Product feature
Model specification
| Model | Axis Configuration | Arm length (mm) | Motor capacity (W) | Operating range | Positioning repeatability (mm) (Note 1) | Max. PTP operation speed (Note 2) | Standard cycle time (s) (Note 3) | Load Capacity (kg) | Control range of 3rd axis (vertical axis) push force (N) | Allowable load of 4th axis | ||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Rated | Maximum | Upper limit (Note 4) | Lower limit (Note 4) | Allowable moment of inertia (kg･m2) (Note 5) | Allowable torque (N·m) | |||||||||
| IX-NNW7020H-①-T2-② 【IX-NNW7040H-①-T2-②】 | 1-Axis | 1st arm | 350 | 750 | ±125 degrees | ±0.015 (XY) | 7010mm/s (combined speed) | 0.45 | 5 | 20 | 304.0 | 123.0 | 0.1 | 11.7 |
| 2-Axis | 2nd arm | 350 | 400 | ±145 degrees | ||||||||||
| 3-Axis | Vertical axis | － | 400 | 200mm 【400mm】 | ±0.010 | 1614mm/s | ||||||||
| 4-Axis | Rotating shaft | － | 200 | ±360 degrees | ±0.005 | 1266 degrees/s | ||||||||
Legend ① Cable length ② Option
Actuator specification
| Heading | Contents |
|---|---|
| Encoder type | Absolute |
| User wiring | 23-core AWG26 shielded waterproof connector |
| User piping | Air tube (O.D. ø6, I.D. ø4) x 2 (Normal working pressure 0.8 MPa) Air tube (O.D. ø4, I.D. ø2.5) x 2 (Normal working pressure 0.8 MPa) |
| Alarm indicator light (Note 6) | 1 small red LED indicator (24V DC supply required) |
| Brake release switch (Note 7) | Brake release switch for vertical axis fall prevention (24V DC supply required) |
| Ambient temperature/humidity | Temperature 0 - 40℃, humidity 20 - 85% RH or less (no condensation) |
| Body weight | 60kg |
| Cable length (Note 8) | 5L： 5m (standard) 10L: 10m |
| Protective structure (Note 9) | Equivalent to IP65 |
| Air purge pressure (Note 10) | 0.3MPa or more (maximum 0.6MPa or less) (clean dry air) |
Adaptive controller
The actuators introduced in this page are controllable using the controllers shown below. Please select their type based on intended usage.
| 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 7-17 for network abbreviation symbols such as DV and CC.
Oversea specification
(Note) CE is optional.
Important notes on selection
 | (1) Please refer to page 6-559 for (Note 1) to (Note 11). (2) SCARA robots cannot operate continuously at 100% speed and acceleration. Refer to the technical information on page 1-507 for operating conditions. (3) Figures in 【 】 are for the models with a vertical axis of 400mm. Other specifications and dimensions are common for both vertical axis of 200mm and 400mm. (4) An adjustment jig is required to perform absolute reset which is needed whenever the encoder absolute data was lost. Refer to page 6-575 for further details. (5) Flange option is available. Refer to page 6-680 for further details. |
Dimension drawing
st: Stroke
*1 At 3-M4 depth 8, the pilot hole penetrates the side of the arm.
*2 The external force applied to the spacer should be 30N or less in the axial direction and 2N･m or less in the rotational direction. (For each spacer)
*3 The LED will operate if you take the I/O output signal of the controller and perform the wiring process to apply DC24V to the LED terminal in the user wiring.
*4 The air supply port can be installed in the opposite direction. (By removing the PT3/8 plug and replacing it with a fitting)
(Note) Cable/Piping
・Motor/Encoder Cable 5m/10m
・Brake Power Supply Cable 5m/10m
・User wiring cable 5m/10m
・Air piping (4 pieces) 0.15
