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Horizontal Articulated Robot – IX Series
Tabletop Type, Arm Length 250/350
IX-NNN-2515, IX-NNN-3515
Operation Manual Seventh Eition
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CAUTION
Notes on Supplying Brake Power (+24 V) to X-SEL-PX/QX Controllers
If you are using an X-SEL-PX/QX controller, you must also supply the brake power to the controller, separately
from the brake power supplied through the brake power cable connected from the SCARA robot.
Supply the brake power (+24 V) to the controller as shown below.
3-phase 200 to 230 VAC
power supply
Auxiliary power
supply circuit
BK
PWR
Example of X-SEL-PX
controller (4-axis SCARA
robot with an arm length of
250 to 600 mm without I/O
expansion board)
The top socket receives 0 V.
The bottom socket receives 24 V.
Brake power supply
+24 V power
supply
23 W
SCARA robot
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Please Read Before Use
Thank you for purchasing an IAI product.
This operation manual explains the handling methods, structure and maintenance of this product, among
others, providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein
to ensure safe use of the product.
The CD or DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing
them out or displaying them on a PC.
After reading the operation manual, keep it in a convenient place so that whoever is handling this product
can reference it quickly when necessary.
[Important]
The product cannot be operated in any way unless expressly specified in this operation
manual. IAI shall assume no responsibility for the outcome of any operation not specified
herein.
Information contained in this operation manual is subject to change without notice for the
purpose of product improvement.
This operation manual is original.
If you have any question or comment regarding the content of this manual, please contact
the IAI sales office near you.
Unauthorized use or reproduction of this operation manual, whether in whole or in part, is strictly
prohibited.
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CE Marking
If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.
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Table of Contents
Safety Guide ······················································································································1
Caution in Handling ···········································································································8
1. Names of Robot Parts ································································································9
1.1 Labels ·········································································································································10
1.2 Label Positions ··························································································································· 11
2. Transportation and Handling ··················································································· 12
2.1 Handling of the Carton ················································································································12
2.2 Packing Condition of the Robot ··································································································12
2.3 Handling of Individual Components ····························································································13
2.4 Checking after Unpacking ··········································································································13
2.5 Transporting the Robot ···············································································································14
3. Installation Environment and Storage Environment ················································ 15
3.1 Installation Environment ·············································································································15
3.2 Installation Platform ····················································································································15
3.3 Storage Environment ··················································································································15
4. How to Install ··········································································································· 16
4.1 Installation Posture ·····················································································································16
4.2 Installing the Robot ·····················································································································17
4.3 Connecting the Controller ···········································································································18
4.4 Checking after Installation ··········································································································19
5. Precautions for Use ································································································· 20
5.1 Reference Acceleration/Deceleration Settings ···········································································20
5.2 Tools ···········································································································································22
5.3 Carrying Load ·····························································································································23
5.4 User Wiring and Piping ···············································································································24
6. Inspection/Maintenance ·························································································· 26
6.1 Inspection/Maintenance ··············································································································26
6.2 Battery Replacement ··················································································································28
6.3 Absolute Reset Procedure ··········································································································30
7. Specifi cations ·········································································································· 49
7.1 Specifi cation Table ······················································································································49
7.2 External Dimensions ···················································································································53
7.3 Robot Operation Area ·················································································································55
7.4 Wiring Diagram ···························································································································56
7.5 230V Circuit Components ···········································································································62
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8. Warranty ·················································································································· 63
8.1 Warranty Period ··························································································································63
8.2 Scope of Warranty ······················································································································63
8.3 Honoring the Warranty ················································································································63
8.4 Limited Liability ···························································································································63
8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ·····64
8.6 Other Items Excluded from Warranty ·························································································64
Change History ··············································································································· 65
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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.
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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 instruction 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
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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).
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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.
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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.
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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 Instruction 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
instruction manual of each unit to ensure the safety.
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Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the Instruction Manual for each model.
Level 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
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Caution in Handling
1. Make sure to attach the vertical articulated robot properly by following this operation
manual.
Using the product with the vertical articulated robot not being certainly retained or affixed may
cause abnormal noise, vibration, malfunction or shorten the product life.
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1 Names of Robot Parts
1. Names of Robot Parts
ALM (indicator)
I 4 user piping
(black, red, white; 3 locations)
User connector
Spacer for user part installation
Mechanical stopper for
axis 3 (vertical axis)
Ball screw spline shaft
Axis 3
(vertical axis)
Cover (arm 2)
Reference
surface
BK SW (Brake release switch)
Axis 4
(R-axis)
Panel
Axis 2
Top cover (arm 1)
Mechanical stopper for arm 1
Mechanical stopper for arm 2
Axis 1
End cover (arm 1)
Wiring duct
Mechanical
stopper for axis
3 (vertical axis)
Arm 2
Arm 1
Front panel (base)
Reference surface
M cable (outside robot)
Rear panel (base)
Base
T-slot for peripheral
installation (M3, M4)
Air tubes (I 4: 3 pcs.)
U cable (outside robot)
PG cable
(outside robot)
BK power cable (outside robot)
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1.1 Labels
The following labels are attached on the robot and controller. Be sure to observe the instructions and cautions
written on the labels to ensure the correct use of the robot/controller.
Labels on the Robot
1. Names of Robot Parts
Labels on the Controller
Caution/warning on
handling of the controller
Prohibition of entry into
the operation area
Robot serial number
Warning on handling of
the vertical axis
CE-certified robot
(Provided only for CE-certified models)
Designation of the connected robot
Warning against
electric shock
Controller serial 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.
10
Caution
Controller serial number
(CE-certified models)
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1.2 Label Positions
A
Label Positions on the Robot
Warning on handling
of the vertical axis
CE-certified robot
(Provided only for
CE-certified models)
1. Names of Robot Parts
Robot serial number
View A
Warning against electric shock
Label Positions on the Controller
Controller serial number
Other than CE-certified models
CE-certified models
Caution/warning on
handling of the controller
Designation of the connected robot
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2 Transportation and Handling
2.1 Handling of the Carton
Each robot is packed with a controller prior to shipment.
When transporting the carton containing the robot and controller, observe the following items and be careful not
to drop the carton or apply impact due to forcible contact:
x If the carton is heavy, one operator should not attempt to carry it alone.
x Place the carton on a level surface if it is to be left there for a while.
x Do not climb upon the carton.
x Do not place on the carton any heavy object that may cause the carton to deform, or an article whose
shape allows a load to be concentrated at one point.
2.2 Packing Condition of the Robot
2. Transportation and Handing
Robot
Controller, accessories and
other items (except for the robot)
Arm fixing
plate
CautionWarning
z The robot and controller are very heavy. When transporting the carton containing the robot and controller,
handle it with extra care so as not to drop the carton or apply impact due to forcible contact, as it may
cause injury or damage to the robot or controller.
z Serious injury may result if the carton is dropped onto a person during transportation.
z Never stand below the carton as it is hoisted.
z Use a carrier device with sufficient loading capacity.
z If a machine or method is used that requires specified skills, it must be operated/performed by a person
having the proper qualifications.
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2.3 Handling of Individual Components
The robot and controller are supplied as a set.
Your robot cannot be used with the controller supplied with another robot.
When handling multiple robots, be careful not to lose their correct pairings with the controllers.
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.
2.4 Checking after Unpacking
After unpacking the carton, check the condition of the robot and other items contained in the carton.
Standard parts
Robot 1
Controller 1
Operation manual for robot 1
Operation manual for controller 1
Accessories
Eyebolt 1
D-sub connector 1
Hood set (for D-sub connector) 1
Caution label 2
Positioning label 1
PIO flat cable 1
Optional parts
PC software (type: IA-101-X-MW)
2. Transportation and Handing
CD-ROM 1
PC connection cable 1
Hand-held emergency-stop switch 1
PC software operation manual 1
Absolute reset adjustment jig (type: JG-2)
Positioning jig for axes 1 and 2 (pin) 1
Positioning jig for axis 4 (plate) 1
Absolute-data backup battery (AB-3)
NoteCaution
z Always operate the robot using the controller supplied with the robot in the same carton. Using another
controller may result in an unexpected operation, damaged motor or other problem.
z After unpacking, be sure to confirm the condition of the robot and other items contained in the carton.
Should you find a damaged or missing part, please contact IAI immediately.
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2.5 Transporting the Robot
When transporting the robot, affix the arms using the supplied arm fixing plate. Additionally, wrap the cables
around the base and secure them with gummed tape or other means.
Use a dolly, forklift, crane or other appropriate equipment for transportation. When transporting the robot, move it
slowly by maintaining balance and safeguarding against vibration or impact.
When a crane is used, install the supplied eyebolts on the robot for the pass-through of ropes. Install the
eyebolts following removal of the top cover.
Hoisting hook with lock
Cross-recessed countersunk
head screw, M3 x 8
String, rope, etc.
2. Transportation and Handing
Fix with a tie wrap.
Hex bolt M4 x 10
Eyebolt (supplied)
Top cover
Cables
(Wrap around the base.)
WarningDanger
z If the arms and cables remain free, the arms may turn unexpectedly and pinch a hand, or a person may
be tripped by the trailing cables.
z Do not attempt to carry the robot by hand, as it may injure the back. Additionally, an injury may result if the
robot is dropped onto the feet.
z Serious injury may result if a person is caught under a fallen robot during transportation.
z Never stand below the robot as it is hoisted.
z Use a hoist and ropes that can comfortably support the weight of the robot.
z If a machine or method is used that requires specified skills, it must be operated/performed by a person
having the proper qualifications.
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3 Installation Environment and Storage Environment
3.1 Installation Environment
Install the robot in an environment that satisfies the following conditions:
x Away from direct sunlight
x Not subject to radiated heat from a high-capacity energy source such as a heat-treating furnace
x Surrounding air temperature: 0qC to 40qC
x Humidity: 85% or less (non-condensing)
x Not exposed to corrosive or flammable gases
x Not subject to impact or vibration
x Not exposed to a significant amount of electromagnetic waves, ultraviolet rays or radiation
x Sufficient space is available to ensure safety in teaching and maintenance/inspection operations
Generally, the robot must be installed where the operator need not wear protective gear in order to work.
3.2 Installation Platform
The platform on which to install the robot receives a significant reactive force. Be certain the platform has
sufficient rigidity to withstand the anticipated force.
x The surface on which the robot is fixed must have a thickness of 25 mm or more.
The levelness of the robot installation surface must be at least r0.05 mm.
x Drill M8 tapped holes into the installation surface of the platform. The effective threads must be 10 mm
or longer (for steel, 20 mm or longer for aluminum).
x The platform must have sufficient rigidity to withstand not only the weight of the robot but also the
dynamic moment of inertia that is generated when the robot is operated at maximum speed.
x Secure the platform to the floor or other rigid structure in a manner that prevents any movement due to
operation of the robot.
x The installation platform must allow the robot to be mounted on a level surface.
3. Installation Environment and Storage Environment
3.3 Storage Environment
The storage environment conforms to the installation environment. If the robot is to be stored for a prolonged
period of time, be sure the robot will not be exposed to dew condensation.
Unless otherwise specified, desiccant is not placed in the carton when shipped. If the robot is to be kept in an
environment subject to condensation, provide preventive measures from over the carton or directly to the robot
after unpacking.
The maximum storage temperature is 60qC for a short storage period. If the robot is to be stored for more than a
month, the temperature should not exceed 50qC.
WarningDanger
z Failure to provide a proper environment for installation and storage may shorten the service life of the
robot, reduce its operation accuracy, or cause a malfunction or failure.
z Never use the robot in a flammable atmosphere. The robot may explode or ignite.
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4
How to Install
Shown below is how to install SCARA Robot.
4.1
: Available s : Not available
ż
4. How to Install
Installation Posture
ż
Ceiling-MountWall-MountHorizontally Oriented Mount
ss
16
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4.2
4.1 Installing the Robot
Install the robot on a level surface.
Secure the robot using M8 hex bolts and washers (tightening torque: 3.2 kgfm).
For the hex bolts, use high-tension bolts with an ISO rating of 10.9 or higher.
4. How to Install
CautionWarning
z Always insert a washer below each bolt. Without a washer, the bolt-bearing surface may sink.
z Tighten the hex bolts securely to the correct torque. Improperly tightened bolts may reduce the accuracy
of robot operation, and in the worst case cause the robot to overturn.
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4.3 Connecting the Controller
The controller connection cables are attached on the robot (standard cable: 5 m, to air-tube joint: 150 mm).
Pay attention to the following items when connecting the controller:
Connect to the robot of the serial number specified on the robot designation label provided on the front panel
of the controller.
4. How to Install
Be sure to connect to the robot of the serial number specified on the front panel of the controller.
The controller will not operate properly if any other robot is connected. Failure to observe this warning may
cause the robot to malfunction, resulting in a serious accident.
Before connecting or disconnecting a cable, always turn off the power to the controller.
Connecting/disconnecting a cable with the power supplied to the controller may cause the robot to
malfunction, resulting in a serious accident.
Installing the connectors into the wrong sockets may cause the robot to malfunction. Be sure to check the
designation on the cable with that on the controller panel before plugging in any connector.
If the connectors are not inserted securely, the robot may malfunction and generate the risk of danger.
Be sure to affix each connector with the supplied screws.
Robot designation label
Robot serial number
Warning
Connect the cables securely after confirming that they are free from damage or bent connector pins.
Connect each cable by aligning the indication on the marking tube on the cable with the indication on the
controller panel.
When installing the PG connector (D-sub connector), ensure correct orientation of the connector.
The brake power circuit is provided on the primary side (high-voltage side). Therefore, provide a
dedicated 24 VDC power supply for the brake. Do not attempt to share the secondary circuit power
sources such as I/O power source.
The brake power to be supplied to Horizontal Articulated Robot should be 24V DC ±10% and the
voltage source capacity 20W.
The brake power to be supplied to the XSEL-PX/QX controller should be 24V DC ±10% and the
voltage source capacity 9W.
(Note) It is necessary to increase the voltage source capacity of the brake power source if brake
actuators are to be connected to the 5th and 6th axes of the XSEL-PX/QX controller.
[Refer to the section of the voltage source capacity and heat generation in the controller
operation manual.]
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.
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Output voltage: 24 VDC r 10%
t
Current capacity: 20 to 30 W
M cable (outside robot)
PG cable
(outside robot)
U cable (outside robot)
(cable for user wiring)
BK power cable (outside robot)
Standard cable length: 5 m
4, quick joint (3 pcs.)
I
To air tube (provided by user)
24 VDC power
supply for brake
(provided by
user)
Tool, control uni
(provided by user)
, etc.
Warning
z 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.
z 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.
z 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.
4. How to Install
4.3 Checking after Installation
4.4
Once the robot has been installed, check the following items:
x Visually check the robot, controller and cables for dents and other abnormalities.
x Confirm that the cables are connected properly and that the connectors are inserted securely.
Warning
z Failure to perform these checks may result in a malfunctioning robot or a damaged controller or robot.
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5 Precautions for Use
A
5.1 Reference Acceleration/Deceleration Settings
Use the robot based on appropriate acceleration/deceleration settings by referring to the following graph:
(1) PTP operation (Set using the SEL language commands ACCS and DCLS.)
Reference acceleration/deceleration
settings for PTP operation
100
80
60
5. Precautions for Use
Caution
z Acceleration/deceleration settings are common to arm lengths of 250 and 350 mm.
z To operate the robot at the maximum acceleration/deceleration, provide a stopping period of three seconds or more
after each acceleration/deceleration.
z To operate axes 1 and 2 simultaneously at full stroke, use the reference settings for acceleration/deceleration during
continuous operation as the reference settings for maximum acceleration/deceleration. Actual
acceleration/deceleration during continuous operation should be one-third the appropriate reference setting for
continuous operation.
z Start from the appropriate reference setting for acceleration/deceleration during continuous operation, and then
gradually raise the value for the purpose of adjustment.
z If an overload error occurs, lower the acceleration/deceleration setting as appropriate or provide an appropriate
stopping time following each acceleration/deceleration.
z 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.
z 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.
z Keep the permissible moment of inertia of axis 4 to 0.015 kgm
z The carrying load indicates a load above the rotational center of axis 4.
z Operate the robot by using an appropriate acceleration/deceleration coefficient as determined by the mass of the tip.
Failure to do so may cause the drive part to wear prematurely or may result in damage or vibration.
Reference range of maximum
40
cceleration/deceleration (%)
20
Reference range for continuous
0
0 1 2 3
Carrying load mass (kg)
setting
operation setting
2
or less.
20
Page 29
(2) CP operation (Set using the SEL language commands ACC and DCL.)
A
A
Arm length 250
Reference acceleration/deceleration
settings for CP operation
1.6
1.2
0.8
Reference range of
maximum setting
0.4
cceleration/deceleration (G)
Reference range for
continuous operation setting
Line of reference range of
continuous operation with
vertical axis
0
0 1 2 3
Carrying load mass (kg) Carrying load mass (kg)
Arm length 350
Reference acceleration/deceleration
settings for CP operation
1.6
1.2
Reference range of
0.8
0.4
cceleration/deceleration (G)
maximum setting
Reference range for
continuous operation setting
Line of reference range of
continuous operation with
vertical axis
0
0 1 2 3
5. Precautions for Use
Caution
z To operate the robot at the maximum acceleration/deceleration, provide a stopping period of three
seconds or more after each acceleration/deceleration.
z Start from the appropriate reference setting for acceleration/deceleration during continuous operation, and
then gradually raise the value for the purpose of adjustment.
z If an overload error occurs, lower the acceleration/deceleration setting as appropriate or provide an
appropriate stopping time following each acceleration/deceleration.
z 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.
z 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.
z Keep the permissible moment of inertia of axis 4 to 0.015 kgm
z The carrying load indicates a load above the rotational center of axis 4.
z Operate the robot by using an appropriate acceleration/deceleration coefficient as determined by the mass
of the tip. Failure to do so may cause the drive part to wear prematurely or may result in damage or
vibration.
2
or less.
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5.2 Tools
The tool mounting part must have sufficient strength and rigidity, along with adequate fastening power to prevent
positional shift.
It is recommended that a tool be installed over a split ring, span ring or other appropriate part. A sample
configuration of tool installation is given below.
If the tool diameter exceeds 80 mm, the tool will interfere with the robot within the robot’s operation area. If the
tool diameter exceeds 80 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 work at 0.015 kgm
Use the D-cut surface at the tip 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.)
5. Precautions for Use
2
or less.
D-cut surface
Center of axis 1
(rotational axis)
Tool
Span ring, etc.
Pressure flange
CautionWarning
z Turn off the power to the controller and robot before installing a tool.
z 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.
z If the tool diameter exceeds 80 mm, the tool will interfere with the robot within the robot’s operation area.
Decrease the soft limit to reduce the operation area.
z Avoid attachment of the tool at the D-cut surface via thread fastening. Doing so may damage the D-cut
positioning surface.
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5.3 Carrying Load
Load capacity
Rated load capacity: 1 kg
Maximum load capacity: 3 kg
Load’s permissible moment of inertia
0.015 kgm
2
(both rated and maximum)
Load offset (from the center of axis 4 (rotational axis))
40 mm or less
40 mm or less
5. Precautions for Use
Center of axis 4 (rotational axis)
Load’s center of gravity
Caution
z Set appropriate acceleration/deceleration according to the mass of the tip and moment of inertia. Failure
to do so may cause the drive part to wear prematurely or may result in damage or vibration.
z If vibration occurs, lower the acceleration/deceleration as appropriate.
z 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.
z 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.
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5.4 User Wiring and Piping
The robot comes with standard cables and tubes that the user can use in a desired wiring/piping configuration.
M cable
Quick joint I 4
(red)
ALM (indicator)
Quick joint I 4
(black)
5. Precautions for Use
User connector specifications
Rated voltage 3.0 V
Permissible current 1.1 A
Conductor size and number of wires AWG 26 (0.15 mm
Other Twisted-pair cable (1 to 14), shielded
Piping specifications
Normal service pressure 0.8 MPa
Dimensions (outer diameter x inner
diameter) and number of tubes
Working medium Air
Quick joint I
(white)
BK SW
Brake-release switch
User connector
Spacer for user part installation
Panel Rear Panel
Brake power cable
4
T-slot for peripheral
installation (M3, M4)
2
), 15 wires
I 4 mm x I 2.5 mm, 3 pieces
Air tubes
(I 4 x 3 pcs.)
U cable
(outside robot)
PG cable
(outside robot)
BK power cable (outside robot)
ALM (indicator) specifications
Rated voltage 24 VDC
Rated current 12 mA
Illumination color Red LED
Shape of Y-terminal
5.2
3.2
2.6 5.9
24
Spacer for user part installation
I7
M4, depth 5
30 N or less
10
2 Nm or less
External force applied to the spacers must not exceed
30 N in the axial direction or 2 Nm in the rotating
direction (for each spacer).
Page 33
The robot comes with a 15-pin plug for the D-sub connector for user wiring.
ghtgray
Solder a user-supplied cable to the D-sub connector (plug), attach the supplied hood, and then connect to the
user connector (socket). Use a shielded cable with an outer diameter of I 11 or less.
To turn on the ALM (indicator), the user must configure a dedicated circuit that uses the controller I/O output
signal, etc.
User connector pins and corresponding Y-terminals
Inside unit Cable
Arm 2 side
Connection
D-sub,
15-pin
User Connector
ALM
Indicator
(LED)
To D-sub connector frame
No.
10
11
12
13
14
15
Y-terminal designation
1
2
3
4
5
6
7
8
9
LED +24V
LED G24V
U1
U2
U3
U4
U5
U6
U7
U8
U9
U10
U11
U12
U13
U14
U15
FG
Controller side
Wire color Connection
Orange 1 red
Orange 1 black
Light gray 1 red
Light gray 1 black
White 1 red
White 1 black
Yellow 1 red
Yellow 1 black
Pink 1 red
Pink 1 black
Orange 2 red
Orange 2 black
Li
Light gray 2 black
2 red
White 2 red
White 2 black
Yellow 2 red
Green
Y-terminal
5. Precautions for Use
To base
Warning
z Before commencing wiring/piping work, turn off the power to the controller and the power/air supplies to
the robot. Failure to do so may cause the robot to malfunction.
z Use cables and tubes within their specifications. Failure to do so may result in fire or short circuit due to an
overheated cable, or may cause air leaks.
z Connect the shielded cable to the hood. Otherwise, the robot may malfunction due to noise.
z Secure the supplied D-sub connector using the screws on the hood.
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6 Inspection/Maintenance
6.1 Inspection/Maintenance
Your horizontal articulated robot must be inspected daily and on a regular basis to ensure safe, efficient
operation. Perform the necessary inspections after confirming the maintenance/inspection items required for
your IAI robot, as defined in this section.
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 reduction gear unit
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.
6. Inspection/Maintenance
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
z Performing inspection or maintenance without fully understanding the details of work may result in a
serious accident.
z If inspections are neglected, the drive part may wear prematurely or the robot may malfunction
unexpectedly.
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Daily Inspection
Check the following items daily before and after operating the robot.
Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations when
carrying out each check.
Check location Description
Safety cage
Robot
Cables
Emergency-stop switch
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.
Six-Month Inspection
Check the following items on the robot every six months.
Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations when
carrying out each check.
Check location Description
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 specification: Multemp LRL No. 3 by Kyodo Yushi or equivalent)
Connectors Check the connectors for looseness.
If the robot has flaws or other abnormalities, please contact IAI.
6. Inspection/Maintenance
Caution
In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.
After finishing the grease supply work, wash your hands carefully with water and soap to rinse the
grease off.
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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.
6.2 Battery Replacement
6. Inspection/Maintenance
6.2.1 Preparation
The following items are required when replacing the batteries:
Hex wrench (2.5 mm)
New dedicated batteries for IX (4 pieces) Model: AB-3
Before replacing the batteries, turn off the power to the controller, control panel and other relevant units.
Performing inspection or maintenance without fully understanding the details of work may result in a
serious accident.
Display a “Work in Progress” sign so that other operators will not operate the controller, operation panel,
etc.
Use dedicated batteries for IX. Batteries for the old model (IH) cannot be used.
CautionWarning
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6.2.2 Battery Replacement Procedure
1. Remove the six low-head cap screws (1) and remove the rear panel (base).
2. Remove the batteries from the battery holder.
3. Remove the batteries from the extension cables from the battery connectors, and connect new batteries.
x After removing the old batteries, quickly connect new batteries (roughly within 5 minutes x
number of batteries).
x If new batteries are not connected for a longer period, the rotation data will be lost and an
absolute reset will become necessary.
x Replace batteries one axis at a time. If the batteries for all axes are replaced at once, the work
may not be completed within the specified time.
4. Install the batteries into the battery holder.
Battery connector 1
(for axis 1)
Battery (for axis 1)
Battery connector 3
(for axis 3)
Battery
(for axis 3)
(1) 6 - M4 x 8
(low-head cap screw)
Rear panel
(base)
Battery connector 2
(for axis 2)
Battery (for axis 2)
Battery connector 4
(for axis 4)
Battery (for axis 4)
6. Inspection/Maintenance
5. Affix the rear panel (base) using the six low-head cap screws (1).
Caution
z When installing the rear panel (base), be careful not to pinch the cables inside.
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6.3 Absolute Reset Procedure
This actuator has been shipped with its home adjusted fully.
The IX-NNN-2515/3515 adopts an absolute encoder, which means that the home will be set upon an absolute
reset.
Absolute data stored in the encoder is backed up with a battery. Therefore, as long as an absolute reset is
performed once, the actuator will not require an absolute reset the next time its power is turned on.
However, absolute data in the encoder may be lost under certain situations such as when the motor has been
replaced or encoder battery voltage has dropped. If the absolute data has been lost, you must perform an
absolute reset.
6.3.1 Absolute Reset Procedure
1. Preparing the absolute reset jig
A jig like the one specified below is needed to perform an absolute reset.
x Absolute reset adjustment jig (type: JG-2)
An absolute reset adjustment jig is always required when performing an absolute reset of the rotational axis or
vertical axis. However, the jig is not always necessary when performing an absolute reset of arm 1 (Axis 1) or
arm 2 (Axis 2).
(Rotation data can be reset as long as a positioning accuracy of “center of positioning mark label r1 graduation”
is ensured.)
6. Inspection/Maintenance
Plate
Pin
Absolute reset adjustment jig (type: JG-2)
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2. Connect the cables for the robot, controller and PC, so the robot can be operated from the PC.
Before commencing the work, always confirm that the emergency-stop switch is functioning properly.
3. Back up the parameters.
Be sure to back up the parameters before performing an absolute reset.
4. Start the absolute reset menu.
5. Perform an absolute reset.
6. Perform a software reset.
6. Inspection/Maintenance
Warning
z Performing inspection or maintenance without fully understanding the details of work may result in a
serious accident.
z Display a “Work in Progress” sign so that other operators will not operate the controller, operation panel,
etc.
z Perform an absolute reset after backing up the parameters.
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6.3.2 Starting the Absolute Reset Menu
1. Open the Abs Encoder Reset window from the PC software.
6. Inspection/Maintenance
2. The Abs Encoder Reset window opens.
x 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
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6.3.3 Absolute Reset Procedure for Arm 1 or 2
1. Click the “Encoder Rotation Data Reset1” button.
6. Inspection/Maintenance
2. Click the “Reset Controller Error” button.
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3. Click the “Servo ON” button.
4. Jog the arm to near the reference position (see reference position drawing in step (7), and click the “Jog
end” button.
6. Inspection/Maintenance
5. Click the “Servo-OFF” button.
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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.
x Set the jig after confirming that the emergency-stop switch is pressed.
x Set the jig after adjusting the arm to the reference position, using the positioning mark label as a guide.
x Arm 1 has a cover (not arm 2), which is fixed with setscrews. Remove the setscrews and detach the
cover before setting the jig.
x 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
r1 graduation” is ensured.
6. Inspection/Maintenance
Warning
Arm 1
Arm 2
Positioning
mark label
for arm 1
Illustration of
Insertion depth: Approx. 60 mm
Positioning
mark label for
arm 2
Insertion depth: Approx. 20 mm
reference positions
(Note) When performing an absolute reset of arm 1 of the IX-NNN2515,
bend arm 2 slightly as you set the adjustment jig (pin).
z 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.
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8. Click the “OK” button.
9. Click the “Encoder Rotation Data Reset2” button.
6. Inspection/Maintenance
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10. Remove the adjustment jig.
x 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.
x 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).
x If the home position is updated automatically when a reset is performed without using an adjustment jig, the
home position will become offset.
x 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.)
x Always click the “OK” button after removing the jig and releasing the emergency-stop switch.
6. Inspection/Maintenance
13. Click “X” in the top right-hand corner to exit the absolute reset window.
x Once the absolute reset is complete, be sure to reset the software.
Click Control (C
(Refer to 6.3.5.)
) from the menu bar and then select Software Reset (R) to perform a software reset.
Warning
z Be careful not to perform a reset using an incorrect sequence, since it may cause the arm position to
become offset.
z 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
37
Page 46
6.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis
1. Click “Encoder Rotation Data Reset1” button.
6. Inspection/Maintenance
2. Click the “Reset Controller Error” button.
38
Page 47
3. Click the “Servo ON” button.
4. Click the “Temp. Standard posture standby” button.
x The vertical axis returns to its home position. Exercise caution so as not to be injured by the axis during
movement.
6. Inspection/Maintenance
5. Jog the rotational axis to the reference position (see reference position drawing in step 8), and click the “Jog
end” button.
39
Page 48
6. Click the “Servo-OFF” button.
7. Press the emergency-stop switch.
6. Inspection/Maintenance
40
Page 49
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.
1) Confirm that the rotational axis is roughly in the reference position. (The positioning marks for rotational
axis should align. The D-cut surface should be on the right side when viewed from the front.)
2) Set a plate jig on the rotational axis by causing its side labeled “UPPER (ARM SIDE)” to face up.
3) Insert a pin jig from the bottom to set the rotating direction of arm 2.
4) Turn the rotational axis until the plate jig contacts the pin lightly.
Reference
position drawing
Adjust so that a
clearance of approx.
4 mm is provided
between the
stopper’s top face
and the bottom face
of arm 2.
D-cut surface
6. Inspection/Maintenance
Cause the jig to lightly
contact the pin.
Warning
Positioning mark
label for rotational
axis
D-cut surface
(Down view)
z 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.
z Pay attention to the orientation of the side of the plate jig that comes in contact with the D-cut surface.
41
Page 50
9. Click the “OK” button.
10. Click the “Encoder Rotation Data Reset2” button.
6. Inspection/Maintenance
42
Page 51
11. Click the “Home pos. automatic update” button.
12. Remove the adjustment jig.
13. Release the emergency-stop switch.
6. Inspection/Maintenance
14. Click the “OK” button.
43
Page 52
15. Click the “Servo ON” button.
16. Click the “Standard posture standby” button.
x The vertical axis returns to its home position. Exercise caution so as not to be injured by the axis during
movement.
6. Inspection/Maintenance
17. Click the “Servo-OFF” button.
44
Page 53
18. Click the “Encoder Rotation Data Reset3” button.
6. Inspection/Maintenance
19. Click the “Home pos. automatic update” button, and then click “X” in the top right-hand corner to exit the
absolute reset window.
x Once the absolute reset is complete, be sure to write the flash ROM and reset the controller.
45
Page 54
20. If you have performed an absolute reset of both the rotational axis and vertical axis or allowed the home
preset value of arm 1 or arm 2 to be updated automatically by mistake, closing the absolute reset window
will open the following dialog box. Click No on this dialog box.
y Click Yes only if any of the mechanical fastenings has been released, such as when any arm or belt has
been replaced.
y Click No if you have only replaced a cable or cables.
y After you have completed all of the above steps, be sure to perform a “software reset.”
6. Inspection/Maintenance
21. Perform a software reset.
Click Control (C
(Refer to 6.3.5.)
) from the menu bar and then select Software Reset (R) to perform a software reset.
46
Page 55
6.3.5 Resetting the Controller
1. Select “Software Reset” from the Controller menu on the tool bar.
2. Click Yes on both of the dialog boxes that will open. This will execute a reset and restart the controller.
y When another dialog box opens with the message, “The application found data not yet written to the
flash ROM. Do you want to delete these data?,” select Yes.
6. Inspection/Maintenance
47
Page 56
6. Inspection/Maintenance
48
Page 57
7 Specifications
7.1 Specification Table
IX-NNN-2515 (Arm Length 250, Standard Specification)
Item Specifications
Type IX-NNN2515-L-T1
Degree of freedom Four degrees of freedom
Overall arm length 250
Arm 1 length 125
Arm 2 length
Drive method
Motor capacity
Movement
range
Maximum
operating
speed (*2)
Positioning
repeatability
precision (*3)
Standard cycle time (*4)
Load capacity
Push-in thrust
of axis 3
(vertical axis)
Permissible
load on axis 4
Permissible tool diameter (*8) mm 80
Origin detection Absolute
User wiring
Alarm indicator (*9) One small, red LED indicator (rated voltage: 24 V)
User piping
Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer
Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline
Axis 4 (rotational axis) AC servo motor + Belt + Reduction gear + Spline
Axis 1 (arm 1) 200
Axis 2 (arm 2) 100
Axis 3 (vertical axis) 100
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
Axis 3 (vertical axis) (*1) mm 150
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree/sec 1600
Axis 1 + Axis 2
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree
Rated 1
Maximum
Dynamic (*5) 90.9 (9.3)
Static (*6)
Permissible moment of inertia
(*7)
Permissible torque
mm
125
W
degree
mm/sec
mm
sec 0.46/2 kg
kg
N (kgf)
2
kgm
Nm
(kgfcm)
D-sub 15-pin connector with 15-core AWG26 shielded cable
Three air tubes (outer diameter: I 4, inner diameter: I 2.5)
(normal service pressure: 0.8 MPa)
r120
r130
r360
3142
1106
r0.010
r0.010
r0.005
65.3 (6.7)
0.015
1.9 (19.5)
(socket)
50
3
7. Specifi cations
49
Page 58
7. Specifi cations
snoitacificepSmetI
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40 C, humidity: 20 to 85%RH or
less (non-condensing)
Altitude m 1,000 or less
17BdesioN
Robot weight kg 17.1
Brake power source for main unit W 24V DC ±10% 20W
Controller Power supply
Allowable supply voltage
fluctuation
%
230 V 50/60 Hz 5 A
10
Overvoltage category (IEC60664-1) Category III
Pollution degree (IEC60664-1) Pollution degree 3
*1 To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to the
top position as possible. (Fig. 1)
To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be
reduced as appropriate. (Fig. 2)
*2 Assuming PTP instruction operation.
*3 Measured at a constant surrounding air temperature of 20
C.
*4 Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.
This cycle time assumes a reciprocating operation involving a vertical travel of 25 mm and horizontal travel
of 300 mm. (Rough positioning)
300 mm
Note: Continuous operation at the
maximum speed is not feasible.
25 mm
*5 A force of up to three times the dynamic push-in thrust may be applied at any given moment.
*6 “Static” thrust means a thrust generated within the range of operation effected by a PAPR command (push-
motion approach distance, speed setting).
*7 The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from the
rotational center of axis 4 to the tool’ s centerof gravity is assumed to be 40 mm or less. (Fig. 3)
If the tool’ s center of gravity is further away from the rotational center of axis 4, the speed and acceleration
must be reduced as appropriate.
*8 If the tool exceeds the permissible diameter, it will contact the robot inside the robot’ s range of movement.
(Fig. 4)
*9 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.
Center of
rotational axis
Tool
80
(Fig. 4)
Top position
Tool
(Fig. 1)
Bottom
position
Tool
(Fig. 2)
Center of
rotational axis
Tool’ s center
40
of gravity
Tool
(Fig. 3)
Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775
50
Page 59
IX-NNN-3515 (Arm Length 350, Standard Specification)
Item Specifications
Type IX-NNN3515-L-T1
Degree of freedom Four degrees of freedom
Overall arm length 350
Arm 1 length 225
Arm 2 length
Drive method
Motor capacity
Movement
range
Maximum
operating
speed (*2)
Positioning
repeatability
precision (*3)
Standard cycle time (*4)
Load capacity
Push-in thrust
of axis 3
(vertical axis)
Permissible
load on axis 4
Permissible tool diameter (*8) mm 80
Origin detection Absolute
User wiring
Alarm indicator (*9) One small, red LED indicator (rated voltage: 24 V)
User piping
Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer
Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline
Axis 4 (rotational axis) AC servo motor + Belt + Reduction gear + Spline
Axis 1 (arm 1) 200
Axis 2 (arm 2) 100
Axis 3 (vertical axis) 100
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
Axis 3 (vertical axis) (*1) mm 150
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree/sec 1600
Axis 1 + Axis 2
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree
Rated 1
Maximum
Dynamic (*5) 90.9 (9.3)
Static (*6)
Permissible moment of inertia
(*7)
Permissible torque
mm
125
W
degree
mm/sec
mm
sec 0.53/2 kg
kg
N (kgf)
2
kgm
Nm
(kgfcm)
D-sub 15-pin connector with 15-core AWG26 shielded cable
Three air tubes (outer diameter: I 4, inner diameter: I 2.5)
(normal service pressure: 0.8 MPa)
r120
r135
r360
3979
1106
r0.010
r0.010
r0.005
65.3 (6.7)
0.015
1.9 (19.5)
(socket)
50
3
7. Specifi cations
51
Page 60
7. Specifi cations
snoitacificepSmetI
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40
less (non-condensing)
C, humidity: 20 to 85%RH or
Altitude m 1,000 or less
17BdesioN
Robot weight kg 18.2
Brake power source for main unit W 24V DC ±10% 20W
Controller
Power supply 230 V 50/60 Hz 5 A
Allowable supply voltage
fluctuation
%
10
Overvoltage category (IEC60664-1) Category III
Pollution degree (IEC60664-1) Pollution degree 3
*1 To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to the
top position as possible. (Fig. 1)
To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be
reduced as appropriate. (Fig. 2)
*2 Assuming PTP instruction operation.
*3 Measured at a constant surrounding air temperature of 20
C.
*4 Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.
This cycle time assumes a reciprocating operation involving a vertical travel of 25 mm and horizontal travel
of 300 mm. (Rough positioning)
300 mm
Note: Continuous operation at the
maximum speed is not feasible.
25 mm
*5 A force of up to three times the dynamic push-in thrust may be applied at any given moment.
*6 “Static” thrust means a thrust generated within the range of operation effected by a PAPR command (push-
motion approach distance, speed setting).
*7 The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from the
rotational center of axis 4 to the tool’ s centerof gravity is assumed to be 40 mm or less. (Fig. 3)
If the tool’ s center of gravity is further away from the rotational center of axis 4, the speed and acceleration
must be reduced as appropriate.
*8 If the tool exceeds the permissible diameter, it will contact the robot inside the robot’ s range of movement.
(Fig. 4)
*9 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.
Center of
rotational axis
Tool
80
(Fig. 4)
Top position
Tool
(Fig. 1)
Bottom
position
Tool
(Fig. 2)
Center of
rotational axis
Tool’ s center
40
of gravity
(Fig. 3)
Tool
Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775
52
Page 61
7.2 External Dimensions
r
IX NNN 2515 (Arm Length 250, Standard Specification)
2-I8H10
130
Arm 1 stopper
100
4-I
9
I 16, counterbore depth 0.5
(164)
I 4 quick air-tube joint
(black, red, white; 3 locations)
User connector
(D-sub 15-pin connector)
BK SW
(Brake-release switch)
ALM (indicator)
249.5
Reference
surface
Arm 2 stopper
(424.5)
92.5
55
15
140
160
7. Specifi cations
I 4 (red) quick joint
ALM (*2)
I 4 (black) quick joint
Spacer user part installation
Outer diameter I 7, height
10, M4, depth 5 (*1)
4 (Mechanical end)
372.5
44.5
50
30
8
652.5
21
55ST15054
I16
4 (Mechanical end)
114
68
125 125
Reference
surface
I 4 (white)
quick joint
BK SW
User
Connecto
24
Tapped hole for peripheral
installation (4-M4, depth 12)
Same on opposite surface
I35
10
30
8
11 (inner diameter)
I
I 16h7
Detailed view of arm tip
250
(694)
74206
T-slot for peripheral
installation
(M3, M4)
15
120
12
60 15
*1: External force applied to the spacers must not
exceed 30 N in the axial direction or 2 Nm in the
rotating direction (for each spacer).
*2: The LED operates only when the user provides a
circuit that receives controller I/O output signal and
supplies 24 VDC to the LED terminal in the user
connector.
Detailed view of panel
53
Page 62
IX NNN 3515 (Arm Length 350, Standard Specification)
12
8
r
7. Specifi cations
ALM (indicator)
I 4 quick air-tube joint
(black, red, white; 3 locations)
User connector
(D-sub 15-pin connector)
BK SW
(Brake-release switch)
4 (Mechanical end)
372.5
44.5
8
652.5
21
55ST150
I16
130
2-I8H10
Arm 1 stopper
100
140
2 4-I9
I 16, counterbore depth 0.5
(164)
250
(694)
74206
160
T-slot for peripheral
installation
(M3, M4)
120
92.5
Reference surface
Arm 2 stopper
(524.5)
249.5
Tapped hole for peripheral
installation (4-MA, depth 12)
Same on opposite surface
30
50
68
125
225
55
15
I 4 (red) quick joint
I 4 (black) quick joint
Spacer user part installation
Outer diameter I 7, height
10, M4, depth 5 (*1)
54
4 (Mechanical end)
54
ALM (*2)
57
Detailed view of panel
Reference surface
I 4 (white)
quick joint
BK SW
User
Connecto
12
I35
10
30
11 (inner diameter)
I
I 16h7
Detailed view of arm tip
60 15
15
*1: External force applied to the spacers must not
exceed 30 N in the axial direction or 2 Nm in the
rotating direction (for each spacer).
*2: The LED operates only when the user provides a
circuit that receives controller I/O output signal and
supplies 24 VDC to the LED terminal in the user
connector.
Page 63
7.3 Robot Operation Area
IX NNN 2515 (Arm Length 250, Standard Specification)
1
1
3
q
q
0
0
3
q
q
0
0
2
2
1
1
7
7
3
3
.
.
1
1
3
1
1
R
R
2
2
5
5
0
0
5
5
2
2
1
1
R
R
q
q
160
160
3
0
0
q
q
7
7
5.
5.
0
0
1
1
R
R
R
R
1
1
2
2
Area of prohibited entry Area of prohibited entry
1
1
2
2
0
0
q
q
5
5
1q
1q
.
.
73
73
q
q
5
5
2
2
1
1
6
6
5
5
.
.
3
3
q
q
5
5
.
.
139
139
R
R
1
1
7
7
.
.
5
5
R
R
2
2
5
5
0
0
5
5
2
2
1
1
R
R
q
q
160
160
1
1
1
3
3
9
9
.
.
5
5
q
q
5
5
.
.
6
6
8
8
R
R
R
R
1
1
2
2
5
5
1
2
2
5
5
q
q
7. Specifi cations
q
q
3
3
.
.
5
5
6
6
Movement range
Mechanical stopper position
IX NNN 3515 (Arm Length 350, Standard Specification)
1
160
160
1
3
3
5
5
q
q
1
1
2
2
0
0
q
q
7
7
.
.
2
2
6
6
1
1
R
R
5
5
2
2
1
1
R
R
q
q
5
5
2
2
1
1
R
R
111.6q
111.6q
3
3
1
1
3
3
5
5
0
0
R
R
1
1
2
2
5
5
q
q
5
5
3
3
1
1
q
q
0
0
2
2
1
1
R
R
3
3
5
5
0
0
R
R
1
1
2
2
5
5
126.8q 126.8q
126.8q 126.8q
Area of prohibited entry Area of prohibited entry
Movement range Mechanical stopper position
1
1
3
160
160
3
9
9
.
.
5
5
q
q
1
1
2
2
5
5
q
q
2
2
.
.
3
3
5
5
1
1
R
R
5
5
2
2
1
1
R
R
111.6q
111.6q
q
q
5
5
.
.
9
9
55
Page 64
7.4 Wiring Diagram
Socket
Inside arm 2
7. Specifi cations
DWG No. 1069444*
DWG No. 1069442*
DWG No. 1069443*
Servo motor for
axis 2 (arm 2)
DF11-8DS-2C (Hirose)
PG2
PG cable (inside robot)
M cable (inside robot)
U cable (inside robot)
cable
Flexible
M2
Servo motor with
Socket
172159-1 (Tyco
brake for axis 3
(Z-axis)
PG3
M3
Electronics AMP)
BK3
Servo motor for
axis 4 (R-axis)
Socket
172157-1 (Tyco
D-sub connector
XM2D-1501
Electromagnetic
brake for axis 4
(R-axis)
(Optional)
PG4
M4
BK4
Electronics AMP)
Plug
172169-1
(Tyco Electronics
AMP)
(Omron)
FG (to D-sub housing)
Plug
172165-1
User
Connector
ALM
D-sub connector for user wiring (15-pin, socket)
Socket DF3-2S-2C (Hirose)
(Tyco Electronics
AMP)
BK SW
Alarm LED
LED
Plug
Brake-release switch for axes 3/4 (Z/R-axes)
BK
172166-1
(Tyco Electronics
Air joint, black (I 4)
Air joint, red (I 4)
Air joint, white (I 4)
Socket DF3-3S-2C (Hirose)
AMP)
Socket
DF11-10DS-2C (Hirose)
Plug
DF11-10DEP-2C
DWG No. 1068765*
(Hirose)
4)
FG (To base)
Air joint, black (I 4)
Air joint, red (I 4)
Connector
XAP-02V-1 (JST)
Air joint, white (I
Socket
172159-1
Servo motor for
(Tyco Electronics AMP)
axis 1 (arm 1)
Cable fix cap (Capcon)
M1M2M3
M cable (outside robot)
DWG No. 1068763*
OUTPG1
M4
OUTPG4
BK4
OUTPG2
OUTPG3
BK3
SW
Board
UB
UA
INPG1
INPG2
INPG3
PG cable
INPG4
BAT 1
BAT 2
BAT 3
(outside robot)
Female connector
HIF 3BA-10D-2,54C
(Hirose)
24 VDC
BAT 4
U cable (outside robot)
Dedicated batteries for IX: AB-3
BK power cable (outside robot)
U1U2U3
+24 V
G24 V
U13
U14
U15
FG
LED +24V
LED G24V
M1M2M3
Plug
GIC2,5/4-STF-
7,62 (Phoenix
Contact)
M4
PG1
PG2
DWG No .
1068764*
PG3
PG4
The 24 V power supply for I/O circuits used on the secondary side (low-voltage side) cannot be shared.
Wiring/Piping Diagram (Arm Length: 250/350)
Controller Inside base
Housing
KEC-15P
Contact
JK-SP2140 (JST)
terminals
Brake power
terminals
User wiring
Notes
(1) The actual layout of board connectors varies from this drawing.
(2) Since the brake power circuit is provided on the primary side (high-voltage side), a dedicated 24 V power supply is required for this circuit.
(3) To operate the alarm LED, the user must provide a circuit that uses the controller I/O output signal.
56
Page 65
FG
LED G24V
LED +24V
U15
U14
U13
U3
U2
U1
Flexible cable
User wiring terminals
U cable (outside robot)
Controller
M1
M2
M3
M4
PG1
PG2
PG3
PG4
PG cable (outside robot)
+24V
M cable (outside robot)
B
LED
UA
U cable (inside robot)
M cable (inside robot)
PG cable (inside robot)
M1
FG
INPG1
M3
OUTPG1
BAT1
INPG2
INPG3
INPG4
BK4
BK3
OUTPG2
OUTPG3
OUTPG4
G24V
Air joint
Black (I4), Red (I4), White (I4)
Brake power terminals
BAT2
BAT3
BAT4
24 VDC
7. Specifi cations
Board
SW
1-axis motor
Air tubes
U cable (inside robot)
M cable (inside robot)
Air tubes
1-axis encoder
PG cable (inside robot)
2-axis motor
2-axis encoder
BK4
BK3
M4
PG4
M3
PG3
M2
LED
D-sub connector for user wiring
(15-oin, socket)
Alarm LED
Air joint
Black (I4), Red (I4), White (I4)
Brake-release switch for axes 3/4
(Z/R-axes)
PG2
3-axis brake
3-axis motor
3-axis encoder
4-axis brake
4-axis motor
4-axis encoder
57
Page 66
Machine Harness Wiring Table
(1) PG cables (inside robot) DWG No. 1069443*
Base end Arm end
Tube
symbol
Connector
Signal
Pin
No.
Connection
Pin
No.
Signal
Connector
Tube
symbol
ID No.
Cable
7. Specifi cations
Mini Universal
MATE-N-LOK
plug housing
172169-1 (by
Tyco
Electronics
AMP)
OUT PG2 OUT PG3 OUT PG4
Same as above
Same as above Same as above
BAT+
1
BAT-
2
SD
3
-SD
4
Vcc
5
GND
6
Shield
7
8
9
1
BAT+
BAT-
2
SD
3
-SD
4
Vcc
5
GND
6
Shield
7
8
9
1
BAT+
BAT-
2
3
SD
-SD
4
Vcc
5
GND
6
7
Shield Shield
8
9
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
BAT+
BAT-
SD
-SD
Vcc
GND
Shield
BAT+
BAT-
SD
-SD
Vcc
GND
Shield
BAT+
BAT-
SD
-SD
Vcc
GND
Double-brazed
crimp socket
DF11-8DS-2C
(by Hirose
Electric)
Same as above
PG2PG3PG4
Red
White
Red
White
Red
White
Green
Red
White
Red
White
Red
White
Green
Red
White
Red
White
Red
White
Green
AWG22
(0.3 mm
shielded
cable
2
)
(2) M cables (inside robot) DWG No. 1069442*
Base end Arm end
Tube
symbol
M2
M3
M4
BK3
BK4
Connector
Mini Universal
MATE-N-LOK plug
housing 172167-1
(by Tyco
Electronics AMP)
Same as above
Same as above
Mini Universal
MATE-N-LOK plug
housing 172165-1
(by Tyco
Electronics AMP)
Same as above
Signal
U
V
W
C G
U
V
W
C G
U
V
W
C G
BK-
BK+
BK-
BK+
Pin
No.
1
2
3
4
1
2
3
4
1
2
3
4
1
2
1
2
Connection
Pin
No.
58
1
2
3
4
1
2
3
4
1
2
3
4
1
2
1
2
Signal
Mini Universal
U
MATE-N-LOK panel
V
installation socket
housing 172159-1
W
(by Tyco Electronics
C G
AMP)
U
V
W
C G
U
V
W
C G
Mini Universal
BK-
MATE-N-LOK panel
BK+
installation socket
housing 172157-1
(by Tyco Electronics
AMP)
BK-
BK+
Connector
Same as above
Same as above
Same as above
Tube
symbol
U
V
W
C G
U
V
W
C G
U
V
W
C G
BK-
BK+
BK-
BK+
ID No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Cable
Flexible
cable
16 X
AWG18
Page 67
(3) UA and UB cables (outside robot) DWG No. 1069444*
Base end Arm end
Tube
symbol
UA
UB
SW
Connector
Double-brazed
relay plug DF1110DEP-2C (by
Hirose Electric)
Same as above
Mini Universal MATEN-LOK plug housing
172166-1 (by Tyco
Electronics AMP)
Uninsulated terminal
(Y type) F0.3-4
Signal
U1
U2
U3
U4
U5
U6
U7
U8
U9
U10
U11
U12
U13
U14
U15
LED +24V
LED G24V
BK4
COM
BK3
FG
Pin
No.
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
9
10
1
2
3
Connection
Pin
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
1
2
1
2
3
Signal
U1
U2
U3
U4
U5
U6
U7
U8
U9
U10
U11
U12
U13
U14
U15
FG
LED +24V
LED G24V
BK4
COM
BK3
Connector
D-sub connector
XM2D-1501 (by
Omron)
Uninsulated terminal (round
type) F0.3-3
Single-brazed
crimp socket DF32S-2C (by Hirose
Electric)
Single-brazed
crimp socket DF33S-2C (by Hirose
Electric)
Tube
symbol
LED
BK
ID No.
Black
White
Green
Red
Black
White
Black
RED
Cable
AWG22
(0.3 mm
shielded
cable
2
)
7. Specifi cations
59
Page 68
Robot Cable Wiring Table
)
(1) PG cables (outside robot) DWG No. 1068764*
Robot end Controller end
7. Specifi cations
Tube
symbol
INPG1
INPG2
INPG3
INPG4
Connector
Female crimp
connector
HIF3BA-10D-
2.54C (by
Hirose Electric)
Signal
BAT+
BAT-
SD
-SD
Vcc
GND
BK-
BK+
FG
Pin
No.
1
2
3
4
5
6
7
8
9
10
Connection
Pin
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
(2) M cables (outside robot) DWG No. 1068763*
Robot end Controller end
Tube
symbol
Mini Universal
MATE-N-LOK panel
installation socket
M1
housing 172159-1
(by Tyco
Electronics AMP)
M2
M3
M4
Connector
Same as above
Same as above
Same as above
Signal
U
V
W
C G
U
V
W
C G
U
V
W
C G
U
V
W
C G
Pin
No.
1
2
3
4
1
2
3
4
1
2
3
4
1
2
3
4
Connection
Pin
No.
Signal
SD
-SD
BAT+
BAT-
Vcc
GND
BK-
BK+
Hood
1
2
3
4
1
2
3
4
1
2
3
4
1
2
3
4
Connector
Housing
KEC-15P
(by JST)
Contact
JK-SP2140
(by JST)
Connector hood
D13A
(for 17HE23150-C)
(by DDK)
Signal
Reverse plug
C G
GIC2.5
U
4-STF-7.62
V
(by Phoenix
W
Contact
C G
U
Same as above
V
W
C G
U
Same as above
V
W
C G
U
Same as above
V
W
Connector
Tube
symbol
PG1
PG2
PG3
PG4
Tube
symbol
M1
M2
M3
M4
ID No. Cable
Light gray
1 red
Light gray
1 black
Orange 1
red
Orange 1
black
White 1
red
White 1
black
Yellow 1
red
Yellow 1
black
ID No.
4PX
AWG26
Cable
4
1
2
3
8
5
6
7
12
16X
AWG18
9
10
11
16
13
14
15
60
Page 69
(3) UA and UB cables (outside robot) DWG No. 1068765*
Robot end Controller end
Tube
symbol
UA
UB
Connector
Double-brazed
crimp socket
DF11-10DS-2C
(by Hirose
Electric)
Same as above
Signal
U1
U2
U3
U4
U5
U6
U7
U8
U9
U10
U11
U12
U13
U14
U15
LED +24V
LED G24V
Pin
No.
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
9
10
Connection
Pin
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Signal
U1
U2
U3
U4
U5
U6
U7
U8
U9
U10
U11
U12
U13
U14
U15
LED +24V
LED G24V
FG
Uninsulated
terminal (Y type)
F0.3-3
Same as above
Same as above
Same as above
Same as above
Same as above
Same as above
Same as above
Same as above
Same as above
Same as above
Same as above
Same as above
Same as above
Same as above
Same as above
Same as above
Same as above
Connector
Tube
symbol
U1
U2
U3
U4
U5
U6
U7
U8
U9
U10
U11
U12
U13
U14
U15
LED +24V
LED G24V
FG
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
Orange 2
red
Orange 2
black
Light gray
2 red
Light gray
2 black
White 2
red
White 2
black
Yellow 2
red
Green
Cable
10PX
AWG26
7. Specifi cations
61
Page 70
7. Specifi cations
7.5 230V Circuit Components
), flexible
2
), oil-resistant
2
cable, UL VW-1, c-UL FT-1
cable, UL VW-1, c-UL FT-1
AC servo motor, 60, 200 W, key groove, CE certified
AC servo motor, 60, 100 W, key groove, CE certified
AC servo motor, 60, 100 W, w/ brake, round shaft, CE
certified
AC servo motor, 40, 50 W, key groove, CE certified
Wire: 300 V, 80qC (rated), AWG18 (0.89 mm
Wire: 300 V, 105qC (rated), AWG18 (0.84 mm
Tamagawa Seiki
TS4607 N2027
E200
TS4606 N2032
E200
TS4606 N7032
E200
TS4602 N2032
E200
IX-NNN25**/35**
62
Axis 3 servo motor w/
brake
1 Axis 1 servo motor
2 Axis 2 servo motor
No. Code name Model Manufacturer Remarks
3
4 Axis 4 servo motor
5 M cable (inside robot) IAI
6 M cable (outside robot) IAI
Page 71
8. Warranty
8.1 Warranty Period
One of the following periods, whichever is shorter:
y 18 months after shipment from IAI
y 12 months after delivery to the specified location
y 2,500 hours of operation
8.2 Scope of Warranty
Our products are covered by warranty when all of the following conditions are met. Faulty products
covered by warranty will be replaced or repaired free of charge:
(1) The breakdown or problem in question pertains to our product as delivered by us or our authorized
dealer.
(2) The breakdown or problem in question occurred during the warranty period.
(3) The breakdown or problem in question occurred while the product was in use for an appropriate
purpose under the conditions and environment of use specified in the operation manual and catalog.
(4) The breakdown of problem in question was caused by a specification defect or problem, or by a
quality issue with our product.
Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:
[1] Anything other than our product
[2] Modification or repair performed by a party other than us (unless we have approved such
modification or repair)
[3] Anything that could not be easily predicted with the level of science and technology available at
the time of shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
[5] Natural fading of paint or other symptoms of aging
[6] Wear, depletion or other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or maintenance
Note that the warranty only covers our product as delivered and that any secondary loss arising from a
breakdown of our product is excluded from the scope of warranty.
8.3 Honoring the Warranty
As a rule, the product must be brought to us for repair under warranty.
8. Warranty
8.4 Limited Liability
(1) We shall assume no liability for any special damage, consequential loss or passive loss such as a
loss of expected profit arising from or in connection with our product.
(2) We shall not be liable for any program or control method created by the customer to operate our
product or for the result of such program or control method.
63
Page 72
8. Warranty
8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications
(1) If our product is combined with another product or any system, device, etc., used by the customer,
the customer must first check the applicable standards, regulations and/or rules. The customer is also
responsible for confirming that such combination with our product conforms to the applicable
standards, etc. In such a case we will not be liable for the conformance of our product with the
applicable standards, etc.
(2) Our product is for general industrial use. It is not intended or designed for the applications specified
below, which require a high level of safety. Accordingly, as a rule our product cannot be used in these
applications. Contact us if you must use our product for any of these applications:
[1] Medical equipment pertaining to maintenance or management of human life or health
[2] A mechanism or mechanical equipment intended to move or transport people (such as a
vehicle, railway facility or aviation facility)
[3] Important safety parts of mechanical equipment (such as safety devices)
[4] Equipment used to handle cultural assets, art or other irreplaceable items
(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that
differs from what is specified in the catalog or operation manual.
8.6 Other Items Excluded from Warranty
The price of the product delivered to you does not include expenses associated with programming, the
dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during
the warranty period:
[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance and inspection
[3] Technical guidance and education on operating/wiring methods, etc.
[4] Technical guidance and education on programming and other items related to programs
64
Page 73
Change History
Revision Date Description of Revision
April 2011
March 2012
August 2012
Fifth edition
A page for CE Marking added
Sixth edition
Introduction, Safety Symbols and Safety Precautions are deleted
Pg. 1 to 7
Pg. 8
Pg. 17
Pg. 26
Pg. 49, 51
Pg. 62, 63
Seventh edition
4.1 Installation Posture added
Safety Guide added
Caution in Handling added
Brake voltage source capacity from 20W to 30W ĺ
changed to 20W
Caution notes added telling to go to see the doctor to have
an appropriate treatment when the grease got into an eye
Brake voltage source capacity 20W added to specifications
Contents changed in 8. Warranty
Change History
65
Page 74
Page 75
Page 76
Manual No.: ME3624-7A (August 2012)
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 © 2012. Aug. IAI Corporation. All rights reserved.
12.08.000
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