Controller
X-SELPX/QX 8
Features
4 Axes
2 Axes
1
2
3
4
5
6
1 program
1 Controlling a maximum of 6 axes (SCARA robots + 2 single-axis robots)
In addition to SCARA robots, up to two axes of single-axis robots
or cartesian robots can be controlled (total output: 2400 W).
2 “Global type” for applications that require conformance to safety category 4
The “global type” does not have a built-in drive-source cutoff circuit. Instead, it cuts off the drive source using an external
safety circuit. This design conforms to safety category 4 under ISO 13849-1.
Both the large-capacity type (PX) and large-capacity global type (QX) conform to the CE Mark standard.
3 Compact, high performance and CE-compliant
Approx. 40% slimmer than IAI’s conventional
controllers (X-SEL general-purpose
controllers)
Significantly faster than IAI’s conventional
controllers (command processing time is roughly one-half)
Connectable to DeviceNet, CC-Link, Ethernet and other field networks
Conforming to the CE Mark standard
XSEL - - - - - - - - -
Series Controller type IX robot type Motor output
of axis 5
Motor output
of axis 6
Dedicated
network slot
Expansion
I/O
I/O flat cable
length
Powersupply
voltage
Standard
I/O
Model
Series
XSEL
PX4
(Large-capacity, 4-axis type)
PX5
(Large-capacity, 5-axis type)
PX6
(Large-capacity, 6-axis type)
QX4
(Large-capacity, global 4-axis type)
QX5
(Large-capacity, global 5-axis type)
QX6
(Large-capacity, global 6-axis type)
Blank
(No single axis)
Blank
(No single axis)
Blank
(No network)
20
30
60
100
200
400
600 L
750 L
20
(20W)
30
(30W)
60
(60W)
100
(100W)
200
(200W)
400
(400W)
600 L
(600W)
750 L
(750W)
(20W)
(30W)
(60W)
(100W)
(200W)
(400W)
(600W)
(750W)
DV
(DeviceNet)
CC
(CC-Link)
PR
(ProfiBus)
ET
(Ethernet)
E
(Not used)
N1
I/O board
NPN32/16
I/O board
NPN16/32
I/O board
NPN48/48
I/O board
PNP32/16
I/O board
PNP16/32
I/O board
PNP48/48
I/O board
NPN32/16
I/O board
NPN16/32
I/O board
NPN48/48
I/O board
PNP32/16
I/O board
PNP16/32
I/O board
PNP48/48
I/O board
NPN32/16
I/O board
NPN16/32
I/O board
NPN48/48
I/O board
PNP32/16
I/O board
PNP16/32
I/O board
PNP48/48
I/O board
NPN32/16
I/O board
NPN16/32
I/O board
NPN48/48
I/O board
PNP32/16
I/O board
PNP16/32
I/O board
PNP48/48
N2
N3
P1
P2
P3
E
(Not used)
N1
N2
N3
P1
P2
P3
E
(Not used)
N1
N2
N3
P1
P2
P3
E
(Not used)
N1
N2
N3
P1
P2
P3
2
Standard
specification:
2m
3
(3m)
5
(5m)
0
(None)
3
Three-phase
200V
Controller type IX robot type Dedicated
network slot
Motor output
of axis 6
Motor output
of axis 5
Standard
I/O
I/O flat
cable length
Powersupply
voltage
Expansion I/O
Slot 1 Slot 2 Slot 3 Slot 4
Series
Indicate the series name.
Controller type
Indicate the
controller type.
PX4: Large-capacity, dedicated SCARA specification
PX5: Large-capacity, 5-axis (SCARA + 1 axis) specification
PX6: Large-capacity, 6-axis (SCARA + 2 axes) specification
QX4: Large-capacity, dedicated SCARA specification conforming to safety category 4
QX5: Large-capacity, 5-axis (SCARA + 1 axis)
specification conforming to safety category 4
QX6: Large-capacity, 6-axis (SCARA + 2 axes)
specification conforming to safety category 4
IX robot type
Indicate the type of the SCARA robot to be operated.
Motor output of axis 5 (single-axis robot)
Indicate the motor output of the single-axis robot to be
connected to axis 5 of PX5, PX6, QX5 or QX6.
In , enter codes corresponding the encoder type and
desired option(s).
* If multiple options are to be specified, indicate the
applicable codes in alphabetical order after the encoder
type. If no option is installed, indicate only the encoder type.
(Encoder type A: Absolute / I: Incremental)
(Options B: Brake / C: Creep sensor / L: Limit switch /
M: Master-axis designation in synchronized operation /
S: Slave-axis designation in synchronized operation)
Leave the space blank for PX4 or QX4.
Motor output of axis 6 (single-axis robot)
Indicate the motor output of the single-axis robot to be
connected to axis 6 of PX6 or QX6.
The same explanation for axis 5 applies to the codes to
be entered in . Leave the space blank for PX4 or QX4.
Dedicated network slot
Indicate an applicable code if you require connection
to DeviceNet, CC-Link, ProfiBus or Ethernet.
Standard I/O
(slot 1) Indicate the specification of the standard slot (slot 1).
Expansion I/O
(slots 2 to 4)
Indicate the specification of the expansion slots (slots 2 to 4).
Take note that the external dimensions will change if the
expansion slots are used.
I/O flat cable length
Indicate the length of the signal wire connecting the I/O
board and PLC.
* If you have selected “E” (Not used) for the standard and
expansion I/Os, this field is automatically filled with “0” (None).
Power-supply voltage
Indicate the voltage of the main
controller power supply.
* If the arm length is 700 or 800, the maximum number
of connectable axes is 5 (SCARA + 1 axis).
* With the high-speed types, the maximum number of
connectable axes is 4 (SCARA only).
Notes
XSEL-PX/QX
SCARA and single-axis robots can be controlled simultaneously
with one
controller.
1 2 3 4 5 6 7 8 9 10
1 2 3 4 5 6 7 8 9 10
NNN1250~8040
(Standard type)
NSN5016~6016
(High-speed type)
NNW2515~8040
(Dustproof/splash-proof type)
TNN3015~3515
(Wall mount type)
UNN3015~3515
(Wall mount, inverse type)
HNN5020~8040
(Ceiling mount type)
INN5020~8040
(Inverse type)
NNC1205~8040
(Cleanroom type)
1
3
5
7
9
2
4 6
10
8
