IAI America IX-NNN1805 User Manual
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
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.
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
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
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
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
1 Model
Operation
Description
Selection
Description
This product has not been planned and designed for the application where
high level of safety is required, so the guarantee of the protection of
human life is impossible. Accordingly, do not use it in any of the following
applications.
1) Medical equipment used to maintain, control or otherwise affect human
life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving part
may drop when the power is turned OFF and may cause an accident such
as an injury or damage on the work piece.
1
No.
Operation
Description
Description
2 Transportation When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the instructions
in the operation manual for each model.
Do not step or sit on the package.
Do not put any heavy thing that can deform the package, on it.
When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Do not get on the load that is hung on a crane.
Do not leave a load hung up with a crane.
Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
Store the products with a consideration not to fall them over or drop due to
an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
Make sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
2
No.
Operation
Description
4 Installation
and Start
Description
(2) Cable Wiring
Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Perform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
When the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is
not correct, it might cause a fire, product breakdown or malfunction.
Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction
of the product.
Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
(3) Grounding
The grounding operation should be performed to prevent an electric shock
or electrostatic charge, enhance the noise-resistance ability and control
the unnecessary electromagnetic radiation.
For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair cable
with wire thickness 0.5mm
2
(AWG20 or equivalent) or more for grounding
work. For security grounding, it is necessary to select an appropriate wire
thickness suitable for the load. Perform wiring that satisfies the
specifications (electrical equipment technical standards).
Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100 or below).
3
No.
4 Installation
Operation
Description
and Start
Description
(4) Safety Measures
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’s movable range. When the
robot under operation is touched, it may result in death or serious injury.
Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an
injury or damage to the product.
Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power
input.
When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
Take the measure so that the work part is not dropped in power failure or
emergency stop.
Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Do not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
4
No.
Operation
Description
Description
6 Trial Operation When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Check before starting the automatic operation or rebooting after operation
stop that there is nobody in the safety protection fence.
Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm
indication.
Make sure to operate automatic operation start from outside of the safety
protection fence.
In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn
OFF the power switch. Failure to do so may result in a fire or damage to
the product.
When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.
5
No.
8 Maintenance
Operation
Description
and Inspection
Description
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Perform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see.
For the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
Pay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing so
may affect the performance of your medical device.
See Overseas Specifications Compliance Manual to check whether
complies if necessary.
For the handling of actuators and controllers, follow the dedicated
operation manual of each unit to ensure the safety.
6
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the operation Manual for each model.
Level Degree of Danger and Damage Symbol
Danger
Warning
Caution
Notice
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, may result in minor injury or property
damage.
This indicates lower possibility for the injury, but should be kept to
use this product properly.
Danger
Warning
Caution
Notice
7
Handling 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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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