High-Speed SCARA Robots Guide

Horizontal Articulated Robot
High-Speed Products
New
High-speed
Products
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IX SCARA Robot Series
Index Features Table of Specifications/Precautions
Standard Type
NNN Series
The standard type combines the best performance and user-friendliness in its class.
The wide selection of arm lengths (from a minimum of 250 mm to a maximum of 800 mm)
provides the variety to accommodate a wide range of applications.
Arm length Model Page
High-Speed Type
NSN Series
The high-speed type offers enhanced performance at high-speed operation by combining
a high-output motor with the standard body.
This contributes to reduced cycle times.
Dustproof/Splash-proof Type
NNWSeries
The dustproof/splash-proof type adopts a protective structure conforming to IP65.
This robot can be used in environments subject to powder dust or water splashes.
Wall Mount type
TNNSeries
This robot is mounted on a wall for operation.
The space below the robot can be utilized effectively, so you will have more freedom in
designing your equipment.
250mm
350mm
500mm
600mm
700mm
800mm
IX-NNN2515H
IX-NNN3515H
IX-NNN5020H (5030H)
IX-NNN6020H (6030H)
IX-NNN7020H (7040H)
IX-NNN8020H (8040H)
P9
P10
P11
P12
P13
P14
500mm
600mm
IX-NSN5016H
IX-NSN6016H
P15
P16
P17
P18
P19
P20
P21
P22
250mm
350mm
500mm
600mm
700mm
800mm
IX-NNW2515H
IX-NNW3515H
IX-NNW5020H (5030H)
IX-NNW6020H (6030H)
IX-NNW7020H (7040H)
IX-NNW8020H (8040H)
300mm
350mm
IX-TNN3015H
IX-TNN3515H
P23
P24
SCARA robot
01 IX SCARA Robot Index
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Description of Model Items
Wall Mount Inverse Type
UNN Series
This is the same as the wall mount type (TNN), but it is installed upside down.
This is ideal for applications where the robot must handle loads from above.
Ceiling Mount Type
HNN Series
This robot is mounted on a ceiling for operation.
The space below the robot can be utilized effectively, so you will have more
freedom in designing your equipment.
INN Series
This is the same as the ceiling mount type (HNN), but it is installed upside down.
This is ideal for applications where the robot must handle loads from above.
Clean Room Type
NNC Series
This robot generates minimal particles and is ideal for operation in a clean room environment.
The air inside the robot can be vacuumed if conformance to cleanliness class 10 is required.
300mm
350mm
IX-UNN3015H
IX-UNN3515H
P23
P24
500mm
600mm
700mm
800mm
IX-HNN5020H
IX-HNN6020H
IX-HNN7020H (7040H)
IX-HNN8020H (8040H)
P25
P26
P27
P28
500mm
600mm
700mm
800mm
IX-INN5020H
IX-INN6020H
IX-INN7020H (7040H)
IX-INN8020H (8040H)
P25
P26
P27
P28
250mm
350mm
500mm
600mm
700mm
800mm
IX-NNC2515H
IX-NNC3515H
IX-NNC5020H (5030H)
IX-NNC6020H (6030H)
IX-NNC7020H (7040H)
IX-NNC8020H (8040H)
P29
P30
P31
P32
P33
P34
Inverse type
SCARA robot
IX SCARA Robot Index 02
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Greatly reduced cycle time
through improved high-speed performance
The IX series achieves best-in-class specifications in every aspect from high-speed
performance and load capacity to repeated positioning accuracy.
1
Highest Speed, Load Capacity and
Accuracy in Its Class
Standard cycle time: 0.28 sec. range (*1)
Repeated positioning accuracy: ±0.01mm/±0.005° (*2)
(*3)
300mm (12 Inch)
25mm
(1 Inch)
Maximum load capacity: 20 kg
The standard cycle time refers to the length of
time for the arm to cycle back and forth over a
vertical distance of 25 mm and a horizontal
distance of 300 mm (rough positioning). This is
based on an arm length of 500 for the
high-speed type.
*1
2 Optimum Acceleration Function
4Greater Ease of Use
5Easy Programming
6Z-Axis Push Motion Function
By entering conditions, such as the transfer mass, and specifying
the optimum acceleration for those conditions, operation at the
minimum cycle time can easily be achieved.
3 Improved Tracing Accuracy
and Interpolation Function
P1 start position
P20 end position
Command
PATH P1 P20
An easily accessible D-sub/25-pin connector is provided on top of the
robot for user connections.Two φ4 and two φ6 tube connectors are
also available for any user tubing needs.
In addition, the brake-release switch on the robot allows you to release
the brake even after the controller has been turned off.(*1)
The alarm indicator alerts you of errors that occur on the robot.(*2)
*1 24 V DC power must be supplied
regardless of whether or not the
brake-release switch is used.
*2 In order to use the alarm indicator, it
must be wired by the user.
φ6 joint
φ4 joint
φ4 joint
User connector
Brake-release switch
Spacer
Alarm indicator
Fast acceleration
(deceleration) with a light load
Slow acceleration
(deceleration) with a heavy load
7Simple Interference Check Zone Function
Operation 1 Operation 2 Path movement consisting
of many points can be
implemented with a single
line in the program.
The IX Series offers greatly improved
tracing accuracy as a result of a more
rigid body construction in addition to a
higher controller processing speed.
The robot can also perform
three-dimensional arc/pass motions to
allow for easy and accurate dispensing
operations.
The IX Series uses programs written in the Super SEL language, a
well-established command language used by Cartesian robots.
With Super SEL, complex operations can be programmed easily,
allowing programs to be created quickly without prior
knowledge of robot language.
With the Z-axis (vertical axis) push
motion function, the robot can
press-fit loads or control the torque.
A maximum of 10 interference check
zones can be set within the robot’s
work envelope.
Since a signal is output when a load
enters a check zone, this function is
useful for conducting test operations
at low speed.
*The load must remain inside a zone for at
least 5 msec to ensure accurate detection.
*2 ±0.015 mm/±0.005° if the arm length is 700/800
*3 Based on an arm length of 700/800
SCARA robot
03 IX SCARA Robot Features
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8Complete Absolute Operation
All models adopt a 17-bit serial absolute encoder;
therefore, accurate positioning can be performed
without homing each time.
If the need arises, an absolute reset can be
performed easily and accurately using a dedicated
jig. (Refer to “Robot Options” on p. 36.)
9Widest Variations in the Industry
The IX Series provides the following variations:
▪ Standard Type
▪ High-Speed Type
▪ Clean Room Type
▪ Dustproof/Splash-proof Type
▪ Ceiling Mount Inverse Type
The five types listed above are suitable for a wide range
of applications.
SCARA robot
IX SCARA Robot Features 04
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Load capacity(*1) Vertical axis stroke
Option
Table of Specifications IX SCARA Robot Series
Standard
cycle time
3191
mm/s P9
7232
mm/s
3191
mm/s
7586
mm/s
6381
mm/s
7586
mm/s
7232
mm/s
7010
mm/s
4042
mm/s
4042
mm/s
7010
mm/s
7232
mm/s
7010
mm/s
6381
mm/s
7586
mm/s
6381
mm/s
4042
mm/s
7586
mm/s
7232
mm/s
7010
mm/s
6381
mm/s
4042
mm/s
3191
mm/s
5583
mm/s
5007
mm/s
7586
mm/s
7010
mm/s
7232
mm/s
6381
mm/s
4042
mm/s
P10
P11
P12
P13
P14
P15
P16
P17
P18
P19
P20
P21
P22
P23
P24
P23
P24
P25
P26
P27
P28
P25
P26
P27
P28
P29
P30
P31
P32
P33
P34
IX-NNN2515H
IX-NNN3515H
IX-NNN5020H (5030H)
IX-NNN6020H (6030H)
IX-NNN7020H (7040H)
IX-NNN8020H (8040H)
IX-NSN5016H
IX-NSN6016H
IX-NNW2515H
IX-NNW3515H
IX-NNW5020H (5030H)
IX-NNW6020H (6030H)
IX-NNW7020H (7040H)
IX-NNW8020H (8040H)
IX-TNN3015H
IX-TNN3515H
IX-UNN3015H
IX-UNN3515H
IX-HNN5020H
IX-HNN6020H
IX-HNN7020H (7040H)
IX-HNN8020H (8040H)
IX-INN5020H
IX-INN6020H
IX-INN7020H (7040H)
IX-INN8020H (8040H)
IX-NNC2515H
IX-NNC3515H
IX-NNC5020H (5030H)
IX-NNC6020H (6030H)
IX-NNC7020H (7040H)
IX-NNC8020H (8040H)
1 3
1 3
0.40 150 −
0.42 150 −
0.39 200 300
0.43 200 300
0.42 200 400
0.43 200 400
160 −
160 −
2 10
2 10
5 20
5 20
1 3
1 3
1 3
0.45 150 −
0.47 1 3
150 −
0.43 2 10
200 300
0.47 2 10
200 300
0.45 5 20
200 400
0.46 5 20
200 400
0.41 1 3
150 −
0.42 1 3
150 −
0.41 1 3
150 −
0.42 1 3
150 −
0.39 2 10
200 −
0.43 2 10
200 −
0.42 5 20
200 400
0.43 5 20
200 400
0.39 2 10
200 −
0.43 2 10
200 −
0.42 5 20
200 400
0.43 5 20
200 400
0.44 1 3
150 −
0.46 1 3
150 −
0.41 2 10
2 10
20
200 300
0.45 200 300
0.45 200 400
0.46 200 400
Type
Arm length (mm) and maximum composite speed (mm/s)
Rated Maximum Standard
Model
(kg) (kg) (mm)
0.28
range
0.29
range
250
mm
350
mm
500
mm
600
mm
700
mm
800
mm
3616
mm/s
3616
mm/s
5
5 20
Standard
Type
NNN
High-
Speed
Type NSN
Dustproof/
Splash--
proof Type
NNW
Wall Mount
type TNN
Wall Mount
Inverse
Type UNN
Ceiling
Mount
Type
HNN
Inverse
type INN
Clean
Room Type
NNC
Page
(sec)
(*1) The standard cycle times have been measured under the following conditions.
(Arm length 250 to 600) Reciprocating movement of a 2 kg load over a vertical distance of 25 mm and a horizontal distance of 300 mm
(Arm length 700/800) Reciprocating movement of a 5 kg load over a vertical distance of 25 mm and a horizontal distance of 300 mm
(*2) The rated load capacity refers to the maximum load that can be carried at the maximum operating speed. The maximum load capacity refers
to the maximum load that can be carried at a reduced acceleration ratio.
SCARA robot
05 IX SCARA Robot Table of Specifications
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Notes IX SCARA Robot Series
(Note 1)
Repeated positioning
accuracy
“Repeated positioning accuracy” refers to the positioning accuracy from the same start position to a single set position
during repeated operation at the same speed and acceleration and with the same arm. (The values were measured at
a constant ambient temperature of 20 °C.) This is not the same as “absolute positioning accuracy”.
Note that the repeated positioning accuracy 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 settings, are changed.
The specifications for the maximum operating speed represent the speed with PTP command operation.
Note that high-speed movement will be limited with CP command operation (interpolated movement).
In addition, movement at the descending end on a vertical axis requires appropriate reduction in speed and acceleration.
“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 (rough positioning).
(Note 2)
Maximum operating speed
(Note 3)
Standard cycle time (Arm length 250~600) 2 kg load; vertical distance: 25 mm; horizontal distance: 300 mm
(Note 4)
Load capacity
(Note 5)
Arm 3 (vertical axis)
push force
The standard cycle time is the required length of time when operating
at maximum speed; however, the robot cannot operate continuously
at maximum speed.
Vertical
movement
“Load capacity” is the maximum mass that can be transferred. Specifications are listed for the rated load capacity and
the maximum load capacity.
The rated load capacity is the maximum mass that can be transferred at maximum speed and maximum acceleration.
The maximum load capacity is the maximum mass that can be transferred at a reduced speed and acceleration.
When transferring a load between the rated load capacity and the maximum load capacity, an appropriate reduction in
acceleration is required.
“Axis 3 push force” is the push force applied by the tip of the vertical axis.
The maximum limit of the push force is 70% and 65% with the high-speed type. (The value noted under the
'maximum limit' column in the product specification section reflects this)
The minimum limit of the push force is 40% of the maximum push force.
The setting can be specified between 40% and 70% (40% and 65% for the high-speed type) of the maximum.
(Note 6)
Axis 4 allowable
inertial moment
The offset from the center of rotation of axis 4 to the tool’s gravity center must be within 40 mm.
(Note 7)
Alarm indicator
If the tool's gravity center is further away from the center of axis 4, an appropriate reduction in speed and
acceleration is required.
The alarm indicator is located on top of arm 2 of the SCARA robot.
(Note 8)
The brake-release switch is also located on top of arm 2 of the SCARA robot, near the alarm indicator.
(Note 9)
Cable length
Work envelope
(Arm length 700/800) 5 kg load; vertical distance: 25 mm; horizontal distance: 300 mm
<Note>
Acceleration settings SCARA high-speed products operate at 100% of the maximum acceleration allowable for operation with each transfer mass.
If vibrations or overload errors occur, reduce the acceleration appropriately.
(Operating times differ with different transfer masses, even with the same acceleration and speed settings.)
*For reference acceleration settings, refer to p. 45.
*(Note 1) through (Note 9) correspond to notations on other pages of this document.
Horizontal movement
“Axis 4 allowable inertial moment” is the allowable inertial moment of axis 4 (rotating axis) of the SCARA
robot as calculated at the center of rotation.
The alarm indicator can be wired to illuminate in certain conditions, such as when the controller generates
an error. In order to use the alarm indicator, the user must provide a circuit that responds to the controller's
I/O output signal by supplying 24 V DC to the applicable LED terminal in the user wiring.
In order to release the brake, 24 V DC power must be supplied, regardless of whether or not
the brake-release switch is used. (Supply 24 V DC from a dedicated power supply separate
from the 24 V DC power used to drive the I/O.)
The motor and encoder cables of the SCARA robot are directly connected to the robot. The IX Series does not
use cable joints; therefore, changing the cable length on the delivered robot will be difficult. Select either 5 m
(code 5L) or 10 m (code 10L) as the desired cable length when ordering. (The air tube length is 150 mm.)
When performing an absolute reset or changing the arm, be careful that no peripherals will obstruct the arm
when it fully extends.
SCARA robot
IX SCARA Robot Precautions 06
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Refer to the opposite page for details on each item in the model number (1 through 4).
The selection range for each item varies depending on the robot type. For details, refer
to the page corresponding to each type.
[IX-□□□2515H/3515H/50□□H/60□□H/70□□H/80□□H series]
1 Series 2 Type 3 Cable length 4 Applicable controller
IX 5L
10L 10m
T2 XSEL-PX/QX
NNN
2515H
3515H
5020H
5030H
6020H
6030H
7020H
7040H
8020H
8040H
Standard
Type
Vertical axis 150mm
Vertical axis 150mm
Vertical axis 200mm
Vertical axis 300mm
Vertical axis 200mm
Vertical axis 300mm
Vertical axis 200mm
Vertical axis 400mm
Vertical axis 200mm
Vertical axis 400mm
Arm length 250mm
Arm length 350mm
Arm length 500mm
Arm length 600mm
Arm length 700mm
Arm length 800mm
NNW
2515H
3515H
5020H
5030H
6020H
6030H
7020H
7040H
8020H
8040H
Dustproof/
Splash-proof Type
Vertical axis 150mm
Vertical axis 150mm
Vertical axis 200mm
Vertical axis 300mm
Vertical axis 200mm
Vertical axis 300mm
Vertical axis 200mm
Vertical axis 400mm
Vertical axis 200mm
Vertical axis 400mm
Arm length 500mm
Arm length 600mm
Arm length 250mm
Arm length 350mm
Arm length 500mm
Arm length 600mm
Arm length 700mm
Arm length 800mm
NNC
2515H
3515H
5020H
5030H
6020H
6030H
7020H
7040H
8020H
8040H
Clean Room
Type
Vertical axis 150mm
Vertical axis 150mm
Vertical axis 200mm
Vertical axis 300mm
Vertical axis 200mm
Vertical axis 300mm
Vertical axis 200mm
Vertical axis 400mm
Vertical axis 200mm
Vertical axis 400mm
Arm length 300mm
Arm length 350mm
Arm length 250mm
Arm length 350mm
Arm length 500mm
Arm length 600mm
Arm length 700mm
Arm length 800mm
NSN 5016H
6016H High-Speed Type Vertical axis 160mm
Vertical axis 160mm
TNN 3015H
3515H Wall Mount type Vertical axis 150mm
Vertical axis 150mm
UNN 3015H
3515H
Wall Mount
Inverse Type
Vertical axis 150mm
Vertical axis 150mm
Arm length 300mm
Arm length 350mm
HNN
5020H
6020H
7020H
7040H
8020H
8040H
Ceiling Mount
Type
Vertical axis 200mm
Vertical axis 200mm
Vertical axis 200mm
Vertical axis 400mm
Vertical axis 200mm
Vertical axis 400mm
Arm length 500mm
Arm length 600mm
Arm length 700mm
Arm length 800mm
INN
5020H
6020H
7020H
7040H
8020H
8040H
Inverse type
Vertical axis 200mm
Vertical axis 200mm
Vertical axis 200mm
Vertical axis 400mm
Vertical axis 200mm
Vertical axis 400mm
Arm length 500mm
Arm length 600mm
Arm length 700mm
Arm length 800mm
SCARA robot 5m (standard)
SCARA robot
07 IX SCARA Robot Description of Specifications
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Indicate the length of cable connecting the robot and the controller.
Select from two lengths: 5 m (standard) and 10 m.
2 Type
Indicate the type (standard, high-speed, dustproof/splash-proof,
wall-mount, ceiling-mount or clean room), arm length and Z-axis length.
NNN Standard Type
UNN Wall Mount Inverse Type
NSN High-Speed Type
HNN Ceiling Mount Type
NNW Dustproof/Splash-proof Type
INN Ceiling Mount Inverse Type
TNN Wall Mount type NNC Clean Room Type
4 Applicable controller
Indicate the type of controller to be connected.
3 Cable length
T2:XSEL-PX/QX
1 Series
Indicate the name of each series.
SCARA robot
IX SCARA Robot Description of Specifications 08
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„Model items IX NNN2515H T2
±0.010
(XY)
R125
Operation prohibited area
Work envelope
120°
120°
130°
R250
130°
73.1°
160
Cables/tubes
• Motor/encoder cable 5 m/10 m
• Brake power cable 5 m/10 m
Axis 4
allowable load
• User wiring cable 5 m/10 m
• Air tube (3 pcs) 0.15m
Model/Specifications
Model
IX-NNN2515H- -T2
Common Specifications
Axis configuration
Axis 1
Axis 2
Axis 3
Axis 4
Arm 1
Arm 2
Vertical axis
Rotating axis
The CAD drawings can be
downloaded from our Web site.
Red LED (*2) Brake-release switch
8 10
0
-0.018
Detailed view of tip
15
φ11 (I.D.)
φ16h7( )
φ35
30
User connector
12
57
φ4 (white)
φ4 (red) quick joint
quick joint
φ4 (black)
quick joint
User spacer O.D. φ7
height 10, M4, depth 5 (*1)
Detail view of panel
Motor
capacity
(W)
200
100
100
50
Reference surface
Arm
length
(mm)
125
125
-
-
*1: The external force applied to a spacer must not exceed 30 N in the axial direction,
or 2 N•m in the rotating direction. (for each spacer)
Arm 1 stopper
250
ST150 21
140
160
55 130
155
185
100
125 125
4-φ9
φ16 counterbore, depth 0.5
Arm 2 stopper
120
249.5
φ16
54 55 372.5
652.5
206 74
Reference
surface
4 (Mechanical end) 4 (Mechanical end)
30
12
60 15
8
(424.5)
(167)
(697)
50
92.5 2-φ8 H7 (intersection between reamer holes ±0.02 mm)
15
Maintain at 100 mm
or more
Tapped hole for installation of
peripheral (4-M4, depth 12),
same on the other side
R125
73.1°
R 105.7
T-slot for installation of
peripheral (M3, M4)
*2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output
signal by supplying 24 V DC to the applicable LED terminal in the user wiring.
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±120°
±130°
150mm
±360°
±0.010
±0.005
3191mm/s
(Composite
speed)
1316mm/s
1600°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Axis 3 (vertical axis)
push force (N) (Note
5)
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.40 1 3 111.0 58.0 0.015 1.9
*In the model number above, specify the cable length in .
Encoder type
User wiring
User tubing
Alarm indicator (Note 7)
Brake-release switch (Note 8)
Absolute
15-conductor AWG26 D-sub/15-pin connector with shield (socket)
Air tube (O.D. Ƿ4, I.D. Ƿ2.5) x 3 (Normal working pressure 0.8 MPa)
Small red LED indicator x 1 (24 V DC must be supplied.)
Allows remote release of Z-axis (24 VDC required)
Ambient temperature/humidity
Unit weight
Applicable controller
Cable length (Note 9)
Temperature: 0–40 °C, humidity: 20–85%RH or less (no condensation)
17.1Kg
T2: XSEL-PX/QX
5L: 5 m (standard), 10L: 10 m (optional)
For explanations of (Note 1) through (Note 9), refer to page 6.
*For details on the model items, refer to page 8.
Applicable Controller Specifications
Applicable
Controller
XSEL-PX
XSEL-QX
Features
Maximum 6 axes, 2400 W
supported
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
192/192 points
Safety Category 4
supported
Three-phase
200 V AC
p. 37
Dimensions
2D
CAD
Series Type Cable length Applicable controller
Standard type
5L : 5 m (standard)
T2: XSEL-PX/QX
Arm length 250mm
10L : 10 m
Vertical axis1 50mm
*SCARA robots cannot operate continuously at 100% speed and acceleration.
For details on the operating conditions, refer to Reference Acceleration/Deceleration
Settings on page 45.
IX-NNN2515H
Small SCARA robot, Standard type
Arm length 250mm, Vertical axis 150mm
1
1
SCARA robot
09 IX-NNN2515H
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„Model items IX NNN3515H T2
Standard type
Arm length 350mm
Vertical axis 150mm
Model
IX-NNN3515H- -T2
8 10
φ16h7( )
User connector
15
φ11 (I.D.)
φ35
30
0
-0.018
135°
R350
Work envelope
120°
120°
126.8°
126.8°R125
160
135°
R162.7
R125
12
57
φ4 (white)
quick joint
φ4 (black)
quick joint
Arm 1 stopper
250
ST150 21
140
160
55 130
155
185
100
125
4-φ9
Reference surface
Arm 2 stopper
120
225
249.5
φ16
54 55 372.5
652.5
206 74
Reference surface
30
T-slot for installation
of peripheral (M3, M4)
60 15
12
8
(524.5)
(167)
(697)
50
92.5
2-φ8 H7
(intersection between reamer holes ±0.02 mm)
15
Maintain at 100 mm
or more
peripheral (4-M4, depth 12),
same on the other side
*1: The external force applied to a spacer must not exceed 30 N in the axial direction, or 2 N•m in the rotating
direction. (for each spacer)
*2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by
supplying 24 V DC to the applicable LED terminal in the user wiring.
• User wiring cable 5 m/10 m
• Air tube (3 pcs) 0.15m
Cables/tubes
• Motor/encoder cable 5 m/10 m
• Brake power cable 5 m/10 m
Axis configuration
Axis 1
Axis 2
Axis 3
Axis 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
225
125
-
-
Motor
capacity
(W)
200
100
100
50
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP opera-tion
Maximum
operating
speed
(Note 2)
±120°
±135°
150mm
±360°
±0.010
±0.005
4042mm/s
(Composite
speed)
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
push force (N) (Note 5)
Maximum
limit
Minimum
limit
Axis 4
allowable load
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.42 1 3 111.0 58.0 0.015 1.9
Encoder type
User wiring
User tubing
Absolute
1316mm/s
1600°/s
±0.010
(XY)
AApppplicliacbaleb Cleo nCtroolnletrr oSplleecri fications
Unit weight
18.2Kg
T2: XSEL-PX/QX
Dimensions
Applicable
Controller
XSEL-PX
XSEL-QX
Features
supported
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
192/192 points
Safety Category 4
supported
Three-phase
200 V AC p. 37
For details on the operating conditions, refer to Reference Acceleration/
Deceleration Settings on page 45.
IX-NNN3515H
Small SCARA robot, Standard type
1
1
5L : 5 m (standard)
10L : 10 m
T2: XSEL-PX/QX
SCARA robot
IX-NNN3515H10
Sold & Serviced By:
ELECTROMATE
www.electromate.com

29.5Kg
T2: XSEL-PX/QX
145°
Red
Black
A
„Model items IX NNN50††H T2
Unit weight
4−φ11 hole,
φ24 counterbore, depth 5
200mm
[300mm]
(723.2)
IX-NNN50††H
Arm 2 stopper
Panel
Model Axis configuration
(130)
R40
3−M4, depth 8,
Same on the other side (*1)
250 250
500
150[50] 200ST[300ST] 470[570]
175
75 100
50 75
(90)
125
374
120
72
Reference surface Reference surface
200
Yellow
White
φ44
145°
allowable load
φ14 hollow
Axis 4
φ20h7( )
10 10
Red LED (*3)
47
19
820[920]
150
200
5
74
5
99
198
(73.2)
(684.1) (81.5)
25 50
(182.4)
(765.6)
(Operation prohibited area)
R500
R150. 4
120°
87.8°
120°
R250
A-A section
Work envelope
0
-0.021
Arm 1
Cables/tubes
▪ Motor/encoder cable 5m/10m
▪ Brake power cable 5m/10m
▪ User Wiring Cable 5m/10m
▪ Air tube (4 pcs) 0.15m
Arm 2
Arm 1,
Arm 2 stopper
*1: The bottom hole 3−M4, depth 8 passes through the side panel of the arm. If the mounting
screw is long, make sure it does not contact internal components.
22.5 28 21.5 21 (18.5)
28
119
30
7.5
63
φ146
φ112
20
20
φ6
air-tube
quick joint
φ4
air-tube
quick joint
D-sub/25-pin
connector for user
wiring, socket
fixing jig M2.6
Spacer
O.D. φ7
height 10
M4, depth 5
(*2)
A
19
IX-NNN5020H- -T2
[IX-NNN5030H- -T2]
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
250
250
-
-
Motor
capacity
(W)
400
200
200
100
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±120°
±145°
±360°
±0.010
(XY)
6381mm/s
(Composite
speed)
±0.010
±0.005
1473mm/s
1857°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.39 2 10 181.0 93 0.06 3.7
Encoder type
User wiring
User tubing
Absolute
Air tube (O.D. Ƿ6, I.D. Ƿ4) x 2 (Normal working pressure 0.8 MPa)
* [ ] indicates vertical axis 300mm (optional)
specifications.
Dimensions
NNN5020H: : Standard type
5L : 5 m (standard)
T2: XSEL-PX/QX
10L : 10 m
* SCARA robots cannot operate continuously at 100% speed and acceleration.
Applicable
Controller
XSEL-PX
XSEL-QX
Features
supported
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
192/192 points
Safety Category 4
supported
Three-phase
200 V AC p. 37
Medium SCARA robot, Standard type
Arm length 500mm
Vertical axis 200mm (300mm)
1
1
1
Axis 1
Axis 2
Axis 3
Axis 4
SCARA robot
11IX-NNN50††H
ELECTROMATE
Sold & Serviced By:
www.electromate.com

Axis 4
allowable load
A-A section
Work envelope
Medium SCARA robot, Standard type
Arm length 600mm
4−φ11 hole
φ24 counterbore, depth5
„Model items IX NNN60††H T2
5L : 5 m (standard)
10L : 10 m
NNN6030H: Standard type
200mm
[300mm]
(823.2)
(130)
175
75 100
50 75
(90)
125
±0.010
(XY)
R40
A rm 2 stopper
150
200
5
Reference surface
99
198
Red
Black
A
Yellow
White
φ44
φ14 hollow
φ20h7( )
10 10
Red LED (*3)
47
3−M4, depth 8
250 350
600
150[50] 200ST[300ST] 470[570]
374
Reference surface
72
820[920]
74
25 50
(182.4)
19
(684.1) (81.5)
(73.2)
(765.6)
0
-0.021
120°
120°
145°
145°
R600
R204
R250
200 114.3°
Cables/tubes
*1: The bottom hole 3−M4, depth 8 passes through the side panel of the arm.
If the mounting screw is long, make sure it does not contact internal components.
*2: The external force applied to a spacer must not exceed 30 N in the axial direction, or 2 N•m
in the rotating direction. (for each spacer)
Arm 1
Arm 2
Arm 1
Arm 2 stopper
22.5 28 21.5 21 (18.5)
28
Brake-release
switch
119
30
7.5
63
Panel
120
φ146
φ112
20
5
20
19
φ6
air-tube
quick joint
φ4
air-tube
quick joint
D-sub/25-pin
connector for user
wiring, socket fixing
jig M2.6
Spacer
O.D. φ7
height 10
M4, depth 5
(*2)
A
Model
IX-NNN6020H- -T2
[IX-NNN6030H- -T2]
Axis configuration
Axis 1
Axis 2
Axis 3
Axis 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
350
250
-
-
Motor
capacity
(W)
400
200
200
100
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±120°
±145°
±360°
±0.010
±0.005
7232mm/s
(Composite
speed)
1473mm/s
1857°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6
Allowable
torque
(N . m)
0.43 2 10 181.0 93 0.06 3.7
Encoder type
User wiring
User tubing
Absolute
specifications.
IX-NNN60††H
Unit weight
30.5Kg
T2: XSEL-PX/QX
Dimensions
Applicable
Controller
XSEL-PX
XSEL-QX
Features
supported
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
192/192 points
Safety Category 4
supported
Three-phase
200 V AC p. 37
T2: XSEL-PX/QX
1
1
1 * SCARA robots cannot operate continuously at 100% speed and acceleration.
Common Specifications Deceleration Settings on page 45.
SCARA robot
IX-NNN60††H 12
Sold & Serviced By:
ELECTROMATE
www.electromate.com

Axis 4
allowable load
58Kg
T2: XSEL-PX/QX
23.5
(81)
200
(934)
φ4
air-tube quick joint
21.5 21
D-sub/25-pin
connector for user
wiring, socket
fixing jig M2.6
28
φ6
air-tube quick joint
22.5
28
(18.5)
Red LED (*3)
119
Yellow
30
7.5
63
Spacer O.D. φ7 height 10
M4, depth 5 (*2)
47 20
10 10
Red
A A
φ18 hollow
φ25h7( )
Large SCARA robot, Standard type
Arm length 700mm
Model items IX NNN70 H T2
NNN7020H : Standard type
5L : 5 m (standard)
10L : 10 m
25°
IX-NNN70 H
7
Reference
surface
131
1
(φ188)
262
(853)
Arm 2
stopper
Reference surface
61 51 20
504[704]
(263.4)
22.5
(134.6)
Unit weight
Arm 1
Arm 2 stopper
Arm 1
Arm 2
(971.5)
(65)
(169)
(34) (34)
223
4-14 drilled through
155
(R55)
60 95
(90)
268
350 350 (206.5)
3−M4, depth 8,
962[1162]
28
7
91
73
468
258[58] 200ST[400ST]
*3: In order to use the LED, the user must wire it so that it responds to the controller's I/O
output signal by supplying 24 V DC to the applicable LED terminal in the user wiring.
White
Black
A-A section
Panel
(φ144)
0
-0.021
Cables/tubes
250
R700
82.5°
125°
R210.5
053R
125°
145°
145°
Work envelope
Model
IX-NNN7020H- -T2
[IX-NNN7040H- -T2]
Axis configuration
Axes 1
Axes 2
Axes 3
Axes 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
350
350
-
-
Motor
capacity
(W)
750
400
400
200
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±125°
±145°
200mm
[400mm]
±360°
±0.015
(XY)
±0.010
±0.005
7010mm/s
(Composite
speed)
1614mm/s
1266°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.42 5 20 304 146.0 0.1 11.7
Encoder type
User wiring
User tubing
Absolute
Air tube (O.D. ∅6, I.D. ∅4) x 2 (Normal working pressure 0.8 MPa)
Air tube (O.D. ∅4, I.D. ∅2.5) x 2 (Normal working pressure 0.8 MPa)
* [ ] indicates vertical axis 400mm
(optional) specifications.
Dimensions
Applicable
Controller
XSEL-PX
XSEL-QX
Features
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
192/192 points
Safety Category 4
supported
Three-phase
200 V AC p. 37
T2: XSEL-PX/QX
1
1
SCARA
13IX-NNN70H
Controller dedicated
to SCARA
Sold & Serviced By:
ELECTROMATE
www.electromate.com

allowable load
23.5
(934)
(81)
22.5 28 21.5 21
250
28
(18.5)
Red LED (*3)
Axis 4
119
Yellow
30
7.5
63
47 20
10 10
Red
φ18 hollow
) 0
φ25h7( -0.021
Large SCARA robot, Standard type
Arm length 800mm
Model items IX NNN80H T2
5L : 5 m (standard)
10L : 10 m
25°
7
Reference surface
131
262
(853)
(1071.5)
Reference surface
61 51 20
504[704]
(263.4)
22.5
(134.6)
Arm 2
Stopper
(65)
(169)
(34)
223
155
(R55)
60 95
(90)
268
200
350 450 (206.5)
3−M4, depth 8,
962[1162]
28
7
91
73
468
258[58] 200ST[400ST]
White
Black
A A
A-A section
125°
145°
145°
125°
99.1°
R258.8
R800
053R
*2: The external force applied to a spacer must not exceed 30 N in the axial direction, or 2 N•m in the rotating direction. (for each spacer)
*3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC
to the applicable LED terminal in the user wiring.
(34)
Work envelope
Arm 1
Arm 1 Arm 2 stopper
Arm 2
Panel
Cables/tubes
(φ188)
(φ144)
φ6
air-tube
quick joint
φ4
air-tube
quick joint
D-sub/25-pin
connector for user
wiring, socket
fixing jig M2.6
Spacer O.D. φ7 height 10
M4, depth 5 (*2)
Model
IX-NNN8020H- -T2
[IX-NNN8040H- -T2]
Axis configuration
Axes 1
Axes 2
Axes 3
Axes 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
450
350
-
-
Motor
capacity
(W)
750
400
400
200
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±125°
±145°
200mm
[400mm]
±360°
±0.015
(XY)
±0.010
±0.005
7586mm/s
(Composite
speed)
1614mm/s
1266°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.43 5 20 304 146.0 0.1 11.7
Encoder type
User wiring
User tubing
Absolute
* [ ] indicates vertical axis 400mm
(optional) specifications.
IX-NNN80H
Unit weight
60Kg
T2: XSEL-PX/QX
Dimensions
Applicable
Controller
XSEL-PX
XSEL-QX
Features
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
192/192 points
Safety Category 4
supported
Three-phase
200 V AC p. 37
T2: XSEL-PX/QX
1
1
1
SCARA SCARA
IX-NNN80H14
to SCARA
Sold & Serviced By:
ELECTROMATE
www.electromate.com

IX-NSN5016H
Medium SCARA robot, High-speed type
Model items IX NSN5016H T2
Unit weight
(116)
(800.1)
Motor
capacity
Work
envelope
(723.2)
(W)
750
600
200
100
3−M4, depth 8
Arm
length
(mm)
20
Axis configura-tion
Axes 1
Axes 2
Axes 3
Axes 4
5.5
(Mechanical end)
32Kg
T2: XSEL-PX/QX
145°
φ6
air-tube quick
joint
φ4
air-tube
quick joint
D-sub/25-pin
connector for user
wiring, socket
fixing jig M2.6
Red LED (*3)
Spacer O.D.
φ7 height
10 M4,
depth 5
(*2)
74.5
Work envelope
Yellow
Red
φ11 (hollow)
Axis 4
allowable load
15
8 10
φ35
28 21.5 21 (18.5)
Arm 1
Arm 2
Vertical axis
Rotating axis
1
(182.4)
22.5
28
Brake
release switch
(684.1)
19
119
160ST 448.5
30
7.5
25°
250
250
-
-
(73.2)
250 250
5
20
150
200
775
φ146
5 (Mechanical end)
Model
IX-NSN5016H- 1
-T2
Reference surface Reference surface
120
25 50
374
175
75 100
(90)
50 75
125
φ112
74
166.5
500
(130)
63
5
4−φ11 hole
198
99
R40
Arm 1
Arm 2
stopper
95.5
A A
φ16h7( - 0 .0 1 8)
A-A section
White
Black
145°
200
R500
R150.4
120°
87.8°
120°
R250
Panel
Arm 2
Arm 1
0
Cables/tubes
Arm 2
stopper
*2: The external force applied to a spacer must not exceed 30 N in the axial direction, or 2 N•m in
the rotating direction. (for each spacer)
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±120°
±145°
160mm
±360°
±0.010
(XY)
±0.010
±0.010
5007mm/s
(Composite
speed)
1304mm/s
1857°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.28
range
1 3 196.0 116.0 0.015 3.7
Encoder type
User wiring
User tubing
Absolute
Dimensions
High-speed type
5L :5 m (standard)
T2: XSEL-PX/QX
Arm length 500mm
10L :10 m
Vertical axis 160mm
Applicable
Controller
XSEL-PX
XSEL-QX
Features
Maximum I/O
points
Power-supply
voltage
Reference
page
192/192 points
Safety Category 4
supported
Three-phase
200 V AC p. 37
*When operating the high-speed type, a PX/QX single-axis robot cannot be connected.
SCARA
15 IX-NSN5016H
to SCARA
Sold & Serviced By:
ELECTROMATE
www.electromate.com

IX-NSN6016H
Medium SCARA robot, High-speed type
Model items IX NSN6016H T2
350
Ambient temperature/
humidity
Unit weight
(800.1)
(116)
20
5.5
(Mechanical end)
33Kg
T2: XSEL-PX/QX
74.5
Yellow
White
φ11 (hollow)
allowable load
15
8 10
Red
Black
φ35
28 21.5 21 (18.5)
22.5
160ST 448.5
(182.4)
28
3−M4, depth 8
Red LED (*3)
19
(684.1)
119
30
7.5
25°
1
(73.2)
20
5
150
200
775
Reference surface
Reference
surface
120
25 50
374
Arm 2
stopper
175
75 100
(90)
50 75
125
φ146
φ112
74
5 (Mechanical end)
166.5
600
250
(823.2)
(130)
63
5
4−φ11 hole
198
99
R40
Arm 1
Arm 2
stopper
95.5
A A
φ16h7( 0
-0 . 0 1 8 )
A-A section
Work envelope
120°
120°
145°
145°
R600
R204
R250
200 114.3°
Panel
Arm 2
Arm 1
Cables/tubes
1
*1: The prepared hole 3−M4, depth 8 passes through the side panel of the arm.
*2: The external force applied to a spacer must not exceed 30 N in the axial direction, or 2 N•m in the
rotating direction. (for each spacer)
φ6
air-tube quick
joint
φ4
air-tube quick
joint
D-sub/25-pin
connector for user
wiring, socket
fixing jig M2.6
Brake
release switch
Spacer
O.D. φ7
height 10
M4, depth 5
(*2)
Model
IX-NSN6016H- -T2
Axis configura-tion
Axes 1
Axes 2
Axes 3
Axes 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
350
250
-
-
Motor
capacity
(W)
750
600
200
100
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±120°
±145°
160mm
±360°
±0.010
(XY)
±0.010
±0.010
5583mm/s
(Composite
speed)
1304mm/s
1857°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
push force (N) (Note
5)
Maximum
limit
Minimum
limit
Axis 4
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.29
range
1 3 196.0 116.0 0.015 3.7
Encoder type
User wiring
User tubing
Absolute
Dimensions
High-speed type
5L : 5 m (standard)
T2: XSEL-PX/QX
Arm length 600mm
10L : 10 m
Vertical axis 160mm
Applicable
Controller
XSEL-PX
XSEL-QX
Features
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
192/192 points
Safety Category 4
supported
Three-phase
200 V AC p. 37
SCARA SCARA
IX-NSN6016H16
to SCARA
*
Sold & Serviced By:
ELECTROMATE
www.electromate.com

IX-NNW2515H
„Model items IX NNW2515H T2
Model
IX-NNW2515H- -T2
Dustproof/Splash-proof type
Arm length 250mm, Vertical
axis 150mm
φ4 (black) quick joint
User spacer
Small SCARA robot, Dustproof/Splash-proof type
5L : 5 m (standard)
10L: 10 m
Reference
surface
*2: In order to use the LED, the user must wire it so that it responds to the controller's I/O
output signal by supplying 24 V DC to the applicable LED terminal in the user wiring.
allowable load
63.8°
R125
63.8°
200
R125.0
120°
120°
R125
Axis 4
120°
120°
R250
55 130
Arm 1 stopper
Detail view of panel Work envelope
30
8 10
φ11 (I.D.)
φ16h7( )
φ35
15
12
57
φ4 (white) quick joint
φ4 (red)
User connector quick joint
15-pin
0
-0.018
Cables/tubes
Panel
206 74 250
Maintain at 100 mm or more
21
140
160
155
185
100
125
4-φ9
Arm 2 stopper
249.5
2.5 ST150 106.5 210
125
φ16
(424.5)
Reference surface
4 (Mechanical end)
30
8
237
727
(698.5)
(168.5)
50
92.5
2−φ8 H7
15
12
60 15
Air inlet for air purge O.D. φ6
(I.D. φ4)
120
peripheral (M3, M4)
peripheral (4-M4, depth 12)
Same on the other side
Dimensions
Axis configuration
Axis 1
Axis 2
Axis 3
Axis 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
125
125
-
-
Motor
capacity
(W)
200
100
100
50
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±120°
±120°
150mm
±360°
±0.010
(XY)
±0.010
±0.005
3191mm/s
(Composite
speed)
1316mm/s
1600°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.45 1 3 111.0 58.0 0.015 1.9
Encoder type
User wiring
User tubing
Absolute
15-conductor AWG26 waterproof connector with shield
Unit weight
Protective structure
Air purge pressure (Note 10)
21Kg
T2: XSEL-PX/QX
IP65 or equivalent
0.3 MPa or more (0.6 MPa maximum) (Clean, dry air)
(Note 10) Increase the air purge pressure to a range between 0.3 and 0.6 MPa
until immediately before the bellows starts to inflate, and adjust the flow rate
using the speed controller.
As a purge medium, use clean, dry air free from compressor oil or other contami-nants,
conforming to an air filtration rating of 10 μm or less.
Applicable
Controller
XSEL-PX
XSEL-QX
Features
supported
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
192/192 points
Safety Category 4
supported
Three-phase
200 V AC p. 37
T2: XSEL-PX/QX
1
1 *SCARA robots cannot operate continuously at 100% speed and acceleration.
SCARA robot
17IX-NNW2515H
Sold & Serviced By:
ELECTROMATE
www.electromate.com

IX-NNW3515H Small SCARA robot, Dustproof/Splash-proof type
Unit weight
Axis 4
allowable load
22Kg
T2: XSEL-PX/QX
IP65 or equivalent
Model
IX-NNW3515H- -T2
φ4 (black) quick joint
12
57
φ4 (whilte) quick joint
User spacer
User connector 15-pin φ4 (red) quick joint
15
8 10
φ11 (I.D.)
φ35
30
0
φ16h7( - 0 .0 1 8)
55 130
135°
R125
Work envelope
109.4°
135°
109.4° 200
R162.7
R350
R125
120°
120°
Cables/tubes
Panel
Arm 1 stopper
Maintain at 100 mm or more
250 140
160
155
185
100
4-φ9
Arm 2 stopper
206 74
φ16
125
2.5 ST150 106.5 21 210
249.5
225
Reference surface
60 15
12
Reference surface
4 (Mechanical end)
(524.5)
30
8
237
727
Air inlet for
air purge O.D. φ6
(I.D. φ4)
120
(168.5)
(698.5)
92.5
2-φ8 H7
15
50
Tapped hole for installation
of peripheral
(M4. 4 locations)
T-slot for
installation of
peripheral (M3, M4)
Dimensions
Axis configuration
Axis 1
Axis 2
Axis 3
Axis 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
225
125
-
-
Motor
capacity
(W)
200
100
100
50
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±120°
±135°
150mm
±360°
±0.010
(XY)
±0.010
±0.005
4042mm/s
(Composite
speed)
1316mm/s
1600°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.47 1 3 111.0 58.0 0.015 1.9
Encoder type
User wiring
User tubing
Absolute
As a purge medium, use clean, dry air free from compressor oil or other contam-inants,
„Model items IX NNW3515H T2
Dustproof/Splash-proof type
5L : 5 m (standard)
T2: XSEL-PX/QX
Arm length 350mm,
10L: 10 m
Vertical axis 150mm
Applicable
Controller
XSEL-PX
XSEL-QX
Features
supported
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
192/192 points
Safety Category 4
supported
Three-phase
200 V AC p. 37
1
SCARA robot
IX-NNW3515H18
Sold & Serviced By:
ELECTROMATE
www.electromate.com

Medium SCARA robot, Dustproof/Splash-proof type
Arm length 500mm, Vertical axis 200mm (300mm)
32.5Kg
T2: XSEL-PX/QX
IP65 or equivalent
R500 R150.4
140
19
145°
145°
200
47
Red
Black White
Yellow
10 10
A A
φ14 hollow
IX-NNW50††H
„Model items IX NNW50††H T2
NNW5020H:
NNW5030H:
Unit weight
4−φ11 hole
5L : 5 m (standard)
10L: 10 m
175
75 100
(83)
(767)
3−M4, depth 8
Model
IX-NNW5020H- -T2
[IX-NNW5030H- -T2]
*3: The prepared hole 3−M4, depth 8 passes through the side panel of the arm. If the mounting screw is long, make sure it
does not contact internal components. In addition, be sure to seal screws with tape.
*4: Insert a tube O.D. φ12 into the exhaust port and extend the tube to a location away from water.
A-A section
30
29 28 21 (16)
17.5
7.5
28
119
62.5
Red LED (*2)
Brake-release
switch
Axis 4
allowable load
23-pin connector for
user wiring
120°
87.8°
120°
R250
Work envelope
0
φ20h7( - 0 . 0 2 1)
Cables/tubes
(723.2)
(130)
250
200ST[300ST]
5 (Mechanical end)
50 75
(90)
125
120
Reference surface
R40
150
200
5
74
(684)
47
140
250
500
82[-18]
282
(89) (54)
(120)
588[688]
870[970]
Exhaust port (*4)
25 50 20
(Same on the other side)
Seal with set
screw. (*3)
φ6
air-tube
quick joint
φ4
air-tube
quick joint
Spacer O.D.
φ7 height10
M4, depth 5
(*1)
Air inlet for air
purge O.D.
φ6 (I.D. φ4)
Dimensions
Axis configuration
Axis 1
Axis 2
Axis 3
Axis 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
250
250
-
-
Motor
capacity
(W)
400
200
200
100
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±120°
±145°
200mm
[300mm]
±360°
±0.010
(XY)
±0.010
±0.005
6381mm/s
(Composite
speed)
1473mm/s
1857°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.43 2 10 181.0 93 0.06 3.7
Encoder type
User wiring
User tubing
Absolute
specifications.
Applicable
Controller
XSEL-PX
XSEL-QX
Features
supported
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
192/192 points
Safety Category 4
supported
Three-phase
200 V AC p. 37
T2: XSEL-PX/QX
1
1
SCARA robot
19 IX-NNW50††H
Sold & Serviced By:
ELECTROMATE
www.electromate.com

Work envelope
120°
Medium SCARA robot, Dustproof/Splash-proof type
120°
145°
145°
R600
R204
R250
200 114.3°
29 28 21 (16)
1 7.5
7.5
62.5
28
119
Red LED (*2)
Axis 4
allowable load
23-pin connector for user wiring
„Model items IX NNW60††H T2
NNW6020H:
NNW6030H:
5L : 5 m (standard)
10L: 10 m
25 50 20 Brake-release
140
19
10 10
47
Red
Black White
4−φ11 hole
175
75 100
(83)
(767)
Model
IX-NNW6020H- -T2
[IX-NNW6030H- -T2]
*3: The prepared hole 3−M4, depth 8 passes through the side panel of the arm. If the mounting screw is long, make sure it does
not contact internal components. In addition, be sure to seal screws with tape.
*4: Insert a tube O.D. φ12 into the exhaust port and extend the tube to a location away from water. Detailed view of tip
A-A section
φ14 hollow
φ20h7( 0
-0.021
)
A A
Yellow
Cables/tubes
(130)
200ST[300ST]
5 (Mechanical end)
50 75
(90)
125
374
120
Reference surface
R40
150
200
5
74
(684)
47
140
250
82[-18]
282
(89) (54)
(120)
350
600
(823.2)
588[688]
870[970]
Exhaust port (*4)
switch
φ6
air-tube
quick joint
φ4
air-tube
quick joint
Spacer O.D.
φ7 height10
M4, depth 5
(*1)
Air inlet for air
purge O.D.
φ6 (I.D. φ4)
3−M4, depth 8
(Same on the other
side) Seal with set
screw. (*3)
Dimensions
Axis configuration
Axis 1
Axis 2
Axis 3
Axis 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
350
250
-
-
Motor
capacity
(W)
400
200
200
100
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±120°
±145°
200mm
[300mm]
±360°
±0.010
(XY)
±0.010
±0.005
7232mm/s
(Composite
speed)
1393mm/s
1200°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.47 2 10 181.0 93 0.06 3.7
Encoder type
User wiring
User tubing
Absolute
specifications.
IX-NNW60††H
Unit weight
34.5Kg
T2: XSEL-PX/QX
IP65 or equivalent
Applicable
Controller
XSEL-PX
XSEL-QX
Features
supported
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
192/192 points
Safety Category 4
supported
Three-phase
200 V AC p. 37
T2: XSEL-PX/QX
1
1
SCARA robot
IX-NNW60††H 20
Sold & Serviced By:
ELECTROMATE
www.electromate.com

Axis 4
allowable load
Large SCARA robot, Dustproof/Splash-proof type
60Kg
T1: XSEL-KX, T2: XSEL-PX/QX
IP65 or equivalent
23.5
Red
User Connector 24-pin
waterproof connector (Shield
terminal include in 24 pins)
ALM (Note 3) 28
10 10
47
φ18 hollow
φ25h7( )
A A
Model items IX NNW70 H T2
NNW7020H:
NNW7040H:
Unit weight
5L : 5 m (standard)
10L : 10 m
350 350 (206.5)
(34) (34)
28
IX-NNW70 H
Model
IX-NNW7020H- -T2
[IX-NNW7040H- -T2]
Note 1: The bottom hole 3−M4, depth 8 passes through the side panel of the arm.
Note 2: The external force applied to a spacer must not exceed 30 N in the axial direction, or 2 N•m in the rotating direction.
Note 3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying
24 V DC to the applicable LED terminal in the user wiring.
Note 4: The air inlet can be installed in the opposite direction (by removing PT3/8 plug and switching the insertion
direction of the joint).
0
-0.021
A-A section
7.5
30
119
63
BK SW
(Brake-release switch)
Black
(122.7)
Cables/tubes
250
R700
82.5°
125°
R210.5
053R
125°
145°
145°
Work envelope
468
7
200
268
(90)
60 95
(R55)
155
223
(65)
(971.5)
Arm 2 stopper
Arm 1
Arm 2
Stopper
(134.6)
22.5
(263.4)
61 51 20
Reference surface
(853)
262
131
7
Reference
surface
(φ188)
(φ144)
25°
140
191[-9] 200st[400st]
6 (Mechanical end)
(83.5)
(936.5)
Air inlet for air purge (Note 4)
Applicable tube O.D.
φ6 (I.D. φ4)
200
PT3/8
Plug
91
649.5[849.5]
(173)
6 (Mechanical end)
1040.5[1240.5]
3−M4, depth 8 (Same on
the other side) Seal with
set screw. (Note 1)
φ6
air-tube
quick joint
φ4
air-tube
quick joint
Spacer O.D. φ7
height10 M4,
depth 5 (Note 2)
Yellow
White
Dimensions
Axis configura-tion
Axes 1
Axes 2
Axes 3
Axes 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
350
350
-
-
Motor
capacity
(W)
750
400
400
200
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±125°
±145°
200mm
[400mm]
±360°
±0.015
(XY)
±0.010
±0.005
7010mm/s
(Composite
speed)
1614mm/s
1266°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.45 5 20 304 146.0 0.1 11.7
Encoder type
User wiring
User tubing
Absolute
specifications.
conforming to an air filtration rating of 10 m or less.
Applicable
Controller
XSEL-PX
XSEL-QX
Features
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
192/192 points
Safety Category 4
supported
Three-phase
200 V AC p. 37
T2: XSEL-PX/QX
1
1
SCARA
21 IX-NNW70H
to SCARA
Sold Serviced By:
ELECTROMATE
www.electromate.com

Large SCARA robot, Dustproof/Splash-proof type
Model items IX NNW80H T2
NNW8020H:
5L : 5 m (standard)
10L: 10 m
NNW8040H:
350 450 (206.5)
(34) (34)
28
Model
IX-NNW8020H- -T2
[IX-NNW8040H- -T2]
Note 1: The bottom hole 3−M4, depth 8 passes through the side panel of the arm.
Note 2: The external force applied to a spacer must not exceed 30 N in the axial direction, or 2 N•m in the rotating direction. (for each spacer)
Note 3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying
24 V DC to the applicable LED terminal in the user wiring.
Note 4: The air inlet can be installed in the opposite direction (by removing PT3/8 plug and switching the insertion direction of the joint).
allowable load
7.5
Red
ALM (Note 3) 28
30
Axis 4
119
63
BK SW
(Brake-release switch)
Black
23.5
10 10
47
A A
φ18 hollow
0
-0.021
φ25h7( )
A-A section
(122.7)
Cables/tubes
250
125°
145°
145°
125°
99.1°
R258.8
R800
053R
Work envelope
468
7
200
268
(90)
60 95
(R55)
155
223
(169)
(65)
(1071.5)
Arm 2 stopper
Arm 1
Arm 2
Stopper
(134.6)
22.5
(263.4)
61 51 20
Reference surface
(853)
262
131
7
Reference
surface
(φ188)
(φ144)
25°
140
191[-9] 200st[400st]
6 (Mechanical end)
(83.5)
(936.5)
Air inlet for air purge (Note 4)
Applicable tube O.D.
φ6 (I.D. φ4)
200
PT3/8
Plug
91
649.5[849.5]
6 (Mechanical end)
1040.5[1240.5]
3−M4, depth 8 (Same on the other
side) Seal with set screw. (Note 1)
φ6
air-tube
quick joint
φ4
air-tube
quick joint
User Connector 24-pin
waterproof connector (Shield
terminal include in 24 pins)
Spacer O.D. φ7
height 10 M4,
depth 5 (Note 2)
Yellow
White
Dimensions
Axis configuration
Axes 1
Axes 2
Axes 3
Axes 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
450
350
-
-
Motor
capacity
(W)
750
400
400
200
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±125°
±145°
200mm
[400mm]
±360°
±0.015
(XY)
±0.010
±0.005
7586mm/s
(Composite
speed)
1614mm/s
1266°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.46 5 20 304 146.0 0.1 11.7
Encoder type
User wiring
User tubing
Absolute
Air tube (O.D. ∅4, I.D. ∅.5) x 2 (Normal working pressure 0.8 MPa)
specifications.
conforming to an air filtration rating of 10 m or less.
IX-NNW80H
Unit weight
62Kg
T2: XSEL-PX/QX
IP65 or equivalent
Applicable
Controller
XSEL-PX
XSEL-QX
Features
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
192/192 points
Safety Category 4
supported
Three-phase
200 V AC p. 37
T2: XSEL-PX/QX
1
1
SCARA SCARA
IX-NNW80H 22
to SCARA
Sold Serviced By:
ELECTROMATE
www.electromate.com

IX-TNN3015H
IX-UNN3015H
Small SCARA robot, Wall-mount type
Small SCARA robot, Wall-mount inverse type
„Model items IX †NN3015H T2
TNN3015H : Wall-mount type
UNN3015H : Wall-mount inverse type
Model
IX-TNN3015H- -T2
IX-UNN3015H- -T2
Absolute
30
φ35
8 10
User connector
φ11 (I.D.)
15
φ16h7( - 0 -0.018
)
Arm 2 stopper
249.5
250
Unit weight
20.8Kg
T2: XSEL-PX/QX
*2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable
LED terminal in the user wiring.
Line of contact with the base
69.9°
Axis 4
allowable load
Be careful not to allow contact
with the mounting wall.
69.9°
R134.6
R300
130°
130°
260
120°
120°
Enlarged view of tip
Work envelope
R125
R125R125R125
12
57
φ4 (white)
quick joint
φ4 (black)
quick joint
4-φ9
(Opposite side of counterbore)
160
140
235
25 185 (25)
2−φ8H7
(intersection between
reamer holes ±0.02 mm)
117.5
Reference surface
Reference surface
116
Cables/tubes
φ16
ST150 55 21
125
372.5
26 40 235
15
175 Arm 1 stopper
451
(537.5)
30
40
106
8
50 30
peripheral (M3, M4) 12
15 60
(495.5)
206
120
Panel
Dimensions
Axis configuration
Axis 1
Axis 2
Axis 3
Axis 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
175
125
-
-
Motor
capacity
(W)
200
100
100
50
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±120°
±130°
150mm
±360°
±0.010
(XY)
±0.010
±0.005
3616mm/s
(Composite
speed)
1316mm/s
1600°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.41 1 3 111.0 58.0 0.015 1.9
Encoder type
User wiring
User tubing
* For the inverse type, the following
illustrations should be turned upside
down. (See page 2.)
Applicable
Controller
XSEL-PX
XSEL-QX
Features
supported
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
192/192 points
Three-phase
200 V AC
p. 37
Safety Category 4
supported
5L : 5 m (standard)
10L: 10 m
T2: XSEL-PX/QX
1
1
SCARA robot
23 IX-TNN3015H/IX-UNN3015H
ELECTROMATE
Sold Serviced By:
www.electromate.com

IX-TNN3515H
IX-UNN3515H
Small SCARA robot, Wall-mount type
Small SCARA robot, Wall-mount inverse type
TNN3515H : Wall-mount type
UNN3515H : Wall-mount inverse type
Model
IX-TNN3515H- -T2
IX-UNN3515H- -T2
φ35
30
8 10
φ11 (I.D.)
15
φ16h7( )
Unit weight
Arm 2 stopper T-slot for installation
249.5
21.9Kg
T2: XSEL-PX/QX
*2: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable
LED terminal in the user wiring.
Line of contact with the base
R162.7
91.3°
Axis 4
allowable load
Be careful not to allow contact
with the mounting wall.
91.3°
260
R125
135°
R350
120°
R125
120°
135°
Enlarged view of tip
Work envelope
12
57
φ4 (white)
quick joint
User connector
φ4 (black)
quick joint
4-φ9
(Opposite side of counterbore)
160
140
25 185 (25)
235
2−φ8H7
(intersection between
reamer holes ±0.02 mm)
117.5
Reference surface
116 Reference surface
Cables/tubes
φ16
ST150 55 21
125
372.5
225
501
26 40 235
15
Arm 1 stopper
250
(537.5)
30
40
106
8
50 30
of peripheral (M3, M4) 12
15 60
(545.5)
206
120
-0
-0.018
Dimensions
Axis configuration
Axis 1
Axis 2
Axis 3
Axis 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
225
125
-
-
Motor
capacity
(W)
200
100
100
50
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±120°
±135°
150mm
±360°
±0.010
(XY)
±0.010
±0.005
4042mm/s
(Composite
speed)
1316mm/s
1600°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.42 1 3 111.0 58.0 0.015 1.9
* For the inverse type, the following illustrations
should be turned upside down.
(See page 2.)
Encoder type
User wiring
User tubing
Absolute
Applicable
Controller
XSEL-PX
XSEL-QX
Features
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
Three-phase
200 V AC
192/192 points p. 37
supported
Safety Category 4
supported
5L : 5 m (standard)
10L: 10 m
T2: XSEL-PX/QX
1
1
1
SCARA robot
IX-TNN3515H/IX-UNN3515H 24
Sold Serviced By:
ELECTROMATE
www.electromate.com

IX-HNN5020H
IX-INN5020H
Medium SCARA robot, Ceiling-mount type, Arm length 500mm
Vertical axis 200mm
Medium SCARA robot, Inverse type, Arm length 500mm
Vertical axis 200mm
Panel
Arm 2 Arm 1
20
3−M4, depth 8
Same on the
other side (*1)
5.5 (Mechanical end)
Unit weight
30.5Kg
T2: XSEL-PX/QX
φ235 (Recommended mounting dimension)
173
12.5 (mounting center)
50
250 250
150
200
175
75 100
(90)
50 75
125
4−φ11 hole
R40
445
373
421
(111) 30
(28.6)
(650)
φ112
φ146
19 (182.4)
25°
(73.2)
5
Reference surface
Reference surface
25 50
74
5 (Mechanical end)
200ST 470
(723.2)
(130)
20
5
198
99
Arm 1
Arm 2
stopper
72
allowable load
R500 R191.3
7.5 22.5 28 21.5 21 (18.5)
28
Red LED (*3)
63
119
30
19
10 10
47
Axis 4
φ14 hollow
φ20h7 (-0.021)
φ44
B
View B: Detailed view of base mount
Red
Black
Yellow
Detail view of panel Detailed view of tip
A-A section
A A
*1: The prepared hole 3−M4, depth 8 passes through the side panel of the arm. If the mounting screw is long, make sure it does not contact
internal components.
*3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED
terminal in the user wiring.
R250
200
135°
135°
120°
87.8°
120°
Work envelope
Cables/tubes
Arm 2 stopper
φ6 air-tube
quick joint
φ4 air-tube
quick joint
D-sub/25-pin
connector for user
wiring, socket
fixing jig M2.6
Brake-release
switch
Spacer O.D. φ7
height 10, M4,
depth 5 (*2)
White
Model
IX-HNN5020H- -T2
IX-INN5020H- -T2
Axis configuration
Axis 1
Axis 2
Axis 3
Axis 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
250
250
-
-
Motor
capacity
(W)
400
200
200
100
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±120°
±135°
200mm
±360°
±0.010
(XY)
±0.010
±0.005
6381mm/s
(Composite
speed)
1473mm/s
1857°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.39 2 10 181.0 93 0.06 3.7
Encoder type
User wiring
User tubing
Brake-release switch (Note 8
Absolute
*For the inverse type, the following illustrations should be turned upside
down. (See page 2.)
Applicable
Controller
XSEL-PX
XSEL-QX
Features
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
Three-phase
200 V AC
192/192 points p. 37
supported
Safety Category 4
supported
Dimensions
HNN5020H : Ceiling-mount type
5L : 5 m (standard)
T2: XSEL-PX/QX
10L: 10 m
INN5020H : Inverse type
1
1
SCARA robot
25 IX-HNN5020H/IX-INN5020H
ELECTROMATE
Sold Serviced By:
www.electromate.com

IX-HNN6020H
IX-INN6020H
Medium SCARA robot, Ceiling-mount type, Arm length 600mm
Vertical axis 200mm
Medium SCARA robot, Inverse type, Arm length 600mm
Vertical axis 200mm
HNN6020H : Ceiling-mount type
INN6020H : Inverse type
Unit weight
50 250 350 173
20
5.5 (Mechanical end)
31.5Kg
T2: XSEL-PX/QX
φ235 (Recommended mounting dimension)
12.5 (mounting center)
150
200
IX-HNN6020H- -T2
IX-INN6020H- -T2
175
Model
75 100
(90)
50 75
125
4−φ11 hole
R40
445
373
421
(111) 30
(28.6)
(650)
φ112
φ146
19 (182.4)
25°
(73.2)
5
View B
Reference Reference surface
surface
25 50
74
5 (Mechanical end)
200ST 470
(823.2)
(130)
20
5
198
99
Arm 1
Arm 2
stopper
72
7.5 22.5 28 21.5 21 (18.5)
28
Red LED (*3)
63
119
30
allowable load
19
145°
10 10
47
Axis 4
φ14 hollow
φ20h7 (-0.021)
φ44
B
Detailed view of base mount
Red
Black
A-A section
A A
114.3°
R250
R600
R204
145°
120°
120°
200
Work envelope
Work envelope
Arm 2 Arm 1
Yellow
Detail view of panel Detailed view of tip
Cables/tubes
Panel
φ6 air-tube
quick joint
φ4 air-tube
quick joint
D-sub/25-pin
connector for user
wiring, socket
fixing jig M2.6
Brake-release
switch
Spacer O.D. φ7
height10, M4,
depth 5 (*2)
Arm 2
stopper
3−M4, depth 8
*1: The prepared hole 3−M4, depth 8 passes through the side panel of the arm. If the mounting screw is long, make sure it does not contact internal components.
*3: In order to use the LED, the user must wire it so that it responds to the controller's I/O output signal by supplying 24 V DC to the applicable LED terminal in the
user wiring.
White
Dimensions
Axis configuration
Axis 1
Axis 2
Axis 3
Axis 4
Arm 1
Arm 2
Vertical axis
Rotating axis
Arm
length
(mm)
350
250
-
-
Motor
capacity
(W)
400
200
200
100
Work
envelope
Positioning
Repeatability
(mm)
(Note 1)
PTP operation
Maximum
operating
speed
(Note 2)
±120°
±145°
200mm
±360°
±0.010
(XY)
±0.010
±0.005
7232mm/s
(Composite
speed)
1473mm/s
1857°/s
Standard
cycle time
(sec)
(Note 3)
Load capacity
(kg) (Note 4)
Rated Maximum
Maximum
limit
Minimum
limit
Allowable inertial
moment
(kg·m2) (Note 6)
Allowable
torque
(N . m)
0.43 2 10 181.0 93 0.06 3.7
Encoder type
User wiring
User tubing
Absolute
* For the inverse type, the following illustrations should be turned upside
down. (See page 2.)
Applicable
Controller
XSEL-PX
XSEL-QX
Features
Maximum I/O points
(inputs/outputs)
Power-supply
voltage
Reference
page
Three-phase
200 V AC
192/192 points p. 37
supported
Safety Category 4
supported
5L : 5 m (standard)
10L: 10 m
T2: XSEL-PX/QX
1
1
SCARA robot
IX-HNN6020H/IX-INN6020H 26
Sold Serviced By:
ELECTROMATE
www.electromate.com

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