Name	Appearance	Max. connectable axis No.	Power source voltage	Control method															Maximum positioning points
				Positioner	Pulse train	Program	Network *Select
							DV	CC	CIE	PR	CN	ML	ML3	EC	EP	PRT	SSN	ECM
XSEL-PX4/QX4		4	Three-phase AC200V	－	－	●	●	●	－	●	－	－	－	－	●	－	－	－	20000
XSEL-RAX4/SAX4 (for IX, IXA)		4		－	－	●	●	●	－	●	－	－	－	●	●	－	－	－	36666 (depending on type)

(Note) Refer to page 8-17 for network abbreviations such as DV and CC.

(Note) CE is optional.

The standard cycle time indicates the required time when operating with the fastest round-trip operation setting under the following conditions.

Transfer mass of 2kg, vertical movement of 25mm and horizontal movement of 300mm (coarse positioning arch motion)

[Standard cycle time]

The time required for the fastest operation. Generally, this is a guide for high-speed performance.

Please note that continuous operation at the fastest operation is not possible.

SCARA Robot IX cannot operate continuously at the maximum acceleration/deceleration and maximum speed in the catalog. When operating at the maximum acceleration / deceleration, set the stop time by referring to the guideline graph of continuous operation duty. If continuous operation is required, operate with the acceleration / deceleration setting within the continuous operation guideline range described in guideline graph for acceleration / deceleration setting.

(1) In case of PTP operation, be sure to use the WGHT instruction on the program to set the mass and moment of inertia before operating. For SCARA high speed compatible products,the maximum acceleration / deceleration that can operate at each transport mass is set as 100%. Please note that the operating time will be different if the transport mass is different even if the acceleration / deceleration and speed settings are the same.

(2) Adjust the acceleration / deceleration by gradually increasing the set value from the continuous operation guideline value.

(3) If an overload error occurs, reduce the acceleration/deceleration as appropriate, or make adjustments to set a stop time by referring to the guideline for continuous operation duty.

(4) Duty (%) = (Operating time / (Operating time + Stopping time)) x 100

(5) If you wish to move the robot horizontally at high speed, move the vertical axis as close to the rising end as possible.

(6) Keep the moment of inertia and the loaded mass below the allowable values.

(7) The transport load indicates the moment of inertia and mass of the center of rotation of the 4th axis.

(8) Operate the robot with an appropriate acceleration / deceleration based on the mass and moment of inertia. Failure to do so will result in shortened life span, damage and vibration of the drive.

(9) If the moment of inertia of the load is large, vibration may occur at the vertical axis depending on its position. If vibration occurs, slow down the acceleration / deceleration as appropriate.

The allowable load moment of inertia of the tip axis is the allowable moment of inertia when the tip spline axis of the SCARA robot is converted to the center. The offset amount from the tip axis to the load center should be within the following values. If the position of the center of gravity of the load deviates from the tip axis, it is required to reduce the speed and acceleration as appropriate. The vertical direction refers to a guideline for the amount of offset that the SCARA robot can operate smoothly.