This is the pressing force at the tip of the vertical axis. (Note 3)

name	exterior	Maximum number of connectable axes	Power supply voltage	Control Method															Maximum number of 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 see page 8-15 .

Standard/continuous cycle time indicates the time required when operating at the fastest round trip operation setting under the conditions below.

2kg transport, vertical movement 25mm, horizontal movement 300mm (coarse positioning arch motion)

[Standard cycle time]

This is the time required for maximum speed operation. Generally, this is a guide to high speed performance.

Please note that continuous operation at maximum speed is not possible.

[Continuous cycle time]

This is the cycle time for continuous operation.

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

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

If the tool center of gravity is moved away from the center of the tip of the shaft, the speed and acceleration must be reduced appropriately. The extension length is limited by the load and operating conditions.

The SCARA Robot IXA cannot be operated continuously at the maximum acceleration/deceleration and maximum speed in the catalog. When operating at the maximum acceleration/deceleration, set the stop time by referring to the continuous operation duty ratio guideline graph. If continuous operation is required, operate the robot at an acceleration/deceleration setting within the continuous operation guideline range in the acceleration/deceleration setting guideline graph.

(1) For PTP operation, be sure to use the WGHT command in the program to set the mass and moment of inertia before operating. The maximum acceleration/deceleration at which SCARA can operate for each load capacity is 100%. Please note that even with the same acceleration/deceleration and speed settings, the operation time will differ if the load mass is different. The values ​​(%) set for acceleration and deceleration in PTP operation are adjusted by the optimal speed and optimal acceleration/deceleration functions to values ​​at which the speed and acceleration/deceleration can be operated depending on the load mass and movement posture. However, the optimal acceleration/deceleration function does not guarantee that operation is possible with all operation patterns.

(2) Adjust the acceleration/deceleration setting by gradually increasing it from the continuous operation guideline value.

(3) If an overload error occurs, reduce the acceleration/deceleration as appropriate, or adjust the stopping time based on the guideline for the continuous operation duty ratio.

(4) Duty ratio (%) = (operating time / (operating time + stopped time)) x 100

(5) When you want to move the robot horizontally at high speed, try to operate the vertical axis as close to the upper end as possible.

(6) Keep the moment of inertia and payload below the allowable values.

(7) The payload capacity indicates the moment of inertia about the center of the rotation axis and the mass.

(8) When operating the robot, observe the appropriate acceleration and deceleration according to the mass and moment of inertia. Failure to do so may result in premature end of life, damage or vibration of the drive parts.

(9) If the load has a large moment of inertia, vibration may occur in the vertical axis depending on the position of the vertical axis. If vibration occurs, reduce the acceleration/deceleration as appropriate.

Horizontal

Up and down

Horizontal

Up and down