Transcript
GB
PowerCon SCARA Robot PowerCon SCARA Program Controller
IXP Series MSEL-PGX
www.intelligentactuator.de
Introducing the Cost-effective Pulse Motor Type IXP to the IX Series of SCARA Robots All models come standard with battery-less absolute encoders.
1
More Affordable Due to Pulse Motors By adopting pulse motors …
… the IXP is much cheaper than a conventional model. * Compared against an IAI robot based on an arm length of 350mm.
The IXP achieves a payload equivalent to that of a conventional model by adopting high-output drivers.
2
All Models Come Standard with Battery-less Absolute Encoders All IXP models come standard with battery-less absolute encoders that does not require batteries. Since battery replacement is no longer necessary, maintenance man-hours are reduced. Advantages of Battery-less Absolute Encoders The machine will not stop due to battery errors (low voltage, etc.) No cost of battery replacement No need for absolute reset or other physical tasks associated with battery replacement
3
IXP-4N3515 (New product) IX-NNN3515H
(Conventional product)
Lighter than a Conventional Model The robot weighs approximately 30% less. (Compared to: IX-NNN3515)
The lightweight robot can be easily assembled into your equipment.
1
Model
IX-NNN3515H (Conventional product)
Mass
18kg
IXP-4N3515 (New product)
−5kg
13kg
Smaller than the conventional model.
4
Added 3-axis Sp cation and 4-axis* Gripper Sp cation The 3-axis speci cation has no rotational axis for greater allowable inertial load moment. It can be combined with a dedicated gripper to constitute a transfer robot with ease.
Gripper 4-axis gripper speci cation
* The gripper type has four axes including three SCARA robot axes and one gripper axis.
Use Examples of the 3-axis Speci cation Work processes that require only three axes Pickup and placement of circular parts, non-directional transfer, etc.
Connecting an actuator as the fourth axis A RoboCylinder of a rotary type, rod type, slider type, etc., can be connected to a SCARA robot 3-axis speci cation as its fourth axis.
Inspecting cans for defects Defects are identi ed using an external camera and are screened out.
+
CAMERA
5
Product Lineup Arm length SCARA type
350mm 3 axes
450mm
4 axes (with rotational axis)
3 axes
4 axes (with rotational axis)
None IXP-3N3515
Controller:
Gripper
Medium gripper type RCP4-GRSML
IXP-4N3515
IXP-3N4515
Controller:
Controller:
— IXP-3N3515GM
— IXP-3N4515GM
Controller:
Large gripper type RCP4-GRSLL
Controller:
— IXP-3N3510GL
Controller:
IXP-4N4515
Controller:
— IXP-3N4510GL
Controller:
2
Introducing the PowerCon SCARA Robot Program Controller MSEL with High-output Driver (PowerCon)
1
Accommoda cantly More Programs and Positions The greater storage capacity accommodates signi cantly more programs and positions. XSEL-PX (Conventional product)
MSEL (New product)
128
255
20000
30000
Number of programs Number of positions
2
Smaller Size Having a size of 130mm in width x 195mm in height, the MSEL is signi cantly smaller than a conventional controller and saves space in your control panel. The MSEL can be installed with screws or using a DIN rail.
195mm
MSEL-PGX
50%
Smaller
130mm
3
195mm
XSEL-PX4
285mm
3
Safety Category Compliant
4
Supporting Diverse I/O Interfaces
By building an appropriate external circuit, the MSEL meets the safety circuit requirements of any of Safety Categories 1 to 3.
Standard PIOs (IN: 16 points, OUT: 16 points) and one expansion I/O slot are available. For the expansion I/O slot, PIOs (IN: 16 points, OUT: 16 points) or eld network (CC-Link, DeviceNet, PROFIBUS-DP or EtherNet/IP) can be selected.
PIO
Field network
Expansion I/O slot
IN: 16 points, OUT: 16 points
Applications Part Screening Parts of two different sizes are discriminated using a sensor and sorted into different boxes.
Solar Battery Module Tab Solder Solar battery module cells are transferred while positioncompensated so that electrodes can be soldered onto the cells. Camera * Cells are positioncompensated using the camera and then arranged on the conveyor.
Solar battery cell
Sensor
DVD-R Packing DVD-Rs are picked up from the conveyor and placed.
Adhesive Application Adhesive is applied onto circular parts.
4
Cautionary Notes *1 Positioning Repeatability Positioning repeatability refers to the degree to which the robot can repeat the same positioning when operated at the same speed and acceleration/deceleration using the same arm system between two points including the start position and target position. (The values were measured at a constant ambient temperature of 20°C). Note that the positioning repeatability may be out of specification if the arm is changed, if the positioning is from multiple different positions to a single set position, or if the operating conditions, such as the operating speed and acceleration/deceleration settings, are changed.
Notes on the Low-resolution Encoders
Minimum travel
Since the IXP is equipped with low-resolution encoders, feasible positioning points of the robot are wider apart and positioning to a specific command position may not be possible. Also note that the target position cannot be finely adjusted by less than the minimum travel. IXP-3N3515 IXP-3N4515 3N3510 3N4510 0.202 0.179 (MAX) (MAX)
IXP-4N3515
IXP-4N4515
0.202 (MAX)
0.179 (MAX)
In the horizontal plane (Arm 1 + Arm 2)
mm
Vertical axis
mm
0.009
0.009
0.009
0.009
Rotational axis
Degree
—
—
0.113
0.113
Feasible position
Minimum travel
Unfeasible position
×
*2 Maximum Operating Speed for PTP Operation The maximum operating speed in the specification table assumes PTP command operation. The speed is limited for CP operation command (interpolation) operation. For details, refer to “CP Operation” under “Rough Guide for SCARA Robot Acceleration/Deceleration Setting” on P. 18. Also note that the speed/acceleration must be reduced as deemed appropriate when operating the vertical axis at the bottom end.
*3 Payload The payload may be the rated payload or the maximum payload. The rated payload is the maximum mass that can be transferred at the maximum speed and maximum acceleration. The maximum payload is the maximum mass the actuator can transfer at a reduced speed/acceleration. When transferring a mass greater than the rated payload, set the load mass and inertial moment in the program, and an optimal speed/ acceleration will be applied automatically.
*4 Standard Cycle Time The standard cycle time refers to the time required to cycle back and forth at maximum speed under the following conditions. This is a general estimate of the high-speed performance.
Horizontal movement Vertical movement
(Arm length: 350 to 450), 1 kg load, vertical distance: 25mm; horizontal distance: 300mm
The allowable inertial moment at the tip of the vertical axis represents an equivalent allowable inertial moment at the tip of the vertical axis of a SCARA robot (measured at the center of the guide shaft in the case of a 3-axis specification, or center of the rotating axis in the case of a 4-axis specification). Keep the offset from the center of rotation of the tip of the vertical axis to the center of gravity of the load to 30mm or less in the horizontal direction or 100mm or less in the vertical direction. If the center of gravity of the tool is away from the center of the tip of the vertical axis, the speed/ acceleration must be reduced as deemed appropriate.
Center of gravity of load 30mm or less in horizontal direction
100mm or less in vertical direction
*5 Allowable Inertial Moment at the Tip of the Vertical Axis
Load offset
Work Envelope When changing the arm, be careful that no peripheral objects will obstruct the arm when it fully extends.
Acceleration/Deceleration Setting For the setting of acceleration/deceleration, refer to “Reference for SCARA Robot Acceleration/Deceleration Settings” on P.18. *1 to *5 above correspond to the numbers on the main text pages (P. 7, P. 9).
5
Explanation of the Model Items
IXP
—
—
Series
Type
WA
—
—
Encoder type
Cable length
absolute WA Battery-less specification
P3
Applicable controller
N
None
P
1m
S
3m
M
5m
P3
X
Specified length
R
Robot cable
MSEL
(Up to 20m)
(Example)
3N3515
3-axis type / Arm length 350mm / Vertical axis 150mm
3N4515
3-axis type / Arm length 450mm / Vertical axis 150mm
3N3515GM
3-axis type / Arm length 350mm / Vertical axis 150mm; RCP4-GRSML installed at the tip of the vertical axis
3N3510GL
3-axis type / Arm length 350mm / Vertical axis 100mm; RCP4-GRSLL installed at the tip of the vertical axis
3N4515GM
3-axis type / Arm length 450mm / Vertical axis 150mm; RCP4-GRSML installed at the tip of the vertical axis
3N4510GL
3-axis type / Arm length 450mm / Vertical axis 100mm; RCP4-GRSLL installed at the tip of the vertical axis
4N3515
4-axis type / Arm length 350mm / Vertical axis 150mm
4N4515
4-axis type / Arm length 450mm / Vertical axis 150mm
IXP
—
3 N 35 15 GM Number of axes: 3 axes
Vertical axis stroke: 150mm
Arm length: 350mm
—
WA
—
S
—
Cable length: 3m Encoder type: Battery-less
P3
Controller: MSEL
Tip of vertical axis: RCP4-GRSML installed
6
IXP
IXP- 3N3515 3N3510 Model Items
IXP
ation
4N3515
Number of axes 3: 3 axes 4: 4 axes
Arm length Vertical axis stroke
Gripper
35: 350mm 15 : 150mm, no gripper 15GM : 150mm, medium gripper installed 10GL : 100mm, large gripper installed * Refer to “Component Axes” for the gripper types.
* The photograph show
Axis 1 Axis 2 Axis 3 Axis 4
P3
Encoder type
Cable length
Applicable controller
WA: Battery-less absolute ation
N: None X P: 1m R: Robot cable S: 3m M: 5m
P3: MSEL
For explanations of (Note 1) through (Note 5) refer to page 5. • The vertical axis has no brake. The unique structure holds the load in place even when the servo is tur . • The vertical axis does not support push-motion control. er is provided for push-motion, the • If a tool is installed or a spr allowable push force is 60 N or less. • Refer to P. 5 for the work envelope, and P. 18 for the notes on acceleration/ deceleration setting.
ation.
Axis c
Vertical axis 100mm/150mm
WA
N 35
Series
Arm length 350mm
ration
Arm length (mm)
Work envelope
Positioning repeatabilty (Note 1)
Arm 1 Arm 2
160 190
±127° ±127°
±0.03mm ±0.02mm
Maximum operating speed in PTP mode (Note 2) Payload (kg) (Note 3) With medium With large Rated No gripper Maximum gripper (GM) gripper (GL) 1,908mm/s 2,726mm/s 2,726mm/s (Composite (Composite (Composite speed) speed) speed) 1 3 270mm/s 270mm/s 189mm/s
Vertical axis
—
150mm *
Rotating axis
—
±360°
±0.02°
1000°/s
Medium gripper GM
—
14mm (B
±0.01mm
—
94mm/s (
Large gripper GL
—
22mm (B
±0.01mm
—
125mm/s (
—
— Refer to the catalog of the gripper “RCP4-GR”
* When the large gripper is installed, the work envelope of the vertical axis becomes 100mm.
Model Combinations 3-axis ation
4-axis ation
No gripper Encoder type
With medium gripper (GM)
With large gripper (GL)
Battery-less absolute encoder AWG24x6, AWG26x5P (shielded) User wiring is not supported * User cables are sold separately. Refer because the gripper wiring is used. to the operation manual for detail.
User wiring
Air tube (O.D. ø4, I.D. ø2.5) x 3 (Normal working pressure 0.8 MPa) 0.69 0.69
User piping SCARA Gripper (full stroke) Allowable torque (Axis 4) (N • m)
Standard cycle time (sec) (Note 4)
— —
Allowable moment (N • m)
Ambient temperature/humidity
None
Ma 1.9 Mb 2.7 Mc 2.9
Ma 2.9 Mb 2.9 Mc 2.9
Standard type
0.002
0.009
Special length
—
Temperature: 0~40°C, humidity: 20-85% RH or less (Non-condensing) 12
13
12.5
13 Robot cable
IXP-3N3515GM
The medium gripper RCP4-GRSML is installed at the tip of the vertical axis.
IXP-3N3510GL
The large gripper RCP4-GRSLL is installed at the tip of the vertical axis.
SCAR
ation IXP-3N3515 IXP-3N3515GM IXP-3N3510GL
SCAR ation (with rotating axis) IXP-4N3515
Cable Length
1.08
Component Axes
7
Gripper
Type
1.4 2.9
Gripper None Medium gripper Large gripper
0.56
0.51
Rated: 0.003 Allowable inertial moment of tip axis Rated: 0.003 Maximum: 0.01 Maximum: 0.003 (kg • m2) (Note 5) Unit weight (kg)
ation
*T
Cable code P(1m) S(3m) M(5m) X06(6m)~X10(10m) X11(11m)~X15(15m) X16(16m)~X20(20m) R01(1m)~R03(3m) R04(4m)~R05(5m) R06(6m)~R10(10m) R11(11m)~R15(15m) R16(16m)~R20(20m)
ation requires three cables, while the gr ation require four cables.
ation and
IXP Dimensions
Reference surface
90 4
16 0.5
° 127
88 104
55
Reference surface
0 −0.015
8 4-ø9
Detail view of A
(44.5)
105
350
3: Mechanical end
190
90 R1
.5 R158 0 R35
92 55 53 108
R19 0
User wiring/piping exit grommet (2 locations)
5
7.5 ø8 h7
www.intelligentactuator.de 127 °
38
8
CAD drawings can be downloaded from the website.
2D CAD
160 (102.5)
60 Work envelope of the right-arm system
8
235
249
User wiring/piping stored inside Wiring (AWG24x6C/AWG26x5P with shield) Piping (ø4x3)
Controller cables When exiting from the rear panel Controller cables When exiting through the grommet
127 °
2-M3, depth 6 Tapped user holes (One on the opposite side is used for gripper wiring) Open side: 27.8 Close side: 5.8
2-M5, depth 5 10
R19 0
R158 .5 R35 0 R190
2-ø4 h7 88 89: Home return
° 127
GL (RCP4-GRSLL)
GM (RCP4-GRSML)
2
+0.015 depth 12 0
8 H7
User wiring/piping exit grommet (from which the controller cables exit)
three controller cables are needed. Ground connection 55
* The vertical axis stroke is 100mm. * The overhang limit is 0mm horizontally and 100mm vertically. (Refer to *5 on P. 5.)
60 Work envelope of the left-arm system
6.1
17
34
42 0 16 −0.05 21
2-M3, depth 6 Tapped user holes (One on the opposite side is used for gripper wiring) Open side: 17.6 Close side: 3.6 2-ø3 h7 62 * The vertical axis stroke is 150mm. * The overhang limit is 0mm horizontally and 100mm vertically. 0 12.2 0.05 (Refer to *5 on P. 5.) 7 4.2
9
+0.015 depth 12 0
Detail view of B
T slot: M3 (same on the opposite side)
View B
2-M4, depth 5
29.7
Weight
IXP-FL-2
121.95g
1.5
Model type
ø24 ø8 H8 +0.022 0
17.5 ±0.02
M3
3.5
A available. U tool, etc., at the tip of the vertical axis.
PowerCon SCARA controller
External view
5 ø3
,depth 2.2 2-ø3H7 +0.010 0
ø5 −0.006 ø12 g6 −0.017 ø46
View C
Name
4-ø4.5, through Distributed at an equal pitch 45° along the circumference
17.5 ±0.02
21.4
(30) (28.5) 13.5 7
2
(720 max.)
(100)
Wiring space
12
(216)
2-M3, depth 6 User tap (same on the opposite side)
ø8 H7
88
55
(191) 57
29
14 91.5 (141.5) 150 (100): Stroke (6): Mechanical end
T slot: M3 (same on the opposite side) *Available only on the 4-axis
34 25 82
(483)
273 514.5 241.5
A
User wiring/ piping stored inside
View C
Applicable controller
Features
Standard I/O points (input/output)
Power-supply voltage
Reference page
MSEL
Up to 4 axes
16 points/ 16 points
AC100V~230V
P11
8
IXP
IXP- 3N4515 3N4510 Model Items
ation
IXP
4N4515
Number of axes 3: 3 axes 4: 4 axes
Arm length Vertical axis stroke
Gripper
45: 450mm 15 : 150mm, no gripper 15GM : 150mm, medium gripper installed 10GL : 100mm, large gripper installed * Refer to “Component Axes” for the gripper types.
* The photograph show
Axis 1 Axis 2 Axis 3 Axis 4
P3
Encoder type
Cable length
Applicable controller
WA: Battery-less absolute ation
N: None X P: 1m R: Robot cable S: 3m M: 5m
P3: MSEL
For explanations of (Note 1) through (Note 5) refer to page 5. • The vertical axis has no brake. The unique structure holds the load in place even when the servo is tur . • The vertical axis does not support push-motion control. er is provided for push-motion, the • If a tool is installed or a spr allowable push force is 60 N or less. • Refer to P. 5 for the work envelope, and P. 18 for the notes on acceleration/ deceleration setting.
ation.
Axis c
Vertical axis 100mm/150mm
WA
N 45
Series
Arm length 450mm
ration
Arm length (mm)
Work envelope
Positioning repeatabilty (Note 1)
Arm 1 Arm 2
260 190
±127° ±127°
±0.03mm ±0.02mm
Maximum operating speed in PTP mode (Note 2) Payload (kg) (Note 3) With medium With large Rated No gripper Maximum gripper (GM) gripper (GL) 2,060mm/s 2,438mm/s 2,438mm/s (Composite (Composite (Composite speed) speed) speed) 1 3 270mm/s 270mm/s 189mm/s
Vertical axis
—
150mm *
Rotating axis
—
±360°
±0.02°
1,000°/s
Medium gripper GM
—
14mm (B
±0.01mm
—
94mm/s (
Large gripper GL
—
22mm (B
±0.01mm
—
125mm/s (
—
— Refer to the catalog of the gripper “RCP4-GR”
* When the large gripper is installed, the work envelope of the vertical axis becomes 100mm.
Model Combinations 3-axis ation
4-axis ation
No gripper Encoder type
With medium gripper (GM)
With large gripper (GL)
Battery-less absolute encoder AWG24x6, AWG26x5P (shielded) User wiring is not supported * User cables are sold separately. Refer because the gripper wiring is used. to the operation manual for detail.
User wiring
Air tube (O.D. ø4, I.D. ø2.5) x 3 (Normal working pressure 0.8 MPa) 0.67 0.67
User piping SCARA Gripper (full stroke) Allowable torque (Axis 4) (N • m)
Standard cycle time (sec) (Note 4)
— —
Allowable moment (N • m)
0.51 1.4
2.9
Rated: 0.003 Allowable inertial moment of tip axis Rated: 0.003 Maximum: 0.01 Maximum: 0.003 (kg • m2) (Note 5) Ambient temperature/humidity Unit weight (kg)
ation
Gripper None
Type
0.56 —
Ma 1.9 Mb 2.7 Mc 2.9
Ma 2.9 Mb 2.9 Mc 2.9
0.002
0.009
Standard type
Special length
Temperature: 0~40°C, humidity: 20-85% RH or less (Non-condensing) 13
14
13.5
14 Robot cable
IXP-3N4515GM
The medium gripper RCP4-GRSML is installed at the tip of the vertical axis.
IXP-3N4510GL
The large gripper RCP4-GRSLL is installed at the tip of the vertical axis.
SCAR
ation IXP-3N4515 IXP-3N4515GM IXP-3N4510GL
SCAR ation (with rotating axis) IXP-4N4515
Cable Length
0.95
Component Axes
9
Gripper None Medium gripper Large gripper
*T
Cable code P(1m) S(3m) M(5m) X06(6m)~X10(10m) X11(11m)~X15(15m) X16(16m)~X20(20m) R01(1m)~R03(3m) R04(4m)~R05(5m) R06(6m)~R10(10m) R11(11m)~R15(15m) R16(16m)~R20(20m)
ation requires three cables, while the gr ation require four cables.
ation and
IXP Dimensions
www.intelligentactuator.de
38
Reference surface
127 °
88 104
90 4
User wiring/piping exit grommet (2 locations)
5
7.5 ø8 h7
0 −0.015
Detail view of A
(44.5)
4-ø9 8
450
190
° 127
16 0.5
55
Reference surface
8
CAD drawings can be downloaded from the website.
2D CAD
R210 .3 R450
92 55 53 108
90 R1
105
260
3: Mechanical end
0 R19
(102.5)
Work envelope of the right-arm system
60
Detail view of B
2-M3, depth 6 User tap
8 H7
User wiring/piping stored inside Wiring (AWG24x6C/AWG26x5P with shield) (ø4x3)
235
(same on the opposite side)
12
three controller cables are needed. Controller cables When exiting from the rear panel Controller cables When exiting through the grommet
View B
.3 R210 R450
2-M3, depth 6 Tapped user holes (One on the opposite side is used for gripper wiring) Open side: 27.8 Close side: 5.8 * The vertical axis stroke is 100mm. * The overhang limit is 0mm horizontally and 100mm vertically. (Refer to *5 on P. 5.) 6.1
2-M5, depth 5 10
R19 0
2-ø4 h7 88 89: Home return
R1 90
Work envelope of the left-arm system
60
17
34
42 0 16 −0.05 21
Open side: 17.6 Close side: 3.6 2-ø3 h7 62 * The vertical axis stroke is 150mm. * The overhang limit is 0mm horizontally and 100mm vertically. 0 12.2 −0.05 (Refer to *5 on P. 5.) 7 4.2
2
2-M3, depth 6 Tapped user holes (One on the opposite side is used for gripper wiring)
127 °
GL (RCP4-GRSLL)
Ground connection
° 127
GM (RCP4-GRSML)
+0.015 depth 12 0
(770 max.)
(191) 57
(483)
29
Wiring space
55
2-M4, depth 5
29.7
Weight
IXP-FL-2
121.95g
1.5
Model type
ø24 ø8 H8 +0.022 0
17.5 ±0.02
M3
3.5
A available. U tool, etc., at the tip of the vertical axis.
(30) (28.5) 13.5 7
21.4
,depth 2.2 2-ø3H7 +0.010 0
ø5 −0.006 ø12 g6 −0.017 ø46
View C
Name
PowerCon SCARA controller
External view
4-ø4.5, through Distributed at an equal pitch 45° along the circumference
5 ø3
17.5 ±0.02
2
User wiring/piping exit grommet (from which the controller cables exit)
(100)
*Available only on the 4-axis
249
34 25 82
9
+0.015 ø8 H7 0 depth 12
(216)
241.5 91.5 (141.5) 150 (100): Stroke (6): Mechanical end
A
User wiring/ piping stored inside
T slot: M3 (same on the opposite side) 14
514.5
273
T slot: M3 (same on the opposite side)
88
55
8
View C
Applicable controller
Features
Standard I/O points (input/output)
Power-supply voltage
Reference page
MSEL
Up to 4 axes
16 points/ 16 points
AC100V~230V
P11
10
MSEL Controller
MSEL-PGX Program Controller for PowerCon SCARA
Model List Name
PowerCon SCARA controller
External view
Type name Type
PGX3
PGX4
Global type with 3-axis safety category specification
Global type with 4-axis safety category specification
Standards compliances Safety category (*1)
Can be made compliant with categories B to 3
Connected actuator
ation
Standard I/Os Expansion I/Os Number of programs Number of program steps Number of positions Power-supply voltage
ation + additional axis ation ation (with rotating axis)
IXP 3-axis gr
NPN, PNP(16IN/16OUT) NPN, PNP(*), CC-Link, DeviceNet, PROFIBUS-DP, EtherNet/IP 255 9999 30000 Single-phase 100 to 230 VAC
(*) PNP specification is coming soon.
*1: Meeting this safety category requires the customer to install a safety circuit externally to the controller.
Model SCARA
MSEL
WAI Controller type
PGX3
Global type with 3-axis safety category specification
PGX4
Global type with 4-axis safety category specification
3N3515 3N4515 3N3515GM 3N3510GL 3N4515GM 3N4510GL 4N3515 4N4515
11
SCARA type
3-axis type / Arm length 350mm / Vertical axis 150mm 3-axis type / Arm length 450mm / Vertical axis 150mm 3-axis type / Arm length 350mm / Vertical axis 150mm; RCP4-GRSML installed at the tip of the vertical axis 3-axis type / Arm length 350mm / Vertical axis 100mm; RCP4-GRSLL installed at the tip of the vertical axis 3-axis type / Arm length 450mm / Vertical axis 150mm; RCP4-GRSML installed at the tip of the vertical axis 3-axis type / Arm length 450mm / Vertical axis 100mm; RCP4-GRSLL installed at the tip of the vertical axis 4-axis type / Arm length 350mm / Vertical axis 150mm 4-axis type / Arm length 450mm / Vertical axis 150mm
* An additional axis can be selected only when the controller is of the 4-axis type and SCARA robot is of the 3-axis type (without gripper).
Additional axis
4
WAI
Encoder type
Motor type
Encoder type
20P
20 square pulse motor
20SP
20 square pulse motor (for RA2AC/AR, RA2BC/BR)
Options
Standard I/O type
NP
ation
PN
ation
E
Expansion I/O type
Not used
NP
Expansion PIO board (NPN specification)
I/O Cable Power-supply Actuator mounting length voltage ation
4
(None) DN
AC100~230V
Scr
28P
28 square pulse motor
28SP
28 square pulse motor (for RA3C, RGD3 )
PN
Expansion PIO board (PNP specification) (*)
35P
35 square pulse motor
DV
DeviceNet board
42P
42 square pulse motor
DV2
DeviceNet board (with 2-way connector) (**)
0
No cable
42SP
42 square pulse motor for RCP4W-RA6 highation
CC
CC-Link board
2
2m (standard)
56 square pulse motor
CC2
CC-Link board (with 2-way connector) (**)
3
3m
5
5m
56P
(None)
(
)
No option
B
Brake
HS
Home check sensor (*)
PR
PROFIBUS-DP board
EP
EtherNet/IP board
ation
DIN rail mounting ation
* PNP specification is coming soon. ** If CC2 or DV2 is selected, a 2-way connector is supplied for branch wiring.
* The home check sensor can be selected only when an incremental additional axis is used with the 3N3515 or 3N4515.
MSEL Controller System C
ration (*) TB-01-SJ coming soon with CE conformity. For a safety category compliant system with deadman switch type TB-01-D(R) see TB-01 brochure.
Option
Touch panel teaching pendant
(Refer to P.16) * The MSEL-PGX is supported only by Ver. 1.02 or later.
Option
PC software
(Refer to P.16) (RS232C cable + Connector conversion cable) (USB cable + Dummy plug) * The MSEL-PGX is supported only by Ver. 11.00.00.00 or later.
Standard accessory/option
Dummy plug
(Refer to P.16) (Supplied with the MSEL-PGX) Supplied with the SCARA robot
(**) For a safety category compliant system with safety circuit emergency stop connector type IA-101-XA-MW-JS contact IAI.
Standard accessory/option
Connector conversion cable
(Refer to P.16) (Supplied with the TB-01-SJ/ IA-101-X-MW-JS)
Integrated motor-encoder cable (Refer to P.17) Standard: 1m / 3m / 5m
Emergency stop switch
Enable switch Standard accessory
at cable
(Refer to P.18) Standard: 2m
AC100~230V
PLC
Protective grounding Expansion PIOs/var Electromagnetic contactor
Supplied with e
tworks ation
at cable
(Refer to P.18) Standard: 2m
(Can be connected to a SCARA r
ation)
* Wire the emergency stop switch, enable switch, electromagnetic contactor, etc., as necessary. The same applies to the factory settings (shorting).
Integrated motor-encoder cable
(Refer to P.17) Standard: 1m / 3m / 5m Supplied with the actuator
Actuator RCP2 series Integrated motor-encoder cable
(Refer to P.18) Standard: 1m / 3m / 5m Supplied with the actuator
Actuator, RCP2 small rotary Integrated motor-encoder cable
(Refer to P.17) Standard: 1m / 3m / 5m Supplied with the actuator
Actuator RCP3 series
Integrated motor-encoder cable
(Refer to P.17) Standard: 1m / 3m / 5m Supplied with the actuator
Actuator RCP4 series Integrated motor-encoder cable
(Refer to P.17) Standard: 1m / 3m / 5m Supplied with the actuator
Actuator RCP5 series
12
MSEL Controller Basic Controller Sp
cations
ation item Power-supply input voltage Power-supply current Power-supply frequency range Motor type Supported encoder Data storage device Number of program steps Number of positions Number of programs Number of multitasks Serial communications Operation mode Program Communication method Baud rate SIO interface TP port Live wire connection USB Number of input points Input voltage Input current Input ation ON voltage OFF voltage Leak current Standard PIO Insulation method interface Number of output points Load voltage Output Maximum current ation Saturated voltage Leak current Insulation method
Compliant expansion I/O interface
Calendar/clock function
Retention time Charge time
Protective functions Operating temperature range Operating humidity range Installation direction Installation Installation method Rush current Air cooling method External dimensions Mass
Contents Single-phase 100 to 230 VAC ±10% 2.9A typ. (AC100V), 1.4A typ. (AC200V), 1.2A typ. (AC230V) 50/60Hz ±5% Pulse motor (servo control) Incremental encoder / Battery-less absolute encoder FlashROM/FRAM 9999 30000 255 16 RS232 (asynchronous communications) 9.6, 19.2, 38.4, 57.6, 76.8, 115.2kbps 16 points DC24V ±10% 7mA / circuit Min. DC16V Max. DC5V Allowable leak current: 1 mA max. Photocoupler insulation 16 points DC24V ±10% 100mA per point, 400mA per 8 points (Note 1) Max. 3V Max. 0.1mA Photocoupler insulation * Coming soon with ation* (16IN/16OUT) PNP specification. CC-Link (remote device station) DeviceNet PROFIBUS-DP EtherNet/IP Approx. 10 days Approx. 100 hours (fully charged) * Data can be retained even when the batteries are not fully charged. Overcurrent, abnormal temperature, fan speed low monitoring, encoder disconnection, etc. 0~40°C 85% RH max. (non-condensing, non-freezing) Installed vertically (exhaust side up) Mounted with screws or using a DIN rail 15A typ. (100 V AC), 30A typ. (200 V AC): 5ms max. (Ambient temperature 25°C/ No cycling of the power) Forced air cooling Width 130mm x Height 195mm x Depth 125mm Approx. 1400g
(Note 1) The total load current shall be 400mA for every eight points from standard I/O No. 316. (The maximum current per point shall be 100mA.)
13
MSEL Controller PIO Signal Chart Pin Layouts for Standard PIO Connector/Expansion PIO Connector Pin No. 1A 2A 3A 4A 5A 6A 7A 8A 9A 10A 11A 12A 13A 14A 15A 16A 17A 18A 19A 20A
Category 24V 24V — —
Assignment P24 P24 — — IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15
Input
Pin No. 1B 2B 3B 4B 5B 6B 7B 8B 9B 10B 11B 12B 13B 14B 15B 16B 17B 18B 19B 20B
Internal Circuits for Standard I/Os (NPN Sp
Category
Output
— — 0V 0V
cations) *
[Input section] Item Input voltage Input current On/O voltage Insulation method
Assignment OUT0 OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 — — N N
* For the standar
ations), refer to the operation manual.
[Output section] ations DC24V ±10% 7mA/circuit On voltage…Min. 16.0 VDC, O voltage…Max. 5.0 VDC Photocoupler insulation
* The port numbers in the circuit diagram below represent the factory-set port numbers. , the allowable leak current is 1mA max. *W
Item ations Load voltage DC24V ±10% Maximum load current 100mA/point, 400mA/8 points Note) Uses TD62084 (or equivalent). Leak current Max. 0.1mA/point Insulation method Photocoupler insulation * The port numbers in the circuit diagram below represent the factory-set port numbers. Note: The total load current shall be 400 mA for every eight points from standard I/O No. 316. (The maximum current per point shall be 100mA.)
[Input circuit]
[Ouput circuit]
Pin Nos. 1A, 2A
Internal circuit
Internal circuit
Pin Nos. 1A, 2A External power supply DC24V ±10%
560Ω 3.3kΩ Input terminal Port Nos. 016 to 031
[Input section]
On/O voltage Insulation method
Output 10Ω terminal Load External power supply DC24V ±10%
Port Nos. 316 to 331 Pin Nos. 19B, 20B
Internal Circuits for Expansion I/Os (NPN Sp Item Number of input points Input voltage Input current
D
cations) *
* The expansion IOs with PNP specifications are coming soon.
[Output section] ations 16 points DC24V ±10% 4mA/circuit On voltage…Min. 18 VDC (3.5mA) O voltage…Max. 6.0 VDC (1mA) Photocoupler insulation
Item Number of output points Load voltage Maximum load current Insulation method
[Input circuit]
ations 16 points DC24V ±10% 50mA/circuit Photocoupler insulation
[Ouput circuit]
Each input Each input
0V
Internal circuit
P24
5.6kΩ Logic circuit
P24 Output 15 terminal
Load
Internal circuit N
External power supply
14
MSEL Controller Name of Each Part Mode switch Teaching connector
Brake release switch
Motor/encoder connector
MPG1
USB connector
MPG2
System I/O connector
MPG3
*1
Standard I/O connector (I/O1)
MPG4
Power connector
Expansion I/O connector (I/O2)
Motor drive power line connector *1: Do not connect a wrong motor to the MPG1, MPG2, MPG3 or MPG4 connector. It may cause malfunction or failure.
External dimensions
Scre
ation 130
125
116
4-ø4.5
195
185
3
3
DIN rail moun 130
ation 125
116
(10.9) 5.9
(75mm from the center of DIN rail)
185
195
3
15
3
4-ø4.5
MSEL Controller Options
Touch Panel Teaching Pendant
Dummy Plug
Features
A teaching devic ering program/ position input, trial operation and monitoring functions.
Features
Model number
TB-01-SJ
This plug is required for the safety category specification (MSEL-PGX) and when the MSEL is operated using a USB cable. (The MSEL-PGX type and PC Software IA-101-X-USBS come with this dummy plug.)
Model number
DP-4S
(Note 1)
* This model is the standard specification with connector conversion cable. If you are interested in the deadman switch specifiction, specify the model number of the applicable teaching pendant (TB-01D-N/ TB-01DR-N) and that of the cable (CB-TB1-X050-JS). C
ration
Connector conversion cable Features
The MSEL-PGX are supported by Ver. 1.02 or later. 5m
CB-TB1-X050-JS
This cable is used to convert the D-sub 25-pin connector of the teaching pendant or RS232C cable to the MSEL teaching connector. (The TB-01-SJ and IA-101-X-MW-JS come with this connector conversion cable.)
Model number
CB-SEL-SJS002
PC Software (Windows Only) Features
The startup support software provides program/position input, test operation and monitoring functions, among others. With its enhanced functions required for debugging, this software helps shorten the startup time.
Model number
IA-101-X-MW-JS
C
ration
(RS232C cable + Connector conversion cable) (Note 2)
5m
0.2m
RS232C cable CB-ST-E1MW050-EB
Model number Configuration
IA-101-X-USBS
Connector conversion cable CB-SEL-SJS002
(USB cable + Dummy plug)
Dummy plug DP-4S 3m USB cable CB-SEL-USB030
The MSEL-PGX are supported by Ver. 11.00.00.00 or later.
(Note 1)
TB-01-SJ is coming soon with CE conformity. For a safety category compliant system with deadman switch type TB-01-D(R) see TB-01 brochure. (Note 2)
The RS232C standard cable CB-ST-E1MW050-EB cannot be used when “Building an enable system that uses a system I/O connector and external power supply” or “Building a redundant safety circuit.” (The RS232C safety category cable CB-ST-A1MW050-EB must be used instead.) For more details of a safety category compliant system with a safety circuit emergency stop connector kit IA-101-XA-MW-JS contact IAI.
16
MSEL Controller Service Parts Model CB-CAN-MPA number CB-CAN-MPA-RB
Integrated Motor-Encoder Cable Integrated Motor-Encoder Robot Cable
for Additional Axis RCP4-SA3/RA3/RCP5
* Please indicate cable length (L) in , maximum 20m. Pin No. Signal name
L (18)
(ø8.5) (Note 1)
3 5 10 9 4 15 8 14 12 17 1 6 11 16 20 2 21 7 1S 13 19 22 23 24
(10) (26)
(13)
(12)
(Front view)
(Front view)
Actuator side
Controller side
Minimum bending radius 5m or less length R = 68mm or more (for moving parts) Longer than 5m R = 73mm or more (for moving parts) cable if the cable has to be installed through a cable track. (Note 1) If the cable is 5m or longer, ø9.1 cable diameter applies for a non-robot cable and ø10 for a robot cable.
Model CB-CA-MPA number CB-CA-MPA-RB
Integrated Motor-Encoder Cable Integrated Motor-Encoder Robot Cable
e.g.) 080 = 8m Pin No. Signal name
øA/U VMM/V ø_A/W øB/– VMM/– ø_B/LS+/BK+ LS–/BK– –/A+ –/AA+/B+ A–/BB+/Z+ B–/ZBK+/LS+ BK–/LSLS_GND VPS VCC GND — BAT+ — FG
1 2 3 4 5 6 7 S 11 12 13 14 15 16 9 10 17 19 1S 20 22 21 23 24
* except for RCP4-SA3/RA3 for Additional Axis RCP4
* Please indicate cable length (L) in , maximum 20m. (10)
Actuator side 1-1827863-1 (AMP) Pin No. Signal name
(ø8.5) (Note 1)
L
A1 B1 A2 B2 A3 B3 A4 B4 A6 B6 A7 B7 A8 B8 A5 B5 A9 B9 A10 B10 A11 B11
(10) (26)
(23)
(10)
(Front view) Actuator side
Controller side
Minimum bending radius 5m or less length R = 68mm or more (for moving parts) Longer than 5m R = 73mm or more (for moving parts) cable if the cable has to be installed through a cable track. (Note 1) If the cable is 5m or longer, ø9.1 cable diameter applies for a non-robot cable and ø10 for a robot cable.
Model CB-APSEP-MPA-LC number CB-APSEP-MPA
Integrated Motor-Encoder Cable Integrated Motor-Encoder Robot Cable
e.g.) 080 = 8m Controller side PADP-24V-1-S (JST) Pin No. Signal name
øA/U VMM/V ø_A/W øB/– VMM/– ø_B/– LS+/BK+ LS–/BK–/A+ –/AA+/B+ A–/BB+/Z+ B–/Z– BK+/LS+ BK–/LSLS_GND VPS VCC GND — FG
1 2 5 3 4 6 7 8 11 12 13 14 15 16 9 10 20 18 17 19 21 22 23 24
Actuator side Pin No. A1 B1 A2 B2 A3 B3 A4 B4 A6 B6 A7 B7 A8 B8 A5 B5 A9 B9 A10 B10 A11 B11
L (10) (26)
(ø8.5)
(30) (Front view) Actuator side
(45) Controller side
Minimum bending radius R = 68mm or more (for moving parts) cable if the cable has to be installed through a cable track.
Model CB-PSEP-MPA number
[PCON] (ACON) [øA] (U) [VMM] (V) [ø/A] (W) [øB ] (–) [VMM] (–) [ø/B] (–) [LS+] (BK+) [LS–] (BK-) [–] (A+) [–] (A-) [A+] (B+) [A–] (B-) [B+] (Z+) [ B–] (Z–) [BK+] (LS+) [BK–] (LS–) [GNDLS] (GNDLS) [VPS] (VPS) [VCC] (VCC) [GND] (GND) NC Shield [FG] (FG) NC NC
Actuator side Pin No.
(15) (14) (Front view) Actuator side
Controller side
Minimum bending radius R = 68mm or more (for moving parts)
17
1st Connector
(26)
(10)
(25)
(14)
L (ø8.5)
(20)
e.g.) 080 = 8m Controller side Pin No. 1 2 5 3 4 6 7 8 11 12 13 14 15 16 9 10 20 18 17 19 21 24 22 23
for Additional Axis RCP2
Integrated Motor-Encoder Robot Cable
* Please indicate cable length (L) in , maximum 20m.
(15)
øA/U VMM/V ø_A/W øB/– VMM/– ø_B/– LS+/BK+ LS–/BK–/A+ –/AA+/B+ A–/BB+/Z+ B-/ZBK+/LS+ BK–/LS– LS_GND VPS VCC GND — — — FG
for Additional Axis RCP3/RCA2, etc.
* Please indicate cable length (L) in , maximum 20m.
(18)
øA/U VMM/V ø_A/W øB/– VMM/– ø_B/– LS+/BK+ LS-/BK– –/A+ –/AA+/B+ A–/BB+/Z+ B–/ZBK+/LS+ BK–/LSLS_GND VPS VCC GND — BAT+ — FG
2nd Connector
1 2 4 5 3 6
16 17 5 6 13 14 1 2 3 4 10 11 9 12 15 7 8 18
[øA] [VMM] [ øB] [VMM] [ø/A] [ø/B] [BK+] [BK–] NC NC [LS+ ] [LS–] [A+ ] [A–] [B+] [B–] [VCC] [VPS] [GND] [(Spare)] NC NC NC Shield [FG]
e.g.) 080 = 8m Controller side Pin No. 1 2 3 4 5 6 9 10 11 12 7 8 13 14 15 16 17 18 19 20 21 22 23 24
MSEL Controller Model CB-RPSEP-MPA number
Integrated Motor-Encoder Robot Cable
for Additional Axis RCP2-RTBS/RTBSL/RTCS/RTCSL * Please indicate cable length (L) in , maximum 20m. Actuator side Pin No.
(10)
(30)
(26)
(ø8.5)
(18)
(Front view)
(45) Controller side
Actuator side
Minimum bending radius R = 68mm or more (for moving parts)
Model CB-PAC-PIO number
Controller side Pin No.
[øA] [VMM] [ø/A] [øB] [VMM] [ø/B] [LS+] [LS–] [A+] [A–] [B+] [B–] NC NC [BK+] [BK–] [GNDLS] [VPS] [VCC] [GND] NC Shield[FG] (FG) NC NC
A1 B1 A2 B2 A3 B3 A6 B6 A7 B7 A8 B8 A4 B4 A5 B5 A9 B9 A10 B10 A11 B11
L
1 2 5 3 4 6 7 8 13 14 15 16 — — 9 10 20 18 17 19 21 24 22 23
for MSEL/PCON-CA/MSEP-LC
PIO Flat Cable
* Please indicate cable length (L) in , maximum 10m. HIF6-40D-1.27R L
No connector
B
No connector
A Flat cable (20-core) x 2
e.g.) 080 = 8m
A20
B20
A1
B1
Half-pitch MIL socket: HIF6-40D-1.27R (Hirose)
Cable No. Signal name color A1 24V Brown-1 A2 24V Red-1 A3 — Orange-1 Yellow-1 A4 A5 IN0 Green-1 A6 IN1 Blue-1 A7 IN2 Purple-1 A8 IN3 Gray-1 A9 IN4 White-1 A10 IN5 Black-1 A11 IN6 Brown-2 A12 IN7 Red-2 A13 IN8 Orange-2 A14 IN9 Yellow-2 A15 IN10 Green-2 A16 IN11 Blue-2 A17 IN12 Purple-2 A18 IN13 Gray-2 A19 IN14 White-2 A20 IN15 Black-2
Wiring
Flat cable (crimped) AWG28
No. B1 B2 B3 B4 B5 B6 B7 B8 B9 B10 B11 B12 B13 B14 B15 B16 B17 B18 B19 B20
Signal name
OUT0 OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 — 0V 0V
e.g.) 080 = 8m
Cable Wiring color Brown-3 Red-3 Orange-3 Yellow-3 Green-3 Blue-3 Purple-3 Flat Gray-3 White-3 cable (crimped) Black-3 Brown-4 AWG28 Red-4 Orange-4 Yellow-4 Green-4 Blue-4 Purple-4 Gray-4 White-4 Black-4
Reference for SCARA Robot Acceleration/Deceleration Settings
If the robot must be operated continuously, make sure its operations fall within the ranges of the reference graphs for acceleration/deceleration setting and duty cycle setting.
Notes
• The optimal speed & optimal acceleration/deceleration function does not guarantee robot operation in all operation patterns. • If significant vibration generates, reduce the speed and/or acceleration/deceleration because the robot may fail or die prematurely.
CP Move Set the speed and acceleration/deceleration at or below the applicable values according to the graph on the right. Notes
• If significant vibration generates, reduce the speed and/or acceleration/deceleration because the robot may fail or die prematurely.
Acceleration/deceleration in PTP move [%]
The maximum speed and acceleration/deceleration at which the robot can operate carrying the applicable load are applied as 100% (optimal speed & optimal acceleration/deceleration function). Make adjustments so that the target speed and acceleration/deceleration can be achieved.
100 80 60 40 20 0
0
0.5
1
1.5 Load [kg]
2
2.5
3
Maximum speed in PTP move=100%
Acceleration/deceleration in CP move [G]
PTP Move
0.3
0.2
0.1 0
0
0.5
1
1.5 Load [kg]
2
2.5
3
Maximum speed in CP move = 270mm/sec
Duty Cycle Setting
Notes
• The duty cycle must not exceed the maximum limit, as it may significantly reduce the life of the motor unit or reduction gears.
90 Duty [%]
The duty cycle refers to a utilization ratio expressed by the percentage of the robot operating time per cycle. For this robot, the duty cycle is limited according to the ambient temperature in order to suppress heat generation from the motor unit and reduction gears. In both PTP move and CP move, the maximum value according to the graph on the right must not be exceeded. Also remember to complete a continuous operation within 30 minutes.
100
80 70 60
0
10 20 30 Ambient temperature [ºC]
40
18
IXP SCARA Series Catalogue No. 1014-E The information contained in this catalog is subject to change without notice for the purpose of product inprovement
IAI Industrieroboter GmbH Ober der Röth 4 D-65824 Schwalbach / Frankfurt Germany Tel.:+49-6196-8895-0 Fax:+49-6196-8895-24 E-Mail: [email protected] Internet: http://www.eu.IAI-GmbH.de IAI America, Inc.
IAI CORPORATION
2690 W. 237th Street, Torrance, CA 90505, U.S.A Phone: +1-310-891-6015, Fax: +1-310-891-0815
645-1 Shimizu Hirose, Shizuoka 424-0102, Japan Phone: +81-543-64-5105, Fax: +81-543-64-5182
IAI (Shanghai) Co., Ltd
IAI Robot (Thailand) Co., Ltd
Shanghai Jiahua Business Centee A8-303.808, Hongqiao Rd., Shanghai 200030, China Phone: +86-21-6448-4753, Fax: +86-21-6448-3992
825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand Phone: +66-2-361-4457, Fax: +66-2-361-4456
IAI, the IAI-logo, RoboCylinder™, the RoboCylinder™-logo, IntelligentActuator™ and the IntelligentActuator™-logo are trademarks or product names of IAI Corporation or of the subsidiaries in USA, China,Thailand or Germany
