-CAIX-1000/1200 IX1000/1200XSEL-R/S -CAXSEL-R/SXSEL-R/S

IAI America, Inc. IAI Industrieroboter GmbHOber der Roth 4, D-65824 Schwalbach am Taunus, GermanyHeadquarters: 2690 W. 237th Street, Torrance, CA 90505 (800) 736-1712

1261 Hamilton Parkway, Itasca, IL 60143 (800) 944-0333 1220 Kennestone Circle, Suite 108, Marietta, GA 30066 (888) 354-9470 www.intelligentactuator.com

The information contained in this product brochure may change without prior notice due to product improvements.

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

Super-Large SCARA Robot IX-1000/1200

The latest addition to our offerings is the super-large SCARA series boasting an arm length of 1200 mm and payload of 50 kg, both of which are the largest among all our SCARA robots.

The long arm extending 1200 mm allows the IX to carry work parts over a wide range of up to 2400 mm. The IX is also space-saving because its footprint is only one-eightieth that of a Cartesian robot having an equivalent range of operation.

Wide range of operation and small footprint 1

The IX demonstrates excellent high-speed per formance backed by i ts maximum operating speed of 8308 mm/s. The IX can certainly help you reduce cycle times.

High-speed transfer2 The IX can carry up to 50 kg, which is one of the highest payloads in its class. The IX is the perfect choice if your equipment must transfer heavy objects.

High payload3

1200

mm

2400mm 2400mm

SCARA robotIX-NNN12040

Cartesian robotICSA3-G2JHB3M

Space required for installation

Range of operation

Range of operation

50kg50kg Able to transfer up to 50 kg

Time needed to move a 5-kg work part over a vertical distance of 100 mm and horizontal distance of 2400 mm.

SCARA robotIX-NNN12040

Cartesian robotICSA3-B2N1HB3H

Required time

1.16 sec

2.67 sec

1

IX SCARA robot

IX - - - T2Series Type Cable length Applicable controller

Model

<Robot>

NNN10040High payload type Arm length: 1000 mm Vertical axis: 400 mm

NNN12040High payload type Arm length: 1200 mm Vertical axis: 400 mm

5L 5m

10L 10m

T2 XSEL-SX4

System Configuration

PLC Field networkDeviceNetCC-LinkPROFIBUS-DPEtherCATEtherNet/IP

Control power Single-phase AC 200 V/230 VBrake release power supply

DC 24 V

Power for I/ODC 24 V

Motor power supply3-phaseAC 200 V/230 V

PC softwareRS232 version <Model: IA-101-XA-MW>Ver. 9.00.00.00 or later

OptionANSI-compatibleTeaching pendant<Model: SEL-TD>Ver. 1.12 or later

Option

PIO cable<Model: CB-X-PIO020>Standard 2 m(Supplied with the PIO specification controller)

ControllerXSEL-SX4

Supplied with controller

Drive power shut-off circuit(Supplied by user)

5m(Emergencystop switch)

Comm. cable<Model: CB-ST-A1MW050-EB>

Motor cable <Model: CB-SX4-MA050>Standard: 5 m

Supplied with PC software

Supplied with regenerative resistor unit

Supplied with SCARA robot

Supplied with SCARA robot Supplied with SCARA robot Encoder cable <Model: CB-SX4-PA050> Standard: 5 m

Absolute data backup battery <Model: AB-3>

Expansion I/O unit<Model: EIOU-4-����>

Option

Comm. cable<Model: CB-RS-IAN���>

Supplied with Expansion I/O unit

DeviceNet Gateway(Cable is supplied by user)

* Contact us for details on driver power shut-off circuit.

PCON/ACON/SCON-CAMSEP/MSCON

Regenerative resistor unit <Model: REU-1>* Refer to P. 6.

Regenerative resistorunit cable: 1 m

* At least four regenerative resistor units are required.

Main power supply: Three-phase AC 200 V* Be sure to install the following filters or equivalent on the lines connected to the power supply: �Noise filter Recommended model Three-phase: MC1320 (Manufacturer: TDK Lambda) Single-phase: MXB-1220-33 (Manufacturer: TDK Lambda) �Ring core Recommended model ESD-R-25 (Manufacturer: NEC Tokin) �Clamp filter Recommended model Control power supply: ZCAT3035-1330 (Manufacturer: TDK) Motor power supply: RFC-H13 (Manufacturer: Kitagawa Kogyo) �Surge protector Recommended model Three-phase: R•A•V-781BXZ-4 Single-phase: R•A•V-781BWZ-4 (Manufacturer: Okaya Electric Industries)

RB

RB+

RB-

IN

RB

RB+

RB-

OUT RB

RB+

RB-

OUT RB

RB+

RB-

OUT RB

RB+

RB-

OUT

RB

RB+

RB-

IN RB

RB+

RB-

IN RB

RB+

RB-

IN

2

IX SCARA robot

IX-NNN10040 Super-large SCARA Robot High-payload Type Arm Length 1000 mm Vertical Axis 400 mm

* Refer to P. 2 for the details of model specification items.

(*1) Take note that the R-axis (rotational axis) cannot move unless this clearance is provided. (*2) The ALM indicator lamp will operate only when the customer wires the controller’s I/O signal to supply DC 24 V to the LED power supply line on the user wiring connector.

400

stro

ke

74.5

10 (Mec

hani

cal e

nd)

10 (Mec

hani

cal e

nd)

1267

.5

(150)

(84.9)500 500

217100025

512

732

346

811

73

278

325.

5

847.

5

(111

.5)

(28.

5)

77.5 180117.5

505050

175.

5

149

(121

)

4-M4, depth 8(same on theopposite side)

Referenceplane

Referenceplane

For FG (M4 screw)

(Wiringspace)

M connectorPG connector

175

220

(259

.8)

5(ø15.2)220

(259.7)

155

150

41

5520

502-M4, depth 8 4-ø13.5, ø25 counterbored (8 mm from bearing surface toinstallation surface)

B

235

(12.

3)12

.5 59

55

20

50

41

2-M4, depth 8

C

130 (129.8)

D

12

ø10 H7( ) +0.015 0

10H7 +0.015 0

Detail view of C

4-ø6quick joint

User wiring connector D-sub, 37-pin, plug Fixing screw: M2.6

R258.8

140°

140

140°

R1000R500

R500

R500

150°

R500

150°

140°

140°

R1000

R258.8

140

R500

R500

Range of operation of right-arm system J1 mechanical end position: 150°J2 mechanical end position: 160°

Range of operation of left-arm system J1 mechanical end position: 150°J2 mechanical end position: 160°

8

7.5

2525

7.5

65

Detail view of B

3-M4, depth 8

4-ø6Quick joint

Vertical axis brakerelease switch

ALM indicator lamp (*2)

User wiring connector D-sub, 25-pin, socket Fixing screw: M2.6

Detail view of D

59 (T

ool i

nsta

llatio

n ra

nge)

1.

2 (*

1)

ø40 h7 0-0.025

188XX

38ø29

Section view X-X

Model/Specification

Common Specifications

Applicable Controller Specification

Dimensional Drawings

* SCARA robots cannot operate continuously at the 100% speed and acceleration. For the conditions in which they can operate, refer to "Reference for Operation Limits and Operation Settings" on the back cover.

NNN10040 :High-payload type Arm length :1000 mm Vertical axis :400 mm

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

T2 : XSEL-SX4Series Type Cable length Applicable controller

* ➀ in the above model numbers indicates the cable length.

Encoder type Absolute (Absolute data retention battery: Model AB-3)User wiring 25-core AWG26 with shield + D-sub, 25-pin connector (socket)User piping Outer diameter ø6, inner diameter ø4, air tube x 4 (Normal service pressure: 0.8 MPa)Alarm indicator lamp Red LED small indicator lamp x 1 (DC 24 V must be supplied)Brake release switch Brake release switch to prevent vertical axis from dropping (DC 24 V must be supplied)

Ambient temperature/humidity

Temperature: 0 to 40°C, Humidity: 20 to 85%RH or less (non-condensing)

Robot weight 93 kgApplicable controller T2: XSEL-SX4 (dedicated controller)Cable length 5L: 5 m (standard) 10L: 10 m

Applicablecontroller Feature Maximum I/O points

(input/output)Power-supply

voltageReference

page

XSEL-SX4 Safety category 4 can be supported 192 points/192 points 3-phase, AC 200 V P5Caution

(Note 1) When 2 kg is transferred back and forth over a horizontal distance of 300 mm and vertical distance of 25 mm

(Note 2) The rated payload represents the maximum mass carrying which the actuator can operate at its maximum speed and maximum acceleration. The maximum payload represents the maximum mass achievable at the greatest sacrifice of the speed and acceleration.

(Note 3) This robot does not support push-motion operation.

Model Axis configurationArm

length(mm)

Motorcapacity

(W)Range of operation

Positioningrepeatability

(mm)(deg)

Maximum operating

speed in PTP mode

Standardcycle times

(sec)(Note 1)

Payload (kg) (Note 2)

Axis 3 (Note 3) push force thrust (N) Axis 4 allowable load

Rated Max. Upperlimit

Lowerlimit

Allowablemoment of

inertia (kg•m2)

Allowabletorque(N•m)

IX-NNN10040- ➀ -T2

Axis 1 Arm 1 500 1000 ±140 deg±0.040 7356 mm/s

(synthesis rate)0.59 20 50 — — 0.5 20.0

Axis 2 Arm 2 500 600 ±150 degAxis 3 Vertical axis — 600 400 mm ±0.020 1000 mm/sAxis 4 Rotational axis — 400 ±360 deg ±0.010 1197.3 deg/s

CAD drawings can be downloaded from the website.

2DCAD2D

CAD

Model Specification Items

IX NNN10040 T2

3

IX SCARA robot

IX-NNN12040 Super-large SCARA Robot, High-payload Type Arm Length 1200 mm, Vertical Axis 400 mm

* Refer to P. 2 for the details of model specification items.

(*1) Take note that the R-axis (rotational axis) cannot move unless this clearance is provided. (*2) The ALM indicator lamp will operate only when the customer wires the controller’s I/O signal to supply DC 24 V to the LED power supply line on the user wiring connector.

8

7.5

2525

7.5

65

Detail view of B

3-M4, depth 8

4-ø6quick joint

Vertical axis brake release switch

ALM indicator lamp (*2)

User wiring connector D-sub, 25-pin, socket Fixing screw: M2.6

Detail view of D

59 (T

ool i

nsta

llatio

n ra

nge)

1.

2 (*

1)

ø40 h7 0-0.025

188XX

38ø29

Section view X-X

R1200

150°

R365.8

140°

R500

140°

R500

R700

140

Range of operation of right-arm system J1 mechanical end position: 150°J2 mechanical end position: 160°

R1200 R700

150°

140°140°

140

R500

R500

R365.8

Range of operation of left-arm system J1 mechanical end position: 150°J2 mechanical end position: 160°

Detail view of C

500 700

847.

5

278

400

stro

ke

325.

5

(84.9) 217

(28.

5)

175.

5

220(259.7)

220

(259

.8)

149130 (129.8)

10 (Mec

hani

cal e

nd)

1200

10 (Mec

hani

cal e

nd)

1267

.5

74.5

55 20

2-M4, depth 8

For FG (M4 screw)

127

323

468

1173

255

155

150

155102.5

5050504-M4, depth 8(same on the opposite side)

D

B

175

5(ø15.2)

4-ø13.5, ø25 counterbored (8 mm from bearing surface to installation surface)

150(Wiring space)

12.5

235

(12.

3)

59 ø10H7( +0.015 0 )

10H7( +0.015 0 )

Referenceplane

Referenceplane

C

12

117.5

(50)

55

20

50

38

2-M4, depth 8

41

4-ø6quick joint

M connectorPG connector

User wiring connector D-sub, 37-pin, plug Fixing screw: M2.6

Model/Specification

Common Specifications

Applicable Controller Specification

Dimensional Drawings

* SCARA robots cannot operate continuously at the 100% speed and acceleration. For the conditions in which they can operate, refer to "Reference for Operation Limits and Operation Settings" on the back cover.

NNN12040 :High-payload type Arm length :1200 mm Vertical axis :400 mm

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

T2 : XSEL-SX4Series Type Cable length Applicable controller

* ➀ in the above model numbers indicates the cable length.

Encoder type Absolute (Absolute data retention battery: Model AB-3)User wiring 25-core AWG26 with shield + D-sub, 25-pin connector (socket)User piping Outer diameter ø6, inner diameter ø4, air tube x 4 (Normal service pressure: 0.8 MPa)Alarm indicator lamp Red LED small indicator lamp x 1 (DC 24 V must be supplied)Brake release switch Brake release switch to prevent vertical axis from dropping (DC 24 V must be supplied)

Ambient temperature/humidity

Temperature: 0 to 40°C, Humidity: 20 to 85%RH or less (non-condensing)

Robot weight 97 kgApplicable controller T2: XSEL-SX4 (dedicated controller)Cable length 5L: 5 m (standard) 10L: 10 m

Applicablecontroller Feature Maximum I/O points

(input/output)Power-supply

voltageReference

page

XSEL-SX4 Safety category 4 can be supported 192 points/192 points 3-phase, AC 200 V P5Caution

(Note 1) When 2 kg is transferred back and forth over a horizontal distance of 300 mm and vertical distance of 25 mm

(Note 2) The rated payload represents the maximum mass carrying which the actuator can operate at its maximum speed and maximum acceleration. The maximum payload represents the maximum mass achievable at the greatest sacrifice of the speed and acceleration.

(Note 3) This robot does not support push-motion operation.

Model Axis configurationArm

length(mm)

Motorcapacity

(W)Range of operation

Positioningrepeatability

(mm)(deg)

Maximum operating

speed in PTP mode

Standardcycle times

(sec)(Note 1)

Payload (kg) (Note 2)

Axis 3 (Note 3) push force thrust (N) Axis 4 allowable load

Rated Max. Upperlimit

Lowerlimit

Allowablemoment of

inertia (kg•m2)

Allowabletorque(N•m)

IX-NNN12040- ➀ -T2

Axis 1 Arm 1 700 1000 ±140 deg±0.050 8308 mm/s

(synthesis rate)0.66 20 50 — — 0.5 20.0

Axis 2 Arm 2 500 600 ±150 degAxis 3 Vertical axis — 600 400 mm ±0.020 1000 mm/sAxis 4 Rotational axis — 400 ±360 deg ±0.010 1197.3 deg/s

CAD drawings can be downloaded from the website.

2DCAD2D

CAD

Model Specification Items

IX NNN12040 T2

4

IX SCARA robot

Type SX4Name Super-large SCARA controller

External view

Type Global specification

Safety category (*1) Category 4 can be supported

Number of programs 128 programs

Number of program steps 9999 steps

Number of positions 26666 positions

Power supply 3-phase AC 200 V

Model List

Model

Dedicated Super-large SCARA Controller XSEL-SX4 Type

XSEL - SX4 - - - - - 3Series Type SCARA robot

typeDedicated network slot(Slot 1) (Slot 2) (Slot 3)

I/O slot(Slot 1) (Slot 2)

I/O cable length

Power/voltage

(*1) Meeting this safety category requires the customer to install a safety circuit externally to the controller.

(*) Selectable boards are different and specified separately for dedicated network slots 1 to 3. For each slot, select one of the specified boards and enter the corresponding code.

(*) One of the above I/O boards can be installed in both I/O slot 1 and slot 2, but the DG (DeviceNet Gateway board) option can only be installed in slot 1.

(*) Both the dedicated netework slots and I/O slots can be used at the same time.

* For the details of options, refer to the XSEL-R/S controller catalog.

E Not used

IA IA net-compatible

0 No cable

2 2 m (standard)

3 3m

5 5m

3 3-phase 200 V

E Not used

DV DeviceNet

CC CC-Link

PR PROFIBUS-DP

E Not used

EP EtherNet/IP

EC EtherCAT

Super-large SCARA Program Controller

XSEL-SX4 -SEL-SX4

NNN10040 Arm length 1000 mm/Z-axis 400 mm type

NNN12040 Arm length 1200 mm/Z-axis 400 mm type

E Not used

N1 Input 32/Output 16 (NPN)

N2 Input 16/Output 32 (NPN)

N3 Input 48/Output 48 (NPN)

P1 Input 32/Output 16 (PNP)

P2 Input 16/Output 32 (PNP)

P3 Input 48/Output 48 (PNP)

DG DeviceNet Gateway master board

5

IX SCARA robot

Front view Side view

SX4

External Dimensions

Controller type SX4 typeControl power-supply input Single-phase AC 200/230 V ± 10%

Motor power-supply input Three-phase AC 200 to 230 V ± 10%

Power supply capacity 10838 VA (The specific value varies depending on the I/O and network boards.)

Safety circuit configuration Redundancy supported

Drive source breaker system External safety circuit

Emergency stop input B contact input (External power supply model, redundancy supported)

Enable input B contact input (External power supply model, redundancy supported)

Number of programs 128 programs

Number of program steps 9999 steps (total)

Number of multi-tasking programs 16 programs

Number of positions 26,666 positions

Data memory device Flash ROM + non-volatile RAM (FRAM): System battery (button battery) not required

Data input method Teaching pendant (Model: SEL-TD) or PC software (Model: IA-101-XA-MW)

Standard input/output 2 boards can be installed, including a PIO board of 48 I/O points (NPN/PNP) and a PIO board of 96 I/O points (NPN/PNP)

Expansion input/output None (A separate expansion I/O unit can be used to add up to 4 PIO boards.)

Serial communications function Teaching port (D-sub 25 pins), 2-channel RS232C ports (D-sub 9 pins) Baud rate: 115.2 kbps max.

IA net Number of connected units: 64 points / Baud rate: 12 Mbps, fixed

RC Gateway function RS232C communication port (Channel 2 only) or DeviceNet Gateway master board port.

Fieldbus communication function

DeviceNet, CC-LINK, Profibus, EtherNet/IP, EtherCAT(One of EtherNet/IP and EtherCAT, and one of DeviceNet, CC-LINK and Profibus, can be supported at the same time.)

Clock function Retention time: Approx. 10 days Charge time: Approx. 100 hours

Display unit Optional panel unit (PU-1) can be connected.

Regenerative resistance Built-in regenerative resistor of 1 kΩ/20 W 4 external regenerative resistor units must be connected.

Absolute battery Built into the SCARA robot (Model: AB-3)

Protective function Motor overcurrent, overload, motor driver temperature check, overload check, encoder open-circuit check, soft limit over, system error, absolute battery error, etc.

Ambient operating temp/humidity 0 to 40°C, 85%RH or less (non-condensing). Free from corrosive gases. In particular, there shall be no significant dust.

Item Specification

Main unit dimensions W 34 mm x H 195 mm x D 126 mm

Main unit weight 0.9 kg

Built-in regenerative resistor 220 Ω 80 W

Accessories Controller connection cable (Model: CB-ST-REU010): 1 m

Specification Table

* Refer to the operation manual or contact us for the power-supply capacity, etc.

315359

180

186

195

57.510010057.5

5

3-ø5(36)

125.3

(80)

3

358374

180

186

195

5912012059

125.35

(80)

3

3-ø5

Option [Regenerative Resistor Unit]

Model

Description

This unit converts to heat the regenerative current generated when the motor decelerates. The controller has an internal regenerative reistor, but it does not offer enough capacity when the robot operates in tough conditions, in which case this regenerative unit is required. (Refer to the table on the right.)

REU-1 Specificationø5

16.6 126

34

5

175

195

186

R B O U T

R B I N

R B –

R B +

R B –

R B +

6

Option [Flange]

Reference for Operation Limits and Operation Settings

PTPMode

CPMode

70

60

50

40

30

20

10

0

Transferring load (kg)PTP

mod

e, lim

itatio

n on

load

ove

rhan

g le

ngth

(mm

)

0 10 20 30 40 50

Speed: 100%

Speed: 75%

Speed: 50%

70

60

50

40

30

20

10

0

Transferring load (kg)

CP m

ode,

limita

tion

on lo

ad o

verh

ang

leng

th (m

m)

0 10 20 30 40 50

Speed: 100%

Speed: 75%

Speed: 50%

Limitations on Load Overhang/Speed Settings

100

90

80

60

70

50

40

30

20

10

0

Transferring load (kg)

PTP

mod

e, a

ccel

erat

ion/

dece

lera

tion

(%)

0 10 20 30 40 50

Reference range of continuous operation

Operable range

0.3

0.2

0.1

0

Transferring load (kg)

CP m

ode,

acc

eler

atio

n/de

cele

ratio

n (G

)

0 10 20 30 40 50

Reference range ofcontinuous operation

Operable range

Reference for Acceleration/Deceleration Settings

100

90

80

60

70

50

40

30

20

10

0

Duty (%)

PTP

mod

e, a

ccel

erat

ion/

dece

lera

tion

(%)

100 50 25 10

Transferring load 20 to 50 kg

Transferring load 0 to 20 kg

Duty (%)

CP m

ode,

acc

eler

atio

n/de

cele

ratio

n (G

)

0.3

0.2

0.1

0100 3090 80 70 60 50 40

Transferring load 20 to 50 kg

Transferring load 20 kg

Transferring load 0 kg

Reference for ContinuousOperation Duties

SCARA robots cannot operate continuously at the maximum acceleration/deceleration and maximum speed. If your robot must operate at the maximum acceleration/deceleration, provide stationary periods by referring to the "Reference for Continuous Operation Duties" graph. If your robot must operate continuously, set its acceleration/deceleration by referring to the "Reference for Acceleration/Deceleration Settings" graph.

Note The "100% acceleration/deceleration" means that the maximum acceleration/deceleration at which the robot can operate optimally under the speci�ed load condition represents 100%. [The acceleration/deceleration represented by the 100% acceleration/deceleration when 20 to 50 kg is carried is not the same as the acceleration/deceleration represented by the 100% acceleration/deceleration when 0 to 20 kg is carried.]Also note that the operation settings give priority to speed when the load is 0 to 20 kg, and to actuator behavior during operation as well as continuous operation when the load is over 20 kg.

ø110

ø 68

15(3

5)3

(7.2

)

ø40 h7-00.025

Bracket(Robot)

A

A

45 ±0.03 45 ±0.03

ø56

ø90

45°

4-ø11 through

30°

2-M6, depth 12Flange extraction tapped holes

2-ø8

H7

+0.

015

0th

roug

h

View C

Use this �ange when installing tooling, etc., at the end of the Z-axis of your Super-large SCARA NNN10040/NNN12040.

Model: IX-FL-5

CJ0198-1A-UST-1-0313

IAI America, Inc. IAI Industrieroboter GmbHOber der Roth 4, D-65824 Schwalbach am Taunus, GermanyHeadquarters: 2690 W. 237th Street, Torrance, CA 90505 (800) 736-1712

Chicago O�ce: 1261 Hamilton Parkway, Itasca, IL 60143 (800) 944-0333Atlanta O�ce: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066 (888) 354-9470 www.intelligentactuator.comThe information contained in this product brochure may change without prior notice due to product improvements.