IX-120/150 Ultra Compact SCARA Catalog - IAI - #4

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Capable of controlling a SCARA robot and up to two single-axis robots Ultra compact size Direct connection to DeviceNet, CC-Link, ProfiBus or Ethernet The XSEL-PX/QX performs complex controls with ease, such as controlling  a SCARA robot simultaneously with a single-axis robot assembled underneath,  or operating a SCARA robot and two-axis cartesian robot at the same time. Despite being a 6-axis controller, the XSEL-PX/QX comes in a slim body  (W 340 mm H 195 mm D 125.3 mm), and these dimensions correspond to  the size of IAI’s 4-axis or smaller controller. The XSEL-PX/QX can be directly connected to various field networks to perform  centralized data control or exchange of signals with the various devices  connected to the network. XSEL - PX6 - NNN1205 - 200A - 100A - DV - N1 - EEE - 2 - 3 Series XSEL IX actuator type NNN1205 : Standard type  Arm length 120mm  Z-axis 50mm NNN1505 : Standard type  Arm length 150mm  Z-axis 50mm Motor output of axis 5 20A~750AL : 20W~750W, absolute 20I~750IL : 20W~750W, incremental * Axis 5 can be used only when a  5-axis or 6-axis controller is used. Network support DV: DeviceNet CC: CC-Link PR: ProfiBus ET: Ethernet (Blank)  : No network support Motor output of axis 6 20A~750AL : 20W~750W, absolute 20I~750IL : 20W~750W, incremental * Axis 6 can be used only when a  6-axis controller is used. Standard I/O N1 : 32 input points/16 output points  (NPN specification) P1 : 32 input points/16 output points  (PNP specification) E : Not installed Power-supply voltage 3 : Three-phase 200VAC I/O flat cable length 2 : 2m 3 : 3m 5 : 5m 0 : Not supplied Expansion I/O * Refer to the separate  controller catalog. Controller type PX4 : High-output 4-axis type PX5 : High-output 5-axis type PX6 : High-output 6-axis type QX4 : 4-axis type conforming   to safety category QX5 : 5-axis type conforming   to safety category QX6 : 6-axis type conforming   to safety category Catalog No.: IX-CJ0090-1A-Jan3106-1 Controller XSEL-PX/QX Features Controller type Specifications External Dimensions Connectable axes Total output when maximum  number of axes are connected Control power input Motor power input Power capacity (*1) Safety circuit configuration Drive-source cutoff method Enable input Position detection method Speed setting (*2) Acceleration/deceleration setting Programming language Number of program steps Number of positions Number of programs (multitasking) Operating temperature / humidity Controller weight (*3) Standard specification PX4 2400W 200/230VAC, single-phase, -15%, +10% 200/230VAC, three-phase, -10%, +10% Incremental encoder / absolute encoder 1mm/ sec ~ 2000mm/ sec 0.01G ~ 1G Super SEL Language 6000 steps (total) 4000 positions (total) 64 programs (16 programs) 0~40C¡, 10~95% (non-condensing) PX5 / PX6 QX4 QX5 / QX6 Global specification External safety circuit Redundant configuration not supported Redundant configuration not supported Internal cutoff relay Contact-B input (internal power supply type) Contact-B input (external power supply type, redundant) SCARA only SCARA  + single-axis robot SCARA  SCARA only + single-axis robot 310VA 3350VA 310VA 3350VA 5.2kg 5.7kg 4.5kg 5kg *1 For the PX4 and QX4, the value indicates the power capacity when one IX-NNN1205/1505   is operated. For the PX5, PX6, QX5 and QX6, the value indicates the power capacity when   one IX-NNN1205/1505 and two 750-watt axes are operated. *2 The maximum limit varies depending on the actuator type. *3 The controller weight includes the absolute battery, brake mechanism and expansion I/O box.  3 (80) 125.3 3-¿5 5 49.5 75 75 49.5 195 186 180 265 249 3-¿5 5 28 75 75 28 180 186 195 206 222 PX 4-axis specification  QX 4-axis specification  Side view (Common to PX/QX) 125.3 (80) 3 3-¿5 5 22 120 120 22 195 186 180 300 284 3-¿5 5 45.5 75 75 45.5 195 186 180 257 241 PX 6-axis specification  QX 6-axis specification  Side view (Common to PX/QX) * The dimensions below do not include expansion I/Os.  Please contact IAI should you require expansion I/Os. Head Office: 2690 W 237th Street, Torrance, CA 90505 Chicago Office: 1261 Hamilton Parkway, ltasca, IL 60143 New Jersey Office: 7 South Main Street, Suite-F, Marlboro, NJ 07746 Ober der Rth 4, D-65824 Schwalbach am Taunus, Germany I A I America, Inc. I A I Industrieroboter GmbH Website: www.intelligentactuator.com The information contained in this catalog is subject to change without notice for the purpose of product improvement.