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www.iai-automation.com www.intelligentactuator.de
High-Power SCARA RobotWith Battery-less Absolute Encoder IXA Series
1
Fastest cycle times1 Industry top
Standard cycle time
High-speed type(IXA-NSN)
Standard type(IXA-NNN)
0.26s0.38s
Continuous cycle time (duty 100%)
High-speed type(IXA-NSN)
Standard type(IXA-NNN)
0.45s0.55s
Achieves a lower priceOur new SCARA robot is even more affordable than previous models.Plus, it offers even better performance and functionality.
2Operational conditions
► 2kg transport
► Horizontal movement 300mm/vertical movement 25mm
Horizontal movementVertical movement
Introducing the new SCARA Robot IXA !
One of the fastestin the industry !
* The following measurements were taken during arch motion cycle operation under the following conditions and operation setting.
2
Low vibration, accurate positioning3Higher rigidity and optimized control mean significantly less vibration during Stopping.
SCARA Robot
Time [s]
Dis
plac
emen
t [m
m]
IX IXA
Stops on a dime
[X direction]
Payload
Model
Operational conditions
IXA-4NSN4518
2kg
0.26s
IX-NSN5016H
0.29sCycle time
D
3
Equipped with a Battery-less Absolute Encoder as standard4T
Compliant to degree of protection of IP65.
here is no need to replace batteries and less maintenance.
Dust / Splash-proof speci�cation suitable for environment5
Advantages of Battery-less Absolute
► The machine will no longer stop due to battery error (voltage drop, etc.).
► There is no need to purchase replacement batteries.► No tiresome battery replacement or absolute reset.
Battery-less Absolute EncoderNo Battery, No Maintenance, No Homing, No Going Back to Incremental.
Comingsoon
3-1
6
You can check the motion of SCARA without a robot, if you use the PC software.In addition, you can measure the cycle time easily.
7
Fully covered structure
Double arm structure *
* Excluding arm length 180mm
* Excluding arm length 300mm
The operating part is coveredfor improved dust-proo�ng.
Improved rigidity for lessvibration. Heat dissipationhas been improved for shortercontinuous cycle times.
Standard / High-speed type
Aluminum cover is used
Double arm structure *
When receiving direct water jet, the cover is not deformed, andwater does not ingress inside.There is no swelling caused bycoolant, either.
Dust / Splash-proof speci�cation
Built-in cables
Comingsoon
Measurement Result Area
Basic operation in 3D View Window
0.018s
Mechanical structure / features
Simulation Software
Built-in cables
Patent pending
Patent pending
Cables are built in forreduced height ande�ective use of space.
3-2
Control functions by Controller8lt controls the robot motion softly by sensing external forces and supports �tting of theworkpiece by reducing the contact force at the time of insertion.
lf the SCARA robot detects a collision with an object, it stops the operation immediately.lt reduces damages on the gripper, workpiece and robot when a collision occurs.
Compliance control
Collision detection function
4
Applications
High-speed transport to touch panel inspection box
High-speed part assembly/transport
High-speed pick and place of radiators and chips
Combine with a single axis robot to transport workpieces forward, backward, left, and right over a wide work area.
Two SCARA robots operate efficiently in each other's work areas, preventing wasted cycles.
Parts supplied from the parts feeder can be picked and placed at high-speed.
5
Product Lineup
Type ModelNum-ber of axes
Arm length (mm)Vertical axis stroke (mm)
Standard cycle time
(s)
Continu-ous cycle time (s)
Maximum pay-
load (kg)
Reference page
First arm Second arm
Standard type
IXA-3NNN1805 3 axes80 100 50 0.26 0.45 1
P6-1
IXA-4NNN1805 4 axes P6-1
IXA-3NNN3015 3 axes120 180 150
0.38 0.55
3P7
IXA-4NNN3015 4 axes P7
IXA-3NNN4518 3 axes
200 250
180
3
P9
IXA-4NNN4518 4 axes P9
IXA-3NNN4533 3 axes330
P9
IXA-4NNN4533 4 axes P9
IXA-3NNN6018 3 axes
350 250
180
6
P11
IXA-4NNN6018 4 axes P11
IXA-3NNN6033 3 axes330
P11
IXA-4NNN6033 4 axes P11
High-speed type
IXA-3NSN3015 3 axes120 180 150
0.26 0.45
8P13
IXA-4NSN3015 4 axes P13
IXA-3NSN4518 3 axes
200 250
180
10
P15
IXA-4NSN4518 4 axes P15
IXA-3NSN4533 3 axes330
P15
IXA-4NSN4533 4 axes P15
IXA-3NSN6018 3 axes
350 250
180
12
P17
IXA-4NSN6018 4 axes P17
IXA-3NSN6033 3 axes330
P17
IXA-4NSN6033 4 axes P17
Dust / splash-proof
high-speed type
IXA-4NSW3015 4 axes 155 145 150 0.38 0.69 6 P18-1
IXA-4NSW45184 axes 200 250
1800.38 0.55 8
P18-3
IXA-4NSW4533 330 P18-3
IXA-4NSW60184 axes 350 250
1800.38 0.57 10
P18-5
IXA-4NSW6033 330 P18-5
Comingsoon
6
IXASeries Type Cable Length
T2Applicable Controllers Options
T2 XSEL-RAX/SAX LED Indicator
N None 10m
5L
10L
5m L:Specified length (1m increm.),maximum length 15m
* Only available for the standard type with arm lengths of 300/450/600mm.
IXA - 3 NNN 45 18 - 5L - T2 - LEDNumber of axes: 3 Cable length: 5mArm length:
450mm Controller: XSEL-RAX/SAX
Option: Indicator
Type: Standard Vertical axis stroke: 180mm
LED indicator (standard type only)
DescriptionModel LED
(Example)
Installation of an LED that can beturned on and o� as required.(Standard con�guration for high-speed type.)
Model Speci�cation Items and Options
Description of options
Single unit option models
3NNN1805 3-axis standard type/arm length 180mm/vertical axis 50mm
4NNN1805 4-axis standard type/arm length 180mm/vertical axis 50mm
3NNN3015 3-axis standard type/arm length 300mm/vertical axis 150mm
4NNN3015 4-axis standard type/arm length 300mm/vertical axis 150mm
3NNN4518 3-axis standard type/arm length 450mm/vertical axis 180mm
4NNN4518 4-axis standard type/arm length 450mm/vertical axis180mm
3NNN4533 3-axis standard type/arm length 450mm/vertical axis 330mm
4NNN4533 4-axis standard type/arm length 450mm/vertical axis 330mm
3NNN6018 3-axis standard type/arm length 600mm/vertical axis 180mm
4NNN6018 4-axis standard type/arm length 600mm/vertical axis 180mm
3NNN6033 3-axis standard type/arm length 600mm/vertical axis 330mm
4NNN6033 4-axis standard type/arm length 600mm/vertical axis 330mm
3NSN3015 3-axis high-speed type/arm length 300mm/vertical axis 150mm
4NSN3015 4-axis high-speed type/arm length 300mm/vertical axis 150mm
3NSN4518 3-axis high-speed type/arm length 450mm/vertical axis 180mm
4NSN4518 4-axis high-speed type/arm length 450mm/vertical axis 180mm
3NSN4533 3-axis high-speed type/arm length 450mm/vertical axis 330mm
4NSN4533 4-axis high-speed type/arm length 450mm/vertical axis 330mm
3NSN6018 3-axis high-speed type/arm length 600mm/vertical axis 180mm
4NSN6018 4-axis high-speed type/arm length 600mm/vertical axis 180mm
3NSN6033 3-axis high-speed type/arm length 600mm/vertical axis 330mm
4NSN6033 4-axis high-speed type/arm length 600mm/vertical axis 330mm
4NSW3015 Dust-/Splash-proof spec., 4-axis high-speed type/arm length 300mm/vertical axis 150mm
4NSW4518 Dust-/Splash-proof spec., 4-axis high-speed type/arm length 450mm/vertical axis 180mm
4NSW4533 Dust-/Splash-proof spec., 4-axis high-speed type/arm length 450mm/vertical axis 330mm
4NSW6018 Dust-/Splash-proof spec., 4-axis high-speed type/arm length 600mm/vertical axis 180mm
4NSW6033 Dust-/Splash-proof spec., 4-axis high-speed type/arm length 600mm/vertical axis 330mm
Series Type Flange Metal cap foruser wiring
IXA
NNN
1805 IX-FL-4
-
3015
IX-FL-1
45
60
NSN3015
45
60
NSW3015
IXA-MC-145
60
1.5
14.5
φ32
φ18
φ12h7
3.5
4-φ3.4
45゚
φ3H7 φ26
φ8H8
847
φ70
4-φ5.5
45゚
φ5H7φ60
2
φ34h7
φ44
φ20
A cap to cover theplug for user wiringthat is located onthe upper panel. IX-FL-1
IX-FL-4 IXA-MC-1
Metal cap foruser wiring
IXA SCARA Robot
PO I N T
SelectionNotes
Please refer to P.19 for (Note 1) to (Note 9).(Note 10) The maximum set value for acceleration/deceleration varies depending on the weight
of the object being transported, the traverse distance, and the location. Operating continuously at the maximum set value could cause an overload error. For continuous operation, either lower the acceleration/deceleration value or refer to the duty (guideline) and set a stop time after acceleration/deceleration.
(Note 11) If the motor or controller is replaced, absolute reset must be performed. An adjustment jig (option model: JG-IXA2) will be required to perform absolute reset on the rotational axis (4th axis).
Model / Speci�cations
Legend: ① Cable length
Model Axis con�gurationArm
length (mm)
Motor (W)
Operation range
Positioning repeatability
(Note 1)
Maximum operation
speed during PTP operation (Note 2)
Standard cycle time
(s) (Note 3)
Continuous cycle time
(s) (Note 3)
Payload (kg)
(Note 4)
3rd axis (vertical axis) push force control
range (N)*4th axis allowable load
Upper limit
(Note 5)
Lower limit
(Note 5)
Allowable inertia moment (kg·m²) ( Note 6)
Allowable torque
[3-axis speci�cation] IXA-3NNN1805- ① - T2 [4-axis speci�cation] IXA-4NNN1805- ① - T2
1-axis 1st arm 80 50 ±125 degrees±0.010mm
2638mm/s(composite speed)540/540 deg/s
(1st/2nd arm speed) 0.26 0.45 1 40.0 5.0 0.004 0.352-axis 2nd arm 100 50 ±145 degrees
3-axis Vertical axis - 50 50mm ±0.010mm 850mm/s
4-axis Rotational axis - 50 ±360 degrees ±0.01 deg. 1600 deg/s
Note: The SCARA robot cannot operate continuously at 100% speed/acceleration. Refer to the Reference Data from P.20 for feasible operating conditions.*Speed limitation applies to the push force. Contact IAI for details.
[3-axis
(Note) Please purchase separately.
speci�cation] · Motor cables: 3 · Encoder cables: 3 · Brake cable: 1[4-axis speci�cation] · Motor cables: 4 · Encoder cables: 4 · Brake cable: 1
Cable Length
Type Cable code
Standard type5L(5m)
10L(10m)
Speci�ed length
1L(1m)~4L(4m)6L(6m)~9L(9m)
11L(11m)12L(12m)13L(13m)14L(14m)15L(15m)
Common Speci�cations
Item DescriptionEncoder Type Battery-less Absolute EncoderUser wiring 10-core (9-core + shield) AWG25 (rated 30V/max. 1A)User piping 3 air tubes with ø4 outer diameter and ø2.5 inner diameter (max. operating pressure 0.6MPa)Alarm indicator (Note 7) 1 small amber LED indicator (24 VDC supply required)Brake release switch (Note 8) Brake release switch for vertical axis fall prevention
Ambient temp./hAllowable load moment
umidity0.5N·m
0~40°C, Humidity: 20~85% RH or less (Non-condensing)
Ingress protection IP20Unit weight 3-axis speci�cation: 5.8kg, 4-axis speci�cation: 6.2kgNoise (Note 9) 80dB or less
Single Unit Options
Name Model name Reference pageFlange IX-FL-4 See P.6
IXA - 3NNN1805 / 4NNN1805 Model Speci�cation Items IXA - NNN 18 05 - - T2
Series - Number of Axes Type Arm Length Vertical Axis Stroke - Cable Length - Applicable Controllers 3: 3-axis4: 4-axis
Standard type 18 : 180mm 5 : 50mm 5L : 5m
N : No cable
10L : 10mL : Speci�ed length (1m increments) * Does not include a controller.
T2 : XSEL-RAX/SAX
Arm Length:
180 mm
Vertical Axis:
50 mm
6-1 IXA-3NNN1805/4NNN1805
Battery-less
Absolute
Temperature:
StandardType
IXA SCARA Robot
Dimensions
(*) To operate the LED, wire a controller output to apply 24VDC to the LED terminal of the user wiring.
Applicable ControllersThe IXA series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use.
Name External view Max. number of connectable axes
Power supply voltage
Control method Maximum number of positioning points
Reference pagePositioner Pulse-train Program Network * option
XSEL-RAX/SAX 8 Three-phase230VAC − −
36666(Depending on the type) See P.24
IXA-3NNN1805/4NNN1805 6-2
CAD drawings can be downloaded from our website.
www.intelligentactuator.de2D
CAD2D
CAD3D
CAD3D
CAD
350
ST3
81.4
350
100 80
(395)
4533
3
18037 (178)81
.4
28
5 15
2-M3, depth 6(Same on opposite side)
147.
4(9
)
(4.5
)
124.
9
149.5 (28.7)(100)
Wiring spaceReference surface
Mounting surface
M.E.
M.E.
S.E.
Home position P
80
10 80
74 81.280
98
127194.6
63 20 45
50
10
Reference surface M3 depth 6 (for ground line)
W
K
LED pilot lamp (amber color)
X
50
8
ø6 H7 reamed depth 6
84
Q
8
6 Depth 6 (from base mounting surface)
+0.0120
(R)
Details of QDetails of base oblong holes
54
28
ø15
Detailed view of P
7.5
ø8 h7
Cross section Z-Z
Detailed view of WUser panel details
2-ø4 air tube quick joint
2-M3, depth 6
D-sub connector for user wiring
Wiring: 25AWG, 10-core (9-core + shield)
YellowRed
surface part)
Detailed view of KDetails of base mounting holes
Detailed view of XDetails of rear panel
D-sub connector for user wiring (15-pole, socket,
Wiring: 25AWG, 10-core (9-core + shield)
Brake cable connection
Brake release switch
2-ø4 air tube quick joint
Motor cable connection
Encoder cable connection
Yellow
Red
ø6.6
8.9
Cross section Y-Y (4 places)
ZZ
YY
125°
125°
68
R100
R180
R100
R57.4
R80
145°
53.6°
Right arm system operation range
125°12
5°
R100
68
R57.4
R100
10.6 10.6
R180
R80
145°
53.6°
Left arm system operation range
S.T.: StrokeM.E.: Mechanical endS.E.: Stroke end
IXA SCARA Robot
PO I N T
SelectionNotes
Please refer to P.19 for (Note 1) to (Note 9).(Note 10) The maximum set value for acceleration/deceleration varies depending on the weight
of the object being transported, the traverse distance, and the location. Operating continuously at the maximum set value could cause an overload error. For continuous operation, either lower the acceleration/deceleration value or refer to the duty (guideline) and set a stop time after acceleration/deceleration.
(Note 11) If the motor or controller is replaced, absolute reset must be performed. An adjustment jig (option model: JG-IXA1) will be required to perform absolute reset on the rotational axis (4th axis).
Model / Speci�cations
Legend: ① Cable length ② Options
Model Axis con�gurationArm
length (mm)
Motor (W)
Operation range
Positioning repeatability
(Note 1)
Maximum operation
speed during PTP operation (Note 2)
Standard cycle time
(s) (Note 3)
Continuous cycle time
(s) (Note 3)
Payload (kg)
(Note 4)
3rd axis (vertical axis) push force control
range (N)*4th axis allowable load
Upper limit
(Note 5)
Lower limit
(Note 5)
Allowable inertia moment (kg·m²) ( Note 6)
Allowable torque
[3-axis speci�cation] IXA-3NNN3015- ① - T2 - ②[4-axis speci�cation] IXA-4NNN3015- ① - T2 - ②
1-axis 1st arm 120 400 ±135 degrees±0.010mm
0.38 0.55 3 60.0 10.0 0.06 3.22-axis 2nd arm 180 200 ±142 degrees
3-axis Vertical axis - 100 150mm ±0.010mm 1400mm/s
4-axis Rotational axis - 100 ±360 degrees ±0.005 deg. 1600 deg/s
Note: The SCARA robot cannot operate continuously at 100% speed/acceleration. Refer to the Reference Data from P.20 for feasible operating conditions.*Speed limitation applies to the push force. Contact IAI for details.
[3-axis speci�cation] · Motor cables: 3 · Encoder cables: 3 · Brake cable: 1[4-axis speci�cation] · Motor cables: 4 · Encoder cables: 4 · Brake cable: 1
Cable Length
Type Cable code
Standard type5L(5m)
10L(10m)
Speci�ed length
1L(1m)~4L(4m)6L(6m)~9L(9m)
11L(11m)12L(12m)13L(13m)14L(14m)15L(15m)
Common Speci�cations
Item DescriptionEncoder Type Battery-less Absolute EncoderUser wiring 10-core (9-core + shield) AWG24 (rated 30V/max. 1A)User piping 3 air tubes with ø4 outer diameter and ø2.5 inner diameter (max. operating pressure 0.6MPa)Alarm indicator (*) (Note 7) 1 small amber LED indicator (24 VDC supply required)Brake release switch (Note 8) Brake release switch for vertical axis fall prevention
Ambient temp./humidity Temperature: 0~40°C, Humidity: 20~85% RH or less (Non-condensing)Ingress protection IP20Unit weight 3-axis speci�cation: 21kg, 4-axis speci�cation: 22kgNoise (Note 9) 80dB or less
Options
Name Model name Reference pageIndicator LED See P.6
IXA - 3NNN3015 / 4NNN3015 Model Speci�cation Items IXA - NNN 30 15 - - T2 -
Series - Number of Axes Type Arm Length Vertical Axis Stroke - Cable Length - Applicable Controllers - Options
3: 3-axis4: 4-axis
Standard type 30 : 300mm 15 : 150mm
Refer to Optionstable below.
* Does not include a controller.
T2 : XSEL-RAX/SAX
Arm Length:
300 mm
Vertical Axis:
150 mm
(*) An alarm indicator is equipped when the LED option is selected.
7 IXA-3NNN3015/4NNN3015
Battery-less
Absolute
5529mm/s(composite speed)660/660 deg/s
(1st/2nd arm speed)
Allowable load moment 4.5N·m
5L : 5mN : No cable
10L : 10mL : Speci�ed length (1m increments)
StandardType
(Note) Please purchase separately.
Single Unit Options
Name Model name Reference pageFlange IX-FL-1 See P.6
IXA SCARA Robot
100 (Installation space)
(694
.8)
5 (mech
anical
end)
5 (m
echa
nica
l end
)15
0 (s
trok
e)
20
92.5
270
372
643.
8
120180
(300)56.5 189.1
(545.6)
8.7
8025
9
261
347.
5
Reference surface Mounting surface
A 3-coated grommet(for user piping)
D-sub connector for user wiring(15-pole, plug, fixture M2.6)
Motor/encoder cable connection(1st axis)
Motor/encoder cable connection(2nd~4th axes)
Brake cable connection
Brake release switch
(104
.3)
(92.5)155
(103
.7)
140
167.
5
85
142
5°
141(15)
182251.5
Reference surface
Coated grommet(for user wiring/piping)
C
1592.5
4-M4 depth 8
6285
31 25
140
D
2-M4 depth 8D-sub connector for user wiring(9-pole, socket, fixture M2.6)
3-coated grommet(for user piping)
12
(from base mounting surface)(R)
Detailed view of DBase oblong hole details
LED light (*)[When option is selected]
R300
135° 135°
100R180
R180
R112
.9
40.2°
142°
R300
100
135°135°
R112.9
R180
40.2°
R180
142°
Left arm system operation rangeRight arm system operation range
Detailed view of CUser panel details
10 H7+0.015
0 Depth 6
1010
65 BB
19
Ø40
Ø20 h7-0
0.021Ø14 hollow
Detailed view of tip A
Sectional view B-B
U
Detailed view of UDetails of base mounting holes
V
Detailed view of V
Ø10 H7+0.015
0 Depth 6
10.5
10.54-Ø9
(R10.5)
182
Dimensions
(*) To operate the LED, wire a controller output to apply 24VDC to the LED terminal of the user wiring.
Applicable ControllersThe IXA series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use.
Name External view Max. number of connectable axes
Power supply voltage
Control method Maximum number of positioning points
Reference pagePositioner Pulse-train Program Network * option
XSEL-RAX/SAX 8 Three-phase230VAC − −
36666(Depending on the type) See P.24
IXA-3NNN3015/4NNN3015 8
CAD drawings can be downloaded from our website.
www.intelligentactuator.de2D
CAD2D
CAD3D
CAD3D
CAD
IXA SCARA Robot
Model / Speci�cations
Legend: ① Cable length ② Options
Model Axis con�gurationArm
length (mm)
Motor (W) Operation
range
Positioning repeatability
(Note 1)
Maximum operation
speed during PTP operation (Note 2)
Standard cycle time
(s) (Note 3)
Continuous cycle time
(s) (Note 3)
Payload (kg)
(Note 4)
3rd axis (vertical axis) push force control
range (N)*4th axis allowable load
Upper limit
(Note 5)
Lower limit
(Note 5)
Allowable inertia moment (kg·m²) ( Note 6)
Allowable torque
[3-axis speci�cation] IXA-3NNN4518- ① - T2 - ②[IXA-3NNN4533 - ① - T2 - ② ]
[4-axis speci�cation] IXA-4NNN4518- ① - T2 - ②[IXA-4NNN4533 - ① - T2 - ② ]
1-axis 1st arm 200 400 ±137 degrees
±0.010mm
0.38 0.55 3 55.0 10.0 0.05 3.22-axis 2nd arm 250 200 ±137
degrees
3-axis Vertical axis - 100 180mm[330mm] ±0.010mm 1200mm/s
4-axis Rotational axis - 100 ±360
degrees±0.005
deg. 2000 deg/s
Note: · The SCARA robot cannot operate continuously at 100% speed/acceleration. Refer to the Reference Data from P.20 for feasible operating conditions. · Values in [ ] are for models with vertical axis of 330mm. Other speci�cations are the same for both 180mm and 330mm vertical axis models.
* Speed limitation applies to the push force. Contact IAI for details.
Common Speci�cations
IXA - 3NNN4518 / 4NNN4518 3NNN4533 / 4NNN4533 Model Speci�cation Items IXA - NNN 45 - - T2 -
Series - Number of Axes Type Arm Length Vertical Axis Stroke - Cable Length - Applicable Controllers - Options
3: 3-axis4: 4-axis
Standard type 45 : 450mm 18 : 180mm33 : 330mm
Refer to Optionstable below.
* Does not include a controller.
T2 : XSEL-RAX/SAX
Arm Length:
450 mm
Vertical Axis:
180/330 mm
Item DescriptionEncoder Type Battery-less Absolute EncoderUser wiring 10-core (9-core + shield) AWG24User piping 3 air tubes with ø6 outer diameter and ø4 inner diameter (max. operating pressure 0.6MPa)Alarm indicator (*) (Note 7) 1 small amber LED indicator (24 VDC supply required)Brake release switch (Note 8) Brake release switch for vertical axis fall prevention
Ambient temp./humidity Temperature: 0~40°C, Humidity: 20~85% RH or less (Non-condensing)Ingress protection IP20Unit weight 3-axis speci�cation: 25.5kg, 4-axis specification: 27kgNoise (Note 9) 80dB or less
(*) An alarm indicator is equipped when the LED option is selected.
9 IXA-3NNN4518/3NNN4533/4NNN4518/4NNN4533
PO I N T
SelectionNotes
Please refer to P.19 for (Note 1) to (Note 9).(Note 10) The maximum set value for acceleration/deceleration varies depending on the weight
of the object being transported, the traverse distance, and the location. Operating continuously at the maximum set value could cause an overload error. For continuous operation, either lower the acceleration/deceleration value or refer to the duty (guideline) and set a stop time after acceleration/deceleration.
(Note 11) If the motor or controller is replaced, absolute reset must be performed. An adjustment jig (option model: JG-IXA1) will be required to perform absolute reset on the rotational axis (4th axis).
Battery-less
Absolute
Allowable load moment 8.3N·m
[3-axis speci�cation] · Motor cables: 3 · Encoder cables: 3 · Brake cable: 1[4-axis speci�cation] · Motor cables: 4 · Encoder cables: 4 · Brake cable: 1
Cable Length
Type Cable code
Standard type5L(5m)
10L(10m)
Speci�ed length
1L(1m)~4L(4m)6L(6m)~9L(9m)
11L(11m)12L(12m)13L(13m)14L(14m)15L(15m)
Options
Name Model name Reference pageIndicator LED See P.6
StandardType
(Note) Please purchase separately.
Single Unit Options
Name Model name Reference pageFlange IX-FL-1 See P.6
5L : 5mN : No cable
10L : 10mL : Speci�ed length (1m increments)
7453mm/s(composite speed)
610/610 deg/s(1st/2nd arm speed)
IXA SCARA Robot
25
497.
5 [6
52.6
]
85
180
(stro
ke)
[330
(stro
ke)]
5 (m
echa
nical
end)
58.3
[208
.3]
619.
2 [7
74.3
]
250 20045050 200
72.6
100 (Wiring space)
63.3
81
25
121.
7
6.3 (m
echan
ical en
d)
131.
7
(420
.1)
456.
5
3-M4 depth 8(same on opposite side)
(288
.4)
20
700
280.
587
245
Mounting surface
A
146
123.7
150
(100
.6)
180
125
170.5 114.585 85.5
22.5
15
85
44
90
Reference surface
Reference surfaceCoated grommet(for user wiring/piping)
160
12
1085
10 H7+0.015
0 Depth 6
Ø10 H7+0.015
0 Depth 6
1010
47
BB
19
Ø20 h7-0
0.021Ø14 hollow
LED light (*)[When option is selected]
4-Ø11 holeØ20 counterbored depth 5
Motor/encoder cable connection(1st axis)
Motor/encoder cable connection(2nd~4th axes)
137°
137°
R450
R250
R250
137°
R171.5
51.4°
100
137°
137°
R450
R250
R171.5
R250
137°
100
51.4°
Ø40
Sectional view B-B
Left arm system operation rangeRight arm system operation range
Detailed view of CUser panel details
C
2-M4 depth 8
D-sub connector for user wiring(9-pole, socket, fixture M2.6)3-coated grommet(for user piping)
Detailed view of tip A
Brake release switch
3-coated grommet(for user piping)
Brake cable connection
D-sub connector for user wiring(15-pole, plug, fixture M2.6)
Dimensions
IXA-3NNN4518/3NNN4533/4NNN4518/4NNN4533 10
(*) To operate the LED, wire a controller output to apply 24VDC to the LED terminal of the user wiring.
* Values in [ ] are dimensions for vertical axis of 330mm.
Applicable ControllersThe IXA series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use.
Name External view Max. number of connectable axes
Power supply voltage
Control method Maximum number of positioning points
Reference pagePositioner Pulse-train Program Network * option
XSEL-RAX/SAX 8 Three-phase230VAC − −
36666(Depending on the type) See P.24
CAD drawings can be downloaded from our website.
www.intelligentactuator.de2D
CAD2D
CAD3D
CAD3D
CAD
IXA SCARA Robot
Model / Speci�cations
Legend: ① Cable length ② Options
Model Axis con�gurationArm
length (mm)
Motor (W) Operation
range
Positioning repeatability
(Note 1)
Maximum operation
speed during PTP operation (Note 2)
Standard cycle time
(s) (Note 3)
Continuous cycle time
(s) (Note 3)
Payload (kg)
(Note 4)
3rd axis (vertical axis) push force control
range (N)*4th axis allowable load
Upper limit
(Note 5)
Lower limit
(Note 5)
Allowable inertia moment (kg·m²) ( Note 6)
Allowable torque
[3-axis speci�cation] IXA-3NNN6018- ① - T2 - ②[IXA-3NNN6033 - ① - T2 - ② ]
[4-axis speci�cation] IXA-4NNN6018- ① - T2 - ②[IXA-4NNN6033 - ① - T2 - ② ]
1-axis 1st arm 350 600 ±137 degrees
±0.010mm
0.38 0.55 6 110.0 25.0 0.06 3.22-axis 2nd arm 250 200 ±140
degrees
3-axis Vertical axis - 200 180mm[330mm] ±0.010mm 1600mm/s
4-axis Rotational axis - 100 ±360
degrees±0.005
deg. 2000 deg/s
Note: · The SCARA robot cannot operate continuously at 100% speed/acceleration. Refer to the Reference Data from P.20 for feasible operating conditions. · Values in [ ] are for models with vertical axis of 330mm. Other speci�cations are the same for both 180mm and 330mm vertical axis models.
* Speed limitation applies to the push force. Contact IAI for details.
Common Speci�cations
IXA - 3NNN6018 / 4NNN6018 3NNN6033 / 4NNN6033 Model Speci�cation Items IXA - NNN 60 - - T2 -
Series - Number of Axes Type Arm Length Vertical Axis Stroke - Cable Length - Applicable Controllers - Options
3: 3-axis4: 4-axis
Standard type 60 : 600mm 18 : 180mm33 : 330mm
Refer to Optionstable below.
* Does not include a controller.
T2 : XSEL-RAX/SAX
Arm Length:
600 mm
Vertical Axis:
180/330 mm
Item DescriptionEncoder Type Battery-less Absolute EncoderUser wiring 10-core (9-core + shield) AWG24 (rated 30V/max 1A)User piping 3 air tubes with ø6 outer diameter and ø4 inner diameter (max. operating pressure 0.6MPa)Alarm indicator (*) (Note 7) 1 small amber LED indicator (24 VDC supply required)Brake release switch (Note 8) Brake release switch for vertical axis fall prevention
Ambient temp./humidity Temperature: 0~40°C, Humidity: 20~85% RH or less (Non-condensing)Ingress protection IP20Unit weight 3-axis specification: 30.5kg, 4-axis speci�cation: 32.0kgNoise (Note 9) 80dB or less
11 IXA-3NNN6018/3NNN6033/4NNN6018/4NNN6033
(*) An alarm indicator is equipped when the LED option is selected.
PO I N T
SelectionNotes
Please refer to P.19 for (Note 1) to (Note 9).(Note 10) The maximum set value for acceleration/deceleration varies depending on the weight
of the object being transported, the traverse distance, and the location. Operating continuously at the maximum set value could cause an overload error. For continuous operation, either lower the acceleration/deceleration value or refer to the duty (guideline) and set a stop time after acceleration/deceleration.
(Note 11) If the motor or controller is replaced, absolute reset must be performed. An adjustment jig (option model: JG-IXA1) will be required to perform absolute reset on the rotational axis (4th axis).
Battery-less
Absolute
[3-axis speci�cation] · Motor cables: 3 · Encoder cables: 3 · Brake cable: 1[4-axis speci�cation] · Motor cables: 4 · Encoder cables: 4 · Brake cable: 1
Cable Length
Type Cable code
Standard type5L(5m)
10L(10m)
Speci�ed length
1L(1m)~4L(4m)6L(6m)~9L(9m)
11L(11m)12L(12m)13L(13m)14L(14m)15L(15m)
Options
Name Model name Reference pageIndicator LED See P.6
5934mm/s(composite speed)
400/400 deg/s(1st/2nd arm speed)
Allowable load moment 8.3N·m
StandardType
(Note) Please purchase separately.
Single Unit Options
Name Model name Reference pageFlange IX-FL-1 See P.6
5L : 5mN : No cable
10L : 10mL : Speci�ed length (1m increments)
IXA SCARA Robot
497.
5 [6
52.6
]
5 (m
echa
nical
end)
58.3
[208
.3]
619.
2 [7
74.3
]
121.
7
85 100 (Wiring space)Mounting surface
160
10
10 H7+0.015
0 Depth 6
Ø10 H7+0.015
0 Depth 6
LED light (*)[When option is selected]
3-coated grommet(for user piping)
D-sub connector for user wiring(15-pole, plug, fixture M2.6)
Motor/encoder cable connection(1st axis)
Motor/encoder cable connection(2nd~4th axes)
Detailed view of CUser panel details
2-M4 depth 8
D-sub connector for user wiring(9-pole, socket, fixture M2.6)3-coated grommet(for user piping)
137°
137°
R250
R225.7
R250
100
76.7°
R600
140°
137°
R250
R250
R600
R225.7
100
76.7°
137°
140°
Left arm system operation rangeRight arm system operation range
200250 350
600
72.6
131.
7
(420
.1)
456.
5
(288
.4)
20
850
294
73.5
50
A
Brake cable connection
Brake release switch
146
123.7
(100
.6)
150
180
125
170.5 114.585 85.5
22.5
15
44
90
85
Reference surface
Reference surface
12
85
4-Ø11 holeØ20 counterbored depth 5
6.3 (m
echan
ical en
d)
180
(stro
ke)
[330
(stro
ke)]
245
63.3
81
3-M4 depth 8(same on opposite side)25 25
C
Coated grommet(for user wiring/piping)
1010
47
BB
19
Ø20 h7-0
0.021Ø14 hollow
Ø40
Sectional view B-B
Detailed view of tip A
Dimensions
IXA-3NNN6018/3NNN6033/4NNN6018/4NNN6033 12
(*) To operate the LED, wire a controller output to apply 24VDC to the LED terminal of the user wiring.
* Values in [ ] are dimensions for vertical axis of 330mm.
Applicable ControllersThe IXA series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use.
Name External view Max. number of connectable axes
Power supply voltage
Control method Maximum number of positioning points
Reference pagePositioner Pulse-train Program Network * option
XSEL-RAX/SAX 8 Three-phase230VAC − −
36666(Depending on the type) See P.24
CAD drawings can be downloaded from our website.
www.intelligentactuator.de2D
CAD2D
CAD3D
CAD3D
CAD
IXA SCARA Robot
Model / Speci�cations
Legend: ① Cable length
Model Axis con�gurationArm
length (mm)
Motor (W) Operation
range
Positioning repeatability
(Note 1)
Maximum operation
speed during PTP operation (Note 2)
Standard cycle time
(s) (Note 3)
Continuous cycle time
(s) (Note 3)
Payload (kg)
(Note 4)
3rd axis (vertical axis) push force control
range (N)*4th axis allowable load
Upper limit
(Note 5)
Lower limit
(Note 5)
Allowable inertia moment (kg·m²) ( Note 6)
Allowable torque
[3-axis speci�cation] IXA-3NSN3015- ① - T2[4-axis speci�cation] IXA-4NSN3015- ① - T2
1-axis 1st arm 120 600 ±135 degrees±0.010mm
0.26 0.45 8 100.0 25.0 0.12 3.22-axis 2nd arm 180 400 ±142 degrees
3-axis Vertical axis - 150 150mm ±0.010mm 1600mm/s
4-axis Rotational axis - 100 ±360 degrees ±0.005 deg. 1600 deg/s
Note: The SCARA robot cannot operate continuously at 100% speed/acceleration. Refer to the Reference Data from P.20 for feasible operating conditions.* Speed limitation applies to the push force. Contact IAI for details.
Common Speci�cations
Item DescriptionEncoder Type Battery-less Absolute EncoderUser wiring 10-core (9-core + shield) AWG24 (rated 30V/max 1A)User piping 3 air tubes with ø4 outer diameter and ø2.5 inner diameter (max. operating pressure 0.6MPa)Alarm indicator (Note 7) 1 small amber LED indicator (24 VDC supply required)Brake release switch (Note 8) Brake release switch for vertical axis fall prevention
Ambient temp./humidity Temperature: 0~40°C, Humidity: 20~85% RH or less (Non-condensing)Ingress protection IP20Unit weight 3-axis speci�cation: 26.5kg, 4-axis speci�cation: 27.5kgNoise (Note 9) 80dB or less
IXA - 3NSN3015 / 4NSN3015 Model Speci�cation Items IXA - NSN 30 15 - - T2
Series - Number of Axes Type Arm Length Vertical Axis Stroke - Cable Length - Applicable Controllers
3: 3-axis4: 4-axis
High-speed type 30 : 300mm 15 : 150mm
* Does not include a controller.
T2 : XSEL-RAX/SAX
Arm Length:
300 mm
Vertical Axis:
150 mm
13 IXA-3NSN3015/4NSN3015
PO I N T
SelectionNotes
Please refer to P.19 for (Note 1) to (Note 9).(Note 10) The maximum set value for acceleration/deceleration varies depending on the weight
of the object being transported, the traverse distance, and the location. Operating continuously at the maximum set value could cause an overload error. For continuous operation, either lower the acceleration/deceleration value or refer to the duty (guideline) and set a stop time after acceleration/deceleration.
(Note 11) If the motor or controller is replaced, absolute reset must be performed. An adjustment jig (option model: JG-IXA1) will be required to perform absolute reset on the rotational axis (4th axis).
Battery-less
Absolute
High- Speed Type
[3-axis speci�cation] · Motor cables: 3 · Encoder cables: 3 · Brake cable: 1[4-axis speci�cation] · Motor cables: 4 · Encoder cables: 4 · Brake cable: 1
Cable Length
Type Cable code
Standard type5L(5m)
10L(10m)
Speci�ed length
1L(1m)~4L(4m)6L(6m)~9L(9m)
11L(11m)12L(12m)13L(13m)14L(14m)15L(15m)
(Note) Please purchase separately.
Single Unit Options
Name Model name Reference pageFlange IX-FL-1 See P.6
6032mm/s(composite speed)720/720 deg/s
(1st/2nd arm speed)
Allowable load moment 12N·m
5L : 5mN : No cable
10L : 10mL : Speci�ed length (1m increments)
IXA SCARA Robot
Dimensions
R300
135° 135°
100R180
R180
R112
.9
40.2°
142°
R300
100
135°135°
R112.9
R180
40.2°
R180
142°
Left arm system operation rangeRight arm system operation range
A
LED light (*)
155
5°
141
182251.5
Reference surfaceC
D
3-Ø4 air tube quick joint (from left: yellow, white, black)
D-sub connector for user wiring(15-pole, plug, fixture M2.6)
Motor/encoder cable connection(1st axis)
Motor/encoder cable connection(2nd~4th axes)
Brake cable connection
Brake release switch
Coated grommet(for user wiring/piping)
2-M4 depth 8
5 (m
echa
nica
l end
)
120180
(300)56.5 189.1
(545.6)
270
372
643.
88.
7
(694
.8)
5 (mech
anical
end)
150
(str
oke)
20
8025
9
261
347.
5
100 (Installation space)92.5Reference surface Mounting surface
(92.5)
(103
.7)
140
167.
5
85
(104
.3)
142
(15)
D-sub connector for user wiring(9-pole, socket, fixture M2.6)
3-ø4 air tube quick joint (from top: black, white, red)
Detailed view of CUser panel details
4-M4 depth 8
6285
31 25
1592.5
140
12
(from base mounting surface)(R)
Detailed view of DBase oblong hole details
10 H7+0.0150 Depth 6
Ø10 H7+0.015
0 Depth 6
1010
65 BB
19
Ø40
Ø20 h7-0
0.021Ø14 hollow
Detailed view of tip A
Sectional view B-B
U
4-Ø9(R10.5)
10.5
10.5
Detailed view of UDetails of base mounting holes
V
182
Detailed view of V
IXA-3NSN3015/4NSN3015 14
(*) To operate the LED, wire a controller output to apply 24VDC to the LED terminal of the user wiring.
Applicable ControllersThe IXA series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use.
Name External view Max. number of connectable axes
Power supply voltage
Control method Maximum number of positioning points
Reference pagePositioner Pulse-train Program Network * option
XSEL-RAX4/SAX4
XSEL-RAX3/SAX3
4
3
Three-phase230VAC − −
41250(Depending on the type)
36666(Depending on the type)
See P.24
CAD drawings can be downloaded from our website.
www.intelligentactuator.de2D
CAD2D
CAD3D
CAD3D
CAD
IXA SCARA Robot
Model / Speci�cations
Legend: ① Cable length
Model Axis con�gurationArm
length (mm)
Motor (W) Operation
range
Positioning repeatability
(Note 1)
Maximum operation
speed during PTP operation (Note 2)
Standard cycle time
(s) (Note 3)
Continuous cycle time
(s) (Note 3)
Payload (kg)
(Note 4)
3rd axis (vertical axis) push force control
range (N)*4th axis allowable load
Upper limit
(Note 5)
Lower limit
(Note 5)
Allowable inertia moment (kg·m²) ( Note 6)
Allowable torque
[3-axis speci�cation] IXA-3NSN4518- ① - T2[IXA-3NSN4533 - ① - T2][4-axis speci�cation] IXA-4NSN4518- ① - T2[IXA-4NSN4533 - ① - T2]
1-axis 1st arm 200 600 ±137 degrees
±0.010mm
0.26 0.45 10 110.0 25.0 0.12 3.22-axis 2nd arm 250 400 ±137
degrees
3-axis Vertical axis - 200 180mm[330mm] ±0.010mm 1600mm/s
4-axis Rotational axis - 100 ±360
degrees±0.005
deg. 2000 deg/s
Note: · The SCARA robot cannot operate continuously at 100% speed/acceleration. Refer to the Reference Data from P.20 for feasible operating conditions.· Values in [ ] are for models with vertical axis of 330mm. Other speci�cations are the same for both 180mm and 330mm vertical axis models.
* Speed limitation applies to the push force. Contact IAI for details.
Common Speci�cations
IXA - 3NSN4518 / 4NSN4518 3NSN4533 / 4NSN4533 Model Speci�cation Items IXA - NSN 45 - - T2
Series - Number of Axes Type Arm Length Vertical Axis Stroke - Cable Length - Applicable Controllers
3: 3-axis4: 4-axis
High-speed type 45 : 450mm 18 : 180mm33 : 330mm
* Does not include a controller.
T2 : XSEL-RAX/SAX
Arm Length:
450 mm
Vertical Axis:
180/330 mm
Item DescriptionEncoder Type Battery-less Absolute EncoderUser wiring 10-core (9-core + shield) AWG24 (rated 30V/max 1A)User piping 3 air tubes with ø6 outer diameter and ø4 inner diameter (max. operating pressure 0.6MPa)Alarm indicator (Note 7) 1 small amber LED indicator (24 VDC supply required)Brake release switch (Note 8) Brake release switch for vertical axis fall prevention
Ambient temp./humidity Temperature: 0~40°C, Humidity: 20~85% RH or less (Non-condensing)Ingress protection IP20Unit weight 3-axis speci�cation: 31.0kg, 4-axis specification: 32.5kgNoise (Note 9) 80dB or less
15 IXA-3NSN4518/3NSN4533/4NSN4518/4NSN4533
PO I N T
SelectionNotes
Please refer to P.19 for (Note 1) to (Note 9).(Note 10) The maximum set value for acceleration/deceleration varies depending on the weight
of the object being transported, the traverse distance, and the location. Operating continuously at the maximum set value could cause an overload error. For continuous operation, either lower the acceleration/deceleration value or refer to the duty (guideline) and set a stop time after acceleration/deceleration.
(Note 11) If the motor or controller is replaced, absolute reset must be performed. An adjustment jig (option model: JG-IXA1) will be required to perform absolute reset on the rotational axis (4th axis).
Battery-less
Absolute
High- Speed Type
[3-axis speci�cation] · Motor cables: 3 · Encoder cables: 3 · Brake cable: 1[4-axis speci�cation] · Motor cables: 4 · Encoder cables: 4 · Brake cable: 1
Cable Length
Type Cable code
Standard type5L(5m)
10L(10m)
Speci�ed length
1L(1m)~4L(4m)6L(6m)~9L(9m)
11L(11m)12L(12m)13L(13m)14L(14m)15L(15m)
(Note) Please purchase separately.
Single Unit Options
Name Model name Reference pageFlange IX-FL-1 See P.6
8282 mm/s(composite speed)
610/800 deg/s(1st/2nd arm speed)
Allowable load moment 8.3N·m
5L : 5mN : No cable
10L : 10mL : Speci�ed length (1m increments)
IXA SCARA Robot
Dimensions
619.
2 [7
74.3
]
25 25
5 (m
echa
nical
end)
6.3 (m
echan
ical en
d) 3-M4 depth 8(same on opposite side)
85
20
250 20045050 200
72.6
700
100 (Wiring space)13
1.7
(420
.1)
456.
5
(288
.4)
280.
58749
7.5
[652
.6]
180
(stro
ke)
[330
(stro
ke)]
58.3
[208
.3]
63.3
81
121.
7
245
Mounting surface
125
170.5 114.585 85.5
22.5
85
44
146
123.7
90
Reference surface
Reference surface
160
10
12
10 H7+0.015
0 Depth 6
85Ø10 H7
+0.0150 Depth 6
150
(100
.6)
180
15
4-Ø11 holeØ20 counterbored depth 5
137°
137°
R450
R250
R250
137°
R171.5
51.4°
100
137°
137°
R450
R250
R171.5
R250
137°
100
51.4°
Left arm system operation rangeRight arm system operation range
C
Detailed view of CUser panel details
Red Black
A
White
2-M4 depth 8
D-sub connector for user wiring(9-pole, socket, fixture M2.6)
3-Ø6 air tubequick joint
Coated grommet(for user wiring/piping)
1010
47
BB
19
Ø20 h7-0
0.021Ø14 hollow
Ø40
Sectional view B-B
Detailed view of tip A
3-Ø6 air tubequick joint
D-sub connector for user wiring(15-pole, plug, fixture M2.6)
Motor/encoder cable connection(1st axis)
Motor/encoder cable connection(2nd~4th axes)
Brake cable connection
Brake release switch
Red BlackWhite
LED light (*)
IXA-3NSN4518/3NSN4533/4NSN4518/4NSN4533 16
(*) To operate the LED, wire a controller output to apply 24VDC to the LED terminal of the user wiring.
* Values in [ ] are dimensions for vertical axis of 330mm.
CAD drawings can be downloaded from our website.
www.intelligentactuator.de2D
CAD2D
CAD3D
CAD3D
CAD
Applicable ControllersThe IXA series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use.
Name External view Max. number of connectable axes
Power supply voltage
Control method Maximum number of positioning points
Reference pagePositioner Pulse-train Program Network * option
XSEL-RAX4/SAX4
XSEL-RAX3/SAX3
4
3
Three-phase230VAC − −
41250(Depending on the type)
36666(Depending on the type)
See P.24
IXA SCARA Robot
Model / Speci�cations
Legend: ① Cable length
Model Axis con�gurationArm
length (mm)
Motor (W) Operation
range
Positioning repeatability
(Note 1)
Maximum operation
speed during PTP operation (Note 2)
Standard cycle time
(s) (Note 3)
Continuous cycle time
(s) (Note 3)
Payload (kg)
(Note 4)
3rd axis (vertical axis) push force control
range (N)*4th axis allowable load
Upper limit
(Note 5)
Lower limit
(Note 5)
Allowable inertia moment (kg·m²) ( Note 6)
Allowable torque
[3-axis speci�cation] IXA-3NSN6018- ① - T2[IXA-3NSN6033 - ① - T2][4-axis speci�cation] IXA-4NSN6018- ① - T2[IXA-4NSN6033 - ① - T2]
1-axis 1st arm 350 750 ±137 degrees
±0.010mm
0.26 0.45 12 110.0 25.0 0.12 3.22-axis 2nd arm 250 400 ±140
degrees
3-axis Vertical axis - 200 180mm[330mm] ±0.010mm 1600mm/s
4-axis Rotational axis - 100 ±360
degrees±0.005
deg. 2000 deg/s
Note: · The SCARA robot cannot operate continuously at 100% speed/acceleration. Refer to the Reference Data from P.20 for feasible operating conditions.· Values in [ ] are for models with vertical axis of 330mm. Other speci�cations are the same for both 180mm and 330mm vertical axis models.
* Speed limitation applies to the push force. Contact IAI for details.
IXA - 3NSN6018 / 4NSN6018 3NSN6033 / 4NSN6033 Model Speci�cation Items IXA - NSN 60 - - T2
Series - Number of Axes Type Arm Length Vertical Axis Stroke - Cable Length - Applicable Controllers
3: 3-axis4: 4-axis
High-speed type 60 : 600mm 18 : 180mm33 : 330mm
* Does not include a controller.
T2 : XSEL-RAX/SAX
Arm Length:
600 mm
Vertical Axis:
180/330 mm
Common Speci�cations
Item DescriptionEncoder Type Battery-less Absolute EncoderUser wiring 10-core (9-core + shield) AWG24 (rated 30V/max 1A)User piping 3 air tubes with ø6 outer diameter and ø4 inner diameter (max. operating pressure 0.6MPa)Alarm indicator (Note 7) 1 small amber LED indicator (24 VDC supply required)Brake release switch (Note 8) Brake release switch for vertical axis fall prevention
Ambient temp./humidity Temperature: 0~40°C, Humidity: 20~85% RH or less (Non-condensing)Ingress protection IP20Unit weight 3-axis speci�cation: 31.5kg, 4-axis specification: 33.0kgNoise (Note 9) 80dB or less
17 IXA-3NSN6018/3NSN6033/4NSN6018/4NSN6033
PO I N T
SelectionNotes
Please refer to P.19 for (Note 1) to (Note 9).(Note 10) The maximum set value for acceleration/deceleration varies depending on the weight
of the object being transported, the traverse distance, and the location. Operating continuously at the maximum set value could cause an overload error. For continuous operation, either lower the acceleration/deceleration value or refer to the duty (guideline) and set a stop time after acceleration/deceleration.
(Note 11) If the motor or controller is replaced, absolute reset must be performed. An adjustment jig (option model: JG-IXA1) will be required to perform absolute reset on the rotational axis (4th axis).
Battery-less
Absolute
High- Speed Type
[3-axis speci�cation] · Motor cables: 3 · Encoder cables: 3 · Brake cable: 1[4-axis speci�cation] · Motor cables: 4 · Encoder cables: 4 · Brake cable: 1
Cable Length
Type Cable code
Standard type5L(5m)
10L(10m)
Speci�ed length
1L(1m)~4L(4m)6L(6m)~9L(9m)
11L(11m)12L(12m)13L(13m)14L(14m)15L(15m)
(Note) Please purchase separately.
Single Unit Options
Name Model name Reference pageFlange IX-FL-1 See P.6
6414 mm/s(composite speed)
300/750 deg/s(1st/2nd arm speed)
Allowable load moment 8.3N·m
5L : 5mN : No cable
10L : 10mL : Speci�ed length (1m increments)
IXA SCARA Robot
Dimensions
85 100 (Wiring space)
137°
137°
R250
R225.7
R250
100
76.7°
R600
140°
137°
R250
R250
R600
R225.7
100
76.7°
137°
140°
Left arm system operation rangeRight arm system operation range
20
131.
7
(420
.1)
456.
5
(288
.4)
294
73.5
200250 350
600
72.6
85050
Mounting surface
A
3-Ø6 air tubequick joint
D-sub connector for user wiring(15-pole, plug, fixture M2.6)
Motor/encoder cable connection(1st axis)
Motor/encoder cable connection(2nd~4th axes)
Brake cable connection
Brake release switch
125
170.5 114.585 85.5
22.514
6
123.7
44
90
85
Reference surface
Reference surface
160
1010 H7
+0.0150 Depth 6
Ø10 H7+0.015
0 Depth 6
12
85
(100
.6)
150
180
15
4-Ø11 holeØ20 counterbored depth 5
497.
5 [6
52.6
]
5 (m
echa
nical
end)
58.3
[208
.3]
619.
2 [7
74.3
]
121.
7
6.3 (m
echan
ical en
d)
180
(str
oke)
[330
(str
oke)
]24
563
.381
3-M4 depth 8(same on opposite side)
25 25
Coated grommet(for user wiring/piping)
Red BlackWhite
LED light (*)
2-M4 depth 8
D-sub connector for user wiring(9-pole, socket, fixture M2.6)3-Ø6 air tubequick joint
Detailed view of CUser panel details
C
1010
47
BB
19
Ø20 h7-0
0.021Ø14 hollow
Ø40
Sectional view B-B
Detailed view of tip A
IXA-3NSN6018/3NSN6033/4NSN6018/4NSN6033 18
(*) To operate the LED, wire a controller output to apply 24VDC to the LED terminal of the user wiring.
* Values in [ ] are dimensions for vertical axis of 330mm.
CAD drawings can be downloaded from our website.
www.intelligentactuator.de2D
CAD2D
CAD3D
CAD3D
CAD
Applicable ControllersThe IXA series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use.
Name External view Max. number of connectable axes
Power supply voltage
Control method Maximum number of positioning points
Reference pagePositioner Pulse-train Program Network * option
XSEL-RAX4/SAX4
XSEL-RAX3/SAX3
4
3
Three-phase230VAC − −
41250(Depending on the type)
36666(Depending on the type)
See P.24
IXA SCARA Robot
Model / Speci�cations
Legend: ① Cable length
Model Axis con�gurationArm
length (mm)
Motor (W) Operation
range
Positioning repeatability
(Note 1)
Maximum operation
speed during PTP operation (Note 2)
Standard cycle time
(s) (Note 3)
Continuous cycle time
(s) (Note 3)
Payload (kg)
(Note 4)
3rd axis (vertical axis) push force control
range (N)*4th axis allowable load
Upper limit
(Note 5)
Lower limit
(Note 5)
Allowable inertia moment (kg·m²) ( Note 6)
Allowable torque
IXA-4NSW3015- ① - T2
1-axis 1st arm 155 600 ±121 degrees±0.010mm
0.38 0.69 6 98.0 23.0 0.12 4.52-axis 2nd arm 145 400 ±125 degrees
3-axis Vertical axis - 200 150mm ±0.010mm 1500mm/s
4-axis Rotational axis - 100 ±360 degrees ±0.005 deg. 1600 deg/s
Note: The SCARA robot cannot operate continuously at 100% speed/acceleration. Refer to the Reference Data from P.20 for feasible operating conditions.* Speed limitation applies to the push force. Contact IAI for details.
Common Speci�cations
Item DescriptionEncoder Type Battery-less Absolute EncoderUser wiring 10-core (9-core + shield) AWG24 (rated 30V/max 1A)User piping 3 air tubes with ø4 outer diameter and ø2.5 inner diameter (max. operating pressure 0.6MPa)Alarm indicator (Note 7) No alarm lampBrake release switch (Note 8) Brake release switch for vertical axis fall prevention
Ambient temp./humidity Temperature: 0~40°C, Humidity: 20~85% RH or less (Non-condensing)Ingress protection IP65 (except for bellows)
Unit weight 48.0kgAir purge pressure 35kPa
Noise (Note 9) 80dB or less
IXA - 4NSW3015 Model Speci�cation Items IXA - NSW4 30 15 - - T2
Series - Number of Axes Type Arm Length Vertical Axis Stroke - Cable Length - Applicable Controllers
4: 4-axis Dust-/splash-proofhigh-speed type
30 : 300mm 15 : 150mm
* Does not include a controller.
T2 : XSEL-RAX/SAX
Arm Length:
300 mm
Vertical Axis:
150 mm
18-1 IXA-4NSW3015
PO I N T
SelectionNotes
Please refer to P.19 for (Note 1) to (Note 9).(Note 10) The maximum set value for acceleration/deceleration varies depending on the weight
of the object being transported, the traverse distance, and the location. Operating continuously at the maximum set value could cause an overload error. For continuous operation, either lower the acceleration/deceleration value or refer to the duty (guideline) and set a stop time after acceleration/deceleration.
(Note 11) Do not attempt to apply direct water jet on the bellows.Connect an air tube with ø16 to the air supply and exhaust bellows joint and releasethe tube end to a space in clean air with no humidity.
Battery-less
Absolute
Dust/ Splash- proof
· Motor cables: 4 · Encoder cables: 4 · Brake cable: 1
Cable Length
Type Cable code
Standard type5L(5m)
10L(10m)
Speci�ed length
1L(1m)~4L(4m)6L(6m)~9L(9m)
11L(11m)12L(12m)13L(13m)14L(14m)15L(15m)
Comingsoon
* Please contact IAI for availability and further details.
5126mm/s(composite speed)690/690 deg/s
(1st/2nd arm speed)
Allowable load moment 7.1N·m
Single Unit Options
Name Model name Reference pageFlangeMetal cap for user wiring
IX-FL-1IXA-MC-1
See P.6See P.6
(Note) Please purchase separately.
5L : 5mN : No cable
10L : 10mL : Speci�ed length (1m increments)
IXA SCARA Robot
Dimensions
IXA-4NSW3015 18-2
Applicable ControllersThe IXA series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use.
Name External view Max. number of connectable axes
Power supply voltage
Control method Maximum number of positioning points
Reference pagePositioner Pulse-train Program Network * option
XSEL-RAX4/SAX4 4 Three-phase230VAC − −
36666(Depending on the type) See P.24
CAD drawings can be downloaded from our website.
www.intelligentactuator.de2D
CAD2D
CAD3D
CAD3D
CAD
S.T.: StrokeM.E.: Mechanical endS.E.: Stroke end
ZZ
YY
150S
T5
5
(200)Piping space
(587.1)(205.1)
(33.1)
715
300145 155
8225
0
92.5
60
2-M4 dept 8 (Same on opposite side)
281
222.5
474
699
(15.
6)
376.
512
.5
172Base mounting surface
Reference surface
M.E.
S.E.
M.E.
Home position
P
838
1
2-M4 dept 8 for R-axis absolute reset
2-M4 dept 8 60
4951
.5
Motor-encoder cable connection (1st axis)
Brake release switch
Motor-encoder cable connection (2nd - 4th axes)
ø8 speed controller for dry air intake
ø16 air tube quick joint for adjusting inside bellows pressure
M4 depth 10 (for ground line)
X
176
135
184.5
154
167.
514
0
155
272.5
92.515
50
85
3-M4 depth 8 (29.4)
145
1590
Reference surface
K
W
140
45 ø10 H7 reamed depth 10 15
184.5
Spline stop cap
Q
1010
ø70
58
Detailed view of P
19
ø20 h7
Cross section Z-Z
Detailed view of KDetails of base mounting holes
ø18ø9
15
Cross section Y-Y (4 places)
12
10 Depth 6 (from base mounting surface)
+0.0150
(R)
Detailed view of QDetails of baseoblong holes
Detailed view of XDetails of rear panel
White
Black
Yellow
3-ø4 air tube quick joint
Cable for user wiringD-sub connector for user wiring
Wiring: 24AWG, 10-core (9-core + shield)
Right arm system operation rangeLeft arm system operation range
121°
121°
125
R138.8
R300
R145
R145R155
62.1°
125°
R300
121°
121°
R138.8
135
R145
R145
R155
58.2°
125°
Detailed view of WDetails for user panel
BlackYellow
White
LF10 connector for user wiring(9-pole, receptacle)Wiring: 24AWG, 10-core (9-core + shield)
M5 tap for dry air exhaust opening
3-ø4 air tube quick joint
IXA SCARA Robot
Model / Speci�cations
Legend: ① Cable length
Model Axis con�gurationArm
length (mm)
Motor (W) Operation
range
Positioning repeatability
(Note 1)
Maximum operation
speed during PTP operation (Note 2)
Standard cycle time
(s) (Note 3)
Continuous cycle time
(s) (Note 3)
Payload (kg)
(Note 4)
3rd axis (vertical axis) push force control
range (N)*4th axis allowable load
Upper limit
(Note 5)
Lower limit
(Note 5)
Allowable inertia moment (kg·m²) ( Note 6)
Allowable torque
IXA-4NSW4518- ① - T2[IXA-4NSW4533 - ① - T2]
1-axis 1st arm 200 600 ±137 degrees
±0.010mm
0.38 0.55 8 110.0 25.0 0.12 3.22-axis 2nd arm 250 400 ±133
degrees
3-axis Vertical axis - 200 180mm[330mm] ±0.010mm 1600mm/s
4-axis Rotational axis - 100 ±360
degrees±0.005
deg. 2000 deg/s
Note: · The SCARA robot cannot operate continuously at 100% speed/acceleration. Refer to the Reference Data from P.20 for feasible operating conditions.· Values in [ ] are for models with vertical axis of 330mm. Other speci�cations are the same for both 180mm and 330mm vertical axis models.
* Speed limitation applies to the push force. Contact IAI for details.
IXA - 4NSW4518 / 4NSW4533 Model Speci�cation Items IXA - NSW4 45 - - T2
Series - Number of Axes Type Arm Length Vertical Axis Stroke - Cable Length - Applicable Controllers
4: 4-axis Dust-/splash-proofhigh-speed type
45 : 450mm 18 : 180mm33 : 330mm
* Does not include a controller.
T2 : XSEL-RAX/SAX
Arm Length:
450 mm
Vertical Axis:
180/330 mm
18-3 IXA-4NSW4518/4NSW4533
Battery-less
Absolute
Dust/Splash-proof
· Motor cables: 4 · Encoder cables: 4 · Brake cable: 1
Cable Length
Type Cable code
Standard type5L(5m)
10L(10m)
Speci�ed length
1L(1m)~4L(4m)6L(6m)~9L(9m)
11L(11m)12L(12m)13L(13m)14L(14m)15L(15m)
Single Unit Options
Name Model name Reference pageFlangeMetal cap for user wiring
IX-FL-1IXA-MC-1
See P.6See P.6
Common Speci�cations
Item DescriptionEncoder Type Battery-less Absolute EncoderUser wiring 10-core (9-core + shield) AWG24 (rated 30V/max 1A)User piping 3 air tubes with ø6 outer diameter and ø4 inner diameter (max. operating pressure 0.6MPa)Alarm indicator (Note 7) No alarm lampBrake release switch (Note 8) Brake release switch for vertical axis fall prevention
Ambient temp./humidity Temperature: 0~40°C, Humidity: 20~85% RH or less (Non-condensing)Ingress protection IP65 (except for bellows)
Unit weight 52.0kgAir purge pressure 35kPa
Noise (Note 9) 80dB or less
(Note) Please purchase separately.
6981mm/s(composite speed)
500/700 deg/s(1st/2nd arm speed)
Allowable load moment 9.6N·m
PO I N T
SelectionNotes
Please refer to P.19 for (Note 1) to (Note 9).(Note 10) The maximum set value for acceleration/deceleration varies depending on the weight
of the object being transported, the traverse distance, and the location. Operating continuously at the maximum set value could cause an overload error. For continuous operation, either lower the acceleration/deceleration value or refer to the duty (guideline) and set a stop time after acceleration/deceleration.
(Note 11) Do not attempt to apply direct water jet on the bellows.Connect an air tube with ø16 to the air supply and exhaust bellows joint and releasethe tube end to a space in clean air with no humidity.
Comingsoon
* Please contact IAI for availability and further details.
5L : 5mN : No cable
10L : 10mL : Speci�ed length (1m increments)
IXA SCARA Robot
Dimensions
IXA-4NSW4518/4NSW4533 18-4
* Values in [ ] are dimensions for vertical axis of 330mm.
Applicable ControllersThe IXA series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use.
Name External view Max. number of connectable axes
Power supply voltage
Control method Maximum number of positioning points
Reference pagePositioner Pulse-train Program Network * option
XSEL-RAX4/SAX4 4 Three-phase230VAC − −
36666(Depending on the type) See P.24
CAD drawings can be downloaded from our website.
www.intelligentactuator.de2D
CAD2D
CAD3D
CAD3D
CAD
S.T.: StrokeM.E.: Mechanical endS.E.: Stroke end
ZZ
(200)Piping space
180S
T[3
30 S
T]5
511
7 [2
67]
(33.1)85
250 20045065 180
695
147
561
40
74.5
4063
648.
5 [7
98.5
]
4-M4 depth 8 (same on opposite side)
592
(20.
8)
198.
5
329
121
142Base mounting surface
Reference surface
M.E.
M.E.
S.E.
Home position P 89
53.5
Motor-encoder cable connection (1st axis)
Motor-encoder cable connection (2nd - 4th axes)
Brake release switch
ø16 air tube quick joint for adjusting inside bellows pressure ø8 speed controller for dry air intake
M4 depth 10 (for ground line)
X
156
125
150
1518
0
12522.585
172
100
(30.
3)
90
265
90
Reference surface
K
W
160
10
ø10 H7 reamed depth 1085
172
Spline stop cap
Q
5310
10
ø70
Detailed view of P
19
ø20 h7
Cross section Z-Z
YY
Detailed view of KDetails of base mounting holes
ø22ø11
15
Cross section Y-Y (4 places)
12
10 Depth 6 (from base mounting surface)
+0.0150
(R)
Detailed view of QDetails of base oblong holes
Detailed view of XDetails of rear panel
3-ø6 air tube quick joint
Cable for user wiringD-sub connector for user wiring
Wiring: 24AWG, 10-core (9-core + shield)Red
White Black
Right arm system operation rangeLeft arm system operation range
133°
137°
137°
R185.2 R450
115R250
R250
R200
47.9°
133°
137°
137°
R450
175
R250
R185.2
R250
R200
34.1°
Detailed view of WDetails for user panel
LF10 connector for user wiring(9-pole, receptacle)Wiring: 24AWG, 10-core(9-core + shield)
3-ø6 air tube quick jointø6 air tube quick joing for dry air exhaust opening
Black
Red White
IXA SCARA Robot
Model / Speci�cations
Legend: ① Cable length
Model Axis con�gurationArm
length (mm)
Motor (W) Operation
range
Positioning repeatability
(Note 1)
Maximum operation
speed during PTP operation (Note 2)
Standard cycle time
(s) (Note 3)
Continuous cycle time
(s) (Note 3)
Payload (kg)
(Note 4)
3rd axis (vertical axis) push force control
range (N)*4th axis allowable load
Upper limit
(Note 5)
Lower limit
(Note 5)
Allowable inertia moment (kg·m²) ( Note 6)
Allowable torque
IXA-4NSW6018- ① - T2[IXA-4NSW6033 - ① - T2]
1-axis 1st arm 350 750 ±137 degrees
±0.010mm
0.38 0.57 10 110.0 25.0 0.12 3.22-axis 2nd arm 250 400 ±133
degrees
3-axis Vertical axis - 200 180mm[330mm] ±0.010mm 1600mm/s
4-axis Rotational axis - 100 ±360
degrees±0.005
deg. 2000 deg/s
Note: · The SCARA robot cannot operate continuously at 100% speed/acceleration. Refer to the Reference Data from P.20 for feasible operating conditions.· Values in [ ] are for models with vertical axis of 330mm. Other speci�cations are the same for both 180mm and 330mm vertical axis models.
* Speed limitation applies to the push force. Contact IAI for details.
IXA - 4NSW6018 / 4NSW6033 Model Speci�cation Items IXA - NSW4 60 - - T2
Series - Number of Axes Type Arm Length Vertical Axis Stroke - Cable Length - Applicable Controllers
4: 4-axis Dust-/splash-proofhigh-speed type
60 : 600mm 18 : 180mm33 : 330mm
* Does not include a controller.
T2 : XSEL-RAX/SAX
Arm Length:
600 mm
Vertical Axis:
180/330 mm
18-5 IXA-4NSW6018/4NSW6033
Battery-less
Absolute
Dust/Splash-proof
· Motor cables: 4 · Encoder cables: 4 · Brake cable: 1
Cable Length
Type Cable code
Standard type5L(5m)
10L(10m)
Speci�ed length
1L(1m)~4L(4m)6L(6m)~9L(9m)
11L(11m)12L(12m)13L(13m)14L(14m)15L(15m)
Single Unit Options
Name Model name Reference pageFlangeMetal cap for user wiring
IX-FL-1IXA-MC-1
See P.6See P.6
Common Speci�cations
Item DescriptionEncoder Type Battery-less Absolute EncoderUser wiring 10-core (9-core + shield) AWG24 (rated 30V/max 1A)User piping 3 air tubes with ø6 outer diameter and ø4 inner diameter (max. operating pressure 0.6MPa)Alarm indicator (Note 7) No alarm lampBrake release switch (Note 8) Brake release switch for vertical axis fall prevention
Ambient temp./humidity Temperature: 0~40°C, Humidity: 20~85% RH or less (Non-condensing)Ingress protection IP65 (except for bellows)
Unit weight 53.0kgAir purge pressure 35kPa
Noise (Note 9) 80dB or less
(Note) Please purchase separately.
6039mm/s(composite speed)
285/700 deg/s(1st/2nd arm speed)
Allowable load moment 9.6N·m
PO I N T
SelectionNotes
Please refer to P.19 for (Note 1) to (Note 9).(Note 10) The maximum set value for acceleration/deceleration varies depending on the weight
of the object being transported, the traverse distance, and the location. Operating continuously at the maximum set value could cause an overload error. For continuous operation, either lower the acceleration/deceleration value or refer to the duty (guideline) and set a stop time after acceleration/deceleration.
(Note 11) Do not attempt to apply direct water jet on the bellows.Connect an air tube with ø16 to the air supply and exhaust bellows joint and releasethe tube end to a space in clean air with no humidity.
Comingsoon
* Please contact IAI for availability and further details.
5L : 5mN : No cable
10L : 10mL : Speci�ed length (1m increments)
IXA SCARA Robot
Dimensions
IXA-4NSW6018/4NSW6033 18-6
* Values in [ ] are dimensions for vertical axis of 330mm.
Applicable ControllersThe IXA series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use.
Name External view Max. number of connectable axes
Power supply voltage
Control method Maximum number of positioning points
Reference pagePositioner Pulse-train Program Network * option
XSEL-RAX4/SAX4 4 Three-phase230VAC − −
36666(Depending on the type) See P.24
CAD drawings can be downloaded from our website.
www.intelligentactuator.de2D
CAD2D
CAD3D
CAD3D
CAD
S.T.: StrokeM.E.: Mechanical endS.E.: Stroke end
ZZ
YY
(200)Piping space
180S
T[3
30 S
T]
117
[267
]5
5
(33.1)
250 350600 18065
845
147
561
85
4074
.564
8.5
[798
.5]
63 40
4-M4 depth 8 (same on opposite side)
592
(20.
8)
198.
5
329
121
142Base mounting surface
Reference surface
M.E.
Home position P 89
53.5
Motor-encoder cable connection (1st axis)
Motor-encoder cable connection (2nd - 4th axes)
ø16 air tube quick joint for adjusting inside bellows pressure
ø8 speed controller for dry air intake
M4 depth 10 (for ground line)
Brake release switch
X
156
125
150
15
172
180
8512522.5
100
30.3
265
9090
Reference surface
K
W
160
85 10
ø10 H7 reamed depth 10
172
Spline stop cap
M.E.
S.E.
Q
1010
ø70
53
Detailed view of P
ø20 h7
19
Cross section Z-Z
Detailed view of KDetails of base mounting holes
ø22ø11
15
Cross section Y-Y (4 places)
1210 Depth 6 (from base mounting surface)
(R)
Detailed view of QDetails of base oblong holes
Detailed view of XDetails of rear panel
3-ø6 air tube quick joint
Cable for user wiringD-sub connector for user wiring
Wiring: 24AWG, 10-core (9-core + shield)White Black
Red
Right arm system operation rangeLeft arm system operation range
R256.2
R250
R250
115
137°
137°
R600
133°
R350
72.7°
R600
R250
R256.2
R250
175
133°
137°
137°
R350
57.8°
+0.0150
Detailed view of WDetails for user panel
White
Black
Red
LF10 connector for user wiring(9-pole, receptacle)Wiring: 24AWG, 10-core (9-core + shield)
ø6 air tube quick joint for dry air exhaust opening
3-ø6 air tube quick joint
19 SCARA Robot
SCARA Robot
(Note 1)Positioning repeatability
This represents the ability to reproduce the same positioning result when an operation is repeated at the same speed, acceleration/deceleration, and arm system, between the operation start position and the target position (when ambient temperature is a constant 20°C). This is not absolute positioning accuracy. Note that when the arm system is switched while starting from multiple positions to the target position, or when the operation conditions (such as operation speed or acceleration/deceleration setting) are changed, the value may fall outside of the positioning repeatability speci�cation value.
(Note 4)Payload
The payload is the maximum weight that can be carried.The optimal acceleration is automatically set by setting the weight of the load and the moment of inertia in the program.A heavier load will cause a lower acceleration to be con�gured.
(Note 5)3rd axis push force control range
The 3rd axis push force control range is the push force of the vertical axis tip.This will be the push force when there is no load (nothing mounted) on the 3rd axis.The upper limit is the push force when the push force setting value (driver parameter No. 38) is 70%.The lower limit is the push force when the parameter setting value is 30% for NNN1805 and 4NSW3015, and 20% for other types.Speed limitation applies to the push force. Contact IAI for details.
(Note 2)Maximum operation speed during PTP operation
The value of the maximum operation speed in the speci�cations is for PTP command operation.For CP operation commands (interpolation operation), there are limitations on operations at high speed.
(Note 3)Standard cycle timeContinuous cycle time
The standard/continuous cycle time represents the time required when an operation is performedunder the setting of the fastest cycle operation and the following conditions.2kg transport, vertical movement 25mm, horizontal movement 300mm (rough positioning arch motion)[Standard cycle time] The time required for maximum speed operation. This is a general
guideline for high speed performance. Note that continuous operation is not possible under maximum
speed operation.[Continuous cycle time] The cycle time for continuous operation.
Horizontal movement
Vertical movement
(Note 6)4th axis allowable inertia moment
The 4th axis allowable inertia moment is the allowable inertia moment value for the center of rotation conversion of the 4th axis (rotational axis) of the SCARA robot.Make sure that the o�set amount from the center of rotation of the 4th axis to the center of gravity of the tool is within the values listed below.If the center of gravity of the tool is located away from the center of the 4th axis, the acceleration/deceleration will need to be appropriately reduced.
(Note 7)Alarm indicator
The alarm indicator is installed on the 1st axis (J1) base upper part on the SCARA robot.For standard type NNN, this is an option. (Option model LED)It can be used for such applications as lighting when a controller error occurs. To operate it, use the I/O output signal from your controller to build a circuit that adds 24VDC to the LED terminal in the user wiring.
(Note 8)Brake release switch
The brake release switch is installed on the rear of the 1st axis (J1) base.24VDC power must be supplied from the controller to release the brake, regardless of whether the brake release switch is used or not.
(Note 9)Noise
This is the value measured when all axes are operating at maximum speed.Noise may change depending on operating conditions and the surrounding reverberation environment.
Precautions
Verti
cal d
irecti
on
Horizontal direction
Load center of
gravity
Horizontal direction Vertical direction30mm or less 20mm or less
150mm or less
100mm or less 120mm or less180mm or less120mm or less
IXA-NNN1805IXA-NNN3515 / IXA-NSN3515
IXA-NNN45 / IXA-NNN60IXA-NSN45 / IXA-NSN60
IXA-4NSW3515 / IXA-4NSW45 / IXA-4NSW60
Model
SCARA Robot 20
SCARA Robot
SCARA Robot IXA cannot operate continuously under the maximum acceleration/deceleration or maximum speed listed in the catalog.To operate under the maximum acceleration/deceleration, refer to the continuous operation duty guideline graph and set a stop time.If continuous operation is required, do so under acceleration/deceleration settings within the continuous operation guideline range listed in the acceleration/deceleration setting guideline graph.
SCARA Robot IXA Acceleration/Deceleration Setting Guidelines
(Notes)1) For PTP operation, always use WGHT commands in the program to set the weight and moment of inertia prior to operation.
SCARA high speed compatible products set the maximum acceleration/deceleration for operation at each payload as 100%. If the payload differs even at the same acceleration/deceleration or speed setting, the operation time will also di�er.
2) Adjust the acceleration/deceleration setting value by gradually increasing it from the continuous operation reference value.3) If an overload error occurs, lower the acceleration/deceleration as required, or adjust by referring to the continuous operation duty guideline and setting a stop time.4) Duty (%) = (Operation time / (Operation time + Stop time)) x 1005) When moving the robot horizontally at high speed, operate the vertical axis as close to the rising edge as possible.6) Set the moment of inertia and payload to the allowable value or lower.7) The transported load shows the moment of inertia and weight at the center of rotation of the 4th axis.8) Use a robot that maintains appropriate acceleration/deceleration according to the weight and moment of inertia for the 4-axis speci�cation. Otherwise, the drive
section may become prematurely unusable or damaged, or vibration may be created.9) If the load moment of inertia is high, vibration may occur in the vertical axis, depending on the position of the vertical axis. If vibration occurs, decrease the
acceleration/deceleration as required prior to use.
For standard type: arm length 300
PTP operation / acceleration/deceleration setting guidelines
NNN300PTP acceleration/deceleration setting guideline
NNN300PTP operation duty setting guideline
CP operation / acceleration/deceleration setting guidelines
Horizontal
Vertical
For high-speed type: arm length 300
PTP operation / acceleration/deceleration setting guidelines
CP operation / acceleration/deceleration setting guidelines
Horizontal
Vertical
0 0.06Moment of inertia (kg·m2)
Transported load mass (kg)
0 1 2 3
Acc
eler
atio
n/de
cele
ratio
n (%
)
Maximum setting range
Maximum setting range
Continuous operation guideline range
0%10%20%30%40%50%60%70%80%90%
100%
50%40%
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%20%40%60%80%100%
60%70%
40%
50%2kg
1kg
3kg
3kg
0%10%
20%30%40%50%60%
70%80%90%
100%
Duty (%)
NNN300: CP acceleration/deceleration setting guidelineHorizontal movement operation without vertical axis (Z-axis)
Refer to "Acceleration/Deceleration Limitations" (P.23) for information on the maximum speed. Refer to "Acceleration/Deceleration Limitations" (P.23) for information on the maximum speed.
0 0.06Moment of inertia (kg·m2)
Transported load mass (kg)0 1 2 3
Acc
eler
atio
n/de
cele
ratio
n (G
)
Continuous operation guideline range
0
0.5
1
1.5
2
2.5
NNN300: CP acceleration/deceleration setting guidelineOperation on vertical axis (Z-axis) only
Transported load mass (kg)0 1 2 3
Acc
eler
atio
n/de
cele
ratio
n (G
)
Continuous operation guideline range
0
0.5
10.8
1.5
2
2.5
NNN300: CP operation duty setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)
0
0.5
10.8
1.5
2
2.5
0%20%40%60%80%100%
Duty (%)
Maximum setting range
0
0.50.2
1
1.5
2
2.5
Transported load mass (kg)
NSN300: CP acceleration/deceleration setting guidelineOperation on vertical axis (Z-axis) only
0 21 5 6 743 8
Acc
eler
atio
n/de
cele
ratio
n (G
)
Maximum setting range
Continuous operation guideline range
2kg
8kg
5kg
0
0.5
11.2
1.5
2
2.5
NSN300: CP operation duty setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)
0%20%40%60%80%100%
Duty (%)
0 0.12Moment of inertia (kg·m2)
0
0.5
1
1.5
2
2.5
Transported load mass (kg)
NSN300: CP acceleration/deceleration setting guidelineHorizontal movement operation without vertical axis (Z-axis)
Acc
eler
atio
n/de
cele
ratio
n (G
)
0 21 5 6 743 8
Maximum setting rangeContinuous operation guideline range
NSN300PTP acceleration/deceleration setting guideline
NSN300PTP operation duty setting guideline
0 21 3 85 6 74
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%10%20%30%40%50%60%70%80%90%
100%
0 0.12Moment of inertia (kg·m2)
Transported load mass (kg)
50%
10%A
ccel
erat
ion/
dece
lera
tion
(%)
0%20%40%60%80%100%
50%
10%
60%70%
2kg
5kg
8kg
0%10%
20%30%40%50%60%
70%80%90%
100%
Duty (%)
Maximum setting range
Continuous operation guideline range
21 SCARA Robot
SCARA Robot
Horizontal
Vertical
For standard type: arm length 450
CP operation / acceleration/deceleration setting guidelines
Horizontal
NNN450: CP acceleration/deceleration setting guidelineOperation on vertical axis (Z-axis) only
Transported load mass (kg)0 1 2 3
Acc
eler
atio
n/de
cele
ratio
n (G
)
0
0.5
1
1.31.5
2
2.5
1.3
NNN450: CP operation duty setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)
0
0.5
1
1.5
2
2.5
0%20%40%60%80%100%
Duty (%)
1kg , 3kg
NNN450: CP acceleration/deceleration setting guidelineHorizontal movement operation without vertical axis (Z-axis)
0 0.05Moment of inertia (kg·m2)
Transported load mass (kg)0 1 2 3
0
0.5
1
1.5
2
2.5
PTP operation / acceleration/deceleration setting guidelines
NNN450PTP acceleration/deceleration setting guideline
NNN450PTP operation duty setting guideline
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%20%40%60%80%100%
90%
2kg
3kg
0%10%
20%30%40%50%60%
70%80%90%
100%
Duty (%)0 0.05
Moment of inertia (kg·m2)
Transported load mass (kg)0 1 2 3
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%10%20%30%40%50%60%70%80%90%
100%
Maximum setting range
Continuous operation guideline range
Maximum setting range
Continuous operation guideline range
1kg , 3kg
Maximum setting range
Continuous operation guideline range
PTP operation / acceleration/deceleration setting guidelines
NNN450PTP acceleration/deceleration setting guideline
NNN450PTP operation duty setting guideline
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%20%40%60%80%100%
90%
2kg
3kg
0%10%
20%30%40%50%60%
70%80%90%
100%
Duty (%)0 0.05
Moment of inertia (kg·m2)
Transported load mass (kg)0 1 2 3
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%10%20%30%40%50%60%70%80%90%
100%
Maximum setting range
Continuous operation guideline range
For high-speed type: arm length 450
PTP operation / acceleration/deceleration setting guidelines
CP operation / acceleration/deceleration setting guidelines
Horizontal
Vertical
NSN450PTP acceleration/deceleration setting guideline
NSN450PTP operation duty setting guideline
0 21 3 105 6 7 8 94
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%10%20%30%40%50%60%70%80%90%
100%
0 0.12Moment of inertia (kg·m2)
Transported load mass (kg)
50%
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%20%40%60%80%100%
80%
70%6kg
2kg
10kg
0%10%
20%30%40%50%60%
70%80%90%
100%
Duty (%)
0 0.12Moment of inertia (kg·m2)
0
0.5
1
1.3
1.5
2
2.5
Transported load mass (kg)
NSN450: CP acceleration/deceleration setting guidelineHorizontal movement operation without vertical axis (Z-axis)
Acc
eler
atio
n/de
cele
ratio
n (G
)
0 21 3 105 6 7 8 94
0
0.5
1
1.5
2
2.5
Transported load mass (kg)
NSN450: CP acceleration/deceleration setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)
0 21 3 105 6 7 8 940
0.5
1
1.5
2
3.0
2.5
NSN450: CP operation duty setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)
0%20%40%60%80%100%
Duty (%)
2kg
10kg
6kg
Maximum setting range
Continuous operation guideline range
Maximum setting range
Continuous operation guideline range
Maximum setting rangeContinuous operation guideline range
Refer to "Acceleration/Deceleration Limitations" (P.23) for information on the maximum speed. Refer to "Acceleration/Deceleration Limitations" (P.23) for information on the maximum speed.
70%
SCARA Robot IXA Acceleration/Deceleration Setting Guidelines
SCARA Robot 22
SCARA Robot
For high-speed type: arm length 600
PTP operation / acceleration/deceleration setting guidelines
CP operation / acceleration/deceleration setting guidelines
Horizontal
Vertical
NSN600PTP acceleration/deceleration setting guideline
NSN600PTP operation duty setting guideline
0 21 3 1210 118 95 6 74
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%10%20%30%40%50%60%70%80%90%
100%
0 0.12Moment of inertia (kg·m2)
Transported load mass (kg)
Continuous operation guideline range
50%
30%
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%20%40%60%80%100%
50%
30%
60%2kg
8kg
0%10%
20%30%40%50%60%
70%80%90%
100%
Duty (%)
12k
0 0.12Moment of inertia (kg·m2)
0
0.40.30.2
0.6
1
0.8
1.2
1.4
Transported load mass (kg)
NSN600: CP acceleration/deceleration setting guidelineHorizontal movement operation without vertical axis (Z-axis)
Acc
eler
atio
n/de
cele
ratio
n (G
)
0 21 3 1210 118 95 6 74
0 21 3 1210 118 95 6 740
0.5
0.10.2
1
1.51.4
2
2.5
Transported load mass (kg)
NSN600: CP acceleration/deceleration setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)
Maximum setting range
Continuous operation guideline range
4kg
8kg
12kg0
0.5
0.1
1
1.41.5
2
2.5
NSN600: CP operation duty setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)
0%20%40%60%80%100%
Duty (%)
12kgup to duty 50%
Maximum setting range
Maximum setting rangeContinuous operation guideline range
For standard type: arm length 600
PTP operation / acceleration/deceleration setting guidelines
CP operation / acceleration/deceleration setting guidelines
NNN600PTP acceleration/deceleration setting guideline
NNN600PTP operation duty setting guideline
Horizontal
Vertical
0 21 3 654
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%10%20%30%40%50%60%70%80%90%
100%
0 0.06Moment of inertia (kg·m2)
Transported load mass (kg)
Maximum setting range
Continuous operation guideline range
85%A
ccel
erat
ion/
dece
lera
tion
(%)
0%20%40%60%80%100%
85%
2kg
2kg
6kg
6kg
0%10%
20%30%40%50%60%
70%80%90%
100%
Duty (%)
NNN600: CP acceleration/deceleration setting guidelineHorizontal movement operation without vertical axis (Z-axis)
0 0.06Moment of inertia (kg·m2)
Transported load mass (kg)0 21 543 6
Maximum setting rangeContinuous operation guideline range
0
1.2
1
0.8
0.6
0.4
0.2
1.4
0
0.5
1
0.8
1.5
2
2.5
Transported load mass (kg)
NNN600: CP acceleration/deceleration setting guidelineOperation on vertical axis (Z-axis) only
0 21 543 6
Acc
eler
atio
n/de
cele
ratio
n (G
)A
ccel
erat
ion/
dece
lera
tion
(G)
0
0.5
1
1.5
2
2.5
NNN600: CP operation duty setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)
0%20%40%60%80%100%
Duty (%)
Maximum setting rangeContinuous operation guideline range
Refer to "Acceleration/Deceleration Limitations" (P.23) for information on the maximum speed. Refer to "Acceleration/Deceleration Limitations" (P.23) for information on the maximum speed.
22-1 SCARA Robot
SCARA Robot
Horizontal
Vertical
For dust/splash-proof type: arm length 300
CP operation / acceleration/deceleration setting guidelines
Horizontal
NSW300: CP acceleration/deceleration setting guidelineOperation on vertical axis (Z-axis) only
Transported load mass (kg)
Acc
eler
atio
n/de
cele
ratio
n (G
)A
ccel
erat
ion/
dece
lera
tion
(G)
NSW300: CP operation duty setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)
Duty (%)
NSW300: CP acceleration/deceleration setting guidelineHorizontal movement operation without vertical axis (Z-axis)
NSW300: CP operation duty setting guidelineHorizontal movement operation without vertical axis (Z-axis)
0 0.12Moment of inertia (kg·m2)
Transported load mass (kg)
PTP operation / acceleration/deceleration setting guidelines
NNN450PTP acceleration/deceleration setting guideline
NNN45PTP operation duty setting guideline
Acc
eler
atio
n/de
cele
ratio
n (%
)
1
Duty (%)0 0.05
Moment of inertia (kg·m2)
Transported load mass (kg)
Acc
eler
atio
n/de
cele
ratio
n (%
)
1
C ge
PTP operation / acceleration/deceleration setting guidelines
NSW300PTP acceleration/deceleration setting guideline
NSW300PTP operation duty setting guideline
Acc
eler
atio
n/de
cele
ratio
n (%
)
0 0.12
Moment of inertia (kg·m2)
Transported load mass (kg)
Acc
eler
atio
n/de
cele
ratio
n (%
)
For dust/splash-proof type: arm length 450
PTP operation / acceleration/deceleration setting guidelines
CP operation / acceleration/deceleration setting guidelines
Horizontal
Vertical
NSW450PTP acceleration/deceleration setting guideline
NSW450PTP operation duty setting guideline
Acc
eler
atio
n/de
cele
ratio
n (%
)
0 0.12Moment of inertia (kg·m2)
Transported load mass (kg)
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%20%40%60%80%100%0%
10%
20%30%40%50%60%
70%80%90%
100%
Duty (%)
0 0.12Moment of inertia (kg·m2)
Transported load mass (kg)
NSW450: CP acceleration/deceleration setting guidelineHorizontal movement operation without vertical axis (Z-axis)
Acc
eler
atio
n/de
cele
ratio
n (G
)
Transported load mass (kg)
NSW450: CP acceleration/deceleration setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)
NSW450: CP operation duty setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)
0%20%40%60%80%100%
Duty (%)
Refer to "Acceleration/Deceleration Limitations" (P.23) for information on the maximum speed. Refer to "Acceleration/Deceleration Limitations" (P.23) for information on the maximum speed.
SCARA Robot IXA Acceleration/Deceleration Setting Guidelines
NSW450: CP operation duty setting guidelineHorizontal movement operation without vertical axis (Z-axis)
Acc
eler
atio
n/de
cele
ratio
n (G
)
100% 80% 60% 40% 20% 0%
Duty (%)
0%10%20%30%40%50%60%70%80%90%
100%
0 1 2 3 4 5 6
Maximum setting range
Continuous operation guideline range
0%10%20%30%40%50%60%70%80%90%
100%
100% 80% 60% 40% 20% 0%
Duty (%)
4.0kg
, 6.0k
g2.0
kg
75%
0
0.5
1.5
1
2
2.5
0 1 2 3 4 5 6
Maximum setting range
Continuous operation guideline range
Maximum speed 650mm/s
Maximum speed 1500mm/s
0.3 0.20.1
0.3
0.5 0.5
1
1.5
22
1.5
11
0.10.20.3
0
0.5
1.5
1
2
2.5
100% 80% 60% 40% 20% 0%
0.56.0kg
2.0k
g4.
0kg
0
0.5
1.5
1
2
2.5
0 1 2 3 4 5 6
Maximum setting range
Continuous operation guideline range
Maximum speed 1350mm/s
Maximum speed 1600mm/s
0
0.5
1.5
1
2
2.5
Acc
eler
atio
n/de
cele
ratio
n (G
)
100% 80% 60% 40% 20% 0%
Duty (%)
2.0kg, 4.0kg, 6.0kg
1 2 3 4 5 6 70 80%
100%
10%
20%30%
40%50%60%
70%
80%90% Maximum setting range
Continuous operation guideline range
8.0kg
3.0kg, 5.5kg 50%
0
0.5
1
1.5
2
8.0kg3.0
kg, 5
.5kg
1 2 3 4 5 6 70 80
0.5
1
1.5
2
2.5Maximum setting range
Maximum speed 1200mm/s
Continuous operation guideline range
0.3
Maximum speed 1600mm/s
1 2 3 4 5 6 70 80
0.5
1
1.5
2
Maximum speed 1100mm/s
Continuous operation guideline range
Maximum speed 2000mm/s
Maximum setting range
0.5
1
1.5
2
2.5
00.3
5.5kg
8.0kg
3.0kg
SCARA Robot 22-2
SCARA Robot
For standard type: arm length 180
PTP operation / acceleration/deceleration setting guidelines
CP operation / acceleration/deceleration setting guidelines
Horizontal
Vertical
NNN180PTP acceleration/deceleration setting guideline
NNN180PTP operation duty setting guideline
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%10%20%30%40%50%60%70%80%90%
100%
0 0.004Moment of inertia (kg·m2)
Transported load mass (kg)
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%20%40%60%80%100%0%
10%
20%30%40%50%60%
70%80%90%
100%
Duty (%)
0 0.004Moment of inertia (kg·m2)
Transported load mass (kg)
NNN180: CP acceleration/deceleration setting guidelineHorizontal movement operation without vertical axis (Z-axis)
Acc
eler
atio
n/de
cele
ratio
n (G
)
Transported load mass (kg)
NNN180:CP acceleration/deceleration setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)
NNN180: CP operation duty setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)
0%20%40%60%80%100%
Duty (%)
For dust/splash-proof type: arm length 600
PTP operation / acceleration/deceleration setting guidelines
CP operation / acceleration/deceleration setting guidelines
NSW600PTP acceleration/deceleration setting guideline
NSW600PTP operation duty setting guideline
Horizontal
Vertical
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%10%20%30%40%50%60%70%80%90%
100%
0 0.12Moment of inertia (kg·m2)
Transported load mass (kg)
Acc
eler
atio
n/de
cele
ratio
n (%
)
0%20%40%60%80%100%0%
10%
20%30%40%50%60%
70%80%90%
100%
Duty (%)
NSW600: CP acceleration/deceleration setting guidelineHorizontal movement operation without vertical axis (Z-axis)
0 0.12Moment of inertia (kg·m2)
Transported load mass (kg)
Transported load mass (kg)
NSW600: CP acceleration/deceleration setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)A
ccel
erat
ion/
dece
lera
tion
(G)
NSW600: CP operation duty setting guidelineOperation on vertical axis (Z-axis) only
Acc
eler
atio
n/de
cele
ratio
n (G
)
0%20%40%60%80%100%
Duty (%)
Refer to "Acceleration/Deceleration Limitations" (P.23) for information on the maximum speed. Refer to "Acceleration/Deceleration Limitations" (P.23) for information on the maximum speed.
0.5
1
1.5
2
0
Acc
eler
atio
n/de
cele
ratio
n (G
)
NNN180: CP operation duty setting guidelineHorizontal movement operation without vertical axis (Z-axis)
0%20%40%60%80%100%
Duty (%)
0 101 2 3 4 5 6 7 8 9
Maximum setting range
Continuous operation guideline range
75%
50%
10.0kg 6.5kg
3.0kg75%
0 100
0.5
1
1.5
2
Maximum speed 2000mm/sMaximum setting range
Maximum speed 1800mm/s
Continuous operation guideline range
1 2 3 4 5 6 7 8 9
3.0kg, 6.5kg, 10.0kg
0.5
1
1.5
2
0
Acc
eler
atio
n/de
cele
ratio
n (G
)
0 100
0.5
1
1.5
2
0.3
Maximum speed 1600mm/s
Continuous operation guideline range
Maximum speed 1600mm/sMaximum setting range
1 2 3 4 5 6 7 8 9
3.0kg
6.5kg
8.0kg
0.3
0.5
1
1.5
2
0
0 0.2 0.4 0.6 0.8 1
Maximum setting range
Continuous operation guideline range
40%30% 40%
70%
1.0kg
0.2kg, 0.5kg
0
0.5
1
1.5
2
0 0.2 0.4 0.6 0.8 1
Maximum setting range
Continuous operation guideline range
Maximum speed 600mm/s
0.2kg, 0.5kg, 1.0kg
0
0.5
1
1.5
2
0 0.2 0.4 0.6 0.8 1
Maximum setting range
Continuous operation guideline range
Maximum speed 300mm/s
0.2
0
0.5
1
1.5
2
0.20.2kg, 0.5kg, 1.0kg
NSW600: CP operation duty setting guidelineHorizontal movement operation without vertical axis (Z-axis)
0%20%40%60%80%100%
Duty (%)
SCARA Robot
23 SCARA Robot
For arm length 300
Horizontal movement operation without vertical axis (Z-axis) operation
Horizontal movement operation without vertical axis (Z-axis) operation
For arm length 450
For arm length 600
Operation on vertical axis (Z-axis) only
Operation on vertical axis (Z-axis) only
Horizontal movement operation without vertical axis (Z-axis) operation Operation on vertical axis (Z-axis) only
00 1 2 3 4 5 6 7 8
200
400
600
800
1000
1200
1400
1600
Transported load mass (kg)
NSN:2.0G
NSN:2.0G
NSN:1.0G
NNN:1.0G NNN:1.0G
NSW:2.0G
00 1 2 3 4 5 6 7 8
200
400
600
800
1000
1200
1400
1600
Transported load mass (kg)
NSN:2.0G
NSW:2.0G
NSW:2.0GNSN:2.0G
NSN:0.5GNNN:1.5G NNN:1.5G
CP sp
eed
(mm
/s)
00 1 2 3 4 5 6 7 8 9 10 11 120 1 2 3 4 5 6 7 8 9 10 11 12
200
400
600
800
1000
1200
1400
1600
0
200
400
600
800
1000
1200
1400
1600
Transported load mass (kg)
NSN:1.5G NSN:1.5G
NNN:0.5G
00 1 2 3 4 5 6 7 8 9 10
2000
1500
1000
500
Transported load mass (kg)
NSW:2.0G
NSN:1.5G
NSN:1.5G
NSN:1.5GNNN:2.5G NNN:2.5G
CP sp
eed
(mm
/s)
CP sp
eed
(mm
/s)
CP sp
eed
(mm
/s)
CP sp
eed
(mm
/s)
CP sp
eed
(mm
/s)
0
20001800
900
1500
1000
500
Transported load mass (kg)
NSN:1.2GNSN:1.2G
NSN:0.3G
NNN:0.8G NNN:0.8G
NNN:0.8G
0 1 2 3 4 5 6 7 8 9 10
Transported load mass (kg)
NSN:2.5G NSN:2.5G
NSN:0.5G
NSW:2.5G
NNN:1.5G
1600mm/sec possible for NNN 0~2kg range
For arm length 180
Operation on vertical axis (Z-axis) only
CP sp
eed
(mm
/s)
Transported load mass (kg)
CP sp
eed
(mm
/s)
Transported load mass (kg)
SCARA Robot IXA Acceleration/Deceleration Setting Guidelines
CP Operation: Acceleration/Deceleration Limitations
2.0G 2.0G
1.5G
0
200
400
600
800
1000
0 0.2 0.4 0.6 0.8 1
850 680722765807
1.0G 1.0G
1.0G
0
100
200
300
400
500
600
700
0 0.2 0.4 0.6 0.8 1
480510540570
Horizontal movement operation w/o vert. axis (Z-axis) operation
NSW:2.0GNSW:1.5G
NSW:2.0G
NSW:1.5G
NSW:0.8G
NSW:0.8G NSW:0.5G
NSW:1.5G
NSW:2.5G
NSW:1.5G
NNN:1.5G NNN:1.5G
NSW:0.8G
NSN:0.5G
NSW:1.5G
NSW:1.5G
XSEL-RAX/SAX Controller
XSEL-RAX/SAX 24
Multi-axis program controller enabling SCARA robot operation.
SCARA Robot Program Controller
List of Models
Type name RAX SAX
Connectable axes 1 SCARA unit: single-axis and cartesian
External view
Type Standard speci�cation Safety category compliant
Max. number of controlled axes 8-axis
No. of positions (3-axis speci�cation) Maximum 41250 positions, (4-axis speci�cation) Maximum 36666 positions* Varies depending on the number of axes. Refer to the n table (P.27) for more information.
Number of programs 255
Number of program steps 20000
Total number of connectable W Three-phase 2400W
Motor input power supply voltage Three-phase 230VAC ±10%
Control power supply voltage Single phase 230VAC ±10%
Safety category (*1) B Safety category 4 compatible
Safety standard CE compliant
RoboCylinder control function (*2) Able to control up to 32 additional axes(only IAI controllers compatible with MECHATROLINK-III)
Communication port
Ethernet Equipped as standard: 10/100/1000BASE-T (RJ-45)
USB2.0 Equipped as standard: USB2.0 (Mini-B)
General-purpose RS-232C communication port 1 channel (maximum 230.4kbps)
(*1) To comply with the safety category, the customer will need to install a safety circuit external to the controller.(*2) Synchronous control is not available.
XSEL-RAX/SAX Controller
25 XSEL-RAX/SAX
[XSEL-RAX/SAX Type]
XSEL - - -( )- - - - Series Type SCARA Robot
Main Body TypeNetwork Dedicated Slot(s)
(Slot 1) (Slot 2)I/O Slot(s)
(Slot 1) (Slot 2)I/O Cable
Length
(Addit ional ax is content 5th~8th axes)
Motor Type
Power Supply Voltage
Encoder Type
Options
3NN3015 IXA-3NN3015 3NN6018 IXA-3NN6018
4NN3015 IXA-4NN3015 3NN6033 IXA-3NN6033
3NN4518 IXA-3NN4518 4NN6018 IXA-4NN6018
3NN4533 IXA-3NN4533 4NN6033 IXA-4NN6033
4NN4518 IXA-4NN4518
4NN4533 IXA-4NN4533
B Brake equipped speci�cation
C Creep sensor speci�cation
HA Hi-accel./decel. speci�cation
L Home sensor/LS compatible
M Master axis speci�ed
S Slave axis speci�ed
RAX3 3-axis SCARA speci�cation
RAX4 3-axis SCARA + 1-axis speci�cation /4-axis SCARA speci�cation
RAX5 3-axis SCARA + 2-axis speci�cation /4-axis SCARA + 1-axis speci�cation
RAX6 3-axis SCARA + 3-axis speci�cation /4-axis SCARA + 2-axis speci�cation
RAX7 3-axis SCARA + 4-axis speci�cation /4-axis SCARA + 3-axis speci�cation
RAX8 4-axis SCARA + 4-axis speci�c.
SAX3 3-axis SCARA global speci�cation(safety category compliant)
SAX43-axis SCARA + 1-axis global speci�cation /4-axis SCARA global speci�cation(safety category compliant)
SAX53-axis SCARA + 2-axis global speci�c.4-axis SCARA + 1-axis global speci�c.(safety category compliant)
SAX63-axis SCARA + 3-axis global speci�c. /4-axis SCARA + 2-axis global speci�c.(safety category compliant)
SAX73-axis SCARA + 4-axis global speci�c. /4-axis SCARA + 3-axis global speci�c.(safety category compliant)
SAX8 4-axis SCARA + 4-axis global spec�c.(safety category compliant)
E Not used
EP EtherNet/IP
EC EtherCAT
E Not used
DV DeviceNet
CC CC-Link
PR PROFIBUS-DP
E Not used
N1 Input 32/Output 16 (NPN)
N2 Input 16/Output 32 (NPN)
N3 Input 48/Output 48 (NPN)
P1 Input 32/Output 16 (PNP)
P2 Input 16/Output 32 (PNP)
P3 Input 48/Output 48 (PNP)
0 No cable
2 2m (Standard)
3 3m
5 5m
3 Three-phase 230V
WAIBattery-less absolute incremental
A Absolute
G Quasi absolute
AI Index absolute
AM Absolute multi-rotation
(*) Selectable boa e network dedicated slot.
(*) The network dedicated slot and I/O slot can be used together.
* The following symb .N: Standard typeS: High-speed type
12 12W 150 150W
20 20W 200 200W
30D 30W for RCS2
30R 30W for RS
300 300W
60 60W
400 400W
100 100W
600 600W
750 750W
NotesIn principle, the same type of motor as the type of motor of the actuator to be connected should be entered, but there are some models where the motor type of some controllers and actuators do not match.Be sure to check the corresponding models listed below during selection.<30D / 30R Target Actuators> Controller motor type [30D]: 30W actuator other than RS (e.g. RCS2-SA6 / RCS2-R4) Controller motor type [30R]: RS
(Example) 12: 12 W servo motor supported
Model
Non-Connectable Actuators (Additional Axes)
Limitations on Additional Axis Connection
RCS2-5N (incremental speci�cation), RCS2-SRA7BD/SRGS7BD/SRGD7BD, NS-SXM/SZM (incremental speci�cation only for both),RCS3-CT, RCS2-RA13R (with load cell), RCS3-RAR, DD/DDA (high resolution speci�cation)
For SCARA controllers, there is a limit to the total motor wattage of the additional axis actuator motor that can be connected besides SCARA robots. Make sure that it does not exceed the "total wattage and max. number of connectable axes" in the following table.
SCARA robot modelNumber of additional axes connectable to XSEL-RAX/SAX and total wattage
For 4-axis housing For 8-axis housing
Standard type
IXA-3NNN3015
Cannot be connected
4 axes (5th~8th axis) / Total wattage of 700W or less IXA-3NNN45
IXA-3NNN60
IXA-4NNN30154 axes (5th~8th axis) / Total wattage of 600W or less
IXA-4NNN45
IXA-4NNN60 3 axes (6th~8th axis) / Total wattage of 600W or less
High-speed type
IXA-3NSN3015
Cannot be connected
IXA-3NSN45
IXA-3NSN60
IXA-4NSN3015
IXA-4NSN45
IXA-4NSN60
* The housing size varies according to the type of SCARA robot to connect and the additional axes connected. Refer to the external dimensions on P.28 for more information.
(*)
(*)
(*)
(*)
(*)
(*)
(*)
(*)
(*) Soonavailable
XSEL-RAX/SAX Controller
XSEL-RAX/SAX 26
System Con�guration
PIO cable(See back cover)<Model: CB-X-PIO/PIOH020>Standard: 2m(Included with the controller for PIO )
Field networkDeviceNetCC-LinkPROFIBUS-DPEtherCATEtherNet/IP
Included with the controller
XSEL-RAX/SAX Type
5m
Emergency stop switch
circuit(To be prepared by the
customer)
PC compatible software(See P.29) *Ⓟ=PC side, Ⓒ=Controller sideⓅRS232-ⒸRS232<Model: IA-101-X-MW> (For RAX)ⓅUSB-ⒸRS232<Model: IA-101-X-USBMW> (For RAX)ⓅRS232-ⒸRS232<Model: IA-101-XA-MW> (For SAX)ⓅUSB-ⒸUSB/Ethernet<Model: IA-101-N>Supported by Ver. 13.02.12.00 or later
Options
Teaching pendant(See P. 29)<Model: TB-02->* Supported by Ver. 2.0
or laterDummy plug(See P. 29)<Model: DP-2>
Options
Included with the controller
PLC
Communication cable<Model: CB-ST-E1MW050-EB> (For RAX)<Model: CB-ST-A2MW050-EB> (For SAX)
PC compatibleSupplied with the software
Expanded motion(Cable is to be prepared by the customer)
USB/Ethernet cable (Cable is to be prepared by the customer)
RAX/SAXMotor cableMotor robot cableEncoder cableEncoder robot cableThese items will be provided if the cable length is speactuator model name.(Contact IAI for more information)
Included with the actuator
Connectable actuators (5th~8th axis)<Single axis Robot, Cartesian Robot, RCS2/RCS3/RCS4 Series>
(Note) When connecting an actuator with brake, the brake power supply +24V is required for the controller.
Motor power Three-phase230VAC
Brake release (Note)power supply24VDC
Control power supply Single phase230VAC
I/O power supply24VDC
Regenerative resistance unit cable 1m
Supplied with the regenerative resistance unit
Options
Please refer to page 28 for the required number of regenerative resistance units.
Regenerative resistance unit
RAX/SAX 1st~4th axis: IXA Series
PCON/ACON/ SCON-CB,MCON(MECHATROLINK-III
)
* When connecting a power supply, be sure to install the fo
lters Three-phase: TAC-20-683 (COSEL) Single phase: NBH-20-432 (COSEL) Recommended ring core ESD-R-25 (NEC TOKIN) Recommended For control power supply: ZCAT3035-1330 (TDK) For motor power supply: RFC-H13 (Kitagawa Industries) Recommended surge protectors Three-phase: R/A/V-781BXZ-4 Single phase: R/A/V-781BWZ-2A (Okaya Electric Industries)
* Please contact IAI for more information regarding the dri cuit.
* Required for SAX only (not required for RAX)
XSEL-RAX/SAX Controller
27 XSEL-RAX/SAX
Table of Speci�cations
Controller type RAX type SAX type
Compatible motor output 12W~750W
Number of controlled axes 1st~4th axis: SCARA robot, 5th~8th axis: Additional axes
Max. output of connected axes [Three-phase] Up to 2400W
Control power input Single phase 230VAC ±10%
Power frequency 50/60Hz
Insulation resistance10MΩ or more
(Between the power supply terminal and I/O terminal, and between the external terminal batch and case, at 500VDC)
Withstand voltage 1500 VAC (1 min)
Power capacity (max) 5094VA (at max. output of connected axes)
Position detection method Incremental, absolute, battery-less absolute
Safety circuit con�guration Duplication not possible Duplication allowed
Drive-source cuto� method Internal relay cut-o� External safety circuit
Emergency stop input B contact input (Internal power supply) B contact input (External power supply, duplication possible)
Enable input B contact input (Internal power supply) B contact input (External power supply, duplication possible)
Speed setting 1mm/s~ Upper limit depends on the actuator speci�cation
Acceleration/deceleration setting 0.01G~ Upper limit depends on the actuator speci�cation
Programming language Super SEL language
Number of programs 255 programs
Number of program steps 20000 steps (total)
No. of multi-tasking programs 16 programs
Number of positionsVaries by the number of controlled axes
3-axis: 41250, 4-axis: 36666, 5-axis: 33000, 6-axis: 30000, 7-axis: 27500, 8-axis: 25384
Data recording element Flash ROM + non-volatile RAM (FRAM): system battery (button battery) not required
Data input method Teaching pendant or PC compatible software
Standard I/O I/O 48-point PIO board (NPN/PNP), I/O 96-point PIO board (NPN/PNP) 2 boards attachable
Expansion I/O None
Serial communication function
Teaching port (D-sub25 pin), USB port (Mini-B)1ch RS232C port (D-sub 9 pin), Ethernet (RJ-45)
RC gateway function None
Fieldbus communication function
DeviceNet, CC-Link, PROFIBUS-DP, EtherNet/IP, EtherCAT(EtherNet/IP, EtherCAT and DeviceNet, CC-Link, and PROFIBUS-DP can be installed at the same time)
Clock function Retention time: about 10 days Charging time: about 100 hours
Regenerative resistor Built-in 1kΩ/20W regenerative resistor (Can be expanded by external regenerative resistance unit connection)
Absolute battery AB-5 (built-in controller) * Additional axes for absolute speci�cation only
Protection functionMotor overcurrent, overload, motor driver temperature check, overload check, encoder disconnection detection,
soft limit over, system malfunction, absolute battery error, etc.
Ambient operating temperature, humidity and ambience
0 ~ 40°C, 85% RH or less (non-condensing), avoid corrosive gas and excessive dust
* For the power supply capacity etc., please refer to the operation manual or contact IAI.
XSEL-RAX/SAX Controller
XSEL-RAX/SAX 28
External Dimensions
* If absolute specification is included for at least 1 connected single actuator, the external dimensions will be that of the absolute specification.** Controllers for standard type with arm length of 600mm (IXA-4NNN60) or with additional connected axes and controllers for high-speed type will have the controller size of the 5~8-axis specification.
Controller Speci�cation
Front ViewSide ViewBattery-less absolute/Incremental
/Quasi absolute speci /Index absolute Absolute /
Absolute multi-rotation
RAX Three-phase speci�cation
4-axis
290304
180
186
195
2512012025
5
3- 5
5~8-axis speci
358372
180
186
195
5912012059
5
3- 5
358401
180
186
195
5912012059
5
3- 5(36)
SAX Three-phase speci�cation
4-axis on
247261
180
186
195
48.5757548.5
5
3- 5
5~8-axis
315329
180
186
195
57.510010057.5
5
3- 5
315358
180
186
195
57.510010057.5
5
3- 5(36)
(Battery-less absolute/ Incremental spec /
Quasi absolute / Index absolute )
(Absolute ion /Absolute multi-rotation )
125.3
(80)
3
125.3
(80)
3
Model
DescriptionUnit that converts the regenerative current generated during motor deceleration to heat. Although the controller is equipped with a regenerative resistor inside, an additional external regenerative resistance unit may be necessary if the load in the vertical axis is large and the capacity is insu�cient.
<When connecting a single axis robot> <When connecting a SCARA robot>
Speci�cation
Installation criteria Determined by the total motor wattage of connected axes.
Regenerative resistance unit
Required number of regenerative resistors
0
1
2
3
4
Total motor wattage
~100W
~600W
~1200W
~1800W
~2400W
Horizontal speci�cation
Required number of regenerative resistors
0
1
2
3
4
5
Total motor wattage
~100W
~600W
~1000W
~1400W
~2000W
~2400W
Vertical speci�cation
Model RESU-1 RESUD-1Unit weight About 0.4kgBuilt-in regenerative resistance value 235Ω 80W
Unit mounting method Screw mount DIN rail mountAttached cable CB-ST-REU010
3430.7
5
3430.7
5
136
154
145
136
154
(77
from
the
DIN
rail
cent
er)
145
1.5
1.5 8.5
106.5
115
<RESU-1>
<RESUD-1>
5
5
Estimated installation criteria
* The required number is for a single SCARA robot. When connecting a single axis robot as an additional axis, be sure to add regenerative resistors for the single axis robot.
Examples: When operating IXA-3NNN3015 and ISB-MXM (200W). IXA-3NNN3015 ······· 2 units required ISB-MXM (200W): 1 unit required Therefore, 3 regenerative resistance units are required.
Model Required number of regenerative resistance units
NNN3015
45 260
NSN3015
34560 4
RESU-1 (Standard speci�cation)
RESUD-1 (DIN rail mounting speci�cation)
Options
XSEL-RAX/SAX Controller
29 XSEL-RAX/SAX
PC Software Kit Compatible with Safety Category 4 (For XSEL-SAX only)
Model IA-101-XA-MW(-EB)*PC Software Kit (For XSEL-RAX)
Model IA-101-X-MW
PC Software
Model
Features PC software (CD-ROM) without PC connection cables.If you want to connect both the controller and PC side with a USB cable or Ethernet cable, only the software needs to be purchased. A cable that meets the following specifications is to be prepared by the customer.
Software (CD-ROM), compatible with Windows: 7/8/8.1/10
IA-101-N
Description
Notes
W
* IA-101-XA-MW-EB: model set with emergency stop box
hen operating the actuator by USB connection, be sure to connect the stop switch to the system I/O connector.If an emergency switch is not available, use the emergency stop-equipped model "IA-101-X-USBMW".
USB PC Software Kit (For XSEL-RAX)
Model
Features This type has a USB adapter mounted on the RS232C cable to allow the use on a PC's USB port.
Software (CD-ROM), compatible with Windows: 7/8/8.1/10
PC connection cable 5m + emergency stop box + USB adapter + USB cable 3m
IA-101-X-USBMW
Description
(Accessories)
PC software(CD)
USB cable (to be prepared by the user)
Ethernet cable (to be prepared by the user)
Controller side connector Maximum cable length
USB cable USB Mini-B 5m
Ethernet cable 10/100/1000BASE-T(RJ-45)
5m
5m3m
PC software(CD)
RS232C cableCB-ST-E1MW050-EB
USB cableCB-SEL-USB030
USB conversion adapterIA−CV−USB
Dummy plug
Model DP-2Features A dummy plug to be attached to the teaching connector
when a PC or teaching pendant is not connected.
Absolute data backup battery
Model
Features
AB-5Absolute data storage battery for operating an actuator of the absolute speci�cation.
Touch Panel Teaching Pendant
A teaching device equipped with functions such as position teaching, trial operation, and monitoring.
TB-02-
Features
Model
Speci�cations
External dimensionsRated voltage 24V DC
Power consumption 3.6W or less (150mA or less)
Ambient operating temperature 0 to 40°C
Ambient operating humidity 20~85% RH (non-condensing)
Environmental resistance IP20
Weight 470g (TB-02 unit only)
190
155
25(45.1)
* Only for additional axes with absolute specification
XSEL-RAX/SAX Controller
XSEL-RAX/SAX 30
L40
4.3
40
Connector
Sheath
SW
Identification Signal Pin No.
Red
White
−
COM
−
BK3 1
2
3SW BK RMT
Actuator side
Pin No.
BK RMT
Signal Identification Connector
BK3
COM
−
White
−
RedA2
A3
Remaining
Controller side
Model: CB-X-MA Motor robot cable (*) (*) The alternative EU motor robot cable CB-XEU-MA (with round plastic connector) is not connectable to IXA SCARA robot.
Model: CB-X1-PA Encoder robot cable (*) (*) The alternative EU encoder robot cable CB-XEU1-PA (with round metal connector) is not connectable to IXA SCARA robot.
* Please indicate the cable length (L) in , (e.g. 050 = 5m), maximum 15m
* Please indicate the cable length (L) in , (e.g. 050 = 5m), maximum 15m
Model: CB-IXA-BK-1Brake cable (for IXA-NNN18/NNN30/NNN45)
* Please indicate the cable length (L) in , (e.g. 050 = 5m), maximum 15m
When placing an order for the replacement cable, please use the model name shown below. (* Please contact IAI for more details.)
Maintenance Parts
L
Controller side
4
1
1
4Actuator side
(10)(20)
(Front view)(Front view)
(16)
(ø9) (2
1)
(18)
(41)
Minimum bending R: r = 51 mm or more (for movable use)* Only robot cable is available for this model.
1234
1234
UVWPE
RedWhiteBlackGreen
PESignal No.Wire
0.75sq 0.75sq(crimped)
Color .oN langiS Color Wire
UVW
GreenRed
WhiteBlack
(Fig.: Motor robot cable CB-X-MA with plastic connector)
Controller side Actuator side
Minimum bend radius R: r = 44mm or larger (for movable use)
11
13
14
269
(13)
(41)
(Front view)(Front view)
L
(37)
(ø8)
(25)
(14)
(8)
10111213262524239
181912345678
14151617202122
123456789
BAT+BAT-SDSD
VCCGNDFGBK-BK+
PurpleGray
OrangeGreen
RedBlack
GroundBlue
Yellow
—————————————————
OrangeGreenPurpleGrayRed
BlackBlue
Yellow—
——
E24VOVLS
CREEPOT
RSV———A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
—
Signal No.Wire
AWG26(crimped)
AWG26(soldered)
Color
.oN langiS
Braided ground & shield wireThe shield is clamped to the hood
Color Wire
* Only robot cable is available for this model.
(Fig.: Encoder robot cable CB-X1-PA with plastic connector)
Table of applicable cables
Product model Motor robot cable Encoder robot cable Brake cable
IXA
NNN18
CB-X-MA CB-X1-PA
CB-IXA-BK -1NNN30NNN45NNN60 CB-IXA-BK -2NS 30
CB-IXA-BK -3NS 45NS 60
Product model
XSEL-RAX/SAX
CB-X-PIO
Flat cable for multi-point PIOCB-X-PIOH
IAI America Inc.IAI Industrieroboter GmbHEurope Headquarters Ober der Röth 4, D-65824 Schwalbach, Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane, Shimizu-Ku, Shizuoka 424-0103, Japan Phone: +81-543-64-5105 Fax: +81-543-64-5192
IAI (Shanghai) Co., LtdChina HeadquartersShanghai Jiahua Business Centee A8-303.808,Hongqiao Rd., Shanghai 200030, ChinaPhone: +86-21-6448-4753 Fax: +86-21-6448-3992
America Headquarters2690 W. 237th Street, Torrance, CA 90505, U.S.A
IAI-automation.com
Phone: +49-6196-8895-0 Fax: +49-6196-8895-24 Phone: +1-310-891-6015 Fax: +1-310-891-0815
IXA SCARA Series, Catalogue No. 0120-E, Version CJ0256-2.7A
L40 40
Actuator side
SW BK RMT
Connector
Sheath
SW
Identification Signal Pin No.
Red
White
−
COM
−
BK4 1
2
3
Pin No.
BK RMT
Signal Identification Connector
BK4
COM
−
White
−
RedB2
A3
Remaining
4.3
Controller side
L40 40
Actuator side
SW BK RMT
Connector
Sheath
SW
Identification Signal Pin No.
Red
White
−
COM
−
BK5 1
2
3
Pin No.
BK RMT
Signal Identification Connector
BK5
COM
−
White
−
RedA4
A3
Remaining
4.3
Controller side
Model: CB-IXA-BK-2
Model: CB-IXA-BK-3
Brake cable (For IXA-NNN60)
Brake cable (For IXA-NSN30/NSN45/NSN60)
* Please indicate the cable length (L) in , (e.g. 050 = 5m), maximum 15m
* Please indicate the cable length (L) in , (e.g. 050 = 5m), maximum 15m
Model: CB-X-PIO * Please indicate the cable length (L) in , (e.g. 080 = 8m), maximum 10m
L
Flat cable (50-core)
No connector
2 1
50 49
ColorNo. Wiring
Flat cable (pressure-welded)
Wiring
Flat cable (pressure-welded)
Wiring
Flat cable (pressure-welded)
ColorNo. ColorNo.1234567891011121314151617
Brown1Red1
Orange1Yellow1Green1Blue1
Purple1Gray1
White1Black1
Brown−2Red2
Orange2Yellow2Green2Blue2
Purple2
1819202122232425262728293031323334
Gray2White2Black2
Brown−3Red3
Orange3Yellow3Green3Blue3
Purple3Gray3
White3Black3
Brown−4Red4
Orange4Yellow4
35363738394041424344454647484950
Green4Blue4
Purple4Gray4
White4Black4
Brown−5Red5
Orange5Yellow5Green5Blue5
Purple5Gray5
White5Black5
Model: CB-X-PIOH * Please indicate the cable length (L) in , (e.g. 080 = 8m), maximum 10m
No connector
Flat cable (50-core)UL2651 AWG28×2
51
CN1
1
100 50
Socket: HIF6-100D-1.27R (Hirose)
Cable 2 (51~100 pins)
Cable 1 (1~50 pins)
Cable 1 Cable 2Category Pin
No.Color Port
No. Function Category PinNo.
Color PortNo. Function Category Pin
No.Color Port
No. Function Category PinNo.
Color PortNo. Function
− 1 Brown-1 − External power supply 24VDC
for pin No. 2~25, 51~74− 26 Blue-
3 − External power supply 24VDCfor pin No. 27~50, 76~99
Output
51 Brown-1 300 Alarm output
Output
76 Blue-3 324 General-purpose output
Input
2 Red-1 000 Program start
Input
27 Purple-3 024 General-purpose input 52 Red-1 301 Ready output 77 Purple-3 325 General-purpose output3 Orange-1 001 General-purpose input 28 Gray-3 025 General-purpose input 53 Orange-1 302 Emergency stop output 78 Gray-3 326 General-purpose output4 Yellow-1 002 General-purpose input 29 White-3 026 General-purpose input 54 Yellow-1 303 General-purpose output 79 White-3 327 General-purpose output5 Green-1 003 General-purpose input 30 Black-3 027 General-purpose input 55 Green-1 304 General-purpose output 80 Black-3 328 General-purpose output6 Blue-1 004 General-purpose input 31 Brown-4 028 General-purpose input 56 Blue-1 305 General-purpose output 81 Brown-4 329 General-purpose output7 Purple-1 005 General-purpose input 32 Red-4 029 General-purpose input 57 Purple-1 306 General-purpose output 82 Red-4 330 General-purpose output8 Gray-1 006 General-purpose input 33 Orange-4 030 General-purpose input 58 Gray-1 307 General-purpose output 83 Orange-4 331 General-purpose output9 White-1 007 Program designation (PRG No.1) 34 Yellow-4 031 General-purpose input 59 White-1 308 General-purpose output 84 Yellow-4 332 General-purpose output
10 Black-1 008 Program designation (PRG No.2) 35 Green-4 032 General-purpose input 60 Black-1 309 General-purpose output 85 Green-4 333 General-purpose output11 Brown-2 009 Program designation (PRG No.4) 36 Blue-4 033 General-purpose input 61 Brown-2 310 General-purpose output 86 Blue-4 334 General-purpose output12 Red-2 010 Program designation (PRG No.8) 37 Purple-4 034 General-purpose input 62 Red-2 311 General-purpose output 87 Purple-4 335 General-purpose output13 Orange-2 011 Program designation (PRG No.10) 38 Gray-4 035 General-purpose input 63 Orange-2 312 General-purpose output 88 Gray-4 336 General-purpose output14 Yellow-2 012 Program designation (PRG No.20) 39 White-4 036 General-purpose input 64 Yellow-2 313 General-purpose output 89 White-4 337 General-purpose output15 Green-2 013 Program designation (PRG No.40) 40 Black-4 037 General-purpose input 65 Green-2 314 General-purpose output 90 Black-4 338 General-purpose output16 Blue-2 014 General-purpose input 41 Brown-5 038 General-purpose input 66 Blue-2 315 General-purpose output 91 Brown-5 339 General-purpose output17 Purple-2 015 General-purpose input 42 Red-5 039 General-purpose input 67 Purple-2 316 General-purpose output 92 Red-5 340 General-purpose output18 Gray-2 016 General-purpose input 43 Orange-5 040 General-purpose input 68 Gray-2 317 General-purpose output 93 Orange-5 341 General-purpose output19 White-2 017 General-purpose input 44 Yellow-5 041 General-purpose input 69 White-2 318 General-purpose output 94 Yellow-5 342 General-purpose output20 Black-2 018 General-purpose input 45 Green-5 042 General-purpose input 70 Black-2 319 General-purpose output 95 Green-5 343 General-purpose output21 Brown-3 019 General-purpose input 46 Blue-5 043 General-purpose input 71 Brown-3 320 General-purpose output 96 Blue-5 344 General-purpose output22 Red-3 020 General-purpose input 47 Purple-5 044 General-purpose input 72 Red-3 321 General-purpose output 97 Purple-5 345 General-purpose output23 Orange-3 021 General-purpose input 48 Gray-5 045 General-purpose input 73 Orange-3 322 General-purpose output 98 Gray-5 346 General-purpose output24 Yellow-3 022 General-purpose input 49 White-5 046 General-purpose input 74 Yellow-3 323 General-purpose output 99 White-5 347 General-purpose output
25 Green-3 023 General-purpose input 50 Black-
5 047 General-purpose input − 75 Green-3 − External power supply 0V
for pin No. 2~25, 51~74− 100 Black-
5 − External power supply 0Vfor pin No. 27~50, 76~99
PIO �at cable
Multipoint PIO �at cable