Page 1
Horizontal Articulated Robot – IX Series
Tabletop Specification, for Arm Length 120/150/180
IX-NNN-1205/IX-NNN-1505/IX-NNN-1805
Clean room Specification
IX-NNC-1205/IX-NNC-1505/IX-NNC-1805
Operation Manual Fourth Edition
Page 2
Page 3
Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to
ensure safe use of the product.
The CD or DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
• This Operation Manual is original.
• The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall
assume no responsibility for the outcome of any operation not specified herein.
• Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
• If you have any question or comment regarding the content of this manual, please contact the IAI sales
office near you.
• Using or copying all or part of this Operation Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences are
registered trademarks.
Page 4
Precautions on Compliance to CE Marking
Please be aware that the product does not comply with the CE marking (European EC Directive) if the
nameplate does not indicate that it is CE-certified.
Nameplate for CE-certified products
Page 5
Table of Contents
Safety Guide ............................................................................................................................ 1
Handling Precaution ................................................................................................................ 8
1. Name of Each Part .......................................................................................................... 13
1.1 Robot ............................................................................................................................... 13
1.2 Labels................................................................................................................................ 15
1.3 Label Positions .................................................................................................................. 16
2. External Dimensions........................................................................................................ 17
3. Robot Operation Area...................................................................................................... 23
4. Wiring Diagram .............................................................................................................. 27
4.1 Layout Drawing ................................................................................................................27
4.2 Machine Harness Wiring Table ......................................................................................... 31
4.3 Cable Wiring Table............................................................................................................32
4.4 230 V Circuit Components ................................................................................................ 35
5. Option.............................................................................................................................. 36
5.1 Absolute Reset Jig ............................................................................................................ 36
5.2 Flange ............................................................................................................................... 36
5.3 Absolute Data Backup Battery .......................................................................................... 36
6. Checking after Unpacking ............................................................................................... 37
6.1 Items Included in the Carton ............................................................................................. 37
6.2 Operation Manuals Relating to This Product..................................................................... 38
6.3 How to Read Model Nameplate......................................................................................... 38
6.4 How to Read Model Number ............................................................................................. 39
7. Specifications .................................................................................................................. 40
7.1 IX-NNN1205/1505/1805 .................................................................................................... 40
7.2 IX-NNC1205/1505/1805 .................................................................................................... 46
8. Installation Environment and Storage Environment......................................................... 52
8.1 Installation Environment .................................................................................................... 52
8.2 Installation Platform........................................................................................................... 52
8.3 Storage Environment......................................................................................................... 53
9. How to Install....................................................................................................................54
9.1 Installation Posture............................................................................................................ 54
9.2 Installing the Robot............................................................................................................ 55
10. Connecting the Controller................................................................................................ 56
11. Checking after Installation ............................................................................................... 60
Page 6
12. Precautions for Use ......................................................................................................... 61
12.1 Reference Settings for Acceleration/Deceleration............................................................. 61
12.2 Tools.................................................................................................................................. 63
12.3 Carrying Load.................................................................................................................... 65
12.4 User Wiring and Piping...................................................................................................... 66
12.5 Suction Rate of Clean Room Specification IX-NNC 1205/1505/1805 ............................... 69
13. Inspection/Maintenance................................................................................................... 70
13.1 Inspection/Maintenance .................................................................................................... 70
13.1.1 Daily Inspection ................................................................................................................70
13.1.2 Six-Month Inspection ........................................................................................................71
13.1.3 Yearly Inspection ..............................................................................................................71
13.2 Battery Replacement......................................................................................................... 72
13.2.1 Preparation .......................................................................................................................72
13.2.2 Encoder Battery Replacement Procedure.........................................................................72
13.3 Absolute Encoder Reset Method....................................................................................... 74
13.3.1 Preparation for Absolute Reset.........................................................................................74
13.3.2 Starting the Absolute Reset Menu ....................................................................................75
13.3.3 Absolute Reset Procedure for Arm 1 or 2 .........................................................................76
13.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis ....................................82
14. Warranty Period and Scope of Warranty ..........................................................................90
14.1 Warranty Period ........................................................................................................................
14.2 Scope of Warranty.....................................................................................................................
14.3 Honoring the Warranty..............................................................................................................
14.4 Limited Liabil ............................................................................................................................
14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications........................................................................................................................
14.6 Other Items Excluded from Warranty............................................................................................
Change History .................................................................................................................
90
90
90
90
91
91
......92
Page 7
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
1 Model
Operation
Description
Selection
Description
This product has not been planned and designed for the application where
high level of safety is required, so the guarantee of the protection of
human life is impossible. Accordingly, do not use it in any of the following
applications.
1) Medical equipment used to maintain, control or otherwise affect human
life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving part
may drop when the power is turned OFF and may cause an accident such
as an injury or damage on the work piece.
1
Page 8
No.
Operation
Description
Description
2 Transportation When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the instructions
in the operation manual for each model.
Do not step or sit on the package.
Do not put any heavy thing that can deform the package, on it.
When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Do not get on the load that is hung on a crane.
Do not leave a load hung up with a crane.
Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
Store the products with a consideration not to fall them over or drop due to
an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
Make sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
2
Page 9
No.
Operation
Description
4 Installation
and Start
Description
(2) Cable Wiring
Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Perform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
When the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is
not correct, it might cause a fire, product breakdown or malfunction.
Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction
of the product.
Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
(3) Grounding
The grounding operation should be performed to prevent an electric shock
or electrostatic charge, enhance the noise-resistance ability and control
the unnecessary electromagnetic radiation.
For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair cable
with wire thickness 0.5mm
2
(AWG20 or equivalent) or more for grounding
work. For security grounding, it is necessary to select an appropriate wire
thickness suitable for the load. Perform wiring that satisfies the
specifications (electrical equipment technical standards).
Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100 or below).
3
Page 10
No.
4 Installation
Operation
Description
and Start
Description
(4) Safety Measures
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’s movable range. When the
robot under operation is touched, it may result in death or serious injury.
Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an
injury or damage to the product.
Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power
input.
When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
Take the measure so that the work part is not dropped in power failure or
emergency stop.
Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Do not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
4
Page 11
No.
Operation
Description
Description
6 Trial Operation When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Check before starting the automatic operation or rebooting after operation
stop that there is nobody in the safety protection fence.
Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm
indication.
Make sure to operate automatic operation start from outside of the safety
protection fence.
In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn
OFF the power switch. Failure to do so may result in a fire or damage to
the product.
When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.
5
Page 12
No.
8 Maintenance
Operation
Description
and Inspection
Description
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Perform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see.
For the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
Pay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing so
may affect the performance of your medical device.
See Overseas Specifications Compliance Manual to check whether
complies if necessary.
For the handling of actuators and controllers, follow the dedicated
operation manual of each unit to ensure the safety.
6
Page 13
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the operation Manual for each model.
Level Degree of Danger and Damage Symbol
Danger
Warning
Caution
Notice
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, may result in minor injury or property
damage.
This indicates lower possibility for the injury, but should be kept to
use this product properly.
Danger
Warning
Caution
Notice
7
Page 14
Handling Precaution
1. Positioning Repeatability Does Not Change Even If the Positioning Band is Changed.
Positioning repeatability does not change even if the positioning band is changed.
If the positioning band is narrower than the default value, the positioning repeatability does not change, but the
time it takes for the positioning complete signal to be output takes longer. The execution of next operation
instruction (e.g., MOVP, MOVL) is delayed and, as a result, the tact time of the entire cycle may be delayed.
Make sure to attach the Horizontal Articulated Robot properly by following this
2.
operation manual.
Using the product with the Horizontal Articulated Robot not being certainly retained or affixed may cause
abnormal noise, vibration, malfunction or shorten the product life.
8
Page 15
3. Handling of the Carton
Each robot is packed with a controller prior to shipment.
When transporting the carton containing the robot and controller, observe the following items and be careful not
to drop the carton or apply impact due to forcible contact:
• If the carton is heavy, one operator should not attempt to carry it alone.
• Place the carton on a level surface if it is to be left there for a while.
• Do not climb upon the carton.
• Do not place on the carton any heavy object that may cause the carton to deform, or an article whose shape
allows a load to be concentrated at one point.
[Carton]
CautionWarning
• The robot and controller are very heavy. When transporting the carton containing the robot and controller,
handle it with extra care so as not to drop the carton or apply impact due to forcible contact, as it may cause
injury or damage to the robot or controller.
• Serious injury may result if the carton is dropped onto a person during transportation.
• Never stand below the carton as it is hoisted.
• Use a carrier device with sufficient loading capacity.
• If a machine or method is used that requires specified skills, it must be operated/performed by a person
having the proper qualifications.
9
Page 16
4. Handling of Individual Components
The robot and controller are supplied as a set.
Your robot cannot be used with the controller supplied with another robot.
When handling multiple robots, check that the serial number described on the robot is the same as the one on
the controller and be careful not to switch the controllers.
The robot will not stand on its own after being unloaded from the carton pallet.
Hold it by hand, or place a cushioning material on the floor and place the robot on its side upon the cushion.
10
Page 17
5. Transportation
When transporting the robot in a standalone state, put the cables over your shoulder and hold the base and arm
2 with both hands.
Do not transport the robot by holding it by arm 2 only or by the wiring duct only.
WarningDanger
• If you hold the robot only by arm 2 or an excessive load is applied on arm 2, the robot may be damaged.
• If the robot is dropped during transport, injury may occur or the robot may be damaged.
11
Page 18
When transporting the robot while it is still attached to the equipment, etc., fabricate a metal bracket like the one
A
shown below and use the bracket to secure arm 2 to a platform, etc.
1.625
rm securing
bracket
12.5
5
150
(150)
1450.7
Material: SPCC or
equivalent
4 hole
5 hole
12.5
6
Platform
15
Move the robot slowly by paying attention to the balance of the robot and being careful not to apply vibration or
shock.
The tapped holes on both sides of arm 2 are through holes, so do not use screws of 6 mm or longer. Such
longer screws may contact the internal mechanism.
WarningDanger
If you hold the robot only by arm 2 or an excessive load is applied on arm 2, the robot may be damaged.
If the robot is dropped during transport, injury may occur or the robot may be damaged.
When transporting the robot while it is still attached to the equipment, etc., be sure to secure arm 2. Also be
careful not to apply vibration or shock during transport.
12
Page 19
1. Name of Each Part
A
1.1 Robot
IX-NNN1205/1505/1805
1. Name of Each Part
M cable (outside robot)
PG cable (outside robot)
User piping 3, black
User connector
Wiring duct
Panel
Spacer for user
part installation
User piping 3, white
xis 1
Mechanical
stopper for arm 2
U cable (outside robot)
Reference
User piping 3, black
surface
User piping 3, white
Cover (base)
Same on opposite side
Mechanical
(vertical axis)
Base
stopper for arm 1
Reference surface
Mechanical stopper for axis 3
(vertical axis)
LM
(indication)
rm 1
xis 2
xis 3
xis 4
(rotational axis)
Ball screw spline shaft
Cover (arm 2)
rm 2
Mechanical
stopper for axis 3
(vertical axis)
13
Page 20
IX-NNC1205/1505/1805
A
1. Name of Each Part
User connector
Reference
Spacer for user
part installation
M cable (outside robot)
PG cable (outside robot)
Quick joint for
U cable (outside robot)
suction 6
User piping 3, black
surface
Mechanical
User piping 3, white
Cover (base)
Same on opposite side
Front panel (Base)
Reference surface
stopper for arm 1
User piping 3, white User piping 3, black
Rear panel (base)
Wiring duct
xis 1
Panel
Bellows (upper)
LM
(indication)
Mechanical
stopper for arm 2
rm 1
xis 2
xis 3
(vertical axis)
Mechanical stopper for axis 3
(vertical axis)
<Inside bellows>
Cover (arm 2)
rm 2
Mechanical
xis 4
(rotational axis)
Bellows (lower)
stopper for axis 3
<Inside bellows>
14
Page 21
1.2 Labels
The following labels are attached on the robot and controller. Be sure to observe the instructions and cautions
written on the labels to ensure the correct use of the robot/controller.
(1) Labels on the Robot
Prohibition of entry into
the operation area
Robot model nameplate
Warning on handling of
the vertical axis
CE-certified robot
(Provided only for CE-certified models)
Warning against
electric shock
1. Name of Each Part
(2) Labels on the Controller
Caution/warning on
handling of the controller
CE-certified controller model number
(Other than CE-certified models)
WarningDanger
Failure to observe the cautionary information provided on the labels may result in serious injury or damage
to the robot.
Designation of the connected robot
CE-certified controller model number
(CE-certified models)
Caution
15
Page 22
r
1.3 Label Positions
Label Positions on the Robot
1. Name of Each Part
Warning on handling of the vertical axis
Warning against electric shock
(same on opposite side)
(Provided only for CE- Certified models)
CE-Certified robot
Robot model nameplate
Label Positions on the Controller
CE-certified controller model number
Caution/warning on handling of the controlle
Designation of the connected robot
16
Page 23
0
2. External Dimensions
A
IX-NNN-1205 (Arm Length 120, Standard Specification)
LM lamp
(Note 2)
Quick joint
white
3,
2. External Dimensions
User connector
8-pin
SM P-08V-NC
J.S.T. Mfg. Co., Ltd.
Quick joint 3,
black
FG
M3, depth 6
2-M3, depth 6
Same on opposite
side (Note 1)
Reference surface
15
8h7(
)
-0.015
Detail view of arm end (1/1)
Section A-A
Quick joint 3,
white
Cable wiring space
Quick joint 3,
black
Reference surface
Note 1: The holes denoted by “2-M3, depth 6” are through holes
connecting both sides of the arm. Take note that long mounting
screws may contact the internal mechanism parts.
Note 2: The ALM lamp will turn on when the user wires the applicable lines
in such a way that 24 VDC is applied to the user-wired LED
terminal upon I/O output of a signal from the controller.
Note 3: The vertical axis has no brake. Accordingly, be careful when a load
corresponding to the maximum loading capacity is installed
because the vertical axis may drop once the servo turns off.
17
Page 24
0
IX-NNN-1505 (Arm Length 150, Standard Specification)
A
2. External Dimensions
LM lamp
(Note 2)
2-M3, depth 6
Same on opposite
side (Note 1)
Reference surface
Quick joint
white
Quick joint 3,
white
Cable wiring space
3,
User connector
8-pin
SM P-08V-NC
J.S.T. Mfg. Co., Ltd.
Quick joint 3,
black
FG
M3, depth 6
Quick joint 3,
black
Reference surface
15
Note 1: The holes denoted by “2-M3, depth 6” are through holes
connecting both sides of the arm. Take note that long mounting
screws may contact the internal mechanism parts.
Note 2: The ALM lamp will turn on when the user wires the applicable lines
8h7(
-0.015
Section A-A
)
in such a way that 24 VDC is applied to the user-wired LED
Detail view of arm end (1/1)
terminal upon I/O output of a signal from the controller.
Note 3: The vertical axis has no brake. Accordingly, be careful when a
load corresponding to the maximum loading capacity is installed
because the vertical axis may drop once the servo turns off.
18
Page 25
0
IX-NNN-1805 (Arm Length 180, Standard Specification)
A
LM lamp
(Note 2)
2-M3, depth 6
Same on opposite
side (Note 1)
Quick joint 3,
white
Quick joint 3,
white
2. External Dimensions
User connector
8-pin
SM P-08V-NC
J.S.T. Mfg. Co., Ltd.
Quick joint 3,
black
FG
M3, depth 6
Quick joint 3,
black
15
Note 1: The holes denoted by “2-M3, depth 6” are through holes
connecting both sides of the arm. Take note that long mounting
screws may contact the internal mechanism parts.
Note 2: The ALM lamp will turn on when the user wires the applicable lines
8h7(
-0.015
Section A-A
)
in such a way that 24 VDC is applied to the user-wired LED
Detail view of arm end (1/1)
terminal upon I/O output of a signal from the controller.
Note 3: The vertical axis has no brake. Accordingly, be careful when a load
corresponding to the maximum loading capacity is installed
because the vertical axis may drop once the servo turns off.
19
Page 26
IX-NNC-1205 (arm length 120, clean room specification)
A
j
2. External Dimensions
LM lamp
(Note 2)
2-M3, depth 6
Same on opposite
side (Note 1)
Quick joint 3,
white
Quick joint 3,
white
Reference
surface
User connector
8-pin
SM P-08V-NC
J.S.T. Mfg. Co., Ltd.
Quick joint 3,
black
M3, depth 6
Quick suction
oint 6
Quick joint 3,
black
Note 1: These holes are plugged with setscrews. Also, the holes
denoted by “2-M3, depth 6” are through holes connecting both
sides of the arm. Take note that long mounting screws may
contact the internal mechanism parts.
Note 2: The ALM lamp will turn on when the user wires the applicable
lines in such a way that 24 VDC is applied to the user-wired
LED terminal upon I/O output of a signal from the controller.
Note 3: The vertical axis has no brake. Accordingly, be careful when a
load corresponding to the maximum loading capacity is
installed because the vertical axis may drop once the servo
turns off.
Note 4: The cleaning performance is demonstrated when air inside the
robot is suctioned from the suction joint to create vacuum.
(Take note that dust will be raised if suction is not provided.)
Detail view of arm end (1/1)
Provide a clearance
of approx. 0.5 mm
when installing the
tool.
Section A-A
20
Page 27
IX-NNC-1505 (arm length 150, clean room specification)
A
j
2. External Dimensions
LM lamp
(Note 2)
2-M3, depth 6
Same on opposite
side (Note 1)
Quick joint
white
Quick joint
white
Reference
surface
3,
3,
User connector
8-pin
SM P-08V-NC
J.S.T. Mfg. Co., Ltd.
Quick joint 3,
black
M3, depth 6
Quick suction
oint 6
Quick joint 3,
black
Note 1: These holes are plugged with setscrews. Also, the holes
denoted by “2-M3, depth 6” are through holes connecting
both sides of the arm. Take note that long mounting screws
may contact the internal mechanism parts.
Note 2: The ALM lamp will turn on when the user wires the applicable
lines in such a way that 24 VDC is applied to the user-wired
LED terminal upon I/O output of a signal from the controller.
Note 3: The vertical axis has no brake. Accordingly, be careful when
a load corresponding to the maximum loading capacity is
installed because the vertical axis may drop once the servo
turns off.
Note 4: The cleaning performance is demonstrated when air inside
the robot is suctioned from the suction joint to create
vacuum. (Take note that dust will be raised if suction is not
Detail view of arm end (1/1)
Provide a clearance
of approx. 0.5 mm
when installing the
tool.
Section A-A
provided.)
21
Page 28
IX-NNC-1805 (arm length 180, clean room specification)
A
j
2. External Dimensions
2-M3, depth 6
Same on opposite
side (Note 1)
LM lamp
(Note 2)
Quick joint 3,
white
Quick joint 3,
white
Reference
surface
User connector
8-pin
SM P-08V-NC
J.S.T. Mfg. Co., Ltd.
Quick joint 3,
black
M3, depth 6
Quick suction
oint 6
Quick joint 3,
black
Note 1: These holes are plugged with setscrews. Also, the holes
denoted by “2-M3, depth 6” are through holes connecting both
sides of the arm. Take note that long mounting screws may
contact the internal mechanism parts.
Note 2: The ALM lamp will turn on when the user wires the applicable
lines in such a way that 24 VDC is applied to the user-wired
LED terminal upon I/O output of a signal from the controller.
Note 3: The vertical axis has no brake. Accordingly, be careful when a
load corresponding to the maximum loading capacity is
installed because the vertical axis may drop once the servo
turns off.
Note 4: The cleaning performance is demonstrated when air inside the
robot is suctioned from the suction joint to create vacuum.
Detail view of arm end (1/1)
Provide a clearance
of approx. 0.5 mm
when installing the
tool.
Section A-A
(Take note that dust will be raised if suction is not provided.)
22
Page 29
3. Robot Operation Area
IX-NNN-1205 (Arm Length 120, Standard Specification)
Pay attention to
Movement range
Area of prohibited entry Area of prohibited entry
contact with the base
3. Robot Operation Area
Range of stopper position
IX-NNN-1505 (Arm Length 150, Standard Specification)
Pay attention to
Movement range
Area of prohibited entry
contact with the base
Area of prohibited entry
Range of stopper position
23
Page 30
IX-NNN-1805 (Arm Length 180, Standard Specification)
3. Robot Operation Area
Movement range
Pay attention to
contact with the base
Range of stopper position
24
Page 31
IX-NNC-1205 (arm length 120, clean room specification)
Pay attention to contact
between the bellows and base.
Movement range Range of stopper position
3. Robot Operation Area
IX-NNC-1505 (arm length 150, clean room specification)
Pay attention to contact
between the bellows and base.
Movement range Range of stopper position
25
Page 32
3. Robot Operation Area
IX-NNC-1805 (arm length 180, clean room specification)
Pay attention to contact
between the bellows and base.
Movement range Range of stopper position
26
Page 33
4. Wiring Diagram
4.1 Layout Drawing
IX-NNN1205/1505/1805
Socket DF11-6DS-2C
Inside arm 2
Hirose
DWG No. 1090996*
User
connector
User piping
4. Wiring Diagram
larm LED
Air joint, white (3)
Air joint, black (3)
rotor/stator
Plug housing
Axis 3 (vertical axis)
Axis 2 (arm 2)
rotor/stator
ABS encoder
Relay plug DF11-6D EP-2C
rotor/stator
Axis 4 (rotational axis)
Connector for user wiring
M cable (inside robot)
U cable (inside robot)
PG cable (inside robot)
cable
Flexible
DWG No. 1090998*
DWG No. 1090997*
ABS encoder
(Hirose)
Plug
(to frame)
Inside base
Axis 1 (arm 1)
rotor/stator
Socket
Relay plug
(Hirose)
Cable fix cap
(Capcon)
DWG. No. 10909660
(JST)
Receptacle
housing
(to frame)
(Hirose)
Air joint, white (3)
Socket
Plug housing
Air joint, black (3)
that uses the controller I/O output signal.
Notes (1) To operate the alarm LED, the user must provide a circuit
User piping
Relay plug
Socket
Controller
M cable (outside robot)
DWG No. 1090971
Plug
GIC25/4-STF-762
(Phoenix contact)
PG cable (outside robot)
Plug-in connector
10126-3000VE
(Sumitomo 3M)
U cable (outside robot)
Dedicated batteries for IX 120/150/180
DWG No. 1090985*
terminal
User wiring
27
Page 34
User wiring terminals
r
-
Controller
PG cable (outside robot)
4. Wiring Diagram
Flexible cable
Air tubes
User connector
Air joint
White (3), Black (3)
U cable (outside robot)
PG cable (inside robot)
M cable (inside robot)
U cable (inside robot)
Air tubes
M cable (outside robot)
Air joint
White (3), Black (3)
FG (frame)
axis
1
motor
1-axis
encoder
axis
2
motor
2-axis
encode
axis
3
motor
3-axis
encoder
U cable (inside robot)
M cable (inside robot)
PG cable (inside robot)
axis
4
motor
4-axis
encoder
28
Page 35
IX-NNC1205/1505/1805
)
larm LED
User piping
4. Wiring Diagram
Air joint, white (3)
Air joint, black (3)
User
connector
Hirose
Plug housing
Axis 2 (arm 2)
rotor/stator
Socket DF11-6DS-2C
Relay plug DF11-6D EP-2C
ABS encoder
Axis 3 (vertical axis)
rotor/stator
Brake [optional]
Axis 4 (rotational axis)
rotor/stator
Connector for user wiring: SM P-08V-NC (J ST, 8 -pin)
Inside arm 2
M cable (inside robot)
U cable (inside robot)
PG cable (inside robot)
cable
Flexible
DWG No. 1090998*
DWG No. 1090996*
DWG No. 1090997*
FG (to frame)
Receptacle housing
(JST)
Axis 1 (arm 1)
rotor/stator
ABS encoder
Inside base
FG (to frame)
(Hirose)
Socket
Relay plug
DF3-4EP-2C
Socket
Air joint, white (3)
Plug housing
Air joint, black (3)
that uses the controller I/O output signal.
connector on the controller, the brake cannot be released.
(2) If 24 VDC is not supplied to the brake power-supply
Hirose
M cable (outside robot)
DWG No. 10909971
Relay plug DF11-6DEP-2C
Socket
If arm 3 has a brake, supply
24 VDC to the brake power-
DF11-6DS-2S
supply connector on the
controller.
(Phoenix contact)
Plug
Controller
Cap (Capcon)
DWG No. 1090985*
User piping
terminal
User wiring
U cable (outside robot)
PG cable (outside robot)
Plug-in connector
10126-3000VE
(Sumitomo 3M)
Dedicated batteries for IX 120/150
If arm 3 has a brake,
the controller must also
have a brake unit.
Notes (1) To operate the alarm LED, the user must provide a circuit
29
Page 36
User wiring terminals
r
-
Controller
PG cable (outside robot)
4. Wiring Diagram
Flexible cable
Air tubes
User connector
Air joint
White (3), Black (3)
U cable (outside robot)
M cable (outside robot)
Air joint for suction (6)
Air joint
White (3), Black (3)
PG cable (inside robot)
M cable (inside robot)
U cable (inside robot)
FG (frame)
Air tubes
axis
1
motor
1-axis
encoder
axis
motor
2-axis
2
encode
axis
3
motor
3-axis
encoder
U cable (inside robot)
M cable (inside robot)
PG cable (inside robot)
axis
motor
4-axis
4
encoder
30
Page 37
4.2 Machine Harness Wiring Table
2
2
(1) PG cables (inside robot) DWG No. 1090996*
Base end Arm 2 end
Tube
symbol
Connector
Relay plug
DF11-6DEP-2C
(Hirose)
Signal
Pin
No.
Connection
Pin
No.
Signal
Connector
Socket
DF11-6DS-2C
(Hirose)
Tube
symbol
ID No.
Red
Cable
4. Wiring Diagram
Same as above
Same as above
Relay plug
DF3-3EP-2C
(Hirose)
Round terminal
(2) M cables (inside robot) DWG No. 1090998*
Base end Arm 2 end
Tube
symbol
Connector
Relay plug
DF11-4EP-2C
(Hirose)
Same as above
Same as above
Signal
Pin
No.
Connection
Pin
No.
Signal
Same as above
Same as above
Relay plug
DF3-2EP-2C
(Hirose)
Connector
Socket
DF3-4S2C
(Hirose)
Same as above
Same as above
Tube
symbol
Red
Red
Red
ID No.
Red
White
Black
Green
Red
White
Black
Green
Red
White
Black
Green
0.3-mm
twistedpair, 20core
shielded
cable
Cable
(3) U cables (inside robot) DWG No. 1090997*
Base end Arm 2 end
Tube
symbol
Connector
Receptacle
housing
SM R-10V-N
(JST)
Round terminal
Signal
Pin
No.
Connection
Pin
No.
Signal
Connector
Plug housing
SMP-08V-NC
(JST)
Socket
DF3-2S-2C
(Hirose)
Tube
symbol
ID No.
Black
Black
Cable
0.3-mm
10-core
shielded
cable
31
Page 38
4.3 Cable Wiring Table
2
(1) PG cables (outside robot) DWG No. 1090985*
Tube
symbol
4. Wiring Diagram
Robot end Controller end
Connector
Plug
DF3-2EP-2C
(by Hirose Electric)
Socket
DF11-6DS-2S
(by Hirose
Electric)
Signal
Pin
No.
Connection
Pin
No.
Signal
Connector
Plug connector
10126-3000VE
(Sumitomo 3M)
Tube
symbol
ID No.
Orange 1
red
Orange 1
black
Light gray
1 red
Light gray
1 black
Cable
0.12-mm
twistedpair,
4-core
shielded
cable
32
Page 39
Tube
2
symbol
Robot end Controller end
Connector
Plug
DF3-2EP-2C
(by Hirose Electric)
Socket
DF11-6DS-2S
(by Hirose
Electric)
Socket
DF3-3S-2C
(by Hirose Electric)
Signal
Pin
No.
Connection
Pin
No.
Signal
Connector
Plug connector
10126-3000VE
(Sumitomo 3M)
Tube
symbol
ID No.
Orange 1
red
Orange 1
black
Light gray
1 red
Light gray
1 black
White 1
black
White 1
red
Cable
0.12-mm
twistedpair,
3-core
shielded
cable
4. Wiring Diagram
33
Page 40
(2) M cables (outside robot) DWG No. 1090971*
)
2
2
Robot end Controller end
Tube
symbol
Connector
Socket
DF3-4S-2C
(by Hirose )
Signal
Pin
No.
Connection
Pin
No.
Signal
Connector
Plug
GIC2x5/4
-STF-7x62
(by Phoenix
Contact
Tube
symbol
ID No.
Cable
0.2-mm
16-core
4. Wiring Diagram
(3) U cables (outside robot) DWG No. 1090985*
Tube
symbol
Same as above
Same as above
Same as above
Robot end Controller end
Connector
Plug housing
SMR-10V-N
(by JST)
Signal
Pin
No.
Connection
Pin
No.
Signal
Same as above
Same as above
Same as above
Connector
Y terminal
Tube
symbol
ID No.
Orange 1
red
Orange 1
black
Light gray
1 red
Light gray
1 black
White 1
red
White 1
black
Yellow 1
red
Yellow 1
black
Pink 1 red
Pink 1
black
Green
Cable
0.12-mm
twistedpair,
10-core
shielded
cable
34
Page 41
4.4 230 V Circuit Components
No. Code name Manufacturer Remarks
1 Axis 1 to 3 servo motor AC servo motor, 12 W
2 Axis 4 servo motor AC servo motor, 60 W
3 M cable (inside robot)
IAI
Wire: 250 V, 150C (rated), 0.3 mm
3
4. Wiring Diagram
35
Page 42
5. Option
5. Option
5.1 Absolute Reset Jig
This jig is used to perform an absolute reset in the event that absolute data in the encoder was lost.
Model number Remarks
JG-5 For arm length 120/150/180
5.2 Flange
This flange is used to install a load at the end of the Z-axis arm.
Model number Remarks
IX-FL-4 For arm length 120/150/180
5.3 Absolute Data Backup Battery
This battery is used to retain absolute data in the encoder. (Set the battery inside the cover of the SCARA robot.)
Model number Remarks
AB-6 For arm length 120/150/180
* Four batteries are needed for each robot (all
SCARA robot models). Since AB-6 batteries
are packed individually, specify the required
number in your order.
36
Page 43
6. Checking after Unpacking
After unpacking the carton, check the condition of the product and items included in the carton.
6.1 Items Included in the Carton
1 Robot
2 Controller
Accessories
3 Receptacle housing
4 Pin contact
5 PIO flat cable
6 First step-by-step guide
7 Operation manual
(CD/DVD)
8 Safety guide
Refer to "How to Read Model Nameplate" and "How to Read
Model Number."
skrameRskrameRmetI.oN
6. Checking after Unpacking
37
Page 44
6.2 Operation Manuals Relating to This Product
r
r
No. Item Control No.
1 Operation Manual for XSEL-PX/QX Controller ME0152
2 Operation Manual for XSEL Controller P/Q/PX/QX – 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 Teaching Pendant IA-T-X/XD ME0160
6 Operation Manual for DeviceNet ME0124
7 Operation Manual for CC-Link ME0123
8 Operation Manual for PROFIBUS ME0153
9 Operation Manual for X-SEL Ethernet ME0140
10 Operation Manual for Multi-point I/O Board ME0138
11 Operation Manual for Dedicated Terminal Block for Multi-point I/O Board ME0139
6.3 How to Read Model Nameplate
Model numbe
6. Checking after Unpacking
Serial numbe
38
Page 45
6.4 How to Read Model Number
<Series>
SCARA robot
<Type>
Standard type
Arm length 120 mm/Z-axis 50 mm
NNN1205
Arm length 150 mm/Z-axis 50 mm
NNN1505
Arm length 180 mm/Z-axis 50 mm
NNN1805
Clean room type
Arm length 120 mm/Z-axis 50 mm
NNC1205
Arm length 150 mm/Z-axis 50 mm
NNC1505
Arm length 180 mm/Z-axis 50 mm
NNC1805
<Option>
B: With brake
JY: Joint cable specification
<Applicable controller>
T2: XSEL-PX/QX
<Cable length>
3L:3m
5:5m
6. Checking after Unpacking
39
Page 46
7. Specifications
7.1 IX-NNN1205/1505/1805
IX-NNN-1205 (Arm Length 120, Standard Specification)
Item Specifications
Model number IX-NNN1205-**L
Degree of freedom Four degrees of freedom
Overall arm length 120
Arm 1 length 45
Arm 2 length
Drive method
Motor capacity
7. Specifications
Movement
range
Maximum
operating
speed (*2)
Positioning
repeatability
(*3)
Cycle time (*4)
Load capacity
Push force of
axis 3 (vertical
axis)
Permissible
load on axis 4
Permissible tool diameter (*6) mm
Home detection Absolute
User wiring
Alarm indicator (*7) One small, red LED indicator (rated voltage: 24 V)
User piping
mm
75
Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer
Axis 3 (vertical axis) AC servo motor + Belt + Ball-screw spline
Axis 4 (rotational axis) AC servo motor + Spline (directly coupled)
Axis 1 (arm 1) 12
Axis 2 (arm 2) 12
Axis 3 (vertical axis) 12
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
Axis 3 (vertical axis) (*1) mm 50
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree/sec 1800
Axis 1 + Axis 2
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree
Rated 0.2
Maximum
Dynamic (*8) 17.8 (1.8)
Static (*9)
Permissible moment of inertia
(*5)
Permissible torque
W
60
degree
mm/sec
mm
sec 0.35
kg
N (kgf)
2
kg-m
386
N
m (kgfcm)
Connector with 8-core AWG26 shielded cable: SMP-08V-
Two air tubes (outer diameter: 3 inner diameter: 2)
(normal service pressure: 0.7 MPa)
115
145
360
2053
720
0.005
0.010
0.005
1.0
9.8 (1.0)
0.13 (1.3)
35
NC (JST)
40
Page 47
Item Specifications
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40C, humidity: 20 to 85%RH or
less (non-condensing)
Altitude m 1,000 or less
Noise dB 52 to 59
Robot weight kg 2.7
Power supply 3-phase 200/230 V 50/60 Hz 2.2 A
Controller
Allowable supply voltage
fluctuation
%
10
Overvoltage category (IEC60664-1) Category III
Pollution degree (IEC60664-1) Pollution degree 3
Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as
close to the top position as possible. (Fig. 1)
To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be
reduced as appropriate. (Fig. 2)
Note 2) Assuming PTP instruction operation.
Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same
starting position at the same speed and acceleration/deceleration using the same arm (at a constant
surrounding air temperature of 20C). Take note that this is not the absolute positioning precision.
Also note that the positioning repeatability may deviate from the specified value if the arm is
changed, positioning is performed to one specified position from multiple positions, or any of the
operating conditions such as operating speed and acceleration/deceleration setting is changed.
Note 4) When 0.2 kg is carried at the maximum speed (with the robot moving back and force over 100 mm in
horizontal direction and 25 mm in vertical direction).
Note 5) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset
from the rotational center of axis 4 to the tool’s center of gravity is assumed to be 17.5 mm or less.
(Fig. 3)
Make the center of the rotational axis agree with the center of gravity of the tool as close as possible.
If the gravity-center position of the tool is away from the center position of axis 4, the speed and/or
acceleration must be lowered as deemed appropriate.
Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of
movement. (Fig. 4)
Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED
terminal in the user connector in response to the controller I/O output signal, etc.
Note 8) A force as much as three times the dynamic push force may apply momentarily.
Note 9) Static thrust indicates a thrust force that applies within the range of operation when a PAPR
command is issued.
Center of
rotational axis
Center of
rotational axis
7. Specifications
Top position
Tool
(Fig. 1)
Bottom
position
Tool
(Fig. 2)
Tool
Tool’s center
of gravity
(Fig. 3)
Tool
35
(Fig. 4)
41
Page 48
IX-NNN-1505 (Arm Length 150, Standard Specification)
Item Specifications
Model number IX-NNN1505-**L
Degree of freedom Four degrees of freedom
Overall arm length 150
Arm 1 length 75
Arm 2 length
Drive method
Motor capacity
Movement
range
7. Specifications
Maximum
operating
speed (Note 2)
Positioning
repeatability
(Note 3)
Cycle time (Note 4)
Load capacity
Push force of
axis 3 (vertical
axis)
Permissible
load on axis 4
Permissible tool diameter (Note 6) mm
Home detection Absolute
User wiring
Alarm indicator (Note 7) One small, red LED indicator (rated voltage: 24 V)
User piping
mm
75
Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer
Axis 3 (vertical axis) AC servo motor + Belt + Ball-screw spline
Axis 4 (rotational axis) AC servo motor + Spline (directly coupled)
Axis 1 (arm 1) 12
Axis 2 (arm 2) 12
Axis 3 (vertical axis) 12
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
Axis 3 (vertical axis) (Note 1) mm 50
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree/sec 1800
Axis 1 + Axis 2
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree
Rated 0.2
Maximum
Dynamic (Note 8) 17.8 (1.8)
Static (Note 9)
Permissible moment of inertia
(Note 5)
Permissible torque
W
60
degree
mm/sec
mm
sec 0.35
kg
N (kgf)
2
kg-m
386
N
m (kgfcm)
Connector with 8-core AWG26 shielded cable: SMP-08V-
Two air tubes (outer diameter: 3 inner diameter: 2)
(normal service pressure: 0.7 MPa)
125
145
360
2304
720
0.005
0.010
0.005
1.0
9.8 (1.0)
0.13 (1.3)
35
NC (JST)
42
Page 49
Item Specifications
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40C, humidity: 20 to 85%RH or
less (non-condensing)
Altitude m 1,000 or less
Noise dB 52 to 59
Robot weight kg 2.7
Power supply 3-phase 200/230 V 50/60 Hz 2.2 A
Controller
Allowable supply voltage
fluctuation
%
10
Overvoltage category (IEC60664-1) Category III
Pollution degree (IEC60664-1) Pollution degree 3
Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as
close to the top position as possible. (Fig. 1)
To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be
reduced as appropriate. (Fig. 2)
Note 2) Assuming PTP instruction operation.
Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same
7. Specifications
starting position at the same speed and acceleration/deceleration using the same arm (at a constant
surrounding air temperature of 20C). Take note that this is not the absolute positioning precision.
Also note that the positioning repeatability may deviate from the specified value if the arm is
changed, positioning is performed to one specified position from multiple positions, or any of the
operating conditions such as operating speed and acceleration/deceleration setting is changed.
Note 4) When 0.2 kg is carried at the maximum speed (with the robot moving back and force over 100 mm in
horizontal direction and 25 mm in vertical direction).
Note 5) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset
from the rotational center of axis 4 to the tool’s center of gravity is assumed to be 17.5 mm or less.
(Fig. 3)
Make the center of the rotational axis agree with the center of gravity of the tool as close as possible.
If the gravity-center position of the tool is away from the center position of axis 4, the speed and/or
acceleration must be lowered as deemed appropriate.
Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of
movement. (Fig. 4)
Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED
terminal in the user connector in response to the controller I/O output signal, etc.
Note 8) A force as much as three times the dynamic push force may apply momentarily.
Note 9) Static thrust indicates a thrust force that applies within the range of operation when a PAPR
command is issued.
Center of
rotational axis
Center of
rotational axis
Top position
Tool
(Fig. 1)
Bottom
position
Tool
(Fig. 2)
Tool
Tool’s center
of gravity
(Fig. 3)
Tool
35
(Fig. 4)
43
Page 50
IX-NNN-1805 (Arm Length 180, Standard Specification)
Item Specifications
Model number IX-NNN1805-**L
Degree of freedom Four degrees of freedom
Overall arm length 180
Arm 1 length 105
Arm 2 length
Drive method
Motor capacity
Movement
range
7. Specifications
Maximum
operating
speed (Note 2)
Positioning
repeatability
(Note 3)
Cycle time (Note 4)
Load capacity
Push force of
axis 3 (vertical
axis)
Permissible
load on axis 4
Permissible tool diameter (Note 6) mm
Home detection Absolute
User wiring
Alarm indicator (Note 7) One small, red LED indicator (rated voltage: 24 V)
User piping
mm
75
Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer
Axis 3 (vertical axis) AC servo motor + Belt + Ball-screw spline
Axis 4 (rotational axis) AC servo motor + Spline (directly coupled)
Axis 1 (arm 1) 12
Axis 2 (arm 2) 12
Axis 3 (vertical axis) 12
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
Axis 3 (vertical axis) (Note 1) mm 50
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree/sec 1800
Axis 1 + Axis 2
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree
Rated 0.2
Maximum
Dynamic (Note 8) 17.8 (1.8)
Static (Note 9)
Permissible moment of inertia
(Note 5)
Permissible torque
W
60
degree
mm/sec
mm
sec 0..38
kg
N (kgf)
2
kg-m
386
N
m (kgfcm)
Connector with 8-core AWG26 shielded cable: SMP-08V-
Two air tubes (outer diameter: 3 inner diameter: 2)
(normal service pressure: 0.7 MPa)
125
145
360
2555
720
0.010
0.010
0.005
1.0
9.8 (1.0)
0.13 (1.3)
35
NC (JST)
44
Page 51
Item Specifications
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40C, humidity: 20 to 85%RH or
less (non-condensing)
Altitude m 1,000 or less
Noise dB 52 to 59
Robot weight kg 3.0
Power supply 3-phase 200/230 V 50/60 Hz 2.2 A
Controller
Allowable supply voltage
fluctuation
%
10
Overvoltage category (IEC60664-1) Category III
Pollution degree (IEC60664-1) Pollution degree 3
Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as
close to the top position as possible. (Fig. 1)
To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be
reduced as appropriate. (Fig. 2)
Note 2) Assuming PTP instruction operation.
Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same
7. Specifications
starting position at the same speed and acceleration/deceleration using the same arm (at a constant
surrounding air temperature of 20C). Take note that this is not the absolute positioning precision.
Also note that the positioning repeatability may deviate from the specified value if the arm is
changed, positioning is performed to one specified position from multiple positions, or any of the
operating conditions such as operating speed and acceleration/deceleration setting is changed.
Note 4) When 0.2 kg is carried at the maximum speed (with the robot moving back and force over 100 mm in
horizontal direction and 25 mm in vertical direction).
Note 5) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset
from the rotational center of axis 4 to the tool’s center of gravity is assumed to be 17.5 mm or less.
(Fig. 3)
Make the center of the rotational axis agree with the center of gravity of the tool as close as possible.
If the gravity-center position of the tool is away from the center position of axis 4, the speed and/or
acceleration must be lowered as deemed appropriate.
Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of
movement. (Fig. 4)
Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED
terminal in the user connector in response to the controller I/O output signal, etc.
Note 8) A force as much as three times the dynamic push force may apply momentarily.
Note 9) Static thrust indicates a thrust force that applies within the range of operation when a PAPR
command is issued.
Top position
Tool
(Fig. 1)
Bottom
position
Tool
(Fig. 2)
Center of
rotational axis
Tool
Tool’s center
of gravity
(Fig. 3)
Center of
rotational axis
Tool
35
(Fig. 4)
45
Page 52
7.2 IX-NNC1205/1505/1805
IX-NNC-1205 (arm length 120, clean room specification)
Item Specifications
Type IX-NNC1205-**L-T1
Cleanness (Note 10)
Degree of freedom Four degrees of freedom
Overall arm length 120
Arm 1 length 45
Arm 2 length
Drive method
Motor capacity
Movement
range
7. Specifications
Maximum
operating
speed (Note 2)
Positioning
repeatability
(Note 3)
Cycle time (Note 4)
Load capacity
Push-in thrust
of axis 3
(vertical axis)
Permissible
load on axis 4
Permissible tool diameter (Note 6) mm
Home detection Absolute
User wiring
Alarm indicator (Note 7) One small, red LED indicator (rated voltage: 24 V)
Class 10 (0.1 m)
mm
75
Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer
Axis 3 (vertical axis) AC servo motor + Belt + Ball-screw spline
Axis 4 (rotational axis) AC servo motor + Spline (directly coupled)
Axis 1 (arm 1) 12
Axis 2 (arm 2) 12
Axis 3 (vertical axis) 12
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
Axis 3 (vertical axis) (Note 1) mm 50
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree/sec 1800
Axis 1 + Axis 2
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree
Rated 0.2
Maximum
Dynamic (Note 8) 17.8 (1.8)
Static (Note 9)
Permissible moment of inertia
(Note 5)
Permissible torque
W
60
degree
mm/sec
mm
sec 0.35
kg
N (kgf)
2
386
kg-m
m (kgfcm)
N
Connector with 8-core AWG26 shielded cable: SMP-08V-
115
130
360
2053
720
0.005
0.010
0.005
1.0
9.8 (1.0)
0.13 (1.3)
35
NC (JST)
46
Page 53
Item Specifications
User piping
Outer diameter 3, inner diameter 2, air tube x
2 pcs (service pressure 0.7 MPa)
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40C, humidity: 20 to 85%RH or
less (non-condensing)
Altitude m 1,000 or less
Noise dB 52 to 59
Robot weight kg 2.8
Power supply 230 V 50/60 Hz 15 A
Controller
Allowable supply voltage
fluctuation
%
10
Overvoltage category (IEC60664-1) Category III
Pollution degree (IEC60664-1) Pollution degree 3
Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as
close to the top position as possible. (Fig. 1)
To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be
reduced as appropriate. (Fig. 2)
Note 2) Assuming PTP instruction operation.
Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same
starting position at the same speed and acceleration/deceleration using the same arm (at a constant
surrounding air temperature of 20C). Take note that this is not the absolute positioning precision.
Also note that the positioning repeatability may deviate from the specified value if the arm is
changed, positioning is performed to one specified position from multiple positions, or any of the
operating conditions such as operating speed and acceleration/deceleration setting is changed.
Note 4) When 0.2 kg is carried at the maximum speed (with the robot moving back and force over 100 mm in
horizontal direction and 25 mm in vertical direction). 0.39 sec for the vertical axis with brake.
Note 5) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset
from the rotational center of axis 4 to the tool’s center of gravity is assumed to be 17.5 mm or less.
(Fig. 3)
If the gravity-center position of the tool is away from the center position of axis 4, the speed and/or
acceleration must be lowered as deemed appropriate.
Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of
movement. (Fig. 4)
Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED
terminal in the user connector in response to the controller I/O output signal, etc.
Note 8) A force as much as three times the dynamic push force may apply momentarily.
Note 9) Static thrust indicates a thrust force that applies within the range of operation when a PAPR
command is issued.
Note 10) When the suction rate is 90 Nl/min (-2025 mmAq).
7. Specifications
Top position
Tool
(Fig. 1)
Bottom
position
Tool
(Fig. 2)
Center of
rotational axis
Tool
Tool’s center
of gravity
(Fig. 3)
35
Center of
rotational axis
Tool
(Fig. 4)
47
Page 54
IX-NNC-1505 (arm length 150, clean room specification)
Item Specifications
Type IX-NNC1505-**L-T1
Cleanness (Note 10)
Degree of freedom Four degrees of freedom
Overall arm length 150
Arm 1 length 75
Arm 2 length
Drive method
Motor capacity
Movement
range
7. Specifications
Maximum
operating
speed (Note 2)
Positioning
repeatability
(Note 3)
Cycle time (Note 4)
Load capacity
Push force of
axis 3 (vertical
axis)
Permissible
load on axis 4
Permissible tool diameter (Note 6) mm
Home detection Absolute
User wiring
Alarm indicator (Note 7) One small, red LED indicator (rated voltage: 24 V)
Class 10 (0.1 m)
mm
75
Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer
Axis 3 (vertical axis) AC servo motor + Belt + Ball-screw spline
Axis 4 (rotational axis) AC servo motor + Spline (directly coupled)
Axis 1 (arm 1) 12
Axis 2 (arm 2) 12
Axis 3 (vertical axis) 12
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
Axis 3 (vertical axis) (Note 1) mm 50
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree/sec 1800
Axis 1 + Axis 2
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree
Rated 0.2
Maximum
Dynamic (Note 8) 17.8 (1.8)
Static (Note 9)
Permissible moment of inertia
(Note 5)
Permissible torque
W
60
degree
mm/sec
mm
sec 0.38
kg
N (kgf)
2
386
kg-m
m (kgfcm)
N
Connector with 8-core AWG26 shielded cable: SMP-08V-
125
134
360
2304
720
0.005
0.010
0.005
1.0
9.8 (1.0)
0.13 (1.3)
35
NC (JST)
48
Page 55
Item Specifications
User piping
Two air tubes (outer diameter: 3, inner diameter: 2)
(normal service pressure: 0.7 MPa)
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40C, humidity: 20 to 85%RH or
less (non-condensing)
Altitude m 1,000 or less
Noise dB 52 to 59
Robot weight kg 2.8
Power supply 230 V 50/60 Hz 15 A
Controller
Allowable supply voltage
fluctuation
%
10
Overvoltage category (IEC60664-1) Category III
Pollution degree (IEC60664-1) Pollution degree 3
Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as
close to the top position as possible. (Fig. 1)
To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be
reduced as appropriate. (Fig. 2)
Note 2) Assuming PTP instruction operation.
Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same
starting position at the same speed and acceleration/deceleration using the same arm (at a constant
surrounding air temperature of 20C). Take note that this is not the absolute positioning precision.
Also note that the positioning repeatability may deviate from the specified value if the arm is
changed, positioning is performed to one specified position from multiple positions, or any of the
operating conditions such as operating speed and acceleration/deceleration setting is changed.
Note 4) When 0.2 kg is carried at the maximum speed (with the robot moving back and force over 100 mm in
horizontal direction and 25 mm in vertical direction). 0.39 sec for the vertical axis with brake.
Note 5) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset
from the rotational center of axis 4 to the tool’s center of gravity is assumed to be 17.5 mm or less.
(Fig. 3)
If the gravity-center position of the tool is away from the center position of axis 4, the speed and/or
acceleration must be lowered as deemed appropriate.
Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of
movement. (Fig. 4)
Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED
terminal in the user connector in response to the controller I/O output signal, etc.
Note 8) A force as much as three times the dynamic push force may apply momentarily.
Note 9) Static thrust indicates a thrust force that applies within the range of operation when a PAPR
command is issued.
Note 10) When the suction rate is 90 Nl/min (-2025 mmAq).
7. Specifications
Top position
Tool
(Fig. 1)
Bottom
position
Tool
(Fig. 2)
Center of
rotational axis
Tool
Tool’s center
of gravity
(Fig. 3)
35
Center of
rotational axis
Tool
(Fig. 4)
49
Page 56
IX-NNC-1805 (arm length 180, clean room specification)
Item Specifications
Type IX-NNC1805-**L-T1
Cleanness (Note 10)
Degree of freedom Four degrees of freedom
Overall arm length 180
Arm 1 length 105
Arm 2 length
Drive method
Motor capacity
Movement
range
7. Specifications
Maximum
operating
speed (Note 2)
Positioning
repeatability
(Note 3)
Cycle time (Note 4)
Load capacity
Push force of
axis 3 (vertical
axis)
Permissible
load on axis 4
Permissible tool diameter (Note 6) mm
Home detection Absolute
User wiring
Alarm indicator (Note 7) One small, red LED indicator (rated voltage: 24 V)
Class 10 (0.1 m)
mm
75
Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer
Axis 3 (vertical axis) AC servo motor + Belt + Ball-screw spline
Axis 4 (rotational axis) AC servo motor + Spline (directly coupled)
Axis 1 (arm 1) 12
Axis 2 (arm 2) 12
Axis 3 (vertical axis) 12
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
Axis 3 (vertical axis) (Note 1) mm 50
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree/sec 1800
Axis 1 + Axis 2
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree
Rated 0.2
Maximum
Dynamic (Note 8) 17.8 (1.8)
Static (Note 9)
Permissible moment of inertia
(Note 5)
Permissible torque
W
60
degree
mm/sec
mm
sec 0.41
kg
N (kgf)
2
386
kg-m
m (kgfcm)
N
Connector with 8-core AWG26 shielded cable: SMP-08V-
125
145
360
2555
720
0.010
0.010
0.005
1.0
9.8 (1.0)
0.13 (1.3)
35
NC (JST)
50
Page 57
Item Specifications
User piping
Outer diameter 3, inner diameter 2, air tube x 2
pcs (service pressure 0.7 MPa)
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40C, humidity: 20 to 85%RH or
less (non-condensing)
Altitude m 1,000 or less
Noise dB 52 to 59
Robot weight kg 2.9
Power supply 230 V 50/60 Hz 15 A
Controller
Allowable supply voltage
fluctuation
%
10
Overvoltage category (IEC60664-1) Category III
Pollution degree (IEC60664-1) Pollution degree 3
Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as
close to the top position as possible. (Fig. 1)
To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be
reduced as appropriate. (Fig. 2)
Note 2) Assuming PTP instruction operation.
Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same
starting position at the same speed and acceleration/deceleration using the same arm (at a constant
surrounding air temperature of 20C). Take note that this is not the absolute positioning precision.
Also note that the positioning repeatability may deviate from the specified value if the arm is
changed, positioning is performed to one specified position from multiple positions, or any of the
operating conditions such as operating speed and acceleration/deceleration setting is changed.
Note 4) When 0.2 kg is carried at the maximum speed (with the robot moving back and force over 100 mm in
horizontal direction and 25 mm in vertical direction). 0.42 sec for the vertical axis with brake.
Note 5) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset
from the rotational center of axis 4 to the tool’s center of gravity is assumed to be 17.5 mm or less.
(Fig. 3)
If the gravity-center position of the tool is away from the center position of axis 4, the speed and/or
acceleration must be lowered as deemed appropriate.
Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of
movement. (Fig. 4)
Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED
terminal in the user connector in response to the controller I/O output signal, etc.
Note 8) A force as much as three times the dynamic push force may apply momentarily.
Note 9) Static thrust indicates a thrust force that applies within the range of operation when a PAPR
command is issued.
Note 10) When the suction rate is 90 Nl/min (-2025 mmAq).
7. Specifications
Top position
Tool
(Fig. 1)
Bottom
position
Tool
(Fig. 2)
Center of
rotational axis
Tool
Tool’s center
of gravity
(Fig. 3)
35
Center of
rotational axis
Tool
(Fig. 4)
51
Page 58
8. Installation Environment and Storage Environment
8.1 Installation Environment
Install the robot in an environment that satisfies the following conditions:
Away from direct sunlight
Not subject to radiated heat from a high-capacity energy source such as a heat-treating furnace
Surrounding air temperature: 0C to 40C
Humidity: 85% or less (non-condensing)
Not exposed to corrosive or flammable gases
Not subject to impact or vibration
Not exposed to a significant amount of electromagnetic waves, ultraviolet rays or radiation
Sufficient space is available to ensure safety in teaching and maintenance/inspection operations
Generally, the robot must be installed where the operator need not wear protective gear in order to work.
8.2 Installation Platform
The platform on which to install the robot receives a significant reactive force. Be certain the platform has
sufficient rigidity to withstand the anticipated force.
The surface on which the robot is fixed must have a thickness of 8 mm or more.
The levelness of the robot installation surface must be at least 0.05 mm.
Machine tapped holes of the size shown in the table below in the mounting surface of the platform.
Model number Tapping size Remarks
M3: The effective thread shall be 3 mm or more (for steel, or 6 mm
IX-NNN1205/1505/1805
IX-NNC1205/1505/1805
The platform must have sufficient rigidity to withstand not only the weight of the robot but also the dynamic
moment of inertia that is generated when the robot is operated at maximum speed.
Secure the platform to the floor or other rigid structure in a manner that prevents any movement due to
operation of the robot.
The installation platform must allow the robot to be mounted on a level surface.
8. Installation Environment and Storage Environment
M3 or M4
M4: The effective thread shall be 4 mm or more (for steel, or 8 mm
or more for aluminum).
or more for aluminum).
52
Page 59
8.3 Storage/Preservation Environment
The storage/preservation environment conforms to the installation environment. If the robot is to be
stored/preserved for a prolonged period of time, be sure the robot will not be exposed to dew condensation.
Unless otherwise specified, desiccant is not placed in the carton when shipped. If the robot is to be
stored/preserved in an environment subject to condensation, provide preventive measures from over the carton
or directly to the robot after unpacking.
The maximum storage/preservation temperature is 60C for a short storage period. If the robot is to be stored for
more than a month, the temperature should not exceed 50C.
WarningDanger
Failure to provide a proper environment for installation and storage/preservation may shorten the service
life of the robot, reduce its operation precision, or cause a malfunction or failure.
Never use the robot in a flammable atmosphere. The robot may explode or ignite.
8. Installation Environment and Storage Environment
53
Page 60
9.
How to Install
Shown below is how to install SCARA Robot.
9.1
: Available s : Not available : Please contact us.
9. How to Install
Installation Posture
Ceiling-MountWall-MountHorizontally Oriented Mount
s
54
Page 61
9.2 Installing the Robot
9. Installation
Install the robot horizontally.
Use four M3 or M4 hexagonal socket head bolts and washers to securely affix the robot.
Model number Bolt size
M3 0.81 Nm
IX-NNC1205/1505/1805
For the hexagonal socket head bolts, use high-strength bolts of ISO10.9 or higher.
M4 1.41 Nm
Tightening
torque
Remarks
Be sure to use a flat washer (outer diameter 7, inner
diameter 3.2, t = 0.5). IX-NNN1205/1505/1805
If the bolt size is M4, use of a flat washer causes the washer
to project from the reference surface. Use a flat washer only
when doing so does not affect your specific purpose of use.
hexagonal socket head bolts
Washer
9. How to Install
CautionWarning
Be sure to use washers. If not, the bearing surface may cave in.
Tighten the hexagonal socket head bolts securely to the correct torque. If not, precision may drop and in the
worst case the robot may topple and cause an accident.
55
Page 62
10. Connecting the Controller
The controller connection cables are attached on the robot (standard cable: 3 m).
Pay attention to the following items when connecting the controller:
Connect to the robot of the serial number specified on the robot designation label provided on the front panel
of the controller.
Robot designation label
Robot serial number
Controller (without brake)
Warning
Be sure to connect to the robot of the serial number specified on the front panel of the controller.
The controller will not operate properly if any other robot is connected. Failure to observe this warning may
cause the robot to malfunction, resulting in a serious accident.
Before connecting or disconnecting a cable, always turn off the power to the controller.
10. Connecting the Controller
Connecting/disconnecting a cable with the power supplied to the controller may cause the robot to
malfunction, resulting in a serious accident.
Installing the connectors into the wrong sockets may cause the robot to malfunction. Be sure to check the
designation on the cable with that on the controller panel before plugging in any connector.
If the connectors are not inserted securely, the robot may malfunction and generate the risk of danger.
Be sure to affix each connector with the supplied screws.
56
Page 63
Connect the cables securely after confirming that they are free from damage or bent connector pins.
Connect each cable by aligning the indication on the marking tube on the cable with the indication on the
controller panel.
When installing the PG connector (D-sub connector), ensure correct orientation of the connector.
In the case of a controller with brake, provide a dedicated DC power supply for the brake. Do not use the I/O
power supply or power supply for secondary circuit.
This power supply must have an output voltage of 24 VDC 10% and capacity of approx. 5 W.
24-VDC power-supply input
Controller (without brake)
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.
10. Connecting the Controller
57
Page 64
PG cable (outside robot)
M cable (outside robot)
Controller
(without brake)
Quick joint 3, white
Quick joint 3, black
Standard cable length: 3 m
M cable
10. Connecting the Controller
To air tube
(provided by
user)
PG cable
U cable (outside robot)
cable for user wiring
Tool, control unit,
etc. provided by
user
Controller-end connectorRobot-end connector
58
U cable
User-wired terminals
U1 ~ U8, LED+24V, LEDG24V, FG
Page 65
Warning
Before connecting or disconnecting a cable, always turn off the power to the controller.
Connecting/disconnecting a cable with the power supplied to the controller may cause the robot to
malfunction, resulting in a serious accident.
Installing the connectors into the wrong sockets may cause the robot to malfunction. Be sure to check the
designation on the cable with that on the controller panel before plugging in any connector.
If the connectors are not inserted securely, the robot may malfunction and generate the risk of danger.
Be sure to affix each connector with the supplied screws.
10. Connecting the Controller
59
Page 66
11. Checking after Installation
Once the robot has been installed, check the following items:
Visually check the robot, controller and cables for dents and other abnormalities.
Confirm that the cables are connected properly and that the connectors are inserted securely.
Warning
Failure to perform these checks may result in a malfunctioning robot or a damaged controller or robot.
11. Checking after Installation
60
Page 67
12. Precautions for Use
2
y
(kg)
12.1 Reference Settings for Acceleration/Deceleration
Set the acceleration/deceleration by referring to the graphs below.
(1) PTP operation (Setting the acceleration/deceleration using the SEL commands ACCS/DCLS languages)
IX120/150/180 Reference settings for PTP
acceleration/deceleration
100
0.2K g
Reference range for
maximum setting
50
30
10
Acceleration deceleration (%)
0
0
0 193 386
0.51
Loading capacity (kg)
Kg
Inertial moment (kg-mm
Reference range for
continuous operation
)
(2) CP operation (Set using the SEL language commands ACC and DCL.)
IX120/150/180 Reference for CP
acceleration/deceleration
1.50
0.2K g
0.75
0.45G
Reference range for
maximum setting
Reference range for
continuous operation
12. Precautions for Use
0.15G
Acceleration deceleration (%)
0
0
0193386
0.51
Loading capacit
Kg
Inertial moment (kg-m m2)
Maximum speed of CP operation IX120: 300 mm/sec
IX150/180: 500mm/sec
61
Page 68
Caution
To operate the robot at the maximum acceleration/deceleration, provide a stopping period of 3 seconds or
more after each acceleration/deceleration.
If arm 1 operates by 125 degrees or more, use the reference settings for acceleration/deceleration during
continuous operation as the reference settings for maximum acceleration/deceleration.
Also, set to 1/3 of that value as the reference settings for continuous operation.
Start from the appropriate reference setting for acceleration/deceleration during continuous operation, and
then gradually raise the value for the purpose of adjustment.
If an overload error occurs, lower the acceleration/deceleration setting as appropriate or provide an
appropriate stopping time following each acceleration/deceleration.
Depending on the position of the vertical axis, the robot may generate vibration when axis 1, axis 2 or the
rotational axis turns. If vibration occurs, lower the acceleration/deceleration as appropriate.
To move the robot horizontally at high speed, keep the vertical axis as close as possible to the top position.
If the vertical axis is operated at the bottom position, the spline shaft for the ball screw will bend and the
vertical axis will be disabled.
Keep the inertial moment of axis 4 to the allowable value or less. (Refer to 12.3, “Carrying Load.”)
The carrying load refers to the load at the center of rotation of axis 4.
Operate the robot by using an appropriate acceleration/deceleration coefficient as determined by the mass
of the end. Failure to do so may cause the drive part to wear prematurely or may result in damage or
vibration.
12. Precautions for Use
62
Page 69
12.2 Tools
The tool mounting part must have sufficient strength and rigidity, along with adequate fastening power to prevent
positional shift.
It is recommended that a tool be installed over a split ring, span ring or other appropriate part. A sample
configuration of tool installation is given below.
If the tool diameter exceeds 35 mm, the tool will interfere with the robot within the robot’s operation area. If the
tool diameter exceeds 35 mm or the tool interferes with peripheral equipment, decrease the soft limit to reduce
the operation area.
Keep the inertial moment of the tool and load at 386 kgm
Use the D-cut surface at the end of axis 4 (rotational axis) to adjust the position (direction) of axis 4. To set the
rotating direction using the D-cut surface and setscrews, be sure to use setscrews with resin or brass pad or set
pieces made of soft material.
(Avoid attachment of the tool at the D-cut surface via thread fastening. Doing so may damage the D-cut
positioning surface.)
IX-NNN1205/1505/1805
2
or less.
Center of axis 4 (rotation axis)
D-cut surface
Tool diameter
12. Precautions for Use
Tool
Span ring, etc.
Pressure flange
35 or less
63
Page 70
IX-NNC1205/1505/1805
D-cut surface
Center of axis 4 (rotation axis)
Tool diameter 35 or less
Tool
Span ring, etc.
Pressure flange
Provide a clearance of
approx. 0.5 mm when
installing the tool.
Turn off the power to the controller and robot before installing a tool.
If the tool mounting part does not have sufficient strength, it may break while the robot is operating and
cause the tool to detach and fly off.
If the tool diameter exceeds 35 mm, the tool will interfere with the robot within the robot’s operation area.
Decrease the soft limit to reduce the operation area.
Avoid attachment of the tool at the D-cut surface via thread fastening. Doing so may damage the D-cut
positioning surface.
12. Precautions for Use
CautionWarning
64
Page 71
12.3 Carrying Load
Loading capacity
Model number Rated loading capacity Maximum loading capacity
IX-NNN1205/1505/1805
IX-NNC1205/1505/1813
Load’s permissible moment of inertia
Model number
IX-NNN1205/1505/1805
IX-NNC1205/1505/1813
Load offset (from the center of axis 4 (rotational axis))
17.5 mm or less
Center of axis 4 (rotational axis)
96.5 kg-mm
0.2 kg 1.0 kg
Permissible moment of inertia
Rated Maximum
2
386 kg-mm
2
Load’s center of gravity
17.5 mm or
less
Caution
Set appropriate acceleration/deceleration according to the mass of the end and moment of inertia. Failure to
do so may cause the drive part to wear prematurely or may result in damage or vibration.
If vibration occurs, lower the acceleration/deceleration as appropriate.
If the load gets offset, the robot becomes more likely to cause vibration. Design the tools so that the load’s
center of gravity aligns with the center of axis 4.
Do not move the robot horizontally with axis 3 (vertical axis) extended. It may cause the vertical axis to bend
and disable the axis. To move the robot horizontally with axis 3 extended, adjust the speed and
acceleration/deceleration as appropriate.
12. Precautions for Use
65
Page 72
12.4 User Wiring and Piping
The IX-NNN1205/1505/1805 and IX-NNC1205/1505/1805 robots come with standard cables and air tubes that
the user can use in a desired wiring/piping configuration. The available cables and air tubes are shown in the
table below.
IX-NNC1205/1505/1805
User connector
8-pin
SM P-08V-NC
J.S.T. Mfg. Co., Ltd.
ALM (indicator)
12. Precautions for Use
Quick joint 3,
white
To air tube
Provided by the user
Quick joint 3, black
Quick joint
3, white
Quick joint 3 ,
black
User spacer (FG)
M3, depth 6
Standard
3 m
U cable (outside robot)
PG cable (outside robot)
M cable (outside robot)
To controller
Terminal: Y terminal
66
Page 73
IX-NNC1205/1505/1805
User connector
8-pin
SM P-08V-NC
J.S.T. Mfg. Co., Ltd.
ALM (indicator)
Quick joint 3,
white
Standard
To air tube provided
by the user
Quick joint
Quick joint 6, (for suction)
Quick joint 3, white
3, black
Quick joint 3,
black
User spacer (FG)
M3, depth 6
PG cable (outside robot)
3 m
M cable (outside robot)
U cable (outside robot)
To controller
Terminal: Y terminal
User connector specifications Shape of Y-terminal
Rated voltage
Permissible current 1.1 A
Conductor size and number of wires
Other Shielded
Piping specifications
30 V
AWG 26 (0.15 mm
(U1 to U8)
2
), 8 wires
3.2
5.2
2.65.9
Shape of Y-terminal
Y
Normal service pressure 0.7 MPa
Dimensions (outer diameter x inner
diameter) and number of tubes
3 mm x 2 mm, 2 pieces
Spacer for user part installation
M3, depth 6
Working medium Air
5.5
ALM (indicator) specifications
Rated voltage 24 VDC
Rated current 12 mA
Illumination color Red LED
10
0.81 Nm or less
Torques shall not be
added in the direction
where spacers get loose.
12. Precautions for Use
10 Nm or less
67
Page 74
Receptacle housing SMR-08V-N (1) and pin contact BYM-001T-P0.6 (10) for the mating side of user connectors
is provided (made by JST).
Press fit cables provided by the customer on the pin contact and insert them to the receptacle housing and
connect to the user connector. Note that manual crimping tool YC-121R (made by JST) is required to press fit to
the pin contact. The crimping task must be performed by an operator with required techniques according to the
procedure recommended by the manufacturer. In order to turn ALM (indicating light) on, the customer must
assemble a circuit from I/O outputs of controller, etc.
Table of user wiring connection
Arm 2 side
Connected area
SMP-08V-NC
J.S.T. Mfg. Co., Ltd.
Indicating
light
(LED)
Within robot main unit
Pin No.
Attached
connector
Lock
mechanism
U cable
Controller side
Y terminal
name
Connector on robot
main unit side
Line
color
Orange 1
Red
Orange 1
Black
Light gray 1
Red
Light gray 1
Black
White1 Red
White 1 Black
Yellow 1 Red
Yellow 1
Black
Pink 1 Red
Pink 1 Black
Green
Connected
area
Y
terminal
12. Precautions for Use
Warning
Turn the controller power supply and device power supply off and shut air supply off when performing wiring
and piping tasks. Otherwise, the robot may malfunction, which is risky.
Use wires and pipes conforming to the specifications. Otherwise, cables may be heated to cause fire,
current leakage, air leakage, and other dangers.
68
Wiring on the user side
Pin
User connector
Page 75
12.5 Suction Rate of Clean Room Specification IX-NNC 1205/1505/1805
Cleanness of class 10 can be achieved when air is suctioned at the specified rate from the quick suction joint
provided on the base/rear panel.
The user must provide the suction device and air tube for suction (6).
Suction rate (NR/min)
90
Quick suction joint
(Applicable tube: Outer diameter
6, inner diameter 4)
Caution
The clean room must have a down-flow environment.
Cleanness class 10 corresponds to the particle size of 0.1m.
Dust will be raised if suction is not provided.
12. Precautions for Use
69
Page 76
13. Inspection/Maintenance
13.1 Inspection/Maintenance
Your horizontal articulated robot must be inspected daily and on a regular basis to ensure safe, efficient
operation. Perform the necessary inspections after confirming the maintenance/inspection items required for
your IAI robot, as defined in this section.
Do not inspect, adjust or repair the robot or controller, replace any of the robot/controller parts, or perform any
other operation in a manner not specified in this operation manual. In particular, do not disassemble the robot or
controller or cut any robot/controller cable in the installation location because it will necessitate adjustments
using factory machines.
Disassembly of servo motor
Disassembly of ball reduction gear
Disassembly of ball-screw spline
Disassembly of bearing
Disassembly of harmonic speed reducer
Disassembly of brake
Cutting of cable
IAI may not be able to repair any malfunction or failure occurring as a result of or in connection with the
performance of any of the operations listed above.
Periodic inspection covers items that must be performed with or without the controller power turned on. In either
case, take proper measures so that operators other than the person carrying out the inspection will not be able
to accidentally operate the power switch.
Warning
Performing inspection or maintenance without fully understanding the details of work may result in a
serious accident.
If inspections are neglected, the drive part may wear prematurely or the robot may malfunction
unexpectedly.
13.1.1 Daily Inspection
Check the following items daily before and after operating the robot.
Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations when
13. Inspection/Maintenance
carrying out each check.
Safety cage
Robot
Cables
Emergency-stop switch
noitpircseDnoitacolkcehC
Correct the deformation or positional shift of the cage.
Confirm that the interlock mechanism is operating properly.
Check the robot mounting bolts for looseness.
Check the exterior for abnormality, loose covers, flaws, dents, etc.
(If the robot has flaws or other abnormalities, please contact IAI.)
Check for abnormal move, vibration or noise.
Check the cables for flaws.
Check the cable mounting parts for looseness.
Confirm that the emergency-stop switch functions properly.
70
Page 77
13.1.2 Six-Month Inspection
Check the following items on the robot every six months.
Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations when
carrying out each check.
noitpircseDnoitacolkcehC
Robot Check the arm mounting sections for looseness.
(If any of the arm mounting sections is loose, tighten the fastening parts securely.)
Ball-screw spline Check the ball screw and ball spline for looseness.
Add grease after removing old grease with a waste cloth, etc.
(Standard type: Multitemp LRL 3 Grease (Manufacted by Kyodo Yushi) or
equivalent
Cleanroom type: AFF grease (Manufacted by THK) or equivalent)
Connectors Check the connectors for looseness.
If the robot has flaws or other abnormalities, please contact IAI.
Caution
In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.
After finishing the grease supply work, wash your hands carefully with water and soap to rinse the
grease OFF.
13.1.3 Yearly Inspection
Check the following items on the robot every year.
Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations when
carrying out each check.
noitpircseDnoitacolkcehC
Joint bearing for
harmonic reduction gear
Ball-screw spline Check the vertical axis for looseness. (Contact IAI if an abnormality is found.)
Check arms 1 and 2 for looseness in the rotating direction and axial direction.
(Contact IAI should you find any abnormality.)
Warning
Performing inspection or maintenance without fully understanding the details of work may result in a
serious accident.
If inspections are neglected, the drive part may wear prematurely or the robot may malfunction
unexpectedly.
Display a “Work in Progress” sign so that other operators will not operate the controller, operation panel,
etc.
13. Inspection/Maintenance
71
Page 78
13.2 Battery Replacement
13.2.1 Preparation
The following items are required when replacing the batteries:
Hexagonal wrench (size: 2 mm)
New battery for IX 120/150/180: AB-6 (4)
Before replacing the batteries, turn off the power to the controller, control panel and other relevant units.
CautionWarning
Serious accidents resulting in injury and death may occur if you perform inspection or maintenance tasks
without proper knowledge.
Display “WORK IN PROGRESS” signs to prevent other operators from operating the controller, operation
panel, etc.
Use batteries dedicated to IX 120/150/180. Battery for old models (IH) IX250 to 800 must not be used.
13.2.2 Encoder Battery Replacement Procedure
(1) Remove the hexagonal countersunk head bolts (4 pcs) from the base and take out the cover (base).
(2) Select the battery connector (BAT*) to be replaced.
13. Inspection/Maintenance
72
Page 79
(3) Unplug the BAT connector and connect a new battery.
After removing each battery, set a new battery within 1 to 2 minutes (reference).
If replacement takes a longer time, multi-rotation data will be cleared and an absolute reset will become
necessary.
Replace the batteries axis by axis. If all batteries are replaced at once, the replacement may not finish within
the time limit.
(4) Store the battery in the battery holder.
(5) Secure the cover (base) using the hexagonal countersunk head bolts (4 pcs). (Tightening torque: 0.8 Nm)
Caution
When installing the cover (base), be careful not to pinch the internal wiring.
13. Inspection/Maintenance
73
Page 80
13.3 Absolute Encoder Reset Method
13.3.1 Preparation for Absolute Reset
The following jigs are required to perform an absolute reset.
Absolute reset adjustment jigs
Model
number
JG-5 For arm length 120/150/180
Connect the robot, controller and PC cables so that the robot/controller can be operated using the PC software.
Be sure to check the EMG switch operation beforehand.
An absolute reset of the rotational and vertical axes requires absolute reset adjustment jigs, but jigs are not
always required for an absolute reset of arms 1 and 2.
(A multi-rotation reset can be performed as long as the current position is within 1 graduation on the positioning
mark sticker.)
Example of Absolute Reset Adjustment Jig(Model number JG-5)
Remarks
Plate
Pin
Warning
Fully understand the applicable inspection/maintenance work, because failure to do so may result in a
serious injury accident.
Put up a “WORK IN PROGRESS” sign to prevent other operators from accidentally operating the
controller, operation panel, etc. Remember to insert the seal washer
13. Inspection/Maintenance
74
Page 81
13.3.2 Starting the Absolute Reset Menu
(1) Open the Abs Encoder Reset window from the PC software.
(*) Select “Absolute Reset (SCARA Axis) (Y)" if you are using an X-SEL-PX/QX controller.
Starting Up Absolute Reset Window
2. The Abs Encoder Reset window opens.
One of three absolute reset screens for arm 1, arm 2 and rotational axis + vertical axis is displayed
when a corresponding tab is clicked.
Abs Encoder Reset
screen for arm 1 or 2
Abs Encoder Reset
screen for rotational
axis + vertical axis
13. Inspection/Maintenance
Absolute Reset Window
75
Page 82
13.3.3 Absolute Reset Procedure for Arm 1 or 2
(1) Click the “Encoder Rotation Data Reset1” button.
(2) Click the “Reset Controller Error” button.
13. Inspection/Maintenance
76
Encoder Multi-rotation Data Reset 1
Controller Reset
Page 83
(3) Click the “Servo ON” button.
Servo ON
(4) Jog the arm to near the reference position (see reference position drawing in step (7), and click the “Jog
end” button.
(5) Click the “Servo-OFF” button.
13. Inspection/Maintenance
Jogging
Servo OFF
77
Page 84
(6) Press the emergency-stop switch.
(7) When performing an absolute reset of arm 1, set the adjustment jig (pin) on arm 1 to secure the arm in its
reference position. You can move arm 2 when securing arm 1. When performing an absolute reset of arm 2,
set the adjustment jig (pin) on arm 2 to secure the arm in its reference position. You can move arm 1 when
securing arm 2.
Set the jig after confirming that the emergency-stop switch is pressed.
Set the jig after adjusting the arm to the reference position, using the positioning mark label as a guide.
Arm 1 has a cover (not arm 2), which is fixed with setscrews. Remove the setscrews and detach the
cover before setting the jig.
It is recommended that an adjustment jig be used to perform an absolute reset. With arm 1 or 2,
however, rotation data can be reset as long as a positioning accuracy of “center of positioning mark label
1 graduation” is ensured.
For an absolute reset of arm 2 whose length is 120, rotate arm 1 straight to side according to the basic
posture shown in the next page and set the jigs.
13. Inspection/Maintenance
78
Page 85
*2
Arm 1 (arm length 120/150/180)
Pin,
absolute reset jig
Arm 1
positioning mark
Arm 2
positioning mark
Pin,
absolute reset jig
Reference Posture for Arm Length 120*1/150/180
*1 Absolute reset of arm 1 whose length is 120
Adjust both arms 1 and 2
to positions within 1
Arm 2 (arm length 150/180)
graduation.
Arm 2
positioning mark
Pin,
absolute reset jig
Arm 2 (arm length 120)
Reference Posture for Arm Length 120
*2Absolute reset of arm 2 whose length is 120
Warning
Always press the emergency-stop switch before setting an adjustment jig. Failure to do so may cause the
robot to malfunction and result in a serious accident.
13. Inspection/Maintenance
79
Page 86
(8) Click the “OK” button.
Confirmation
(9) Click the “Encoder Rotation Data Reset2” button.
13. Inspection/Maintenance
80
Encoder Multi-rotation Data Reset 2
Page 87
(10) Remove the adjustment jig.
If you are working on arm 1, install the cover and secure it with the setscrews (not required for arm 2).
(11) Release the emergency-stop switch.
(12) Click the “OK” button.
An arrow is shown next to the “Home pos. automatic update” button. Do not set this item. (In particular, be
sure this item is not set when performing an absolute reset without using a jig).
If the home position is updated automatically when a reset is performed without using an adjustment jig, the
home position will become offset.
If you have allowed the home preset value to be updated automatically by mistake, do not write the updated
data to the flash ROM. Instead, perform a software reset. (After the software reset, the data will return to the
original condition before the home preset value was automatically updated.)
Always click the “OK” button after removing the jig and releasing the emergency-stop switch.
Confirmation
(13) Click “X” in the top right-hand corner to exit the absolute reset window.
Once the absolute reset is complete, be sure to reset the software.
Warning
Be careful not to perform a reset using an incorrect sequence, since it may cause the arm position to
become offset.
Update the home preset value only if any of the mechanical settings has been changed, such as after an
arm has been replaced. (Changes relating to joints only)
13. Inspection/Maintenance
81
Page 88
13.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis
(1) Click “Encoder Rotation Data Reset1” button.
(2) Click the “Reset Controller Error” button.
13. Inspection/Maintenance
82
Encoder Multi-rotation Data Reset 1
Controller Reset
Page 89
(3) Click the “Servo ON” button.
Servo ON
(4) Click the “Temp. Standard posture standby” button.
The vertical axis returns to its home position. Exercise caution.
Standing By at Tentative Home Position
(5) Jog the rotational axis to the reference position (see reference position drawing in step 8), and click the “Jog
end” button.
Jogging
13. Inspection/Maintenance
83
Page 90
(6) Click the “Servo-OFF” button.
Servo OFF
(7) Press the emergency-stop switch.
(8) Affix the rotational axis at the reference position by setting the plate and pin of the adjustment jig as
illustrated below.
Set the jig after confirming that the emergency-stop switch is pressed.
Set the jigs by using the positioning mark as a reference.
Make sure the top surface of the stopper roughly matches in height with the bottom surface of arm 2.
13. Inspection/Maintenance
Turn the rotational axis
until it makes contact, to
eliminate any gap.
84
Plate, absolute reset jig
Pin, absolute reset jig
Set the plate so that the
the side opposite the D-cut surface.
(Down view).
Reference Posture for Arm Length 120
3 hole comes to
Page 91
Plate, absolute reset jig
Pin, absolute reset jig
Set the plate so that the 3 hole comes to
Turn the rotational axis
until it makes contact, to
eliminate any gap.
(Down view).
the side opposite the D-cut surface.
Reference Posture for Arm Length 150/180
Warning
Always press the emergency-stop switch before setting an adjustment jig. Failure to do so may cause the
robot to malfunction and result in a serious accident.
Pay attention to the orientation of the side of the plate jig that comes in contact with the D-cut surface.
13. Inspection/Maintenance
85
Page 92
(9) Click the “OK” button.
Confirmation
(10) Click the “Encoder Rotation Data Reset2” button.
13. Inspection/Maintenance
86
Encoder Multi-rotation Data Reset 2
Page 93
(11) Click the “Home pos. automatic update” button.
Automatic Refresh of Home Preset Value
(12) Remove the adjustment jig.
(13) Release the emergency-stop switch.
(14) Click the “OK” button.
Confirmation
13. Inspection/Maintenance
87
Page 94
(15) Click the “Servo ON” button.
Confirmation
(16) Click the “Standard posture standby” button.
The vertical axis returns to its home position. Exercise caution.
(17) Click the “Servo-OFF” button.
13. Inspection/Maintenance
88
Standing By at Reference Posture
Servo OFF
Page 95
(18) Click the “Encoder Rotation Data Reset3” button.
Encoder Multi-rotation Data Reset 3
(19) Click the “Home pos. automatic update” button, and then click “X” in the top right-hand corner to exit the
absolute reset window.
After the reset is completed, be sure to perform “Software reset.”
Automatic Refresh of Home Preset Value
13. Inspection/Maintenance
89
Page 96
14. Warranty
14.1 Warranty Period
One of the following periods, whichever is shorter:
18 months after shipment from our company
12 months after delivery to the specified location
14.2 Scope of Warranty
Our products are covered by warranty when all of the following conditions are met. Faulty products
covered by warranty will be replaced or repaired free of charge:
(1) The breakdown or problem in question pertains to our product as delivered by us or our authorized
dealer.
(2) The breakdown or problem in question occurred during the warranty period.
(3) The breakdown or problem in question occurred while the product was in use for an appropriate
purpose under the conditions and environment of use specified in the operation manual and catalog.
(4) The breakdown of problem in question was caused by a specification defect or problem, or by a
quality issue with our product.
Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:
[1] Anything other than our product
[2] Modification or repair performed by a party other than us (unless we have approved such
modification or repair)
[3] Anything that could not be easily predicted with the level of science and technology available at
the time of shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
[5] Natural fading of paint or other symptoms of aging
[6] Wear, depletion or other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or maintenance
14. Warranty
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.
14.3 Honoring the Warranty
As a rule, the product must be brought to us for repair under warranty.
14.4 Limited Liability
(1) We shall assume no liability for any special damage, consequential loss or passive loss such as a
loss of expected profit arising from or in connection with our product.
(2) We shall not be liable for any program or control method created by the customer to operate our
product or for the result of such program or control method.
90
Page 97
14.5 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.
14.6 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
91
14. Warranty
Page 98
Change History
Revision Date Description of Revision
August 2010 First edition
March 2012
August 2012
January 2013
Second edition
P. 1 to 7 Contents added and changed in Safety Guide
P. 8 Precautions in Handling
Note “Certainly attach the Horizontal Articulated Robot by
following this operation manual.” added
P. 70 Caution notes added telling to go to see the doctor to have
an appropriate treatment when the grease got into an eye
P. 89, 90
Contents changed in 14. Warranty
Third edition
9.1 Installation Posture added
Fourth edition
P. 71 Grease applied to ball screw spline changed to Multemp LRL
No. 3 for standard type
Grease applied to ball screw spline changed to AFF grease
(Manufacted by THK) for Cleanroom type
Change History
92
Page 99
Page 100
Manual No.: ME3693-4A (January 2013)
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143
TEL (630) 467-9900 FAX (630) 467-9912
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL 06196-88950 FAX 06196-889524
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com
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
Loading...