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Horizontal Articulated Robot – IX Series
For Ceiling Mount Arm Length 500/600/700/800
Operation Manual Seventh Edition
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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.
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Table of Contents
Safety Guide .................................................................................................................... 1
Handling Precautions....................................................................................................... 8
International Standards Compliances ........................................................................... 12
1. Name of Each Part................................................................................................... 13
1.1 Robot ................................................................................................................................. 13
1.2 Labels ................................................................................................................................ 14
1.3 Label Positions ..................................................................................................................15
2. External Dimensions ................................................................................................ 16
3. Robot Operation Area .............................................................................................. 24
4. Wiring Diagram ........................................................................................................ 26
4.1 Layout Drawing.................................................................................................................. 26
4.2 230-V Circuit Components ................................................................................................27
5. Option ...................................................................................................................... 28
5.1 Absolute Reset Jig.............................................................................................................28
5.2 Flange................................................................................................................................ 28
5.3 Absolute Data Backup Battery...........................................................................................28
6. Checking after Unpacking........................................................................................ 29
6.1 Items Included in the Carton..............................................................................................29
6.2 Operation Manuals Relating to This Product.....................................................................30
6.3 How to Read Model Nameplate.........................................................................................30
6.4 How to Read Model Number .............................................................................................31
7. Specifications........................................................................................................... 32
7.1 IX-HNN50 H/60 H/70 H/80 H.......................................................................32
7.2 IX-INN50
H/60 H/70 H/80 H.........................................................................40
8. Installation Environment and Storage Environment ................................................. 48
8.1 Installation Environment ....................................................................................................48
8.2 Installation Platform ........................................................................................................... 48
8.3 Storage/Preservatoin Environment ...................................................................................49
9. How to Install............................................................................................................ 50
9.1 Installation Posture............................................................................................................ 50
9.2 Notes on Installation ..........................................................................................................51
9.3 Installing the Robot............................................................................................................ 5 3
10. Connecting the Controller ........................................................................................ 54
11. Checking after Installation........................................................................................ 57
12. Precautions for Use ................................................................................................. 58
12.1 Setting the Acceleration/Deceleration ...............................................................................58
12.2 Push Force of the Vertical Axis .........................................................................................62
12.3 Tools .................................................................................................................................. 63
12.4 Carrying Load .................................................................................................................... 65
12.5 User Wiring and Piping......................................................................................................66
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13. Maintenance and Inspection.....................................................................................68
13.1 Inspection Items and Periods............................................................................................ 68
13.2 Ball Screw Spline Grease Supply .....................................................................................
13.2.1 Applicable Grase and Supply Period.......................................................................70
13.2.2 Grease Supply ........................................................................................................ 71
13.2 Battery Replacement .........................................................................................................70
13.2.1 Preparation ..............................................................................................................70
13.2.2 Replacement Procedure..........................................................................................71
13.3 Check for Looseness of Arm Attachment Screws ............................................................72
13.4 Replacement of Absolute Backup Battery ........................................................................73
13.4.1 Preparation ..............................................................................................................73
13.4.2 Replacement Procedure .........................................................................................74
13.5 Third Axis Timing Belt Visual Check ................................................................................. 76
13.6 How to Measure Lost Motion ............................................................................................ 77
13.7 Forth Axis Timing Belt Visual Check................................................................................. 79
13.8 Absolute Encoder Reset Method.......................................................................................80
13.8.1 Preparation for Absolute Reset ...............................................................................80
13.8.2 Starting the Absolute Reset Menu...........................................................................81
13.8.3 Absolute Reset Procedure for Arm 1 or 2................................................................82
13.8.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis ..........................87
70
14. Warranty Period and Scope of Warranty ................................................................. 95
14.1 Warranty Period ..................................................................................................................
14.2 Scope of Warranty...............................................................................................................
14.3 Honoring the Warranty........................................................................................................
14.4 Limited Liabil .......................................................................................................................
14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications..................................................................................................................
14.6 Other Items Excluded from Warranty......................................................................................
95
95
95
95
96
96
Change History .............................................................................................................. 97
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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.
1 Model
Operation
Description
Selection
Description
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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No.
Operation
Description
Description
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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No.
Operation
Description
4 Installation
and Start
Description
(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 0.5mm
2
(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 100 or below).
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No.
4 Installation
Operation
Description
and Start
Description
(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.
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No.
Operation
Description
Description
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.
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No.
8 Maintenance
Operation
Description
and Inspection
Description
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.
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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
Warning
Caution
Notice
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, may result in minor injury or property
damage.
This indicates lower possibility for the injury, but should be kept to
use this product properly.
Danger
Warning
Caution
Notice
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Handling Precautions
1. Repetitive Positioning Accuracy Does Not Change Even If the
Positioning Width is Changed.
Repetitive positioning accuracy does not change even if the positioning width is changed.
If the positioning width is narrower than the default value, the repetitive positioning accuracy 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.
Make sure to attach the Horizontal Articulated Robot properly by
2.
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.
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]
(1) Ceiling mount specification (2) Inverse specification
Eyebolt
Transportatin stay
Cables
Controller,
accessories,
etc. (other than
robot main
Arm fixing
plate
Controller,
accessories,
etc. (other than
robot main
Arm fixing plate
Cables
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CautionWarning
• 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 due 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.
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5. Transportation
5.1 IX-HNN50H/60H/70H/80H
Use a dolly, forklift, crane, etc., to transport the robot.
When transporting the robot, move the robot slowly by paying attention to the balance of the robot and being
careful not to apply vibration or shock.
5.1.1 Transporting the Ceiling Specification
Remove the arm locking plates and let arms 1 and 2 extend straight.
Loop the cables around the base and secure them with adhesive tape, etc., or secure the cables to the
transporting stays with adhesive tape, etc.
If a crane is used, install the supplied eye-bolts (4 pcs) on the transporting stays. Remove the arm locking plates,
let arms 1 and 2 extend straight, and transport the robot in the posture shown below.
Rope
10
Transporting stay
Remove the arm locking stay
and let arms extend straight.
Transporting posture of ceiling specification using eye-bolts
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5.2 IX-INN50H/60H/70H/80H
Secure the arms with arm locking plates, and loop the cables around the base and secure them with adhesive
tape, etc.
If a crane is used, install the supplied eye-bolts (2 pcs) on the robot and transport the robot using the eye-bolts.
Remove the top cover of arm 1 and install the eye-bolts in the positions shown in the figure.
IX-INN50H/60 07NNI-XIH H/80H
Remove the cover and install the
supplied eye-bolts in the
positions shown in the figure.
Remove the cover and install the
supplied eye-bolts in the
positions shown in the figure.
Secure each arm with a plate.
Loop the cables around the base
and secure them with tape, etc.
landing surface.
Must be higher than the
Secure each arm with a plate.
WarningDanger
• It is dangerous not to secure the cables because they may be dragged and catch your feet.
• Do not attempt to transport or move the robot by directly carrying it, because you may hurt your back or
drop the robot onto your feet.
• If the robot drops during transport you may be pinned down and sustain serious injury.
• Never stand underneath the robot while it is suspended,
• Use an appropriate hoist and ropes whose payload is sufficiently greater than the mass of the robot.
• If any machine or means is used that requires a specified qualification, it must be operated by a person
having the required qualification.
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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
○○
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1. Name of Each Part
p
A
A
A
A
A
A
A
1.1 Robot
1. Name of Each Part
User connector
Indicator lamp (LED)
Spacer for user
art installation
BK switch (brake
release switch)
Mechanical stopper for
axis 3 (vertical axis)
Ball screw
spline shaft
xis 3
(vertical axis)
Cover
(arm 2)
Mechanical
stopper for axis
3 (vertical axis)
rm 2
End-face cover (arm 1)
User piping 4, black
User piping
xis 4
(rotational axis)
Panel
xis 2
User piping 6, red
User piping 6, yellow
4, white
Reference
surface
Base
Mechanical
stopper for
arm 2
rm 1
Wiring duct
M cable (outside robot)
PG cable (outside robot)
U cable (outside robot)
ir tubes (4 x 2 pcs, 6 x 2 pcs)
BK power-supply cable (outside
robot)
Cover (base)
Mechanical
stopper for
arm 1, arm 2
xis 1
Cover (arm 1)
View B
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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
1. Name of Each Part
(2) Labels on the Controller
Prohibition of entry into
the operation area
Robot model nameplate
Caution/warning on
handling of the controller
Warning on handling of
the vertical axis
CE-certified robot
(Provided only for CE-certified models)
Designation of the connected robot
Warning against
electric shock
Controller model nameplate
(Other than CE-certified models)
WarningDanger
Failure to observe the cautionary information provided on the labels may result in serious injury or damage
to the robot.
14
Controller model nameplate
(CE-certified models)
Caution
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1.3 Label Positions
Label Positions on the Robot
Ceiling mount
specification
Warning on handling
of the vertical axis
Inverse
specification
Warning on handling
of the vertical axis
Robot serial number
View A
Robot serial number
View A
Warning against
electric shock
CE-certified robot (Provided
only for CE-certified models)
Prohibition of entry into the operation area
Warning against
electric shock
CE-certified robot (Provided
only for CE-certified models)
1. Name of Each Part
Label Positions on the Controller
Controller serial number
Other than CE-certified models
CE-certified models
Caution/warning on handling of the controller
Prohibition of entry into the operation
Designation of the
connected robot
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A
A
A
)
2. External Dimensions
IX-HNN-50H
Reference
surface
235 (recommended
mounting dimension)
(Mounting center)
2. External Dimensions
Reference
surface
112
146
Quick joint for
6 air tube
Quick joint for
4 air tube
User connector (Dsub connector for
user wiring, 25-pin,
socket, fastener
size M2.6)
LM (*3)
BK switch
(brake release
switch
Spacer
Outer diameter
7, height 10,
M4, depth 5 (*2)
5.5 (Mechanical end)
5 (Mechanical end)
44
red yellow
white
black
14 hollow
Detail view of panel (1/2) Detail vew of arm tip (1/2)
rm 2
stopper
3-M4, depth 8
Same on opposite
side (*1)
rm 1,
arm2
stopper
4-11, large
24 counterbored, depth 5
Section A-A
B: Detail view of base mount
*1: The holes denoted by “3-M4, depth 8” are through holes
connecting both sides of the arm. Take note that long mounting
screws may contact the internal mechanism parts.
*2: The external force acting upon the spacer shall be kept to 30 N or
less in axial direction or 2 Nm or less in rotating direction (per
spacer).
*3: The LED will actuate when the user wires the applicable lines in
such a way that 24 VDC is applied to the user-wired LED terminal
upon I/O output of a signal from the controller.
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IX-HNN-60H
A
r
Reference
surface
112
2. External Dimensions
235 (recommended
mounting dimension)
(Mounting center)
Reference
surface
146
44
14 hollow
Detail view of arm tip (1/2)
Section A-A
5.5 (Mechanical end)
5 (Mechanical end)
Quick joint for
6 air tube
Quick joint for
4 air tube
User connector (Dsub connector for
user wiring, 25-pin,
socket, fastener
size M2.6)
Red ALM (*3)
Brake release
switch
Space
Outer diameter
7, height 10,
M4, depth 5
(*2)
rm 2
stopper
3-M4, depth 8
Same on opposite
side (*1)
red yellow
white
black
Detail view of panel (1/2)
Arm 1,
arm2
stopper
4-11, large
24 counterbored, depth 5
B: Detail View of Base Mount
*1: The holes denoted by “3-M4, depth 8” are through holes
connecting both sides of the arm. Take note that long mounting
screws may contact the internal mechanism parts.
*2: The external force acting upon the spacer shall be kept to 30 N or
less in axial direction or 2 N-m or less in rotating direction (per
spacer).
*3: The LED will actuate when the user wires the applicable lines in
such a way that 24 VDC is applied to the user-wired LED terminal
upon I/O output of a signal from the controller.
17
Page 24
IX-HNN-70H
A
A
A
r
A
2. External Dimensions
144
188
Reference
surface
310 (recommended
mounting dimension)
Reference
surface
6 (Mechanical end)
17.5 (Mounting center)
14 hollow
Detail view of arm tip (1/2)
Section A-A
6 (Mechanical end)
Quick joint for
6 air tube
Quick joint for
4 air tube
User connector (Dsub connector for
user wiring, 25-pin,
socket, fastener
size M2.6)
BK switch
(brake release
Space
Outer diameter
7, height 10,
M4, depth 5
(*2)
LM (*3)
3-M4, depth 8
Same on
opposite side
(*1)
* The inverse specification is installed upside down.
red
yellow
white
black
Detail view of panel (1/2)
rm 2
stopper
rm 1
stopper
rm 2
stopper
4-14, board
30 counterbored, depth 5
B: Detail view of base mount
*1: The prepared holes denoted by “3-M4, depth 8” are through
holes connecting the side faces of the arm.
*2: The external force acting upon the spacer shall be kept to
30 N or less in axial direction or 2 N-m or less in rotating
direction (per spacer).
*3: The LED will actuate when the user wires the applicable
lines in such a way that 24 VDC is applied to the user-wired
LED terminal upon output of a signal from the controller.
18
Page 25
IX-HNN-80H
A
A
A
r
A
2. External Dimensions
310 (recommended
mounting dimension)
(144)
(188)
Reference
surface
Reference
6 (Mechanical end)
surface
(Mounting center)
6 (Mechanical end)
3-M4, depth 8
Same on opposite
side (*1)
rm 1
stopper
rm 2
stopper
rm 2
stopper
* The inverse specification is installed upside down.
4-14, board
6 (Mechanical end)
24 counterbored, depth 5
Quick joint for
6 air tube
6 (Mechanical end)
Quick joint for
4 air tube
User connector (Dsub connector for
user wiring, 25-pin,
socket, fastener
size M2.6)
red yellow
white
black
B: Detail view of base mount
LM (*3)
*1: The prepared holes denoted by “3-M4, depth 8” are through
holes connecting the side faces of the arm.
*2: The external force acting upon the spacer shall be kept to
30 N or less in axial direction or 2 N-m or less in rotating
direction (per spacer).
*3: The LED will actuate when the user wires the applicable
lines in such a way that 24 VDC is applied to the user-wired
LED terminal upon output of a signal from the controller.
18 hollow
Section A-A
BK switch
(brake release
Space
Outer diameter
7, height 10,
M4, depth 5
(*2)
Detail view of panel (1/2)Detail view of arm tip (1/2)
19
Page 26
A
A
)
IX-INN-50H
Reference
surface
2. External Dimensions
112
Reference
surface
235 (recommended
mounting dimension)
(Mounting center)
146
Quick joint for
6 air tube
Quick joint for
4 air tube
User connector (Dsub connector for
user wiring, 25-pin,
socket, fastener
size M2.6)
LM (*3)
BK switch
(brake release
switch
Spacer
Outer diameter
7, height 10,
M4, depth 5 (*2)
5.5 (Mechanical end) 5 (Mechanical end)
44
red yellow
white
black
14 hollow
Detail view of panel (1/2) Detail view of arm tip (1/2)
rm 2
stopper
3-M4, depth 8
Same on
opposite side (*1)
Arm 1,
arm2
stopper
4-11, large
24 counterbored, depth 5
Section A-A
B: Detail view of base mount
*1: The holes denoted by “3-M4, depth 8” are through holes
connecting both sides of the arm. Take note that long mounting
screws may contact the internal mechanism parts.
*2: The external force acting upon the spacer shall be kept to 30 N or
less in axial direction or 2 N-m or less in rotating direction (per
spacer).
*3: The LED will actuate when the user wires the applicable lines in
such a way that 24 VDC is applied to the user-wired LED terminal
upon I/O output of a signal from the controller.
20
Page 27
A
r
IX-INN-60H
Reference
surface
112
2. External Dimensions
235 (recommended
mounting dimension)
(Mounting center)
Reference
surface
146
44
Section A-A
14 hollow
Detail view of arm tip (1/2)
5.5 (Mechanical end)
5 (Mechanical end)
Quick joint for
6 air tube
Quick joint for
4 air tube
User connector (Dsub connector for
user wiring, 25-pin,
socket, fastener
size M2.6)
Red ALM (*3)
Brake release
switch
Space
Outer diameter
7, height 10,
M4, depth 5
(*2)
rm 2
stopper
3-M4, depth 8
Same on opposite
side (*1)
red yellow
white
black
Detail view of panel (1/2)
Arm 1,
arm2
stopper
4-11, large
24 counterbored, depth 5
B: Detail view of base mount
*1: The holes denoted by “3-M4, depth 8” are through holes
connecting both sides of the arm. Take note that long mounting
screws may contact the internal mechanism parts.
*2: The external force acting upon the spacer shall be kept to 30 N or
less in axial direction or 2 N-m or less in rotating direction (per
spacer).
*3: The LED will actuate when the user wires the applicable lines in
such a way that 24 VDC is applied to the user-wired LED terminal
upon I/O output of a signal from the controller.
21
Page 28
IX-INN-70H
A
A
A
r
A
310 (recommended
mounting dimension)
2. External Dimensions
144
188
6(Mechanical end)
Reference
surface
Reference
surface
6(Mechanical end) 6 (Mechanical end)
3-M4, depth 8
Same on
opposite side
(*1)
rm 2
stopper
rm 1
stopper
(Mounting center)
rm 2
stopper
* The inverse specification is installed upside down.
Quick joint for
6 air tube
6 (Mechanical end)
Quick joint for
4 air tube
User connector (Dsub connector for
user wiring, 25-pin,
socket, fastener
size M2.6)
red yellow
black
white
4-14, large
30 counterbored, depth 5
B: Detail view of base mount
LM (*3)
*1: The prepared holes denoted by “3-M4, depth 8” are through
holes connecting the side faces of the arm.
*2: The external force acting upon the spacer shall be kept to
30 N or less in axial direction or 2 Nm or less in rotating
direction (per spacer).
*3: The LED will actuate when the user wires the applicable
lines in such a way that 24 VDC is applied to the user-wired
LED terminal upon output of a signal from the controller.
18 hollow
Section A-A
BK switch
(brake release
Space
Outer diameter
7, height 10,
M4, depth 5
(*2)
Detail view of panel (1/2)Detail view of arm tip (1/2)
22
Page 29
IX-INN-80H
A
A
A
r
A
2. External Dimensions
235 (recommended
mounting dimension)
144
188
Reference
surface
Reference
6 (Mechanical end)
surface
(Mounting center)
6 (Mechanical end)
3-M4, depth 8
Same on opposite
side (*1)
rm 1
stopper
rm 2
stopper
rm 2
stopper
* The inverse specification is installed upside down.
4-14, large
6 (Mechanical end)
30 counterbored, depth 5
Quick joint for
6 air tube
6 (Mechanical end)
Quick joint for
4 air tube
User connector (Dsub connector for
user wiring, 25-pin,
socket, fastener
size M2.6)
red yellow
white
black
B: Detail view of base mount
LM (*3)
*1: The prepared holes denoted by “3-M4, depth 8” are through
holes connecting the side faces of the arm.
*2: The external force acting upon the spacer shall be kept to
30 N or less in axial direction or 2 N-m or less in rotating
direction (per spacer).
*3: The LED will actuate when the user wires the applicable
lines in such a way that 24 VDC is applied to the user-wired
LED terminal upon output of a signal from the controller.
18 hollow
Section A-A
BK switch
(brake release
Space
Outer diameter
7, height 10,
M4, depth 5
(*2)
Detail view of panel (1/2)Detail view of arm end (1/2)
23
Page 30
3. Robot Operation Area
3. Robot Operation Area
IX-HNN50H, IX-INN50H
(Area of prohibited entry)
Movement range
IX-HNN60H, IX-INN60H
(Area of prohibited entry)
Range of stopper position
24
Movement range
Range of stopper position
Page 31
IX-HNN70H, IX-INN70H
3. Robot Operation Area
(Area of prohibited entry)
Movement range
IX-HNN80H, IX-INN80H
Range of stopper position
(Area of prohibited entry)
Movement range
Range of stopper position
25
Page 32
4. Wiring Diagram
4.1 Layout Drawing
4. Wiring Diagram
Alarm LED
Axis 2 (arm 2)
servo motor
PG cable (inside robot)
M cable (inside robot)
U cable (inside robot)
Axis 3 (Z-axis)
servo motor with
brake
Axis 4 (R-axis)
servo motor
FG (to D-sub housing)
Air joint, black (4)
Air joint, Yellow (6)
Air joint, red (6)
Axis 3/4 (Z/R) brake release switch
D-sub connector for user wiring (15-pin, socket)
Air joint, white (4)
cable
Flexible
Servo motor for
axis 1 (arm 1)
Board
6)
FG (To base)
Air joint, yellow (
Air joint, red (6)
Air joint, black (4)
Air joint, white (4)
Cable fix cap (Capcon)
M cable (outside robot)
PG cable (outside robot)
BK power cable (outside robot)
U cable (outside robot)
Wiring/Piping Diagram (Arm Length: 500/600/700/800)
4. Wiring Diagram
26
dedicated 24-V power supply is required. The 24-V power supply for I/O or any other power
supply used on the secondary side (low-pressure side) cannot be used.
Controller Inside base Inside arm 2
terminals
Brake power
terminals
User wiring
Notes
(1) The actual positions of board connectors vary from this drawing.
(2) The brake power-supply circuit is provided on the primary side (high-pressure side), so a
signal.
(3) To operate the alarm LED, the user must provide a circuit that uses the controller I/O output
Page 33
4.2 230-V Circuit Components
IX-HNN50H/60H, IX-INN50H/60H
No. Code name Model number Manufacturer Remarks
1 Axis 1 servo motor TS4609 N2077 E206
2 Axis 2 servo motor TS4607 N2077 E201
Axis 3 servo motor
3
w/ brake
Axis 4 servo motor
4
w/ brake
M cable (inside
5
robot)
M cable (outside
6
robot)
IX-HNN70H/80H, IX-INN70H/80H
No. Code name Model number Manufacturer Remarks
1 Axis 1 servo motor TS4614 N2077 E209
2 Axis 2 servo motor TS4609 N2077 E206
Axis 3 servo motor
3
w/ brake
Axis 4 servo motor
4
w/ brake
M cable (inside
5
robot)
M cable (outside
6
robot)
TS4607 N7077 E201
TS4606 N7077 E201
IAI
IAI
TS4609 N7077 E206
TS4607 N7077 E201
IAI
IAI
Tamagawa
Seiki
Tamagawa
Seiki
AC servo motor, 60, 400 W, key
groove, CE certified
AC servo motor, 60, 200 W, key
groove, CE certified
AC servo motor, 60, 200 W, w/ brake,
round shaft, CE certified
AC servo motor, 60, 100 W, key
groove, CE certified
Wire: 300-V/105C (rated) AWG18
(0.84e) flexible cable, UL VW-1/c-UL FT1
Wire: 300-V/80C (rated) AWG18 (0.89e)
flexible cable, UL VW-1/c-UL FT-1
800, 750 W, key groove
CE certified
60, 400 W, key groove
CE-certified
60, 400 W, round shaft with brake
CE-certified
60, 200 W, round shaft with brake
CE-certified
Wire: 300-V/105C rated AWG18 (0.84e)
flexible cable, UL VW-1/c-UL FT-1
Wire: 300-V/80C rated AWG18 (0.89e)
flexible cable, UL VW-1/c-UL FT-1
4. Wiring Diagram
27
Page 34
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.
5. Option
Model number
JG-2 For arm length 500/600
JG-3 For arm length 700/800
Remarks
5.2 Flange
This flange is used to install a load at the end of the Z-axis arm.
Model number Remarks
IX-FL-1 For arm length 500/600
IX-FL-3 For arm length 700/800
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 Remarks
AB-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.
28
Page 35
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
1 Robot
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
Refer to 6.3, "How to Read Model Nameplate"
and 6.4, "How to Read Model Number."
skrameRrebmunledoMmetI.oN
6. Checking after Unpacking
29
Page 36
6.2 Operation Manuals Relating to This Product
r
r
1 Operation Manual for XSEL-PX/QX Controller ME0152
2 Operation Manual for XSEL-R/S/RX/SX/RXD/SXD Controller
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 ME0154
5 Operation Manual for Teaching Pendant SEL-T/TD/TG ME0183
6 Operation Manual for Teaching Pendant IA-T-X/XD ME0160
7 Operation Manual for DeviceNet ME0124
8 Operation Manual for CC-Link ME0123
9 Operation Manual for PROFIBUS ME0153
10 Operation Manual for X-SEL Ethernet ME0140
11 Operation Manual for Multi-point I/O Board ME0138
12 Operation Manual for Dedicated Terminal Block for Multi-point I/O Board ME0139
13 Operation Manual for IA Net
ME0313
ME0307
6.3 How to Read Model Nameplate
.oNlortnoCmetI.oN
6. Checking after Unpacking
Model numbe
Serial numbe
30
Page 37
6.4 How to Read Model Number
IX-HNN7020H-5L-T2-JY-**
<Series>
SCARA robot
<Type>
Ceiling mount type
Arm length 500 mm/Z-axis 200 mm
HNN5020H
Arm length 600 mm/Z-axis 200 mm
HNN6020H
Arm length 700 mm/Z-axis 200 mm
HNN7020H
Arm length 700 mm/Z-axis 400 mm
HNN7040H
Arm length 800 mm/Z-axis 200 mm
HNN8020H
Arm length 800 mm/Z-axis 400 mm
HNN8040H
Ceiling mount inverse type
Arm length 500 mm/Z-axis 200 mm
INN5020H
Arm length 600 mm/Z-axis 200 mm
INN6020H
Arm length 700 mm/Z-axis 200 mm
INN7020H
Arm length 700 mm/Z-axis 400 mm
INN7040H
Arm length 800 mm/Z-axis 200 mm
INN8020H
Arm length 800 mm/Z-axis 400 mm
INN8040H
Identification for IAI use only
<Option>
JY: Joint cable specification
<Applicable controller>
T2: XSEL-PX/QX
<Cable length>
5L: 5 m
10L: 10 m
(Note 1)
6. Checking after Unpacking
Note 1 This may be displayed for the manufacturing reason.
(This is not to indicate the manufacturing model code.)
31
Page 38
7. Specifications
7.1 IX-HNN50H/60H/70H/80H
IX-HNN-50H (arm length 500, ceiling mount)
Item Specifications
Model number IX-HNN50H-**L
Degree of freedom Four degrees of freedom
Overall arm length 500
Arm 1 length 250
Arm 2 length
Drive method
Motor capacity
Movement
7. Specifications
range
Maximum
operating
speed (*2)
Positioning
repeatability
precision (*3)
Cycle time (*4) sec 0.39
Load capacity
Axis 3 (vertical
axis)
Push force
control range
Permissible
load on axis 4
Permissible tool diameter (*6) mm
Home detection Absolute
User wiring
Alarm indicator (*7) One small, red LED indicator (rated voltage: 24 V)
User piping
mm
250
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
Axis 4 (rotational axis)
Axis 1 (arm 1) 400
Axis 2 (arm 2) 200
Axis 3 (vertical axis) 200
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
Axis 3 (vertical axis) (*1) mm 200
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree/sec 1857
Axis 1 + Axis 2
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree
Rated 2
Maximum
Upper limit (*8) 181.0 (18.5) Push torque limit 70%
Lower limit (*9)
Permissible moment of inertia
(*5)
Permissible torque N-m (kgf-cm) 3.7 (38.1)
W
degree
mm/sec
mm
kg
N (kgf)
2
0.06
kg-m
AC servo motor with brake + Reduction gear + Belt +
Spline
100
120
135
360
6381
1473
0.010
0.010
0.005
10
93 (9.5) Push torque limit 40%
100
D-sub 25-pin connector with 25-core AWG26 shielded
cable (socket)
Two air tubes (outer diameter: 6, inner diameter: 4)
(normal service pressure: 0.8 MPa)
Two air tubes (outer diameter: 4, inner diameter: 2.5)
(normal service pressure: 0.8 MPa)
32
Page 39
Item Specifications
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40°C, humidity: 20 to 85%RH or
less (non-condensing)
sselro000,1medutitlA
BdesioN 73
Robot weight kg
Brake power source for main unit
Controller
Power supply 230 V 50/60 Hz 8 A
Allowable supply voltage
fluctuation
W
%
DC24VI10% 20W
30.5
±10
Overvoltage category (IEC60664-1) Category III
3eergednoitulloP)1-46606CEI(eergednoitulloP
*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)
*2: Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP
operation.
*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.
*4: Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.
*5: Equivalent allowable inertial moment at the center of rotation of axis 4. The offset from the center of
rotation of axis 4 to the center of gravity of the tool shall be 50 mm or less. (Fig. 3)
If the center of gravity of the tool deviates from the center of rotation of axis 4, the acceleration setting
needs to be decreased as necessary.
*6: If the allowable tool diameter is exceeded, the tool will interfere with the robot within the robot’s operation
area. (Fig. 4)
*7: The alarm LED will actuate when the user provides a circuit that applies 24 VDC to the user-wired LED
terminal upon I/O output of a signal from the controller.
*8: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.
*9: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.
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 70%.
7. Specifications
Top
position
Tool
(Fig. 1)
Bottom
position
(Fig. 2)
Center of
rotational axis
Tool
Tool
Tool’s center
of gravity
(Fig. 3)
Center of
rotational axis
Tool
φ 100
(Fig. 4)
Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775
33
Page 40
IX-HNN-60H (arm length 600, ceiling mount)
Item Specifications
Model number IX-HNN60H-**L
Degree of freedom Four degrees of freedom
Overall arm length 600
Arm 1 length 350
Arm 2 length
Drive method
Motor capacity
Movement
range
Maximum
operating
7. Specifications
speed (*2)
Positioning
repeatability
precision (*3)
Cycle time (*4) sec 0.43
Load capacity
Axis 3 (vertical
axis)
Push force
control range
Permissible
load on axis 4
Permissible tool diameter (*6) mm
Home detection Absolute
User wiring
Alarm indicator (*7) One small, red LED indicator (rated voltage: 24 V)
User piping
mm
250
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
Axis 4 (rotational axis)
AC servo motor with brake + Reduction gear + Belt +
Spline
Axis 1 (arm 1) 400
Axis 2 (arm 2) 200
Axis 3 (vertical axis) 200
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
W
degree
100
120
145
Axis 3 (vertical axis) (*1) mm 200 (option: 300)
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
mm/sec
Axis 3 (vertical axis)
360
7232
1473
Axis 4 (rotational axis) degree/sec 1857
Axis 1 + Axis 2
Axis 3 (vertical axis)
mm
Axis 4 (rotational axis) degree
Rated 2
Maximum
kg
0.010
0.010
0.005
10
Upper limit (*8) 181.0 (18.5) Push torque limit 70%
Lower limit (*9)
Permissible moment of inertia
(*5)
N (kgf)
2
0.06
kg-m
93 (9.5) Push torque limit 40%
Permissible torque N-m (kgf-cm) 3.7 (38.1)
100
D-sub 25-pin connector with 25-core AWG26 shielded
cable (socket)
Two air tubes (outer diameter: 6, inner diameter: 4)
Two air tubes (outer diameter: 4, inner diameter: 2.5)
(normal service pressure: 0.8 MPa)
(normal service pressure: 0.8 MPa)
34
Page 41
Item Specifications
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40°C, humidity: 20 to 85%RH or
less (non-condensing)
sselro000,1medutitlA
BdesioN 73
Robot weight kg 31.5
Brake power source for main unit
Controller
Power supply 230 V 50/60 Hz 8 A
Allowable supply voltage
fluctuation
W
%
DC24VI10% 20W
±10
Overvoltage category (IEC60664-1) Category III
3eergednoitulloP)1-46606CEI(eergednoitulloP
*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)
*2: Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP
operation.
*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.
*4: Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.
*5: Equivalent allowable inertial moment at the center of rotation of axis 4. The offset from the center of
rotation of axis 4 to the center of gravity of the tool shall be 50 mm or less. (Fig. 3)
If the center of gravity of the tool deviates from the center of rotation of axis 4, the acceleration setting
needs to be decreased as necessary.
*6: If the allowable tool diameter is exceeded, the tool will interfere with the robot within the robot’s operation
area. (Fig. 4)
*7: The alarm LED will actuate when the user provides a circuit that applies 24 VDC to the user-wired LED
terminal upon I/O output of a signal from the controller.
*8: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.
*9: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.
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 70%.
7. Specifications
Top
position
Tool
(Fig. 1)
Bottom
position
(Fig. 2)
Center of
rotational axis
Tool
Tool
Tool’s center
of gravity
(Fig. 3)
Center of
rotational axis
Tool
φ 100
(Fig. 4)
Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775
35
Page 42
IX-HNN-70H (arm length 700, ceiling mount)
Item Specifications
Model number IX-HNN70H-**L-T1
Degree of freedom Four degrees of freedom
Overall arm length 700
Arm 1 length 350
Arm 2 length
Drive method
Motor capacity
Movement
range
Maximum
operating
7. Specifications
speed (*2)
Positioning
repeatability
precision (*3)
Cycle time (*4) sec 0.42
Load capacity
Axis 3 (vertical
axis)
Push force
control range
Permissible
load on axis 4
Permissible tool diameter (*6) mm
Home detection Absolute
User wiring
Alarm indicator (*7) One small, red LED indicator (rated voltage: 24 V)
User piping
mm
350
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
Axis 4 (rotational axis)
AC servo motor with brake + Reduction gear + Belt +
Spline
Axis 1 (arm 1) 750
Axis 2 (arm 2) 400
Axis 3 (vertical axis) 400
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
W
degree
200
125
145
Axis 3 (vertical axis) (*1) mm 200 (option: 400)
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
mm/sec
Axis 3 (vertical axis)
360
7010
1614
Axis 4 (rotational axis) degree/sec 1266
Axis 1 + Axis 2
Axis 3 (vertical axis)
mm
Axis 4 (rotational axis) degree
Rated 5
Maximum
kg
0.015
0.010
0.005
20
Upper limit (*8) 304 (31.0) Push torque limit 70%
Lower limit (*9)
Permissible moment of inertia
(*5)
N (kgf)
2
0.1
kg-m
146 (14.9) Push torque limit 40%
Permissible torque N-m (kgf-cm) 11.7 (119.3)
100
D-sub 25-pin connector with 25-core AWG26 shielded
cable (socket)
Two air tubes (outer diameter: 6, inner diameter: 4)
Two air tubes (outer diameter: 4, inner diameter: 2.5)
(normal service pressure: 0.8 MPa)
(normal service pressure: 0.8 MPa)
36
Page 43
Item Specifications
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40°C, humidity: 20 to 85%RH or
less (non-condensing)
sselro000,1medutitlA
BdesioN 74
Robot weight kg 58
Brake power source for main unit
Controller
Power supply 230 V 50/60 Hz 15 A
Allowable supply voltage
fluctuation
W
%
DC24VI10% 20W
±10
Overvoltage category (IEC60664-1) Category III
3eergednoitulloP)1-46606CEI(eergednoitulloP
*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)
*2: Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP
operation.
*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.
*4: Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.
*5: Equivalent allowable inertial moment at the center of rotation of axis 4. The offset from the center of
rotation of axis 4 to the center of gravity of the tool shall be 50 mm or less. (Fig. 3)
If the center of gravity of the tool deviates from the center of rotation of axis 4, the acceleration setting
needs to be decreased as necessary.
*6: If the allowable tool diameter is exceeded, the tool will interfere with the robot within the robot’s operation
area. (Fig. 4)
*7: The alarm LED will actuate when the user provides a circuit that applies 24 VDC to the user-wired LED
terminal upon I/O output of a signal from the controller.
*8: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.
*9: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.
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 35 to 70%.
7. Specifications
Top
position
Tool
(Fig. 1)
Bottom
position
(Fig. 2)
Center of
rotational axis
Tool
Tool
Tool’s center
of gravity
(Fig. 3)
Center of
rotational axis
Tool
φ 100
(Fig. 4)
Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775
37
Page 44
IX-HNN-80H (arm length 800, ceiling mount)
Item Specifications
Model number IX-HNN80H-**L-T1
Degree of freedom Four degrees of freedom
Overall arm length 800
Arm 1 length 450
Arm 2 length
Drive method
Motor capacity
Movement
range
Maximum
operating
7. Specifications
speed (*2)
Positioning
repeatability
precision (*3)
Cycle time (*4) sec 0.43
Load capacity
Axis 3 (vertical
axis)
Push force
control range
Permissible
load on axis 4
Permissible tool diameter (*6) mm
Home detection Absolute
User wiring
Alarm indicator (*7) One small, red LED indicator (rated voltage: 24 V)
User piping
mm
350
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
Axis 4 (rotational axis)
AC servo motor with brake + Reduction gear + Belt +
Spline
Axis 1 (arm 1) 750
Axis 2 (arm 2) 400
Axis 3 (vertical axis) 400
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
W
degree
200
125
145
Axis 3 (vertical axis) (*1) mm 200 (option: 400)
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
mm/sec
Axis 3 (vertical axis)
360
7586
1614
Axis 4 (rotational axis) degree/sec 1266
Axis 1 + Axis 2
Axis 3 (vertical axis)
mm
Axis 4 (rotational axis) degree
Rated 5
Maximum
kg
0.015
0.010
0.005
20
Upper limit (*8) 304 (31.0) Push torque limit 70%
Lower limit (*9)
Permissible moment of inertia
(*5)
N (kgf)
2
0.1
kg-m
146 (14.9) Push torque limit 40%
Permissible torque N-m (kgf-cm) 11.7 (119.3)
100
D-sub 25-pin connector with 25-core AWG26 shielded
cable (socket)
Two air tubes (outer diameter: 6, inner diameter: 4)
Two air tubes (outer diameter: 4, inner diameter: 2.5)
(normal service pressure: 0.8 MPa)
(normal service pressure: 0.8 MPa)
38
Page 45
Item Specifications
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40°C, humidity: 20 to 85%RH or
less (non-condensing)
sselro000,1medutitlA
BdesioN 74
Robot weight kg 60
Brake power source for main unit
Controller
Power supply 230 V 50/60 Hz 15 A
Allowable supply voltage
fluctuation
W
%
DC24VI10% 20W
±10
Overvoltage category (IEC60664-1) Category III
3eergednoitulloP)1-46606CEI(eergednoitulloP
*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)
*2: Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP
operation.
*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.
*4: Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.
*5: Equivalent allowable inertial moment at the center of rotation of axis 4. The offset from the center of
rotation of axis 4 to the center of gravity of the tool shall be 50 mm or less. (Fig. 3)
If the center of gravity of the tool deviates from the center of rotation of axis 4, the acceleration setting
needs to be decreased as necessary.
*6: If the allowable tool diameter is exceeded, the tool will interfere with the robot within the robot’s operation
area. (Fig. 4)
*7: The alarm LED will actuate when the user provides a circuit that applies 24 VDC to the user-wired LED
terminal upon I/O output of a signal from the controller.
*8: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.
*9: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.
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 35 to 70%.
7. Specifications
Top
position
Tool
(Fig. 1)
Bottom
position
(Fig. 2)
Center of
rotational axis
Tool
Tool
Tool’s center
of gravity
(Fig. 3)
Center of
rotational axis
Tool
φ 100
(Fig. 4)
Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775
39
Page 46
7.2 IX-INN50H/60H/70H/80H
IX-INN-50H (arm length 500, inverse)
Item Specifications
Model number IX-INN50H-**L
Degree of freedom Four degrees of freedom
Overall arm length 500
Arm 1 length 250
Arm 2 length
Drive method
Motor capacity
Movement
range
7. Specifications
Maximum
operating
speed (*2)
Positioning
repeatability
precision (*3)
Cycle time (*4) sec 0.39
Load capacity
Axis 3 (vertical
axis)
Push force
control range
Permissible
load on axis 4
Permissible tool diameter (*6) mm
Home detection Absolute
User wiring
Alarm indicator (*7) One small, red LED indicator (rated voltage: 24 V)
User piping
mm
250
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
Axis 4 (rotational axis)
Axis 1 (arm 1) 400
Axis 2 (arm 2) 200
Axis 3 (vertical axis) 200
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
Axis 3 (vertical axis) (*1) mm 200
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree/sec 1857
Axis 1 + Axis 2
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree
Rated 2
Maximum
Upper limit (*8) 181 (18.5) Push torque limit 70%
Lower limit (*9)
Permissible moment of inertia
(*5)
Permissible torque N-m (kgf-cm) 3.7 (38.1)
W
degree
mm/sec
mm
kg
N (kgf)
2
0.06
kg-m
AC servo motor with brake + Reduction gear + Belt +
Spline
100
120
135
360
6381
1473
0.010
0.010
0.005
10
93 (9.5) Push torque limit 40%
100
D-sub 25-pin connector with 25-core AWG26 shielded
cable (socket)
Two air tubes (outer diameter: 6, inner diameter: 4)
(normal service pressure: 0.8 MPa)
Two air tubes (outer diameter: 4, inner diameter: 2.5)
(normal service pressure: 0.8 MPa)
40
Page 47
Item Specifications
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40°C, humidity: 20 to 85%RH or
less (non-condensing)
sselro000,1medutitlA
BdesioN 73
Robot weight
Brake power source for main unit W
Controller
Power supply 230 V 50/60 Hz 8 A
Allowable supply voltage
fluctuation
kg
%
30.5
DC24VI10% 20W
±10
Overvoltage category (IEC60664-1) Category III
3eergednoitulloP)1-46606CEI(eergednoitulloP
*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)
*2: Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP
operation.
*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.
*4: Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.
*5: Equivalent allowable inertial moment at the center of rotation of axis 4. The offset from the center of
rotation of axis 4 to the center of gravity of the tool shall be 50 mm or less. (Fig. 3)
If the center of gravity of the tool deviates from the center of rotation of axis 4, the acceleration setting
needs to be decreased as necessary.
*6: If the allowable tool diameter is exceeded, the tool will interfere with the robot within the robot’s operation
area. (Fig. 4)
*7: The alarm LED will actuate when the user provides a circuit that applies 24 VDC to the user-wired LED
terminal upon I/O output of a signal from the controller.
*8: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.
*9: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.
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 70%.
7. Specifications
Tool’s center
Tool
Bottom
position
(Fig. 1)
(Fig. 2)
Tool
Top
position
of gravity
Tool
Center of
rotational axis
(Fig. 3)
φ 100
Tool
Center of
rotational axis
(Fig. 4)
Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775
41
Page 48
IX-INN-60H (arm length 600, inverse)
Item Specifications
Model number IX-INN60H-**L
Degree of freedom Four degrees of freedom
Overall arm length 600
Arm 1 length 350
Arm 2 length
Drive method
Motor capacity
Movement
range
Maximum
operating
7. Specifications
speed (*2)
Positioning
repeatability
precision (*3)
Cycle time (*4) sec 0.43
Load capacity
Axis 3 (vertical
axis)
Push force
control range
Permissible
load on axis 4
Permissible tool diameter (*6) mm
Home detection Absolute
User wiring
Alarm indicator (*7) One small, red LED indicator (rated voltage: 24 V)
User piping
mm
250
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
Axis 4 (rotational axis)
AC servo motor with brake + Reduction gear + Belt +
Spline
Axis 1 (arm 1) 400
Axis 2 (arm 2) 200
Axis 3 (vertical axis) 200
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
W
degree
100
120
145
Axis 3 (vertical axis) (*1) mm 200 (option: 300)
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
mm/sec
Axis 3 (vertical axis)
360
7232
1473
Axis 4 (rotational axis) degree/sec 1857
Axis 1 + Axis 2
Axis 3 (vertical axis)
mm
Axis 4 (rotational axis) degree
Rated 2
Maximum
kg
0.010
0.010
0.005
10
Upper limit (*8) 181 (18.5) Push torque limit 70%
Lower limit (*9)
Permissible moment of inertia
(*5)
N (kgf)
2
0.06
kg-m
93 (9.5) Push torque limit 40%
Permissible torque N-m (kgf-cm) 3.7 (38.1)
100
D-sub 25-pin connector with 25-core AWG26 shielded
cable (socket)
Two air tubes (outer diameter: 6, inner diameter: 4)
Two air tubes (outer diameter: 4, inner diameter: 2.5)
(normal service pressure: 0.8 MPa)
(normal service pressure: 0.8 MPa)
42
Page 49
Item Specifications
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40°C, humidity: 20 to 85%RH or
less (non-condensing)
sselro000,1medutitlA
BdesioN 73
Robot weight
Brake power source for main unit
Controller
Power supply 230 V 50/60 Hz 8 A
Allowable supply voltage
fluctuation
kg
W
%
31.5
DC24VI10% 20W
±10
Overvoltage category (IEC60664-1) Category III
3eergednoitulloP)1-46606CEI(eergednoitulloP
*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)
*2: Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP
operation.
*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.
*4: Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.
*5: Equivalent allowable inertial moment at the center of rotation of axis 4. The offset from the center of
rotation of axis 4 to the center of gravity of the tool shall be 50 mm or less. (Fig. 3)
If the center of gravity of the tool deviates from the center of rotation of axis 4, the acceleration setting
needs to be decreased as necessary.
*6: If the allowable tool diameter is exceeded, the tool will interfere with the robot within the robot’s operation
area. (Fig. 4)
*7: The alarm LED will actuate when the user provides a circuit that applies 24 VDC to the user-wired LED
terminal upon I/O output of a signal from the controller.
*8: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.
*9: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.
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 70%.
7. Specifications
Tool’s center
Tool
Bottom
position
(Fig. 1)
(Fig. 2)
Tool
Top
position
of gravity
Tool
Center of
rotational axis
(Fig. 3)
φ 100
Tool
Center of
rotational axis
(Fig. 4)
Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775
43
Page 50
IX-INN-70H (arm length 700, inverse)
Item Specifications
Model number IX-INN70H-**L-T1
Degree of freedom Four degrees of freedom
Overall arm length 700
Arm 1 length 350
Arm 2 length
Drive method
Motor capacity
Movement
range
Maximum
operating
7. Specifications
speed (*2)
Positioning
repeatability
precision (*3)
Cycle time (*4) sec 0.42
Load capacity
Axis 3 (vertical
axis)
Push force
control range
Permissible
load on axis 4
Permissible tool diameter (*6) mm
Home detection Absolute
User wiring
Alarm indicator (*7) One small, red LED indicator (rated voltage: 24 V)
User piping
mm
350
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
Axis 4 (rotational axis)
AC servo motor with brake + Reduction gear + Belt +
Spline
Axis 1 (arm 1) 750
Axis 2 (arm 2) 400
Axis 3 (vertical axis) 400
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
W
degree
200
125
140
Axis 3 (vertical axis) (*1) mm 200 (option: 400)
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
mm/sec
Axis 3 (vertical axis)
360
7010
1614
Axis 4 (rotational axis) degree/sec 1266
Axis 1 + Axis 2
Axis 3 (vertical axis)
mm
Axis 4 (rotational axis) degree
Rated 5
Maximum
kg
0.015
0.010
0.005
20
Upper limit (*8) 304 (31.0) Push torque limit 70%
Lower limit (*9)
Permissible moment of inertia
(*5)
N (kgf)
2
0.1
kg-m
146 (14.9) Push torque limit 40%
Permissible torque N-m (kgf-cm) 11.7 (119.3)
100
D-sub 25-pin connector with 25-core AWG26 shielded
cable (socket)
Two air tubes (outer diameter: 6, inner diameter: 4)
Two air tubes (outer diameter: 4, inner diameter: 2.5)
(normal service pressure: 0.8 MPa)
(normal service pressure: 0.8 MPa)
44
Page 51
Item Specifications
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40°C, humidity: 20 to 85%RH or
less (non-condensing)
sselro000,1medutitlA
BdesioN 74
Robot weight kg 58
Brake power source for main unit
Controller
Power supply 230 V 50/60 Hz 15 A
Allowable supply voltage
fluctuation
W
%
DC24VI10% 20W
±10
Overvoltage category (IEC60664-1) Category III
3eergednoitulloP)1-46606CEI(eergednoitulloP
*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)
*2: Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP
operation.
*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.
*4: Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.
*5: Equivalent allowable inertial moment at the center of rotation of axis 4. The offset from the center of
rotation of axis 4 to the center of gravity of the tool shall be 50 mm or less. (Fig. 3)
If the center of gravity of the tool deviates from the center of rotation of axis 4, the acceleration setting
needs to be decreased as necessary.
*6: If the allowable tool diameter is exceeded, the tool will interfere with the robot within the robot’s operation
area. (Fig. 4)
*7: The alarm LED will actuate when the user provides a circuit that applies 24 VDC to the user-wired LED
terminal upon I/O output of a signal from the controller.
*8: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.
*9: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.
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 35 to 70%.
7. Specifications
Tool’s center
Bottom
position
(Fig. 1)
Tool
(Fig. 2)
Tool
Top
position
of gravity
Tool
Center of
rotational axis
(Fig. 3)
φ 100
Tool
Center of
rotational axis
(Fig. 4)
Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775
45
Page 52
IX-INN-80H (arm length 800, inverse)
Item Specifications
Model number IX-INN80H-**L-T1
Degree of freedom Four degrees of freedom
Overall arm length 800
Arm 1 length 450
Arm 2 length
Drive method
Motor capacity
Movement
range
Maximum
operating
7. Specifications
speed (*2)
Positioning
repeatability
precision (*3)
Cycle time (*4) sec 0.43
Load capacity
Axis 3 (vertical
axis)
Push force
control range
Permissible
load on axis 4
Permissible tool diameter (*6) mm
Home detection Absolute
User wiring
Alarm indicator (*7) One small, red LED indicator (rated voltage: 24 V)
User piping
mm
350
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
Axis 4 (rotational axis)
AC servo motor with brake + Reduction gear + Belt +
Spline
Axis 1 (arm 1) 750
Axis 2 (arm 2) 400
Axis 3 (vertical axis) 400
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
W
degree
200
120
145
Axis 3 (vertical axis) (*1) mm 200 (option: 400)
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
mm/sec
Axis 3 (vertical axis)
360
7586
1614
Axis 4 (rotational axis) degree/sec 1266
Axis 1 + Axis 2
Axis 3 (vertical axis)
mm
Axis 4 (rotational axis) degree
Rated 5
Maximum
kg
0.015
0.010
0.005
20
Upper limit (*8) 304 (31.0) Push torque limit 70%
Lower limit (*9)
Permissible moment of inertia
(*5)
N (kgf)
2
0.1
kg-m
146 (14.9) Push torque limit 40%
Permissible torque N-m (kgf-cm) 11.7 (119.3)
100
D-sub 25-pin connector with 25-core AWG26 shielded
cable (socket)
Two air tubes (outer diameter: 6, inner diameter: 4)
Two air tubes (outer diameter: 4, inner diameter: 2.5)
(normal service pressure: 0.8 MPa)
(normal service pressure: 0.8 MPa)
46
Page 53
Item Specifications
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40°C, humidity: 20 to 85%RH or
less (non-condensing)
sselro000,1medutitlA
BdesioN 74
Robot weight kg
Brake power source for main unit
Controller
Power supply 230 V 50/60 Hz 15 A
Allowable supply voltage
fluctuation
W
%
DC24VI10% 20W
60
±10
Overvoltage category (IEC60664-1) Category III
3eergednoitulloP)1-46606CEI(eergednoitulloP
*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)
*2: Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP
operation.
*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.
*4: Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.
*5: Equivalent allowable inertial moment at the center of rotation of axis 4. The offset from the center of
rotation of axis 4 to the center of gravity of the tool shall be 50 mm or less. (Fig. 3)
If the center of gravity of the tool deviates from the center of rotation of axis 4, the acceleration setting
needs to be decreased as necessary.
*6: If the allowable tool diameter is exceeded, the tool will interfere with the robot within the robot’s operation
area. (Fig. 4)
*7: The alarm LED will actuate when the user provides a circuit that applies 24 VDC to the user-wired LED
terminal upon I/O output of a signal from the controller.
*8: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.
*9: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.
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 35 to 70%.
7. Specifications
Tool’s center
Tool
Bottom
position
(Fig. 1)
(Fig. 2)
Tool
Top
position
of gravity
Tool
Center of
rotational axis
(Fig. 3)
φ 100
Tool
Center of
rotational axis
(Fig. 4)
Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775
47
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8. Installation Environment and Storage Environment
8.1 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
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.
8.2 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-HNN50/60
IX-INN50/60
IX-HNN70/80
IX-INN70/80
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. Installation Environment and Storage Environment
M10
M12
The effective thread shall be 10 mm or more (for steel, or 20
mm or more for aluminum).
The effective thread shall be 12 mm or more (for steel, or 24
mm or more for aluminum).
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8.3 Storage/Preservatoin 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 kept 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/preservation period. If the robot is to
be stored for more than a month, the temperature should not exceed 50C.
WarningDanger
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.
8. Installation Environment and Storage Environment
49
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9. How to Install
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50
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9.1 Notes on Installation
9.2
In the case of the ceiling-mount specification, the robot will move to points above the base installation surface when
the vertical axis (Z-axis) is moved to the top position.
In the case of the inverse specification, the robot will move to points below the base installation surface when the
vertical axis (Z-axis) is moved to the bottom position.
Additionally, when performing an absolute reset, the vertical axis (Z-axis) must be moved to the top position in the
case of the ceiling-mount specification or to the bottom position in the case of the inverse specification (home-return
operation).
Therefore, install the robot in such a way that the vertical axis will not collide with the ceiling or platform during an
absolute reset.
It is recommended that the pedestal be constructed in such a way that contact with the robot will not occur within the
robot’s range of movement (see the figure below). If the pedestal cannot be constructed as shown below, be sure to
reduce the robot’s range of movement using soft-limits and prevent the robot from contacting the pedestal.
9. How to Install
Center of recommended installation part
Center of recommended installation part
51
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9. How to Install
Center of recommended installation part
52
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9.3
9.2 Installing the Robot
Install the robot on a level surface.
Secure the robot using M3 or M4 hex bolts (4 pcs) and washers.
Type Bolt size Tightening torque
IX-HNN50/60H
IX-INN50/60H
IX-HNN70/80H
IX-INN70/80H
For the hex bolts, use high-tension bolts with an ISO rating of 10.9 or higher.
M10 60 Nm
M12 104 Nm
4-11 hole
24 counterbore, depth 5
9. How to Install
4-14 drilled
30 counterbore, depth 5
Warning
Always insert a washer below each bolt. Without a washer, the bolt-bearing surface may sink.
Tighten the hex bolts securely to the correct torque. Improperly tightened bolts may reduce the
accuracy of robot operation, and in the worst case cause the robot to overturn.
Caution
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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.
•
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.]
10. Connecting the Controller
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.
Robot designation label
Robot serial number
Warning
• 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.
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Output voltage: 24 VDC 10%
Current capacity: 20 to 30 W
M cable
PG cable
U cable
(cable for user wiring)
BK power cable
Standard cable length: 5 m
4, 6 quick joint (2 pcs.)
To air tube (provided by user)
24 VDC power
supply for brake
(provided by user)
Tool, control unit, etc.
(provided by user)
Warning
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.
10. Connecting the Controller
55
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r
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.
3-phase 200 to 230-
VAC power supply
Auxiliary powe
supply circuit
-
Example of X-SEL-PX
controller (4-axis
SCARA robot of arm
length 250 to 600 mm
without I/O expansion)
Upper position: 0 V
Lower position: 24 V
Brake power
+24-V power
supply
10. Connecting the Controller
SCARA robot
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11. 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.
Warning
Failure to perform these checks may result in a malfunctioning robot or a damaged controller or
robot.
11. Checking after Installation
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12. Precautions for Use
2
2
12.1 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 arm length 500/600
Reference settings for PTP
acceleration/deceleration
Reference range for
continuous operation
Acceleration deceleration (%)
Mass of carrying load (kg)
Inertial moment (kg-m
IX arm length 700/800
Reference settings for PTP
acceleration/deceleration
Maximum
setting range
IX arm length 500/600
Reference duties for PTP
continuous operation
Axis 4 (rotational axis) only
Reference range of duty for
continuous operation duty
Acceleration deceleration (%)
Duty (%)
Duty (%) = (Continuous operation /
)
(Continuous operation + Stopping time)) / 100
IX arm length 700/800
Reference duties for PTP
continuous operation
12. Precautions for Use
58
Reference range for
continuous operation
Acceleration deceleration (%)
Mass of carrying load (kg)
Inertial moment (kg-m
Maximum
setting range
Reference range of duty for
continuous operation duty
Acceleration deceleration (%)
Duty (%)
Duty (%) = (Continuous operation /
)
(Continuous operation + Stopping time)) / 100
Page 65
(2) CP operation (Set using the SEL Language commands ACC and DCL.)
g
g
g
IX arm length 500
Reference settings for PTP
acceleration/deceleration
Maximum
setting range
Acceleration deceleration (G)
Reference range for
continuous operation
Mass of carrying load (kg)
Maximum CP operation speed: 1500 mm/sec
IX arm length 500
Reference duties for CP
continuous operation
Carrying
2k
or less
Carrying
10 k
Reference range of duty for
continuous operation duty
Acceleration deceleration (G)
Duty (%)
Duty (%) = (Continuous operation /
(Continuous operation + Stopping time)) / 100
IX arm length 600
Reference settings for PTP
acceleration/deceleration
Maximum
setting range
Reference range for
Acceleration deceleration (G)
continuous operation
Mass of carrying load (kg)
Maximum CP operation speed: 1800 mm/sec
IX arm length 600
Reference duties for CP
continuous operation
Carrying
2k
or less
Carrying
10 kg
Reference range of duty for
Acceleration deceleration (%)
continuous operation duty
Duty (%)
Duty (%) = (Continuous operation /
(Continuous operation + Stopping time)) / 100
12. Precautions for Use
59
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IX arm length 700
g
g
g
g
Reference settings for PTP
acceleration/deceleration
IX arm length 700
Reference duties for CP
continuous operation
Carrying
5k
or less
Maximum
setting range
Acceleration deceleration (G)
Reference range for
continuous operation
Mass of carrying load (kg)
Maximum CP operation speed: 1400 mm/sec
IX arm length 800
Reference settings for PTP
acceleration/deceleration
Carrying
20 k
Reference range of duty for
Acceleration deceleration (G)
continuous operation duty
Duty (%)
Duty (%) = (Continuous operation /
(Continuous operation + Stopping time)) / 100
IX arm length 800
Reference duties for CP
continuous operation
Carrying
5k
or less
12. Precautions for Use
Acceleration deceleration (G)
Maximum CP operation speed: 1700 mm/sec
Maximum
setting range
Reference range for
continuous operation
Mass of carrying load (kg)
Carrying
20 k
Reference range of duty for
Acceleration deceleration (G)
continuous operation duty
Duty (%)
Duty (%) = (Continuous operation /
(Continuous operation + Stopping time)) / 100
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Caution
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.
12. Precautions for Use
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12.2 Push Force of the Vertical Axis
Set the push force of the vertical axis by referring to the graph below.
Relationship of push force and push
torque limit during positioning
Push force (N)
Push torque limit during positioning (%)
Push-motion operating speed: 10 mm/sec
Caution
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
12. Precautions for Use
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%.
IX arm length 500/600
IX arm length 700/800
Relationship of push force and push
torque limit during positioning
Push force (N)
Push torque limit during positioning (%)
Push-motion operating speed: 10 mm/sec
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12.3 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.)
Tool diameter:
100 or less
D-cut surface
Center of axis 4
(rotational axis)
D-cut surface
Tool
12. Precautions for Use
Span ring, etc.
Pressure flange
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CautionWarning
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.
12. Precautions for Use
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12.4 Carrying Load
Load capacity
Model number Rated load capacity Maximum load capacity
IX-HNN50H/60H
IX-INN50H/60H
IX-HNN70H/80H
IX-INN70H/80H
Load’s permissible moment of inertia
Model number Allowable inertial moment Remarks
IX-HNN50H/60H
IX-INN50H/60H
IX-HNN70H/80H
IX-INN70H/80H
Load offset (from the center of axis 4 (rotational axis))
50 mm or less
Center of axis 4 (rotational axis)
2 kg 10 kg
5 kg 20 kg
0.06 kg-m
0.10 kg-m
2
Both rated and maximum
2
Load’s center of gravity
50 mm or less
Caution
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.
12. Precautions for Use
65
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12.5 User Wiring and Piping
r
The robot comes with standard cables and tubes that the user can use in a desired wiring/piping configuration.
Quick joint
6, red
Quick joint
4, black
User connecto
D-sub connector
25-pin, socket
Fastener size
M2.6
ALM (indicator)
Spacer for user
part installation
Quick joint 6,
yellow
Quick joint 4,
white
BK SW
Brake-release switch
User connector specifications
Rated voltage 3.0 V
Permissible current 1.1 A
Conductor size and number
of wires
Other
AWG 26 (0.15 mm
Twisted-pair cable (1 to 24),
shielded
2
), 25 wires
M cable (outside robot)
Air tube
4 (black, white)
6 (red, yellow)
BK power cable (outside robot)
(user wiring cable)
Terminal: Y terminal
U cable (outside robot)
Terminal: Y terminal
PG cable (outside robot)
Shape of Y-terminal
Piping specifications
Normal service pressure 0.8 MPa
Dimensions (outer diameter x
inner diameter) and number
of tubes
Working medium Air
12. Precautions for Use
ALM (indicator) specifications
Rated voltage 24 VDC
Rated current 12 mA
Illumination color Red LED
4 mm x 2.5 mm, 2 pieces
6 mm x 4 mm, 2 pieces
Spacer for user part installation
7
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 spacer).
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ghtgray
r
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
Inside unit Cable
Arm 2 side
Connection
D-sub,
25-pin
Indicator
(LED)
To D-sub connector frame
Y-terminal designation
Controller side
Wire color Connection
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
Li
Light gray 2 black
White 2 red
White 2 black
Yellow 2 red
Yellow 2 black
Pink 2 red
Pink 2 black
Orange 3 red
Orange 3 black
ay 3 red
Light g
Light gray 3 black
White 3 red
White 3 black
Yellow 3 red
Green
Y-terminal
2 red
12. Precautions for Use
To base
Warning
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.
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13. Maintenance and Inspection
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
13.1 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
Appearance of Robot
Operation of Robot Check for abnormal operation, vibration or noise
Cables
Emergency-Stop Switch Confirm that the emergency-stop switch functions properly.
Correct the deformation or positional shift of the cage.
Confirm that the interlock mechanism is operating properly.
Check the exterior for abnormality, flaws, dents, etc.
(If the robot has flaws or other abnormalities, please contact IAI.)
Check for damage and pinch of cables
Check the cable mounting parts for looseness.
[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
13. Maintenance and Inspection
Ball Spline
Connectors Check the connectors for looseness.
68
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.)
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 13.2, “Ball Screw Spline Grease Supply”.]
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[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 13.3, “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
Replace the absolute data backup battery.
The battery life may vary depending on the condition and
Battery Replacement
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-6, Quantity to use: 4 units)
[Refer to 13.4, “Replacement of Absolute Backup Battery”.]
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,
Third Axis Belt
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 13.5, “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
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
First axis and Second axis
speed reducer
Bearings on joints
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 13.6, “How to Measure Lost Motion”.]
Check the forth axis (rotational axis) timing belt surface for any
defect or excessive wear.
(Check it five years later from the operation start, and after that,
Forth Axis Belt
check it every year).
When any defect is found, the replacement of the timing belt is
required.
[Refer to 13.7, “Forth Axis Timing Belt Visual Check”.]
13. Maintenance and Inspection
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13.2 Ball Screw Spline Grease Supply
The Ball Screw Spline on the vertical axis require grease to be supplied.
13.2.1 Applicable Grease and Supply Period
Types Grease to Apply Supply Period
Other Types than
Dustproof/Splash proof type
and Clean type
Dustproof/Splash proof type
and Clean type
For the types except for dust and rainproof 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
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.
Kyodo Yushi
THK AFE
THK AFG Every half a year
Multemp LRL
No. 3
Every half a year
13. Maintenance and Inspection
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13.2.2 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.
[Apply grease]
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.
13. Maintenance and Inspection
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13.3 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
Cover
Arm 1
Arm
Length
13. Maintenance and Inspection
500/600 30.0 12.3
700/800 59.4 30.0
Tightening Torque [N•m]
1st axis 2nd axis
M3 Flat-head
Screw
2nd Axis
Mounting Screw
Ist Axis
Mounting Screw
Remarks
1st axis: Hexagon soket-head screws M8 strength
class 10.9
2nd axis: Hexagon soket-head screws M6 strength
class 10.9
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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13.4 Replacement of Absolute Backup Battery
13.4.1 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-HNN50H/60H/70H/80H
IX-INN50H/60H/70H/80H
Phillips screwdriver AB3 (4 pcs)
13. Maintenance and Inspection
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13.4.2 Replacement Procedure
(
)
(
)
(1) Remove the countersunk head screws (6 pcs) 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
• 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.
become necessary.
Battery connector 4
for axis 4
Battery connector 3
for axis 3
Cover (base)
Battery (for axis 4)
Battery connector 2
(for axis 2)
Battery
(for axis 2)
Battery
(for axis 3)
Battery connector 1
(for axis 1)
Battery
(for axis1)
13. Maintenance and Inspection
74
Battery holder
Page 81
(5) Secure the cover (base) using the countersunk head screws . (Tightening torque: 0.74 N-m)
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
When installing the cover (base), be careful not to pinch the internal wiring
13. Maintenance and Inspection
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13.5 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.
13. Maintenance and Inspection
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13.6 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%
Mesurement Point
Negative Direction
-5° 0° +5°
Positive Direction
Mesurement Point
Mesurement
Redius
100mm
Mesurement Redius 100mm
Positive Direction
-5° 0° +5°
Negative Direction
sixAdn2sixAts1
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.
13. Maintenance and Inspection
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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-HNN50H/60H
IX-INN50H/60H
IX-HNN70H/80H
1.0 1.0 100
IX-INN70H/80H
13. Maintenance and Inspection
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13.7 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.
13. Maintenance and Inspection
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13.8 Absolute Encoder Reset Method
13.8.1 Preparation for Absolute Reset
The following jigs are required to perform an absolute reset.
• Absolute reset adjustment jigs
Model
number
JG-1 For arm length 500/600
JG-3 For arm length 700/800
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.)
Remarks
Plate
Pin
Example of Absolute Reset Adjustment Jig (Model number JG-1)
Warning
Fully understand the applicable inspection/maintenance work, because failure to do so may result in a
serious injury accident.
13. Maintenance and Inspection
Put up a “WORK IN PROGRESS” sign to prevent other operators from accidentally operating the
controller, operation panel, etc.
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13.8.2 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.
Abs Encoder Reset
screen for arm 1 or
Abs Encoder
Reset screen for
rotational axis +
13. Maintenance and Inspection
Absolute Reset Window
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13.8.3 Absolute Reset Procedure for Arm 1 or 2
(1) Click the “Encoder Rotation Data Reset1” button.
(2) Click the “Reset Controller Error” button.
13. Maintenance and Inspection
Encoder Multi-rotation Data Reset 1
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.
(5) Click the “Servo-OFF” button.
13. Maintenance and Inspection
Jogging
Servo OFF
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(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.
Arm 1
(arm length 500/600, arm length 700/800)
(arm length 500/600, arm length 700/800)
13. Maintenance and Inspection
Warning
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.
Arm 2
Positioning
mark label for
arm 1
Positioning mark
label for arm 1
Positioning mark
label for arm 2
Adjust both arms 1 and 2 to
positions within 1
Reference Posture for Arm Length 500/600, 700/800
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(8) Click the “OK” button.
Fig. 13.18Confirmation
(9) Click the “Encoder Rotation Data Reset2” button.
Encoder Multi-rotation Data Reset 2
13. Maintenance and Inspection
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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 the home position is updated automatically when a reset is performed without using an adjustment jig, the
home position will become offset.
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.
(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.
Warning
Be careful not to perform a reset using an incorrect sequence, since it may cause the arm position to
become offset.
13. Maintenance and Inspection
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)
86
Confirmation
Page 93
13.8.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis
(1) Click “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) 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.
13. Maintenance and Inspection
88
Jogging
Page 95
(6) Click the “Servo-OFF” button.
Servo OFF
(7) Press the emergency-stop switch.
13. Maintenance and Inspection
89
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(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.
Ceiling mount specification reference position
D-cut surface
Positioning
The pin is lightly
contacted.
mark label for
rotational axis
Make sure the top surface of
the stopper matches with the
bottom surface of arm 2.
13. Maintenance and Inspection
Warning
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.
D-cut surface
The pin is lightly
contacted.
D-cut surface
D-cut surface
Make sure the top surface of the
stopper matches with the bottom
surface of arm 2.
Inverse specification reference position
Axis 4 positioning
marking seal
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(9) Click the “OK” button.
Confirmation
(10) Click the “Encoder Rotation Data Reset2” button.
Encoder Multi-rotation Data Reset 2
13. Maintenance and Inspection
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(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.
13. Maintenance and Inspection
92
Confirmation
Page 99
(15) Click the “Servo ON” button.
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.
(17) Click the “Servo-OFF” button.
13. Maintenance and Inspection
Standing By at Reference Posture
Servo OFF
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(18) Click the “Encoder Rotation Data Reset3” button.
(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.”
13. Maintenance and Inspection
Encoder Multi-rotation Data Reset 3
Automatic Refresh of Home Preset Value
94
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