horizontal articulated robot – ix series...horizontal articulated robot – ix series tabletop...

Horizontal Articulated Robot – IX Series Tabletop Specification, for Arm Length 500/600/700/800 IX-NNN-50 H/60 H/70 H/80 HDust-proof/Splash-proof Specification IX-NNW-50 H/60 H/70 H/80 HClean room Specification IX-NNC-50 H/60 H/70 H/80 HHigh-speed Specification, for Arm Length 500/600 IX-NSN5016H/IX-NSN6016H

Operation Manual Ninth Edition

Please Read Before Use Thank you for purchasing our product.

This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely.

Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products. When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC.

After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary.

[Important]• This Operation Manual is original. • The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall

assume no responsibility for the outcome of any operation not specified herein. • Information contained in this Operation Manual is subject to change without notice for the purpose of

product improvement. • If you have any question or comment regarding the content of this manual, please contact the IAI sales

office near you. • Using or copying all or part of this Operation Manual without permission is prohibited. • The company names, names of products and trademarks of each company shown in the sentences are

registered trademarks.

Table of Contents

Safety Guide .......................................................................................................................... 1Handling Precaution .............................................................................................................. 8International Standards Compliances .................................................................................. 111. Name of Each Part.........................................................................................................13

1.1 Robot...............................................................................................................................131.2 Labels..............................................................................................................................171.3 Label Positions ................................................................................................................18

2. External Dimensions ...................................................................................................... 193. Robot Operation Area ....................................................................................................334. Wiring Diagram .............................................................................................................. 35

4.1 Layout Drawing ..............................................................................................................354.2 Machine Harness Wiring Table .......................................................................................404.3 Cable Wiring Table..........................................................................................................424.4 230 V Circuit Components ..............................................................................................44

5. Option ............................................................................................................................ 465.1 Absolute Reset Jig ..........................................................................................................465.2 Flange .............................................................................................................................465.3 Absolute Data Backup Battery ........................................................................................47

6. Checking after Unpacking..............................................................................................526.1 Items Included in the Carton ...........................................................................................526.2 Operation Manuals Relating to This Product...................................................................536.3 How to Read Model Nameplate....................................................................................... 536.4 How to Read Model Number ........................................................................................... 54

7 Specifications................................................................................................................. 557.1 IX-NNN50H/60H/70H/80H..................................................................557.2 IX-NSN5016H/6016H ......................................................................................................637.3 IX-NNW50H/60H/70H/80H ....................................................................677.4 IX-NNC50H/60H/70H/80H .....................................................................75

5.4 Cable Joint Cable Type (Model: JY)....................................................................................... 485.4.1 Motor Cable .....................................................................................................................

Encoder Cable..................................................................................................................User Cable .......................................................................................................................Brake Cable .....................................................................................................................

485.4.2 495.4.3 505.4.4 51

8.2 Installation Platform.........................................................................................................858.3 Storage/Preservation Environment..................................................................................85

9. How to Install .................................................................................................................86

9.2 Installing the Robot..........................................................................................................879.3 Checking after Installation ...............................................................................................89

10. Connecting the Controller ..............................................................................................9011. Precautions for Use .......................................................................................................93

11.1 Setting the Acceleration/Deceleration .............................................................................9311.2 Push Force of the Vertical Axis .......................................................................................9911.3 Tools...............................................................................................................................10111.4 Carrying Load................................................................................................................ 10211.5 User Wiring and Piping.................................................................................................. 104

11.5.1 IX-NNN50H/60H/70H/80H, IX-NSN5016H/6016H IX-NNC50H/60H/70H/80H.................................................................. 104

11.5.2 IX-NNW50H/60H/70H/80H................................................................. 10711.6 Air Purge ....................................................................................................................... 110

11.6.1 IX-NNW50H/60H............................................................................................. 11011.6.2 IX-NNW70H/80H............................................................................................. 112

11.7 Suction Rate of Clean Room Specification IX-NNC50H/60H/70H/80H ......................................................................................................................... 113

12. Maintenance and Inspection.........................................................................................11412.1 Inspection Items and Periods ....................................................................................... 11412.2 Ball Screw Spline Grease Supply.................................................................................. 116

12.2.1 Applicable Grease and Supply Period ......................................................................... 11612.2.2 Grease Supply ............................................................................................................ 117

9.1 Installation Posture..........................................................................................................86

12.3 Check for Looseness of Arm Attachment Screws......................................................... 12012.4 Replacement of Absolute Backup Battery..................................................................... 121

12.4.1 APreparation ................................................................................................................ 121

IX-NSN5016H/6016H .................................................................................................. 122

12.4.2 Replacement Procedure IX-NNN50��H/60��H/70��H/80��HIX-NNC50��H/60��H/70��H/80��H

............................. 12412.4.3 Replacement Procedure IX-NNW50��H/60��H/70��H/80��H12.5 Third Axis Timing Belt Visual Check.............................................................................. 126

8. Installation Environment and Storage Environment .......................................................838.1 Installation Environment ..................................................................................................83

8.1.1 IX-NNN50H/60H/70H/80H,IX-NNC50H/ 60H/70H/80H,IX-NSN5016H/6016H.....................................................................................................83

8.1.2 IX-NNW50H/60H/70H/80H, ..................................................................83

13. Warranty ..........................................................................................................144144144144144145145

Change History .................................................................................................................. 146

13.1 Warranty Period ....................................................................................................................... 13.2 Scope of Warranty.................................................................................................................... 13.3 Honoring the Warranty..............................................................................................................

13.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications... 13.6 Other Items Excluded from Warranty...........................................................................................

13.4 Limited Liabil ............................................................................................................................

12.8 Absolute Encoder Reset Method...................................................................................13012.8.1 Preparation for Absolute Reset.................................................................................... 13012.8.2 Starting the Absolute Reset Menu ............................................................................... 13112.8.3 Absolute Reset Procedure for Arm 1 or 2 .................................................................... 13212.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis ............................... 137

12.7 Forth Axis Timing Belt Visual Check............................................................................. 12912.6 How to Measure Lost Motion ........ ............................................................................... 127

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Safety Guide When designing and manufacturing a robot system, ensure safety by following the safety guides provided below and taking the necessary measures.

Regulations and Standards Governing Industrial Robots

Safety measures on mechanical devices are generally classified into four categories under the International Industrial Standard ISO/DIS 12100, “Safety of machinery,” as follows:

Safety measures Inherent safety design Protective guards --- Safety fence, etc. Additional safety measures --- Emergency stop device, etc. Information on use --- Danger sign, warnings, operation manual

Based on this classification, various standards are established in a hierarchical manner under the International Standards ISO/IEC. The safety standards that apply to industrial robots are as follows: Type C standards (individual safety standards) ISO10218 (Manipulating industrial robots – Safety)

JIS B 8433 (Manipulating industrial robots – Safety)

Also, Japanese laws regulate the safety of industrial robots, as follows:

Industrial Safety and Health Law Article 59 Workers engaged in dangerous or harmful operations must receive special education.

Ordinance on Industrial Safety and Health Article 36 --- Operations requiring special education

No. 31 (Teaching, etc.) --- Teaching and other similar work involving industrial robots (exceptions apply)

No. 32 (Inspection, etc.) --- Inspection, repair, adjustment and similar work involving industrial robots (exceptions apply)

Article 150 --- Measures to be taken by the user of an industrial robot

Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product.

Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation.

No. Operation Description Description

1 Model Selection

● This product has not been planned and designed for the application where high level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications. 1) Medical equipment used to maintain, control or otherwise affect human

life or physical health. 2) Mechanisms and machinery designed for the purpose of moving or

transporting people (For vehicle, railway facility or air navigation facility)3) Important safety parts of machinery (Safety device, etc.)

● Do not use the product outside the specifications. Failure to do so may considerably shorten the life of the product.

● Do not use it in any of the following environments. 1) Location where there is any inflammable gas, inflammable object or

explosive 2) Place with potential exposure to radiation 3) Location with the ambient temperature or relative humidity exceeding

the specification range 4) Location where radiant heat is added from direct sunlight or other large

heat source 5) Location where condensation occurs due to abrupt temperature

changes 6) Location where there is any corrosive gas (sulfuric acid or hydrochloric

acid) 7) Location exposed to significant amount of dust, salt or iron powder 8) Location subject to direct vibration or impact

● For an actuator used in vertical orientation, select a model which is equipped with a brake. If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece.

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Requirements for Industrial Robots under Ordinance on Industrial Safety and Health

Work area Work condition Cutoff of drive source Measure Article Signs for starting operation Article 104 Outside

movementrange

During automaticoperation

Not cut off Installation of railings, enclosures, etc. Article 150-4

Cut off (including stopping of operation)

Sign, etc., indicating that work is in progress Article 150-3

Preparation of work rules Article 150-3 Measures to enable immediate stopping of operation Article 150-3


Provision of special education Article 36-31

During teaching, etc.

Not cut off

Checkup, etc., before commencement of work Article 151

To be performed after stopping the operation Article 150-5

Cut off Sign, etc., indicating that work is in progress Article 150-5

Preparation of work rules Article 150-5 Measures to enable immediate stopping of operation Article 150-5


Insidemovement

range

During inspection, etc. Not cut off (when

inspection, etc., must be performed during operation)

Provision of special education (excluding cleaning and lubrication) Article 36-32


2 Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane.

● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

● When in transportation, consider well about the positions to hold, weight and weight balance and pay special attention to the carried object so it would not get hit or dropped.

● Transport it using an appropriate transportation measure. The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions in the operation manual for each model.

● Do not step or sit on the package. ● Do not put any heavy thing that can deform the package, on it. ● When using a crane capable of 1t or more of weight, have an operator

who has qualifications for crane operation and sling work. ● When using a crane or equivalent equipments, make sure not to hang a

load that weighs more than the equipment’s capability limit. ● Use a hook that is suitable for the load. Consider the safety factor of the

hook in such factors as shear strength. ● Do not get on the load that is hung on a crane. ● Do not leave a load hung up with a crane. ● Do not stand under the load that is hung up with a crane.

3 Storage and Preservation

● The storage and preservation environment conforms to the installation environment. However, especially give consideration to the prevention of condensation.

● Store the products with a consideration not to fall them over or drop due to an act of God such as earthquake.

4 Installation and Start

(1) Installation of Robot Main Body and Controller, etc. ● Make sure to securely hold and fix the product (including the work part). A

fall, drop or abnormal motion of the product may cause a damage or injury.Also, be equipped for a fall-over or drop due to an act of God such as earthquake.

● Do not get on or put anything on the product. Failure to do so may cause an accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.

● When using the product in any of the places specified below, provide a sufficient shield. 1) Location where electric noise is generated 2) Location where high electrical or magnetic field is present 3) Location with the mains or power lines passing nearby 4) Location where the product may come in contact with water, oil or

chemical droplets

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Applicable Models of IAI’s Industrial Robots

Machines meeting the following conditions are not classified as industrial robots according to Notice of Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No. 340):

(1) Single-axis robot with a motor wattage of 80 W or less (2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating part, if

any, has the maximum movement range of within 300 mm3 including the end of the rotating part (3) Multi-joint robot whose movable radius and Z-axis are within 300 mm

Among the products featured in our catalogs, the following models are classified as industrial robots:

1. Single-axis ROBO Cylinders RCS2/RCS2CR-SS8 whose stroke exceeds 300 mm

2. Single-axis robots The following models whose stroke exceeds 300 mm and whose motor capacity also exceeds 80 W: ISA/ISPA, ISDA/ISPDA, ISWA/ISPWA, IF, FS, NS

3. Linear servo actuators All models whose stroke exceeds 300 mm

4. Cartesian robots Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3

5. IX SCARA robots All models whose arm length exceeds 300 mm (All models excluding IX-NNN1205/1505/1805/2515, NNW2515 and NNC1205/1505/1805/2515)


(2) Cable Wiring ● Use our company’s genuine cables for connecting between the actuator

and controller, and for the teaching tool. ● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not

coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.

● Perform the wiring for the product, after turning OFF the power to the unit, so that there is no wiring error.

● When the direct current power (+24V) is connected, take the great care of the directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.

● Connect the cable connector securely so that there is no disconnection or looseness. Failure to do so may cause a fire, electric shock or malfunction of the product.

● Never cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length. Failure to do so may cause the product to malfunction or cause fire.


(3) Grounding ● The grounding operation should be performed to prevent an electric shock

or electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.

● For the ground terminal on the AC power cable of the controller and the grounding plate in the control panel, make sure to use a twisted pair cable with wire thickness 0.5mm2 (AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).

● Perform Class D Grounding (former Class 3 Grounding with ground resistance 100Ω or below).

44

Notes on Safety of Our Products

Common items you should note when performing each task on any IAI robot are explained below.

No. Task Note 1 Model

selection This product is not planned or designed for uses requiring high degrees of safety.

Accordingly, it cannot be used to sustain or support life and must not be used in the following applications: [1] Medical devices relating to maintenance, management, etc., of life or health [2] Mechanisms or mechanical devices (vehicles, railway facilities, aircraft facilities, etc.)

intended to move or transport people [3] Important safety parts in mechanical devices (safety devices, etc.)

Do not use this product in the following environments: [1] Place subject to flammable gases, ignitable objects, flammables, explosives, etc. [2] Place that may be exposed to radiation [3] Place where the surrounding air temperature or relative humidity exceeds the

specified range [4] Place subject to direct sunlight or radiated heat from large heat sources [5] Place subject to sudden temperature shift and condensation [6] Place subject to corrosive gases (sulfuric acid, hydrochloric acid, etc.) [7] Place subject to excessive dust, salt or iron powder [8] Place where the product receives direct vibration or impact

Do not use this product outside the specified ranges. Doing so may significantly shorten the life of the product or result in product failure or facility stoppage.

2 Transportation When transporting the product, exercise due caution not to bump or drop the product. Use appropriate means for transportation. Do not step on the package. Do not place on the package any heavy article that may deform the package. When using a crane with a capacity of 1 ton or more, the crane must be operated by

personnel qualified to operate cranes and perform slinging operations. When using a crane or other equipment, never use it to hoist any article exceeding the

rated load of the applicable crane, etc. Use hoisting accessories suitable for the article to be hoisted. Select appropriate

hoisting accessories by making sure there is an ample allowance for safety in their cutting load, etc.

Do not climb onto the article being hoisted. Do not keep the article hoisted. Do not stand under the hoisted article.

3 Storage/ preservation

The storage/preservation environment should conform to the installation environment. Among others, be careful not to cause condensation.

4 Installation/ startup

(1) Installing the robot, controller, etc. Be sure to firmly secure and affix the product (including its work part).

If the product tips over, drops, malfunctions, etc., damage or injury may result. Do not step on the product or place any article on top. The product may tip over or the

article may drop, resulting in injury, product damage, loss of/drop in product performance, shorter life, etc.

If the product is used in any of the following places, provide sufficient shielding measures:[1] Place subject to electrical noise [2] Place subject to a strong electric or magnetic field [3] Place where power lines or drive lines are wired nearby [4] Place subject to splashed water, oil or chemicals



(4) Safety Measures ● When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

● When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range. When the robot under operation is touched, it may result in death or serious injury.

● Make sure to install the emergency stop circuit so that the unit can be stopped immediately in an emergency during the unit operation.

● Take the safety measure not to start up the unit only with the power turning ON. Failure to do so may start up the machine suddenly and cause an injury or damage to the product.

● Take the safety measure not to start up the machine only with the emergency stop cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input.

● When the installation or adjustment operation is to be performed, give clear warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden power input may cause an electric shock or injury.

● Take the measure so that the work part is not dropped in power failure or emergency stop.

● Wear protection gloves, goggle or safety shoes, as necessary, to secure safety.

● Do not insert a finger or object in the openings in the product. Failure to do so may cause an injury, electric shock, damage to the product or fire.

● When releasing the brake on a vertically oriented actuator, exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

5 Teaching ● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

● Perform the teaching operation from outside the safety protection fence, if possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

● When the operation is to be performed inside the safety protection fence, the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

● When the operation is to be performed inside the safety protection fence, in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.

● Place a sign “Under Operation” at the position easy to see. ● When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

* Safety protection Fence : In the case that there is no safety protection fence, the movable range should be indicated.

55

No. Task Note (2) Wiring the cables Use IAI’s genuine cables to connect the actuator and controller or connect a teaching

tool, etc. Do not damage, forcibly bend, pull, loop round an object or pinch the cables or place

heavy articles on top. Current leak or poor electrical continuity may occur, resulting in fire, electric shock or malfunction.

Wire the product correctly after turning off the power. When wiring a DC power supply (+24 V), pay attention to the positive and negative

polarities. Connecting the wires in wrong polarities may result in fire, product failure or malfunction.

Securely connect the cables and connectors so that they will not be disconnected or come loose. Failing to do so may result in fire, electric shock or product malfunction.

Do not cut and reconnect the cables of the product to extend or shorten the cables. Doing so may result in fire or product malfunction.

(3) Grounding Be sure to provide class D (former class 3) grounding for the controller. Grounding is

required to prevent electric shock and electrostatic charges, improve noise resistance and suppress unnecessary electromagnetic radiation.

4 Installation/ startup

(4) Safety measures Implement safety measures (such as installing safety fences, etc.) to prevent entry into

the movement range of the robot when the product is moving or can be moved. Contacting the moving robot may result in death or serious injury.

Be sure to provide an emergency stop circuit so that the product can be stopped immediately in case of emergency during operation.

Implement safety measures so that the product cannot be started only by turning on the power. If the product starts suddenly, injury or product damage may result.

Implement safety measures so that the product will not start upon cancellation of an emergency stop or recovery of power following a power outage. Failure to do so may result in injury, equipment damage, etc.

Put up a sign saying “WORK IN PROGRESS. DO NOT TURN ON POWER,” etc., during installation, adjustment, etc. If the power is accidently turned on, electric shock or injury may result.

Implement measures to prevent the work part, etc., from dropping due to a power outage or emergency stop.

Ensure safety by wearing protective gloves, protective goggles and/or safety shoes, as necessary.

Do not insert fingers and objects into openings in the product. Doing so may result in injury, electric shock, product damage, fire, etc.

When releasing the brake of a vertically installed actuator, be careful not to pinch your hand or damage the work part, etc., due to the slider dropping by its dead weight.

5 Teaching Whenever possible, perform teaching from outside the safety fences. If teaching must be performed inside the safety fences, prepare “work rules” and make sure the operator understands the procedures thoroughly.

When working inside the safety fences, the operator should carry a handy emergency stop switch so that the operation can be stopped any time when an abnormality occurs.

When working inside the safety fences, appoint a safety watcher in addition to the operator so that the operation can be stopped any time when an abnormality occurs. The safety watcher must also make sure the switches are not operated inadvertently by a third party.


6 Trial Operation ● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

● After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.

● When the check operation is to be performed inside the safety protection fence, perform the check operation using the previously specified work procedure like the teaching operation.

● Make sure to perform the programmed operation check at the safety speed. Failure to do so may result in an accident due to unexpected motion caused by a program error, etc.

● Do not touch the terminal block or any of the various setting switches in the power ON mode. Failure to do so may result in an electric shock or malfunction.

7 Automatic Operation

● Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence.

● Before starting automatic operation, make sure that all peripheral equipment is in an automatic-operation-ready state and there is no alarm indication.

● Make sure to operate automatic operation start from outside of the safety protection fence.

● In the case that there is any abnormal heating, smoke, offensive smell, or abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.

● When a power failure occurs, turn OFF the power switch. Failure to do so may cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.

66

No. Task Note 5 Teaching Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.

When releasing the brake of a vertically installed actuator, be careful not to pinch your hand or damage the work part, etc., due to the slider dropping by its dead weight.

* Safety fences --- Indicate the movement range if safety fences are not provided. 6 Confirmation

operation After teaching or programming, carry out step-by-step confirmation operation before

switching to automatic operation. When carrying out confirmation operation inside the safety fences, follow the specified

work procedure just like during teaching. When confirming the program operation, use the safety speed. Failure to do so may

result in an unexpected movement due to programming errors, etc., causing injury. Do not touch the terminal blocks and various setting switches while the power is

supplied. Touching these parts may result in electric shock or malfunction. 7 Automatic

operation Before commencing automatic operation, make sure no one is inside the safety fences. Before commencing automatic operation, make sure all related peripherals are ready to

operate in the auto mode and no abnormalities are displayed or indicated. Be sure to start automatic operation from outside the safety fences. If the product generated abnormal heat, smoke, odor or noise, stop the product

immediately and turn off the power switch. Failure to do so may result in fire or product damage.

If a power outage occurred, turn off the power switch. Otherwise, the product may move suddenly when the power is restored, resulting in injury or product damage.

8 Maintenance/ inspection

Whenever possible, work from outside the safety fences. If work must be performed inside the safety fences, prepare “work rules” and make sure the operator understands the procedures thoroughly.

When working inside the safety fences, turn off the power switch, as a rule. When working inside the safety fences, the operator should carry a handy emergency

stop switch so that the operation can be stopped any time when an abnormality occurs. When working inside the safety fences, appoint a safety watcher in addition to the

operator so that the operation can be stopped any time when an abnormality occurs. The safety watcher must also make sure the switches are not operated inadvertently by a third party.

Put up a sign saying “WORK IN PROGRESS” in a conspicuous location. Use appropriate grease for the guides and ball screws by checking the operation

manual for each model. Do not perform a withstand voltage test. Conducting this test may result in product

damage. When releasing the brake of a vertically installed actuator, be careful not to pinch your

hand or damage the work part, etc., due to the slider dropping by its dead weight. * Safety fences --- Indicate the movement range if safety fences are not provided.

9 Modification The customer must not modify or disassemble/assemble the product or use maintenance parts not specified in the manual without first consulting IAI.

Any damage or loss resulting from the above actions will be excluded from the scope of warranty.

10 Disposal When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste.

When disposing of the product, do not throw it into fire. The product may explode or generate toxic gases.


8 Maintenance and Inspection

● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

● Perform the work out of the safety protection fence, if possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

● When the work is to be performed inside the safety protection fence, basically turn OFF the power switch.

● When the operation is to be performed inside the safety protection fence, the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

● When the operation is to be performed inside the safety protection fence, in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.

● Place a sign “Under Operation” at the position easy to see. ● For the grease for the guide or ball screw, use appropriate grease

according to the Operation Manual for each model. ● Do not perform the dielectric strength test. Failure to do so may result in a

damage to the product. ● When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

● The slider or rod may get misaligned OFF the stop position if the servo is turned OFF. Be careful not to get injured or damaged due to an unnecessary operation.

● Pay attention not to lose the cover or untightened screws, and make sure to put the product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury.

* Safety protection Fence : In the case that there is no safety protection fence, the movable range should be indicated.

9 Modification and Dismantle

● Do not modify, disassemble, assemble or use of maintenance parts not specified based at your own discretion.

10 Disposal ● When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste.

● When removing the actuator for disposal, pay attention to drop of components when detaching screws.

● Do not put the product in a fire when disposing of it. The product may burst or generate toxic gases.

11 Other ● Do not come close to the product or the harnesses if you are a person who requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.

● See Overseas Specifications Compliance Manual to check whether complies if necessary.

● For the handling of actuators and controllers, follow the dedicated operation manual of each unit to ensure the safety.

77

Indication of Cautionary Information

The operation manual for each model denotes safety guides under “Danger,” “Warning,” “Caution” and “Note,” as specified below.

Level Degree of danger/loss Symbol

Danger Failure to observe the instruction will result in an imminent danger leading to death or serious injury. Danger

Warning Failure to observe the instruction may result in death or serious injury. Warning

Caution Failure to observe the instruction may result in injury or property damage. Caution

NoteThe user should take heed of this information to ensure the proper use of the product, although failure to do so will not result in injury.

Note

Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the operation Manual for each model.

Level Degree of Danger and Damage Symbol

Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.

Danger

Warning This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.

Warning

Caution This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.

Caution

Notice This indicates lower possibility for the injury, but should be kept to use this product properly. Notice

8

Robot

Arm fixingplate

Controller, accessories and other items (except for the robot)

Handling Precaution

1. Positioning Repeatability Does Not Change Even If the Positioning Band is Changed.

Positioning repeatability does not change even if the positioning band is changed. If the positioning band is narrower than the default value, the positioning repeatability does not change, but the time it takes for the positioning complete signal to be output takes longer. The execution of next operation instruction (e.g., MOVP, MOVL) is delayed and, as a result, the tact time of the entire cycle may be delayed.

3. Handling of the Carton

Each robot is packed with a controller prior to shipment. When transporting the carton containing the robot and controller, observe the following items and be careful not to drop the carton or apply impact due to forcible contact:

• If the carton is heavy, one operator should not attempt to carry it alone. • Place the carton on a level surface if it is to be left there for a while. • Do not climb upon the carton. • Do not place on the carton any heavy object that may cause the carton to deform, or an article whose shape

allows a load to be concentrated at one point.

[Carton]

Make sure to attach the Horizontal Articulated Robot properly by following this operation manual.

Using the product with the Horizontal Articulated Robot not being certainly retained or affixed may cause abnormal noise, vibration, malfunction or shorten the product life.

2.

99

• The robot and controller are very heavy. When transporting the carton containing the robot and controller, handle it with extra care so as not to drop the carton or apply impact due to forcible contact, as it may cause injury or damage to the robot or controller.

• Serious injury may result if the carton is dropped onto a person during transportation. • Never stand below the carton as it is hoisted. • Use a carrier device with sufficient loading capacity. • If a machine or method is used that requires specified skills, it must be operated/performed by a person

having the proper qualifications.

4. Handling of Individual Components

The robot and controller are supplied as a set. Your robot cannot be used with the controller supplied with another robot. When handling multiple robots, check that the serial number printed on each of the robot main bodies and the serial number of the corresponding controller are the same and take caution not to switch the controllers.

The robot will not stand on its own after being unloaded from the carton pallet. Hold it by hand, or place a cushioning material on the floor and place the robot on its side upon the cushion.

CautionWarning

1010

45

5. Transportation

When transporting the robot, affix the arms using the supplied arm fixing plate. Additionally, wrap the cables around the base and secure them with gummed tape or other means.

Use a dolly, forklift, crane or other appropriate equipment for transportation. When transporting the robot, move it slowly by maintaining balance and safeguarding against vibration or impact.

When a crane is used, install the supplied eyebolts on the robot for the pass-through of ropes. Install the eyebolts following removal of the top cover.

• If the arms and cables remain free, the arms may turn unexpectedly and pinch a hand, or a person may be tripped by the trailing cables.

• Do not attempt to carry the robot by hand, as it may injure the back. Additionally, an injury may result if the robot is dropped onto the feet.

• Serious injury may result if a person is caught under a fallen robot during transportation. • Never stand below the robot as it is hoisted. • Use a hoist and ropes that can comfortably support the weight of the robot. • If a machine or method is used that requires specified skills, it must be operated/performed by a person

having the proper qualifications.

Cross-recessed countersunk head screw, M3 x 8

Eyebolt (supplied)

Fix with a tie wrap.

Hex bolt

Hoisting hook with lock

String, rope, etc.

Cables (Wrap around the base.)

WarningDanger

M4 x 8: Arm Length 500/600 M5 x 10: Arm Length 700/800

45° or more

11

International Standards Compliances

This actuator complies with the following overseas standard.Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.

RoHS Directive CE Marking○ ○

13

1. Nam

e of Each Part

11

1. Name of Each Part 1.1 Robot IX-NNN50H/60H/70H/80H

ALM (indicator)

User piping 4, black

Top cover (arm 1)

Mechanical stopper for arm 1, arm 2

Mechanicalstopper for arm 2

BK SW (Brake- release switch)

Spacer for user part installation

Ball screw spline shaft

Cover (arm 2)

Wiring duct

Arm 2 Arm 1

End cover (arm 1)

Referencesurface

Base

M cable (outside robot) PG cable (outside robot) U cable (outside robot) Airtube (4: 2pcs. 6: 2pcs.) BK power cable

Mechanical stopper for axis 3 (vertical axis)

User piping 6 red User Connector

User piping 6, yellow

User piping 4, white

Axis 3 (vertical axis)


Cover (base)

Axis 2Axis 1

Panel

Axis 4 (rotational axis)

14

1. N

ame

of E

ach

Part

12

IX-NSN5016H/6016H

ALM (indicator)



Top cover (arm 1)



BK SW (Brake- release switch)



Cover (arm 2)

Wiring duct

Arm 2 Arm 1

End cover (arm 1)Reference

surface

Base

M cable (outside robot) PG cable (outside robot) BK power cable U cable (outside robot) Airtube (4: 2pcs. 6: 2pcs.)






Cover (base)

Axis 2

Axis 1

Panel


15

1. Nam

e of Each Part

13

IX-NNW50H/60H/70H/80H

ALM (indicator)User piping 4, black

User piping 6 red

User Connector

Top cover (arm 1)BK SW

(Brake- release switch)


User piping 6, yellow User piping 4, white

Exhaust/intake port

Suction joint

Cover(arm 2)

End cover (arm 1)





Bellows

Wiring duct

Dust cover

Cover (base)Arm 1

Referencesurface

Base

M cable (outside robot) PG cable (outside robot) U cable (outside robot) BK power cable Airtube (4: 2pcs. 6: 2pcs.)

Exhaust/intakeport

Air supply port for air purgeExternal diameter 6(internal diameter 4)

Axis 2

Axis 1

Arm 2


16

1. N

ame

of E

ach

Part

14

IX-NNC50H/60H/70H/80H

ALM (indicator)



Top cover (arm 1)BK SW

(Brake- release switch)




Suction joint

Cover(arm 2)

End cover (arm 1)





Bellows

Wiring duct

Cover (base)

Arm 2

Arm 1

Referencesurface

Base

M cable (outside robot) PG cable (outside robot) U cable (outside robot) BK power cable (outside robot) Airtube (4: 2pcs. 6: 2pcs.)


Bellows

Axis 2

Axis 1

Panel

17

1. Nam

e of Each Part

15

1.2 Labels The following labels are attached on the robot and controller. Be sure to observe the instructions and cautions written on the labels to ensure the correct use of the robot/controller.

(1) Labels on the Robot

Failure to observe the cautionary information provided on the labels may result in serious injury or damage to the robot.

Prohibition of entry into the operation area

Warning on handling of the vertical axis

Warning against electric shock

Robot model nameplate CE-certified robot

(Provided only for CE-certified models)

(2) Labels on the Controller

Caution/warning on handling of the controller Designation of the connected robot

WarningDanger Caution

CE-certified controller model number (Other than CE-certified models)

CE-certified controller model number (CE-certified models)

18

1. N

ame

of E

ach

Part

16

CE-certified controller model number Other than CE-certified models

CE-certified models

Caution/warning on handling of the controller

Designation of the connected robot

1.3 Label Positions Label Positions on the Robot

Label Positions on the Controller

Warning on handling of the vertical axis

CE-certified robot (Provided only for CE-certified models)

Robot model nameplate

View A

Warning against electric shock

Prohibition of entry into the operation area

19

2. External Dim

ensions

17

2. External Dimensions IX-NNN50H

Arm 2 stopper

4-11 24, counterbore depth 5

Reference surface

2-M4, depth 8Same on opposite side(Note 1)

Note 1: The holes denoted by "2-M4, depth 8" are through holes connecting both sides of the arm. Take note that long mounting screws may contact the internal mechanism parts.

Note 2: External force applied to the spacers must not exceed 30 N in the axial direction or 2 Nm in the rotating direction (for each spacer).

Note 3: The LED operates only when the user provides a circuit that receives controller I/O output signal and supplies 24 VDC to the LED terminal in the user connector.

(Mec

hani

cal e

nd)

(Mec

hani

cal e

nd)

Reference surface

Arm 1, arm2 stopper

44

14 hollow

Quick joint for 6 air tube

User connector (D-sub connector for user wiring) (25-pin, socket, fastener size M2.6)

BK SW (Brake-release switch)

Spacer outer diameter 7Height 10, M4, depth 5 (Note 2) Detail view of panel (1/2)

146

112


ALM (Note 3)

Detail view of arm end

Section A-A

Red Yellow

Black White

20

2. E

xter

nal D

imen

sion

s

18

IX-NNN60H

Arm 2 stopper


Reference surface

2-M4, depth 8Same on opposite side (Note 1)

(Mec

hani

cal e

nd)

(Mec

hani

cal e

nd)

Reference surface

Arm 1, arm2 stopper

44


146

112




14 hollow



Spacer outer diameter 7Height 10, M4, depth 5 (Note 2)


ALM (Note 3)

Detail view of arm end (1/2)Detail view of panel (1/2)

Red Yellow

Black White

21

2. External Dim

ensions

19

IX-NNN70H

(188)

(144)

Arm 2 stopper

4-14 bore 30 counterbored, depth 5

Reference surface

3-M4, depth 8Same on opposite side(Note 1)

Note 1: The prepared holes denoted by “3-M4, depth 8” are through holes connecting both sides of the arm.



(Mec

hani

cal e

nd)

(Mec

hani

cal e

nd)

Reference surface

18 hollow





Detail view of panel (1/2)


ALM (Note 3)

Detail view of arm end (1/2)

Section A-A

Arm 1, arm 2 stopper

Red Yellow

Black White

22

2. E

xter

nal D

imen

sion

s

20

(188)

(144)

Arm 2 stopper

4-14 bore 30 counterbored, depth 5

Reference surface





(Mec

hani

cal e

nd)

(Mec

hani

cal e

nd)

Reference surface

18 hollow






ALM (Note 3)


Section A-A

Arm 1, arm 2 stopper

IX-NNN80H

Red Yellow

Black White

23

2. External Dim

ensions

21

IX-NSN5016H

Arm 2 stopper


Reference surface




Note 3: The LED operates only when the user provides a circuit that receives controller I/O output signal and supplies 24 VDC to the LED terminal in the user

(Mec

hani

cal e

nd)

(Mec

hani

cal e

nd)

Reference surface

Arm 1, arm2 stopper

35

11 (hollow)





146

112


ALM (Note 3)


Section A-A

Red Yellow

Black White

24

2. E

xter

nal D

imen

sion

s

22

IX-NSN6016H

Arm 2 stopper


Reference surface

(Mec

hani

cal e

nd)

(Mec

hani

cal e

nd)

Reference surface

Arm 1, arm2 stopper


146

112




11 (hollow)





ALM (Note 3)




35

Red Yellow

Black White

25

2. External Dim

ensions

23

IX-NNW50H




Note 3: Insert a tube of 12 in outer diameter into the intake/exhaust port and extend the tube to a place not exposed to water.

(Mec

hani

cal e

nd)

Reference surface

14 hollow


User connector (user wiring connector, 23 pins)



Detail view of panel


ALM (Note 2)

Detail view of arm end

Section A-A

Air supply port for air purge: Outer diameter 6 (inner diameter 4)

Intake/exhaust port (Note 3)

Red Yellow

Black White

26

2. E

xter

nal D

imen

sion

s

24

IX-NNW60H




Note 3: Insert a tube of 12 in outer diameter into the intake/exhaust port and extend the tube to a place not exposed to water.

(Mec

hani

cal e

nd)

Reference surface

44

14 hollow


User connector (user wiring connector, 23 pins)



Detail View of Panel


ALM (Note 2)

Detail View of End

Section A-A

Air supply port for air purge: Outer diameter 6 (inner diameter 4)

Intake/exhaust port (Note 3)

Red Yellow

Black White

27

2. External Dim

ensions

25

IX-NNW70H

Note 1: The prepared holes denoted by “3-M4, depth 8” are through holes connecting both sides of the



Note 4: The attaching direction of the air supply port can be reversed (by removing the PT3/8 plug and attaching the joint instead).

(Mec

hani

cal e

nd)

Reference surface

18 hollow





ALM (Note 3)


Detail View of Section A-A

Air supply port for air purge: (Note 4)

Arm 2 stopper

Applicable tube: Outer diameter 6(inner diameter 4)

4-14, bored 30, counterbored, depth 5

3-M4, depth 8 (same on opposite side) Sealed by a setscrew. (Note 1)

Reference surface

PT3/8Plug

User connectorWaterproof connector, 24 pins(24 pins include a shield terminal.)

(Mec

hani

cal e

nd)

Red Yellow

Black White

28

2. E

xter

nal D

imen

sion

s

26

IX-NNW80H

Note 1: The prepared holes denoted by “3-M4, depth 8” are through holes connecting both sides of the



Note 4: The attaching direction of the air supply port can be reversed (by removing the PT3/8 plug and attaching the joint instead).

(Mec

hani

cal e

nd)

Reference surface

18 hollow






ALM (Note 3)


Detail View of Section A-A

Air supply port for air purge: (Note 4)

Arm 2 stopper


4-14, bored 30, counterbored, depth 5

3-M4, depth 8 (same on opposite side) Sealed by a setscrew. (Note 1)

Reference surface

PT3/8Plug

User connectorWaterproof connector, 24 pins(24 pins include a shield terminal.)

(Mec

hani

cal e

nd)

Red Yellow

Black White

29

2. External Dim

ensions

27

IX-NNC50H


Reference surface

Note 1: The holes denoted by "2-M4, depth 8" are through holes connecting both sides of the arm.Take note that long mounting screws may contact the internal mechanism parts.



Note 4: The attaching direction of the joint can be reversed (by removing the PT3/8 plug and attaching the joint instead).

(Mec

hani

cal e

nd)

(Mec

hani

cal e

nd)

14 hollow






ALM (Note 3)Section A-A

Air joint (same on opposite side) (Note 4)

Applicable tube: Outer diameter 12 (inner diameter 8)

Red Yellow

Black White

30

2. E

xter

nal D

imen

sion

s

28

IX-NNC60H


Reference surface




(Mec

hani

cal e

nd)

(Mec

hani

cal e

nd)

14 hollow






ALM (Note 3)Section A-A

Air joint (same on opposite side)

Applicable tube: Outer diameter 12 (inner diameter 8)

Red Yellow

Black White

31

2. External Dim

ensions

29

IX-NNC70H

Reference surface




(Mec

hani

cal e

nd)

(Mec

hani

cal e

nd)

18 hollow







ALM (Note 3)

Section A-A

Air joint (Note 4)Applicable tube: Outer diameter 12 (inner diameter 8)

4-14, bored 30 counterbored, depth 5

PT 3/8 Plug

Arm 2 stopper

Arm 1, arm2 stopper

3-M4, depth 8 (same on opposite side) Sealed by a setscrew (Note 1).

Red Yellow

Black White

32

2. E

xter

nal D

imen

sion

s

30

IX-NNC80H

Arm 2 stopper

Reference surface




(Mec

hani

cal e

nd)

(Mec

hani

cal e

nd)

18 hollow







ALM (Note 3)

Section A-A

Air joint (Note 4) Applicable tube: Outer diameter

12 (inner diameter 8)

4-14, bored 30 counterbored, depth 5

PT 3/8 Plug

3-M4, depth 8 (same on opposite side) Sealed by a setscrew (Note 1).

Arm 1, arm2 stopper

Red Yellow

Black White

33

3. Robot O

peration Area

31

3. Robot Operation Area IX-NNN50H, IX-NSN5016H, IX-NNW50H, IX-NNC50H

IX NNN60H, IX-NSN6016H, IX-NNW60H, IX-NNC60H

Movement range

(Operation prohibited area)

Range of stopper position

Movement range



34

3. R

obot

Ope

ratio

n A

rea

32

IX-NNN70H, IX-NNW70H, IX-NNC70H

IX-NNN80H, IX-NNW80H, IX-NNC80H

Movement range



Movement range



35

4. Wiring D

iagram

Not

es(1

) Th

e ac

tual

layo

ut o

f boa

rd c

onne

ctor

s va

ries

from

this

dra

win

g.(2

) S

ince

the

brak

e po

wer

circ

uit i

s pr

ovid

ed o

n th

e pr

imar

y si

de (h

igh-

volta

ge s

ide)

, a d

edic

ated

24

V p

ower

sup

ply

is re

quire

d fo

r thi

s ci

rcui

t.

The

24 V

pow

er s

uppl

y fo

r I/O

circ

uits

use

d on

the

seco

ndar

y si

de (l

ow-v

olta

ge s

ide)

can

not b

e sh

ared

.(3

) To

ope

rate

the

alar

m L

ED

, the

use

r mus

t pro

vide

a c

ircui

t tha

t use

s th

e co

ntro

ller I

/O o

utpu

t sig

nal.

Serv

o m

otor

with

bra

ke

for a

xis

4 (R

-axi

s)

FG (t

o D

-sub

hou

sing

)

Con

trolle

r

Ins

ide

base

Flex

ible

ca

ble

Ins

ide

arm

2

Bra

ke p

ower

te

rmin

als

Use

r wiri

ng

term

inal

s

Cab

le fi

x ca

p (C

apco

n)

M c

able

(out

side

robo

t)D

WG

No.

106

8655

*

1721

59-1

(T

yco

Ele

ctro

nics

AM

P)S

ervo

mot

or fo

r ax

is 1

(arm

1)

DW

G N

o. 1

0693

63*

PG

cab

le (i

nsid

e ro

bot)

M c

able

(ins

ide

robo

t) U

cab

le (i

nsid

e ro

bot)

Ser

vo m

otor

for

axis

2 (a

rm 2

)

Soc

ket

1721

59-1

(Tyc

o E

lect

roni

cs A

MP

)

Ser

vo m

otor

with

br

ake

for a

xis

3 (Z

-axi

s)

Soc

ket

1721

57-1

(Tyc

o E

lect

roni

cs A

MP

)

D-s

ub c

onne

ctor

for u

ser w

iring

(2

5-pi

n, s

ocke

t)A

larm

LE

DB

rake

-rele

ase

switc

h fo

r axe

s 3/

4 ( Z

/R-a

xes)

Air

join

t, bl

ack

(4)

Air

join

t, re

d (

6)

Air

join

t, w

hite

(4)

Plu

g 17

2166

-1

(Tyc

o E

lect

roni

cs A

MP)

Soc

ket

DF1

1-14

DS

-2C

(H

irose

)

Air

join

t, re

d (

6)

Air

join

t, ye

llow

(6)

Air

join

t, bl

ack

(4)

Plu

gD

F11-

14D

EP

-2C

(H

irose

)

FG (T

o ba

se)

Con

nect

or

XAP

-02V

-1 (J

ST)

PG

cab

le (o

utsi

de ro

bot)

DW

G N

o. 1

0686

56*

BK

pow

er c

able

(out

side

robo

t)

U c

able

(out

side

robo

t)

Ded

icat

ed b

atte

ries

for I

X: A

B-3

DW

G N

o. 1

0686

57*

Plu

g-in

con

nect

or c

onta

ct

JK-S

P214

0 (J

ST)

Con

tact

cab

le D

13A

(D

DK)

Plu

g G

IC2.

5/4-

STF-

7.62

(Pho

enix

Con

tact

)

M1

M2

M3

M4

PG1

PG2

PG3

PG4

M1

M2

M3

M4

PG2

M2

PG3

M3

BK3

PG4

M4

BK4

LED

BK

Use

r C

onne

ctor

ALM

BK S

W

INPG

1

INPG

2

INPG

3

INPG

4

OU

TPG

1

OU

TPG

4

BK4

BK3

OU

TPG

2

OU

TPG

3

SW

BAT

1

BAT

2

BAT

3

BAT

4

24 V

DC

UA UB

+24

V G

24 V

U1

U2

U3

U13

U14

U15

LED

+24

V LE

D G

24V

FG

DW

G N

o. 1

0686

51*

Plu

g 17

2165

-1

(Tyc

o E

lect

roni

cs A

MP)

Soc

ket

DF3

-2S

-2C

(H

irose

)

Soc

ket

DF3

-3C

-2C

(H

irose

)

Boar

d

Air

join

t, w

hite

(4)

DW

G N

o. 1

0693

64*

Sock

et

1721

61-1

(Tyc

o El

ectro

nics

AM

P)

UA

UB

Air

join

t, ye

llow

(6)

Wiri

ng/P

ipin

g D

iagr

am: 5

00/6

00/7

00/8

00

Soc

ket

DF1

1-14

DS

-2C

(H

irose

)

Con

nect

or

HIF

3BA-

10D

-2.5

4 (H

irose

)

Plug

17

2169

-1

(Tyc

o El

ectro

nics

AM

P)

4. Wiring Diagram

4.1 Layout Drawing IX-NNN50H/60H/70H/80HIX-NNC50H/60H/70H/80H

φ

φ

φ φ

φ

φ φ φ

36

4. W

iring

Dia

gram

M

D-s

ub c

onne

ctor

for u

ser w

iring

(25-

oin,

soc

ket)

Ala

rm L

ED

Bra

ke-re

leas

e sw

itch

for a

xes

3/4

(Z/R

-axe

s)

Air

join

t

Re

(4)

, Yel

low

(6)

, Bla

ck (

4), W

hite

(4)

PG

cab

le (i

nsid

e ro

bot)

M c

able

(ins

ide

robo

t)

U c

able

(ins

ide

robo

t)

Flex

ible

ca

ble

U c

able

(ins

ide

robo

t)

M c

able

(ins

ide

robo

t)

PG

cab

le (i

nsid

e ro

bot)

Air

tube

s

U c

able

(out

side

robo

t)U

ser w

iring

term

inal

s

Con

trolle

r

M c

able

(out

side

robo

t)

PG

cab

le (o

utsi

de ro

bot)

Bra

ke p

ower

term

inal

s

Boa

rd

LED

BK

4M

4 P

G4

BK

3

M3

PG

3

M2

PG

2

LED

U

A

UB

FGM

1M

2M

3M

4

OU

TPG

1O

UTP

G2

OU

TPG

3O

UTP

G4

INPG

1IN

PG2

INPG

3IN

PG4

BK4

BK3

SW

BAT1

BA

T2

BAT3

BA

T4

24 V

DC

+2

4V

G24

V

M1

M2

M3

M4

PG

1P

G2

PG

3P

G4

FGLED

G24

V

LED

+24

V

U25

U

24

U23

U3

U2

U1

4-ax

is en

code

r

4-ax

is m

otor

4-ax

is b

rake

3-

axis

bra

ke

3-ax

is m

otor

3-ax

is en

code

r

2-ax

is en

code

r

2-ax

is m

otor

Air

tube

s

1-ax

is en

code

r1-

axis

mot

or

Air

join

t

Re

(4)

, Yel

low

(6)

, Bla

ck (

4), W

hite

(4)

φφ

φφ

φφ

φφ

37

4. Wiring D

iagram

Not

es(1

) Th

e ac

tual

layo

ut o

f boa

rd c

onne

ctor

s va

ries

from

this

dra

win

g.(2

) S

ince

the

brak

e po

wer

circ

uit i

s pr

ovid

ed o

n th

e pr

imar

y si

de (h

igh-

volta

ge s

ide)

, a d

edic

ated

24

V p

ower

sup

ply

is re

quire

d fo

r thi

s ci

rcui

t. Th

e 24

V p

ower

sup

ply

for I

/O c

ircui

ts u

sed

on th

e se

cond

ary

side

(low

-vol

tage

sid

e) c

anno

t be

shar

ed.

(3)

To o

pera

te th

e al

arm

LE

D, t

he u

ser m

ust p

rovi

de a

circ

uit t

hat u

ses

the

cont

rolle

r I/O

out

put s

igna

l.(4

) U

ser w

iring

term

inal

s U

24 a

nd U

25 c

anno

t be

used

.

Con

trolle

r I

nsid

e ba

se

Flex

ible

ca

ble

Ins

ide

arm

2

Bra

ke p

ower

te

rmin

als

Use

r wiri

ng

term

inal

s

Cab

le fi

x ca

p (C

apco

n)

M c

able

(out

side

robo

t)

DW

G N

o. 1

0686

55*

(Tyc

o E

lect

roni

cs A

MP)

Serv

o m

otor

for

axis

1 (a

rm 1

)

DW

G N

o. 1

0693

63*

PG c

able

(ins

ide

robo

t)

M c

able

(ins

ide

robo

t)

U c

able

(ins

ide

robo

t) Se

rvo

mot

or fo

r ax

is 2

(arm

2)

Sock

et

(Tyc

o E

lect

roni

cs

AMP)

Serv

o m

otor

with

br

ake

for a

xis

3 (Z

-ax

is)

Sock

et

(Tyc

o E

lect

roni

cs

AMP)

Ser

vo m

otor

with

bra

ke

for a

xis

4 (R

-axi

s)

FG (t

o D

-sub

hou

sing

)

Wat

erpr

oof c

onne

ctor

for u

ser w

iring

(24

pins

)24

pin

s in

clud

e a

shie

ld te

rmin

al.

Alar

m L

ED

Bra

ke-r

elea

se s

witc

h fo

r axe

s 3/

4 (Z

/R-a

xes)

Air j

oint

, bla

ck (

4)

Air j

oint

, red

(6)

Air

join

t, w

hite

(4)

Plug

(Tyc

o E

lect

roni

cs A

MP)

Sock

et

DF1

1-14

DS-

2C (H

irose

)

Air j

oint

, red

(6)

Air j

oint

, yel

low

(6)

Air j

oint

, bla

ck (

4)

Plug

(Hiro

se)

FG (T

o ba

se)

Con

nect

or

PG

cab

le (o

utsi

de ro

bot)

DW

G N

o. 1

0686

56*

BK

pow

er c

able

(out

side

robo

t)

U c

able

(out

side

robo

t)

Ded

icat

ed b

atte

ries

for I

X: A

B-3

DW

G N

o. 1

0686

57*

Plu

g-in

con

nect

or c

onta

ct

JK-S

P21

40 (J

ST)

Con

tact

cab

le D

13A

(DD

K) P

lug

GIC

2,5/

4-ST

F-7,

62 (P

hoen

ix C

onta

ct)

DW

G N

o. 1

0686

51*

Plug

(Tyc

o E

lect

roni

cs A

MP)

Sock

et

DF3

-2S-

2C

(Hiro

se)

Sock

et

DF3

-3C

-2C

(H

irose

)

Boar

d

Air j

oint

, whi

te (

4)

DW

G N

o. 1

0693

64*

Sock

et

(Tyc

o E

lect

roni

cs

AMP)

Air j

oint

, yel

low

(6)

Wiri

ng/P

ipin

g D

iagr

am: 5

00/6

00/7

00/8

00

Air

supp

ly p

ort f

or a

ir pu

rge

Con

nect

or

HIF

3BA-

10D

-2.5

4C

(Hiro

se)

Plug

(Tyc

o E

lect

roni

cs A

MP)

Sock

et

(HIro

se)

IX-NNW50H/ 60H/70H/80H

φ

φ φ φ

φ

φ φ φ

38

4. W

iring

Dia

gram

36

36

Wat

erpr

oof c

onne

ctor

for u

aser

wiri

ng (2

4 pi

ns)

24 p

ins

incl

ude

a sh

ield

term

inal

Al

arm

LED

Brak

e-re

leas

e sw

itch

for a

xes

3/4

(Z/R

-axe

s)

Air j

oint

Bl

ack

(4)

, Yel

low

(6)

,

Red

4)

, Whi

te (

4)

PG c

able

(ins

ide

robo

t)

M c

able

(ins

ide

robo

t)

U c

able

(ins

ide

robo

t)

Flex

ible

ca

ble

U c

able

(ins

ide

robo

t) M

cab

le (i

nsid

e ro

bot)

PG c

able

(ins

ide

robo

t)

Air t

ubes

U c

able

(out

side

robo

t)U

ser w

iring

term

inal

s

Con

trolle

r

M c

able

(out

side

robo

t)

PG c

able

(out

side

robo

t)

4-ax

is en

code

r

4-ax

is m

otor

4-ax

is b

rake

3-ax

is b

rake

3-ax

is m

otor

3-ax

is en

code

r

2-ax

is en

code

r

2-ax

is m

otor

Air t

ubes

1-ax

is en

code

r

1-ax

is m

otor

Air j

oint

Bl

ack

(4)

, Yel

low

(6)

, Red

(4)

, Whi

te (

4)

Brak

e po

wer

te

rmin

als

Boar

d

Air s

uppl

y po

rt fo

r air

purg

e

39

4. Wiring D

iagram

Flex

ible

ca

ble

Bra

ke p

ower

te

rmin

als

Use

r wiri

ng

term

inal

s

Cab

le fi

x ca

p (C

apco

n)

M c

able

(out

side

robo

t)

Serv

o m

otor

for

axis

1 (a

rm 1

) PG

cab

le (i

nsid

e ro

bot)

M c

able

(ins

ide

robo

t)

U c

able

(ins

ide

robo

t) Se

rvo

mot

or fo

r axi

s 2

(arm

2)

Ser

vo m

otor

with

bra

ke

for a

xis

3 (Z

-axi

s)

Ser

vo m

otor

with

bra

ke

for a

xis

4 (R

-axi

s)

FG (t

o D

-sub

hou

sing

)

D-s

ub c

onne

ctor

for u

ser w

iring

(15-

pin,

soc

ket)

Alar

m L

ED

Bra

ke-r

elea

se s

witc

h fo

r axe

s 3/

4 (Z

/R-a

xes)

Air j

oint

, bla

ck (

4)

Air j

oint

, red

(6)

Air

join

t, w

hite

(4)

Air j

oint

, red

(6)

Air j

oint

, yel

low

(6)

Air j

oint

, bla

ck (

4)

FG (T

o ba

se)

PG

cab

le (o

utsi

de ro

bot)

BK

pow

er c

able

(out

side

robo

t)

U c

able

(out

side

robo

t)

Ded

icat

ed b

atte

ries

for I

X: A

B-3

Boar

d

Air j

oint

, whi

te (

4)

Air

join

t, ye

llow

(6)

Wiri

ng/P

ipin

g D

iagr

am: 5

00/6

00

Con

trolle

rIn

side

bas

eIn

side

arm

2

Not

es(1

) Th

e ac

tual

layo

ut o

f boa

rd c

onne

ctor

s va

ries

from

this

dra

win

g.(2

) S

ince

the

brak

e po

wer

circ

uit i

s pr

ovid

ed o

n th

e pr

imar

y si

de (h

igh-

volta

ge s

ide)

, a d

edic

ated

24

V p

ower

sup

ply

is re

quire

d fo

r thi

s ci

rcui

t.

The

24 V

pow

er s

uppl

y fo

r I/O

circ

uits

use

d on

the

seco

ndar

y si

de (l

ow-v

olta

ge s

ide)

can

not b

e sh

ared

.(3

) To

ope

rate

the

alar

m L

ED

, the

use

r mus

t pro

vide

a c

ircui

t tha

t use

s th

e co

ntro

ller I

/O o

utpu

t sig

nal.

IX-NSN5016H/ 6016H

φφ

φ

φ

φ φφ

φ

40

4. W

iring

Dia

gram

38

4.2 Machine Harness Wiring Table (1) PG cables (inside robot) DWG No. 1069363*

Base end Arm end

(2) M cables (inside robot) DWG No. 1068651* Base end Arm end

Mini Universal MATE-N-LOKplug housing 172169-1 (by Tyco ElectronicsAMP)

Mini Universal MATE-N-LOKpanel installation socket housing 172162-1 (by Tyco Electronics AMP)

Same as above

0.3 mm2

shieldedcable

Same as above

Shield

RedWhiteRed

WhiteRed

WhiteGreen

RedWhiteRed

WhiteRed

WhiteGreen

RedWhiteRed

WhiteRed

WhiteGreen

Mini Universal MATE-N-LOK panel installation socket housing 172159-1 (by Tyco Electronics AMP)

Flexible cable

16 X AWG18

Mini Universal MATE-N-LOK plug housing 172167-1 (by Tyco Electronics AMP)

Same as above

Same as above


Same as above


Shield

Shield

Tubesymbol Connector Signal Pin

No. Connection ID No. CablePin

No. ConnectorSignal Tube

symbol

Shield

Shield

Shield

Same as above

Same as above


No. Connection ID No. CablePin

No. ConnectorSignal Tube

symbol

Same as above

Same as above

Same as above

41

4. Wiring D

iagram

39

(3) UA and UB cables (outside robot) DWG No. 1069364* Base end Arm end

Double-brazed relay plug DF11-14DEP-2C (by Hirose Electric)

Double-brazed crimp socket

DF11-14DS-2C(by Hirose Electric)

Unisolated terminal (Y type) F0.3-3

Single-brazed crimp socket DF3-3S-2C (by Hirose Electric)

UA

UB

SW

BK

LED

REDBlackWhite

BlackRed

Green

White

Black

0.3 mm2

shieldedcable


No. Connection ID No. Cable PinNo.

ConnectorSignal Tubesymbol

Same as above


Single-brazed crimp socket DF3-2S-2C (by Hirose Electric)

Same as above UB

UA

42

4. W

iring

Dia

gram

40

4.3 Cable Wiring Table (1) PG cables (outside robot) DWG No. 1068656*

Robot end Controller end

(2) M cables (outside robot) DWG No. 1068655* Robot end Controller end

Female crimp connectorHIF3BA-10D-2.54C (by Hirose Electric)

HousingKEC-15P(by JST)

Light gray 1 red

Light gray 1 black

Orange 1 red

Orange 1 black

White 1 red

White 1 black

Yellow 1 black

Yellow 1 red


No. Connection ID No. CablePinNo.


ContactJK-SP2140(by JST)

Connector hood D13A(for 17HE-23150-C) (by DDK)

Reverse plug GIC2.54-STF-7.62 (by Phoenix Contact)

M1

M2

M3

M4





Same as above

Same as above

Same as above

Same as above

Same as above

Same as above

Hood

43

4. Wiring D

iagram

41

(3) UA and UB cables (outside robot) DWG No. 1068657*Robot end Controller end

Orange 1 red

Orange 1 black

Light gray 1 red

Light gray 1 black White 1

red White 1 black

Yellow 1 red

Yellow 1 black

Pink 1 red

Pink 1 black

Orange 2 red

Orange 2 black

Light gray 2 red


red White 2 black

Yellow 2 red

Yellow 3 red




Double-brazed crimp socket DF11-14DS-2C (by Hirose Electric)

Same as above

Uninsulated terminal (Y type) F0.3-3 Same as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as aboveSame as above

Yellow 2 black

Pink 2 red

Pink 2 black

Orange 3 red

Orange 3 black

Light gray 3 red


red White 3 black

Green

44

4. W

iring

Dia

gram

42

4.4 230 V Circuit Components IX-NNN50H/60H, IX-NNW50H/60H, IX-NNC50H/60H

No. Code name Model number Manufacturer Remarks

1 Axis 1 servo motor TS4609 N2027 E206 AC servo motor, 60, 400 W, key groove, CE certified


3 Axis 3 servo motor w/ brake TS4607 N7077 E201 AC servo motor, 60, 200 W, w/ brake,

round shaft, CE certified

4 Axis 4 servo motor w/ brake TS4606 N7077 E201

Tamagawa Seiki

AC servo motor, 60, 100 W, key groove, CE certified

5 M cable (inside robot) IAI

Wire: 300 V, 105C (rated), AWG18 (0.84e), flexible cable, UL VW-1, c-UL FT-1

6 M cable (outside robot) IAI

Wire: 300 V, 80C (rated), AWG18 (0.89e), oil-resistant cable, UL VW-1, c-UL FT-1

IX-NNN70H/80H, IX-NNW70H/80H, IX-NNC70H/80HNo. Code name Model number Manufacturer Remarks 1 Axis 1 servo motor TS4614 N2027 E209 80, 750 W, key groove, CE certified 2 Axis 2 servo motor TS4609 N2077 E206 60, 400 W, key groove, CE certified

3 Axis 3 servo motor w/ brake TS4609 N7077 E206 60, 400 W, round shaft with brake, CE

certified


Tamagawa Seiki

60, 200 W, key groove, CE certified





45

4. Wiring D

iagram

43

IX-NSN5016H/6016H No. Code name Model number Manufacturer Remarks



3 Axis 3 servo motor w/ brake TS4609 N7077 E206 AC servo motor, 60, 200 W, round

shaft with brake, CE certified


Tamagawa Seiki

AC servo motor, 60, 100 W, key groove, CE certified





46

5. O

ptio

n

44

5. Option 5.1 Absolute Reset Jig This jig is used to perform an absolute reset in the event that absolute data in the encoder was lost.

Model name Model number Remarks

JG-1 For arm length 500/600 IX-NNN50H/60H/70H/80HIX-NNC50H/60H/70H/80HIX-NNW50H/60H/70H/80H JG-3 For arm length 700/800

IX-NSN5016H/6016H JG-4 For high-speed type 500/600

5.2 Flange This flange is used to install a load at the end of the Z-axis arm.

Model name Model number Remarks

IX-FL-1 For arm length 500/600 IX-NNN50H/60H/70H/80HIX-NNC50H/60H/70H/80HIX-NNW50H/60H/70H/80H IX-FL-3 For arm length 700/800

IX-NSN5016H/6016H IX-FL-2 For high-speed type 500/600

47

5. Option

45

5.3 Absolute Data Backup Battery This battery is used to retain absolute data in the encoder. (Set the battery inside the cover of the SCARA robot.)

Model number RemarksAB-3 For arm length 250 ~ 800

* Four batteries are needed for each robot (all SCARA robot models). Since AB-3 batteries are packed individually, specify the required number in your order.

48

5. O

ptio

n

5.4 Cable Joint Type (Model: JY)

Motor cable, encoder cable, user cable and brake cable can be disconnected.

(Note) The joint cables for dust/splash proof type are the same ones as the standard. The connectors are not water-proof. Protect the connectors so then would not be exposed to ingress of liquid such as water or dust.

The cables to connect with the actuator cable out of the body for approx. 30cm are 5.4.1 to 5.4.4 below.

5.4.1 Motor CableConnect between the four motor cables out of body for approx. 30cm and the controller with the fourmotor cables.

Model:

(Front View) (Front View)

CB-X-MA050 or CB-X-MA100Length

Width Width

Conection Diagram

Controller side

Controller side Actuator side (mechanical side)

L: 5m in case cable length in model code is 5L10m in case cable length in model code is 10L

L

4

1

1

4

102016

9

21

18

41

Mechanical side

Pin No.Signal name Signal nameElectric wirecolor

Electric wirecolorPin No.

U11EPV22U

Green

Green

RedRed

WhiteWhite

BlackBlackW33V

0.75sq

EP44W

0.75sq

49

5. Option

5.4.2

（41）（14）

（13）

（37

）

（8）

（25

）１

９

１

13

14

26

L（φ8

）

AWG26 －－ 10 AWG26 －－ 11 AWG26 － E24V 12 AWG26 － 0V 26 AWG26 － LS 25 AWG26 － CLEEP 24 AWG26 － OT 23 AWG26 － RSV 9 AWG26 －－ 18 AWG26 －－ 19 AWG26 － A+ 1 AWG26 － A- 2 AWG26 － B+ 3 AWG26 － B- 4 AWG26 － Z+ 5 AWG26 － Z- 6 AWG26 +TAB17+DRS AWG26AWG26 -TAB28-DRS AWG26AWG26 DS341+TAB AWG26AWG26 DS451-TAB AWG26AWG26 ccV561ccV AWG26AWG26 DNG671DNG AWG26AWG26 GF702-RKB AWG26AWG26 -KB812+RKB AWG26AWG26 －－ +KB922 AWG26

Clamping connection to shield or hood

Green

GreenBrown

Gray

Gray

Purple

Orange

Orange

Drain

Red

Red

Blue

Blue

Black

Black

Yellow

Yellow

Width Pin No.

Pin No.

Signal nameElectric wirecolor

WidthSignal name Electric wirecolor

Conection Diagram

Controller side Mechanical side(Front View)(Front View)

Controller side

Actuator side (mechanical side)

Encoder CableConnect between the four motor cables out of body for approx. 30cm and the controller with the fourmotor cables.

Model: CB-X1-PA050 or CB-X1-PA100Length L: 5m in case cable length in model code is 5L

10m in case cable length in model code is 10L

50

5. O

ptio

n

5.4.3 User Cable

Model: CB-IX-USR050-CS2 or CB-IX-USR100-CS2Length L: 5m in case cable length in model code is 5L


Width WidthPin No. Pin No.Signal name Signal nameElectric wirecolor

Electric wirecolor

Actuator side (mechanical side)Conection Diagram

Mechanical side

Clamping connection to braid or hood

AWG26 1U111U AWG26AWG26 2U222U AWG26AWG26 3U333U AWG26AWG26 4U444U AWG26AWG26 5U555U AWG26AWG26 6U666U AWG26AWG26 7U777U AWG26AWG26 8U888U AWG26AWG26 9U999U AWG26AWG26 01U010101U AWG26AWG26 11U111111U AWG26AWG26 21U212121U AWG26AWG26 31U313131U AWG26AWG26 41U414141U AWG26AWG26 51U515151U AWG26AWG26 61U616161U AWG26AWG26 71U717171U AWG26AWG26 81U818181U AWG26AWG26 91U919191U AWG26AWG26 02U020202U AWG26AWG26 12U121212U AWG26AWG26 22U222222U AWG26AWG26 32U323232U AWG26AWG26 42U424242U AWG26AWG26 52U525252U AWG26AWG26 V42+DEL6363V42+DEL AWG26AWG26 V42GDEL7373V42GDEL AWG26

FG FG －

U1U2U3

U25LED+24V

FGLEDG24V

U

(φ1

0.8)

L(150)

1B/Sky Blue

1R/Sky Blue

1B/Light Green

1R/Light Green

1B/Pink1R/Pink

1B/Orange1R/Orange1B/Gray1R/Gray

2B/Sky Blue

2R/Sky Blue

2B/Light Green

2R/Light Green

2B/Pink2R/Pink

2B/Orange

3B/Sky Blue

3R/Sky Blue

3B/Light Green

3R/Light Green

3B/Pink3R/Pink

3B/Orange

2R/Orange2B/Gray2R/Gray

Green

1B/Sky Blue

1R/Sky Blue

1B/Light Green

1R/Light Green

1B/Pink1R/Pink

1B/Orange1R/Orange1B/Gray1R/Gray

2B/Sky Blue

2R/Sky Blue

2B/Light Green

2R/Light Green

2B/Pink2R/Pink

2B/Orange

3B/Sky Blue

3R/Sky Blue

3B/Light Green

3R/Light Green

3B/Pink3R/Pink

3B/Orange

2R/Orange2B/Gray2R/Gray

51

5. Option

5.4.4 Brake Cable

Model: CB-IX-BK050-CS2 or CB-IX-BK100-CS2Length L: 5m in case cable length in model code is 5L


+24VG24V BK

(150) L

AWG24 Sky BluePink

Sky BluePink

V42G11V42G AWG24AWG24 V42+22V42+ AWG24

Mechanical side

Conection DiagramActuator side (mechanical side)

Width Pin No.Signal nameElectric wirecolor WidthPin No. Signal name Electric wire

color

52

6. C

heck

ing

afte

r Unp

acki

ng

46

6. Checking after Unpacking After unpacking the carton, check the condition of the product and items included in the carton.

6.1 Items Included in the Carton

IX-NNN50H/60H/70H/80H, IX-NSN5016H/6016H skrameR rebmun ledoM metI .oN

1 Robot Refer to "How to Read Model Nameplate" and "How to Read Model Number."

2 Controller seirosseccA

3 Eye-bolt 4 D-sub connector 5 Hood set (for D-sub connector) 6 Danger label 7 Positioning sticker 8 PIO flat cable

9 First step-by-step guide

10 Operation manual (CD/DVD) 11 Safety guide

IX-NNW50H/ 60H/ 70H/ 80H skrameR rebmun ledoM metI .oN



3 Eye-bolt 4 Waterproof connector

5 Hood set (for waterproof connector)

6 Danger label 7 Positioning sticker 8 PIO flat cable 9 First step-by-step guide


53

6. Checking after U

npacking

47

IX-NNW50H/60H/70H/80H skrameR rebmun ledoM metI .oN



3 Eye-bolt 4 D-sub connector 5 Hood set (for D-sub connector) 6 Danger label 7 Positioning sticker 8 PIO flat cable 9 First step-by-step guide


6.2 Operation Manuals Relating to This Product

.oN lortnoC metI .oN1 Operation Manual for XSEL-PX/QX Controller ME0152

3 Operation Manual for XSEL Controller P/Q/PX/QX – RC Gateway Function ME0188 4 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME01545 Operation Manual for Teaching Pendant SEL-T/TD/TG ME01836 Operation Manual for Teaching Pendant IA-T-X/XD ME01607 Operation Manual for DeviceNet ME01248 Operation Manual for CC-Link ME01239 Operation Manual for PROFIBUS ME0153

10 Operation Manual for X-SEL Ethernet ME0140

12 Operation Manual for Dedicated Terminal Block for Multi-point I/O Board ME013913 Operation Manual for IA Net

6.3 How to Read Model Nameplate

Model number

Serial number

2 Operation Manual for XSEL-R/S/RX/SX/RXD/SXD Controller

11 Operation Manual for Multi-point I/O Board ME0138

ME0307

ME0313

54

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r Unp

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ng

48

6.4 How to Read Model Number

SCARA robot

<Type> Standard type Arm length 500 mm/Z-axis 200 mm

NNN5020H Arm length 500 mm/Z-axis 300 mm







NNN8040H

Dust-proof/Splash-proof Specification Arm length 500 mm/Z-axis 200 mm

NNW5020H Arm length 500 mm/Z-axis 300 mm







NNW8040H

Clean room Specification Arm length 500 mm/Z-axis 200 mm

NNC5020H Arm length 500 mm/Z-axis 300 mm







NNC8040H

High-speed type Arm length 500 mm/Z-axis 160 mm

NSN5016H Arm length 600 mm/Z-axis 160 mm

NSN6016H

IX-NNN7020H-5L-T2-JY-**

<Series> <Option>JY: Joint cable specification

<Applicable controller>T2: XSEL-PX/QX

<Cable length>5L: 5 m10L: 10 m

Note 1 This may be displayed for the manufacturing reason.(This is not to indicate the manufacturing model code.)

Identification for IAI use only(Note 1)

55

7. Specifications

7. Specifications 7.1 IX-NNN50H/60H/70H/80HIX-NNN50H (Arm Length 500, Standard Specification) Item Specifications Type IX-NNN50H-L-T1 Degree of freedom Four degrees of freedom Overall arm length 500Arm 1 length 250Arm 2 length

mm250

Axis 1 (arm 1) AC servo motor + Speed reducer Axis 2 (arm 2) AC servo motor + Speed reducer Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline

Drive method

Axis 4 (rotational axis) AC servo motor with brake + Reduction gear + Belt +Spline

Axis 1 (arm 1) 400Axis 2 (arm 2) 200Axis 3 (vertical axis) 200

Motor capacity


W

100Axis 1 (arm 1) ±120 Axis 2 (arm 2)

degree ±145

Axis 3 (vertical axis) (Note 1) mm 200 (option: 300)

Movementrange

Axis 4 (rotational axis) degree ±360 Axis 1 + Axis 2 (maximum composite speed) 6381

Axis 3 (vertical axis) mm/sec

1473

Maximumoperating speed (Note 2)

7581ces/eerged)sixalanoitator(4sixAAxis 1 + Axis 2 ±0.010 Axis 3 (vertical axis)

mm±0.010

Positioningrepeatability precision (Note 3) Axis 4 (rotational axis) degree ±0.005 Cycle time (Note 4) 93.0ces

2detaRLoad capacity Maximum

kg10

Upper limit (Note 8) 180.0 (18.4) Push torque limit 70% Axis 3 (vertical axis)Push force control range Lower limit (Note 9)

N (kgf) 93 (9.5) Push torque limit 40%

Permissible moment of inertia (Note 5) kgm2 0.06Permissible

load on axis 4 Permissible torque Nm (kgfcm) 3.7 (38.1)

Permissible tool diameter (Note 6) mm φ 100

Home detection Absolute

User wiring D-sub 25-pin connector with25-core AWG26 shielded cable (socket)

Alarm indicator (Note 7) One small, red LED indicator (rated voltage: 24 V)

User piping

Two air tubes (outer diameter: φ 6, inner diameter: φ 4)(normal service pressure: 0.8 MPa)

Two air tubes (outer diameter: φ 4, inner diameter: φ 2.5)(normal service pressure: 0.8 MPa)

56

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Item Specifications

Surrounding air temperature/humidity Temperature: 0 to 40°C, humidity: 20 to 85%RH orless (non-condensing)

Operatingenvironment

1,000 or lessmAltitudedBNoise 73

Robot weight kg 29.5

Power supply 230 V 50/60 Hz 8 AAllowable supply voltagefluctuation % ±10

Overvoltage category (IEC60664-1) Category III

Controller

Pollution degree 3Pollution degree (IEC60664-1)Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to the top

position as possible. (Fig. 1)To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be reduced asappropriate. (Fig. 2)

Note 2) Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP operation.Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same starting

position at the same speed and acceleration/deceleration using the same arm (at a constant surrounding airtemperature of 20°C). Take note that this is not the absolute positioning precision.Also note that the positioning repeatability may deviate from the specified value if the arm is changed, positioningis performed to one specified position from multiple positions, or any of the operating conditions such as operatingspeed and acceleration/deceleration setting is changed.

Note 4) Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.This cycle time assumes a reciprocating operation involving a vertical travel of 25 mm and horizontal travel of 300mm. (Rough positioning)

Note 5) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from therotational center of axis 4 to the tool’s center of gravity is assumed to be 50 mm or less. (Fig. 3)If the tool’s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must bereduced as appropriate.

Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of movement. (Fig. 4)Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED terminal in the

user connector in response to the controller I/O output signal, etc.Note 8) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.Note 9) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 40%.

Although this parameter can be set to a desired value from 15 to 70%, push force will not stabilize if the set valueis outside the range of 40 to 70%.

Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775

Note: Continuous operation at themaximum speed is not feasible. 25 mm

300 mm

Topposition

Tool

Bottomposition

Tool

Center ofrotational axis

Tool40

Tool’s centerof gravity

Tool


φ 100

Fig. 1 Fig. 2 Fig. 3 Fig. 4

Brake power source for main unit W DC24VI10% 20W

57

7. Specifications

IX-NNN-60H (Arm Length 600, Standard Specification) Item Specifications Type IX-NNN60H-L-T1 Degree of freedom Four degrees of freedom Overall arm length 600Arm 1 length 350Arm 2 length

mm250


Drive method



Motor capacity


W

100Axis 1 (arm 1) ±120 Axis 2 (arm 2)

degree ±145


Movementrange



1473



mm±0.010



kg10

Upper limit (Note 8) 180.0 (18.4) Push torque limit 70% Axis 3 (vertical axis)Push force control range Lower limit (Note 9)






User wiring D-sub 25-pin connector with 25-core AWG26 shielded cable (socket)


User piping



58

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Item Specifications







Controller












300 mm

Topposition

Tool

Bottomposition

Tool


Tool40


Tool


φ 100



59

7. Specifications

IX-NNN70H (Arm Length 700, Standard Specification) Item Specifications Type IX-NNN70H-L-T1 Degree of freedom Four degrees of freedom Overall arm length 700Arm 1 length 350Arm 2 length

mm350


Drive method



Motor capacity


W

200Axis 1 (arm 1) ±125 Axis 2 (arm 2)

degree ±145


Movementrange



1614



mm±0.010



kg20

Upper limit (Note 8) 304 (31.0) Push torque limit 70% Axis 3 (vertical axis)Push force control range Lower limit (Note 9)






User wiring D-sub 25-pin connector with25-core AWG26 shielded cable (socket)


User piping



60

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Item Specifications




Robot weight kg 58



Controller












300 mm

Topposition

Tool

Bottomposition

Tool


Tool40


Tool


φ 100



61

7. Specifications

IX-NNN80H (Arm Length 800, Standard Specification) Item Specifications Type IX-NNN80H-L-T1 Degree of freedom Four degrees of freedom Overall arm length 800Arm 1 length 450Arm 2 length

mm350


Drive method



Motor capacity


W

200Axis 1 (arm 1) ±125 Axis 2 (arm 2)

degree ±145


Movementrange



1614



mm±0.010



kg20









User piping



62

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Item Specifications




Robot weight kg 60



Controller












300 mm

Topposition

Tool

Bottomposition

Tool


Tool40


Tool


φ 100



63

7. Specifications

7.2 IX-NSN5016H/6016H IX-NSN5016H (Arm length 500, high-speed) Item Specifications Type IX-NSN-5016H-**L-T1 Degree of freedom Four degrees of freedom Overall arm length 500Arm 1 length 250Arm 2 length

mm250


Drive method



Motor capacity


W

100Axis 1 (arm 1) ±120 Axis 2 (arm 2)

degree ±145

Axis 3 (vertical axis) (Note 1) mm 160

Movementrange



1304



mm±0.010

Positioningrepeatability precision (Note 3) Axis 4 (rotational axis) degree ±0.010 Cycle time (Note 4) ces92.0rednu,82.0revOces


kg3









User piping



64

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Item Specifications

Surrounding air temperature/humidity Temperature: 0 to 40°C, humidity: 20 to 85%RH or less (non-condensing)


sselro000,1medutitlABdesioN 73

Robot weight kg 32

Power supply 230 V 50/60 Hz 14 A Allowable supply voltage fluctuation % ±10


Controller

3eergednoitulloP)1-46606CEI(eergednoitulloPNote 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close

to the top position as possible. (Fig. 1) To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be reduced as appropriate. (Fig. 2)

Note 2) Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP operation.

Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same starting position at the same speed and acceleration/deceleration using the same arm (at a constant surrounding air temperature of 20°C). Take note that this is not the absolute positioning precision. Also note that the positioning repeatability may deviate from the specified value if the arm is changed, positioning is performed to one specified position from multiple positions, or any of the operating conditions such as operating speed and acceleration/deceleration setting is changed.

Note 4) Measured when the robot is operated at the maximum speed, carrying a load of 2 kg. Note 5) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 65%. Note 6) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 40%.

Although this parameter can be set to a desired value from 15 to 70%, push force will not stabilize if the set value is outside the range of 40 to 65%.

Note 7) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from the rotational center of axis 4 to the tool’s center of gravity is assumed to be 40 mm or less. (Fig. 3)If the tool’s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be reduced as appropriate.

Note 8) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of movement. (Fig. 4)

Note 9) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED terminal in the user connector in response to the controller I/O output signal, etc.


Topposition

Tool

Bottomposition

Tool

Tool

Tool’s center of gravity

Tool

φ 100

(Fig. 1) (Fig. 2) (Fig. 3) (Fig. 4)


65

7. Specifications

IX-NSN6016H (Arm length 600, high-speed) Item Specifications Type IX-NSN-6016H-**L-T1 Degree of freedom Four degrees of freedom Overall arm length 600Arm 1 length 350Arm 2 length

mm250


Drive method



Motor capacity


W

100Axis 1 (arm 1) ±120 Axis 2 (arm 2)

degree ±145

Axis 3 (vertical axis) (Note 1) mm 160

Movementrange



1304



mm±0.010

Positioningrepeatability precision (Note 3) Axis 4 (rotational axis) degree ±0.010 Cycle time (Note 4) ces92.0rednu,82.0revOces


kg3









User piping



66

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ions

Item Specifications



sselro000,1medutitlABdesioN 73

Robot weight kg 33



Controller

3eergednoitulloP)1-46606CEI(eergednoitulloPNote 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close

to the top position as possible. (Fig. 1) To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be reduced as appropriate. (Fig. 2)


Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same starting position at the same speed and acceleration/deceleration using the same arm (at a constant surrounding air temperature of 20°C). Take note that this is not the absolute positioning precision. Also note that the positioning repeatability may deviate from the specified value if the arm is changed, positioning is performed to one specified position from multiple positions, or any of the operating conditions such as operating speed and acceleration/deceleration setting is changed.

Note 4) Measured when the robot is operated at the maximum speed, carrying a load of 2 kg. Note 5) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 65%. Note 6) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 40%.


Note 7) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from the rotational center of axis 4 to the tool’s center of gravity is assumed to be 40 mm or less. (Fig. 3)If the tool’s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be reduced as appropriate.




Topposition

Tool

Bottomposition

Tool

Tool

Tool’s center of gravity

Tool

φ 100

(Fig. 1) (Fig. 2) (Fig. 3) (Fig. 4)


67

7. Specifications

7.3 IX-NNW50H/60H/70H/80HIX-NNW50H (arm length 500, dust-proof/splash-proof specification) Item Specifications Model number IX-NNW50H-**L-T1 Dust-proof/splash-proof performance (Note 12) Corresponding to IP65 Overall arm length 500Arm 1 length 250Arm 2 length

mm250


Drive method

enilpS+raegnoitcudeR+tleB+rotomovresCA)sixalanoitator(4sixAAxis 1 (arm 1) 400Axis 2 (arm 2) 200Axis 3 (vertical axis) 200

Motor capacity


W

50Axis 1 (arm 1) ±120 Axis 2 (arm 2)

degree ±145


Movementrange



1473



mm±0.010

Positioningrepeatability precision (Note 3) Axis 4 (rotational axis) degree ±0.005 Cycle time (Note 4) sec 0.43


kg10




load on axis 4 Permissible torque Nm (kgfcm) 37. (38.1)

Permissible tool diameter (Note 6) mm φ 100 Home detection AbsoluteUser wiring (Note 10) Waterproof connector, 24 pins (including a shield terminal)Pipe joint for air purge Applicable tube: Outer diameter φ 6Alarm indicator (Note 7) One small, red LED indicator (rated voltage: 24 V)

User piping



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Topposition

Tool

Bottomposition

Tool


Tool40

Tool’s center ofgravity

Tool


φ 100

(Fig. 1) (Fig. 2) (Fig. 3) (Fig. 4)

Item Specifications

Surrounding air temperature/humidity Temperature: 0 to 40°C, humidity: 20 to 85%RH or less(non-condensing)




Air purge pressure (Note 11) Pressure in a range of 0.05 to 0.6 MPa immediately beforethe bellows inflates



Controller(Note 13)

Pollution degree 3Pollution degree (IEC60664-1)Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to the top position as

possible. (Fig. 1)To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be reduced as appropriate.(Fig. 2)

Note 2) Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP operation. Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same starting position at the same

speed and acceleration/deceleration using the same arm (at a constant surrounding air temperature of 20°C). Take note that this is not the absolute positioning precision.Also note that the positioning repeatability may deviate from the specified value if the arm is changed, positioning is performed to one specified position from multiple positions, or any of the operating conditions such as operating speed and acceleration/deceleration setting is changed.

Note 4) Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.This cycle time assumes a reciprocating operation involving a vertical travel of 25 mm and horizontal travel of 300 mm. (Rough positioning)

Note 5) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from the rotational center of axis 4 to the tool’s center of gravity is assumed to be 50 mm or less. (Fig. 3) If the tool’s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be reduced asappropriate.

Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of movement. (Fig. 4)Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED terminal in the user connector

in response to the controller I/O output signal, etc. Note 8) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%. Note 9) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 40%.


Note 10) Connector pins 1 to 23 can be used. Pin 24 is connected to a shield wire and cannot be used as a signal wire.Note 11) Increase the pressure to a level within a range of 0.05 to 0.6 MPa until immediately before the bellows inflates, and adjust the

flow rate using the speed controller. The fluid used should be clean, dry air free from compressor oil, etc., and the air filtrationrating should be 10 µm or less.

Note 12) The dust-proof/splash-proof specification is based on a dust-proof/splash-proof structure corresponding to protection class IP65against intrusion of water and powder dust as specified by the IEC standard. The structure is not explosion-proof.

Note 13) The controller structure is not dust-proof or splash-proof.



300 mm


69

7. Specifications

IX-NNW60H (arm length 600, dust-proof/splash-proof specification) Item Specifications Model number IX-NNW60H-**L-T1 Dust-proof/splash-proof performance Corresponding to IP65 Overall arm length 600Arm 1 length 350Arm 2 length

mm250


Drive method


Motor capacity


W

100Axis 1 (arm 1) ±120 Axis 2 (arm 2)

degree ±145


Movementrange



1393



mm±0.010



kg10




load on axis 4 Permissible torque Nm (kgfcm) 37. (38.1)


User piping



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Topposition

Tool

Bottomposition

Tool


Tool40


Tool


φ 100

(Fig. 1) (Fig. 2) (Fig. 3) (Fig. 4)

Item Specifications

Surrounding air temperature/humidity Temperature: 0 to 40°C, humidity: 20 to 85%RH or less(non-condensing)




Air purge pressure (Note 11) Pressure in a range of 0.05 to 0.6 MPa immediately beforethe bellows inflates



Controller(Note 13)










Note 10) Connector pins 1 to 23 can be used. Pin 24 is connected to a shield wire and cannot be used as a signal wire.Note 11) Increase the pressure to a level within a range of 0.05 to 0.6 MPa until immediately before the bellows inflates, and adjust the

flow rate using the speed controller. The fluid used should be clean, dry air free from compressor oil, etc., and the air filtrationrating should be 10 µm or less.





300 mm


71

7. Specifications

IX-NNW70H (arm length 700, dust-proof/splash-proof specification) Item Specifications Model number IX-NNW70H-**L-T1 Dust-proof/splash-proof performance (Note 12) Corresponding to IP65 Degree of freedom Four degrees of freedom Overall arm length 700Arm 1 length 350Arm 2 length

mm350


Drive method


Motor capacity


W

200Axis 1 (arm 1) ±125 Axis 2 (arm 2)

degree ±145


Movementrange



1614



mm±0.010



kg20






User piping



72

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ions

Topposition

Tool

Bottomposition

Tool


Tool40


Tool


φ 100

(Fig. 1) (Fig. 2) (Fig. 3) (Fig. 4)

Item SpecificationsSurrounding air temperature/humidity Temperature: 0 to 40°COperating

environment 1,000 or lessmAltitudedBNoise 74

Robot weight kg 60

Air purge pressure (Note 11) 0.2 to 0.3 MPaPower supply 230 V 50/60 Hz 15 AAllowable supply voltagefluctuation % ±10


Controller(Note 13)










Note 10) Connector pins 1 to 23 can be used. Pin 24 is connected to a shield wire and cannot be used as a signal wire.Note 11) The designed dust-proof/splash-proof performance can be demonstrated by applying 0.2 to 0.3 MPa of pressure from the air

supply port. The speed controller is already adjusted to the specified pressure. The fluid used should be clean, dry air free fromcompressor oil, etc., and the air filtration rating should be 10 µm or less.





300 mm


73

7. Specifications

IX-NNW80H (arm length 800, dust-proof/splash-proof specification) Item Specifications Model number IX-NNW80H-**L-T1 Dust-proof/splash-proof performance (Note 12) Corresponding to IP65 Degree of freedom Four degrees of freedom Overall arm length 800Arm 1 length 450Arm 2 length

mm350


Drive method


Motor capacity


W

200Axis 1 (arm 1) ±125 Axis 2 (arm 2)

degree ±145


Movementrange



1614



mm±0.010



kg20






User piping



74

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Item SpecificationsSurrounding air temperature/humidity Temperature: 0 to 40°COperating

environment 1,000 or lessmAltitudedBNoise 74

Robot weight kg 62

Air purge pressure (Note 11) 0.2 to 0.3 MPaPower supply 230 V 50/60 Hz 15 AAllowable supply voltagefluctuation % ±10


Controller(Note 13)










Note 10) Connector pins 1 to 23 can be used. Pin 24 is connected to a shield wire and cannot be used as a signal wire.Note 11) The designed dust-proof/splash-proof performance can be demonstrated by applying 0.2 to 0.3 MPa of pressure from the air

supply port. The speed controller is already adjusted to the specified pressure. The fluid used should be clean, dry air free fromcompressor oil, etc., and the air filtration rating should be 10 µm or less.





300 mm

Topposition

Tool

Bottomposition

Tool


Tool40


Tool


φ 100

((Fig. 1) (Fig. 2) (Fig. 3) (Fig. 4)


75

7. Specifications

7.4 IX-NNC50H/60H/70H/80HIX-NNC50H (arm length 500, clean specification) Item Specifications Type IX-NNC50H-L-T1 Degree of freedom Four degrees of freedom Overall arm length 500Arm 1 length 250Arm 2 length

mm250


Drive method



Motor capacity


W

100Axis 1 (arm 1) ±120 Axis 2 (arm 2)

degree ±145


Movementrange



1473



mm±0.010



kg10

Dynamic (Note 8) 180 (18.4) Push torque limit 70% Push-in thrust of axis 3 (vertical axis) Static (Note 9)








Suction pipe joint Applicable tube: Outer diameter φ 12 (inner diameter φ 8)

User piping



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Item Specifications





Cleanness Class 10 (base: 0.1µm, when suctioning)Suction rate (Note 10) Nl/min 60



Controller

Pollution degree 3Pollution degree (IEC60664-1)Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to

the top position as possible. (Fig. 1) To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be reduced as appropriate. (Fig. 2)


Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same starting position at the same speed and acceleration/deceleration using the same arm (at a constant surrounding air temperature of 20°C). Take note that this is not the absolute positioning precision.Also note that the positioning repeatability may deviate from the specified value if the arm is changed, positioning is performed to one specified position from multiple positions, or any of the operating conditions such as operating speed and acceleration/deceleration setting is changed.

Note 4) Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.Note 5) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from

the rotational center of axis 4 to the tool’s center of gravity is assumed to be 50 mm or less. (Fig. 3) If the tool’s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be reduced as appropriate.



Note 8) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.Note 9) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 40%.


Note 10) Since the amount of dust raised varies according to the operation pattern, the suction rate must be increased if the speed and acceleration/deceleration are high.


Topposition

Tool

Bottomposition

Tool


Tool40


Tool


φ 100

(Fig. 1) (Fig. 2) (Fig. 3) (Fig. 4)


77

7. Specifications

IX-NNC60H (arm length 600, clean specification) Item Specifications Type IX-NNC60H-L-T1 Degree of freedom Four degrees of freedom Overall arm length 600Arm 1 length 350Arm 2 length

mm250


Drive method



Motor capacity


W

100Axis 1 (arm 1) ±120 Axis 2 (arm 2)

degree ±145


Movementrange



1473



mm±0.010



kg10









Suction pipe joint Applicable tube: Outer diameter φ 12 (inner diameter φ 8)

User piping



78

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Item Specifications





Cleanness Class 10 (base: 0.1µm, when suctioning)Suction rate (Note 10) Nl/min 60



Controller

Pollution degree 3Pollution degree (IEC60664-1)Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to

the top position as possible. (Fig. 1) To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be reduced as appropriate. (Fig. 2)


Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same starting position at the same speed and acceleration/deceleration using the same arm (at a constant surrounding air temperature of 20°C). Take note that this is not the absolute positioning precision.Also note that the positioning repeatability may deviate from the specified value if the arm is changed, positioning is performed to one specified position from multiple positions, or any of the operating conditions such as operating speed and acceleration/deceleration setting is changed.

Note 4) Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.Note 5) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from

the rotational center of axis 4 to the tool’s center of gravity is assumed to be 50 mm or less. (Fig. 3) If the tool’s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be reduced as appropriate.





Note 10) Since the amount of dust raised varies according to the operation pattern, the suction rate must be increased if the speed and acceleration/deceleration are high.


Topposition

Tool

Bottomposition

Tool


Tool40


Tool


φ 100

(Fig. 1) (Fig. 2) (Fig. 3) (Fig. 4)


79

7. Specifications

IX-NNC70H (arm length 700, clean) Item Specifications Type IX-NNC70H-L-T1 Cleanness (Note 10) Class 10 (0.1 µm)Degree of freedom Four degrees of freedom Overall arm length 700Arm 1 length 350Arm 2 length

mm350


Drive method



Motor capacity


W

200Axis 1 (arm 1) ±125 Axis 2 (arm 2)

degree ±145


Movementrange



1614



mm±0.010



kg20









User piping



80

7. S

peci

ficat

ions

Item Specifications




Robot weight kg 60



Controller

Pollution degree 3Pollution degree (IEC60664-1)Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close

to the top position as possible. (Fig. 1)To operate the robot with its vertical axis at the bottom position, the speed and acceleration must bereduced as appropriate. (Fig. 2)

Note 2) Assuming PTP instruction operation. The maximum composite speed is not the maximum speed ofCP operation.

Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the samestarting position at the same speed and acceleration/deceleration using the same arm (at a constantsurrounding air temperature of 20°C). Take note that this is not the absolute positioning precision.Also note that the positioning repeatability may deviate from the specified value if the arm is changed,positioning is performed to one specified position from multiple positions, or any of the operatingconditions such as operating speed and acceleration/deceleration setting is changed.

Note 4) Measured when the robot is operated at the maximum speed, carrying a load of 5 kg.Note 5) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset

from the rotational center of axis 4 to the tool’s center of gravity is assumed to be 50 mm or less. (Fig.3)If the tool’s center of gravity is further away from the rotational center of axis 4, the speed andacceleration must be reduced as appropriate.

Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range ofmovement. (Fig. 4)

Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LEDterminal in the user connector in response to the controller I/O output signal, etc.


Although this parameter can be set to a desired value from 15 to 70%, push force will not stabilize ifthe set value is outside the range of 35 to 70%.

Note 10) When the suction rate is 80 NI/min (-100 mmAq).


Topposition

Tool

Bottomposition

Tool


Tool40


Tool


φ 100

(Fig. 1) (Fig. 2) (Fig. 3) (Fig. 4)


81

7. Specifications

IX-NNC80H (arm length 800, clean) Item Specifications Type IX-NNC80H-L-T1 Cleanness (Note 10) Class 10 (0.1 µm)Degree of freedom Four degrees of freedom Overall arm length 800Arm 1 length 450Arm 2 length

mm350


Drive method



Motor capacity


W

200Axis 1 (arm 1) ±125 Axis 2 (arm 2)

degree ±145


Movementrange



1614



mm±0.010



kg20









User piping



82

7. S

peci

ficat

ions

Item Specifications




Robot weight kg 60



Controller

Pollution degree 3Pollution degree (IEC60664-1)Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close

to the top position as possible. (Fig. 1)To operate the robot with its vertical axis at the bottom position, the speed and acceleration must bereduced as appropriate. (Fig. 2)

Note 2) Assuming PTP instruction operation. The maximum composite speed is not the maximum speed ofCP operation.

Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the samestarting position at the same speed and acceleration/deceleration using the same arm (at a constantsurrounding air temperature of 20°C). Take note that this is not the absolute positioning precision.Also note that the positioning repeatability may deviate from the specified value if the arm is changed,positioning is performed to one specified position from multiple positions, or any of the operatingconditions such as operating speed and acceleration/deceleration setting is changed.

Note 4) Measured when the robot is operated at the maximum speed, carrying a load of 5 kg.Note 5) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset

from the rotational center of axis 4 to the tool’s center of gravity is assumed to be 50 mm or less. (Fig.3)If the tool’s center of gravity is further away from the rotational center of axis 4, the speed andacceleration must be reduced as appropriate.

Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range ofmovement. (Fig. 4)

Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LEDterminal in the user connector in response to the controller I/O output signal, etc.


Although this parameter can be set to a desired value from 15 to 70%, push force will not stabilize ifthe set value is outside the range of 35 to 70%.

Note 10) When the suction rate is 80 NI/min (-100 mmAq).


Topposition

Tool

Bottomposition

Tool


Tool40


Tool


φ 100

(Fig. 1) (Fig. 2) (Fig. 3) (Fig. 4)


83

8. Installation Environment and Storage Environm

ent

77

8. Installation Environment and Storage Environment 8.1 Installation Environment Install the robot in an environment that satisfies the following conditions:

8.1.1 IX-NNN50H/60H/70H/80H, IX-NNC50H/60H/70H/80H, IX-NSN5016H/6016H

Away from direct sunlight Not subject to radiated heat from a high-capacity energy source such as a heat-treating furnace Surrounding air temperature: 0C to 40C Humidity: 85% or less (non-condensing) Not exposed to corrosive or flammable gases Not subject to impact or vibration Not exposed to a significant amount of electromagnetic waves, ultraviolet rays or radiation Sufficient space is available to ensure safety in teaching and maintenance/inspection operations

Generally, the robot must be installed where the operator need not wear protective gear in order to work.

8.1.2 IX-NNW50H/60H/70H/80H,

The dust-proof/splash-proof specification has the dust-proof/splash-proof structure equivalent to IEC standard and protection class IP65 against water and powder dust. Install the robot in an environment that satisfies the following conditions: Note that the dust-proof/splash-proof specification is not explosion proof.

Away from direct sunlight Not subject to radiated heat from a high-capacity energy source such as a heat-treating furnace Surrounding air temperature: 0C to 40C Humidity: 85% or less (non-condensing) Not exposed to corrosive or flammable gases Not subject to impact or vibration Not exposed to a significant amount of electromagnetic waves, ultraviolet rays or radiation Sufficient space is available to ensure safety in teaching and maintenance/inspection operations

84

8. In

stal

latio

n En

viro

nmen

t and

Sto

rage

Env

ironm

ent

78

Dust-proof/splash-proof items There are no locations that may sink under liquid. There are no risks of generation of shavings that may destroy bellows and sealing in the atmosphere. There is no machining oil in the atmosphere. There is no machining oil containing sulfur and/or mists of machining oil, etc. in the atmosphere.

IP65IP: International Protection rating 6: Protection against solid objects

No ingress of dust 5: Protection against liquids

Water projected from a nozzle against the enclosure from any direction shall have no harmful effect Project fresh water from all directions on exterior covering surface for 1 minute per 1 m2, for at least for 3 minutes. The distance from the nozzle to machinery shall be 2.5 to 3 m, projection pressure 30 kPa, and flow rate 12.5 L/min.

Do not use the robot in environment where more water/dust than the protection rating exist. Water/dust may enter the robot, shortening the robot's service life, lowering operation accuracy, and leading to malfunctions.

Supply air of the specified pressure from the air supply port for air purge located on the base side. If air is not supplied, the dust-proof/splash-proof performance is lowered. Supplied air must be clean and dry air not including compressor oil, etc., the filtering rate of air filter be

10 µm or less, and barometric pressure dew point be -20C or less. The robot controller is not dust or splash-proof. For the protection against drips other than water, contact IAI. The bellows may be discolored depending on the operating environment, but its dust-proof/splash-proof

performance is not affected.

WarningDanger

85

8. Installation Environment and Storage Environm

ent

79

8.2 Installation Platform The platform on which to install the robot receives a significant reactive force. Be certain the platform has sufficient rigidity to withstand the anticipated force. The surface on which the robot is fixed must have a thickness of 25 mm or more.

The levelness of the robot installation surface must be at least 0.05 mm. Machine tapped holes of the size shown in the table below in the mounting surface of the platform.

Model number Tapping size Remarks IX-NNN50H/60HIX-NSN5016H/6016H IX-NNW50H/60HIX-NNC50H/60H

M10 The effective thread shall be 10 mm or more (for steel, or 20 mm or more for aluminum).

IX-NNN70H/80HIX-NNW70H/80HIX-NNC70H/80H

M12 The effective thread shall be 12 mm or more (for steel, or 24 mm or more for aluminum).

The platform must have sufficient rigidity to withstand not only the weight of the robot but also the dynamic moment of inertia that is generated when the robot is operated at maximum speed.

Secure the platform to the floor or other rigid structure in a manner that prevents any movement due to operation of the robot.

The installation platform must allow the robot to be mounted on a level surface.

8.3 Storage/Preservation Environment The storage/preservation environment conforms to the installation environment. If the robot is to be stored/preserved for a prolonged period of time, be sure the robot will not be exposed to dew condensation. Unless otherwise specified, desiccant is not placed in the carton when shipped. If the robot is to be stored/preserved in an environment subject to condensation, provide preventive measures from over the carton or directly to the robot after unpacking. The maximum storage/preservation temperature is 60C for a short storage period. If the robot is to be stored/preserved for more than a month, the temperature should not exceed 50C.

Failure to provide a proper environment for installation and storage/preservation may shorten the service life of the robot, reduce its operation precision, or cause a malfunction or failure.

Never use the robot in a flammable atmosphere. The robot may explode or ignite.

WarningDanger

86

9. H

ow to

Inst

all

80

9. Installation 9.1 Installation Install the robot horizontally. Use four M3 or M4 hexagonal socket head bolts and washers to securely affix the robot.

Model number Bolt size Tightening torque IX-NNN50H/60HIX-NSN5016H/6016H IX-NNW50H/60HIX-NNC50H/60H

M10 60 Nm


M12 104 Nm

9.

9.1

How to InstallShown below is how to install SCARA Robot.

Installation Posture

Ceiling-MountWall-MountHorizontally Oriented Mount

○ ×

○ : Available × : Not available

×

87

9. How

to Install

80



M10 60 Nm


M12 104 Nm

9.2 Installing the Robot

80



M10 60 Nm


M12 104 Nm

88

9. H

ow to

Inst

all

81

For the hexagonal socket head bolts, use high-strength bolts of ISO10.9 or higher.

Be sure to use washers. If not, the bearing surface may cave in. Tighten the hexagonal socket head bolts securely to the correct torque. If not, precision may drop and in the

worst case the robot may topple and cause an accident.

CautionWarning

89

9. How

to Install

82

9.2 Checking after Installation Once the robot has been installed, check the following items:

Visually check the robot, controller and cables for dents and other abnormalities. Confirm that the cables are connected properly and that the connectors are inserted securely.

Failure to perform these checks may result in a malfunctioning robot or a damaged controller or robot.

Warning

9.3

90

10. C

onne

ctin

g th

e C

ontr

olle

r

10. Connecting the Controller The controller connection cables are attached on the robot (standard cable: 5 m, to air-tube joint: 150 mm).

Pay attention to the following items when connecting the controller: • Connect to the robot of the serial number specified on the robot designation label provided on the front panel

of the controller.

• Connect the cables securely after confirming that they are free from damage or bent connector pins. • Connect each cable by aligning the indication on the marking tube on the cable with the indication on the

controller panel. • When installing the PG connector (D-sub connector), ensure correct orientation of the connector. •

Refer to the operation manuals for the controller and PC software for the procedures to connect the I/O cable, controller power cable, PC connection cable, etc.

• Be sure to connect to the robot of the serial number specified on the front panel of the controller. The controller will not operate properly if any other robot is connected. Failure to observe this warning may cause the robot to malfunction, resulting in a serious accident.

• Before connecting or disconnecting a cable, always turn off the power to the controller. Connecting/disconnecting a cable with the power supplied to the controller may cause the robot to malfunction, resulting in a serious accident.

• Installing the connectors into the wrong sockets may cause the robot to malfunction. Be sure to check the designation on the cable with that on the controller panel before plugging in any connector.

• If the connectors are not inserted securely, the robot may malfunction and generate the risk of danger. Be sure to affix each connector with the supplied screws.

Robot designation label

Robot serial number

Warning

Please prepare the dedicated 24V DC power source for the brake power circuit of Horizontal Articulated Robot since it is on the primary (high pressure) side.Do not attempt to share the secondary circuit power sources such as I/O power source.The brake power to be supplied to Horizontal Articulated Robot should be 24V DC ±10% and the voltage source capacity 20W.The brake power to be supplied to the controller should be 24V DC ±10% and the voltage source capacity 9W.(Note) It is necessary to increase the voltage source capacity of the brake power source if brake actuators are

to be connected to the 5th and 6th axes of the controller. [Refer to the section of the voltage source capacity and heat generation in the controller operation manual.]

91

10. Connecting the C

ontroller

84

Before connecting or disconnecting a cable, always turn off the power to the controller. Connecting/disconnecting a cable with the power supplied to the controller may cause the robot to malfunction, resulting in a serious accident.

Installing the connectors into the wrong sockets may cause the robot to malfunction. Be sure to check the designation on the cable with that on the controller panel before plugging in any connector.

If the connectors are not inserted securely, the robot may malfunction and generate the risk of danger. Be sure to affix each connector with the supplied screws.

M cable (outside robot)

PG cable (outside robot)

Output voltage: 24 VDC 10% Current capacity: 20 to 30 W

24 VDC power supply for brake (provided by user)

Tool, control unit, etc. (provided by user)

U cable (outside robot) (cable for user wiring)

BK power cable (outside robot) Standard cable length: 5 m

4, 6 quick joint (2 pcs.)

To air tube (provided by user)

Warning

92

10. C

onne

ctin

g th

e C

ontr

olle

r

85

If you are using an X-SEL-PX/QX controller, you must supply the brake power to the controller in addition to wiring the brake power cable from the SCARA robot. Supply the brake power (+24 V) to the controller as shown in the figure.

SCARA robot

3-phase 200 to 230-VAC power supply

Auxiliary power-supply circuit Upper position: 0 V

Lower position: 24 V

Brake power+24-V power

supply Example of X-SEL-PX controller (4-axis SCARA robot of arm length 250 to 600 mm without I/O expansion)

30W

(Note) There are 2 connectors for brake power supply (+24V) on the controller for IX-□□□70□□H/80□□H with the arm length 700mm and 800mm. Make sure that the brake power is supplied to both connectors.

93

11. Precautions for Use

86


11.1 Setting the Acceleration/Deceleration

Set the acceleration/deceleration using the graphs below as a reference.

(1) PTP operation (Set using the SEL language commands ACCS and DCLS.)

IX-NNN50H/60H/70H/80H, IX-NNW50H/60H/70H/80H,IX-NNC50H/60H/70H/80H

Acc

eler

atio

n de

cele

ratio

n (%

)

Acc

eler

atio

n de

cele

ratio

n (%

)

IX arm length 500/600 Reference settings for PTP acceleration/deceleration

IX arm length 500/600 Reference duties for PTP

continuous operation

Maximum setting range

Reference range for continuous operation

Reference range of duty for continuous operation duty

Duty (%)

Inertial moment (kg-m) Duty (%) = (Continuous operation / (Continuous operation + Stopping time)) × 100

Mass of carrying load (kg)

Axis 4 (rotation axis) only

Acc

eler

atio

n de

cele

ratio

n (%

)

Acc

eler

atio

n de

cele

ratio

n (%

)

IX arm length 700/800 Reference settings for PTP acceleration/deceleration

IX arm length 700/800 Reference duties for PTP





Duty (%)

Inertial moment (kg-m) Duty (%) = (Continuous operation / (Continuous operation + Stopping time)) × 100


94

11. P

reca

utio

ns fo

r Use

87

IX-NSN5016H/6016H A

ccel

erat

ion

dece

lera

tion

(%)

Acc

eler

atio

n de

cele

ratio

n (%

)

IX arm length 500/600, high-speed (NSN)Reference settings for PTP acceleration/deceleration

IX arm length 500/600, high-speed (NSN)Reference duties for PTP continuous

operation




Duty (%)

Inertial moment (kg-m) Duty (%) = (Continuous operation / (Continuous operation + Stopping time)) ×100


95


88

(2) CP operation (Set using the SEL Language commands ACC and DCL.)


Acc

eler

atio

n de

cele

ratio

n (G

)

Acc

eler

atio

n de

cele

ratio

n (G

)

IX arm length 500 Reference settings for CP acceleration/deceleration

IX arm length 500 Reference duties for CP





Duty (%)

Duty (%) = (Continuous operation / (Continuous operation + Stopping time)) × 100


Maximum CP operation speed: 1500 mm/sec

Carrying 2 kg or less

Carrying 10 kg

Acc

eler

atio

n de

cele

ratio

n (G

)

Acc

eler

atio

n de

cele

ratio

n (G

)







Duty (%)





Carrying 10 kg

96

11. P

reca

utio

ns fo

r Use

89

Acc

eler

atio

n de

cele

ratio

n (G

)

Acc

eler

atio

n de

cele

ratio

n (G

)







Duty (%)





Carrying 20 kg

Acc

eler

atio

n de

cele

ratio

n (G

)

Acc

eler

atio

n de

cele

ratio

n (G

)







Duty (%)





Carrying 20 kg

97


90

IX-NSN5016H/6016H

Acc

eler

atio

n de

cele

ratio

n (G

)

Acc

eler

atio

n de

cele

ratio

n (G

)

IX arm length 500, high-speed (NSN)Reference settings for CP acceleration/deceleration

IX arm length 500, high-speed (NSN)Reference duties for P continuous

operation




Duty (%)



Arm length 500, maximum CP operation speed: 1100 mm/sec


Carrying 3 kg

Acc

eler

atio

n de

cele

ratio

n (G

)

Acc

eler

atio

n de

cele

ratio

n (G

)




Duty (%)



IX arm length 600, high-speed (NSN)Reference settings for CP acceleration/deceleration

IX arm length 600, high-speed (NSN) Reference duties for P continuous

operation


Carrying 3 kg

Arm length 600, maximum CP operation speed: 1400 mm/sec

98

11. P

reca

utio

ns fo

r Use

91

When PTP operation is performed with the acceleration/deceleration set to 100%, the optimal acceleration/deceleration function adjusts the maximum acceleration/acceleration at which the robot can accelerate/decelerate carrying the load weight set by the WGHT command, to 100%. Be sure to set the mass and inertial moment using the WGHT command. Never set in the WGHT command a value smaller than the load mass installed on the vertical axis.If such smaller value is set, the robot accelerates/decelerates at the maximum acceleration/deceleration permitted for the applicable load weight or even higher, and consequently the SCARA robot may stop by generating an error or break down.

Start from the appropriate reference setting for acceleration/deceleration during continuous operation, and then gradually raise the value for the purpose of adjustment.

Operate the SCARA robot by maintaining an acceleration/deceleration appropriate for the applicable mass and inertial moment. If not, the life of the driving part may be shortened or damage or vibration may result.

If an overload error (error code: D0A) occurs, lower the acceleration/deceleration setting or provide an appropriate stopping time based on the reference duty for continuous operation. Duty (%) = (Continuous operation / (Continuous operation + Stopping time)) / 100

To move arm 1 or 2 of the SCARA robot horizontally at high speed, keep the vertical axis near the top position. If such high-speed operation is performed with the vertical axis lowered, the vertical axis may vibrate.

Be sure to keep the inertial moment and carrying load at the allowable values or less. The carrying load represents the inertial moment and mass at the center of rotation of axis 4. If the

acceleration/deceleration is raised when the inertial moment far exceeds the allowable value, control is disabled in the rotating direction.

Depending on the position of the vertical axis, the vertical axis may generate vibration when the inertial moment of the load is high. If vibration occurs, lower the acceleration/deceleration.

Caution

99


92

11.2 Push Force of the Vertical Axis

Set the push force of the vertical axis by referring to the graph below.


IX-NSN5016H/6016H

IX arm length 500/600 Relationship of push force and push

torque limit during positioning

Pus

h fo

rce

(N)

Push torque limit during positioning (%)

Push-motion operating speed: 10 mm/sec

IX arm length 700/800 Relationship of push force and push

torque limit during positioning

Pus

h fo

rce

(N)



IX arm length 500/600, high-speed (NSN)Relationship of push force and push torque

limit during positioning

Pus

h fo

rce

(N)



60

200

100

40 70０

50

93

180

60

300

200

35 7050100

123

304

40

60

200

100

40 70０

50

120

195

100

11. P

reca

utio

ns fo

r Use

93

Use the PUSH command to perform push-motion operation involving the vertical axis. If push-motion operation is performed without using the PUSH command, the life of the driving part may be shortened or damage or vibration may result.

Push force can be changed by driver card parameter No. 38, “Torque limit during positioning.” When performing push-motion operation, keep the speed to 10 mm/sec or below.

If the speed exceeds 10 mm/sec, provide a shock-reducing mechanism to keep the vertical axis from receiving shock.

The graph of push force and push torque limit during positioning shows characteristics when no load is installed on the vertical axis. In downward push-motion operation, the applicable push force increases by the load mass. In upward push-motion operation with the inverse specification, the applicable push force decreases by the load mass.

Push force is controlled by servo motor current. No control is implemented based on feedback of push force.

Push force is subject to a variation of approx. 5%.

Caution

101


94

D-cut surface

Center of axis 4 (rotational axis)

Span ring, etc.

Pressure flange

D-cut surface

Tool

Tool diameter: 100 or less

11.3 Tools The tool mounting part must have sufficient strength and rigidity, along with adequate fastening power to prevent positional shift.

It is recommended that a tool be installed over a split ring, span ring or other appropriate part. A sample configuration of tool installation is given below.

Set the tool diameter to 100 mm or less. If the tool diameter exceeds 100 mm, the tool will interfere with the robot within the robot’s operation area. If the tool diameter exceeds 100 mm or the tool interferes with peripheral equipment, decrease the soft limits to reduce the operation area. Also keep the inertial moment of the tool and load at the allowable value or less. (Refer to 11.4, “Carrying Load.”)

Use the D-cut surface at the end of axis 4 (rotational axis) to adjust the position (direction) of axis 4. To set the rotating direction using the D-cut surface and setscrews, be sure to use setscrews with resin or brass pad or set pieces made of soft material. (Avoid attachment of the tool at the D-cut surface via thread fastening. Doing so may damage the D-cut positioning surface.)

102

11. P

reca

utio

ns fo

r Use

95

Turn off the power to the controller and robot before installing a tool. If the tool mounting part does not have sufficient strength, it may break while the robot is operating and

cause the tool to detach and fly off. If the tool diameter exceeds 100 mm, the tool will contact the robot within the robot’s operation area,

causing damage to the tool, load and/or robot. Avoid attachment of the tool at the D-cut surface via thread fastening. Doing so may damage the D-cut

positioning surface.

11.4 Carrying Load Loading capacity

Model number Rated loading capacity Maximum loading capacity

IX-NSN5016H/6016H 1 kg 3 kg


2 kg 10 kg


5 kg 20 kg

Load’s permissible moment of inertia Model number Permissible moment Remarks

IX-NSN5016H/6016H 0.015 kgm2


0.06 kgm2


0.10 kgm2

Both rated and maximum

CautionWarning

103


96

Load offset (from the center of axis 4 (rotational axis)) IX-NNN50H/60H/70H/80HIX-NNW50H/60H/70H/80HIX-NNC50H/60H/70H/80H

50 mm or less

IX-NSN5016H/6016H 40 mm or less

Set appropriate acceleration/deceleration according to the mass of the end and moment of inertia. Failure to do so may cause the drive part to wear prematurely or may result in damage or vibration.

If vibration occurs, lower the acceleration/deceleration as appropriate. If the load gets offset, the robot becomes more likely to cause vibration. Design the tools so that the load’s

center of gravity aligns with the center of axis 4. Do not move the robot horizontally with axis 3 (vertical axis) extended. It may cause the vertical axis to bend

and disable the axis. To move the robot horizontally with axis 3 extended, adjust the speed and acceleration/deceleration as appropriate.


Load’s center of gravity

50 mm or less

Caution


Load’s center of gravity

40 mm or less

104

11. P

reca

utio

ns fo

r Use

97

Quick joint 6,red

ALM (indicator)


Quick joint 6,yellow

BK SW Brake-release switch U cable (outside robot)

Standard 5 m

Air tube 4 (black, white) 6 (red, yellow)

Quick joint 4,black

User connectorD-sub connector 25-pin, socket Fastener size M2.6

Quick joint 4,white

4, 6 quick joints (2 pcs each)

BK power-supply cable (outside robot)



Terminal: Y terminal

11.5 User Wiring and Piping The robot comes with standard cables and tubes that the user can use in a desired wiring/piping configuration.

11.5.1 IX-NNN50H/60H/70H/80H, IX-NSN5016H/6016H IX-NNC50H/60H/70H/80H

IX-NNN50H/60H/70H/80H, IX-NSN5016H/6016H

IX-NNC50H/60H/70H/80H

Quick joint 6,red

ALM (indicator)


Quick joint 6,yellow


Standard 5 m


Quick joint 4,black

User connectorD-sub connector 25-pin, socket Fastener size M2.6

Quick joint 4, white






105


98

Shape of Y-terminal


M4, depth 5

30 N or less

2 Nm or

External force applied to the spacers must not exceed 30 N in the axial direction or 2 Nm in the rotating direction (for each

7

User connector specifications Rated voltage 30 V Permissible current 1.1 A Conductor size and number of wires AWG 26 (0.15 mm2), 25 wires

Other Twisted-pair cable (1 to 24), shielded

Piping specifications Normal service pressure 0.8 MPa

4 mm x 2.5 mm, 2 pieces Dimensions (outer diameter x inner diameter) and number of tubes 6 mm x 4 mm, 2 pieces

Working medium Air

ALM (indicator) specifications Rated voltage 24 VDC Rated current 12 mA Illumination color Red LED

106

11. P

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r Use

99

The user connector comes with the mating D-sub 25-pin plug. Solder a user-supplied cable to the D-sub connector (plug), attach the supplied hood, and then connect to the user connector (socket). Use a shielded cable with an outer diameter of 11 or less.

To turn on the ALM (indicator), the user must configure a dedicated circuit that uses the controller I/O output signal, etc.

User connector pins and corresponding Y-terminals

Before commencing wiring/piping work, turn off the power to the controller and the power/air supplies to the robot. Failure to do so may cause the robot to malfunction.

Use cables and tubes within their specifications. Failure to do so may result in fire or short circuit due to an overheated cable, or may cause air leaks.

Connect the shielded cable to the hood. Otherwise, the robot may malfunction due to noise. Secure the supplied D-sub connector using the screws on the hood.

Warning

To base

Inside unit Cable

Arm 2 side Connection

D-sub,25-pin

Indicator(LED)

To D-sub connector frame

Controller side Y-terminal designation Wire color Connection

Y-terminal

Orange 1 red Orange 1 black Light gray 1 red Light gray 1 black

White 1 red

White 1 black Yellow 1 red

Yellow 1 black Pink 1 red

Pink 1 black Orange 2 red

Orange 2 black Light gray 2 red Light gray 2 black

White 2 red White 2 black Yellow 2 red

Green


Pink 2 black Orange 3 red

Orange 3 black Light gray 3 red Light gray 3 black


107


100

Shape of Y-terminal


M4, depth 5

30 N or less

2 Nm or less

External force applied to the spacers must not exceed 30 N in the axial direction or 2 Nm in the rotating direction (for each

7

11.5.2 IX-NNW50H/60H/70H/80H

User connector specifications Rated voltage 30 V Permissible current 1.1 A Conductor size and number of wires AWG 26 (0.15 mm2), 24wires

Other Twisted-pair cable (1 to 22), shielded (Pin 24)

Piping specifications Normal service pressure 0.8 MPa

4 mm x 2.5 mm, 2 pieces Dimensions (outer diameter x inner diameter) and number of tubes 6 mm x 4 mm, 2 pieces

Working medium Air

ALM (indicator) specifications Rated voltage 24 VDC Rated current 12 mA Illumination color Red LED

Quick joint for 6(red) air tube

ALM (indicator)



Standard 5 m


Quick joint for 4(black) air tube

User connector Waterproof connector, 24 pins (24 pins include a shield terminal.)






Air supply port for air purge on opposite side Applicable tube: Outer diameter 6

To controller

Quick joint for 6(yellow) air tube

Quick joint for 4(white) air tube

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The user connector comes with a mating 24-pin plug (NJW-28-24-PM-18: Nanaboshi Electric Mfg. Co., Ltd.) Solder and connect the wire provided by the customer to the user connector. Use a cable with shield whose outer diameter is 16.1 to 18.0.Connector pins 1 to 23 can be used. Pin 24 is connected to a shield wire.

Connector wiring method

[1] Disassemble the connector, guide the cable through, and solder the wires to the contacts. [2] Use a tester, etc., to check if the specified pins are electrically continuous with the cable. [3] Screw the barrel into the end bell and secure with setscrew A. [4] Push the cable gasket and washer into the end bell and screw in the clamp nut by holding the end bell in

position. [5] Move the cable back and forth and to the left and right to ensure smooth movement, tighten the clamp nut

again to the specified torque, and secure with screw B.



Connect the shielded cable to the hood. Otherwise, the robot may malfunction due to noise. If the user connector is not used, put the cap to seal the opening. If not, water and dust will enter. Tighten the connector to the specified torque. If the outer diameter is smaller than the one specified for the applicable cable, use tape, etc., to adjust the

outer diameter before installing.

Tighteningtorque1.5 to 2.0 N-m Clamp nut

Tighteningtorque0.2 to 0.3 N-m Setscrew B Washer

Cablegasket

Tighteningtorque1.5 to 2.0 N-m End bell Coupling nut Barrel

Setscrew A Tightening torque0.2 to 0.3 N-m

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To turn on the ALM (indicator), the user must configure a dedicated circuit that uses the controller I/O output signal, etc.

User connector pins and corresponding Y-terminals



Connect the shielded cable to the hood. Otherwise, the robot may malfunction due to noise. Secure the supplied D-sub connector using the screws on the hood. With the dust-proof/splash-proof specification, Y terminals U24 and U25 cannot be used.

Warning

To base

Inside unit Cable Arm 2 side

Connection

Waterproof connector,

24 pins

Indicator(LED)

Controller side Y-terminal designation Wire color Connection

Y-terminal

Orange 1 red Orange 1 black Light gray 1 red Light gray 1 black



Pink 1 black Orange 2 red Orange 2 black

Light gray 2 red Light gray 2 black


Green


Pink 2 black Orange 3 red Orange 3 black

Light gray 3 red Light gray 3 black


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11.6 Air Purge

11.6.1 IX-NNW50H/60H

An IP65 dust-proof/splash-proof specification can be achieved by applying the pressure specified below from the air supply port provided on the side face of the base.

Service pressure Pressure in a range of 0.5 to 0.6 MPa immediately before the bellows inflates Pipe size Outer diameter 6 x Inner diameter 4

Fluid used Clean, dry air free from compressor oil, etc. The air filtration rating shall be 10m or less, dew point of dry air in atmosphere shall be -20C or less.

Flow rate adjustment method The customer should provide a relief valve. Fully close the speed controller supplied with the actuator, set the pressure to 0.3 MPa or more but not exceeding 0.6 MPa, and then adjust the flow rate using the speed controller supplied with the actuator. Supplying too much air will inflate the bellows. Adjust the speed controller by following the procedure below.

<Increase the flow rate> Turn the needle of the speed controller counterclockwise from the fully closed position to increase the flow rate.Supplying too much air will inflate the bellows, so adjust the needle until immediately before the bellows inflates.After the adjustment, be sure to tighten the lock nut to maintain the flow rate.

Lock nut

Needle

Air supply port for air purge (speed controller)


To air supply source

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Be sure to use clean, dry air with an atmospheric dew point of -20C or less. If dry air is not used, condensation may occur inside the robot, resulting in earth leakage or malfunction.

Do not apply pressure exceeding the specified maximum pressure of 0.6 MPa. Doing so may cause the seals to break and impair the robot’s dust-proof/drip-proof performance.

Adjust the pressure and also adjust the flow rate using the speed controller at the back of the base to prevent intrusion of powder dust.

Caution

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11.6.2 IX-NNW70H/80H

An IP65 dust-proof/splash-proof specification can be achieved by applying the pressure specified below from the air supply port provided on the side face of the base. The air supply source (relief valve, etc.) and air tubes (6) are provided by the customer. The speed controller is already adjusted to the specified pressure, so you need not adjust the needle.

Service pressure 0.2 to 0.3 (MPa) Pipe size Outer diameter 6 x Inner diameter 4

Fluid used Clean, dry air free from compressor oil, etc. The air filtration rating shall be 10m or less, dew point of dry air in atmosphere shall be -20C or less.

Adjustment of supply pressure Do not add all supply pressure in one go. Gradually increase the supply pressure to a level of 0.2 to 0.3 MPa.

Be sure to use clean, dry air with an atmospheric dew point of -20C or less. If dry air is not used, condensation may occur inside the robot, resulting in earth leakage or malfunction.

Do not apply pressure exceeding the specified maximum pressure of 0.3MPa. Doing so may cause the seals to break and impair the robot’s dust-proof/drip-proof performance.

The speed controller is already adjusted to the specified pressure, so do not adjust the needle. If the needle is adjusted, dust-proof/splash-proof performance may drop.

Air supply port for air purge (speed controller)


To air supply source

Caution

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11.7 Suction Rate of Clean Room Specification IX-NNC50H/ 60H/70H/ 80H

Cleanness class 10 can be achieved by suctioning air at the specified rate through the quick joints for suction provided on the base and rear panel.

The suction device and suction air tubes (12) are provided by the customer. Model number Suction rate (Nl/min)

IX-NNC50H/60H 60 IX-NNC70H/80H 80

The clean room must have a down-flow environment. Cleanness class 10 is based on the particle size of 0.1m. Dust will be raised if no suction is provided.

Applicable tube: outer diameter 12 (inner diameter 8)

Quick joint for suction

Warning

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12. Maintenance and Inspection 12.1 Inspection Items and Periods Have daily inspections and regular inspections to use the robot in a stable condition for a long term. Make sure to follow the caution for maintenance and inspection in Safety Guide. [1] Daily Maintenance Inspections

Have a maintenance and inspection for those described below before starting up in everyday operation, and if any problem is found, have an appropriate treatment. Maintenance Inspection Area Maintenance Inspection Details

Safety Cage Correct the deformation or positional shift of the cage. Confirm that the interlock mechanism is operating properly.

Appearance of Robot Check the exterior for abnormality, flaws, dents, etc. (If the robot has flaws or other abnormalities, please contact IAI.)

Operation of Robot Check for abnormal operation, vibration or noise

Cables Check for damage and pinch of cables Check the cable mounting parts for looseness.

Emergency-Stop Switch Confirm that the emergency-stop switch functions properly. [2] Half a Year Maintenance Inspection

Have a maintenance and inspection for the following items once in half a year (every 6 months). If the robot main body has flaws or other abnormalities, please contact IAI. Maintenance Inspection Area Maintenance Inspection Details

Robot Main Body Check for any looseness of the attachment bolts on the robot body and play on cover related components. (Tighten if any loosened bolt is found.)

Ball Spline

Supply grease to ball screw and ball splined. • Other Types than Dustproof/Splash proof type and Clean type:

Multemp LRL No. 3 Grease by Kyodo Yushi or AFG Grease by THK

• Dustproof/Splash proof type and Clean type: AFE Grease by THK

[Refer to 12.2, “Ball Screw Spline Grease Supply”.] Connectors Check the connectors for looseness.

Warning: Do not attempt to disassemble or cut the cable of the following items. By doing so, recovery to normal condition cannot be done, and it may

cause a critical accident such as error operation, fire or malfunction. • Disassembly of the servo motor • Disassembly of the ball reduction gear • Disassembly of the ball screw and spline shaft • Disassembly of the bearing • Disassembly of the harmonic speed reducer • Disassembly of the brake • Cutting of the cable

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12. Maintenance and Inspection

[3] Yearly Maintenance Inspection Have a maintenance and inspection for the following items every year. Maintenance Inspection Area Maintenance Inspection Details

Robot Main Body Arm Attachment Bolts

Check for any looseness of the bolts on the arm. (If any play is found on the arm attachment, tighten up the bolts.)[Refer to 12.3, “Check for Looseness of Arm Attachment Bolts”.]

[4] 2.5 Years Maintenance Inspection

Have a maintenance and inspection for the following items once every 2.5 years. If the robot main body has flaws or other abnormalities, please contact IAI. Maintenance Inspection Area Maintenance Inspection Details

Battery Replacement

Replace the absolute data backup battery. The battery life may vary depending on the condition and environment of the robot use, but it is approximately three years. It is recommended to have the battery replaced every 2.5 years. (Battery model code: AB-3, Quantity to use: 4 units) [Refer to 12.4, “Replacement of Absolute Backup Battery”.]

Third Axis Belt

Check the third axis (vertical axis) timing belt surface for any defect or excessive wear. (Check it five years later from the operation start, and after that, check it every year). When any defect is found, the replacement of the timing belt is required. (If any defect is found, contact IAI). [Refer to 12.5, “Third Axis Timing Belt Visual Check”.]

Note 1: In case the duty of the robot operation is high, or ambient temperature is high, supply the grease frequently (every year).

[5] 5 Years Maintenance Inspection

Have a maintenance and inspection for the following items once every 5 years. After 5 years has passed, have a maintenance and inspection for the following items every year. If the robot main body has flaws or other abnormalities, please contact IAI. Maintenance Inspection Area Maintenance Inspection Details

First axis and Second axis speed reducer Bearings on joints

Lost motion measurement If the lost motion value exceeds the allowable range, it is considered the end of life for speed reducer or bearing. It is necessary to have the unit disassembled for such work as replacement of the speed reducer. (Please contact IAI if any abnormality is found.) (Note) The life of the speed reducer may vary depending on the

duration of operation, speed or load, but it is approximately five to seven years.

[Refer to 12.6, “How to Measure Lost Motion”.]

Forth Axis Belt

Check the forth axis (rotational axis) timing belt surface for any defect or excessive wear. When any defect is found, the replacement of the timing belt is required. [Refer to 12.7, “Forth Axis Timing Belt Visual Check”.]

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12.2 Ball Screw Spline Grease Supply The Ball Screw Spline on the vertical axis require grease to be supplied. 12.2.1 Applicable Grease and Supply Period

Types Grease to Apply Supply Period Other Types than Dustproof/Splash proof type and Clean type

Kyodo Yushi Multemp LRL No. 3

Dustproof/Splash proof type and Clean type THK AFE

Every half a year

For the types except for dustproof type, splashproof type and cleran type, the use of the following grease is also available.

Types Grease to Apply Supply Period Other Types than Dustproof/Splash proof type and Clean type

THK AFG Every half a year

Caution: Do not attempt to apply fluorine grease. When mixed with lithium grease or urea grease, not only decrease the grease characteristics, but also may damage the driving part.

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12.2.2 Grease Supply Tool necessary for work Grease, Cloth

Procedure 1) Wipe old grease away from entire surface of the ball screw spline axis using a cloth. 2) Apply new grease on the entire surface of the ball screw spline axis. 3) Apply grease two or three times and after the grease application, move the ball screw spline up

and down so that grease is spread smoothly all over the inside bearing.

Model Quantity Arm Length 500/600 8 to 16 cc (7 to 14g) Arm Length 700/800 10 to 20 cc (9 to 18g）

4) Wipe off excessive grease on the ball screw spline axis surface (to the extent that grease does not

fly off when the spline axis is operated).

Apply Grease

Apply Grease

Caution: In case the grease got into your eye, immediately go see the doctor to get

appropriate care. After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

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In the case of the dust-proof and rain-proof type, or clean type, it is required to remove the bellows unit fixed on the arm 2 to expose the ball screw spline. ● Arm Length 500/600 1) In the case of the clean type, remove the set screw fixing the upper stopper and collar A fixing the

lower bellows rotary unit, and packing A. In the case of the dust-proof and rain-proof type, the shape of the upper section is cylindrical. Remove four set screws and remove such cylinder section.

2) Remove the upper stopper and lower bellows rotary unit.

Remove the bellows from the body and remove the set plates A and B from the bellows. (Note) When the lower bellows is to be attached, attach it so that the collar B is aligned with the

positioning seal affixed on the fourth axis. Move the robot to the position: X-axis: 0, Y-axis: arm length (500 or 600), vertical axis: 0, rotational axis: 0. Then, attach the bellows so that the allow mark position on the collar B is aligned with the rotary unit specified division. Otherwise, affix the positioning seal to change its position.

M3 × 8(4pcs)

M3 × 10(4pcs)

M3 × 10(4pcs)M5 × 25(1pcs)

M4 Set Screws(4pcs)

Gasket A

Collar A

M3 × 8(4pcs)

Plate B

Plate A

Plate B

Upper Stopper Unit

Lower Bellows Rotary Unit

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●Arm Length 700/800 Remove the bellows unit each on the upper and lower sections. (Note) When the lower bellows is to be attached, attach it so that the collar B is aligned with the

positioning seal affixed on the fourth axis. Move the robot to the position: X-axis: 0, Y-axis: arm length (700 or 800), vertical axis: 0, rotational axis: 0. Then, attach the bellows so that the allow mark position on the collar B is aligned with the rotary unit specified division. Otherwise, affix the positioning seal to change its position.

Collar B

Caution: • The upper stopper bolt is to be removed. At that time, be careful so that the spline

axis is not fallen off from the nut. • When the bellows unit is disassembled, dust is raised. Take the measure for the

dust raising such as moving the robot to the place where dust does not cause any problem, or work for it with the robot covered with a vinyl sheet, etc.

M2.6 × 8(4pcs)

M3 × 12(4pcs)

M3 × 6(4pcs)

M2.6 × 6(4pcs)

M3 Set Screws(2pcs)

Gasket D

Collar C

Collar B

Gasket D

Gasket B

Gasket C

Plate C

Bellows Unit

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12.3 Check for Looseness of Arm Attachment Screws

Tool necessary for work Hex wrench set, Phillips Screwdriver (M3 Flat-head screw) Procedure 1) The first axis set screw appears when the cover is removed. 2) The second axis set screw can be seen from the position under the arm #1. 3) Check for any looseness of the set screws for each axis using the hex wrench.

(Tighten if any loosened screw is found.) 4) Attach the cover. Tightenting torque for M3 flat-head screw is 0.74 N•m

Ist Axis Mounting Screw

2nd Axis Mounting Screw

Cover

Arm 1

M3 Flat-head Screw

Tightening Torque [N•m] Arm

Length 1st axis 2nd axis Remarks

500/600 30.0 12.3

1st axis: Hexagon soket-head screws M8 strength class 10.9

2nd axis: Hexagon soket-head screws M6 strength class 10.9

700/800 59.4 30.0

1st axis: Hexagon soket-head screws M10 strength class 10.9

2nd axis: Hexagon soket-head screws M8 strength class 10.9

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12.4 Replacement of Absolute Backup Battery 12.4.1 Preparation The following items are required when replacing the batteries: Before replacing the batteries, turn off the power to the controller, control panel and other relevant units.

Model number Tool New, 1x-only specification

IX-NNN50□□H/60□□H/70□□H/80□□H IX-NSN5016H/6016H IX-NNW5020H/6020H/7020H/8020H IX-NNC50□□H/60□□H/70□□H/80□□H

Phillips screwdriver AB3 (4 pcs)

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12.4 Replacement of Absolute Backup Battery 12.4.1 Preparation The following items are required when replacing the batteries: Before replacing the batteries, turn off the power to the controller, control panel and other relevant units.

Model number Tool New, 1x-only specification

IX-NNN50□□H/60□□H/70□□H/80□□H IX-NSN5016H/6016H IX-NNW5020H/6020H/7020H/8020H IX-NNC50□□H/60□□H/70□□H/80□□H

Phillips screwdriver AB3 (4 pcs)

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12.4.2 Replacement Procedure IX-NNN50H/60H/70H/80H05CNN-XI H/60H/70H/80H

H6106/H6105NSN-XI

(1) Remove the countersunk head screws (6 pcs) [1] and take out the cover (base). (2) Remove the batteries from the battery holder. (3) Unplug the BAT connector and connect a new battery.

• After removing the old batteries, quickly connect new batteries (roughly within 5 minutes x number of batteries).

• If new batteries are not connected for a longer period, the rotation data will be lost and an absolute reset will become necessary.

• Replace batteries one axis at a time. If the batteries for all axes are replaced at once, the work may not be completed within the specified time.

(4) Install the batteries into the battery holder.

Battery holder

Cover (base)

Battery (for axis 1)

Battery connector 3 (for axis 3)







[1] 6-M3 x 8

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(5) Secure the cover (base) using the countersunk head screws [1]. (Tightening torque: 0.74 Nm)

When installing the cover (base), be careful not to pinch the internal wiring

Instead of tightening to the specified torque in one go, loosely position each screw in the position shown to the left, and while pressing the cover in the direction of the arrow tighten both screws uniformly to secure the cover effectively with the gasket.

Caution

[1] 6-M3 x 8

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Cover (base)


Battery connector 3(for axis 3)







[1] 6-M3 X 8

Battery holder

12.4.3 Replacement Procedure IX-NNW50H/60H/70H/80H

(1) Remove the countersunk head screws (6 pcs) [1] and take out the cover (base). (2) Remove the batteries from the battery holder. (3) Unplug the BAT connector and connect a new battery.

• After removing the old batteries, quickly connect new batteries (roughly within 5 minutes x number of batteries).

• If new batteries are not connected for a longer period, the rotation data will be lost and an absolute reset will become necessary.

• Replace batteries one axis at a time. If the batteries for all axes are replaced at once, the work may not be completed within the specified time.

(4) Install the batteries into the battery holder.

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(5) Mount the cover (base) with hexagon socket head cap screw [1] and seal washers (6 each) (tightening torque 0.74 Nm).

Be careful not to pinch internal wiring when installing the cover (base). If you break down the cover area, water or dust may enter inside the machinery. Choose clean environment

when breaking the cover down.

Caution

Seal washer

[1] 6-3M x 6

Cover (base)

Mount one side of the cover (base) and mount the mounting bolt on the opposite side while pressing the cover on R of the base contact surface.

Make sure that there is no clearance between the cover (base) and packing.

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12.5 Third Axis Timing Belt Visual Check Tool necessary for work Penlight Procedure Check the timing belt surface using a penlight as shown in the pictures for any defect or excessive wear.

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12.6 How to Measure Lost Motion Tool necessary for work Digimatic Indicator (Measurement range 10mm or more, minimum display 0.001mm) or equivalent acceptable Magnet stand Procedure 1) Create a position and a program to operate first Axis and second Axis in ±5deg with PTP

Operation. 2) Take off the cover (on Arm 2) on one side and allocate the measurement equipment as shown in

the figure below. Measurement Point: See figure below Operation Command: PTP Operation (MOVP Command) Operation Speed: 30% Acceleration/Deceleration : 30%

1st Axis 2nd Axis

Negative Direction

Negative Direction

Positive Direction

Positive Direction

Mesurement Point

Mes

urem

ent

Red

ius

Mesurement Point

Mesurement Redius 100mm

100m

m

a. Move the axis from +5deg towards 0deg, the measurement point, in the positive direction, and

measure the position. b. After moving from 0deg towards -5deg in the positive direction, move it from -5deg towards 0deg,

the measurement point, in the negative direction, and measure the position. c. In addition, after moving from 0deg towards +5deg in the negative direction, move it from +5deg

towards 0deg, the measurement point, in the positive direction, and measure the position. Repeat the measurements of b and c for seven times in each positive and negative direction. The difference of the average of the measurement results is determined as the lost motion.

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Example for Lost Motion Measurement Number of Times Positive Direction Negative Direction

1 +0.003 -0.003 2 -0.003 +0.003 3 +0.003 +0.005 4 -0.003 -0.005 5 +0.003 -0.005 6 +0.003 -0.004 7 +0.003 -0.006

Average +0.0013 -0.0021 Difference (mm) |+0.0013-(-0.0021)| = 0.0034

Measurement Radius (mm) 100 Lost Motion (arc min) [atan(0.0034/100)]*60 nearly equals 0.12

How to decide It is normal as long as the figured out values are below the allowable values shown in the table below. Lost Motion Allowance

Model Name Lost Motion (arc min.) Measurement Radius (mm)

1st axis 2nd axis IX-NNN50□□H/60□□H IX-NNW50□□H/60□□H IX-NNC50□□H/60□□H IX-NSN5016H/6016H IX-NNN70□□H/80□□H IX-NNW70□□H/80□□H IX-NNC70□□H/80□□H

1.0 1.0 100

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12.7 Forth Axis Timing Belt Visual Check Tool necessary for work Penlight, Hex Wrench Set, Phillips Screwdriver (M3 Flat-head screw)

Procedure 1) Move the up/down axis to the position of 50 to 100mm. 2) Remove the set screw for the arm 2 lower cover. 3) Check the timing belt surface using a penlight for any defect or excessive wear. 4) Attach the cover.

Check it visually.

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Plate

Pin

12.8 Absolute Encoder Reset Method

12.8.1 Preparation for Absolute Reset

The following jigs are required to perform an absolute reset. • Absolute reset adjustment jigs

Modelnumber Remarks

JG-1 For arm length 500/600 JG-3 For arm length 700/800 JG-4 For arm length 500/600, high-speed type

Connect the robot, controller and PC cables so that the robot/controller can be operated using the PC software. Be sure to check the EMG switch operation beforehand. An absolute reset of the rotational and vertical axes requires absolute reset adjustment jigs, but jigs are not always required for an absolute reset of arms 1 and 2. (A multi-rotation reset can be performed as long as the current position is within 1 graduation on the positioning mark sticker.)

Example of Absolute Reset Adjustment Jig (Model number JG-1)

Fully understand the applicable inspection/maintenance work, because failure to do so may result in a serious injury accident.

Put up a “WORK IN PROGRESS” sign to prevent other operators from accidentally operating the controller, operation panel, etc. Remember to insert the seal washer

Warning

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12.8.2 Starting the Absolute Reset Menu

(1) Open the Abs Encoder Reset window from the PC software. (*) Select “Absolute Reset (SCARA Axis) (Y)" if you are using an X-SEL-PX/QX controller.

Starting Up Absolute Reset Window

2. The Abs Encoder Reset window opens. • One of three absolute reset screens −for arm 1, arm 2 and rotational axis + vertical axis is displayed

when a corresponding tab is clicked.

Absolute Reset Window

Abs Encoder Reset screen for arm 1 or 2

Abs Encoder Reset screen for rotational axis + vertical axis

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12.8.3 Absolute Reset Procedure for Arm 1 or 2

(1) Click the “Encoder Rotation Data Reset1” button.

Encoder Multi-rotation Data Reset 1

(2) Click the “Reset Controller Error” button.

Controller Reset

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(3) Click the “Servo ON” button.

Servo ON

(4) Jog the arm to near the reference position (see reference position drawing in step (7)), and click the “Jog end” button.

Jogging

(5) Click the “Servo-OFF” button.

Servo OFF

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Reference Posture for Arm Length 500/600, 700/800

(6) Press the emergency-stop switch.

(7) When performing an absolute reset of arm 1, set the adjustment jig (pin) on arm 1 to secure the arm in its reference position. You can move arm 2 when securing arm 1. When performing an absolute reset of arm 2, set the adjustment jig (pin) on arm 2 to secure the arm in its reference position. You can move arm 1 when securing arm 2. Set the jig after confirming that the emergency-stop switch is pressed. Set the jig after adjusting the arm to the reference position, using the positioning mark label as a guide. Arm 1 has a cover (not arm 2), which is fixed with setscrews. Remove the setscrews and detach the

cover before setting the jig. It is recommended that an adjustment jig be used to perform an absolute reset. With arm 1 or 2,

however, rotation data can be reset as long as a positioning accuracy of “center of positioning mark label 1 graduation” is ensured.

For an absolute reset of arm 2 whose length is 120, rotate arm 1 straight to side according to the basic posture shown in Fig. 13.17 and set the jigs.

Always press the emergency-stop switch before setting an adjustment jig. Failure to do so may cause the robot to malfunction and result in a serious accident.

Warning

Arm 1 (arm length 500/600, arm length 700/800)

Arm 2 (arm length 500/600, arm length 700/800) Adjust both arms 1 and 2 to

positions within 1

Positioning mark label for arm 1



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(8) Click the “OK” button.

Confirmation (9) Click the “Encoder Rotation Data Reset2” button.


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(10) Remove the adjustment jig. If you are working on arm 1, install the cover and secure it with the setscrews (not required for arm 2).

(11) Release the emergency-stop switch. (12) Click the “OK” button. An arrow is shown next to the “Home pos. automatic update” button. Do not set this item. (In particular, be

sure this item is not set when performing an absolute reset without using a jig). If you have allowed the home preset value to be updated automatically by mistake, do not write the updated

data to the flash ROM. Instead, perform a software reset. (After the software reset, the data will return to the original condition before the home preset value was automatically updated.)

Always click the “OK” button after removing the jig and releasing the emergency-stop switch.

Confirmation

(13) Click “X” in the top right-hand corner to exit the absolute reset window. Once the absolute reset is complete, be sure to reset the software.

Be careful not to perform a reset using an incorrect sequence, since it may cause the arm position to become offset.

Update the home preset value only if any of the mechanical settings has been changed, such as after an arm has been replaced. (Changes relating to joints only)

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12.8.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis

(1) Click “Encoder Rotation Data Reset1” button.


(2) Click the “Reset Controller Error” button.

Controller Reset

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Servo ON

(4) Click the “Temp. Standard posture standby” button. The vertical axis returns to its home position. Exercise caution so as not to be injured by the axis during

movement.

Standing By at Tentative Home Position

(5) Jog the rotational axis to the reference position (see reference position drawing in step 8)), and click the “Jog end” button.

Jogging

139


123

D-cut surface

(Down view)

D-cutsurface

Positioning mark label for rotational axis

The pin is lightly contacted.

Make sure the top surface of the stopper matches with the bottom surface of arm 2.


Servo OFF

(7) Press the emergency-stop switch. (8) Affix the rotational axis at the reference position by setting the plate and pin of the adjustment jig as

illustrated below. Set the jig after confirming that the emergency-stop switch is pressed. Set the jigs by using the positioning mark as a reference. Make sure the top surface of the stopper roughly matches in height with the bottom surface of arm 2.

Reference Posture for Arm Length 500/600, 700/800

Always press the emergency-stop switch before setting an adjustment jig. Failure to do so may cause the robot to malfunction and result in a serious accident.

Pay attention to the orientation of the side of the plate jig that comes in contact with the D-cut surface.

Warning

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(9) Click the “OK” button.

Confirmation



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125

(11) Click the “Home pos. automatic update” button.

Automatic Refresh of Home Preset Value

(12) Remove the adjustment jig. (13) Release the emergency-stop switch. (14) Click the “OK” button.

Confirmation

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Confirmation

(16) Click the “Standard posture standby” button. The vertical axis returns to its home position. Exercise caution so as not to be injured by the axis during

movement.

Standing By at Reference Posture


Servo OFF

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127



(19) Click the “Home pos. automatic update” button, and then click “X” in the top right-hand corner to exit the absolute reset window. After the reset is completed, be sure to perform “Software reset.”

Automatic Refresh of Home Preset Value

144

13. W

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13. Warranty Period and Scope of Warranty The robot you have purchased passed our strict outgoing inspection. This unit is covered by the following warranty:

Warranty Period The warranty period shall be either of the following periods, whichever ends first: 18 months after shipment from our factory 12 months after delivery to a specified location Elapse of 2,500 hours of operation

Scope of Warranty The warranty covers only the purchased IAI product as delivered. Should the product fail during the above period under a proper use condition due to a fault on the part of the manufacturer, IAI will repair the defect free of charge. However, the following cases are excluded from the scope of warranty:

Discoloration of paint or other normal aging Wear of consumable parts due to use (battery, timing belt, cable, etc.) Subjective imperfection, such as noise not affecting mechanical function Defect caused by inappropriate handling or use by the user Defect caused by inappropriate or erroneous maintenance/inspection Defect caused by unauthorized modification, etc., not approved by IAI or its agent Defect caused by use of a part other than IAI’s genuine part Defect due to an act of God (such as earthquake, hurricane, flood damage, lightning strike), accident, fire, etc.

The warranty covers only the product as it is delivered. IAI shall not be liable for any loss arising in connection with the delivered product. The user must bring the defective product to our factory to receive a warranty repair. To dispatch the engineer, you will be billed separately even if it's still during the term covered by warranty.

13. Warranty

13.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from our company 12 months after delivery to the specified location

13.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge:

(1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.

(2) The breakdown or problem in question occurred during the warranty period.

(3) The breakdown or problem in question occurred while the product was in use for an appropriate purpose under the conditions and environment of use specified in the operation manual and catalog.

(4) The breakdown of problem in question was caused by a specification defect or problem, or by a quality issue with our product.

Note that breakdowns due to any of the following reasons are excluded from the scope of warranty: [1] Anything other than our product [2] Modification or repair performed by a party other than us (unless we have approved such

modification or repair) [3] Anything that could not be easily predicted with the level of science and technology available at

the time of shipment from our company [4] A natural disaster, man-made disaster, incident or accident for which we are not liable [5] Natural fading of paint or other symptoms of aging [6] Wear, depletion or other expected result of use [7] Operation noise, vibration or other subjective sensation not affecting function or maintenance

Note that the warranty only covers our product as delivered and that any secondary loss arising from a breakdown of our product is excluded from the scope of warranty.

13.3 Honoring the Warranty As a rule, the product must be brought to us for repair under warranty.

13.4 Limited Liability (1) We shall assume no liability for any special damage, consequential loss or passive loss such as a

loss of expected profit arising from or in connection with our product. (2) We shall not be liable for any program or control method created by the customer to operate our

product or for the result of such program or control method.

145

13. Warranty

13.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications

(1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc. In such a case we will not be liable for the conformance of our product with the applicable standards, etc.

(2) Our product is for general industrial use. It is not intended or designed for the applications specified below, which require a high level of safety. Accordingly, as a rule our product cannot be used in these applications. Contact us if you must use our product for any of these applications:

[1] Medical equipment pertaining to maintenance or management of human life or health [2] A mechanism or mechanical equipment intended to move or transport people (such as a

vehicle, railway facility or aviation facility) [3] Important safety parts of mechanical equipment (such as safety devices) [4] Equipment used to handle cultural assets, art or other irreplaceable items

(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that differs from what is specified in the catalog or operation manual.

13.6 Other Items Excluded from Warranty The price of the product delivered to you does not include expenses associated with programming, the dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during the warranty period:

[1] Guidance for installation/adjustment and witnessing of test operation [2] Maintenance and inspection [3] Technical guidance and education on operating/wiring methods, etc. [4] Technical guidance and education on programming and other items related to programs

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Change History Revision Date Description of Revision

P. 48 Added options “JY (Joint cable specification)”

August 2010 First edition

April 2011 Second edition

A page for CE Marking addedMay 2011 Third edition

P. 1 to 7 Contents added and changed in Safety Guide

P. 50, 52, 54, 56, 58, 60, 62, 64, 66, 68, 70, 72, 74, 76 Brake voltage source capacity 20W added to specifications

P. 83 Brake voltage source capacity from 20W to 30W → changed to 20W

P. 108 Caution notes added telling to go to see the doctor to have

P. 128, 129 Contents changed in 13. Warranty

an appropriate treatment when the grease got into an eye

P. 8 Precautions in Handling Note “Certainly attach the Horizontal Articulated Robot by following this operation manual.” added

Fourth edition March 2012

9.1 Installation Posture addedAugust 2012 Fifth edition

Sixth edition P. 109 Grease applied to ball screw spline changed to Multemp LRL

January 2013

No. 3 for standard type

Seventh edition • A page of CE Marking deleted

July 2013

• Overall Revised 12. Maintenance and Inspection

Eighth edition P. 51 to 78

February 2014

Values changed for Axis 3 (vertical axis) Push Force Control RangeValue in % corrected in (Note 9)

Ninth edition P. 48 to 51

July 2015

5.4 Cable Joint Type (Model: JY) added

9B edition P. 92

September 2016Correction made to brake power source from 45W to 30W.

128






147

Change H

istory

128






Revision Date Description of Revision

P. 92 Note added stating brake power is to be supplied to two connectors for controller for SCARA Robot with arm length 700mm and 800mm

November 2016 9C edition

March 2017P. 115 Note corrected AB-6 → AB-3

9D edition

Manual No.: ME3707-9D (March 2017)

The information contained in this document is subject to change without notice for purposes of product improvement.Copyright © 2017. Mar. IAI Corporation. All rights reserved.

17.03.000

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, JapanTEL +81-54-364-5105 FAX +81-54-364-2589

website: www.iai-robot.co.jp/

Ober der Röth 4, D-65824 Schwalbach am Taunus, GermanyTEL 06196-88950 FAX 06196-889524

SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, ChinaTEL 021-6448-4753 FAX 021-6448-3992

website: www.iai-robot.com

825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, ThailandTEL +66-2-361-4458 FAX +66-2-361-4456

Technical Support available in USA, Europe and China

Head Office: 2690 W. 237th Street, Torrance, CA 90505TEL (310) 891-6015 FAX (310) 891-0815

Chicago Office: 110 East State Parkway, Schaumburg, IL 60173TEL (847) 908-1400 FAX (847) 908-1399

TEL (678) 354-9470 FAX (678) 354-9471website: www.intelligentactuator.com

Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066

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