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 based on the duty ratio setting reference graph. If continuous operation is required, operate it under a setting within the range indicated in the continuous operation guideline of the 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 varies based on payload 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 appropriately or adjust the stop time based on the duty ratio setting guideline.

(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 payload 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