IXP Scara Robot Catalogue Update V3 Small & Large Types with 230 VAC Pulse Motors & Battery-less Absolute Encoders 1808 WA P3

Transcription

1 Scara Robot Catalogue Update V Small & Large Types with 2 VAC Pulse Motors & Battery-less Absolute Encoders GB -N188/4N188 18mm Vertical axis 8mm Model Specification Items Series *Controller is not included. N Number of axes : axes 4: 4 axes 188 WA P : 18mm Vertical axis: 8mm WA: Battery-less absolute specification N: P: 1m S: m M: 5m Cable X : Specified R : Robot cable Cable described below Applicable controller P: MSEL Acceleration / Deceleration Settings (Refer to P. 18 for general PTP Move diagram) CP Move of -/4N188 Duty Cycle Setting of -/4N188 Acceleration/deceleration in CP move [G] Load [kg] Duty [%] 9 8 Speed % Speed % Ambient temperature [ºC] P O I N T Note on selection For explanation of (Note 1) through (Note 5) refer to P. 5. There is a brake equipped on the vertical axis as a standard option. The vertical axis does not support push-motion control. The allowable push force should be 45N under condition of having a buffer such as a spring on a tool or the pressing side. Refer to P. 5 for the work envelope, and P. 18 for the notes on acceleration/deceleration setting. Axis configuration (mm) Work envelope Positioning repeatability (Note 1) operating speed in PTP mode (Note 2) Payload (kg) (Note ) Rated Axis ±1 Axis 2 2 ±1 ±.1mm mm/s Axis Vertical axis 8mm ±.2mm 5mm/s 1 Axis 4 Rotational axis ± ±.1 12 /s 4-axis specification Battery-less absolute encoder User wiring AWG26 8 User piping O.D. ø4, I.D. ø2.5, 2 air tubes working pressure.8mpa Standard cycle time (sec) (Note 4) Allowable inertial moment from the tip of the vertical axis (kg m2) (Note 5) Ambient operating temperature/humidity 6-1 -N188/4N188 Rated.1.1 Rated.1. Temperature ~ 4 C, Humidity 2 ~ 85%RH (Non-condensing) Unit weight (kg) Model Combinations SCAR ation -N188 Cable Length <Per Axis*> SCAR ation (with rotating axis) -4N188 Type Cable code P (1m) Standard type S (m) M (5m) X6 (6m) ~ X1 (1m) Special X11 (11m) ~ X15 (15m) X16 (16m) ~ X2 (2m) R1 (1m) ~ R (m) R4 (4m) ~ R5 (5m) Robot cable R6 (6m) ~ R1 (1m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R2 (2m) * The requires three cables, while 4-axis specification requires four cables. Cat. No. 114-E, Version CJ219-A

2 Dimensions 2D D drawings can be downloaded from the website. ø R8 1 (7.5) R R18 1 Detailed view of C ø1 h Detailed view of B (9) 4-ø B 5 For ground connection (M) (Approx. 12 max.) R () Operation prohibited area R Work envelope of the right-arm system Connector for additional axis DF62P-24EP-2.2 (HIROSE) Connector for user cable SMP-8V-NC (JST)/wiring AWG26 8C Grommet for internal stored piping (ø4x2) exit Tie mount for user C Stroke (same on the opposite side) 172 () Wiring space (Approx. 565 max.) Connector for additional axis DF62P-24EP-2.2 (HIROSE) Connector for user cable SMP-8V-NC (JST)/wiring AWG26 8C Grommet for internal stored piping (ø4x2) exit Tie mount for user three controller cables are needed (5) 5 A 1 R (7.5) (2) ø5 H7 +.12, through 5 H Detailed view of A R18 R R R () Operation prohibited area Work envelope of the left-arm system Name External view Model number (*1) Max. number of controlled axes Max. positioning points Standard I/O points (input/output) Input voltage page Safety category compliant specification MSEL-PGX - WAI Safety category compliant specification with network board MSEL-PGX - WAI points 16 points/16 points Single-phase AC V ~ 2V P. 11 * Controller type (:/4:4-axis specification) <SCARA type> <Expansion I/O> * SCARA type (Refer to table on the right) N188 4N188 E Not used CC CC-Link board * Standard I/O (NP/PN) NP/PN Expansion PIO board NPN/PNP spec. (*2) CC2 CC-Link board (with 2-way connector) * Expansion I/O (Refer to table on the right) DV DeviceNet board PR PROFIBUS-DP board *Refer to P. 12 if considering axis connection other than series. DV2 DeviceNet board (with 2-way connector) EP EtherNet/IP board (*1) The model code is just one example. Refer to P. 11 if using such as field network. (*2) PNP specification is coming soon. Cat. No. 114-E, Version CJ219-A -N188/4N

3 -N8/4N8 mm Vertical axis 8mm Model Specification Items Series *Controller is not included. N Number of axes : axes 4: 4 axes WA P : mm Vertical axis stroke 8 : 8mm 8GM : 8mm Medium gripper installed * Refer to "Attached Types" for the types of grippers installed. WA: Battery-less absolute specification N: P: 1m S: m M: 5m Cable X : Specified R : Robot cable Cable described below Applicable controller P: MSEL Acceleration / Deceleration Settings (Refer to P. 18 for general PTP Move diagram) CP Move of -/4N8 Duty Cycle Setting of -/4N8 Acceleration/deceleration in CP move [G] Load [kg] Duty [%] 9 8 Speed % Speed % Ambient temperature [ºC] *The photograph shows a 4-axis specification. P O I N T Note on selection For explanation of (Note 1) through (Note 5) refer to P. 5. There is a brake equipped on the vertical axis as a standard option. The vertical axis does not support push-motion control. The allowable push force should be 45N under condition of having a buffer such as a spring on a tool or the pressing side. Refer to P. 5 for the work envelope, and P. 18 for the notes on acceleration/deceleration setting. Axis configuration (mm) Work envelope Axis ±15 Axis 2 2 ±15 Positioning repeatability (Note 1) ±.2mm operating speed in PTP mode (Note 2) Payload (kg) (Note ) No gripper 2151mm/s With medium gripper (GM) 2151mm/s Axis Vertical axis 8mm ±.2mm 5mm/s 5mm/s Axis 4 Rotational axis ± ±.1 12 /s Medium gripper GM (*1) 14mm (Both fingers) ±.1mm 94mm/s (One finger) (*1) Refer to the gripper selection guide in our RCP2/RCP4/RCD Vertical Catalog. (*2) This is the maximum payload on the gripper when it is attached to a SCARA Robot. Rated 1.5 (*2) 4-axis specification with medium gripper (GM) Battery-less absolute encoder * User wiring AWG26 8 User piping O.D. ø4, I.D. ø2.5, 2 air tubes working pressure.8mpa Standard cycle time (sec) (Note 4) (at no load on gripper).28.7 Ma, Mb, Mc :.7 Allowable inertial moment from the tip of the vertical axis (kg m2) (Note 5) Ambient operating temperature/humidity 6- -N8/4N8 Rated.1.1 Rated.1..1 Temperature ~ 4 C, Humidity 2 ~ 85%RH (Non-condensing) Unit weight (kg) *The gripper is incremental type Component Axes -N8GM The medium gripper RCP4-GRSML is installed at the tip of the vertical axis. Model Combinations SCAR ation -N8 Medium gripper -N8GM Cable Length <Per Axis*> SCAR ation (with rotating axis) -4N8 Type Cable code P (1m) Standard type S (m) M (5m) X6 (6m) ~ X1 (1m) Special X11 (11m) ~ X15 (15m) X16 (16m) ~ X2 (2m) R1 (1m) ~ R (m) R4 (4m) ~ R5 (5m) Robot cable R6 (6m) ~ R1 (1m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R2 (2m) * The requires three cables, while the gripper specification and 4-axis specification require four cables. Cat. No. 114-E, Version CJ219-A

4 Dimensions 2D D drawings can be downloaded from the website. ø ø1 h Detailed view of C Detailed view of B (9) 78 4-ø B 5 For ground connection (M) 11 (Approx. 2 MAX.) R15 R 72.4 R 15 (58.7) R16.29 R () Operation prohibited area 15 Work envelope of the right-arm system Connector for additional axis DF62P-24EP-2.2 (HIROSE) Connector for user cable SMP-8V-NC (JST)/wiring AWG26 8C Grommet for internal stored piping (ø4x2) exit Tie mount for user (Approx. 59 MAX.) C Stroke (same on the opposite side) 172 () Wiring space Connector for additional axis DF62P-24EP-2.2 (HIROSE) Connector for user cable SMP-8V-NC (JST)/wiring AWG26 8C Grommet for internal stored piping (ø4x2) exit Tie mount for user three controller cables are needed. 5 (5) 5 Seating A (2) ø5 H7 +.12, through 6 5 H Detailed view of A 15 R16.29 R (58.7) 15 R15 15 < > (One on the opposite side is used for gripper wiring) 8 Stroke (15) (8) GM (RCP4-GRSML) M4 depth 5 Mounting *The overhang limit is mm horizontally and 2mm vertically. R R 72.4 () Operation prohibited area Work envelope of the left-arm system Name External view Model number (*1) Max. number of controlled axes Max. positioning points Standard I/O points (input/output) Input voltage page Safety category compliant specification MSEL-PGX - WAI Safety category compliant specification with network board MSEL-PGX - WAI points 16 points/16 points Single-phase AC V ~ 2V P. 11 * Controller type (:/4:4-axis specification) <SCARA type> <Expansion I/O> * SCARA type (Refer to table on the right) N8 4N8 E Not used CC CC-Link board * Standard I/O (NP/PN) N8GM NP/PN Expansion PIO board NPN/PNP spec. (*2) CC2 CC-Link board (with 2-way connector) * Expansion I/O (Refer to table on the right) DV DeviceNet board PR PROFIBUS-DP board *Refer to P. 12 if considering axis connection other than series. DV2 DeviceNet board (with 2-way connector) EP EtherNet/IP board (*1) The model code is just one example. Refer to P. 11 if using such as field network. (*2) PNP specification is coming soon. Cat. No. 114-E, Version CJ219-A -N8/4N8 6-4

5 N552 55mm - N5515 /4N552 Vertical axis 2mm/15mm Model Specification Items Series *Controller is not included. N Number of axes : axes 4: 4 axes 55 WA P 55: 55mm Vertical axis stroke 2 :2mm No gripper 15GL :15mm Large gripper installed 15GW :15mm Extra-large gripper installed * Refer to "Attached Types" for the types of grippers installed. WA: Battery-less absolute specification N: P: 1m S: m M: 5m Cable X : Specified R : Robot cable Cable described below Applicable controller P: MSEL Option B: Brake Acceleration / Deceleration Settings (Refer to P. 18 for general PTP Move diagram) CP Move of -/4N552 Duty Cycle Setting of -/4N552. Acceleration/deceleration in CP move [G].2.1 Duty [%] Load [kg] Ambient temperature [ºC] *The photograph shows a 4-axis specification. P O I N T Note on selection For explanation of (Note 1) through (Note 5) refer to P. 5. Make sure to select the brake option when the payload is 4kg or more. The vertical axis does not support push-motion control. The allowable push force should be 9N under condition of having a buffer such as a spring on a tool or the pressing side. Refer to P. 5 for the work envelope, and P. 18 for the notes on acceleration/deceleration setting. Axis configuration (mm) Work envelope Axis ± Axis ± Positioning repeatability (Note 1) ±.4mm No gripper 294mm/s operating speed in PTP mode (Note 2) With large gripper (GL) 294mm/s With extra-large gripper (GW) 294mm/s Axis Vertical axis 2mm (*1) ±.2mm 24mm/s 24mm/s 24mm/s Axis 4 Rotational axis ± ±.2 /s Large gripper GL (*2) 22mm (Both fingers) ±.1mm Extra-large gripper GW (*2) mm (Both fingers) ±.1mm 1mm/s (One finger) 157mm/s (One finger) Payload (kg) (Note ) Rated 2 6 (*1) When the extra-large gripper is installed, the work envelope of the vertical axis becomes 15mm. (*2) Refer to the gripper selection guide in our RCP2/RCP4/RCD Vertical Catalog. (*) This is the maximum payload on the gripper when it is attached to a SCARA Robot. 1.5 (*) 2.5 (*) 4-axis No gripper specification With large With extra-large gripper (GL) gripper (GW) Battery-less absolute encoder * User wiring AWG24 6, AWG26 5P (shielded) User wiring is not supported * User cables are sold separately. Refer to because the gripper wiring is used. the operation manual for detail. User piping O.D. ø4, I.D. ø2.5, air tubes working pressure.8mpa Standard cycle time (sec) (Note 4).7.7 (When transporting 2kg including a gripper).6 Component Axes -N552GL -N552GW 1-1 -N552/5515/4N552 The large gripper RCP4-GRSLL is installed at the tip of the vertical axis. The extra-large gripper RCP4-GRSWL is installed at the tip of the vertical axis. Option Name Option code page Brake B Refer to our RoboCylinder General Catalog 9.4 Ma :.8 Mb : 5.5 Mc : Ma : 9.4 Mb : 9.4 Mc : Allowable inertial moment from the tip of the vertical axis (kg m2) (Note 5) Rated.1. Rated.1.1 Ambient operating temperature/humidity Temperature ~ 4 C Humidity 2 ~ 85%RH (Non-condensing) Unit weight (kg) *The gripper is incremental type Model Combinations SCAR ation -N552 Large gripper Extra-large gripper -N5515GL -N5515GW Cable Length <Per Axis*> SCAR ation (with rotating axis) -4N552 Type Cable code P (1m) Standard type S (m) M (5m) X6 (6m) ~ X1 (1m) Special X11 (11m) ~ X15 (15m) X16 (16m) ~ X2 (2m) R1 (1m) ~ R (m) R4 (4m) ~ R5 (5m) Robot cable R6 (6m) ~ R1 (1m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R2 (2m) * The requires three cables, while the gripper specification and 4-axis specification require four cables. Cat. No. 114-E, Version CJ219-A

6 Dimensions 2D D drawings can be downloaded from the website (177.9) R R R ø12 h7 (-.18 ) Detailed view of S 8 8 : Mechanical end (44.5) Grommets for user wiring/piping exit (2 locations) (12.5) ø11 through R (7) (7) R29 Operation prohibited area Work envelope of the right-arm system S View U : Stroke (6: Mechanical end) T slot:m 2-Mdepth T slot:m Seating () Wiring space (21) (51) (Approx. 72 max.) User wiring/piping stored inside ø8 H depth 15 Grommet for user wiring/piping exit (For controller connection cable exit) Detailed view of U User wiring/piping stored inside Wiring (AWG24x6C/AWG26x5P with shield) Piping (ø4x) Ground connection is selected, three controller cables are needed. Controller cables when exiting from the rear panel Controller cables when exiting through grommet H7 ( ) depth :Home return (One on the opposite side is used for gripper wiring) *The vertical axis stroke is 15mm. *The overhang limit is mm horizontally and 5mm vertically. Open side: 27.8 Close side: ø4h7 GL (RCP4-GRSLL) Mounting :Home return GW (RCP4-GRSWL) (One on the opposite side is used for gripper wiring) *The vertical axis stroke is 15mm. *The overhang limit is mm horizontally and 5mm vertically. Open side: 5.8 Close side: ø5h7 Mounting R55 R2 R29 (177.9) Operation prohibited area (7) R R Work envelope of the left-arm system M5 depth M6 depth Name External view Model number (*1) Max. number of controlled axes Max. positioning points Standard I/O points (input/output) Input voltage page Safety category compliant specification MSEL-PGX - WAI Safety category compliant specification with network board MSEL-PGX - WAI points 16 points/16 points Single-phase AC V ~ 2V P. 11 * Controller type (:/4:4-axis specification) <SCARA type> <Expansion I/O> * SCARA type (Refer to table on the right) N552 N5515GL E Not used CC CC-Link board * Standard I/O (NP/PN) 4N552 N5515GW NP/PN Expansion PIO board NPN/PNP spec. (*2) CC2 CC-Link board (with 2-way connector) * Expansion I/O (Refer to table on the right) DV DeviceNet board PR PROFIBUS-DP board *Enter "B" in, when brake option is selected. *Refer to P. 12 if considering axis connection other than series. DV2 DeviceNet board (with 2-way connector) EP EtherNet/IP board (*1) The model code is just one example. Refer to P. 11 if using such as field network. (*2) PNP specification is coming soon. Cat. No. 114-E, Version CJ219-A -N552/5515/4N

7 N652 65mm - N6515 /4N652 Vertical axis 2mm/15mm Model Specification Items Series *Controller is not included. N Number of axes : axes 4: 4 axes 65 WA P 65: 65mm Vertical axis stroke 2 :2mm No gripper 15GL :15mm Large gripper installed 15GW :15mm Extra-large gripper installed * Refer to "Attached Types" for the types of grippers installed. WA: Battery-less absolute specification N: P: 1m S: m M: 5m Cable X : Specified R : Robot cable Cable described below Applicable controller P: MSEL Option B: Brake Acceleration / Deceleration Settings (Refer to P. 18 for general PTP Move diagram) CP Move of -/4N652 Duty Cycle Setting of -/4N652. Acceleration/deceleration in CP move [G].2.1 Duty [%] Load [kg] Ambient temperature [ºC] *The photograph shows a 4-axis specification. P O I N T Note on selection For explanation of (Note 1) through (Note 5) refer to P. 5. Make sure to select the brake option when the payload is 4kg or more. The vertical axis does not support push-motion control. The allowable push force should be 9N under condition of having a buffer such as a spring on a tool or the pressing side. Refer to P. 5 for the work envelope, and P. 18 for the notes on acceleration/deceleration setting. Axis configuration (mm) Work envelope Axis 1 1 ± Axis ± Positioning repeatability (Note 1) ±.4mm No gripper 2916mm/s operating speed in PTP mode (Note 2) With large gripper (GL) 2916mm/s With extra-large gripper (GW) 2916mm/s Axis Vertical axis 2mm (*1) ±.2mm 24mm/s 24mm/s 24mm/s Axis 4 Rotational axis ± ±.2 /s Large gripper GL (*2) 22mm (Both fingers) ±.1mm Extra-large gripper GW (*2) mm (Both fingers) ±.1mm 1mm/s (One finger) 157mm/s (One finger) Payload (kg) (Note ) Rated 2 6 (*1) When the extra-large gripper is installed, the work envelope of the vertical axis becomes 15mm. (*2) Refer to the gripper selection guide in our RCP2/RCP4/RCD Vertical Catalog. (*) This is the maximum payload on the gripper when it is attached to a SCARA Robot. 1.5 (*) 2.5 (*) 4-axis No gripper specification With large With extra-large gripper (GL) gripper (GW) Battery-less absolute encoder * User wiring AWG24 6, AWG26 5P (shielded) User wiring is not supported * User cables are sold separately. Refer to because the gripper wiring is used. the operation manual for detail. User piping O.D. ø4, I.D. ø2.5, air tubes working pressure.8mpa Standard cycle time (sec) (Note 4).81.7 (When transporting 2kg including a gripper).6 Component Axes -N652GL -N652GW 1- -N652/6515/4N652 The large gripper RCP4-GRSLL is installed at the tip of the vertical axis. The extra-large gripper RCP4-GRSWL is installed at the tip of the vertical axis. Option Name Option code page Brake B Refer to our RoboCylinder General Catalog 9.4 Ma :.8 Mb : 5.5 Mc : Ma : 9.4 Mb : 9.4 Mc : Allowable inertial moment from the tip of the vertical axis (kg m2) (Note 5) Rated.1. Rated.1.1 Ambient operating temperature/humidity Temperature ~ 4 C Humidity 2 ~ 85%RH (Non-condensing) Unit weight (kg) *The gripper is incremental type Model Combinations SCAR ation -N652 Large gripper Extra-large gripper -N6515GL -N6515GW Cable Length <Per Axis*> SCAR ation (with rotating axis) -4N652 Type Cable code P (1m) Standard type S (m) M (5m) X6 (6m) ~ X1 (1m) Special X11 (11m) ~ X15 (15m) X16 (16m) ~ X2 (2m) R1 (1m) ~ R (m) R4 (4m) ~ R5 (5m) Robot cable R6 (6m) ~ R1 (1m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R2 (2m) * The requires three cables, while the gripper specification and 4-axis specification require four cables. Cat. No. 114-E, Version CJ219-A

8 Dimensions 2D D drawings can be downloaded from the website ø12 h7 (-.18 ) Detailed view of S S View U : Stroke : Mechanical end (6: Mechanical end) 2 (44.5) 4 92 Grommets for user wiring/piping exit (2 locations) T slot:m (same on the opposite side) (12.5) T slot:m 12 4-ø11 through Seating () Wiring space (21) (51) (Approx. 74 max.) R R Controller cables when exiting from the rear panel Controller cables when exiting through grommet (7) (227.7) User wiring/piping stored inside ø8h depth 15 Grommets for user wiring/piping exit (2 locations) R R29 Operation prohibited area Work envelope of the right-arm system Detailed view of U User wiring/piping stored inside Wiring (AWG24x6C/AWG26x5P with shield) Piping (ø4x) Ground connection is selected, three controller cables are needed. R H7 ( ) depth GL (RCP4-GRSLL) (One on the opposite side is used for gripper wiring) *The vertical axis stroke is 15mm. *The overhang limit is mm horizontally and 5mm vertically. Open side: 27.8 Close side: ø4 h :Home return Mounting GW (RCP4-GRSWL) (One on the opposite side is used for gripper wiring) *The vertical axis stroke is 15mm. *The overhang limit is mm horizontally and 5mm vertically. Open side: 5.8 Close side: ø5 h :Home return Mounting R65 R R29 (227.7) (7) Operation prohibited area R Work envelope of the left-arm system R M5 depth M6 depth Name External view Model number (*1) Max. number of controlled axes Max. positioning points Standard I/O points (input/output) Input voltage page Safety category compliant specification MSEL-PGX - WAI Safety category compliant specification with network board MSEL-PGX - WAI points 16 points/16 points Single-phase AC V ~ 2V P. 11 * Controller type (:/4:4-axis specification) <SCARA type> <Expansion I/O> * SCARA type (Refer to table on the right) N652 N6515GL E Not used CC CC-Link board * Standard I/O (NP/PN) 4N652 N6515GW NP/PN Expansion PIO board NPN/PNP spec. (*2) CC2 CC-Link board (with 2-way connector) * Expansion I/O (Refer to table on the right) DV DeviceNet board PR PROFIBUS-DP board *Enter "B" in, when brake option is selected. *Refer to P. 12 if considering axis connection other than series. DV2 DeviceNet board (with 2-way connector) EP EtherNet/IP board (*1) The model code is just one example. Refer to P. 11 if using such as field network. (*2) PNP specification is coming soon. Cat. No. 114-E, Version CJ219-A -N652/6515/4N