This is the pushing force at the tip of the vertical shaft. (Note 3)

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-SAX4 (for IXA)		4	Three-phase AC200V	－	－	●	●	●	●	●	－	－	－	●	●	－	－	－	36666

(Note) For network abbreviations such as DV and CC, please refer to page 8-15.

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

Payload of 2kg, vertical movement 25mm, horizontal movement 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.

This is the allowable moment of inertia calculated from the tip axis (rotation axis) of the SCARA robot.

The offset from the center of the tip axis to the center of gravity of the tool should be within the following values.

If the center of gravity of the tool moves away from the center of the tip axis, it is necessary to reduce the speed and acceleration appropriately. The overhang length is limited depending on the load and operating conditions.

SCARA Robot IXA cannot operate continuously at the maximum acceleration / deceleration and maximum speed noted in the catalog. If you plan to operate at maximum acceleration/deceleration, please set a stop time by referring to the continuous operation duty ratio graph. 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. The maximum acceleration/deceleration that SCARA can operate with each payload is 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. The acceleration/deceleration (%) set for PTP operation is adjusted to a value that allows operation at the set value using the optimum speed/acceleration/deceleration function, depending on the transferred load and movement posture. However, the optimal acceleration/deceleration function does not guarantee that it can operate in all motion patterns.

(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 set a stop time using the continuous operation duty ratio as a reference.

(4) Duty ratio (%) = (operating time / (operating time + stop time)) × 100

(5) If you want the robot to move 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 payload indicates the moment of inertia and mass around the rotation axis.

(8) Operate the robot with an appropriate acceleration / deceleration based on the mass and moment of inertia. Failure to comply will result in early life, damage and/or vibration of the drive unit.

(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

Horizontal

Vertical