IAI America IX-NNN12040 User Manual

Horizontal Articulated Robot – IX Series
Tabletop Type, Arm Length 1000/1200

IX-NNN10040
IX-NNN12040

Operation Manual First Edition

[Important]

x This Operation Manual is original.

x 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.

x Information contained in this Operation Manual is subject to change without notice for the

purpose of product improvement.

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

IAI sales office near you.

x Using or copying all or part of this Operation Manual without permission is prohibited.

x The company names, names of products and trademarks of each company shown in the

sentences are registered trademarks.

Please Read Before Use

Thank you for purchasing our product.

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

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

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

Table of Contents

Safety Guide ·····················································································································1
Caution in Handling ··········································································································8
International Standards Compliances··············································································· 9
Names of the Parts ········································································································· 11

1. Specifications Check ···································································································13

1.1 Product Check ············································································································13

1.1.1 Parts····················································································································· 13

1.1.2 Operation Manuals related to this product, which are contained in the DVD.····· 13

1.1.3 How to Read the Model Nameplate····································································· 14

1.1.4 How to Read the Model Number ········································································· 14

1.2 Specifications ··············································································································15

1.2.1 Basic Specifications List ······················································································ 15

1.2.2 Operation Range and Operation Restriction ·······················································17

1.2.3 Acceleration/Deceleration and Transfer Load ·····················································22

1.2.4 Acceleration/Deceleration and Duty ···································································· 24

1.3 Flange (Option Model: IX-FL-5) ·················································································· 27

1.4 Motor • Encoder Cables······························································································28

1.4.1 Motor cable ·········································································································· 28

1.4.2 Encoder cable······································································································29

2. Installation ···················································································································30

2.1 Transportation ·············································································································30

2.1.1 Handling of the Robot·························································································· 30

2.1.2 Handling of the Robot Mounted on Mechanical Equipment (System)················· 32

2.2 Installation and Storage • Preservation Environment ·················································32

2.3 How to Install··············································································································· 33

2.3.1 Installation Orientation························································································· 33

2.3.2 Installation············································································································ 34

3. Wiring and Piping ········································································································ 38

3.1 Wiring and Piping in the body ···················································································38

3.2 Connection to the Controller ·······················································································40

3.3 User Wiring and Tubing ······························································································42

3.4 Grounding ··················································································································· 44

3.5 Caution for Wiring and Piping ····················································································· 45

4. Maintenance inspection ······························································································48

4.1 Inspection Items and Periods ····················································································· 48

4.2 Grease Supply on the Vertical Axis············································································· 49

4.2.1 Grease to Apply ··································································································· 49

4.2.2 Grease Supply ·····································································································49

4.3 How to Replace the Absolute Data Backup Batteries·················································50

4.4 Absolute Reset············································································································53

4.4.1 How to Operate the Push Type Absolute Reset ·················································· 53

4.4.2 How to Acquire the Push Stopper Position·························································· 65

5. External Dimensions ··································································································· 78

6. Warranty······················································································································80

6.1 Warranty Period·········································································································· 80

6.2 Scope of the Warranty ································································································ 80

6.3 Honoring the Warranty································································································ 80

6.4 Limit in Responsibility ·································································································81

6.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications·········································································································· 81

6.6 Other Items Excluded from Warranty·········································································· 81

Change History ···············································································································82

1

Safety Guide

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

Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.

No.

Operation

Description

Description

1 Model

Selection

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.

2

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 operation 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

3

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).

4

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
actoruat dropped by gravity.

* Safety protection Fence : In the case that there is no safety protection

fence, the movable range should be indicated.

5

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.

6

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 Operation 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

operation manual of each unit to ensure the safety.

7

Alert Indication

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

Level Degree of Danger and Damage Symbol

Danger

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

Danger

Warning

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

Warning

Caution

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

Caution

Notice

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

Notice

8

Caution in Handling

1. Ensure use of the product in the specified conditions, environments and
ranges.

Operation out of the specified conditions could cause a drop in performance or malfunction of
the product.

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

It would not improve the positioning accuracy repeatability even if setting the positioning band
narrower than it originally was at the delivery. The change of the positioning width is to change
the timing to output the positioning complete signal when a positioning is conducted. The
positioning complete signal is output when the residual amount of movement gets into the
range that is set as the positioning band.

3. Make sure to attach Robot properly by following this operation manual.

4. Make sure to connect the robot and controller with the same serial number.

Even if the controller is a model that is applicable for the robot, a misalignment in position will
occur if the serial number is not matched.

Danger: Not holding or fixing the robot securely may cause not only to generate abnormal

noise and vibration, to malfunction or to shorten the life, but also to lead to an
unexpected operation, which may result in a critical accident such as a
destruction of the unit, work piece or peripherals, or death or heavy injury.

9

International Standards Compliances

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

RoHS Directive CE Marking

٤

Preparing for compliance

10

11

Names of the Parts

2nd Arm Top Panel

Cover R (2

nd

Arm )

Cover L (2

nd

Arm)

Top Cover
(1

st

Arm)

Bracket U

Joint Shaft

Ball Spline

Ball Screw

Heatsink Plate

J2-Axis

Vertical
Axis

Rotation
Axis

Bracket L

2

nd

Arm

1

st

Arm

J1-Axis

J2
Mechanical
Stopper

Side Cover
(1

st

Arm)

4-φ6
Quick joint

FG Grounding
terminal

M Connector

PG Connector

Base

Base Plate

Front Cover

Bottom Cover
(1

st

Arm)

4-φ6 Quick joint

User Connector

ALM (Display)

BK SW
(Brake Release Switch)

Panel Bracket

Detail of 2

nd

Arm Top Panel

User Wiring Connector

External Cable
Panel

12

[Labels]
On the unit body, there are some labels attached on as shown in the figures below. Caution and
warning labels describe the necessary things in order to use the robot safely.

Warning on
handling of the
vertical axis

Position Change
Detaching Prohibition Label

High Temperature
Caution Label

Robot serial number

Warning against
electric shock

View V

V

Prohibition of entry into the operation area

Warning on
handling of the
vertical axis

Position Change
Detaching
Prohibition Label

13

1. Specifications Check

1.1 Product Check

The standard configuration of this product is comprised of the following parts.
See the component list for the details of the enclosed components. If you find any fault or
missing parts,contact your local IAI distributor.

1.1.1 Parts

No. Item Model number Quantity Remarks

1 Robot

Refer to “How to Read the
Model Nameplate” and “How
to Read the Model Number.”

1 set

2 Dedicated Controller 1 set

Accessories

3 Motor • Encoder Cables 1 set

Refer to 1.4
Motor • Encoder
Cables

4

D-Sub Connector with 25 Pins

1

5

Hood Set
(D-Sub Connector with 25 Pins)

1

2

nd

arm side

user connector

6 D-Sub Connector with 37 Pins 1

7

Hood Set
(D-Sub Connector with 37 Pins)

1

Base side user
connector

8

Hex Socket Button Head Screw
M10u15

1

For the cover
on tapped hole
for eyebolt

9 First Step Guide 1
10 Operation Manual (DVD) 1
11 Safety Guide 1

1.1.2 Operation Manuals related to this product, which are contained in the
DVD.

No. Item Control No.

1 Operation Manual for XSEL-R/S/RX/SX/RXD/SXD Controller ME0313

2

Operation Manual for
XSEL-P/Q/PCT/QCT/PX/QX/R/S/RX/SX/RXD/SXD – RC Gateway
Function

ME0188

3

Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154

4

Operation Manual for Teaching Pendant SEL-T/TD/TG ME0183

5

Operation Manual for DeviceNet ME0124

6

Operation Manual for CC-Link ME0123

7

Operation Manual for PROFIBUS ME0153

8

Operation Manual for EtherNet/IP

ME0309

9

Operation Manual for EtherCAT

ME0308

10

Operation Manual for IA Net

ME0307

1. Specications Check

14

1.1.3 How to Read the Model Nameplate

1.1.4

How to Read the Model Number

Note 1 Identification for IAI use only: This may be marked for the purpose of IAI. It is not an ID to describe the

model type.

Model

Serial number

MODEL RS-I-30-50-360-T2-S-K

SERIAL No. 900014180 MADE IN JAPAN

MODEL IX-NNN10040-5L-T2

SERIAL No.000061911 MADE IN JAPAN

I X - N N N 1 0 0 4 0 - 5 L - T 2 - **

Series Name
SCARA robot

<Type>
Arm length 1000mm/Vertical axis 400mm

NNN10040

Arm length 1200mm/Vertical axis 400mm

NNN12040

Identification for IAI use only

(Note 1)

<Applicable controller>
T2 : XSEL-SX

<Cable length>
3L : 3m
5L : 5m
10L : 10m

1. Specications Check

15

1.2 Specifications

1.2.1 Basic Specifications List

Specifications Specifications

Item

IX-NNN10040 IX-NNN12040
Vertical axis lead length mm 10 10
Degree of freedom Four degrees of freedom Four degrees of freedom
Overall arm length 1000 1200
1st Arm length 500 700
2nd Arm length

mm

500 500

J1-Axis (1st Arm)

r140 r140

J2-Axis (2nd Arm)

degree

r150 r150

Vertical axis mm 400 400

Movement
range

Rotation axis degree

r360 r360
Maximum composite speed
(J1-Axis + J2-Axis)

(Note 1)

mm/s 7356 8308

J1-Axis (1st Arm) 273 273
J2-Axis (2nd Arm)

degree/s

298 298

Vertical axis mm 1000 1000

Maximum
speed

Rotation axis degree/s 1197.3 1197.3
On horizontal plane
(J1-Axis + J2-Axis)

mm

r0.040 r0.050

Vertical axis mm

r0.020 r0.020

Positioning
repeatability
precision

(Note 2)

Rotation axis degree

r0.010 r0.010

Standard cycle time

(Note 3)

sec 0.59 0.66

Rated 20 20

Loading capacity

Maximum

kg

50 50

Vertical Axis Rated Thrust N 1020 1020

Allowable load moment

(Note 4)

kg•m

2

0.5 0.5

Permissible torque N•m 20.0 20.0

Rotation Axis

Allowable load moment N•m 50.0 50.0

Load allowable diameter

(Note 5)

mm 90 240
Encoder Absolute encoder
User wiring D-sub 25-pin (socket) with 25-core AWG26 shielded connector
User tubing

4 air tubes (outer diameter: I6, inner diameter: I4)

Surrounding air temperature

0 to 40qC
Surrounding humidity Humidity: 20 to 85%RH or less (non-condensing)
Surrounding environment Refer to “2.2 Installation and Storage • Preservation Environment”
Surrounding storage temperature

0 to 60qC
Surrounding storage humidity Humidity: 20 to 85%RH or less (non-condensing)

Environment

Protection class IP20

Noise dB 73 73

Weight kg 93 97

1. Specications Check

16

Note 1 Assuming PTP instruction operation. The maximum composite speed is not the maximum

speed of CP operation.

Note 2 Positioning precision when the robot is operated repeatedly to one specified position from

the same starting position at the same speed and acceleration/deceleration using the
same arm (at a constant surrounding air temperature of 20°C).
It is not the absolute positioning accuracy.
Also, when the arm system is changed over or when positioning to one setting position is
made from several different positions, there may be a possibility that the robot may get
out of the specification range of the positioning accuracy repeatability.

Note 3 It is the required time to run back and forth between positions that enable the fastest

motion under the following condition.
It is the time for back and forth cycle with 2kg of carrier, 25mm of up-down movement and
300mm of horizontal movement.

300mm

25mm

(Note) Even though the standard cycle time is the required time determined under the fastest

movement, continuous operation in the fastest movement cannot be conducted.

Note 4 It is the allowable moment of inertia converted to the center of the revolution in the

rotation axis.
[Refer to 2.3.2 [2] Attachment of Load for the offset from the revolution center of the 4

th

axis to the center of gravity of the load]If the center of gravity of the load is off the center
of the 4

th

axis, it may cause vibration depending on the profile or attachment stiffness of

the load. In such a case, reduce the speed and acceleration till the vibration disappears.

Note 5 If the load is larger than the allowable diameter, it interferes with the robot body.

[Refer to 2.3.2 [2] Attachment of Load]

Caution: x If the robot is operated at a speed or acceleration/deceleration exceeding the

allowable value, abnormal noise or vibration, failure, or shorter life may result.

x If the robot is operated under a load equal to or greater than the allowable load

moment, abnormalnoise or vibration, failure, or shorter life may result. In an
extreme case, flaking may occur.

x Attaching a load beyond the allowable overhang length may generate vibration

or abnormal noise.

1. Specications Check

17

1.2.2 Operation Range and Operation Restriction

[1] Operation Range

(1) IX-NNN10040 Arm Length 1000 Right arm System

(2) IX-NNN10040 Arm Length1000 Left arm System

1. Specications Check

18

(3) IX-NNN12040 Arm Length 1200 Right arm System

(4) IX-NNN12040 Arm Length 1200 Left arm System

1. Specications Check

19

[2] Operation Restriction

When a load or the arm of the robot interferes with the base or other equipment, restrict the
operation by attaching hex socket head screws (M8u15) to the M8 tapped holes for operation
restriction on the J1-axis or J2-axis that are shown in the figure below, and make the stopper
interfering absolute reset effective.
[Refer to (1) J1-Axis Operation Restriction Angles and (2) J2-Axis Operation Restriction Angles
for the angles to be able to restrict the operation.]

When the operation restriction is applied, make to change the parameters in the software
limitation in Each Axis Parameter No. 7 and No. 8.
[Refer to (1) J1-Axis Operation Restriction Angles and (2) J2-Axis Operation Restriction
Angles for the soft limit values.]
Also, when having the stopper interfering absolute reset in the direction of operation
restriction, make to acquire the position of the stopper in Stopper Position Acquiring Mode
after that, and perform the stopper interfering absolute reset.

It is necessary to have a stopper interfering absolute reset in such cases as when replacing
the absolute backup batteries. Note that, if interference exists, the absolute reset process
cannot be executed, thus the recovery process faces difficulty.
Especially, the J2-axis with its arm length 1000 has a possibility that a load interferes with
the base without the operation restriction.

J1-Axis M8
Tapped Holes
for Rotational
Restriction

J2-Axis M8
Tapped Holes
for Rotational
Restriction

When load interferes with
a base area

Base

1. Specications Check

20

(1) J1-Axis Operation Restriction Angles



J1-axis of the angles of the mechanical ends, angles of the operation restrictions and the
parameters are as shown in the figures and table below.
When limiting the moveable angle, attach the M8x15 hex socket head screw for movement
limitation to an M8 tapped hole for J1-axis rotational limitation and change the soft limit, and
then acquire the stopper position and conduct the stopper push type absolute reset.

J1-Axis Operation Restriction Angles and Parameters

No.

Angle of Stopper

Position (ME)

[degree]

Angle of Software

Limitation

[degree]

Angle from

Software

Limitation to ME

[degree]

Software

Limitation

Parameter (Each

Axis Parameter

No. 7 Software

Limitation +

J1-Axis)
1 11.5 1.5 10 91500
2 34.0 24.0 10 114000
3 56.5 46.5 10 136500
4 79.0 69.0 10 159000
5 101.5 91.5 10 181500
6 124.0 114.0 10 204000
7 146.5 136.5 10 226500

Positive Direction

of Coordinate

Default 150.0 140.0 10 230000

No.

Angle of Stopper

Position (ME)

[degree]

Angle of Software

Limitation

[degree]

Angle from

Software

Limitation to ME

[degree]

Software

Limitation

Parameter (Each

Axis Parameter

No. 8 Software

Limitation –

J1-Axis)
1 -11.5 -1.5 10 88500
2 -34.0 -24.0 10 66000
3 -56.5 -46.5 10 43500
4 -79.0 -69.0 10 21000
5 -101.5 -91.5 10 -1500
6 -124.0 -114.0 10 -24000
7 -146.5 -136.5 10 -46500

Negative Direction

of Coordinate

Default -150.0 -140.0 10 -50000

J1-Axis M8
Tapped Holes
for Rotational
Restriction

Positive
Direction

1

2

3

4

5

6

7

Negative
DirectionNegative

Direction

Positive
Direction

8

9

10

11

12

13

14

Mechanical end angles from the top view of
J1-axis with M8 hex socket head screws for
rotational restriction allocated
(operation available on the side of
rotational restriction screws)

1. Specications Check

21

(2) J2-Axis Operation Restriction Angles



J2-axis of the angles of the mechanical ends, angles of the operation restrictions and the
parameters are as shown in the figures and table below.
When limiting the moveable angle, attach the M8x15 hex socket head screw for movement
limitation to an M8 tapped hole for J2-axis rotational limitation and change the soft limit, and
then acquire the stopper position and conduct the stopper push type absolute reset.

J2-Axis Operation Restriction Angles and Parameters

No.

Angle of Stopper

Position (ME)

[degree]

Angle of Software

Limitation

[degree]

Angle from

Software

Limitation to ME

[degree]

Software

Limitation

Parameter (Each

Axis Parameter

No. 7 Software

Limitation +

J2-Axis)
1 8.0 -2.0 10 -2000
2 30.5 20.5 10 20500
3 53.0 43.0 10 43000
4 75.5 65.5 10 65500
5 98.0 88.0 10 88000
6 120.5 110.5 10 110500
7 143.0 133.0 10 133000

Positive Direction

of Coordinate

Default 160.0 150.0 10 150000

No.

Angle of Stopper

Position (ME)

[degree]

Angle of Software

Limitation

[degree]

Angle from

Software

Limitation to ME

[degree]

Software

Limitation

Parameter (Each

Axis Parameter

No. 7 Software

Limitation -

J2-Axis)
1 -8.0 2.0 10 2000
2 -30.5 -20.5 10 -20500
3 -53.0 -43.0 10 -43000
4 -75.5 -65.5 10 -65500
5 -98.0 -88.0 10 -88000
6 -120.5 -110.5 10 -110500
7 -143.0 -133.0 10 -133000

Negative Direction

of Coordinate

Default -160.0 -150.0 10 -150000

J2-Axis M8
Tapped Holes
for Rotational
Restriction

1

2

3

4

5

6

7

8

9

10

11

12

13

14

Negative
Direction

Negative
Direction

Positive
Direction

Positive
Direction

Mechanical end angles from the top view of
J2-axis with M8 hex socket head screws for rotational
restriction allocated (operation available on the side of
rotational restriction screws)

1. Specications Check

22

1.2.3 Acceleration/Deceleration and Transfer Load

[1] PTP Operation

Shown in the graph below is a reference for the acceleration setting against the transported
load. Refer to this graph for setting and make sure to tune the acceleration speed so it would
not be overload.

0

10

20

30

40

50

60

70

80

90

100

0 10 20 30 40 50

Transported Load

[kg]

Acceleration/Deceleration [%]

Reference Range for
Continuous Operation

Operation is
Available Range

1. Specications Check

23

[2] CP Operation

For CP Operation, the operational available range differs depending on if it includes the
vertical axis operation or not.
Shown in the graph below is a reference for the acceleration setting against the transported
load. Refer to this graph for setting and make sure to tune the acceleration speed so it would
not be overload.

(1) In case vertical axis operation is included

0

0.1

0.2

0.3

0 10 20 30 40 50

Acceleration/Deceleration [G]

Transported Load [kg]

Operation is
Available Range

Reference Range for Continuous Operation

CP Operation Max. Speed: 1000mm/s

(2) In case vertical axis operation is excluded



0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0 10 20 30 40 50

Transported Load [kg]

Acceleration/Deceleration [G]

Operation is
Available Range

Reference Range for Continuous Operation

CP Operation Max. Speed: 1000mm/s

1. Specications Check

24

1.2.4 Acceleration/Deceleration and Duty

[1] PTP Operation

Shown in the graph below is a reference for the acceleration setting against the duty. Refer
to this graph for setting and make sure to tune the acceleration speed so it would not be
overload.

0

10

20

30

40

50

60

70

80

90

100

Duty [%]

Transported load
0 to 20kg

100

50 25

10

Acceleration/Deceleration [%]

Transported load
20 to 50kg

1. Specications Check

25

[2] CP Operation

For CP Operation, the operational available range differs depending on if it includes the
vertical axis operation or not.
Shown in the graph below is a reference for the acceleration setting against the transported
load. Refer to this graph for setting and make sure to tune the acceleration speed so it would
not be overload.

(1) In case vertical axis operation is included



0

0.1

0.2

0.3

30405060708090100

Duty [%]

Acceleration/Deceleration [%]

Transported load 0kg

Transported load 20kg

Transported load 20 to 50kg

CP Operation Max. Speed: 1000mm/s

(2) In case vertical axis operation is excluded

0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

5060708090100

Duty [%]

Acceleration/Deceleration [%]

Transported load 0kg

Transported load 20kg

Transported load 20 to 50kg

CP Operation Max. Speed: 1000mm/s

1. Specications Check

26



Caution: x When using PTP operation, make to use WGHT Command in the program to

set the weight and moment of inertial before starting operation.
The operation time varies depending on the transfer mass even when the same
acceleration has been set.

x When overload error occurs, either reduce the acceleration speed or make the

stop time longer referring to the graph in 1.2.4 Acceleration and Duty.

x If the robot is required to make horizontal movement in high speed, run the

up/down axis near the upper end as much as possible. It will decrease the
moment of inertia of the load.
In case the moment of inertial of the load is high, vibration could be generated
on the up/down axis depending on the position of the up/down axis. Reduce the
acceleration speed in case vibration is occurred.

x The value of transported load (kg) in the graph is assumed the load is on the

revolution center of the rotation axis.

1. Specications Check

27

1.3 Flange (Option Model: IX-FL-5)

It is the flange to be used when attaching a load on the tip of the vertical axis arm.

A

A

φ

68

φ

110

(7.2)(35)153

φ

40 h7

0

-0.025

Bracket

C

4-φ11 Through Hole

2-M6, Depth 12

φ

90

φ

56

45

°

45

±0.03

2-

φ

8 H7

Through Hole

+0.015

0

45

±0.03

30

°

Tapped hole for
detaching flange

B

Hex Socket Set Screw

Ball Spline Shaft

Caution:

1. Vertical axis flange option is held on with a locking assembly. To remove the flange, it is
necessary either to loosen the screws in Part C, or to use an equivalent tool (e.g.
pulley dismantler) to pull it out. Do not attempt to put impact on the flange to remove it.

2. The tightening torque for the screws (M6) in Area C is 12.3N•m. Do not tighten the
screws with the specified torque at once. Tighten the screws with half of the specified
torque temporarily, first, and then tighten again with the specified torque afterwards.
Also, always tighten the screws diagonally.
The tightening torque for M6u6 hex socket set screws is 5.9N•m.

C

4-φ11 Through Hole

2-M6, Depth 12

φ

90

φ

56

45

°

45

±0.03

2-

φ

8 H7

Through Hole

+0.015

0

45

±0.03

30

°

Tapped hole for
detaching flange

M6×6

Bumping Hood

Optional flange
dismantling tool

1. Specications Check

28

1.4 Motor • Encoder Cables

1.4.1 Motor cable

Model : CB-SX4-MAƑƑƑ
ƑƑƑ indicates the cable length L (Example. 030 3m). Max.10m

M1

Sheath
Symbol

2

4
1

Pin
No

3

3

1

2
3

4

1

4

2

1
2

3
4

C.G

U
V

C.G

U

Signal
Name

U
V

W

C.G

V

W

U

C.G

W

V

W

Robot Side Controller Side

M2

M3

M4

Signal
Name

C.G

W

V

U

U

V

W

C.G

U

V

W

C.G

U

V

W

C.G

-

Pin
No

17

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16

Cotroller Side

Robot Side

M

M1

M2M3

M4

No. L

1
2
3

3000
5000

10000

150

+25
0

L

+100
0

(40)

Allocate on the connector side and heat shrink

5

4

10

3

11

13

6
7

12

9

8

14

1
2

15
16

-

ID No.

6

5

4

3

2

1

7

8

10

9

11

12

13
14
15

16

ID No.

Plug : CE01-6A20-29SC-D0
Contact : CE01-#16S-1620-100
(Supplier : DDK)

GIC-2.5/4-STF-7.62
(Supplier : PHOENIX CONTACT)

1. Specications Check

29

1.4.2 Encoder cable

Model : CB-SX4-PAƑƑƑ
ƑƑƑ indicates the cable length L (Example. 030 3m). Max.10m

PG

PG1

PG2PG3PG4

BK RMT

φ11.4

L

+100
0

150

+25
0

300

+25
0

(80)

(50)

(30)

10

+5
0

D

No. L

1
2
3

3000
5000

10000

Cotroller Side

Robot Side

Plug : CE01-6A20-30SC-D0
Contact : CE01-#20S-C2-100
(Supplier : DDK)

Sheath O/D

The shield is clamped to the hood

Sheath

Symbol

PG1

PG2

PG3

PG4

BK RMT

The shield is clamped to the hood

The shield is clamped to the hood

The shield is clamped to the hood

Drain
Wire

-

-

-

-

-

-SD

GND

Vcc

SD

-SD

SD

Vcc

GND

-SD

GND

Vcc

SD

BK4

COM

BK3

BK-

BK+

0V

+V

Output

GND

Vcc

-SD

SD

-

Signal
Name

24

21

16

19

15

14

20

18

11

13

12

17

23

22

10

9

25

26

28

27

29

30

8

7

6

3

5

4

2

1

Pin
No

Robot Side

-SD

GND

Vcc

SD

-SD

SD

Vcc

GND

-SD

GND

Vcc

SD

BK4

COM

BK3

BK-

BK+

0V

+V

Output

GND

Vcc

-SD

SD

Signal
Name

26

17

21

8

20

17

16

7

7

16

8

12

13

17

3

1

5

16

8

7

16

17

8

7

Pin
No

Controller Side

-

-

-

-

-

Brown

Blue

Purple

Red

Gray

Black

Green

Yellow

White

Blue

Orange

-

Orange

Red

Gray

Green

Black

Yellow

Purple

White

Blue

Yellow

Gray

Green

Brown

Electric
Wire Color

Yellow

White

Blue

Brown

Red

Gray

Black

Green

Black

Yellow

Orange

Red

Gray

Green

Purple

White

Blue

Yellow

Gray

Green

Electric
Wire Color

10126-3000PE
(Supplier : Sumitomo 3M)

DF11-6DS-2C
(Supplier : Hirose)

1. Specications Check

30

2. Installation

2.1 Transportation

2.1.1 Handling of the Robot

Unless otherwise specified, the robot is delivered in the package as shown in the figure below.
There are stoppers attached on the J1 and J2 axes.

Notice: Remove the stoppers before starting to operate the robot.

Keep the removed stoppers, and use them to hold the robot when it is
necessary to transport or carry the robot.

Front Cover

Enclosed with Robot, Cables

Controller

J1-Axis Stopper

J1-Axis Stopper

J2-Axis Stopper

Package Condition

J1-Axis Stoppers J2-Axis Stoppers

2. Installation

31

[1] Handling of the Carton

x Do not damage or drop. The package is not applied with any special treatment that enables it

to resist an impact caused by a drop or crash.

x An operator should never attempt to carry on their own. Also, use an appropriate way for

transportation.

x When placing the package, settle it horizontally following the posture instruction of the

package.

x Do not step or sit on the package.
x Do not put any load that may cause a deformation or breakage of the package.

[2] Handling after Unpackaged

x Carry the robot using the eyebolts to hang on a hook.

When pulling up the robot, hold the 1

st

arm, 2nd arm or the base to keep the robot horizontal

and pull it up slowly.

x When carrying a robot, it has to be done by a person who is certified for sling work and crane

operation.

x Carry the robot with stoppers attached on J1 and J2 axes.
x Do not attempt to hold the Z-axes or 2

nd

arm for transportation.

x Do not apply too much force on each part of the robot.

Arm 2

Vertical Axis

Base

Arm 1

Notice: After the transportation work is finished, detach the eyebolts for hanging and

keep them in a place you would not lose them.
After removing the eye bolts, cover up the tapped holes with the (enclosed) hex
socket head screws sized M10u15.

2. Installation

32

2.1.2 Handling of the Robot Mounted on Mechanical Equipment (System)

The following are the cautions for when transporting robot installed in the machinery
equipment (system) in the whole system.

x Transportation must be carried out with stoppers applied on J1 and J2-axes.
x When suspending the mechanical equipment (system) with ropes, avoid applying force to

robot, connector, etc. Also, avoid the cables being pinched or caused an excessive
deformation.

2.2 Installation and Storage • Preservation Environment

[1] Installation Environment

Do not use this product in the following environments.
Also make sure to keep enough work space necessary for maintenance.

x Location exposed to radiant heat from a huge heat source such as the heat treatment
x Location where the surrounding air temperature exceeds the range of 0 to 40qC
x Location where condensation occurs due to abrupt temperature changes
x Location where relative humidity smaller than 20% or larger than 85%RH
x Location exposed to direct sunlight
x Location exposed to corrosive gases or combustible gases
x Location exposed to significant amount of dust, salt or iron powder (Outside of an ordinary

assembly plant)

x Location where water, oil (includes oil mist and cutting fluid) or a chemical is splashed
x Location where the product main body receives vibration or hit impact

When using the product in any of the locations specified below, provide a sufficient shield.

x Place subject to electrostatic noise
x Location where exposed to the influence of strong electric or magnetic field
x Location where exposed to the influence of ultraviolet or radiant rays

[2] Storage • Preservation Environment

x The storage and preservation environment should comply with the same standards as those

for the installation environment. In particular, when the machine is to be stored for a long time,
pay close attention to environmental conditions so that no dew condensation forms.

x Unless specially specified, moisture absorbency protection is not included in the package

when the machine is delivered. In the case that the machine is to be stored and preserved in
an environment where dew condensation is anticipated, take the condensation preventive
measures from outside of the entire package, or directly after opening the package.

x For storage and preservation temperature, the machine withstands temperatures up to 60qC

for a short time, but in the case of the storage and preservation period of 1 month or more,
control the temperature to 50qC or less.

x Storage and preservation should be performed in the horizontal condition. In the case it is

stored in the packaged condition, follow the orientation instruction if any displayed on the
package.

2. Installation

33

2.3 How to Install

2.3.1 Installation Orientation

ż㧦Available ×㧦Not available
Horizontally Oriented Mount Wall-Mount Ceiling-Mount



ż × ×

2. Installation

2. Installation

34

2.3.2 Installation

[1] Installation of the Main Unit

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.



(1) Installation Platform

x The surface on which the robot is fixed must have a thickness of 25mm or more. The

levelness of the robot installation surface must be at least 0.05mm or less.

x Make a tapped hole of M12 with the effective length 24mm or more on the mounting

surface of the platform.

x There will be a reaction force as shown in the figure below applied to the robot during an

operation.
For the platform to attach the robot, consider enough strength, stiffness and stableness to
endure the reaction force generated during the operations listed in the table as well as to
stand the weight of the robot.

Maximum Reaction Force during Robot Operation

Fa (Max.) Fb (Max.) T (Max.)

Model

Number

N kgf N kgf N kgf

IX-NNN10040 8765 894 668 68 750 77
IX-NNN12040 7553 771 698 71 898 92



Fa

Fb

Rated
Transportable
Weight

T



(2) Installation of the Platform

x Affix the platform on the floor to make sure it would not be moved during the robot

operation.

x Install the platform to have the robot installed on in horizontally.

(3) Installation of the Robot

x The robot body has to be securely fastened with using hex socket cap screws and steel

ring plain washers (13 x 24 x 2.5) (4pcs each).

Attachment hole

Attachment

screw

Tightening Torque

I13.5 through
I25 Depth

(Dimension from the seat to the
installation surface is 8mm)

M12

104N㨯m

x Apply high-tensile bolts with 10.9 or more of the tensile class for the attachment bolts.

35

[2] Attachment of the load

x To attach the load, use a bracket with tightening force that possesses enough strength

and stiffness, and would not slip.

Shown in the figure below is an example of attachment when the optional flange is used.
Please take this as a reference.

Shrink Discs

Flange (Option)

Splined Ball Screw



x Utilize the D-shaped flat face on the tip of rotation axis for positioning (in rotational

direction) of rotation axis.

0°

-X

-R

+R

0°

Rotation axis
D-cut surface

Center of tool
attachment surface

Rotation axis position from top view

D-Cut Surface

Splined Ball Screw



(Note) The D-cut surface is not for attachment purpose. Do not attempt to hold a bolt or set

screw against this surface to fix a load. Use such tools as split cramp or locking
assemblies to mount a load.



2. Installation

36

x For the attachment of the load, make sure to keep it below the allowable load diameter,

load offset, transportable weight and allowable moment of inertia.

Revolution Center of Rotation Axis

Load Diameter φK

70mm or less

Bracket L

Clearance 1.2mm Min.

Center
of Grevity
Load



Transported

Weight [kg]

Rotation Axis

Allowable Moment of

Inertia

[kg㨯m

2

]

Model

Number

Load

Diameter

K

(Note)

[mm]

Center of

Gravity

Load(positions

of centers)
and Offset

Rated Max. Rated and Maximum

IX-NNN10040 90

IX-NNN12040 240

70mm or less

[See the

next page]

20 50 0.5

(Note) Load diameter is determined by the furthest point from the revolution center. For

example, if the load is in a rectangular shape, the tool diameter is a diagonal line as
shown in the figure below.

(Note) Ɣ In case the load diameter exceeds the value specified in the table, the tool will

interfere with the base part. Use it by changing the operation restriction and the
values in the software limitation for J2-axis. [Refer to 1.2.2 [2]. Operation
Restriction]
Also, make sure to use within the allowable range for the moment of inertia for the
load.

Ɣ Have at least 1.2mm or more for the clearance between the load and Bracket L.



Load Diameter Load Offset

Center of Rotation Axis

Tool Diameter

Load

2. Installation

37

[Load and Offset]

٧PTP Operation

In the case that the actuator is moved with a transfer load of 10kg or less and a speed of 50% or
less, set the load offset to 70mm or less as shown in the following graph. When the speed is at
50%, the load offset is 70mm no matter what the transported load weight is.

0

10

20

30

40

50

60

70

0 10 20 30 40 50

Transported Load [kg]

Load Offset [mm]

Speed 50%

Speed 75%

Speed 100%

٧CP Operation

In the case that the actuator is moved with a transfer load of 20kg or less and a speed of 50% or
less, set the load offset to 70mm or less as shown in the following graph. When the speed is at
50%, the load offset is 70mm no matter what the transported load weight is.

0

10

20

30

40

50

60

70

0 10 20 30 40 50

Transported Load [kg]

Load Offset [mm]

Speed 50%

Speed 75%

Speed 100%

2. Installation

38

3. Wiring and Piping

3.1 Wiring and Piping in the body

(1) 2nd Arm

Vertical
Axis

Vertical Axis

Vertical Axis Brake

Motor

Motor

Encoder

Rotation Axis

Rotation Axis

Encoder

J2-Axis
Motor

J2-Axis
Encoder

Sensor

U A

U B

SW

PG 3

M3

LS 4

PG 2

PG 4

M4

M2

BK 3

U A
U B
SW

PG 3

M3

LS 4

PG 2

PG 2

PG 2

PG 4

M4

M2

M2 M 2

BK 3

10

13

17

18

14

12

11

BK SW

ALM (Display)

User Connector

User Tubing φ6×4

16

(2) Base Part

9

8

5

4

2

1

7

6

3

M

PG

U

UA

DC 24V

BK RMT

PG4

PG3

PG2

PG1

M4

M3

M2

M1

M4

M3

M2

M1

BK PMR

BK RMT

PG4

PG3

PG2

PG1

UB
SW

UA
UB

SW
LS4
BK3
PG4
PG3
PG2
PG1
BAT

M4
M3
M2
M1

BK3
PG4
PG3
PG2
PG1
BAT

BAT4Battery AB-3
AB-3
AB-3
AB-3

BAT3

BAT2

BAT1

M4
M3
M2
M1

LS4

UA
UB

SW

UA
UB

SW
LS4
BK3
PG4
PG3
PG2
PG1

M4
M3
M2
M1

BK3

PG4
PG3
PG2
PG1

M4

M3

M2

M1

LS4

User Tubing φ6×4

J1M
Encoder

J1M
Motor

M4 Grounding Terminal

Controller

DC24V
Power supply
(10W)
prepared by
customer

Battery

Battery

Battery

15

3. Wiring and Piping

39

Number Parts Name Remarks

1

Motor Cable (between robot and
controller)

230V circuit component

Electric wire to be used : Rated

300V, 105C°
Complied with UL VW-1, cUL FT1
Size 16AWG
Oil and Heat Resistance Fireproof

Robot Cable

2

Encoder Cable (between robot and

controller)
3 Motor (M) Connector Wiring (Base)
4 Encoder (PG) Connector Wiring (Base)
5 User (U) Connector Wiring (Base, D-sub)
6 BAT Cable (Base)
7 AB-3 Absolute Data Backup Battery

8

J1_N160_Cable Assy_M

ٟMotor (M) Cable (Base)

230V circuit component

Electric wire to be used : Rated

300V, 105C°
Complied with UL VW-1, cUL FT1
Size 16AWG, 18AWG

Oil and Heat Resistance Fireproof

Robot Cable

9

J1_N170_Cable Assy_PG

ٟEncoder (PG) Cable (Base)
ٟUser (U) Cable (Base)

10

Arm1_N020_internal wiring Assy_1

ٟMotor (M) Cable (Arm 1)
ٟEncoder (PG) Cable (Arm 1)
ٟUser (U) Cable (Arm 1)

Motor (M) Cable (Arm 1)
230V circuit component

Electric wire to be used : Rated

300V, 80C°

Complied with UL 2464
Size 18AWG
Oil and Heat Resistance Fireproof
Robot Cable

11 Panel Wiring Assy (on top of Arm 2)
12 Brake release switch
13 Motor (M) Converter Cable
14 Encoder (PG)Converter Cable
15 J1-Axis Servo Motor 230V circuit component
16 J2-Axis Servo Motor 230V circuit component
17 Vertical Axis Servo Motor 230V circuit component
18 Rotation Axis Servo Motor 230V circuit component

[Refer to 1.4 Motor • Encoder Cables for the wiring layout of Motor Cable and Encoder Cable.]

3. Wiring and Piping

40

3.2 Connection to the Controller

[XSEL-SX Connecting to the Controller]

Dedicated Controller
XSEL-SX

Horizontal Articulated Robot

r = 98mm or more (Movable Use)
r = 69mm or more (Fixed Use)

Dedicated Connection Cable
(SCARA Robot with the dedicated controller)

Regenerative
Resistor Unit
4 Units

x Motor Cable CB-SX4-MAƑƑƑ
x Encoder Cable CB-SX4-PAƑƑƑ

ƑƑƑ indicates the cable length L
Example. 030 3m

3. Wiring and Piping

41

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: x 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

x Do not attempt to use a cable out of the dedicated cable for connection.Doing

so may cause not only error operation or malfunction, but also may cause a
critical accident such as fire or injury.

x When the cable is connected or disconnected, make to turn off the power to the

controller.
Working with the power being kept on may cause the robot to have an error
operation, which may lead to a critical accident resulting in injury or death.

x When the connector connection is not correct, it would be dangerous because

of a malfunction of the robot. Rigidly fix the connectors with the screws
equipped to them.

x Connect the cables securely after confirming that they are free from damage or

bent connector pins.

x A mistake in the connector connections may cause an error operation. Check

the connector name before plugging in.
Connect each cable by aligning the indication on the marking tube on the cable
with the indication on the controller panel.

x When installing the PG connector (D-sub connector), ensure correct orientation

of the connector.

x Since the brake power supply circuit is on the primary side (high voltage side)

for the horizontal articulated robot, prepare a dedicated 24V DC power source
for it. Do not attempt to use the power source for the secondary circuit such for
I/O power supply in common.
The brake power to be supplied to the controller should be 24V DC r10% with
the current wattage of 10W.
It is necessary to increase the capacity of the brake power source when a
brake-equipped actuator is connected to a controller. [Refer to the section of
Power Source Capacity and Heat Generation in the instruction manual of the
controller.]

3. Wiring and Piping

42

3.3 User Wiring and Tubing

The unit is equipped with some wires and pipes free for you to use.

Make sure to use them within the specifications.

2nd Arm Side
User Connector
D-Sub, 25-Pin, Receptacle

4-φ6 Quick Joint

ALM Display

4-φ6 Quick Joint

Base Side
User Connector
D-Sub Connector with 37-Pin Receptacle

Vertical Axis
Brake Release Switch

(1) User Wiring

D-sub 25-pin plug and D-sub 37-pin plug are enclosed in standard.

The plugs are solder type.



Specifications
Rated Voltage 30V
Permissible Current 1.1A
Conductor Size and Number of Wires

AWG26 (0.15mm

2

) 25 wires



1

2

1

2

25

37

User Connector

Signal

U1
U2

▪
▪
▪

U24
U25

ALM

Display

No.

1
2

▪
▪
▪

24
25

U

Signal

U1
U2

▪
▪
▪

U24
U25

LED+24V

LED-24V

No.

1
2

▪
▪
▪

24
25
36
37

D-Sub Connector
Receptacle with
25-Pin

D-Sub Connector
Receptacle with
37-Pin

Wiring inside Unit between Receptacle on Base Side and Receptacle on 2

nd

Arm Side

2

nd

Arm Side

Base side

3. Wiring and Piping

43

Connect the Resectable and plug as shown in the figure below.















٧ALM Display

If 24V DC current is flown to pins 36 and 37 on the D-sub 37-pin connector on the base side,
ALM display lamp turns on.
For instance, connect it to the controller or I/O and detect the robot alarm, and it enables to
inform an occurrence of an alarm by ALM display lamp turned on.

Specifications

Rated Voltage 24V DC
Rated Current 12mA
Illumination Color Red LED















(2) User Tubing

Connect an air tube that you have prepared to the quick joint.

Specifications

Normal Service Pressure 0.8MP
Dimensions (outer diameter • inner
diameter) and Number of Tubes

I6mmuI4mm 4 pieces

Working Medium Air

Plug

Resectable

Pin No.

36

37

24V DC

0V

Base side
D-Sub Connector Receptacle with 37-Pin

1

37

0V

24V DC

36

2

3. Wiring and Piping

44

3.4 Grounding

On the robot body, use a grounding terminal shown in the figure for grounding.

FG Grounding
Terminal

Cable Size

3.5mm

2

(AWG12) or more

(Note) Have a grounding cable and grounding wiring layout dedicated for the unit. Do not

share them with other devices.

Ground resistance 100: or below

3. Wiring and Piping

45

3.5 Caution for Wiring and Piping

Warning: For wiring, please follow the warnings stated below. When constructing a system

as the machinery equipment, pay attention to the wiring and connection of each
cable so they are conducted properly. Not following them may cause not only a
malfunction such as cable breakage or connection failure, or an operation error,
but also electric shock or electric leakage, or may even cause a fire.

• Do not attempt to cut a dedicated cable with connectors on both ends to extend, shorten
or re-joint it.

• Hold the dedicated cable to avoid mechanical force being applied to the terminals and
connectors.

• Use a cable pipe or duct to have an appropriate protection when there is a possibility of
mechanical damage on a dedicated cable.

• In case a dedicated cable is to be used at a moving part, make sure to lay out the cable
without applying any force to pull the connector or extreme bend on the cable. Do not
attempt to use the cable with a bending radius below the allowable value.

• Make certain that the connectors are plugged properly. Insufficient connection may cause
an operation error, thus it is extremely risky.

• Do not lay out the cables to where the machine runs over them.

• Pay attention to the cable layout so it would not hit peripherals during an operation. In
case it does, have an appropriate protection such as a cable track.

• When a cable is used hanging on the ceiling, prevent an environment that the cable
swings with acceleration or wind velocity.

• Make sure there is not too much friction inside the cable storage equipment.

• Do not apply radiated heat to power line or cables.

• Have a sufficient radius for bending, and avoid a bend concentrating on one point.

Steel Strap
(Piano Wire)

Tie them up softly.

• Do not let the cable bend, kink or twist.

3. Wiring and Piping

3. Wiring and Piping

46

• Do not pull the cable with a strong force.

Strong force

Strong force

• Pay attention not to concentrate the twisting force to one point on a cable.

• Do not pinch, drop a heavy object onto or cut the cable.

• When a cable is fastened to affix, make sure to have an appropriate force and do not
tighten too much.

Do not use spiral tube in any
position where cables are bent
frequently.

• PIO line, communication line, power and driving lines are to be put separately from each
other and do not tie them together. Arrange so that such lines are independently routed in
the duct.

Power Line

Duct

I/O Line
(Flat Cable, etc.)

47

Follow the instructions below when using a cable track.

• If there is an indication to the cable for the space factor in a cable track, refer to the wiring
instruction given by the supplier when storing the cable in the cable track.

• Avoid the cables to get twined or twisted in the cable track, and also to have the cables
move freely and do not tie them up. (Avoid tension being applied when the cables are
bent.)
Do not pile up cables. It may cause faster abrasion of the sheaths or cable breakage.



3. Wiring and Piping

48

4. Maintenance inspection

4.1 Inspection Items and Periods

Have daily inspections and regular inspections to use the robot stably for a long term.

Make sure to follow the caution for maintenance and inspection in Safety Guide.

[1] Daily Maintenance Inspections

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

Maintenance Inspection

Area

Maintenance Inspection Details

Safety Cage

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

Installation of Robot

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

Appearance of Robot

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.

Operation of Robot

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

Cables

Check the cables for flaws.
Check the cable mounting parts for looseness.

Emergency-Stop Switch Confirm that the emergency-stop switch functions properly.

[2] 6-month Maintenance Inspection

Have a maintenance and inspection for the following items every 6 months..
If the rbot main body has flaws or other abnormalities, please contact IAI.

Maintenance Inspection

Area

Maintenance Inspection Details

Arm

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

Ball Screw, Ball Splined

Supply grease to ball screw and ball splinedt.
(Applied Grease: AFG+70 Grease supplied by THK)

Connectors Check the connectors for looseness.

[3] Yearly Maintenance Inspection

Have a maintenance and inspection for the following items every year.

Maintenance Inspection

Area

Maintenance Inspection Details

Joint Bearing for
Harmonic Reduction Gear

Check arms 1 and 2 for looseness in the rotating direction and
axial direction.
(Contact IAI if an abnormality is found.)

Ball Screw, Ball Splined

Check the ball screw and ball splinedt for looseness.
(Contact IAI if an abnormality is found.)

  Warning: Do not attempt to have dismantlement work or cable cut for the following

items.

By doing so, recovery to normal condition cannot be done, and it may

cause a critical accident such as error operation, fire or malfunction.

x Disassembly of the servo motor
x Disassembly of the ball reduction gear
x Disassembly of the ball screw and spline shaft
x Disassembly of the bearing
x Disassembly of the harmonic speed reducer
x Disassembly of the brake
x Cutting of the cable

4. Maintenance inspection

49

4.2 Grease Supply on the Vertical Axis

The ball screw and ball spline on the vertical axis require grease supply.

4.2.1 Applicable Grease and Supply Period

Grease to Apply Supply Period

THK AFG+70 Every 6 months

4.2.2 Grease Supply

For grease supply, take off one of the 2nd arm covers on the right and left, and supply 6 to 10cc
at two places grease nipple with using a grease gun. Also, do not forget to wipe away excess
grease. To take off the arm, refer to the figure. After grease supply is finished, move the
vertical so the supplied grease spreads out evenly over the steel balls inside the nut. To make
up/down operation, either to release the brake in order to have a manual operation or have
JOG operation.



Recommended Grease Gun MG70 (by THK)



Grease Nipple
for Grease Supply to Ball Screw

Cover Fixing Screws
11 places (one side)

Grease Nipple
for Grease Supply to Ball Spline

Warning: Do not attempt to apply fluorine grease. When mixed with lithium grease, not only

decrease the grease characteristics, but also may damage the driving part.

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

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

4. Maintenance inspection

50

4.3 Replacement of Absolute Backup Battery



Alarms described in the list could be generated in relation to the absolute data backup battery
voltage. In case of occurrence, have the battery replaced immediately.

Alarm Code Status
Absolute Backup Battery
Voltage Drop Alarm

A03, A23 It is an alarm to tell the battery voltage

drop. Time till the battery voltage error
(914, CA2) is approximately 10 hours as
a reference if the power to the controller

is supplied in the normal condition.
Absolute Data Backup
Battery Voltage Error

914, CA2 It is the end of the backup battery life.

Replace to a new one immediately. The

absolute data would not be lost as long

as the controller control power is turned

on and the encoder cable does not get

disconnected.

(Note 1)

Note 1 If turning OFF the control power of the robot controller while “Absolute Data

Backup Battery Voltage Error” is generated, the absolute data will be lost and the
stopper interfering absolute reset will be necessary.
In case the absolute reset is lost, “Absolute Data Backup Battery Voltage Error”
will continue to be on even after replacing the batteries. Have a stopper
interfering absolute reset conducted.



4. Maintenance inspection

51

Replacement procedure

1) Until finishing the battery replacement, keep the controller turned on and do not
disconnect the encoder cable. (It is to protect from losing the absolute data even in a
case of the battery voltage error while the controller is booted (while the control power is
ON).)

2) When replacing the batteries, make to set the condition to the emergency stop (driving
power is OFF) while the controller is booted (control power is ON), remove the cover on
the robot base part while paying attention to the safety of the surroundings, and have the
replacement work for the absolute data backup batteries. The absolute data backup
batteries are located in the place as shown in the figure below.

3) After the battery replacement work, have the software reset or turn of the power to the
robot controller once and reboot it to start up the robot controller again.

Storage Area Absolute Data Backup Batteries

For J1-Axis

For J2-Axis

For Vertical Axis

For Rotation Axis

Absolute Data Backup Batteries

Model No. Product Life

AB-3 3 years

4. Maintenance inspection

52

4.4 Absolute Reset



In case the absolute data is lost, conduct “Stopper push type absolute reset”. [4.4.1 How to
Operate the Push Type Absolute Reset]

In the following case, conduct “Stopper pressing position acquirement” before having the
absolute reset
Do not execute it after it comes to a circumstance that requires the absolute reset. Have it
done while the normal operation can be performed.

[4.4.2 How to Acquire the Stopper Interfering Point]

x When the absolute reset cannot be performed in the direction of the stopper interfering

movement with the initial posture at the delivery from the factory due to such reasons as
interference to the peripheral equipment.

x There was a change in the stopper position due to such reasons as a removal of the

stopper of the vertical axis

4. Maintenance inspection

53

4.4.1 How to Operate the Push Type Absolute Reset

1) Backup the parameters so that they can be put back anytime to those before changing
them. Select “Parameter (P)” ĺ “Edit (E)” from PC Software Menu to show the Edit
Parameter window. Press the “Save As” button in the Edit Parameter window to store the
parameters in the file.

2) Select “Controller” ĺ “Abs. Encoder Reset” ĺ “Push type absolute reset” from the menu.

3) A Confirmation window shows up. Click “Yes”.

If conducting on all the axes at once, have the process of [1].
When not all the axes, but having one or some of the 4 axes to be conducted, have the
process of [2].

4. Maintenance inspection

54

[1] When Performing Stopper Pressing Type Absolute Reset to All Axes at Once

To have the push stopper type absolute reset for all the axes at once, follow the steps shown
below.

1) Select “All axes”.

2) Click “Encoder Rotation Data Reset / Reset Controller Error (Step 1/4)”.

4. Maintenance inspection

55

3) In case there is a concern that a load may interfere with surroundings at the absolute reset,

detach the load. Have the work during the emergency stop condition. After the work is
finished, click on the “OK” button.

4) By referring to the displayed movement direction for each axis, adjust the axes to the initial

posture. The posture differs depending on the movement direction. Click on “Display the
explanation of initial posture” to check the explanations. Make to work on with the
emergency stop activated when moving the axes with hand. Click on the “OK” button after
the work is finished.

[Initial posture]
 Arm1, Arm 2

Considering the stopper pressing position, adjust the posture to either of right arm system or
left arm system. When the product is delivered, it is set to the right arm system. Adjust to the
right arm system. In case the arm interferes with the peripheral in the right arm system, set it
to the left arm system in advance, conduct “stopper pressing position acquirement” and then
adjust to the left arm system. [4 4.2 Refer to How to Acquire the Stopper Interfering Point]

Arm 2 =
Negative direction of coordinate

Arm 1 =
Positive direction of coordinate

Arm 1 =
Negative direction of coordinate

Arm 2 =
Positive direction of coordinate

Initial posture of left arm system

Arm 1 = Positive direction of coordinate

Arm 2 = Negative direction of coordinate

Initial posture of right arm system (At the delivery)

Arm 1 = Negative direction of coordinate

Arm 2 = Positive direction of coordinate

4. Maintenance inspection

56

For the position, put it apart from the stopper position for 10deg or more.
Setting it too close to the stopper, Error No. B0D “Stopper Pressing Operation Start Position
Error” may occur at operation.

 Vertical Axis

For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more.
Setting it at 10mm or less, Error No. B0D “Stopper Pressing Operation Start Position Error”
may occur at operation.

 Rotation Axis

There is no specific indication for the position of rotation shaft. It can be set at any position.

5) Click “Execution” button.

6) A Warning window shows up. Click “Yes”. Each operation for the push type absolute reset

starts.

4. Maintenance inspection

57

7) Once the push type absolute reset for all the axes is finished, the Information window will

appear. Click “OK” button.

8) Close the Push stopper position acquisition window by clicking “u” on the upper right side

of the window. Once the window is closed, the parameters start to be written automatically
to the flash ROM, and controller is rebooted by the software reset.

4. Maintenance inspection

58

[2] When performing Stopper Pressing Type Absolute Reset on Each Axis One by One

To have the push stopper type absolute reset for each axis one by one, follow the steps shown
below.

(1) 1

st

Arm and 2nd Arm

1) Select “Individual axis” in the push type absolute reset window, and set Axis to “Arm 1” (or

Arm 2).

4. Maintenance inspection

59

2) Click “Encoder Rotation Data Reset / Reset Controller Error (Step 1/4)”.

3) In case there is a concern that a load may interfere with surroundings at the absolute reset,

detach the load. Have the work during the emergency stop condition. After the work is
finished, click on the “OK” button.

4) By referring to the displayed movement direction for each axis, adjust the axes to the initial

posture. The posture differs depending on the movement direction. Click on “Display the
explanation of initial posture” to check the explanations. Make sure to work on with the
emergency stop activated when moving the axes with hand. Click on the “OK” button after
the work is finished.

[Initial posture]
 Arm1, Arm 2

Considering the stopper pressing position, adjust the posture to either of right arm system or
left arm system. When the product is delivered, it is set to the right arm system. Adjust to the
right arm system. In case the arm interferes with the peripheral in the right arm system, set it
to the left arm system in advance, conduct “stopper pressing position acquirement” and then
adjust to the left arm system. [4.4.2 Refer to How to Acquire the Stopper Interfering Point]

Arm 2 =
Negative direction of coordinate

Arm 1 =
Positive direction of coordinate

Arm 1 =
Negative direction of coordinate

Arm 2 =
Positive direction of coordinate

Initial posture of left arm system

Arm 1 = Positive direction of coordinate

Arm 2 = Negative direction of coordinate

Initial posture of right arm system (At the delivery)

Arm 1 = Negative direction of coordinate

Arm 2 = Positive direction of coordinate

4. Maintenance inspection

60

For the position, put it apart from the stopper position for 10deg or more.
Setting it too close to the stopper, Error No. B0D “Stopper Pressing Operation Start Position
Error” may occur at operation.

5) Click ”Execution” button.

6) A Warning window shows up. Click “Yes”. Each operation for the push type absolute reset
starts.

4. Maintenance inspection

61

7) Once the push type absolute reset, the Information window will appear. Click “OK” button.

8) If it is necessary to have the push type absolute reset for another axis, move on to the axis

selection. When finishing the process, click “u” on the upper right side of the window. Once
the window is closed, the parameters start to be written automatically to the flash ROM,
and controller is rebooted by the software reset.

4. Maintenance inspection

62

(2) Vertical Axis, Rotation Axis

1) Select “Individual axis” in the Push stopper type absolute reset window, and set Axis to

“Vert. Axis + Rot. Axis”.

2) Click “Encoder Rotation Data Reset / Reset Controller Error (Step 1/4)”.

3) In case there is a concern that a load may interfere with surroundings at the absolute reset,

detach the load. Have the work during the emergency stop condition. After the work is
finished, click on the “OK” button.

4. Maintenance inspection

63

4) By referring to the displayed movement direction for each axis, adjust the axes to the

initial posture. The posture differs depending on the movement direction. Click on “Display
the explanation of initial posture” to check the explanations. Make to work on with the
emergency stop activated when moving the axes with hand. Click on the “OK” button after
the work is finished.



[Initial posture]
 Vertical Axis

For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more.
Setting it at 10mm or less, Error No. B0D “Stopper Pressing Operation Start Position Error”
may occur at operation.

 Rotation axis

There is no specific indication for the position of rotation shaft. It can be set at any position.

5) Click “Execution” button.

6) A Warning window shows up. Click “Yes”. The operation for the push type absolute reset

starts.

4. Maintenance inspection

64

7) Once the push type absolute reset for the axis is complete, the information window will

appear. Click “OK” button.

8) When finishing the process, click “u” on the upper right side of the window. Once the
window is closed, the parameters start to be written automatically to the flash ROM, and
controller is rebooted by the software reset.

4. Maintenance inspection

65

4.4.2 How to Acquire the Stopper Interfering Point

In the following case, conduct “Stopper pressing position acquirement

(Note 1)

” before having the

absolute reset.

x When the absolute reset cannot be performed in the direction of the stopper interfering

movement with the initial posture at the delivery from the factory due to such reasons as
interference to the peripheral equipment

x There was a change in the stopper position due to such reasons as a removal of the

stopper of the vertical axis

Note 1 In case that the absolute reset cannot be performed with the stopper pressing

movement direction of the initial posture set at the delivery due to such as
interference with peripheral devices, change the setting to the initial posture of the
left arm system (stopper pressing direction on opposite side) and conduct the
stopper pressing position acquirement.



















(Reference)




















Initial Posture of Left Arm System (Opposite interfering direction)

Arm 2 =
Negative Coordinate
Direction

A

rm 1 =
Positive Coordinate
Direction

The direction of interfering is as shown below in the initial setting at the delivery from the
factory.

Arm 2 =
Positive Coordinate
Direction

Arm 1 =
Negative Coordinate
Direction

Vertical Axis =
Negative Coordinate Direction

Rotation Axis =
Negative Coordinate Direction

Initial Posture of Right Arm System

4. Maintenance inspection

66

Push stopper position acquisition with the process shown below.

1) Backup the parameters so that they can be put back anytime to those before changing
them. Select “Parameter (P)” ĺ “Edit (E)” from PC Software Menu to show the Edit
Parameter window. Press the “Save As” button in the Edit Parameter window to store the
parameters in the file.

2) Select “Controller” ĺ “Abs. Encoder Reset” ĺ “Push stopper position acquisition” from
the menu.

3) A Warning window shows up. Click “Yes”.

4. Maintenance inspection

67

4) A Confirmation window shows up. Click “Yes”.

If conducting on all the axes at once, have the process of [1].
When not all the axes, but having one or some of the 4 axes to be conducted, have the
process of [2].

4. Maintenance inspection

68

[1] When Acquiring Stopper Pressing Position for All Axes at Once

To acquire the push stopper position for all the axes at once, follow the steps shown below.

1) Select “All axes” in the Push stopper position acquisition window.

2) In case there is a concern that a load may interfere with surroundings at the absolute reset,

detach the load. Have the work during the emergency stop condition. After the work is
finished, click on the “OK” button.

4. Maintenance inspection

69

3) Adjust each axis to the initial posture. The posture differs depending on the movement

direction. Click on “Display the explanation of initial posture” to check the explanations.
Make to work on with the emergency stop activated when moving the axes with hand.
Click on the “OK” button after the work is finished.

[Initial posture]
 Arm1, Arm 2

Remove all the interferences of the peripheral devices, and set the posture to either of the
left arm system or the right arm system. It is set to right arm system when the unit is shipped
out.

Arm 2 =
Negative direction of coordinate

Arm 1 =
Positive direction of coordinate

Arm 1 =
Negative direction of coordinate

Arm 2 =
Positive direction of coordinate

For the position, put it apart from the stopper position for 10deg or more.
Setting it too close to the stopper, Error No. B0D “Stopper Pressing Operation Start Position
Error” may occur at operation.

 Vertical Axis

For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more.
Setting it at 10mm or less, Error No. B0D “Stopper Pressing Operation Start Position Error”
may occur at operation.

 Rotation axis

There is no specific indication for the position of rotation shaft. It can be set at any position.

Initial posture of left arm system

Arm 1 = Positive direction of coordinate

Arm 2 = Negative direction of coordinate

Initial posture of right arm system (At the delivery)

Arm 1 = Negative direction of coordinate

Arm 2 = Positive direction of coordinate

4. Maintenance inspection

70

4) Select the direction to move for the vertical axis and rotation axis. It is not necessary to

change the direction to move for the vertical axis and rotation axis. Make the vertical axis is
in the coodinates minus direction.
Once the selection is made, click on the “OK” button. At this time, the direction of
movement from the current position of the initial posture to Arm 1 (1

st

arm) and Arm 2 (2

nd

arm) is automatically selected. Check the selected movement direction.

5) Click “Execution” button.

6) A Warning window shows up. Click “Yes”. Process to acquire the push stopper position will

start.

4. Maintenance inspection

71

7) Once the push stopper position acquirement for all the axes is complete, the Information

window will appear. Click “OK” button.

8) Close the Push stopper position acquisition window by clicking “u” on the upper right side

of the window. Once the window is closed, the parameters start to be written automatically
to the flash ROM, and controller is rebooted by the software reset.

9) Once the controller reboot is finished, conduct the push type absolute reset on all the axes

together.

4. Maintenance inspection

72

[2] When Acquiring Stopper Pressing Position on Each Axis One by One

To have an acquirement on each axis, follow the steps below.

(1) 1

st

Arm and 2nd Arm

1) Select “Individual axis” in the Push stopper position acquisition window, and set Axis to

“Arm 1” (or Arm 2).

2) In case there is a concern that a load may interfere with surroundings at the absolute reset,

detach the load. Have the work during the emergency stop condition. After the work is
finished, click on the “OK” button.

4. Maintenance inspection

73

3) Adjust each axis to the initial posture. The posture differs depending on the movement

direction. Click on “Display the explanation of initial posture” to check the explanations.
Make to work on with the emergency stop activated when moving the axes with hand.
Click on the “OK” button after the work is finished.

[Initial posture]
 Arm1, Arm 2

Remove all the interferences of the peripheral devices, and set the posture to either of the
left arm system or the right arm system. It is set to right arm system when the unit is shipped
out.

Arm 2 =
Negative direction of coordinate

Arm 1 =
Positive direction of coordinate

Arm 1 =
Negative direction of coordinate

Arm 2 =
Positive direction of coordinate

For the position, put it apart from the stopper position for 10deg or more.
Setting it too close to the stopper, Error No. B0D “Stopper Pressing Operation Start Position
Error” may occur at operation.

Initial posture of left arm system

Arm 1 = Positive direction of coordinate

Arm 2 = Negative direction of coordinate

Initial posture of right arm system (At the delivery)

Arm 1 = Negative direction of coordinate

Arm 2 = Positive direction of coordinate

4. Maintenance inspection

74

4) Select the movement method. Make to select motor drive on the selection of motor

drive/hand. Change the movement direction if necessary. If clicking on “Auto. Select”
button, the direction of movement from the current position of the initial posture is
automatically selected. Once the selection is made, click on the “OK” button.

5) Click “Execution” button.

6) A Warning window shows up. Click “Yes”. Process to acquire the push stopper position will

start.

7) Once the push stopper position acquisition is complete, the Information window will appear.

Click “OK” button.

8) If it is necessary to have the push stopper position a acquisition for another axis, move on

to the axis selection. When finishing the process, click “u” on the upper right side of the
window. Once the window is closed, the parameters start to be written automatically to the
flash ROM, and controller is rebooted by the software reset.

9) Once the controller reboot is finished, conduct the push type absolute reset on the axis

with the push stopper position acquisition.

4. Maintenance inspection

75

(2) Vertical Axis, Rotation Axis

1) Select “Individual axis” in the Push stopper position acquisition window, and set Axis to

“Vert. Axis + Rot. Axis”.

2) In case there is a concern that a load may interfere with surroundings at the absolute reset,

detach the load. Have the work during the emergency stop condition. After the work is
finished, click on the “OK” button.

4. Maintenance inspection

76

3) Adjust each axis to the initial posture. The posture differs depending on the movement

direction. Click on “Display the explanation of initial posture” to check the explanations.
Make to work on with the emergency stop activated when moving the axes with hand.
Click on the “OK” button after the work is finished.

[Initial posture]
 Vertical Axis

For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more.
Setting it at 10mm or less, Error No. B0D “Stopper Pressing Operation Start Position Error”
may occur at operation.

 Rotation axis

There is no specific indication for the position of rotation shaft. It can be set at any position.

4) It is not necessary to change the direction to move for the vertical axis and rotation axis.

Make the vertical axis is in the coordinates minus direction.
Once the selection is made, click on the “OK” button.

5) Click “Execution” button.

4. Maintenance inspection

77

6) A Warning window shows up. Click “Yes”. Process to acquire the push stopper position will

start.

7) Once the push stopper position acquisition is complete, the Information window will appear.

Click “OK” button.

8) When finishing the process, click “u” on the upper right side of the window. Once the

window is closed, the parameters start to be written automatically to the flash ROM, and
controller is rebooted by the software reset.

9) Once the controller reboot is finished, conduct the push type absolute reset on the axis

with the push stopper position acquisition.

4. Maintenance inspection

78

5. External Dimensions

2-M4, Depth 8

B

155

150

55

(50)

20

4-φ13.5 Through Hole φ25 Counterbore
(Dimension from the seat to the
installation surface is 8mm)

220

(259.7)

(φ15.2)

5

175

220

(259.8)

(84.9) 218

500

77.5

117.5 180

1267.5

847.5 10(ME)400(st)10(ME)

84.5 325.5

277

4-M4, Depth 8
(Same on the
Opposite Side)

Datum
Surface

149

FG Layer (M4, Depth 8)

150

(Wiring Space)

255 128 322 478

1183

50 50 50

4-φ6
Quick Joint

M Connector

PG Connector

User Wiring
Connector

2-M4, Depth 8

55

(50)

20

(12.3)

23512.5

φ

10H7

12

DETAIL: C (Scale: 1/2)

10H7(

)

+0.015
0

A

S

C

3-M4, Depth 8

User Wiring Connector
D-sub, 25-Pin, Socket
Tightening: M2.6

ALM Display (Note 13-1)

Vertical Axis
Brake Release Switch

65

7.5 25

25

7.5

4-φ6 Quick Joint

DETAIL: B (Scale: 1/2)

Detail of Arm 2 Panel

No. Model A S Weight (kg)

1 IX-NNN10040
2 IX-NNN10040

1000 500 93

5. External Dimensions

79

59 (Tool Attachment Range)

1.2 (Note 22-2)

18 8

38

I.D. φ29

φ

407 ( )

0

-0.025

D

130

(129.8)

DETAIL: D (Scale: 1/2)

Datum
Surface

Detail of Spline Shaft Tip X View

5. External Dimensions

6. Warranty

80

6. Warranty

6.1 Warranty Period

One of the following periods, whichever is shorter:

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

6.2 Scope of the 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.

6.3 Honoring the Warranty

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

81

6.4 Limit in Responsibility

(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.

6.5 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.

6.6 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

6. Warranty

82

Change History

Revision Date Description of Revision

2013.01

First edition

Change History

Manual No.: ME3726-1A (January 2013)

The information contained in this document is subject to change without notice for purposes of
product improvement.
Copyright © 2013. Jan. IAI Corporation. All rights reserved.

13.01.000

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

TEL [phone] FAX [phone]

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

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

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]

TEL [phone] FAX [phone]

website: www.intelligentactuator.com

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