IAI IX, IX-NNN-1205, IX-NNN-1505, IX-NNN-1805 Operation Manual

Horizontal Articulated Robot – IX Series Tabletop Type, Arm Length 120/150/180

IX-NNN-1205, IX-NNN-1505, IX-NNN-1805

Operation Manual Second Edition

Please Read Before Use

Thank you for purchasing an IAI 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 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]

• 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.

• This operation manual is original.

• If you have any question or comment regarding the content of this manual, please contact

the IAI sales office near you.

• Unauthorized use or reproduction of this operation manual, whether in whole or in part, is strictly

prohibited.

Introduction

Thank you for purchasing an IAI Horizontal Articulated Robot.

This manual describes the handling, structure, maintenance and other important aspects of the IX-Series Horizontal Articulated Robot (IX-NNN-1205/1505/1805), and provides the user with information necessary to the safe operation of the robot.

To ensure safe operation, be sure to read this manual and fully understand its content before using your IX-Series robot. After reading this manual, keep it in a convenient place for reference whenever needed.

Please refer to the separate manual for other arm sizes, cleanroom specifications, dustproof/splash-proof specifications and wall-mount specifications. The standard specifications and items that apply commonly to all specification types are covered in this manual.

Please refer to the separate controller manual for operation programs and other specifications or instructions involving the controller.

Caution

The unauthorized use or reproduction of all or part of this manual is strictly

prohibited.

The information contained in this manual is subject to change without notice for

purposes of product improvement.

Should you find any error in the descriptions contained in this manual, or if you have

any comments or feedback, please contact IAI America, Inc.

Table of Contents

1. For Safe Use of Robots ............................................................................................. 1

1.1 Safety Symbols....................................................................................................................... 1

1.2 Safety Precautions ................................................................................................................. 1

1.3 Conducting Special Training on Industrial Robots.................................................................. 7

1.4 Warranty Period and Scope of Warranty................................................................................ 7

2. Names of Robot Parts ............................................................................................... 8

2.1 Robot Body............................................................................................................................. 8

2.2 Robot Controller ..................................................................................................................... 9

2.3 Labels ................................................................................................................................... 10

2.4 Label Positions ......................................................................................................................11

3. Transportation and Handling.................................................................................... 12

3.1 Handling of the Carton ......................................................................................................... 12

3.2 Packing Condition of the Robot............................................................................................ 12

3.3 Handling of Individual Components...................................................................................... 13

3.4 Checking after Unpacking .................................................................................................... 13

3.5 Transporting the Robot......................................................................................................... 14

4. Installation Environment and Storage Environment ................................................. 16

4.1 Installation Environment ....................................................................................................... 16

4.2 Installation Platform.............................................................................................................. 16

4.3 Storage Environment............................................................................................................ 16

5. Installation of the Robot........................................................................................... 17

5.1 Installing the Robot............................................................................................................... 17

5.2 Connecting the Controller..................................................................................................... 18

5.3 Checking after Installation .................................................................................................... 21

6. Precautions for Use ................................................................................................. 22

6.1 Reference Acceleration/Deceleration Settings..................................................................... 22

6.2 Tools ..................................................................................................................................... 24

6.3 Carrying Load ....................................................................................................................... 25

6.4 Actuator with Vertical Axis Brake (Optional)......................................................................... 26

6.5 User Wiring and Piping......................................................................................................... 27

7. Inspection/Maintenance........................................................................................... 29

7.1 Inspection Items ................................................................................................................... 29

7.2 Encoder Battery Replacement ............................................................................................. 32

7.3 Absolute Reset Procedure ................................................................................................... 35

8. Specifications........................................................................................................... 53

8.1 Specification Table................................................................................................................ 53

8.2 External Dimensions ............................................................................................................ 59

8.3 Robot Operation Area........................................................................................................... 62

1. For Safe Use of Robots

1.1 Safety Symbols

Industrial robots are machines offering an advanced programming function and capable of realizing highly flexible movements. When using industrial robots, therefore, be sure to observe the safety instructions and precautions applicable to these robots. Failure to provide the necessary safety measures or incorrect handling of the robot may not only cause the robot to break down or sustain damage, but it can also lead to a major accident involving the operator (person who installs, operates, adjusts/inspects or otherwise handles the robot) including injury or even death.

Danger

Failure to observe this instruction is likely to result in serious injury or death.

Warning

Caution

Note

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

Failure to observe this instruction may result in injury or damage to the equipment.

Failure to observe this instruction will not result in injury, but it should be heeded to ensure proper use of the product.

1.2 Safety Precautions

General precautions regarding the handling of robots are provided on the following pages. For any work that must be performed with the robot’s operating range, specify a work procedure, etc., and make sure it is communicated to, and fully understood by, each operator.

1

Precautions for Installation of the Robot

(1) Ensuring a proper service environment

Refer to the section entitled “Installation Environment and Storage Environment” to secure a proper service environment for the robot.

(2) Ensuring a space to cover the robot’s operating range

Refer to the section entitled “Robot Operation Area” to secure a sufficient operation area for the robot.

(3) Ensuring work/maintenance space

Ensure a sufficient range of operation for work and maintenance so that operation, adjustment and inspection can be carried out without a problem.

(4) Location for installation of control unit

Install the control unit, such as a controller, at a location outside the robot’s range of movement, from which robot operation can be observed in its entirety.

(5) Installation of a safety cage

Install a safety cage or enclosure, or stretch ropes or chains, around the perimeter of the robot’s range of movement, so that the operator and bystanders cannot easily enter or bring objects into the robot’s operation area.

(6) Installation of interlocks

Install a switch (sensor) at the entrance to the safety cage, enclosure or other safety barrier and interlock it to the robot, so that the robot will stop operating the moment the door, ropes, chains, etc., are opened. Additionally, make sure that entry into the operating range is not possible other than from the interlocked entrance.

(7) Installation of an emergency-stop switch

Provide an emergency-stop switch at a location that is instantly accessible by the operator in case of an emergency.

(8) Attachment of caution labels

Be sure to attach the supplied caution labels at the entrance to and exit from the operation area or other location, placing such labels where the operator can easily see and recognize them. Also, maintain the legibility of caution labels by making sure they are not removed or smudged.

(9) Prohibition of robot modification

Never attempt to modify the robot or controller.

(10) Protection against flying work

If there is a possibility that the work held by the robot may be released and allowed to fly off, drop or otherwise jeopardize the operator’s safety, implement appropriate protective measures in consideration of the size, weight, temperature, chemical properties and other characteristics of the work.

z The safety of the operator and bystanders cannot be assured if the above precautions for

Danger

installation are not heeded. Failure to observe these precautions may result in a serious accident or damage to the robot.

2

3

Precautions for Work Near the Robot

Contact with a moving robot may result in a serious accident. Be sure to observe the following items:

(1) Prohibition against entering the robot’s range of movement during operation

Never enter the robot’s range of movement while it is operating or in the ready mode.

(2) Before entering the robot’s range of movement

If you must enter the robot’s range of movement, always press the emergency-stop switch or turn off the power to halt the robot’s operation before entering.

(3) Operation inside the safety cage

For teaching, inspection and other operations that require the operator to work in the safety cage or enclosure while the robot is operating, specify a work procedure and make sure it is communicated to, and fully understood by, each operator. Additionally, the following measures should be taken:

• The operator shall carry a hand-held emergency-stop switch at all times so that the robot can be stopped as soon as an abnormal condition arises.

• A person other than the operator shall monitor the work to ensure that operation of the robot can be stopped as soon as an abnormal condition arises.

• A person other than the operator shall monitor the work in order to make sure that no unauthorized person will inadvertently operate the switches or controls.

• A “Work in Progress” sign must be displayed in a conspicuous location.

z Failure to observe the above precautions for work near the robot may result in serious injury or

z Do not enter the robot’s range of movement while it is operating. z Always press the emergency-stop switch or turn off the power before entering the robot’s range of

z A person other than the operator must be sure to monitor the work whenever the operator enters

Danger

death.

movement.

the robot’s range of movement.

Warning

4

Precautions for Operation of the Robot

(1) Power on

Before turning on the power, confirm that no one is working in the immediate vicinity of the robot.

(2) Performing work when the robot is operating

Before entering the robot’s range of movement to perform setup or any other task, always press the emergency-stop switch to disable operation of the robot.

(3) Action to take upon detection of abnormality

If noise or vibration is detected when the robot is operating, immediately stop the robot, investigate the cause, and take appropriate action. Continuing to operate the robot without correcting the problem will damage the robot.

(4) Acceleration setting

Operate the robot at an appropriate rate of acceleration in accordance with the load being carried. Failure to set the acceleration properly will shorten the service life of the drive part, cause damage, and generate vibration during positioning. (See “Reference Acceleration/Deceleration Settings.”)

(5) Program operation check

Prior to running your program, be sure to confirm its proper operation at safe speeds. If the program contains an error, the robot may move to an unexpected position and damage the work or its own components.

z Failure to observe the above precautions for robot operation may result in a serious accident or

z Always press the emergency-stop switch before entering the robot’s range of operation. z If the robot is found abnormal, stop the robot immediately and investigate the cause. Failure to do

Danger

damage to the robot.

so may damage the robot.

Warning Caution

5

Precautions for Teaching and Inspection/Maintenance/Adjustment Operations

(1) Special training for teaching personnel

Teaching operators must receive “special training on industrial robots.”

(2) Special training for inspection/maintenance/adjustment personnel

Inspection, maintenance and adjustment must be performed by qualified personnel who have received “special training on industrial robots.”

(3) Participation of inspection/maintenance/adjustment personnel in IAI’s seminar on robots

Inspection, maintenance and adjustment must be performed by qualified personnel who have participated in the robot seminar organized by IAI or in the presence of personnel who have participated in the seminar.

(4) Understanding the robot’s characteristics and work procedure

Do not perform teaching, inspection, maintenance or adjustment without a full understanding of the robot’s characteristics and work procedure. Any attempt to perform work without the required knowledge may result in a serious accident.

(5) Items to note on teaching and inspection/maintenance/adjustment

Observe the following items in addition to the aforementioned precautions:

• Before commencing the work, confirm that all emergency-stop devices are functioning properly.

• Turn off the power to the robot if work can be performed without the robot being operated.

• Do not enter the robot’s range of operation unless necessary.

• If any externally connected equipment is used, make sure it is not operating. Alternatively, make

an arrangement so that only the operator can control the equipment.

• If you are using the brake type (optional): When releasing the brake of axis 3 (vertical axis), take a

proper measure to prevent axis 3 from dropping.

• 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 operate abnormally, resulting in a serious accident.

z Failure to observe the above precautions for teaching and inspection/maintenance/adjustment

z Always confirm that all emergency-stop devices are functioning properly before commencing the

z Always press the emergency-stop button before entering the robot’s range of movement. z If you are using the brake type (optional), releasing the brake of axis 3 (vertical axis) is dangerous

Danger

operations may result in a serious accident. Additionally, it may cause the robot to operate abnormally or sustain damage.

work.

as it may cause the axis to drop. Be careful not to get your fingers, etc., pinched between axis 3 and other part such as the frame.

Warning

6

1.3 Conducting Special Training on Industrial Robots

IAI’s horizontal articulated robots IX120/150 are classified as industrial robots under JIS B 0134, but they are not regarded as the dangerous/harmful robots defined under Article 59 of the Occupational Health and Safety Law and other relevant ministerial ordinances, etc. To ensure safe use of these robots, however, operators who perform any operation (teaching, programming, operation check, inspection, adjustment, repair, etc.) involving industrial robots must receive “special training on industrial robots.”

1.4 Warranty Period and Scope of Warranty

Your IX-Series robot has passed the inspections performed by IAI prior to shipment. However, we offer the following warranty to cover an unforeseen failure.

Warranty Period

The warranty period will end when any of the following periods elapses:

• Elapse of 18 months after shipment from IAI

• Elapse of 12 months after delivery to the location specified by the user

• Elapse of 2,500 hours of operation

Scope of Warranty

Should a manufacturing defect be found during the above warranty period despite proper use of the product, IAI will repair the defect free of charge. However, the following items are not covered by the warranty:

• Result of aging, such as natural discoloration of paint

• Consumption of consumable parts (battery, timing belt, cable, etc.) due to use

• A minor irregularity, such as noise, whose severity depends on subjective judgment but does not

affect product quality or function

• A defect arising from improper use or handling by the user

• A defect arising from inappropriate or erroneous maintenance/inspection

• A defect arising from modification not approved by IAI or its agent

• A defect arising from the use of parts other than genuine IAI parts

• A defect arising from an act of God, such as an earthquake, storm, flood or lightning, accident, fire

or other unforeseen event

This warranty only covers the product unit delivered. IAI shall bear no responsibility for any secondary loss caused by a defect in the delivered product. The user must bring the defective product to our factory in order to have it repaired. Separate fees will apply if an engineer is sent to the user’s site, even during the warranty period.

7

A

2. Names of Robot Parts

2.1 Robot Body

Wiring duct

LM

(indicator)

Axis 4

(Rotational axis)

User piping; φ3, black

User connector

User piping; φ3, white

Panel

xis 2

Spacer for user part installation

Mechanical

stopper for arm 2

xis 1

rm 2

M cable

(outside robot)

rm 1

Mechanical

Axis 3

(vertical axis)

stopper for arm 1

User piping; φ3, black

User piping; φ3, white

Base

PG cable (outside robot)

U cable (outside robot)

Reference surface

Cover (base)

Same on the opposite side

Mechanical stopper for

axis 3 (vertical axis)

Ball screw spline shaft

8

Cover (arm 2)

Mechanical stopper for

axis 3 (vertical axis)

2.2 Robot Controller

Robot Controller (Non-brake type specification)

9

2.3 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

(2) Labels on the Controller

z 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

Robot serial number

Caution/warning on handling

of the controller

Controller serial number

(Other than CE-certified models)

Danger Warning

Warning on handling of

the vertical axis

CE-certified robot (Provided only for

CE-certified models)

Rated

Designation of the connected robot

Controller serial number

(CE-certified models)

Caution

Warning against

electric shock

10

2.4 Label Positions

Label Positions on the Robot

Label Positions on the Controller

Caution/warning on handling of the controller

Warning against electric shock (Same on the opposite side)

Controller serial number

Designation of the connected robot

Warning on handling of the vertical axis

Robot serial number

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

11

3. Transportation and Handling

3.1 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.

3.2 Packing Condition of the Robot

z The robot and controller are very heavy. When transporting the carton containing the robot and

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

Warning Caution

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.

person having the proper qualifications.

Controller, accessories

and other items

(except for the robot)

12

3.3 Handling of Individual Components

The robot and controller are supplied as a set. The combination is indicated on the “designation of the connected robot” label attached on the controller. When handling multiple robots, be careful not to lose their correct pairings with 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.

3.4 Checking after Unpacking

After unpacking the carton, check the condition of the robot and other items contained in the carton.

Standard parts

Robot 1

Controller 1

Operation manual for robot 1

Operation manual for controller 1

Accessories

Receptacle housing 1

Pin contact 10

PIO flat cable 1

Optional parts

PC software (type: IA-101-X-MW) CD-ROM 1

PC connection cable 1 Hand-held emergency-stop switch 1 Operation manual for PC software 1

Absolute reset adjustment jig (type: JG-5)

Positioning jig for axes 1 and 2 (pin) 1

Positioning jig for axis 4 (plate) 1

Absolute-data backup battery (AB-6)

Caution

z Always operate the robot using the controller supplied with the robot in the same carton. Using

another controller may result in an unexpected operation, damaged motor or other problem.

z After unpacking, be sure to confirm the condition of the robot and other items contained in the

carton. Should you find a damaged or missing part, please contact IAI immediately.

Note

13

3.5 Transporting the Robot

When transporting the robot alone, hang the cable over your arm and carry the robot by holding the base and arm 2 with both hands. Do not hold the robot only by arm 2 or the wiring duct.

z If the robot is held only by arm 2 or an excessive load is applied to arm 2, the robot may be

z While transporting the robot, be careful not to drop the robot as it may result in injury or damage

Warning Caution

damaged.

to the robot.

14

φ

When transporting the robot that has been assembled with an equipment, etc., produce a bracket conforming to the specifications below and affix arm 2 to the equipment’s platform, etc., using the bracket.

4 hole

Arm affixing bracket

Material: SPCC or

equivalent

5 hole

Platform

During the transport, move the equipment slowly by paying attention to the balance of the robot and avoid applying vibration or impact to the robot.

The tapped holes on the side face of arm 2 are through holes. Do not use screws that are 6 mm or longer, because they may contact the mechanical parts inside the arm.

Danger

Warning

z If the robot is held only by arm 2 or an excessive load is applied to arm 2, the robot may be

damaged.

z While transporting the robot, be careful not to drop the robot as it may result in injury or damage

to the robot.

z When transporting the robot that has been assembled with an equipment, etc., be sure to affix

arm 2. During the transport, pay attention not to apply vibration or impact to the robot.

15

4. Installation Environment and Storage Environment

4.1 Installation Environment

Install the robot in an environment that satisfies the following conditions:

• Away from direct sunlight

• Not subject to radiated heat from a high-capacity energy source such as a heat-treating furnace

• Ambient temperature: 0°C to 40°C

• 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.

4.2 Installation Platform

Since the platform on which the robot is installed receives a reactive force, ensure that the platform has sufficient rigidity.

• The surface on which the robot is fixed must have a thickness of 8 mm or more. The levelness of the robot installation surface must be at least ±0.05 mm.

• Drill tapped holes of the following dimensions in the mounting surface of the platform.

Model Tap size Remarks

M3: Effective threads --- 3 mm min. (steel platform) (or 6 mm min.

IX-NNN

1205/1505/1805

M3 or M4

M4: Effective threads --- 4 mm min. (steel platform) (or 8 mm min.

• 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.

4.3 Storage Environment

The storage environment conforms to the installation environment. If the robot is to be stored 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 kept in an environment subject to condensation, provide preventive measures from over the carton or directly to the robot after unpacking. The maximum storage temperature is 60°C for a short storage period. If the robot is to be stored for more than a month, the ambient temperature should not exceed 50°C.

Danger

z Failure to provide a proper environment for installation and storage may shorten the service life of

the robot, reduce its operation accuracy, or cause a malfunction or failure.

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

Warning

(aluminum platform))

16

5. Installation of the Robot

5.1 Installing the Robot

Install the robot on a level surface. Securely affix the robot using four M3 or M4 hexagonal socket head bolts and washers.

Bolt size Tightening torque Remarks

M3

M4

For the hexagonal socket head bolts, use high-tension bolts with an ISO rating of 10.9 or higher.

z Be sure to use a washer with a M3 bolt. Without a washer, the bearing surface may sink. z Tighten the hexagonal socket head bolts securely to the correct torque. Improperly tightened bolts

Warning

may reduce the accuracy of robot operation, and in the worst case cause the robot to overturn.

0.81 N⋅m

1.41 N⋅m

Be sure to use a flat washer (outer diameter φ7 mm, inner diameter φ3.2 mm, thickness 0.5 mm)

With a M4 bolt, using a flat washer will cause the washer to protrude from the reference surface. Use flat washers for M4 bolts only if it does not affect the robot operation in your application.

Hexagonal socket head bolt

Washer

Caution

17

5.2 Connecting the Controller

The controller connection cables are attached on the robot. (Standard cable: 3 m)

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.

z Be sure to connect to the robot of the serial number specified on the front panel of the controller.

z Before connecting or disconnecting a cable, always turn off the power to the controller.

z Installing the connectors into the wrong sockets may cause the robot to malfunction. Be sure to

z If the connectors are not inserted securely, the robot may malfunction and generate the risk of

Warning

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.

Connecting/disconnecting a cable with the power supplied to the controller may cause the robot to malfunction, resulting in a serious accident.

check the designation on the cable with that on the controller panel before plugging in any connector.

danger. Be sure to affix each connector with the supplied screws.

Robot designation label

Robot serial number

18

• 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.

• If you are using the brake type specification (optional), provide a dedicated DC power supply.

The brake must not share the I/O power supply or the power supply for the secondary circuit. The brake power supply requires an output voltage of 24 VDC ± 10% and a current capacity approximately 5 watts.

24 VDC power supply input

Controller (Brake type specification)

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.

19

PG cable (outside robot)

M cable (outside robot)

Controller (Non-brake type specification)

φ3 quick joint (white)

φ3 quick joint (black)

Standard cable length: 3 m

To air tube (provided by user)

U cable (outside robot)

cable for user wiring

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

Robot-end connector Controller-end connector

M cable

PG cable

U cable

User wiring terminal U1 to U8, LED+24V, LEDG24V, FG

20

z Before connecting or disconnecting a cable, always turn off the power to the controller.

z Installing the connectors into the wrong sockets may cause the robot to malfunction. Be sure to

z If the connectors are not inserted securely, the robot may malfunction and generate the risk of

Warning

Connecting/disconnecting a cable with the power supplied to the controller may cause the robot to malfunction, resulting in a serious accident.

check the designation on the cable with that on the controller panel before plugging in any connector.

danger. Be sure to affix each connector with the supplied screws.

5.3 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.

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

Warning

robot.

21

6. Precautions for Use

6.1 Reference Acceleration/Deceleration Settings

Use the robot based on appropriate acceleration/deceleration settings by referring to the following graph: (1) PTP operation (Set using the SEL language commands ACCS and DCLS.)

IX120/150/180: Reference acceleration/deceleration settings for PTP operation

Reference range of maximum setting

Reference range for continuous operation

Acceleration/deceleration (%)

Carrying load mass (kg)

Moment of inertia (kg⋅mm2)

Caution

z Acceleration/deceleration settings are common to arm lengths of 120, 150 and 180 mm. z To operate the robot at the maximum acceleration/deceleration, provide a stopping period of three

seconds or more after each acceleration/deceleration.

To operate axes 1 and 2 simultaneously at full stroke, use “Reference range for continuous

z

operation” in the graph as the reference settings for maximum acceleration/deceleration. Actual acceleration/deceleration during continuous operation should be one-third the appropriate value per “Reference range for continuous operation.”

z Start from the appropriate reference setting for acceleration/deceleration during continuous operation,

and then gradually raise the value for the purpose of adjustment.

z If an overload error occurs, lower the acceleration/deceleration setting as appropriate or provide an

appropriate stopping time following each acceleration/deceleration.

z Depending on the position of the vertical axis, the robot may generate vibration when axis 1, axis 2 or

the rotational axis turns. If vibration occurs, lower the acceleration/deceleration as appropriate.

z To move the robot horizontally at high speed, keep the vertical axis as close as possible to the top

position. If the vertical axis is operated at the bottom position, the spline shaft for the ball screw will bend and the vertical axis will be disabled.

z Keep the permissible moment of inertia of axis 4 to 386 kg⋅mm z The carrying load indicates a load above the rotational center of axis 4. z Operate the robot by using an appropriate acceleration/deceleration coefficient as determined by the

mass of the tip. Failure to do so may cause the drive part to wear prematurely or may result in damage or vibration.

2

or less.

22

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

IX120/150/180: Reference acceleration/deceleration settings for CP operation

Reference range of maximum setting

Reference range for continuous operation

Acceleration/deceleration (%)

Carrying load mass (kg)

Moment of inertia (kg⋅mm

2

)

Maximum CP operation speed IX120: 300 mm/sec IX150/180: 500 mm/sec