IAI America XSEL-QX - Manual (Page 32)

8
Part 1 Installation
3. Selection of Auxiliary Power Devices
This section provides selection guidelines for breakers, earth leakage breakers, contactors, surge
absorbers and noise filters that can be used with the AC power supply line of the X-SEL controller. These
devices must be selected by taking into consideration the power consumption, rush current and maximum
motor drive current of the controller.
(1) Power supply capacity
Calculate the power supply capacity according to 3, “Power Supply Capacity and Heat Output” in Part 1,
“Installation.”
Power supply capacity indicates the rated power supply capacity. The motor current of a given axis may
increase to as much as three times the rated current during high acceleration. Although all four axes of a
SCARA robot will not reach three times the rated current at the same time, consider the possibility of any
one axis reaching three times the rated current and select breakers and other components based on a
power supply capacity of 1.5 times the rated power supply capacity.
(2) Leak current
When installing the controller, always provide an inverter-type earth leakage breaker.
The table below lists the controller leak currents excluding the currents leaked from the servo system.
Model
Leak current (control power
supply)
Leak current (Motor power)
PX type (Standard specification) 0.4 mA (200-VAC input) 2 mA or less (200-VAC input)
QX type (Global specification) 0.2 mA (200-VAC input) 2 mA or less (200-VAC input)
(3) Rush current
The table below lists reference rush currents that may be observed in the control power supply and motor
power supply. As for the motor power supply system, the capacitor volume will vary depending on the
number of driver boards installed. However, the maximum current that can flow through the motor power
supply remains the same.
Motor power supply Control power
supply
Less than 1200 W 1200 W or above
Rush current 50 A 60 A max.* 120 A max.*
Rush current duration 3 ms
* At 40 qC, 200-VAC input