Horizontal Articulated Robot – IX Series
For Ceiling Mount Arm Length 500/600/700/800
Operation Manual Seventh Edition
Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to
ensure safe use of the product.
The CD or DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
This Operation Manual is original.
The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall
assume no responsibility for the outcome of any operation not specified herein.
Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
If you have any question or comment regarding the content of this manual, please contact the IAI sales
office near you.
Using or copying all or part of this Operation Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the sentences are
registered trademarks.
Table of Contents
Safety Guide .................................................................................................................... 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
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
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.
1
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
2
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).
3
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.
4
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.
5
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.
6
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
7
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
8
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.
9
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
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.
11
International Standards Compliances
This actuator complies with the following overseas standard.
Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
RoHS Directive CE Marking
○○
12
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
13
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
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
15
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.
16
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
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
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
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
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
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
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
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
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