SCARA Robot. Robot Specifications Price List 3-axis specification 4-axis 3-axis specification Gripper SCARA 3-axis specification Standard price No gripper specification With medium gripper (GM) With large gripper (GL) None IXP-3N4515 Encoder type Battery-less absolute encoder * Medium gripper IXP-3N4515GM User wiring AWG24 6, AWG26 5P (shielded) User wiring is not supported because * User cables are sold separately. Refer to the Large gripper IXP-3N451GL the gripper wiring is used. operation manual for detail. Gripper SCARA 4-axis specification Standard price User piping None IXP-4N4515 Standard cycle time *4 (sec) 13 O.D. ø4, I.D. ø2.5, 3 air tubes (Maximum working pressure.8mpa) SCARA Gripper (full stroke) Allowable torque (Axis 4) (N m) 1.4 Allowable moment (N m) 2.9 Ma : 1.9 Mb : 2.7 Mc : 2.9 Allowable inertial moment from the tip of the vertical axis *5 (kg m 2 ) Ambient operating temperature/humidity Rated.3 Maximum.1 Rated.3 Maximum.3 Maximum.2 Ma : 2.9 Mb : 2.9 Mc : 2.9 Maximum.9 Temperature ~ 4 C Humidity 2 ~ 85%RH (Non-condensing) Unit weight (kg) *The gripper is incremental type Attached Gripper Types IXP-3N4515GM The medium gripper RCP4-GRSML is installed at the tip of the vertical axis. IXP-3N451GL The large gripper RCP4-GRSLL is installed at the tip of the vertical axis. IXP-3N4515/451/4N4515 Cable Length <Per Axis*> Type Cable code Standard price P (1m) Standard type S (3m) M (5m) X6 (6m) ~ X1 (1m) Special length X11 (11m) ~ X15 (15m) X16 (16m) ~ X2 (2m) R1 (1m) ~ R3 (3m) R4 (4m) ~ R5 (5m) Robot cable R6 (6m) ~ R1 (1m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R2 (2m) * The 3-axis specification requires three cables, while the gripper specification and 4-axis specification require four cables.

15 Dimensions IXP PowerCON SCARA 2D CAD 3D CAD 38 CAD drawings can be downloaded from the website. Reference surface Reference surface ø8 h7.15 Detailed view of A 3: Mechanical end Grommets for user wiring/piping exit (2 locations) 4-ø (44.5) (12.5) R45 R21.3 R19 6 R19 Work envelope of the right-arm system Detailed view of B 8 88 A :Stroke (6): Mechanical end *Available only on the 4-axis specification 2-M3depth 6 User threaded hole (same on the opposite side) (216) T slot:m3 (same on the opposite side) T slot:m3 (same on the opposite side) 12 (1) Wiring space 57 (191) 235 (483) (Approx. 77 max.) User wiring/piping stored inside 55 ø8 H depth 12 Grommet for user wiring/piping exit (For controller connection cable exit) User wiring/piping stored inside Wiring (AWG24x6C/AWG26x5P with shield) Piping (ø4x3) * When the 3-axis specification is selected, three controller cables are needed. 9 8 H depth 12 View B 55 Seating surface Controller cables when exiting from the rear panel User wiring and piping when exiting through grommet Ground connection <Gripper Specification> GM (RCP4-GRSML) GL (RCP4-GRSLL) R21.3 R Open side: 17.6 Close side: ø3 h7 2-M3 depth 6 User threaded hole (same on the opposite side) *The vertical axis stroke is 15mm. *The overhang limit is mm horizontally and 5mm vertically. (Refer to *6 on P. 6.) M3 depth 6 User threaded hole (One on the opposite side is used for gripper wiring) Open side: 27.8 Close side: ø4 h7 *The vertical axis stroke is 1mm. 88 *The overhang limit is mm 89:Home return horizontally and 5mm vertically. (Refer to *6 on P. 6.) R19 Work envelope of the left-arm system 6 R M5 depth Mounting surface 1 Mounting surface 2-M4 depth Applicable Controller Specifications Name External view Model number PIO specification MSEL-PCX - WAI w/network board Safety category compliant specification Safety category compliant spec. w/network board * Controller type (3:3-axis specification/4:4-axis specification) <SCARA type> * SCARA type (Refer to table on the right) 3N3515 3N4515GM * Standard I/O (NP/PN) * Expansion I/O (Refer to table on the right) 3N4515 3N451GL *Refer to P. 2 if considering axis connection other than IXP series. 3N3515GM 4N3515 * The model code is just one example. Refer to P. 19 if using such as field 3N351GL 4N4515 network. Max. number of controlled axes Max. pos. points Input voltage Standard price MSEL-PCX - WAI Single-phase 4 3 points AC MSEL-PGX - WAI V ~ 23V MSEL-PGX - WAI Reference page P. 19 <Expansion I/O> E Not used CC CC-Link board NP Expansion PIO board NPN specification CC2 CC-Link board (with 2-way connector) DV DeviceNet board PR PROFIBUS-DP board DV2 DeviceNet board (with 2-way connector) EP EtherNet/IP board IXP-3N4515/451/4N

16 IXP PowerCON SCARA IXP- 3N552 3N5515 /4N552 Arm length 55mm Vertical axis 2mm/15mm Model Specification IXP N 55 WA P3 Items Series Number Arm of axes length Vertical axis stroke Gripper Encoder type Cable length Applicable controller Option 3: 3 axes 55: 55mm 2 :2mm No gripper WA: Battery-less N: None X : Specified length P3: MSEL B: Brake 4: 4 axes 15GL :15mm Large gripper installed absolute P: 1m R : Robot cable 15GW :15mm Extra-large gripper installed specification S: 3m Cable length described below *Controller is not included. * Refer to "Attached Gripper Types" for the types of grippers installed. M: 5m *The photograph shows a 4-axis specification. P O I N T Note on selection Refer to P. 5 for *1 through *5. Make sure to select the brake option when the payload is 4kg or more. The vertical axis does not support push-motion control. The allowable push force should be 9N under condition of having a buffer such as a spring on a tool or the pressing side. Refer to P. 5 for the work envelope, and P. 26 for the notes on acceleration/deceleration setting. Robot Specifications Attached Gripper Types IXP-3N552GL IXP-3N552GW Option Axis configuration Arm length (mm) Work envelope Axis 1 Arm 1 26 ± Axis 2 Arm 2 29 ± Positioning repeatability *1 ±.4mm The large gripper RCP4-GRSLL is installed at the tip of the vertical axis. The extra-large gripper RCP4-GRSWL is installed at the tip of the vertical axis. Name Option code Reference page Standard price Brake B Refer to our ROBO Cylinder General Catalog 15 IXP-3N552/5515/4N552 Maximum operating speed in PTP mode *2 Payload (kg) *3 No gripper With large gripper (GL) With extra-large gripper (GW) Rated Maximum 2943mm/s (Composite speed) 2943mm/s (Composite speed) 2943mm/s (Composite speed) Axis 3 Vertical axis 2mm (Note 1) ±.2mm 24mm/s 24mm/s 24mm/s Axis 4 Rotational axis ±36 ±.2 7 /s Large gripper GL (Note 2) 22mm (Both fingers) ±.1mm Extra-large gripper GW (Note 2) 125mm/s (One finger) 3mm (Both fingers) ±.1mm 3-axis specification 4-axis 3-axis specification No gripper specification With large gripper (GL) With extra-large gripper (GW) Encoder type Battery-less absolute encoder * User wiring AWG24 6, AWG26 5P (shielded) User wiring is not supported * User cables are sold separately. Refer to the because the gripper wiring is used. operation manual for detail. User piping O.D. ø4, I.D. ø2.5, 3 air tubes Maximum working pressure.8mpa Standard cycle time *4 (sec) (When transporting 2kg including a gripper) Allowable torque (Axis 4) (N m) 3.6 Allowable moment (N m) 9.4 Ma : 3.8 Mb : 5.5 Mc : 9.4 Maximum.26 Ma : 9.4 Mb : 9.4 Mc : 9.4 Allowable inertial moment from the tip of Rated.1 Rated.1 the vertical axis *5 (kg m 2 ) Maximum.3 Maximum.1 Maximum.24 Ambient operating temperature/humidity Temperature ~ 4 C Humidity 2 ~ 85%RH (Non-condensing) Unit weight (kg) *The gripper is incremental type 157mm/s (One finger) (Note 1) When the extra-large gripper is installed, the work envelope of the vertical axis becomes 15mm. (Note 2) Refer to the gripper selection guide in our ROBO Cylinder General Catalog. (Note 3) This is the maximum payload on the gripper when it is attached to a SCARA Robot. Robot Specifications Price List (Note 3) 2.5 (Note 3) Specification Model number Standard price 3-axis specification IXP-3N552 3-axis specification with large gripper IXP-3N5515GL 3-axis specification with extra-large gripper IXP-3N5515GW 4-axis specification IXP-4N552 Cable Length <Per Axis*> Type Cable code Standard price P (1m) Standard type S (3m) M (5m) X6 (6m) ~ X1 (1m) Special length X11 (11m) ~ X15 (15m) X16 (16m) ~ X2 (2m) R1 (1m) ~ R3 (3m) R4 (4m) ~ R5 (5m) Robot cable R6 (6m) ~ R1 (1m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R2 (2m) * The 3-axis specification requires three cables, while the gripper specification and 4-axis specification require four cables.

17 Dimensions IXP PowerCON SCARA 2D CAD 3D CAD CAD drawings can be downloaded from the website Reference surface 7 Reference surface 1 (177.9) R R R ø12 h7 (-.18 ) Detailed view of S : Mechanical end (44.5) Grommets for user wiring/piping exit (2 locations) (12.5) ø11 through R (7) (7) R29 6 Operation prohibited area Work envelope of the right-arm system S View U : Stroke (6: Mechanical end) T slot:m3 (same on the opposite side) 2-M3depth 6 User threaded hole (same on the opposite side) T slot:m3 (same on the opposite side) Seating surface (1) Wiring space (231) (531) (Approx. 72 max.) Controller cables when exiting from the rear panel Controller cables when exiting through grommet User wiring/piping stored inside ø8 H depth 15 Grommet for user wiring/piping exit (For controller connection cable exit) User wiring/piping stored inside Wiring (AWG24x6C/AWG26x5P with shield) Piping (ø4x3) Ground connection 7 Detailed view of U * When the 3-axis specification is selected, three controller cables are needed H7 ( ) depth 15 <Gripper Specification> (177.9) :Home return 2-M3 depth 6 User threaded hole (One on the opposite side is used for gripper wiring) *The vertical axis stroke is 15mm. *The overhang limit is mm horizontally and 5mm vertically. (Refer to *6 on P. 6.) Open side: 27.8 Close side: ø4h7 GL (RCP4-GRSLL) Mounting surface :Home return 2-M3 depth 6 User threaded hole (One on the opposite side is used for gripper wiring) Open side: 35.8 Close side: ø5h7 R55 R26 R29 Operation 6 prohibited area (7) R R Work envelope of the left-arm system M6 depth GW (RCP4-GRSWL) *The vertical axis stroke is 15mm. *The overhang limit is mm horizontally and 5mm vertically. (Refer to *6 on P. 6.) Mounting surface M5 depth Applicable Controller Specifications Name External view Model number PIO specification MSEL-PCX - WAI w/network board Safety category compliant specification Safety category compliant spec. w/network board * Controller type (3:3-axis specification/4:4-axis specification) <SCARA type> * SCARA type (Refer to table on the right) 3N552 3N5515GL * Standard I/O (NP/PN) * Expansion I/O (Refer to table on the right) 4N552 3N5515GW *Enter "B" in, when brake option is selected. *Refer to P. 2 if considering axis connection other than IXP Series. *The model code is just one example. Refer to P. 19 if using such as field network. Max. number of controlled axes Max. pos. points Input voltage Standard price MSEL-PCX - WAI Single-phase 4 3 points AC MSEL-PGX - WAI V ~ 23V MSEL-PGX - WAI IXP-3N552/5515/4N552 Reference page P. 19 <Expansion I/O> E Not used CC CC-Link board NP Expansion PIO board NPN specification CC2 CC-Link board (with 2-way connector) DV DeviceNet board PR PROFIBUS-DP board DV2 DeviceNet board (with 2-way connector) EP EtherNet/IP board 16

18 IXP PowerCON SCARA IXP- 3N652 3N6515 /4N652 Arm length 65mm Vertical axis 2mm/15mm Model Specification IXP N 65 WA P3 Items Series Number Arm of axes length Vertical axis stroke Gripper Encoder type Cable length Applicable controller Option 3: 3 axes 65: 65mm 2 :2mm No gripper WA: Battery-less N: None X : Specified length P3: MSEL B: Brake 4: 4 axes 15GL :15mm Large gripper installed absolute P: 1m R : Robot cable 15GW :15mm Extra-large gripper installed specification S: 3m Cable length described below *Controller is not included. * Refer to "Attached Gripper Types" for the types of grippers installed. M: 5m *The photograph shows a 4-axis specification. P O I N T Note on selection Refer to P. 5 for *1 through *5. Make sure to select the brake option when the payload is 4kg or more. The vertical axis does not support push-motion control. The allowable push force should be 9N under condition of having a buffer such as a spring on a tool or the pressing side. Refer to P. 5 for the work envelope, and P. 26 for the notes on acceleration/deceleration setting. Robot Specifications Attached Gripper Types IXP-3N652GL IXP-3N652GW Option Axis configuration Arm length (mm) Work envelope Axis 1 Arm 1 36 ± Axis 2 Arm 2 29 ± Positioning repeatability *1 ±.4mm The large gripper RCP4-GRSLL is installed at the tip of the vertical axis. The extra-large gripper RCP4-GRSWL is installed at the tip of the vertical axis. Name Option code Reference page Standard price Brake B Refer to our ROBO Cylinder General Catalog 17 IXP-3N652/6515/4N652 Maximum operating speed in PTP mode *2 Payload (kg) *3 No gripper With large gripper (GL) With extra-large gripper (GW) Rated Maximum 2916mm/s (Composite speed) 2916mm/s (Composite speed) 2916mm/s (Composite speed) Axis 3 Vertical axis 2mm (Note 1) ±.2mm 24mm/s 24mm/s 24mm/s Axis 4 Rotational axis ±36 ±.2 7 /s Large gripper GL (Note 2) 22mm (Both fingers) ±.1mm Extra-large gripper GW (Note 2) 125mm/s (One finger) 3mm (Both fingers) ±.1mm 3-axis specification 4-axis 3-axis specification No gripper specification With large gripper (GL) With extra-large gripper (GW) Encoder type Battery-less absolute encoder * User wiring AWG24 6, AWG26 5P (shielded) User wiring is not supported * User cables are sold separately. Refer to the because the gripper wiring is used. operation manual for detail. User piping O.D. ø4, I.D. ø2.5, 3 air tubes Maximum working pressure.8mpa Standard cycle time *4 (sec) (When transporting 2kg including a gripper) Allowable torque (Axis 4) (N m) 3.6 Allowable moment (N m) 9.4 Ma : 3.8 Mb : 5.5 Mc : 9.4 Maximum.26 Ma : 9.4 Mb : 9.4 Mc : 9.4 Allowable inertial moment from the tip of Rated.1 Rated.1 the vertical axis *5 (kg m 2 ) Maximum.3 Maximum.1 Maximum.24 Ambient operating temperature/humidity Temperature ~ 4 C Humidity 2 ~ 85%RH (Non-condensing) Unit weight (kg) *The gripper is incremental type 157mm/s (One finger) (Note 1) When the extra-large gripper is installed, the work envelope of the vertical axis becomes 15mm. (Note 2) Refer to the gripper selection guide in our ROBO Cylinder General Catalog. (Note 3) This is the maximum payload on the gripper when it is attached to a SCARA Robot. Robot Specifications Price List (Note 3) 2.5 (Note 3) Specification Model number Standard price 3-axis specification IXP-3N652 3-axis specification with large gripper IXP-3N6515GL 3-axis specification with extra-large gripper IXP-3N6515GW 4-axis specification IXP-4N652 Cable Length <Per Axis*> Type Cable code Standard price P (1m) Standard type S (3m) M (5m) X6 (6m) ~ X1 (1m) Special length X11 (11m) ~ X15 (15m) X16 (16m) ~ X2 (2m) R1 (1m) ~ R3 (3m) R4 (4m) ~ R5 (5m) Robot cable R6 (6m) ~ R1 (1m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R2 (2m) * The 3-axis specification requires three cables, while the gripper specification and 4-axis specification require four cables.

19 Dimensions IXP PowerCON SCARA 2D CAD 3D CAD CAD drawings can be downloaded from the website Reference surface Reference surface ø12 h7 (-.18 ) Detailed view of S S View U : Stroke 3 : Mechanical end (6: Mechanical end) 2 (44.5) Grommets for user wiring/piping exit (2 locations) T slot:m3 (same on the opposite side) 2-M3 depth 6 User threaded hole (same on the opposite side) (12.5) T slot:m3 (same on the opposite side) 12 4-ø11 through Seating surface (1) Wiring space (231) (531) (Approx. 74 max.) R R Controller cables when exiting from the rear panel Controller cables when exiting through grommet (7) (227.7) User wiring/piping stored inside 7 ø8h depth 15 Grommets for user wiring/piping exit (2 locations) R36 R29 6 Operation prohibited area Work envelope of the right-arm system Detailed view of U User wiring/piping stored inside Wiring (AWG24x6C/AWG26x5P with shield) Piping (ø4x3) Ground * When the 3-axis specification connection is selected, three controller cables are needed. R H7 ( ) depth 15 <Gripper Specification> GL (RCP4-GRSLL) 2-M3 depth 6 User threaded hole (One on the opposite side is used for gripper wiring) *The vertical axis stroke is 15mm. *The overhang limit is mm horizontally and 5mm vertically. (Refer to *6 on P. 6.) Open side: 27.8 Close side: ø4 h :Home return Mounting surface GW (RCP4-GRSWL) 2-M3 depth 6 User threaded hole (One on the opposite side is used for gripper wiring) *The vertical axis stroke is 15mm. *The overhang limit is mm horizontally and 5mm vertically. (Refer to *6 on P. 6.) Open side: 35.8 Close side: ø5 h :Home return Mounting surface R65 R36 R29 (227.7) (7) Operation 6 prohibited area R Work envelope of the left-arm system R M6 depth M5 depth Applicable Controller Specifications Name External view Model number PIO specification MSEL-PCX - WAI w/network board Safety category compliant specification Safety category compliant spec. w/network board * Controller type (3:3-axis specification/4:4-axis specification) <SCARA type> * SCARA type (Refer to table on the right) 3N652 3N6515GL * Standard I/O (NP/PN) * Expansion I/O (Refer to table on the right) 4N652 3N6515GW *Enter "B" in, when brake option is selected. *Refer to P. 2 if considering axis connection other than IXP Series. *The model code is just one example. Refer to P. 19 if using such as field network. Max. number of controlled axes Max. pos. points Input voltage Standard price MSEL-PCX - WAI Single-phase 4 3 points AC MSEL-PGX - WAI V ~ 23V MSEL-PGX - WAI IXP-3N652/6515/4N652 Reference page P. 19 <Expansion I/O> E Not used CC CC-Link board NP Expansion PIO board NPN specification CC2 CC-Link board (with 2-way connector) DV DeviceNet board PR PROFIBUS-DP board DV2 DeviceNet board (with 2-way connector) EP EtherNet/IP board 18

20 MSEL Controller MSEL-PCX/PGX Program Controllers for PowerCON SCARA MSEL-PCX/PGX Program Controllers for PowerCON SCARA Model List Name Controllers for PowerCON SCARA External view Type name PCX3 PGX3 PCX4 PGX4 Type 3-axis standard specification 3-axis safety category compliant specification 4-axis standard specification 4-axis safety category compliant specification Standard price Connected actuator IXP 3-axis specification IXP 3-axis specification + additional axis (including gripper specification) IXP 4-axis specification I/O NPN, PNP (16IN/16OUT), NPN, CC-Link, DeviceNet, PROFIBUS-DP, EtherNet/IP Number of positions 3, Power-supply voltage Single-phase AC1 ~ 23V Model MSEL SCARA WAI Additional axis WAI * An additional axis can be selected only when the controller is of the 4-axis type and SCARA robot is of the 3-axis type (without gripper). 4 Controller type SCARA type Encoder type Options Motor type Encoder type Options Standard I/O type Expansion I/O type PIO cable type Powersupply voltage Actuator mounting specification PCX3 PGX3 PCX4 PGX4 3N188 4N188 3N258 4N258 3N258GM 3N3515 4N3515 3N3515GM 3N351GL 3N4515 4N4515 3N4515GM 3N451GL 3N552 4N552 3N5515GL 3N5515GW 3N652 4N652 3N6515GL 3N6515GW 3-axis standard specification 3-axis safety category compliant specification 4-axis standard specification 4-axis safety category compliant specification For IXP-3N188 For IXP-4N188 For IXP-3N258 For IXP-4N258 For IXP-3N258GM For IXP-3N3515 For IXP-4N3515 For IXP-3N3515GM For IXP-3N351GL For IXP-3N4515 For IXP-4N4515 For IXP-3N4515GM For IXP-3N451GL For IXP-3N552 For IXP-4N552 For IXP-3N5515GL For IXP-3N5515GW For IXP-3N652 For IXP-4N652 For IXP-3N6515GL For IXP-3N6515GW B Brake 2P 2SP 28P 28SP 35P 42P 42SP 56P 2 pulse motor 2 pulse motor (for RA2C, RA2BC) 28 pulse motor 28 pulse motor (for RA3C) 35 pulse motor 42 pulse motor 42 pulse motor (for RCP4W-RA6 highthrust specification) 56 pulse motor (None) No option B Brake HS Home check sensor (*) NP PN E NP DV DV2 CC CC2 PR EP NPN specification PNP specification Not used Expansion PIO board (NPN specification) DeviceNet board DeviceNet board (with 2-way connector) CC-Link board CC-Link board (with 2-way connector) PROFIBUS-DP board EtherNet/IP board * If CC2 or DV2 is selected, a 2-way connector is supplied for branch wiring. *The home check sensor can be selected only when an additional incremental axis is used with the SCARA 3-axis specification. (None) DN No cable 2 2m (standard) 3 3m 5 5m 4 AC1 ~ 23V Screw fixing specification DIN rail mounting specification 19

21 System Configuration Supplied with the SCARA robot Integrated motor-encoder cable (Refer to P. 25) <Model number: CB-CAN-MPA > Standard: 1m/3m/5m Standard accessory/option Dummy plug (Refer to P. 24) <Model number: DP-4S> (Supplied with the MSEL-PGX/ Supplied with the IA-11-X-USBS) Option Teaching pendant (Refer to P. 24) <Model number: TB-1-SJ> * The MSEL-PCX/PGX are supported only by Ver. 1.2 or later. Standard accessory/option Connector conversion cable (Refer to P. 24) <Model number: CB-SEL-SJS2> (Supplied with the TB-1-SJ/ IA-11-X-MW-JS) MSEL Controller Option PC compatible software (Refer to P. 24) <Model number: IA-11-X-MW-JS> (RS232C cable + Connector conversion cable) <Model number: IA-11-X-USBS> (USB cable + Dummy plug) * The MSEL-PCX/PGX are supported only by Ver or later. Emergency stop switch AC1 ~ 23V Standard accessory PIO flat cable (Refer to P. 26) <Model number: CB-PAC-PIO2> Standard: 2m Enable switch PLC Protective grounding <Actuator for Additional Axis> (Can be connected to a SCARA robot of 3-axis specification) Integrated motor-encoder cable (Refer to ROBO Cylinder General Catalog) <Model number: CB-PSEP-MPA > Standard: 1m/3m/5m Supplied with the actuator Electromagnetic contactor Expansion PIOs/various field networks Supplied with expansion PIO specification PIO flat cable (Refer to P. 26) <Model number: CB-PAC-PIO2> Standard: 2m *Wire the emergency stop switch, enable switch, electromagnetic contactor, etc., as necessary. The same applies to the factory settings (shorting). Actuator RCP2 series Integrated motor-encoder cable (Refer to ROBO Cylinder General Catalog) <Model number: CB-RPSEP-MPA > Standard: 1m/3m/5m Supplied with the actuator Integrated motor-encoder cable (Refer to ROBO Cylinder General Catalog) <Model number: CB-CA-MPA > <Model number: CB-CA-MPA -RB> Standard: 1m/3m/5m Supplied with the actuator Actuator RCP2 small rotary Integrated motor-encoder cable (Refer to ROBO Cylinder General Catalog) <Model number: CB-APSEP-MPA > Standard: 1m/3m/5m Supplied with the actuator Actuator RCP4 series Integrated motor-encoder cable (Refer to P. 25) <Model number: CB-CAN-MPA > <Model number: CB-CAN-MPA -RB> Standard: 1m/3m/5m Supplied with the actuator Actuator RCP3 series Actuator RCP5 series 2

22 MSEL Controller Specification item Power-supply input voltage Single-phase AC1 ~ 23 V ±1% Power-supply current Power-supply frequency range Motor type Supported encoder Data storage device Number of program steps 9,999 Contents 2.9Atyp. (AC1V), 1.4Atyp. (AC2V), 1.2Atyp. (AC23V) 5/6Hz±5% Number of positions 3, Number of programs 255 Number of multi-tasks 16 Operation mode SIO interface Standard PIO interface Compliant expansion I/O interface Calendar/clock function Protective functions Serial communications Program Communication method Baud rate Live wire connection Input Specification Output specification Retention time Charge time TP port USB Number of input points Input voltage Input current ON voltage OFF voltage Leak current Insulation method Number of output points Load voltage Maximum current Saturated voltage Leak current Insulation method Pulse motor (servo control) Incremental encoder / Battery-less absolute encoder FlashROM/FRAM RS232 (asynchronous communications) 9.6, 19.2, 38.4, 57.6, 76.8, 115.2kbps 16 points DC24V±1% 7mA/circuit DC16V Min. DC5V Max. Allowable leak current: 1mA max. Photocoupler insulation 16 points DC24V±1% 1mA per point, 4mA per 8 points (Note 1) 3V Max..1mA Max. Photocoupler insulation Expansion PIO NPN specification (16IN/16OUT) CC-Link (remote device station) DeviceNet PROFIBUS-DP EtherNet/IP Approx. 1 days Operating temperature range ~ 4 C Operating humidity range Installation Installation direction Installation method Approx. 1 hours (fully charged) * Data can be retained even when the batteries are not fully charged. Overcurrent, abnormal temperature, low fan speed monitoring, encoder disconnection, etc. 85% RH max. (non-condensing, non-freezing) Installed vertically (exhaust side up) Mounted with screws or using a DIN rail Rush current Air cooling method 15Atyp. (AC1 V), 3Atyp. (AC2 V): 5ms max. (Ambient temperature 25 C/No cycling of the power) Forced air cooling External dimensions Width 13mm x Height 195mm x Depth 125mm Mass Approx. 1,4g (Note 1) The total load current shall be 4mA for every eight points from standard I/O No (The maximum current per point shall be 1mA.) 21

23 PIO Signal Chart Pin layouts for standard PIO connector/expansion PIO connector Pin No. Category Assignment Pin No. Category Assignment 1A 24V P24 1B OUT 2A 24V P24 2B OUT1 3A 3B OUT2 4A 4B OUT3 5A IN 5B OUT4 6A IN1 6B OUT5 7A IN2 7B OUT6 8A IN3 8B OUT7 Output 9A IN4 9B OUT8 1A IN5 1B OUT9 11A IN6 11B OUT1 12A IN7 12B OUT11 Input 13A IN8 13B OUT12 14A IN9 14B OUT13 15A IN1 15B OUT14 16A IN11 16B OUT15 17A IN12 17B 18A IN13 18B 19A IN14 19B V N 2A IN15 2B V N MSEL Controller Internal Circuits for Standard I/Os (NPN Specifications) [Input section] External input specifications (NPN specifications) Item Specifications Input voltage DC24V ±1% Input current 7mA/circuit On/Off voltage On voltage: DC16.V min. Off voltage: DC5.V max. Insulation method Photocoupler insulation * The port numbers in the circuit diagram below represent the factory-set port numbers. * When the input is off, the allowable leak current is 1mA max. [Output section] External output specifications (NPN specifications) Item Specifications Load voltage DC24V ±1% Uses Maximum load current 1mA/point, 4mA/8 points Note) TD6284 (or Leak current.1ma/point max. equivalent). Insulation method Photocoupler insulation * The port numbers in the circuit diagram below represent the factory-set port numbers. Note: The total load current shall be 4 ma for every eight points from standard I/O No (The maximum current per point shall be 1mA.) [Output circuit] Pin No. 1A, 2A [Output circuit] Pin No. 1A, 2A Internal circuit 56Ω 3.3kΩ Input terminal Port No. 16 to 31 External power supply DC24V ±1% Internal circuit D 1Ω Output terminal Load Port Nos. 316 to 331 Pin No. 19B, 2B External power supply DC24V ±1% * For the standard IOs (PNP specifications), refer to the operation manual. Internal Circuits for Expansion I/Os (NPN Specifications) [Input section] External input specifications Item Specifications Number of input points 16 points Input voltage DC24V ±1% Input current 4mA/circuit On/Off voltage On voltage: DC18V (3.5mA) min. Off voltage: DC6V (1mA) max. Insulation method Photocoupler insulation [Output section] External output specifications Item Specifications Number of output points 16 points Rated load current DC24V ±1% Maximum current 5mA/circuit Insulation method Photocoupler insulation [NPN specification] P24 Each input Each input V 5.6kΩ Logic circuit Internal circuit Internal circuit 15 P24 Output terminal N Load External power supply DC24V 22

24 MSEL Controller Name of Each Part Mode switch Brake release switch Teaching connector Motor/encoder connector *1 Power connector MPG1 MPG2 MPG3 MPG4 USB connector System I/O connector Standard I/O connector (I/O1) Expansion I/O connector (I/O2) Motor drive power line connector *1: Do not connect a wrong motor to the MPG1, MPG2, MPG3 or MPG4 connector. It may cause malfunction or failure. External dimensions Screw fixing specification DIN rail mounting specification ø ø4.5 (75mm from the center of DIN rail) (1.9) 3 Flange Options Features: It is a tool used to attach an object on the arm tip on the Z-axis. J2 arm Tip collar Optional flange IXP-FL-1 U S S ø 45 View of C ø 26 P.C.D. 35 U ø 1 h (Home).15 (3) (28.5) ø 3.4, through Distributed at an equal pitch along the circumference Enclosed hex socket head cap screw/ 4-M ±.2 ø24 ø8 H ø5 ø12 g ø46 View of C 17.5 ±.2 45 M3 4-ø 4.5, through Distributed at an equal pitch along the circumference ø35 (44) (42.5) ± ø ø 52 View of C 21 ±.2 45 ø12 H Hex socket head cap screw Hex socket head cap screw holding Optional Flange ø5 ø2 g ø5.5, through Distributed at anequal pitch along the circumference P.C.D. 42 IXP-FL-1 (For 188/258) Model Standard price number 23 View of C 2-ø 3 H7 +.1, through Enclosed parallel pin B/ 2-ø 3 6h7 Weight IXP-FL-1 8g 2-ø3H7 +.1, depth 2.2 View of C IXP-FL-2 (For 3515/351/4515/451) Model number Standard price Weight IXP-FL-2 12g 2- ø4 H7 +.12, depth 4 View of C IXP-FL-3 (For 552/5515/652/6515) Model number Standard price Weight IXP-FL-3 29g

25 Options Teaching Pendant Features: A teaching device offering program/position input, trial operation, and monitoring functions. TB-1-SJ Model number: * This model is the standard specification with connector conversion cable. If you are interested in the deadman switch specification, specify the model number of the applicable teaching pendant (TB-1D-N/TB-1DR-N) and that of the cable (CB-TB1-X5-JS). Dummy Plug Features: MSEL Controller This plug is required for the safety category specification (MSEL-PGX) and when the MSEL is operated using a USB cable. (The MSEL-PGX type and PC compatible software IA-11-X-USBS comes with this dummy plug.) Model number: DP-4S Configuration: 5m The MSEL- PCX/PGX are supported by Ver. 1.2 or later. Connector Conversion Cable Features: This cable is used to convert the D-sub 25-pin connector of the teaching pendant or RS232C cable to the MSEL teaching connector. (The TB-1-SJ and IA-11-X-MW-JS comes with this connector conversion cable.) Model number: CB-SEL-SJS2 PC Compatible Software (Windows Only) Features: The startup support software provides program/position input, test operation and monitoring functions, among others. With its enhanced functions required for debugging, this software helps shorten the startup time. Model number: IA-11-X-MW-JS (RS232C cable + Connector conversion cable) Configuration: 5m.2m RS232C cable CB-ST-E1MW5-EB Connector conversion cable CB-SEL-SJS2 Model number: IA-11-X-USBS (USB cable + Dummy plug) Configuration: Dummy plug DP-4S 3m USB cable CB-SEL-USB3 The MSEL-PCX/PGX are supported by Ver or later. The CB-ST-E1MW5-EB cannot be used when Building an enable system that uses a system I/O connector and external power supply or Building a redundant safety circuit. (The CB-ST-A1MW5-EB must be used instead.) 24