IAI America IX-INN8040 User Manual

Horizontal Articulated Robot – IX Series

Ceiling-mount Type, Arm Length 500/600/700/800

IX-HNN50 /60 /70 /80

IX-INN50 /60 /70 /80

Operation Manual Fifth Edition

Please Read Before Use

Thank you for purchasing an IAI product.

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

Before using the product, be sure to read this manual and fully understand the contents explained herein
to ensure safe use of the product.
The CD 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]

The product cannot be operated in any way unless expressly specified in this operation
manual. IAI shall assume no responsibility for the outcome of any operation not specified
herein.

Information contained in this operation manual is subject to change without notice for the
purpose of product improvement.

This operation manual is original.
If you have any question or comment regarding the content of this manual, please contact

the IAI sales office near you.

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

prohibited.

CE Marking

If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.

Table of Contents

Safety Guide ······················································································································1

Caution in Handling ···········································································································8

1. Names of Robot Parts ································································································9

1.1 Ceiling-mount Specifi cation ··········································································································9

1.2 Labels ·········································································································································10

1.3 Label Positions ··························································································································· 11

2. Transportation and Handling ··················································································· 12

2.1 Handling of the Carton ················································································································12

2.2 Packing Condition of the Robot ··································································································12

2.3 Handling of Individual Components ····························································································13

2.4 Checking after Unpacking ··········································································································13

2.5 Transporting the Robot ···············································································································14

3. Installation Environment and Storage Environment ················································ 16

3.1 Installation Environment ·············································································································16

3.2 Installation Platform ····················································································································16

3.3 Storage Environment ··················································································································16

4. How to Install ··········································································································· 17

4.1 Installation Posture ·····················································································································17

4.2 Notes on Installation ···················································································································18

4.3 Installing the Robot ·····················································································································20

4.4 Connecting the Controller ···········································································································21

4.5 Checking after Installation ··········································································································23

5. Precautions for Use ································································································· 24

5.1 Reference Acceleration/Deceleration Settings ···········································································24

5.2 Tools ···········································································································································26

5.3 Carrying Load ·····························································································································27

5.4 User Wiring and Piping ···············································································································28

6. Inspection/Maintenance ·························································································· 30

6.1 Inspection/Maintenance ··············································································································30

6.2 How to Check/Adjust Belt Tension ······························································································32

6.3 Battery Replacement ··················································································································39

6.4 Absolute Reset Procedure ··········································································································42

7. Specifi cations ·········································································································· 59

7.1 Horizontal Articulated Robot Specifi cations ················································································59

7.2 External Dimensions ···················································································································75

7.3 Robot Operation Area ·················································································································79

7.4 Wiring Diagram ···························································································································81

7.5 230V Circuit Components ···········································································································82

8. Warranty ·················································································································· 83

8.1 Warranty Period ··························································································································83

8.2 Scope of Warranty ······················································································································83

8.3 Honoring the Warranty ················································································································83

8.4 Limited Liability ···························································································································83

8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ·····84

8.6 Other Items Excluded from Warranty ·························································································84

Change History ··············································································································· 85

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

Ɣ 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.)

Ɣ Do not use the product outside the specifications. Failure to do so may

considerably shorten the life of the product.

Ɣ 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

Ɣ 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 Ɣ When carrying a heavy object, do the work with two or more persons or

utilize equipment such as crane.

Ɣ 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.

Ɣ 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.

Ɣ 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 instruction manual for each model.

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

who has qualifications for crane operation and sling work.

Ɣ When using a crane or equivalent equipments, make sure not to hang a

load that weighs more than the equipment’s capability limit.

Ɣ Use a hook that is suitable for the load. Consider the safety factor of the

hook in such factors as shear strength.

Ɣ Do not get on the load that is hung on a crane.
Ɣ Do not leave a load hung up with a crane.
Ɣ Do not stand under the load that is hung up with a crane.

3 Storage and

Preservation

Ɣ The storage and preservation environment conforms to the installation

environment. However, especially give consideration to the prevention of
condensation.

Ɣ 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.
Ɣ 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.

Ɣ 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.

Ɣ 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

Description

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

and controller, and for the teaching tool.

Ɣ 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.

Ɣ Perform the wiring for the product, after turning OFF the power to the unit,

so that there is no wiring error.

Ɣ 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.

Ɣ 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.

Ɣ 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.

4 Installation

and Start

(3) Grounding
Ɣ 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.

Ɣ 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).

Ɣ Perform Class D Grounding (former Class 3 Grounding with ground

resistance 100: or below).

3

No.

Operation

Description

Description

4 Installation

and Start

(4) Safety Measures
Ɣ 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.

Ɣ 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.

Ɣ Make sure to install the emergency stop circuit so that the unit can be

stopped immediately in an emergency during the unit operation.

Ɣ 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.

Ɣ 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.

Ɣ 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.

Ɣ Take the measure so that the work part is not dropped in power failure or

emergency stop.

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

safety.

Ɣ 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.

Ɣ 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 Ɣ 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.

Ɣ 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.

Ɣ 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.

Ɣ 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.

Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ 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 Ɣ 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.

Ɣ After the teaching or programming operation, perform the check operation

one step by one step and then shift to the automatic operation.

Ɣ 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.

Ɣ 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.

Ɣ 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

Ɣ Check before starting the automatic operation or rebooting after operation

stop that there is nobody in the safety protection fence.

Ɣ Before starting automatic operation, make sure that all peripheral

equipment is in an automatic-operation-ready state and there is no alarm
indication.

Ɣ Make sure to operate automatic operation start from outside of the safety

protection fence.

Ɣ 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.

Ɣ 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.

Operation

Description

Description

8 Maintenance

and Inspection

Ɣ 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.

Ɣ 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.

Ɣ When the work is to be performed inside the safety protection fence,

basically turn OFF the power switch.

Ɣ 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.

Ɣ 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.

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

according to the Instruction Manual for each model.

Ɣ Do not perform the dielectric strength test. Failure to do so may result in a

damage to the product.

Ɣ 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.

Ɣ 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.

Ɣ 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

Ɣ Do not modify, disassemble, assemble or use of maintenance parts not

specified based at your own discretion.

10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it

properly as an industrial waste.

Ɣ When removing the actuator for disposal, pay attention to drop of

components when detaching screws.

Ɣ Do not put the product in a fire when disposing of it.

The product may burst or generate toxic gases.

11 Other Ɣ 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.

Ɣ See Overseas Specifications Compliance Manual to check whether

complies if necessary.

Ɣ For the handling of actuators and controllers, follow the dedicated

instruction 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 Instruction Manual for each model.

Level Degre

e of Danger and Damage Symbol

Danger

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

Danger

Warning

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

Warning

Caution

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

Caution

Notice

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

Notice

7

Caution in Handling

1. Make sure to attach the vertical articulated robot properly by following this operation
manual.

Using the product with the vertical articulated robot not being certainly retained or affixed may
cause abnormal noise, vibration, malfunction or shorten the product life.

8

1 Names of Robot Parts

1.1 Ceiling-mount Specification

* The inverse specification is installed upside down.

User connector

Indicator (LED)

I

4 joint for user piping, black

I

6 joint for user piping, red

Spacer for user
part installation

BK SW
(Brake-release switch)

I4 joint for user piping, white

I

6 joint for user piping, yellow

Mechanical stopper for
axis 3 (vertical axis)

Axis 4

(rotational axis)

Panel

Ball screw
spline shaft

Cover (arm 2)

Wiring duct

Mechanical stopper for
axis 3 (vertical axis)

Axis 3

(vertical axis)

A

xis 2

A

rm 2

End cover (arm 1)

A

rm 1

Base

Cover (base)

Mechanical stopper
for arm 1/arm 2

A

xis 1

Mechanical
stopper for
arm 2

Reference surface

M cable (outside robot)
PG cable (outside robot)
U cable (outside robot)

A

ir tubes (I4: 2 pcs., I6: 2 pcs.)

BK power cable (outside robot)

View B

Cover (arm 1)

1. Names of Robot Parts

9

Rated

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.

Labels on the Robot

Labels on the Controller

z Failure to observe the cautionary information provided on the labels may result in serious injury or

damage to the robot.

Prohibition of entry into the

operation area

Warning on handling of

the vertical axis

Warning against

electric shock

Robot serial number

CE-certified robot (Provided only

for CE-certified models)

Caution/warning on handling

of the controller

Designation of the connected robot

Controller serial number

(Other than CE-certified models)

Controller serial number

(CE-certified models)

Danger

Warning

Caution

1. Names of Robot Parts

10

1.3 Label Positions

Label Positions on the Robot

Label Positions on the Controller

View A

Warning on handling
of the vertical axis

Warning against electric shock

Robot serial number

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

Designation of the connected robot

Controller serial number

CE-certified models

Other than CE-certified models

Caution/warning on handling of the controller

Prohibition of entry into the operation area

Ceiling-mount

specification

Warning on handling
of the vertical axis

Inverse

specification

Robot serial number

Prohibition of entry into the operation area

Warning against electric shock

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

View A

1. Names of Robot Parts

11

2 Transportation and Handling

2.1 Handling of the Carton

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

x If the carton is heavy, one operator should not attempt to carry it alone.
x Place the carton on a level surface if it is to be left there for a while.
x Do not climb upon the carton.
x 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.

2.2 Packing Condition of the Robot

(1) Ceiling-mount specification (2) Inverse specification

z 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.

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

person having the proper qualifications.

A

rm fixing

plate

Controller,

accessories and

other items

(except for the

robot)

Warning

Caution

Controller,

accessories and

other items

(except for the

robot)

A

rm fixing plate

Eyebolt

Transportation stay

Cables

Cables

2. Transportation and Handling

12

2.3 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, be careful not to lose their correct pairings with the controllers.

In the case of the inverse specification, once unloaded from the carton pallet the robot will not stand on its
own.
Hold it by hand, or place a cushioning material on the floor and place the robot on its side upon the cushion.

2.4 Checking after Unpacking

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

Standard parts Optional parts

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

Controller 1 Floppy disk 2

Operation manual for robot 1 PC connection cable 1

Operation manual for controller 1 Hand-held emergency-stop switch 1

Operation manual for PC software 1

Absolute reset adjustment jig

Accessories

Type: JG-1 IX-HNN50/60

Eyebolt Ceiling-mount type 4

IX-INN50/60

Inverse type 2

J

G-3 IX-HNN70/80

D-sub connector 1

IX-INN70/80

Hood set (for D-sub connector) 1

Caution label 2 Positioning jig for axes 1 and 2 1

Positioning label 1 Positioning jig for axis 4 1

PIO flat cable 1

Cover (ceiling-mount type) 2
Cover-mounting bolt

(ceiling-mount type) M3 x 8 8

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

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

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

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

Danger

Note

2. Transportation and Handling

13

2.5 Transporting the Robot

Use a dolly, forklift, crane, or other appropriate equipment for transportation. When transporting the robot,
move it slowly so that it maintains its balance. Also, safeguard the robot against vibration or impact.

2.5.1 Transporting the Ceiling-mount Specification

Remove the arm-affixing plate and extend arm 1 and arm 2 straight.
Wrap the cables around the base and secure with gummed tape, etc., or simply attach to the transportation
stay with gummed tape, etc.

When using a crane, install the supplied eyebolts (4 pcs.) onto the transportation stays. Remove the
arm-affixing plate, extend arm 1 and arm 2 straight, and transport the robot in the posture shown below.

Ceiling-mount specification – Posture of the robot when suspended with

eyebolts for transportation

Rope

Transportation stay

Remove the arm-affixing plate
and extend the arms straight.

2. Transportation and Handling

14

2.5.2 Transporting the Inverse Specification

Secure the arms with the arm-affixing plate, and wrap the cables around the base and secure with gummed
tape, etc.

When using a crane, install the supplied eyebolts (2 pcs.) onto the robot body.
Remove the top cover from arm 1 and install the eyebolts at the positions shown below.

IX-INN50/60 IX-INN70/

80

z If the cables remain free, a person may be tripped by the trailing cables.
z Do not attempt to carry the robot by hand, as it may injure the back. Additionally, an injury may

result if the robot is dropped onto the feet.

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

person having the proper qualifications.

Danger

Warning

Remove the cover and install the
eyebolts at the positions shown below.

Remove the cover and install the
eyebolts at the positions shown below.

Secure the arms with the plate.

Secure the arms with the plate.

Wrap the cables around the
base and secure with tape, etc.

Must be higher than

the resting surface.

2. Transportation and Handling

15

3 Installation Environment and Storage Environment

3.1 Installation Environment

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

x Away from direct sunlight
x Not subject to radiated heat from a high-capacity energy source such as a heat-treating furnace
x Ambient temperature: 0qC to 40qC
x Humidity: 85% or less (non-condensing)
x Not exposed to corrosive or flammable gases
x Not subject to impact or vibration
x Not exposed to a significant amount of electromagnetic waves, ultraviolet rays or radiation
x 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.

3.2 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.

x 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 r0.05 mm.

x Drill and tap holes, as indicated below, into the installation surface of the platform.

Type Tap

size Remarks

IX-HNN50/60

IX-INN50/60

M10

Effective thread: 10 mm or longer for steel (20 mm or longer
for aluminum)

IX-HNN70/80

IX-INN70/80

M12

Effective thread: 12 mm or longer for steel (24mm or longer
for aluminum)

x 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.

x Secure the platform to the floor or other rigid structure in a manner that prevents any movement due

to operation of the robot.

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

3.3 Storage Environment

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

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

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

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

Danger

Warning

3. Installation Environment and Storage Environment

16

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4. How to Install

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17

4.2

4.1 Notes on Installation

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
(origin-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

4. How to Install

pedestal.

18

Center of recommended installation part

Center of recommended installation part

Center of recommended installation part

4. How to Install

19

4.3

4.2 Installing the Robot

Install the robot on a level surface.

Secure the robot using hex bolts and washers.

Type Bolt size Tightening torque

IX-HNN50/60

IX-INN50/60

IX-HNN70/80

IX-INN70/80

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

4. How to Install

M10 60 Nm

M12 104 Nm

4-11 hole
24 counterbore, depth 5

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.

20

Caution

4.3 Connecting the Controller

4.4

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.

Robot designation label

Robot serial number

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.
The brake power circuit is provided on the primary side (high-voltage side). Therefore, provide a
dedicated 24V DC power supply for the brake. 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 XSEL-PX/QX 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 XSEL-PX/QX controller.
[Refer to the section of the voltage source capacity and heat generation in the controller
operation manual.]

4. How to Install

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.

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.

21

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

4. How to Install

M cable

PG cable

150 mm

BK power cable

Standard cable length: 5 m

6 quick joint (2 pcs. each)

4, 

To air tube
(provided by user)

24 VDC power
supply for brake
(provided by
user)

U cable
(cable for user wiring)

Tool, co nt r o l
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.

22

4.4 Checking after Installation

4.5

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.

4. How to Install

Warning

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

robot.

23

5 Precautions for Use

A

A

5.1 Reference Acceleration/Deceleration Settings

Use the robot based on appropriate acceleration/deceleration settings by referring to the following graph:

(1) PTP operation

100

50

5. Precautions for Use

cceleration (%)

Reference range for continuous

0

0 5 10

Caution

IX-HNN50/60

IX-INN50/60

Reference acceleration/deceleration

settings for PTP operation

Reference range of

maximum setting

operation setting

Reference range of maximum setting when arm 1 is

operated over 125 degrees or more

Carrying load mass (kg)

IX-HNN70/80

IX-INN70/80

Reference acceleration/deceleration

settings for PTP operation

100

Reference range of

50

maximum setting

cceleration (%)

Reference range for continuous

operation setting

Reference range of maximum setting when arm 1 is

0

0 5 10 15 20

operated over 125 degrees or more

Carrying load mass (kg)

 To operate the robot at the maximum acceleration, provide a stopping period of three seconds or

more after each acceleration/deceleration.

 When arm 1 is operated over 125 degrees or more, use the reference range for the continuous

operation setting as the reference range of the maximum setting. The continuous operation setting
value should be one-third the appropriate maximum value thus set.

 Start from the appropriate reference range for the continuous operation setting, and then gradually

raise the value for the purpose of adjustment.

 If an overload error occurs, lower the acceleration setting as appropriate or provide an appropriate

stopping time following each acceleration/deceleration.

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

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

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

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

 Be careful that the moment of inertia of axis 4 does not exceed the permissible value. (Refer to 5.3,

“Carrying Load.”)

 The carrying load indicates a load above the rotational center of axis 4.
 Operate the robot by using an appropriate acceleration coefficient as determined by the mass of

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

24

(2) CP operation

A

A

IX-HNN50/60

IX-INN50/60

Reference acceleration/deceleration

settings for CP operation

1.0

Reference range of

maximum setting

1.0

0.5

0.5

cceleration (G)

Reference range for

continuous operation setting

0

0 5 10

Carrying load mass (kg)

cceleration (G)

0

0 5 10 15 20

IX-HNN70/80

IX-INN70/80

Reference acceleration/deceleration

settings for CP operation

Reference range of

maximum setting

Reference range for

continuous operation setting

Carrying load mass (kg)

5. Precautions for Use

Caution

 To operate the robot at the maximum acceleration, provide a stopping period of three seconds or

more after each acceleration/deceleration.

 Start from the appropriate reference range for the continuous operation setting, and then gradually

raise the value for the purpose of adjustment.

 If an overload error occurs, lower the acceleration setting as appropriate or provide an appropriate

stopping time following each acceleration/deceleration.

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

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

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

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

 Be careful that the moment of inertia of axis 4 does not exceed the permissible value. (Refer to 5.3,

“Carrying Load.”)

 The carrying load indicates a load above the rotational center of axis 4.
 Operate the robot by using an appropriate acceleration coefficient as determined by the mass of

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

25

5.2 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.

The diameter of each tool must not exceed 100 mm. A tool larger than this dimension will interfere with the
robot within the robot’s range of movement.

Adjust the position (direction) of axis 4 (rotational axis) using the D-cut surface at the tip of axis 4.

5. Precautions for Use

Warning

Tool diameter

100 or less

D-cut surface

Center of axis 4
(rotational axis)

Caution

D-cut surface

Tool

Span ring, etc.

Pressure flange

 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 its range of movement

and cause damage to the tool, work 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.

26

5.3 Carrying Load

Load capacity

Type Rated load capacity Maximum load capacity

IX-HNN50/60

IX-INN50/60

IX-HNN70/80

IX-INN70/80

Load’s permissible moment of inertia

2 kg 10 kg

5 kg 20 kg

Type Permissible moment of inertia Remarks

IX-HNN50/60

IX-INN50/60

IX-HNN70/80

IX-INN70/80

0.06 kgm

0.10 kgm

2

2

Load offset (from the center of axis 4 (rotational axis))

50 mm or less

50 mm or less

5. Precautions for Use

Both rated and maximum

Center of axis 4 (rotational axis)

Load’s center of gravity

Caution

 Set appropriate acceleration/deceleration according to the mass of the tip 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.

27

5.4 User Wiring and Piping

A

A

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 Connector
D-sub 25-pin
connector for user
wiring (socket),
fixing screw M2.6

LM (indicator)

Spacer for user
part installation

5. Precautions for Use

User connector specifications

Rated voltage 3.0 V

Permissible current 1.1 A

Conductor size and number of wires AWG 26 (0.15 mm

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

Piping specifications

Normal service pressure 0.8 MPa

Dimensions (outer diameter x inner
diameter) and number of tubes

Working medium Air

Quick joint 6 (yellow)

Quick joint 4 (white)

BK SW
Brake-release switch

4 mm x 2.5 mm, 2 pieces

6 mm x 4 mm, 2 pieces

2

), 25 wires

M cable (outside robot)

ir tube

4 (black, white)
6 (red, yellow)

BK power cable (outside robot)
Y-terminal at the end

U cable (outside robot)
(cable for user wiring)
Y-terminal at the end

PG cable (outside robot)

ALM (indicator) specifications

Rated voltage 24 VDC

Rated current 12 mA

Illumination color Red LED

Shape of Y-terminal Spacer for user part installation

3.2

5.2

2.6 5.9

28

7



M4, depth 5

30 N or less

10

2 Nm or less

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

The robot comes with a 25-pin plug for the D-sub connector for user wiring.

A

A

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 indicator, the user must configure a dedicated circuit that uses the controller I/O output signal,
etc.

User connector pins and corresponding Y-terminals

rm 2 side

Connection

1
2
3
4
5
6
7
8
9
10

11

D-sub,
25-pin

12

13
14

User Connector

15
16
17
18
19
20
21
22
23
24
25

Indicator

LM

(LED)

To D-sub connector frame

No.

Inside unit

Cable

Y-terminal designation

U1
U2
U3
U4
U5
U6
U7

U8
U9

U10

U11
U12
U13
U14
U15
U16
U17
U18
U19
U20

U21

U22

U23
U24
U25

LED +24V

LED G24V

FG

Controller side

Wire color

Orange 1 red

Orange 1 black

Light gray 1 red

Light gray 1 black

White 1 red

White 1 black

Yellow 1 red

Yellow 1 black

Pink 1 red

Pink 1 black

Orange 2 red

Orange 2 black

Light gray 2 red

Light gray 2 black

White 2 red

White 2 black

Yellow 2 red

Yellow 2 black

Pink 2 red

Pink 2 black

Orange 3 red

Orange 3 black

Light gray 3 red

Light gray 3 black

White 3 red

White 3 black

Yellow 3 red

Green

Connection

5. Precautions for Use

Y-terminal

To b a se

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.

29

6 Inspection/Maintenance

6.1 Inspection/Maintenance

Your horizontal articulated robot must be inspected daily and on a regular basis to ensure safe, efficient
operation. Perform the necessary inspections after confirming the maintenance/inspection items required
for your IAI robot, as defined in this section.

The following items must be adjusted at our factory. Do not disassemble the following components or cut
cables at the user site:

Disassembly of servo motor
Disassembly of ball speed reducer
Disassembly of ball-screw spline
Disassembly of bearing
Disassembly of harmonic speed reducer
Disassembly of brake
Cutting of cable

IAI will not be responsible for any malfunction or damage resulting from the conduct of any operation cited
above.

6. Inspection/Maintenance

Warning

 Performing inspection or maintenance without fully understanding the details of work may result in

a serious accident.

 If inspections are neglected, the drive part may wear prematurely or the robot may malfunction

unexpectedly.

30

6.1.1 Daily Inspection

Check the following items daily before and after operating the robot.
Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations
when carrying out each check.

Check location Description

Safety cage

Robot

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 robot mounting bolts for looseness.
Check the exterior for abnormality, loose covers, flaws, dents, etc.
(If the robot has flaws or other abnormalities, please contact IAI.)
Check for abnormal move, vibration or noise.
Check the cables for flaws.
Check the cable mounting parts for looseness.

6.1.2 Six-Month Inspection

Check the following items on the robot every six months.
Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations
when carrying out each check.

Check location Description

Check the arm mounting sections for looseness.

Robot

Ball-screw spline Add grease.
Timing belts of axes 3 and4• Check the belt tension for axes 3 and 4.

Connectors Check the connectors for looseness.

If the robot has flaws or other abnormalities, please contact IAI.

(If any of the arm mounting sections is loose, tighten the fastening parts
securely.)

• Check the belts for flaws, cracks, wear, etc.

6. Inspection/Maintenance

Caution

In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.
After finishing the grease supply work, wash your hands carefully with water and soap to rinse the
grease off.

31

6.1.3 Yearly Inspection

Check the following items on the robot every year.
Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations
when carrying out each check.

Check location Description

Harmonic speed reducer

Ball-screw spline Check the shaft for looseness. (Contact IAI if an abnormality is found.)

Change the grease. (Based on 24-hour operation. Change the grease every
three years or so if the robot is operated eight hours a day.)

Warning

Performing inspection or maintenance without fully understanding the details of work may result in
a serious accident.
If inspections are neglected, the drive part may wear prematurely or the robot may malfunction
unexpectedly.
Display a “Work in Progress” sign so that other operators will not operate the controller, operation
panel, etc.

6. Inspection/Maintenance

6.2 How to Check/Adjust Belt Tension

6.2.1 Preparation

The following tools are required when checking/adjusting belt tension:

Push-pull gauge (maximum measurement capability of 2 kg)
Hex wrenches (2.5, 3, 4 and 5 mm)
Spanners (5.5 and 8 mm)
Phillips screwdriver
Scale
Pin ( 3, 40 to 80 mm in length)

Turn off the power to the controller. Do not cut off the 24 VDC power supply to the brake.

Warning

Performing inspection or maintenance without fully understanding the details of work may result in
a serious accident.

If inspections are neglected, the drive part may wear prematurely or the robot may malfunction
unexpectedly.

Display a “Work in Progress” sign so that other operators will not operate the controller, operation
panel, etc.

Caution

32

6.2.2 Removing the Cover

(1) With arms 1 and 2 extended as illustrated below, press the brake-release switch [1] to release the

brake and then push down the vertical axis until the stopper contacts the pulley. (For the inverse

specification, pull up the vertical axis until the stopper contacts the pulley.)
(2) Remove the countersunk head screws [2], [3] and [4] (four pieces each), in that order.
(3) Remove all connectors (UA, UB, BK and LED) and air tubes (four pieces) from the back of the panel.
(4) Move the cover to the position shown in the photograph.

[3] 4 - M3 x 10 (countersunk head screw)

[1] Brake-release switch

[4] 4 - M3 x 10 (countersunk head screw)

[2] 4 - M3 x 8 (countersunk head screw)

6. Inspection/Maintenance

Panel

Mechanical stopper for vertical axis

Caution

 Remove the four outer screws for the countersunk head screws (4).
 Do not remove the M/PG connectors at the rotary joint, since it will necessitate an absolute reset.
 The cover will not detach completely, since the M/PG connectors are still connected. Do not pull

the cover forcibly.

33

6.2.3 Checking the Belt Tension

Timing belt for vertical axis

Timing belt for rotational axis

6.2.4 Checking the Belt Tension for the Vertical Axis

6. Inspection/Maintenance

Using a push-pull gauge, push the timing belt for vertical axis with a force of A (gf) and measure the
amount of deflection.
If the deflection is B (mm), the belt tension is normal.
If not, adjust the belt tension by referring to 6.2.6, “Adjusting the Belt Tension for the Vertical Axis.”

Top view of the ceiling-mount specification
Bottom view of the inverse specification

Bottom view of the ceiling-mount specification
Top view of the inverse specification

Type A B

IX-HNN50/60

IX-INN50/60

IX-HNN70/80

IX-INN70/80

340 ~ 410 (gf) 1.35 (mm)

550 ~ 650 (gf) 2.2 (mm)

Pulley

Belt

Pulley

Caution

 When measuring deflection, do not use a gauge with a sharp tip that may damage the belt.

34

6.2.5 Checking the Belt Tension for the Rotational Axis

A

(1) Insert a  3 pin in the hole provided on one side of arm 2 (pin length: 40 to 80 mm) until the pin lightly

contacts the belt, and then mark a point off C (mm) from the surface of arm 2.
(2) Using a push-pull gauge, push the pin with a force of D (kgf). The belt tension is normal if the mark on

the pin aligns with the surface of arm 2. If not, adjust the belt tension by referring to 6.2.7, “Adjusting

the Belt Tension for the Rotational Axis.”

Type C D

IX-HNN50/60

IX-INN50/60

IX-HNN70/80

IX-INN70/80

Pulley

2.48 (mm) 1.3 ~ 1.5 (kgf)

3.60 (mm) 1.6 ~ 2.0 (kgf)

rm 2

C (mm)

Mark aligns with the
surface of arm 2.

6. Inspection/Maintenance

Belt

Pin

Mark here

Pulley

Caution

 Do not use a pin with a sharp tip that may damage the belt.

D (kgf)

Pulley

35

6.2.6 Adjusting the Belt Tension for the Vertical Axis

(1) Loosen the four M5 nuts [4] slightly, making sure the fastened points do not become overly loose.
(2) Loosen the lock nut [5], and then turn the bolt with urethane stopper [6] to tension the belt properly.
(3) Check the belt tension by referring to 6.2.4, “Checking the Belt Tension for the Vertical Axis.”
(4) Tighten the M5 nuts [4] loosened in step 1, and then tighten the lock nut [5].
(5) Check the belt tension again by referring to 6.2.4, “Checking the Belt Tension for the Vertical Axis.”

(If the deflection has changed, perform the adjustment again.)

6.2.7 Adjusting the Belt Tension for the Rotational Axis

(1) Loosen the bolts [1] and [2] (four pieces each) slightly, making sure the fastened points do not become

overly loose.
(2) Turn the bolts [3] (two pieces) to tension the belt.
(3) Check the belt tension by referring to 6.2.5, “Checking the Belt Tension for the Rotational Axis.”
(4) Tighten the bolts [1] and [2] loosened in step 1.
(5) Finally, tighten the bolts [3] securely.
(6) Check the belt tension again by referring to 6.2.5, “Checking the Belt Tension for the Rotational Axis.”

(If the deflection has changed, perform the adjustment again.)

6. Inspection/Maintenance

Caution

nut

Tightening torque

Lock nut Bolt with urethane stopper

 Be careful not to overtighten screws [1], [2] and [4].
 After fixing the axis center, be sure to confirm once again that the deflection meets the specified

value.

36

6.2.8 Installing the Cover

(1) Place the cover on the robot and connect the connectors, cables and air tubes installed as illustrated

below. (Absolute reset, as described on the following page, is not required after the belt tension is only

checked.)

[2] 4 - M3 x 10

[1] 4 - M3 x 8

Installation position
of PG connector

PG cable

PG

6. Inspection/Maintenance

M

U

Caution

 Check the marking tubes to prevent improper connections.
 Be careful not to bend the air tubes.
 Be careful not to let the cables contact the pulley.
 Check if the connectors are fully inserted.
 Be careful not to pinch the cables.

37

6. Inspection/Maintenance

M cable

Installation position
of M connector

[3] 4 - M3 x 10

U cables

Installation
position of U
connectors

Be careful not to let them
contact the pulley.

(2) Perform an absolute reset for the rotational axis and vertical axis. This completes the procedure for

installation of the cover.
(Refer to 6.4, “Absolute Reset Procedure.”)

Caution

 Check the marking tubes to prevent improper connections.
 Be careful not to bend the air tubes.
 Be careful not to let the cables contact the pulley.
 Check if the connectors are fully inserted.
 Be careful not to pinch the cables.
 Perform an absolute reset for the rotational axis and vertical axis only after adjustment of the belt

tension.

38

6.3 Battery Replacement

6.3.1 Preparation

The following items are required when replacing the batteries:

 Phillips screwdriver

 New dedicated batteries for IX: AB-3 (4 pieces)

Before replacing the batteries, turn off the power to the controller, control panel and other relevant units.

6. Inspection/Maintenance

Warning

 Performing inspection or maintenance without fully understanding the details of work may result in

a serious accident.

 Display a “Work in Progress” sign so that other operators will not operate the controller, operation

panel, etc.

 Use dedicated batteries for IX. Batteries for the old model (IH) cannot be used.

Caution

39

6.3.2 Battery Replacement Procedure

(1) Remove the countersunk head screws [1] (six pieces) and detach the cover (base).
(2) Remove the batteries from the battery holder.
(3) Remove the battery connectors and connect new batteries.

 After removing the old batteries, quickly connect new batteries (roughly within 5 minutes x

number of batteries).

 If new batteries are not connected for a longer period, the rotation data will be lost and an

absolute reset will become necessary.

 Replace batteries one axis at a time. If the batteries for all axes are replaced at once, the work

may not be completed within the specified time.

(4) Install the batteries into the battery holder.

6. Inspection/Maintenance

Cover (base)

Battery connector 4

(for axis 4)

Battery

(for axis 4)

Battery connector 2

(for axis 2)

Battery

(for axis 2)

Battery connector 3

(for axis 3)

Battery

(for axis 3)

Battery connector 1

(for axis 1)

Battery

(for axis 1)

40

[1] 6 - M3 x 8

Battery holder

(5) Affix the cover (base) using the countersunk head screws [1] (six pieces) (tightening torque: 0.74

Nm).

[1] 6 - M3 x 8

6. Inspection/Maintenance

Caution

Do not tighten the screws to the specified torque in one go. First
tighten the screws to the position shown to the left, and while
pushing the cover in the direction of the arrow tighten the screws
on both sides evenly to ensure tight sealing.

 When installing the cover (base), be careful not to pinch the cables inside.

41

6.4 Absolute Reset Procedure

6.4.1 Preparation for Absolute Reset

The following jig is required when performing an absolute reset:

 Absolute reset adjustment jig

Connect the cables for the robot, controller and PC, so the robot can be operated from the PC.
Before commencing the work, always confirm that the emergency-stop switch is functioning properly.
An absolute reset adjustment jig is always required when performing an absolute reset of the rotational axis
or vertical axis. However, the jig is not always necessary when performing an absolute reset of arm 1 or
arm 2.
(Rotation data can be reset as long as a positioning accuracy of “center of positioning mark label 1
graduation” is ensured.)

6. Inspection/Maintenance

Warning

 Performing inspection or maintenance without fully understanding the details of work may result in

a serious accident.

 Display a “Work in Progress” sign so that other operators will not operate the controller, operation

panel, etc.

Plate

Pin

Absolute reset adjustment jig

42

6.4.2 Starting the Absolute Reset Menu

A

A

(1) Open the absolute reset window from the PC software.

6. Inspection/Maintenance

(2) The absolute 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.

bsolute reset screen

for arm 1 or 2

bsolute reset
screen for rotational
axis + vertical axis

43

6.4.3 Absolute Reset Procedure for Arm 1 or 2

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

6. Inspection/Maintenance

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

44

(3) Click the “Servo ON” button.

(4) Jog the arm to near the reference position (see reference position drawing in step 7), and click the

“Jog end” button.

6. Inspection/Maintenance

(5) Click the “Servo-OFF” button.

45

(6) Press the emergency-stop switch.

A

(7) Set an adjustment jig (pin) in arm 1 or 2 to fix the arm at the reference position.

 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.

6. Inspection/Maintenance

Warning

Arm 1

Arm 2

Positioning
mark label

for axis 1

Positioning
mark label
for axis 1

Positioning
mark label
for axis 2

djust arm 1 or 2 to a
position within ± 1
graduation of the center.

Reference position drawing

 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.

46

(8) Click the “OK” button.

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

6. Inspection/Maintenance

47

(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 the home position has been updated by mistake, perform an absolute reset again using an

adjustment jig. (This time, end the procedure before home position automatic update).

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

6. Inspection/Maintenance

(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 controller.

Caution

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

to become offset.

 When home position automatic update has been performed, be sure to write the flash ROM.

48

6.4.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis

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

6. Inspection/Maintenance

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

49

(3) Click the “Servo ON” button.

(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.

6. Inspection/Maintenance

(5) Jog the rotational axis to the reference position (see reference position drawing in step 8), and click

the “Jog end” button.

50

(6) Click the “Servo-OFF” button.

(7) Press the emergency-stop switch.

6. Inspection/Maintenance

51

(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 jig after adjusting the rotational axis to the reference position, using the positioning mark

label as a guide.

 The top face of the stopper should roughly align with the bottom face of arm 2.

6. Inspection/Maintenance

Reference position of

ceiling-mount specification

The plate and pin should
make light contact.

Positioning
mark label for
rotational axis

D-cut surface

The top face of the
stopper should align with
the bottom face of arm 2.

D-cut surface

The plate and pin should
make light contact.

D-cut surface

D-cut surface

The end face of the stopper should
align with the end face of arm 2.

Positioning mark
label for axis 4

Reference position of inverse specification

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 D-cut surface of the plate jig.

52

(9) Click the “OK” button.

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

6. Inspection/Maintenance

53

(11) Click the “Home pos. automatic update” button.

(12) Remove the adjustment jig.

(13) Release the emergency-stop switch.

6. Inspection/Maintenance

(14) Click the “OK” button.

54

(15) Click the “Servo ON” button.

(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.

6. Inspection/Maintenance

(17) Click the “Servo-OFF” button.

55

(18) Click the “Encoder Rotation Data Reset3” button.

6. Inspection/Maintenance

(19) Click the “Home pos. automatic update” button, and then click “X” in the top right-hand corner to exit

the absolute reset window.
 Once the absolute reset is complete, be sure to write the flash ROM and reset the controller.

56

6.4.5 Writing the Flash ROM

(1) Following an absolute reset of the rotational axis and vertical axis, the following screen opens when

the absolute reset window is closed. Click the “Yes” button.

 Clicking “Yes” writes the information in the flash ROM.
 The flash ROM must also be written when home position automatic update has been performed for

arm 1 or 2.

6. Inspection/Maintenance

(2) When the writing of flash ROM is complete, the following screen is displayed. Click the “Yes” button.

 The controller is restarted and the software is reset.

57

6.4.6 Resetting the Controller

(1) Select “Software Reset” from the Controller menu on the tool bar.

6. Inspection/Maintenance

(2) Click the “Yes” button. The controller is reset and restarted.

58

7 Specifications

7.1 Horizontal Articulated Robot Specifications

IX-HNN-50 (Arm Length 500, Ceiling-mount Specification)

Item Specifications

Type IX-HNN50-**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

Maximum
operating speed
(*2)

Positioning
repeatability (*3)

Cycle time (*4)

Load capacity

Push-in thrust of
axis 3 (vertical axis)

Permissible load
on axis 4

Permissible tool diameter (*6) mm

Origin detection Absolute

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

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

User piping

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 + Speed reducer + 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)

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 1200

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

0.44

Rated 2

Maximum

Dynamic (*8) 152 (15.5)

Static (*9)

Permissible moment of inertia (*5)

Permissible torque

mm

W

degree

mm/sec

mm

kg

N (kgf)

2

kgm

Nm (kgfcm)

250

100

120

135

360

6283

1393

0.010

0.010

0.005

10

108 (11.0)

0.06

3.3 (33.6)

100

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)

7. Specifi cations

59

Item Specifications

7. Specifi cations

Operating
environment

Robot weight

Brake power source for main unit

Controller Power supply

Ambient temperature/humidity

Altitude m 1,000 or less

Allowable supply voltage fluctuation %

Overvoltage category (IEC60664-1) Category III

Pollution degree (IEC60664-1) Pollution degree 3

Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)

BdesioN 73

kg

W

24V DC ±10%

230 V 50/60 Hz 8 A

30.5

20W

10

*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.
*3 Measured at a constant ambient temperature of 20 C.
*4 Measured when the robot is operated at the maximum speed, carrying a rated load of 2 kg.
*5 The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from the

rotational center of axis 4 to the tool’ s centerof gravity is assumed to be 50 mm or less. (Fig. 3)

If the tool’ s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be

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

user connector in response to the controller I/O output signal, etc.
*8 A force of up to three times the dynamic push-in thrust may be applied at any given moment.
*9 The static thrust refers to thrust generated within the robot’ s range of operation based on a PAPR command.

Center of
rotational axis

Bottom
position

To p
position

Tool

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

Tool

To ol

Tool’ s center
of gravity

Center of
rotational axis

Tool

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

60

IX-INN50 (Arm Length 500, Inverse Specification)

Item Specifications

Type IX-INN50-**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

Maximum
operating speed
(*2)

Positioning
repeatability (*3)

Cycle time (*4)

Load capacity

Push-in thrust of
axis 3 (vertical axis)

Permissible load
on axis 4

Permissible tool diameter (*6) mm

Origin detection Absolute

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

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

User piping

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 + Speed reducer + 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)

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 1200

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

0.44

Rated 2

Maximum

Dynamic (*8) 152 (15.5)

Static (*9)

Permissible moment of inertia (*5)

Permissible torque

mm

W

degree

mm/sec

mm

kg

N (kgf)

2

kgm

Nm (kgfcm)

250

100

120

135

360

6283

1393

0.010

0.010

0.005

10

108 (11.0)

0.06

3.3 (33.6)

100

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)

7. Specifi cations

61

Item Specifications

7. Specifi cations

Operating
environment

Robot weight kg 30.5

Brake power source for main unit

Controller Power supply

Ambient temperature/humidity

Altitude m 1,000 or less

Allowable supply voltage fluctuation %

Overvoltage category (IEC60664-1) Category III

Pollution degree (IEC60664-1) Pollution degree 3

Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)

BdesioN 73

W 24V DC ±10% 20W

230 V 50/60 Hz 8 A

10

*1 To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to the bottom

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.
*3 Measured at a constant ambient temperature of 20 C.
*4 Measured when the robot is operated at the maximum speed, carrying a rated load of 2 kg.
*5 The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from the

rotational center of axis 4 to the tool’ s centerof gravity is assumed to be 50 mm or less. (Fig. 3)

If the tool’ s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be

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

user connector in response to the controller I/O output signal, etc.
*8 A force of up to three times the dynamic push-in thrust may be applied at any given moment.
*9 The static thrust refers to thrust generated within the robot’ s range of operation based on a PAPR command.

Tool’ s center

Tool

Bottom
position

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

Tool

To p
position

of gravity

To ol

Center of
rotational axis

Tool

Center of
rotational axis

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

62

IX-HNN60 (Arm Length 600, Ceiling-mount Specification)

Item Specifications

Type IX-HNN60-**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 speed
(*2)

Positioning
repeatability (*3)

Cycle time (*4)

Load capacity

Push-in thrust of
axis 3 (vertical axis)

Permissible load
on axis 4

Permissible tool diameter (*6) mm

Origin detection Absolute

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

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

User piping

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 + Speed reducer + 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)

Axis 3 (vertical axis) (*1) mm 200 (Optional: 300)

Axis 4 (rotational axis) degree

Axis 1 + Axis 2 (maximum composite speed)

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1200

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

0.52

Rated 2

Maximum

Dynamic (*8) 152 (15.5)

Static (*9)

Permissible moment of inertia (*5)

Permissible torque

mm

W

degree

mm/sec

mm

kg

N (kgf)

2

kgm

Nm (kgfcm)

250

100

120

145

360

7121

1393

0.010

0.010

0.005

10

108 (11.0)

0.06

3.3 (33.6)

100

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)

7. Specifi cations

63

Item Specifications

7. Specifi cations

Operating
environment

Robot weight kg 31.5

Brake power source for main unit W 24V DC ±10% 20W

Controller Power supply

Ambient temperature/humidity

Altitude m 1,000 or less

Allowable supply voltage fluctuation %

Overvoltage category (IEC60664-1) Category III

Pollution degree (IEC60664-1) Pollution degree 3

Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)

BdesioN 73

230 V 50/60 Hz 8 A

10

*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.
*3 Measured at a constant ambient temperature of 20 C.
*4 Measured when the robot is operated at the maximum speed, carrying a rated load of 2 kg.
*5 The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from the

rotational center of axis 4 to the tool’ s centerof gravity is assumed to be 50 mm or less. (Fig. 3)

If the tool’ s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be

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

user connector in response to the controller I/O output signal, etc.
*8 A force of up to three times the dynamic push-in thrust may be applied at any given moment.
*9 The static thrust refers to thrust generated within the robot’ s range of operation based on a PAPR command.

Center of
rotational axis

Bottom
position

To p
position

Tool

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

To ol

To ol

Tool’ s center
of gravity

Center of
rotational axis

To ol

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

64

IX-INN60 (Arm Length 600, Inverse Specification)

Item Specifications

Type IX-INN60-**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 speed
(*2)

Positioning
repeatability (*3)

Cycle time (*4)

Load capacity

Push-in thrust of
axis 3 (vertical axis)

Permissible load
on axis 4

Permissible tool diameter (*6) mm

Origin detection Absolute

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

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

User piping

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 + Speed reducer + 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)

Axis 3 (vertical axis) (*1) mm 200 (Optional: 300)

Axis 4 (rotational axis) degree

Axis 1 + Axis 2 (maximum composite speed)

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1200

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

0.52

Rated 2

Maximum

Dynamic (*8) 152 (15.5)

Static (*9)

Permissible moment of inertia (*5)

Permissible torque

mm

W

degree

mm/sec

mm

kg

N (kgf)

2

kgm

Nm (kgfcm)

250

100

120

145

360

7121

1393

0.010

0.010

0.005

10

108 (11.0)

0.06

3.3 (33.6)

100

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)

7. Specifi cations

65

Item Specifications

7. Specifi cations

Operating
environment

Robot weight kg 31.5

Brake power source for main unit W 24V DC ±10% 20W

Controller Power supply

Ambient temperature/humidity

Altitude m 1,000 or less

Allowable supply voltage fluctuation %

Overvoltage category (IEC60664-1) Category III

Pollution degree (IEC60664-1) Pollution degree 3

Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)

BdesioN 73

230 V 50/60 Hz 8 A

10

*1 To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to the bottom

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.
*3 Measured at a constant ambient temperature of 20 C.
*4 Measured when the robot is operated at the maximum speed, carrying a rated load of 2 kg.
*5 The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from the

rotational center of axis 4 to the tool’ s centerof gravity is assumed to be 50 mm or less. (Fig. 3)

If the tool’ s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be

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

user connector in response to the controller I/O output signal, etc.
*8 A force of up to three times the dynamic push-in thrust may be applied at any given moment.
*9 The static thrust refers to thrust generated within the robot’ s range of operation based on a PAPR command.

Tool’ s center

Tool

Bottom
position

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

To ol

To p
position

of gravity

To ol

Center of
rotational axis

Tool

Center of
rotational axis

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

66

IX-HNN70 (Arm Length 700, Ceiling-mount Specification)

Item Specifications

Type IX-HNN70-**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 speed
(*2)

Positioning
repeatability (*3)

Cycle time (*4)

Load capacity

Push-in thrust of
axis 3 (vertical axis)

Permissible load
on axis 4

Permissible tool diameter (*6) mm

Origin detection Absolute

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

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

User piping

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 + Speed reducer + 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)

Axis 3 (vertical axis) (*1) mm 200 (Optional: 400)

Axis 4 (rotational axis) degree

Axis 1 + Axis 2 (maximum composite speed)

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1200

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

0.50

Rated 5

Maximum

Dynamic (*8) 265 (27.0)

Static (*9)

Permissible moment of inertia (*5)

Permissible torque

mm

W

degree

mm/sec

mm

kg

N (kgf)

2

kgm

Nm (kgfcm)

350

200

125

145

360

6597

1583

0.015

0.010

0.005

20

188 (19.1)

0.1

6.7 (68.3)

100

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)

7. Specifi cations

67

Item Specifications

7. Specifi cations

Operating
environment

Robot weight kg 58

Brake power source for main unit W 24V DC ±10% 20W

Controller Power supply

Ambient temperature/humidity

Altitude m 1,000 or less

Allowable supply voltage fluctuation %

Overvoltage category (IEC60664-1) Category III

Pollution degree (IEC60664-1) Pollution degree 3

Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)

BdesioN 74

230 V 50/60 Hz 15 A

10

*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.
*3 Measured at a constant ambient temperature of 20 C.
*4 Measured when the robot is operated at the maximum speed, carrying a rated load of 5 kg.
*5 The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from the

rotational center of axis 4 to the tool’ s centerof gravity is assumed to be 50 mm or less. (Fig. 3)

If the tool’ s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be

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

user connector in response to the controller I/O output signal, etc.
*8 A force of up to three times the dynamic push-in thrust may be applied at any given moment.
*9 The static thrust refers to thrust generated within the robot’ s range of operation based on a PAPR command.

Center of
rotational axis

Bottom
position

To p
position

Tool

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

To ol

Tool

Tool’ s center
of gravity

Center of
rotational axis

Tool

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

68

IX-INN70 (Arm Length 700, Inverse Specification)

Item Specifications

Type IX-INN70-**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 speed
(*2)

Positioning
repeatability (*3)

Cycle time (*4)

Load capacity

Push-in thrust of
axis 3 (vertical axis)

Permissible load
on axis 4

Permissible tool diameter (*6) mm

Origin detection Absolute

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

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

User piping

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 + Speed reducer + 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)

Axis 3 (vertical axis) (*1) mm 200 (Optional: 400)

Axis 4 (rotational axis) degree

Axis 1 + Axis 2 (maximum composite speed)

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1200

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

0.50

Rated 5

Maximum

Dynamic (*8) 265 (27.0)

Static (*9)

Permissible moment of inertia (*5)

Permissible torque

mm

W

degree

mm/sec

mm

kg

N (kgf)

2

kgm

Nm (kgfcm)

350

200

125

140

360

6597

1583

0.015

0.010

0.005

20

188 (19.1)

0.1

6.7 (68.3)

100

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)

7. Specifi cations

69

Item Specifications

7. Specifi cations

Operating
environment

Robot weight kg 58

Brake power source for main unit W 24V DC ±10% 20W

Controller Power supply

Ambient temperature/humidity

Altitude m 1,000 or less

Allowable supply voltage fluctuation %

Overvoltage category (IEC60664-1) Category III

Pollution degree (IEC60664-1) Pollution degree 3

Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)

BdesioN 74

230 V 50/60 Hz 15 A

10

*1 To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to the bottom

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.
*3 Measured at a constant ambient temperature of 20 C.
*4 Measured when the robot is operated at the maximum speed, carrying a rated load of 5 kg.
*5 The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from the

rotational center of axis 4 to the tool’ s centerof gravity is assumed to be 50 mm or less. (Fig. 3)

If the tool’ s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be

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

user connector in response to the controller I/O output signal, etc.
*8 A force of up to three times the dynamic push-in thrust may be applied at any given moment.
*9 The static thrust refers to thrust generated within the robot’ s range of operation based on a PAPR command.

Tool’ s center

Tool

Bottom
position

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

Tool

To p
position

of gravity

Tool

Center of
rotational axis

To ol

Center of
rotational axis

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

70

IX-HNN80 (Arm Length 800, Ceiling-mount Specification)

Item Specifications

Type IX-HNN80-**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 speed
(*2)

Positioning
repeatability (*3)

Cycle time (*4)

Load capacity

Push-in thrust of
axis 3 (vertical axis)

Permissible load
on axis 4

Permissible tool diameter (*6) mm

Origin detection Absolute

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

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

User piping

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 + Speed reducer + 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)

Axis 3 (vertical axis) (*1) mm 200 (Optional: 400)

Axis 4 (rotational axis) degree

Axis 1 + Axis 2 (maximum composite speed)

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1200

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

0.52

Rated 5

Maximum

Dynamic (*8) 265 (27.0)

Static (*9)

Permissible moment of inertia (*5)

Permissible torque

mm

W

degree

mm/sec

mm

kg

N (kgf)

2

kgm

Nm (kgfcm)

350

200

125

145

360

7121

1583

0.015

0.010

0.005

20

188 (19.1)

0.1

6.7 (68.3)

100

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)

7. Specifi cations

71

Item Specifications

7. Specifi cations

Operating
environment

Robot weight kg 60

Brake power source for main unit W 24V DC ±10% 20W

Controller Power supply

Ambient temperature/humidity

Altitude m 1,000 or less

Allowable supply voltage fluctuation %

Overvoltage category (IEC60664-1) Category III

Pollution degree (IEC60664-1) Pollution degree 3

Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)

BdesioN 74

230 V 50/60 Hz 15 A

10

*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.
*3 Measured at a constant ambient temperature of 20 C.
*4 Measured when the robot is operated at the maximum speed, carrying a rated load of 5 kg.
*5 The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from the

rotational center of axis 4 to the tool’ s centerof gravity is assumed to be 50 mm or less. (Fig. 3)

If the tool’ s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be

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

user connector in response to the controller I/O output signal, etc.
*8 A force of up to three times the dynamic push-in thrust may be applied at any given moment.
*9 The static thrust refers to thrust generated within the robot’ s range of operation based on a PAPR command.

Center of
rotational axis

Bottom
position

To p
position

Tool

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

To ol

To ol

Tool’ s center
of gravity

Center of
rotational axis

Tool

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

72

IX-INN80 (Arm Length 800, Inverse Specification)

Item Specifications

Type IX-INN80-**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 speed
(*2)

Positioning
repeatability (*3)

Cycle time (*4)

Load capacity

Push-in thrust of
axis 3 (vertical axis)

Permissible load
on axis 4

Permissible tool diameter (*6) mm

Origin detection Absolute

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

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

User piping

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 + Speed reducer + 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)

Axis 3 (vertical axis) (*1) mm 200 (Optional: 400)

Axis 4 (rotational axis) degree

Axis 1 + Axis 2 (maximum composite speed)

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1200

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

0.52

Rated 5

Maximum

Dynamic (*8) 265 (27.0)

Static (*9)

Permissible moment of inertia (*5)

Permissible torque

mm

W

degree

mm/sec

mm

kg

N (kgf)

2

kgm

Nm (kgfcm)

350

200

125

145

360

7121

1583

0.015

0.010

0.005

20

188 (19.1)

0.1

6.7 (68.3)

100

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)

7. Specifi cations

73

Item Specifications

7. Specifi cations

Operating
environment

Robot weight kg 60

Brake power source for main unit W 24V DC ±10% 20W

Controller Power supply

Ambient temperature/humidity

Altitude m 1,000 or less

Allowable supply voltage fluctuation %

Overvoltage category (IEC60664-1) Category III

Pollution degree (IEC60664-1) Pollution degree 3

Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)

BdesioN 74

230 V 50/60 Hz 15 A

10

*1 To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to the bottom

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.
*3 Measured at a constant ambient temperature of 20 C.
*4 Measured when the robot is operated at the maximum speed, carrying a rated load of 5 kg.
*5 The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from the

rotational center of axis 4 to the tool’ s centerof gravity is assumed to be 50 mm or less. (Fig. 3)

If the tool’ s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be

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

user connector in response to the controller I/O output signal, etc.
*8 A force of up to three times the dynamic push-in thrust may be applied at any given moment.
*9 The static thrust refers to thrust generated within the robot’ s range of operation based on a PAPR command.

Tool’ s center

Tool

Bottom
position

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

Tool

To p
position

of gravity

Tool

Center of
rotational axis

To ol

Center of
rotational axis

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

74

7.2 External Dimensions

A

A

A

A

IX-HNN-50

Reference
surface

(Mechanical end)

Reference surface

12.5 (installation
center)

235 (recommended
installation dimension)

7. Specifi cations

6 quick

air-tube joint

4 quick

air-tube joint

User Connector
D-sub 25-pin connector
for user wiring (socket),
fixing screw M2.6

LM (*3)

BK SW
Brake-release switch

Spacer
Outer diameter 7
Height 10 (M4)
Depth 5 (*2)

Red

Yel l ow

White

Black

Detailed view of panel (1/2)

(Mechanical end)

Detailed view of arm tip (1/2)

14, hollow

rm 2

stopper

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

Section A-A

rm 1
rm 2

stopper

4-11 hole
24 counterbore, depth 5

View B: Detailed view of base installation part

*1: The holes for the 3-M4 screws (depth 8) pierce through the thickness

of the arm’s side wall. If the mounting screws are long, they will
contact the internal parts. Exercise due caution in this regard.

*2: External force applied to the spacers must not exceed 30 N in the

axial direction or 2 Nm in the rotating direction (for each spacer).

*3: The LED operates only when the user provides a circuit that receives

controller I/O output signal and supplies 24 VDC to the LED terminal
in the user connector.

75

IX-HNN-60

)

A

A

A

12.5 (installation
center)

235 (recommended
installation dimension)

7. Specifi cations

Reference

surface

5.5 (Mechanical end)

5 (Mechanical end)

6 quick
air-tube joint

Reference surface

rm 2

stopper

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

rm 1
rm 2

stopper

4-11 hole

24 counterbore, depth 5

4 quick

14, hollow

Section A-A

air-tube joint

D-sub 25-pin connector
for user wiring socket,
fixing screw M2.6

Red LED (*3)

Brake-release
switch

Spacer
Outer diameter 7
Height 10 (M4)
Depth 5 (*2)

Red

Black

Detailed view of panel (1/2)Detailed view of arm tip (1/2)

Yel l ow

White

View B: Detailed view of base installation part

*1: The holes for the 3-M4 screws (depth 8) pierce through the thickness

of the arm’s side wall. If the mounting screws are long, they will
contact the internal parts. Exercise due caution in this regard.

*2: External force applied to the spacers must not exceed 30 N in the

axial direction or 2 Nm in the rotating direction (for each spacer).

*3: The LED operates only when the user provides a circuit that receives

controller I/O output signal and supplies 24 VDC to the LED terminal
in the user connector.

76

IX-HNN-70

)

A

A

A

A

Reference
surface

310 (recommended
installation dimension)

17.5 (installation

6 (Mechanical end)

Reference surface

center)

18, hollow

6 (Mechanical end)

Section A-A

6 (Mechanical end)

6 (Mechanical end)

6 quick
air-tube joint

4 quick
air-tube joint

User Connector
D-sub 25-pin
connector (socket),
fixing screw M2.6

LM (*3)

BK SW
Brake-release
switch

Spacer
Outer diameter  7
Height 10 (M4)
Depth 5 (*2)

Red

Black

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

* The inverse specification is installed upside down.

Yel l ow

White

Detailed view of panel (1/2)Detailed view of arm tip (1/2)

rm 2

stopper

*1: The hole for the 3-M4 screw (depth 8) pierces through the thickness

of the arm’s side wall.

*2: External force applied to the spacers must not exceed 30 N in the

axial direction or 2 Nm in the rotating direction (for each spacer).

*3: The LED operates only when the user provides a circuit that receives

controller I/O output signal and supplies 24 VDC to the LED terminal
in the user connector.

rm 1

stopper

View B: Detailed view of base installation part

rm 2

stopper

4-14 drilled
30 counterbore, depth 5

7. Specifi cations

77

7. Specifi cations

A

A

A

A

IX-HNN-80

Reference
surface

310 (recommended
installation dimension)

17.5 (installation

6 (Mechanical end)

6 (Mechanical end)

Reference surface

center)

18, hollow

6 (Mechanical end)

6 (Mechanical end)

Section A-A

6 quick
air-tube joint

4 quick
air-tube joint

User Connector
D-sub 25-pin
connector (socket),
fixing screw M2.6

LM (*3)

BK SW
Brake-release
switch

Spacer
Outer diameter  7
Height 10 (M4)
Depth 5 (*2)

Red

Black

Detailed view of panel (1/2)Detailed view of arm tip (1/2)

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

* The inverse specification is installed upside down.

Yel l ow

White

rm 2

stopper

*1: The hole for the 3-M4 screw (depth 8) pierces through the thickness

of the arm’s side wall.

*2: External force applied to the spacers must not exceed 30 N in the

axial direction or 2 Nm in the rotating direction (for each spacer).

*3: The LED operates only when the user provides a circuit that receives

controller I/O output signal and supplies 24 VDC to the LED terminal
in the user connector.

rm 1

stopper

4-14 drilled
30 counterbore, depth 5

View B: Detailed view of base installation part

rm 2

stopper

78

7.3 Robot Operation Area

IX-HNN-50
IX-INN-50

(Operation prohibited area)

7. Specifi cations

Stopper position range Movement range

IX-HNN-60
IX-INN-60

(Operation prohibited area)

Stopper position range Movement range

79

7. Specifi cations

IX-HNN-70
IX-INN-70

(Operation prohibited area)

Stopper position range Movement range

IX-HNN-80
IX-INN-80

80

(Operation prohibited area)

Stopper position range Movement range

7.4 Wiring Diagram

A

A

A

larm LED

Inside arm 2

Servo motor for axis 2

(arm 2)

Servo motor with brake

for axis 3 (Z-axis)

Servo motor with brake

for axis 4 (R-axis)

FG (to D-sub housing)

D-sub connector for user wiring (25-pin, socket)

ir joint, red (6)Air joint, yellow (6)Air joint, black (4)Air joint, white (4)

Brake-release switch for axes 3/4 (Z/R-axes)

7. Specifi cations

PG cable (inside robot)

U cable (inside robot)

M cable (inside robot)

cable

Flexible

72

Inside base

Servo motor for axis 1

Cable fix cap

(arm 1)

(Capcon)

M cable (outside robot)

PG cable (outside robot)

Wiring/Piping Diagram (Arm Length: 500/600)

Controller

Board

FG (To base)

ir joint, red (6)Air joint, yellow (6)Air joint, black (4)Air joint, white (4)

U cable (outside robot)

BK power cable (outside robot)

circuit. The 24 V power supply for I/O circuits used on the secondary side (low-voltage side) cannot be shared.

terminals

Brake power

terminals

User wiring

Notes

(1) The actual layout of board connectors varies from this drawing.

(2) Since the brake power circuit is provided on the primary side (high-voltage side), a dedicated 24 V power supply is required for this

(3) To operate the alarm LED, the user must provide a circuit that uses the controller I/O output signal.

81

7. Specifi cations

2

), flexible cable, UL VW-1,

2

), oil-resistant cable, UL VW-1,

), flexible cable,

2

), oil-resistant cable,

2

Tamagawa Seiki

c-UL FT-1

c-UL FT-1

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

Wire: 300 V, 105C (rated), AWG18 (0.84 mm

Wire: 300 V, 80C (rated), AWG18 (0.89 mm

Tamagawa Seiki

UL VW-1, c-UL FT-1

UL VW-1, c-UL FT-1

AC servo motor,  60, 200 W, key groove, CE certified

Wire: 300 V, 105C (rated), AWG18 (0.84 mm

Wire: 300 V, 80C (rated), AWG18 (0.89 mm

82

7.5 230V Circuit Components

1 Axis 1 servo motor TS4609 N2027 E200 AC servo motor,  60, 400 W, key groove, CE certified

No. Code name Model Manufacturer Remarks

IX-HNN50**/60**, IX-INN50**/60**

2 Axis 2 servo motor TS4607 N2027 E200 AC servo motor,  60, 200 W, key groove, CE certified

3 Axis 3 servo motor w/ brake TS4607 N7027 E200 AC servo motor,  60, 200 W, w/ brake, round shaft, CE certified

4 Axis 4 servo motor w/ brake TS4606 N7027 E200

5 M cable (inside robot) IAI

6 M cable (outside robot) IAI

No. Code name Model Manufacturer Remarks

IX-HNN70**/80**, IX-INN70**/80**

1 Axis 1 servo motor TS4614 N2027 E200 AC servo motor,  80, 750 W, key groove, CE certified

2 Axis 2 servo motor TS4609 N2027 E200 AC servo motor,  60, 400 W, key groove, CE certified

3 Axis 3 servo motor w/ brake TS4609 N7027 E200 AC servo motor,  60, 400 W, w/ brake, round shaft, CE certified

4 Axis 4 servo motor w/ brake TS4607 N2027 E200

5 M cable (inside robot) IAI

6 M cable (outside robot) IAI

8. Warranty

8.1 Warranty Period

One of the following periods, whichever is shorter:

 18 months after shipment from IAI
 12 months after delivery to the specified location
 2,500 hours of operation

8.2 Scope of Warranty

Our products are covered by warranty when all of the following conditions are met. Faulty products
covered by warranty will be replaced or repaired free of charge:

(1) The breakdown or problem in question pertains to our product as delivered by us or our authorized

dealer.

(2) The breakdown or problem in question occurred during the warranty period.

(3) The breakdown or problem in question occurred while the product was in use for an appropriate

purpose under the conditions and environment of use specified in the operation manual and catalog.

(4) The breakdown of problem in question was caused by a specification defect or problem, or by a

quality issue with our product.

Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:

[1] Anything other than our product
[2] Modification or repair performed by a party other than us (unless we have approved such

modification or repair)

[3] Anything that could not be easily predicted with the level of science and technology available at

the time of shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
[5] Natural fading of paint or other symptoms of aging
[6] Wear, depletion or other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or maintenance

Note that the warranty only covers our product as delivered and that any secondary loss arising from a
breakdown of our product is excluded from the scope of warranty.

8.3 Honoring the Warranty

As a rule, the product must be brought to us for repair under warranty.

8. Warranty

8.4 Limited Liability

(1) We shall assume no liability for any special damage, consequential loss or passive loss such as a

loss of expected profit arising from or in connection with our product.

(2) We shall not be liable for any program or control method created by the customer to operate our

product or for the result of such program or control method.

83

8. Warranty

8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications

(1) If our product is combined with another product or any system, device, etc., used by the customer,

the customer must first check the applicable standards, regulations and/or rules. The customer is also
responsible for confirming that such combination with our product conforms to the applicable
standards, etc. In such a case we will not be liable for the conformance of our product with the
applicable standards, etc.

(2) Our product is for general industrial use. It is not intended or designed for the applications specified

below, which require a high level of safety. Accordingly, as a rule our product cannot be used in these
applications. Contact us if you must use our product for any of these applications:

[1] Medical equipment pertaining to maintenance or management of human life or health
[2] A mechanism or mechanical equipment intended to move or transport people (such as a

vehicle, railway facility or aviation facility)
[3] Important safety parts of mechanical equipment (such as safety devices)
[4] Equipment used to handle cultural assets, art or other irreplaceable items

(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that

differs from what is specified in the catalog or operation manual.

8.6 Other Items Excluded from Warranty

The price of the product delivered to you does not include expenses associated with programming, the
dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during
the warranty period:

[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance and inspection
[3] Technical guidance and education on operating/wiring methods, etc.
[4] Technical guidance and education on programming and other items related to programs

84

Change History

Revision Date Description of Revision

April 2011

March 2012

August 2012

Third edition

A page for CE Marking added

Fourth edition

Introduction, Safety Symbols and Safety Precautions are deleted
Pg. 1 to 7
Pg. 8
Pg. 20

Pg. 30

Pg. 59, 61, 63, 65, 67, 69, 71, 73

Pg. 82, 83

8. Contacting Us deleted

Fifth edition

4.1 Installation Posture added

Safety Guide added
Caution in Handling added
Brake voltage source capacity from 20W to 30W →
changed to 20W
Caution notes added telling to go to see the doctor to have
an appropriate treatment when the grease got into an eye

Brake voltage source capacity 20W added to specifications
Contents changed in 8. Warranty

Change History

85

Manual No.: ME3636-5A (August 2012)

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan

TEL [phone] FAX [phone]

website: www.iai-robot.co.jp/

Technical Support available in USA, Europe and China

Head Office: 2690 W. 237th Street, Torrance, CA 90505

TEL [phone] FAX [phone]

Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143

TEL [phone] FAX [phone]

Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066

TEL [phone] FAX [phone]

website: www.intelligentactuator.com

Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany

TEL [phone] FAX [phone]

SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China

TEL [phone] FAX [phone]

website: www.iai-robot.com

The information contained in this document is subject to change without notice for purposes of
product improvement.
Copyright © 2012. Aug. IAI Corporation. All rights reserved.

12.08.000