IXP-3N1808
IXP-4N1808

Product feature

Dimension drawing
Important notes on selection
Adaptive controller

Main specification

Specification 1

Heading			Contents
Heading			3-axis type	4-axis type
Maximum load capacity (kg) (Note1)			3
Speed (Note2)	Maximum resultant speed (mm/s)		2053
	Maximum speed of each axis	1st arm (degree/s)	420
		2nd arm (degree/s)	420
		Vertical axis (mm/s)	350
		Rotating axis (degree/s)	－	1200
Push force (N)		Upper limit	Unavailable
Push force (N)		Minimum	Unavailable
Arm length (mm)			180
Arm length of each axis (mm)		1st arm	80
Arm length of each axis (mm)		2nd arm	100
Operating range of each axis		1st arm (degree)	±125
		2nd arm (degree)	±125
		Vertical axis (mm)	80
		Rotating axis (degree)	－	±360

Specification 2

Heading		Contents
Heading		3-axis type	4-axis type
Repeated positioning accuracy (Note3)	Horizontal plane	±0.010 mm
	Vertical axis	±0.020 mm
	Rotating shaft	－	±0.010 degree
User wiring		8-core AWG26 (Rated 30V/Max. 1A)
User piping		Air tube (O.D. ø4, I.D. ø2.5) x 2 (Maximum working pressure 0.8 MPa)
Alarm indicator light		Absent
Brake release switch		Absent
Tip shaft	Allowable torque	0.28 N･m	0.28 N･m
Tip shaft	Allowable load moment	0.7 N･m
Ambient operating temperature and humidity		Temperature 0-40℃ Humidity 20-85% RH or less (no condensation)
Protection grade		IP20
Vibration resistant/Shock resistant		No shock or vibration
Noise (Note 4)		75dB or less
Compatible to overseas standards		CE mark, RoHS compliant
Motor type		Pulse motor
Motor capacity	1st arm	－
	2nd arm	－
	Vertical axis	－
	Rotating shaft	－	－
Encoder type		Battery-less absolute
Encoder pulse number		8192 pulse/rev
Delivery		Written in [Reference for delivery] section of the homepage

Adaptive controller

The actuators introduced in this page are controllable using the controllers shown below. Please select their type based on intended usage.

Name	Max. connectable axis No.	Power source voltage	Control method															Maximum positioning points
			Positioner	Pulse train	Program	Network ※Select
			Positioner	Pulse train	Program	DV	CC	CIE	PR	CN	ML	ML3	EC	EP	PRT	SSN	ECM
MSEL-PCX/PGX	4	Single phase AC 100 - 230V	－	－	●	●	●	－	●	－	－	－	●	●	●	－	－	30000

(Note) Refer to page 7-17 for network abbreviation symbols such as DV and CC.

Cycle time

Heading	Time
Standard Cycle Time	0.57 sec
Continuous cycle time	0.57 sec

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 1kg, vertical movement of 25mm and horizontal movement of 100mm (coarse positioning arch motion)

[Standard cycle time]

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

[Continuous cycle time]

The cycle time for continuous operation.

Allowable load moment of inertia at the tip shaft

Number of axes	Allowable load moment of inertia at the tip shaft
3-axis type	0.01 kg･m²
4-axis type	0.003 kg･m²

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.

Horizontal direction	Vertical direction
20mm or less	50mm or less

Guideline for acceleration / deceleration setting

If continuous operation is required, operate within the range of the graph for acceleration / deceleration setting and duty cycle setting guideline.

PTP operation

For speed and acceleration / deceleration, the operable value when the transport load is taken into consideration is set as 100% (optimal speed / optimum acceleration / deceleration feature). Adjust to the desired speed and acceleration / deceleration.

(1) Optimal speed / optimum acceleration / deceleration feature does not provide guarantee for it to operate in all operation patterns.

(2) Slow down the speed or acceleration / deceleration as appropriate if significant vibration occurs, for it may cause a malfunction or may shorten its service life.

CP operation

Set the speed and acceleration / deceleration up to the values in the graph below.

(1) Slow down the speed or acceleration / deceleration as appropriate if significant vibration occurs, for it may cause a malfunction or may shorten its service life.

Duty cycle setting

The duty cycle is the operating rate in percentage (%) of the time the robot is operating during one cycle. This robot has a duty cycle limit based on ambient temperature to suppress the heat generation of the motor unit and reducing gear. Operate both PTP and CP operation within the values in the graph below. Do not run a continuous operation for more than 30 minutes.

(1) Operate with duty cycle within the upper limit for this may shorten the service life of the motor unit and the reducing gear.

Oversea specification

Important notes on selection

(1) Refer to page 4-747 for (Note 1) to (Note 4).
(2) Vertical axis is standard installed with a brake.
(3) Vertical axis does not support push control.
(4) If a tool is installed or a spring or other buffer is provided for push-motion, the allowable push force is 45 N.
(5) The arm will once extend in a straight line when switching the arm thread. Please be careful of interference with peripheral devices.
(6) Flange option is available. Refer to page 4-742 for further details.

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