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-RAX3 / SAX3 (for IXA)		3	Three-phase AC200V	－	－	●	●	●	－	●	－	－	－	●	●	－	－	－	41250 (depending on type)
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.

The standard / continuous cycle time indicates the time required 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.

[Continuous cycle time]

The cycle time for continuous operation.

The allowable moment of inertia of 4th axis is the allowable moment of inertia converted to the center of rotation of the 4th axis (rotating shaft) of the SCARA robot. The offset amount from the center of rotation of the 4th axis to the center of gravity of the tool should be within the following values. If the position of the center of gravity of the tool deviates from the center position of the 4th axis, it is required to reduce the speed and acceleration as appropriate. The overhang length is limited based on the load and operating conditions.

SCARA Robot IXA cannot operate continuously at the maximum acceleration / deceleration and maximum speed noted 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 within the appropriate acceleration / deceleration according to the mass and moment of inertia of the 4-axis specification. 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.

Horizontal

Vertical