IAI America IX-NNN8040 User Manual

Horizontal Articulated Robot – IX Series

Tabletop Type, Arm Length 500/600/700/800

IX-NNN50

Operation Manual Sixth Edition

/60 /70 /80

CAUTION

Note on Supply of Brake Power (+24 V) for X-SEL-PX/QX Controllers

If you are using an X-SEL-PX/QX controller, you must supply brake power to the controller, in addition to
connecting the brake power cable from the SCARA robot.
Supply the brake power (+24 V) to the controller as shown below.

3-phase 200-230 VAC

power supply

Auxiliary power

circuit

The top socket corresponds to 0 V.
The bottom socket corresponds to 24 V.

Example with X-SEL-PX
controller
(4-axis SCARA robot of
arm length 250 to 600 mm,
without expansion I/O)

Brake power

+24 V power

supply

SCARA robot

Please Read Before Use

Thank you for purchasing an IAI product.

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

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

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

[Important]

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

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

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

the IAI sales office near you.

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

CE Marking

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

Table of Contents

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

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

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

1.1 Names of Parts ·····························································································································9

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

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

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

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

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

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

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

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

3. Installation Environment and Storage Environment ················································ 15

3.1 Installation Environment ·············································································································15

3.2 Installation Platform ····················································································································15

3.3 Storage Environment ··················································································································15

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

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

4.2 Installing the Robot ·····················································································································18

4.3 Connecting the Controller ···········································································································19

4.4 Checking after Installation ··········································································································21

5. Precautions for Use ································································································· 22

5.1 Reference Acceleration/Deceleration Settings ···········································································22

5.2 Tools ···········································································································································24

5.3 Carrying Load ·····························································································································25

5.4 User Wiring and Piping ···············································································································26

6. Inspection/Maintenance ·························································································· 28

6.1 Inspection/Maintenance ··············································································································28

6.2 Battery Replacement ··················································································································30

6.3 Absolute Reset Procedure ··········································································································33

7. Specifi cations ·········································································································· 50

7.1 Specifi cation Table ······················································································································50

7.2 External Dimensions ···················································································································58

7.3 Robot Operation Area ·················································································································62

7.4 Wiring Diagram ···························································································································64

7.5 230V Circuit Components ···········································································································70

8. Warranty ·················································································································· 71

8.1 Warranty Period ··························································································································71

8.2 Scope of Warranty ······················································································································71

8.3 Honoring the Warranty ················································································································71

8.4 Limited Liability ···························································································································71

8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ·····72

8.6 Other Items Excluded from Warranty ·························································································72

Change History ··············································································································· 73

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 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

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

6 Trial

Operation

7 Automatic

Operation

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.

 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.

 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 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.

6

Alert Indication

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

Level Degree of Danger and Damage Symbol

This indicates an imminently hazardous situation which, if the

Danger

Warning

Caution

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.

Danger

Warning

Caution

Notice

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

Notice

7

Caution in Handling

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

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

8

1 Names of Robot Parts

1.1 Names of Parts

User connector

ALM (indicator)

Spacer for user
part installation

BK SW
(Brake-release switch)

Mechanical stopper for
axis 3 (vertical axis)

Ball screw
spline shaft

Axis 3

(vertical axis)

Cover (arm 2)

I 4 joint for user piping, black

I 6 joint for user piping, red

I 6 joint for user piping, yellow

I 4 joint for user piping, white

Axis 4

(rotational axis)

Panel

Axis 2

1. Names of Robot Parts

Top cover (arm 1)

Wiring duct

Mechanical
stopper for arm 2

Axis 1

Mechanical stopper for
axis 3 (vertical axis)

End cover (arm 1)

Arm 2

Arm 1

Mechanical stopper
for arm 1/arm 2

Cover (base)

Base

Reference
surface

M cable (outside robot)
PG cable (outside robot)
U cable (outside robot)
Air tubes (I 4: 2 pcs., I 6: 2 pcs.)
BK power cable

9

g

1.2 Labels

The following labels are attached on the robot and controller. Be sure to observe the instructions and
cautions written on the labels to ensure the correct use of the robot/controller.

Labels on the Robot

1. Names of Robot Parts

Prohibition of entry into

the operation area

Warning on handling of

the vertical axis

Warning against

electric shock

Robot serial number

Labels on the Controller

Caution/warning on handling

of the controller

Controller serial number

(Other than CE-certified models)

CE-certified robot (Provided only for

CE-certified models)

Rate

Designation of the connected robot

Controller serial number

(CE-certified models)

Danger

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

damage to the robot.

10

Warnin

Caution

1.3 Label Positions

Label Positions on the Robot

1. Names of Robot Parts

Robot serial number

Prohibition of entry into
the operation area

Warning on handling of
the vertical axis

Label Positions on the Controller

Controller serial number

Other than CE-certified models

CE-certified models

View A

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

Warning against electric shock

Designation of the connected robot

Caution/warning on handling of the controller

11

g

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. Transportation and Handling

2.2 Packing Condition of the Robot

Controller, accessories and other
items (except for the robot)

Arm fixing
plate

Robot

Warnin

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.

12

Caution

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 Optional parts

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

Controller 1 CD-ROM 2

Operation manual for robot 1 PC connection cable 1

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

Operation manual for PC software 1

Absolute reset adjustment jig

Accessories

Type: JG-1 (IX-NNN50, IX-NNN60)

Eyebolt 2 JG-3 (IX-NNN70, IX-NNN80)

D-sub connector 1 Positioning jig for axes 1 and 2 1

Hood set (for D-sub connector) 1 Positioning jig for axis 4 1

Caution label 2

Positioning label 1

PIO flat cable 1 Absolute data backup battery (AB-3)

2. Transportation and Handling

Caution

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.

Note

13

g

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.

Cross-recessed countersunk
head screw, M3 x 8

Hoisting hook
with lock

2. Transportation and Handling

Fix with a tie wrap.

Hex bolt:

M4 x 8: IX-NNN50/60
M5 x 10: IX-NNN70/80

Eyebolt
(supplied)

String, rope,
etc.

45 degrees
or more

Cables
(Wrap around the base.)

Danger

Warnin

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.

14

3 Installation Environment and Storage Environment

3.1 Installation Environment

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

x Away from direct sunlight
x Not subject to radiated heat from a high-capacity energy source such as a heat-treating furnace
x Ambient temperature: 0qC to 40qC
x Humidity: 85% or less (non-condensing)
x Not exposed to corrosive or flammable gases
x Not subject to impact or vibration
x Not exposed to a significant amount of electromagnetic waves, ultraviolet rays or radiation
x Sufficient space is available to ensure safety in teaching and maintenance/inspection operations

Generally, the robot must be installed where the operator need not wear protective gear in order to work.

3.2 Installation Platform

The platform on which to install the robot receives a significant reactive force. Be certain the platform has
sufficient rigidity to withstand the anticipated force.

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

The levelness of the robot installation surface must be at least r0.05 mm.

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

Type Tap size Remarks

IX-NNN50/60 M10

IX-NNN70/80 M12

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

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

3. Installation Environment and Storage Environment

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.

15

g

3.3 Storage Environment

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

Danger

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.

3. Installation Environment and Storage Environment

Warnin

16

17

4

How to Install

Shown below is how to install SCARA Robot.

4.1

ż

Installation Posture

: Available s : Not available

ż

Ceiling-MountWall-MountHorizontally Oriented Mount

s

s

4. How to Install

g

4.1 Installing the Robot

4.2

Install the robot on a level surface.

Secure the robot using hex bolts and washers.

IX-NNN50/60 M10 60 Nxm

IX-NNN70/80 M12 104 Nxm

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

4. How to Install

Type Bolt size Tightening torque

Warnin

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.

18

Caution

g

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.

Robot designation label

Robot serial
number

Connect the cables securely after confirming that they are free from damage or bent connector pins.
Connect each cable by aligning the indication on the marking tube on the cable with the indication on
the controller panel.
When installing the PG connector (D-sub connector), ensure correct orientation of the connector.
The brake power circuit is provided on the primary side (high-voltage side). Therefore, provide a
dedicated 24 VDC power supply for the brake.

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.

Do not attempt to share the secondary circuit power

4. How to Install

Warnin

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.

19

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

4. How to Install

z Before connecting or disconnecting a cable, always turn off the power to the controller.

z Installing the connectors into the wrong sockets may cause the robot to malfunction. Be sure to

z If the connectors are not inserted securely, the robot may malfunction and generate the risk of

M cable (outside robot)

PG cable
(outside robot)

150 mm

I 4, I 6 quick joint (2 pcs. each)

To air tube
(provided by user)

Standard cable length: 5 m

U cable (outside robot)
(cable for user wiring)

BK power cable (outside robot)

24 VDC power
supply for brake
(provided by
user)

Tool, control
unit, etc.
(provided by
user)

Warning

Connecting/disconnecting a cable with the power supplied to the controller may cause the robot to
malfunction, resulting in a serious accident.

check the designation on the cable with that on the controller panel before plugging in any
connector.

danger. Be sure to affix each connector with the supplied screws.

20

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.

4. How to Install

Warning

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

robot.

21

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.)

100

50

5. Precautions for Use

Acceleration (%)

Reference range for continuous

0

0 5 10

IX-NNN50/60

Reference acceleration/deceleration

settings for PTP operation

Reference range of

maximum setting

operation setting

Reference range of maximum setting when arm 1 is

operated over 125 degrees or more

Carrying load mass (kg)

Caution

IX-NNN70/80

Reference acceleration/deceleration

settings for PTP operation

100

Reference range of

50

maximum setting

cceleration (%)

Reference range for continuous

operation setting

Reference range of maximum setting when arm 1 is

0

0 5 10 15 20

operated over 125 degrees or more

Carrying load mass (kg)

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

more after each acceleration/deceleration.

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

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

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

raise the value for the purpose of adjustment.

z If an overload error occurs, lower the acceleration 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 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 ball screw spline shaft will bend
and the vertical axis will be disabled.

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

“Carrying Load.”)

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

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

22

(2) CP operation (Set using the SEL language commands ACC and DCL.)

A

Reference acceleration/deceleration

cceleration (G)

continuous operation setting

IX-NNN50/60

settings for CP operation

Reference range of

maximum setting

Line of reference range
for vertical axis during
continuous operation

Reference range for

Carrying load mass (kg)

IX-NNN70/80

Reference acceleration/deceleration

settings for CP operation

5. Precautions for Use

Reference range of

maximum setting

Line of reference range
for vertical axis during
continuous operation

Reference range for

Acceleration (G)

continuous operation setting

Carrying load mass (kg)

Caution

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

more after each acceleration/deceleration.

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

raise the value for the purpose of adjustment.

z If an overload error occurs, lower the acceleration 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 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 ball screw spline shaft will bend
and the vertical axis will be disabled.

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

“Carrying Load.”)

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

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

23

g

5.2 Tools

The tool mounting part must have sufficient strength and rigidity, along with adequate fastening power to
prevent positional shift.

It is recommended that a tool be installed over a split ring, span ring or other appropriate part. A sample
configuration of tool installation is given below.

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

If the tool diameter exceeds 100 mm or the tool contacts any peripheral equipment, decrease the soft limits
to reduce the operation range.
Also keep the inertial moments of the tool and load within the allowable values. (Refer to 5.3, “Carrying
Load.”)

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

If the position in rotating direction is to be determined using the D-cut surface with a setscrew, use a
setscrew with resin/brass pad or screw in a setting piece made of soft material.
(Avoid affixing the tool by bolting it on the D-cut surface. It will damage the D-cut positioning surface.)

5. Precautions for Use

D-cut surface

Center of axis 4
(rotational axis)

Tool diameter

I 100 or less

Warnin

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 100 mm, the tool will contact the robot within its range of movement

and cause damage to the tool, work and/or robot.

z Avoid attachment of the tool at the D-cut surface via thread fastening. Doing so may damage the

D-cut positioning surface.

Caution

D-cut surface

Tool

Span ring, etc.

Pressure flange

24

5.3 Carrying Load

Load capacity

Type Rated load capacity Maximum load capacity

IX-NNN50/60 2 kg 10 kg

IX-NNN70/80 5 kg 20 kg

Load’s permissible moment of inertia

Type Permissible moment of inertia Remarks

IX-NNN50/60 0.06 kgxm

IX-NNN70/80 0.10 kgxm

2

2

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

50 mm or less

50 mm or less

5. Precautions for Use

Both rated and maximum

Center of axis 4 (rotational axis)

Load’s center of gravity

Caution

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.

25

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.

Quick joint
I 6 (red)

Quick joint
I 4 (black)

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

ALM indicator

Spacer for user
part installation

5. Precautions for Use

User connector specifications

Rated voltage 3.0 V

Permissible current 1.1 A

Conductor size and number of wires AWG 26 (0.15 mm

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

Piping specifications

Normal service pressure 0.8 MPa

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

Working medium Air

Quick joint
I 6 (yellow)

Quick joint
I 4 (white)

BK SW
Brake-release
switch

2

), 25 wires

I 4 mm x I 2.5 mm, 2 pieces

I 6 mm x I 4 mm, 2 pieces

Standard cable (5 m)

BK power cable (outside robot)

M cable (outside robot)

PG cable (outside robot)

150 mm

Air tube

I 4 (black, white)
I 6 (red, yellow)

To controller

Y-terminal at the end

U cable
(outside robot)

I 4, I 6 quick joint
(2 pcs. each)

ALM (indicator) specifications

Rated voltage 24 VDC

Rated current 12 mA

Illumination color Red LED

Shape of Y-terminal Spacer for user part installation

3.2

5.2

2.6 5.9

26

I 7

M4, depth 5

30 N or less

10

2 Nm or less

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

g

The robot comes with a D-sub 25-pin mating plug for the user connector.
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 indicator, the user must configure a dedicated circuit that uses the controller I/O output signal,
etc.

User connector pins and corresponding Y-terminals

Arm 2 side

Connection

D-sub,
25-pin

User Connector

ALM

Indicator

(LED)

To D-sub connector frame

No.

1
2
3
4
5
6
7
8
9
10

11
12

13
14
15
16
17
18
19
20
21
22
23
24
25

Inside unit

Cable

Y-terminal designation

U1
U2
U3
U4
U5
U6
U7

U8
U9

U10

U11
U12
U13
U14
U15
U16
U17
U18
U19
U20

U21

U22

U23
U24
U25

LED +24V

LED G24V

FG

Controller side

Wire color

Orange 1 red

Orange 1 black

Light gray 1 red

Light gray 1 black

White 1 red

White 1 black

Yellow 1 red

Yellow 1 black

Pink 1 red

Pink 1 black

Orange 2 red

Orange 2 black

Light gray 2 red

Light gray 2 black

White 2 red

White 2 black

Yellow 2 red

Yellow 2 black

Pink 2 red

Pink 2 black

Orange 3 red

Orange 3 black

Light gray 3 red

Light gray 3 black

White 3 red

White 3 black

Yellow 3 red

Green

Connection

5. Precautions for Use

Y-terminal

To b as e

Warnin

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.

27

g

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 perform any inspection, adjustment or repair of the robot or controller, replacement of
robot/controller part or any other operation not described in this operation manual. The following items
must be adjusted at our factory. Do not disassemble the following components or cut cables at the user
site:

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

6. Precautions for Use

IAI will not be responsible for any malfunction or damage resulting from the conduct of any operation cited
above.
Dpending on the periodic inspection item, the controller power may have to remain on or off. In either case,
take proper measures to make sure other operators cannot operate the power.

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.

Warnin

28

6.1.1 Daily Inspection

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

Check location Description

Safety cage

Robot

Cables

Emergency-stop switch

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.

6.1.2 Six-Month Inspection

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

Check location Description

Check the arm mounting sections for looseness.

Robot

Ball-screw spline

Connectors Check the connectors for looseness.

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

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

Check the ball screw and spline for looseness.
Wipe off old grease using a waste cloth, etc., and add new grease.
(Standard specification:

Multemp LRL No. 3 by Kyodo Yushi or equivalent)

6. Precautions for Use

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.

29

6.1.3 Yearly Inspection

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

Check location Description

Harmonic reduction gears,
joint bearings

Ball-screw spline

Check arm 1 or 2 for looseness in the rotating direction or axial direction.
(Contact IAI if an abnormality is found.)
Check the vertical axis for looseness.
(Contact IAI if an abnormality is found.)

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. Precautions for Use

6.2 Battery Replacement

6.2.1 Preparation

The following items are required when replacing the batteries:

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

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

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.

Warning Caution

30

6.2.2 Battery Replacement Procedure

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

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 2

(for axis 2)

Battery

(for axis 2)

6. Precautions for Use

(1) 6 - M3 x 8

Cover (base)

Battery connector 3

(for axis 3)

Battery

(for axis 3)

Battery connector 4

(for axis 4)

Battery

(for axis 4)

Battery holder

31

(5) Affix the cover (base) using the countersunk head screws (1) (six pieces)

(tightening torque: 0.74 Nm).

6. Precautions for Use

(1) 6 - M3 x 8

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

Caution

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

32

6.3 Absolute Reset Procedure

The home of your actuator has been adjusted fully prior to its shipment from IAI.
IX-NNN-50**/60**/70**/80** actuators adopt an absolute encoder, which means that their home is set by
means of an absolute reset.
The absolute data in the encoder is backed up using a battery, so once an absolute reset is performed, you
need not repeat an absolute reset the next time the power is turned on.
However, an absolute reset may be required after replacing the motor or when the encoder has lost its
absolute data due to detection of low encoder battery voltage or for other reasons.

6.3.1 Absolute Reset Procedure

(1) Preparation for absolute reset jig

The following jig is required when performing an absolute reset:

x Absolute reset adjustment jig Model: JG-1 (IX-NNN50/60)

JG-3 (IX-NNN70/80)

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 “positioning mark label r 1 graduation” is
ensured.)

Plate

Pin

6. Precautions for Use

Absolute reset adjustment jig (type: JG-1)

33

g

(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. Precautions for Use

Warnin

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.

34

6.3.2 Starting the Absolute Reset Menu

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

6. Precautions for Use

(2) The absolute 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.

Absolute reset screen
for arm 1 or 2

Absolute reset
screen for rotational
axis + vertical axis

35

6.3.3 Absolute Reset Procedure for Arm 1 or 2

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

6. Precautions for Use

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

36

(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. Precautions for Use

(5) Click the “Servo-OFF” button.

37

g

(6) Press the emergency-stop switch.

A

A

(7) When performing an absolute reset of arm 1, set an adjustment jig (pin) on arm 1 to fix the arm in the

reference position. In this case, arm 2 may be moved. When performing an absolute reset of arm 2,

set an adjustment jig (pin) on arm 2 to fix the arm in the reference position. In this case, arm 1 may be

moved.

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. Precautions for Use

Positioning mark
label for arm 1

Positioning mark

rm 1

label for arm 1

Positioning
mark label for
arm 2

rm 2

Adjust arm 1 or 2 to a

Reference position drawing

position within ± 1
graduation of the center.

Warnin

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.

38

(8) Click the “OK” button.

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

6. Precautions for Use

39

(10) Remove the adjustment jig.

x If you are working on arm 1, install the cover and secure it with the setscrews

(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 the home position has been updated by mistake, perform a software reset without writing to

flash ROM. (This achieves the same condition where the home position is not updated
automatically.)

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

6. Precautions for Use

(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 controller.

From “Control (C

(Refer to 6.3.5.)

)” in the menu bar, select “Software Reset (R).” A software reset will be performed.

Caution

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 position only when a mechanical change (relating to a joint) has been made to

the system, such as after an arm has been replaced.

40

6.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis

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

6. Precautions for Use

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

41

(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. Precautions for Use

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

the “Jog end” button.

42

(6) Click the “Servo-OFF” button.

(7) Press the emergency-stop switch.

(8) Affix the rotational axis at the reference position by setting the plate and pin of the adjustment jig as

illustrated below.

x Set the jig after confirming that the emergency-stop switch is pressed.

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

label as a guide.

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

Reference position

drawing

6. Precautions for Use

D-cut surface

Positioning
mark label for

The plate and pin should
make light contact.

rotational axis

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

D-cut surface

Warning

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 D-cut surface of the plate jig.

43

(9) Click the “OK” button.

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

6. Precautions for Use

44

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

(12) Remove the adjustment jig.

(13) Release the emergency-stop switch.

(14) Click the “OK” button.

6. Precautions for Use

45

(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. Precautions for Use

(17) Click the “Servo-OFF” button.

46

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

6. Precautions for Use

(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.

47

(20) If an absolute reset was performed on both the rotational axis and vertical axis or if the home position

was updated automatically based on arm 1 or 2 by mistake, closing the absolute reset window will

open the following screen. Click the “No” button.

x Click “Yes” only if you have released a mechanical connection such as replacing an arm or belt.

x Click “No” if you have replaced a cable.

x When all steps are finished, be sure to perform a “software reset.”

6. Precautions for Use

(21) Perform a software reset.

To perform a software reset, select “Software Reset (R

6.3.5.)

)” from “Control (C)” in the menu bar. (Refer to

48

6.3.5 Resetting the Controller

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

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

x When the system informs you that not all data has been written to the flash ROM and asks you if

you want to delete the data not yet written to the flash ROM, select “Yes.”

6. Precautions for Use

49

7. Specifi cations

7 Specifications

7.1 Specification Table

IX-NNN50 (Arm Length 500, Standard Specification)

Item Specifications
Type IX-NNN50-L-T1
Degree of freedom Four degrees of freedom
Overall arm length 500
Arm 1 length 250
Arm 2 length
Drive method

Motor
capacity

Movement
range

Maximum
operating
speed (*2)

Positioning
repeatability
accuracy (*3)

Standard cycle time (*4) sec 0.44

capacity

thrust of axis
3 (vertical
axis)
Permissible
load on axis 4

Permissible tool diameter (*6) mm
Origin detection Absolute

User wiring

Alarm indicator (*7)

User piping

Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer

Axis 3 (vertical axis)

Axis 4 (rotational axis)

Axis 1 (arm 1) 400
Axis 2 (arm 2) 200
Axis 3 (vertical axis) 200
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
Axis 3 (vertical axis) (*1) mm 200 (Optional: 300)
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree/sec 1200
Axis 1 + Axis 2
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree

Rated 2 Load
Maximum
Dynamic (*8) 152 (15.5) Push-in

Static (*9)

Permissible moment of
inertia (*5)
Permissible torque

mm

W

degree

mm/sec

mm

kg

N (kgf)

2

kgm

Nm (kgfcm)

250

AC servo motor with brake + Belt + Ball-screw

spline

AC servo motor with brake + Speed reducer +

Belt + Spline

100

r120
r145

r360

6283

1393

r0.010
r0.010
r0.005

10

108 (11.0)

0.06

3.3 (33.6)
I 100

D-sub 25-pin connector with 25-core AWG26

shielded cable (socket)

One small, red LED indicator

(rated voltage: 24 V)
Two air tubes (outer diameter: I 6, inner diameter:
I 4) (normal service pressure: 0.8 MPa)
Two air tubes (outer diameter: I 4, inner diameter:
I 2.5) (normal service pressure: 0.8 MPa)

50

snoitacificepSmetI
Operating
environment

Ambient temperature/humidity

Temperature: 0 to 40

or less (non-condensing)

C, humidity: 20 to 85%RH

000,1medutitlAorless

BdesioN 73
Robot weight
Brake power source for main unit
Controller

Power supply 230 V 50/60 Hz 8 A
Allowable supply voltage
fluctuation

kg
W

%

29.5

24V DC ±10% 20W

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 ambient temperature of 20

C.

*4 Measured when the robot is operated at the maximum speed, carrying a rated load of 2 kg.

Time of reciprocating operation over a vertical travel of 25 mm and horizontal travel of 300 mm (rough

positioning)

Note: Continuous operation cannot be

performed at the maximum speed.

*5 The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from

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

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

acceleration must be reduced as appropriate.
*6 If the tool exceeds the permissible diameter, it will contact the robot inside the robot’ s range of

movement. (Fig. 4)
*7 To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED

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

command (approach distance/speed settings in push motion operation).

7. Specifi cations

Center of
rotational axis

Bottom

To p
position

To ol

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

position

Tool

Tool

Tool’ s center
of gravity

Center of
rotational axis

To ol

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

EN775

51

7. Specifi cations

IX-NNN60 (Arm Length 600, Standard Specification)

Item Specifications
Type IX-NNN60-L-T1
Degree of freedom Four degrees of freedom
Overall arm length 600
Arm 1 length 350
Arm 2 length
Drive method

Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer

Axis 3 (vertical axis)

Axis 4 (rotational axis)

Motor
capacity

Axis 1 (arm 1) 400
Axis 2 (arm 2) 200
Axis 3 (vertical axis) 200

Axis 4 (rotational axis)
Movement
range

Axis 1 (arm 1)

Axis 2 (arm 2)

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

Axis 4 (rotational axis) degree
Maximum

operating
speed (*2)

Axis 1 + Axis 2 (maximum

composite speed)

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1200
Positioning
repeatability
accuracy (*3)

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree
Standard cycle time (*4) sec 0.52

Rated 2 Load
capacity

Maximum

Dynamic (*8) 152 (15.5) Push-in
thrust of axis
3 (vertical

Static (*9)
axis)
Permissible
load on axis 4

Permissible moment of

inertia (*5)

Permissible torque
Permissible tool diameter (*6) mm
Origin detection Absolute

User wiring

Alarm indicator (*7)

User piping

mm

W

degree

mm/sec

mm

kg

N (kgf)

2

kgm

Nm (kgfcm)

250

AC servo motor with brake + Belt + Ball-screw

spline

AC servo motor with brake + Speed reducer +

Belt + Spline

100

r120
r145

r360

7121

1393

r0.010
r0.010
r0.005

10

108 (11.0)

0.06

3.3 (33.6)
I 100

D-sub 25-pin connector with 25-core AWG26

shielded cable (socket)

One small, red LED indicator

(rated voltage: 24 V)
Two air tubes (outer diameter: I 6, inner diameter:
I 4) (normal service pressure: 0.8 MPa)
Two air tubes (outer diameter: I 4, inner diameter:
I 2.5) (normal service pressure: 0.8 MPa)

52

snoitacificepSmetI
Operating
environment

Ambient temperature/humidity

Temperature: 0 to 40

or less (non-condensing)

C, humidity: 20 to 85%RH

000,1medutitlAorless

BdesioN 73
Robot weight kg 30.5
Brake power source for main unit W 24V DC ±10% 20W
Controller

Power supply 230 V 50/60 Hz 8 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 ambient temperature of 20

C.

*4 Measured when the robot is operated at the maximum speed, carrying a rated load of 2 kg.

Time of reciprocating operation over a vertical travel of 25 mm and horizontal travel of 300 mm (rough

positioning)

Note: Continuous operation cannot be

performed at the maximum speed.

*5 The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from

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

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

acceleration must be reduced as appropriate.
*6 If the tool exceeds the permissible diameter, it will contact the robot inside the robot’ s range of

movement. (Fig. 4)
*7 To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED

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

command (approach distance/speed settings in push motion operation).

7. Specifi cations

Center of
rotational axis

Bottom

To p
position

Tool

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

position

Tool

To ol

Tool’ s center
of gravity

Center of
rotational axis

Tool

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

EN775

53

7. Specifi cations

IX-NNN70 (Arm Length 700, Standard Specification)

Item Specifications
Type IX-NNN70-L-T1
Degree of freedom Four degrees of freedom
Overall arm length 700
Arm 1 length 350
Arm 2 length
Drive method

Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer

Axis 3 (vertical axis)

Axis 4 (rotational axis)

Motor
capacity

Axis 1 (arm 1) 750
Axis 2 (arm 2) 400
Axis 3 (vertical axis) 400

Axis 4 (rotational axis)
Movement
range

Axis 1 (arm 1)

Axis 2 (arm 2)

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

Axis 4 (rotational axis) degree
Maximum
operating
speed (*2)

Axis 1 + Axis 2 (maximum

composite speed)

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1200
Positioning
repeatability
accuracy (*3)

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree
Standard cycle time (*4) sec 0.50

Rated 5 Load
capacity

Maximum

Dynamic (*8) 265 (27.0) Push-in
thrust of axis
3 (vertical

Static (*9)
axis)
Permissible
load on axis 4

Permissible moment of

inertia (*5)

Permissible torque
Permissible tool diameter (*6) mm
Origin detection Absolute

User wiring

Alarm indicator (*7)

User piping

mm

W

degree

mm/sec

mm

kg

N (kgf)

2

kgm

Nm (kgfcm)

350

AC servo motor with brake + Belt + Ball-screw

spline

AC servo motor with brake + Speed reducer +

Belt + Spline

200

r125
r145

r360

6597

1583

r0.015
r0.010
r0.005

20

188 (19.1)

0.1

6.7 (68.3)
I 100

D-sub 25-pin connector with 25-core AWG26

shielded cable (socket)

One small, red LED indicator

(rated voltage: 24 V)
Two air tubes (outer diameter: I 6, inner diameter:
I 4) (normal service pressure: 0.8 MPa)
Two air tubes (outer diameter: I 4, inner diameter:
I 2.5) (normal service pressure: 0.8 MPa)

54

snoitacificepSmetI
Operating
environment

Ambient temperature/humidity

Temperature: 0 to 40

or less (non-condensing)

C, humidity: 20 to 85%RH

000,1medutitlAorless

BdesioN 74
Robot weight kg 58
Brake power source for main unit W 24V DC ±10% 20W
Controller

Power supply 230 V 50/60 Hz 15 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 ambient temperature of 20

C.

*4 Measured when the robot is operated at the maximum speed, carrying a rated load of 5 kg.

Time of reciprocating operation over a vertical travel of 25 mm and horizontal travel of 300 mm (rough

positioning)

Note: Continuous operation cannot be

performed at the maximum speed.

*5 The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from

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

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

acceleration must be reduced as appropriate.
*6 If the tool exceeds the permissible diameter, it will contact the robot inside the robot’ s range of

movement. (Fig. 4)
*7 To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED

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

command (approach distance/speed settings in push motion operation).

7. Specifi cations

Center of
rotational axis

Bottom

To p
position

To ol

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

position

To ol

To ol

Tool’ s center
of gravity

Center of
rotational axis

To ol

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

EN775

55

7. Specifi cations

IX-NNN80 (Arm Length 800, Standard Specification)

Item Specifications
Type IX-NNN80-L-T1
Degree of freedom Four degrees of freedom
Overall arm length 800
Arm 1 length 450
Arm 2 length
Drive method

Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer

Axis 3 (vertical axis)

Axis 4 (rotational axis)

Motor
capacity

Axis 1 (arm 1) 750
Axis 2 (arm 2) 400
Axis 3 (vertical axis) 400

Axis 4 (rotational axis)
Movement
range

Axis 1 (arm 1)

Axis 2 (arm 2)

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

Axis 4 (rotational axis) degree
Maximum
operating
speed (*2)

Axis 1 + Axis 2 (maximum

composite speed)

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1200
Positioning
repeatability
accuracy (*3)

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree
Standard cycle time (*4) sec 0.52

Rated 5 Load
capacity

Maximum

Dynamic (*8) 265 (27.0) Push-in
thrust of axis
3 (vertical

Static (*9)
axis)
Permissible
load on axis 4

Permissible moment of

inertia (*5)

Permissible torque

Permissible tool diameter (*6) mm
Origin detection Absolute

User wiring

Alarm indicator (*7)

User piping

mm

W

degree

mm/sec

mm

kg

N (kgf)

2

kgm

Nm

(kgfcm)

350

AC servo motor with brake + Belt + Ball-screw

spline

AC servo motor with brake + Speed reducer +

Belt + Spline

200

r125
r145

r360

7121

1583

r0.015
r0.010
r0.005

20

188 (19.1)

0.1

6.7 (68.3)

I 100

D-sub 25-pin connector with 25-core AWG26

shielded cable (socket)

One small, red LED indicator

(rated voltage: 24 V)
Two air tubes (outer diameter: I 6, inner diameter:
I 4) (normal service pressure: 0.8 MPa)
Two air tubes (outer diameter: I 4, inner diameter:
I 2.5) (normal service pressure: 0.8 MPa)

56

snoitacificepSmetI
Operating
environment

Ambient temperature/humidity

Temperature: 0 to 40

or less (non-condensing)

C, humidity: 20 to 85%RH

000,1medutitlAorless

BdesioN 74
Robot weight kg 60
Brake power source for main unit W 24V DC ±10% 20W
Controller

Power supply 230 V 50/60 Hz 15 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 ambient temperature of 20

C.

*4 Measured when the robot is operated at the maximum speed, carrying a rated load of 5 kg.

Time of reciprocating operation over a vertical travel of 25 mm and horizontal travel of 300 mm (rough

positioning)

Note: Continuous operation cannot be

performed at the maximum speed.

*5 The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from

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

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

acceleration must be reduced as appropriate.
*6 If the tool exceeds the permissible diameter, it will contact the robot inside the robot’ s range of

movement. (Fig. 4)
*7 To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED

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

command.

7. Specifi cations

Center of
rotational axis

Bottom

To p
position

Tool

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

position

Tool

To ol

Tool’ s center
of gravity

Center of
rotational axis

Tool

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

EN775

57

7.2 External Dimensions

5

5

5

5

7. Specifi cations

IX-NNN50

I 146

(723.2)

(50)

Arm 2
stopper

(130)

R40

5 (Mechanical end)

470 [570] 200ST [300ST] 150 [50]

820 (920)

(73.2)

19 (182.4)

72

25 50

25q

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

175 (73.2)

75 100

120

50 75

125

Arm 1
Arm 2
stopper

90

150

200

4 - I 11 h ol e
I 24 counterbore, depth 5

(81.5) (684.1)

(765.6)

Reference surface

I 6 quick
air-tube joint

I 4 quick
air-tube joint

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

ALM (*3)

BK SW
(Brake-release switch)

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

I 112

5

99

198

63

28

Red

Yel lo w

White

Black

30

Detailed view of panel (1/2)

5 (Mechanical end)

(18.5)

21

21.

119

47

28

22.

7.

10 10

Detailed view of arm tip (1/2)

250 250

500

Reference surface

I 44

A A

I 14, hollow

0

I 20h7 ( )

- 0.021

Section A-A

19

*1: The holes for the 2 -M4 screws (depth 8) pierce through the thickness

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

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

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

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

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

74

58

IX-NNN60

5

5

5

(50)

Arm 2
stopper

(823.2)

175 (73.2)

75 100

I 146

I 112

(130)

5 (Mechanical end)

120

R40

50 75

125

(90)

150

200

4 - I 11 ho le
I 24 counterbore, depth 5

(81.5) (684.1)

7. Specifi cations

470 [570]

820 (920)

200ST [300ST] 150 [50]

(73.2)

(182.4)

19

72

25 50

25q

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

250 350

600

Arm 1
Arm 2
stopper

(765.6)

Reference
surface

99

I 44

A A

47

10 10

198

I 14, hollow

I 20h7 ( )

Section A-A

0

- 0.021

5 (Mechanical end)

I 6 quick
air-tube joint

I 4 quick
air-tube joint

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

ALM (*3)

19

BK SW

(Brake-release switch)

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

Red

Black

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

63

28

Yel lo w

White

30

5

Reference surface

(18.5)

21

21.
119

*1: The holes for the 2-M4 screws (depth 8) pierce through the

28

22.

7.

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

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

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

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

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

74

59

IX-NNN70

(971.5)

(65)

(169)

350

Arm 2
stopper

350

(206.5)

268

200

(90)

7. Specifi cations

7

Reference
surface

131

(I 188)

(I 144)

262

(R55)

6 (Mechanical end)

25q

(134.6)

504 [704st] 258 [58] 200st [400st]

22.5

73 (263.4)

962 [1162]

6 (Mechanical end)

61 51 20

700

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

350 350

Reference surface

60 95

(34) 155 (34)

223

Arm 1
Arm 2
stopper

468

7

28

91

4 - 14 drilled
I 30 counterbore, depth 5

(934)

(853) (81)

60

20

AA

10 10

47

I 18, hollow

0

I 25h7( )

- 0.021

Detailed view of arm tip (1/2)

Section A-A

I 6 quick
air-tube joint

I 4 quick
air-tube joint

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

ALM (*3)

23.5
BK SW

(Brake-release switch)

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

63

28

Red

Yel lo w

Black White

30

Detailed view of panel (1/2)

(18.5)

21

21.5
*1: The holes for the 3-M4 screws (depth 8) pierce through the

thickness of the arm’s side wall.

119

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

28

7.5 22.5

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

*3: The LED operates only when the user pro vides a circuit that

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

IX-NNN80

(1071.5)

(65)

(169)

350 450 (206.5)

Arm 2
stopper

268

200

(90)

7

Reference
surface

131

20

AA

1010

47

I 18, hollow

0

I 25h7( )

- 0.021

Detailed view of arm tip (1/2)

(I 188)

(I 144)

262

962 [1162]

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

23.5

Section A-A

6 (Mechanical end)

504 [704st] 258 [58] 200st [400st]

(263.4)

22.5

73

6 (Mechanical end)

I 6 quick
air-tube joint

I 4 quick
air-tube joint

ALM (*3)

BK SW

(Brake-release switch)

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

(R55)

25q

(134.6)

61 51 20

800

63

28

Red

Black

Detailed view of panel (1/2)

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

350 450

(18.5)

Yellow

White

30

21

21.5
119

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

22.5 28

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

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

7.5

60 95

(34) 155 (34)

223

468

7

28

Reference surface

thickness of the arm’s side wall.

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

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

91

4 - 14 drilled
I 30 counterbore, depth 5

Arm 1
Arm 2
stopper

(81)

(934)

(853)

7. Specifi cations

61

7.3 Robot Operation Area

IX-NNN50

7. Specifi cations

R500

87.8q

IX-NNN60

120q

145q

200

145q

R150.4

R250

(Operation prohibited area)

145q

145q

120q120q

125q

R500

149q

119 .1q

149q

125q

R133.6

R95

R250

Stopper position range Movement range

120q

149q

125q

149q

125q

62

R600

114.3q
200

R204

(Operation prohibited area)

R600

R250

142q

R187

R95

R250

Stopper position range Movement range

IX-NNN70

125q

R700

IX-NNN80

145q

82.5q

250

145q

R210.5

R350

(Operation prohibited area)

Movement range

125q

130q

150q

R700

127q

Stopper position range

R110

150q

R181.2

R350

130q

7. Specifi cations

125q

145q

R800

99.1q

145q

R258.8

250

(Operation prohibited area)

Movement range

150q

125q

R350

130q

R800

143q

150q

130q

R228.5

R110

R350

Stopper position range

63

7. Specifi cations

)

)

7.4 Wiring Diagram

Servo motor for axis 2

(arm 2)

Inside arm 2

U cable (inside robot)

M cable (i nside rob ot)

PG cable (inside robot)

DWG No. 1068651*

DWG No. 1069363*

Socket

(Tyco Electronics

AMP)

cable

Flexible

4)

Alarm LED

Air joint, red (I 6)

Air joint, yellow (I 6)

Air joint, black (I 4)

Servo motor with

brake for axis 3

(Z-axis)

MP

Socket

(Tyco Electronics

Servo motor with

brake for axis 4

(R-axis)

FG (to D-sub housing)

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

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

MP

(Tyco Electronics

Socket

DWG No.

1069364*

Plug

Plug

Air joint, white (

Socket Socket

(Hirose) (Hirose)

Socket

(Hirose)

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

Inside base

Controller

Plug

Socket

(Hirose)

Servo motor for axis 1

(arm 1)

(Hirose)

(Tyco Electronics AMP)

Cable fix cap

(Capcon)

M cable (outside robot)

Connector

DWG No. 1068655*

PG cable (outside robot)

Plug GIC2.5/4-STF-7.62 ( Phoenix)

DWG No. 1068656*

Dedicated batteries for IX: AB-3

Plug-in connector

Contact JK-SP2140 (JST)

Contact code

Board

Connector

U cable (outside robot)

BK power cable (outside robot)

terminals

Brake power

(Hirose)

Plug

6)

4)

4)

FG (To base)

Air joint, red (I 6)

DWG No. 1068657*

terminals

User wiring

Air joint, white (

Air joint, yellow (

Air joint, black (

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

Notes

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

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

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

64

User wiring terminals

Controller

PG cable (outside machine)

ir joints

M cable (outside machine)

U cable (outside machine)

PG cable (inside machine)

M cable (inside machine)

U cable (inside machine)

Brake power terminals

Red (6), yellow (6), black (4), white (4)

7. Specifi cations

Flexible cable

Board

Axis 1 motor

Axis 1 encoder

D-sub connector for user piping

PG cable

(inside machine)

PG cable (inside machine)

larm LED

(25 pins, socket)

ir joints

Red (6), yellow (6),

black (4), white (4)

Brake release switch for

axis 3, axis 4 (Z, R)

ir pipes

U cable (inside machine)

U cable (inside machine)

Axis 2 motor

Axis 2 encoder

Axis 3 brake

Axis 3 motor

Axis 3 encoder

Axis 4 brake

Axis 4 motor

Axis 4 encoder

65

7. Specifi cations

A

A

2

A

A

Machine Harness Wiring Table

(1) PG cables (inside machine) DWG No. 1069363*

Base end Arm end

Tube

symbol

Connector Signal

Mini universal
Mate-N-Lock
plug housing
172169-1
(Tyco
Electronics

MP)

Same as above

Same as above

Pin
No.

Connection

Pin

No.

Shield Shield

Shield Shield

Shield Shield

Signal

Connector

Mini universal
Mate-N-Lock
Socket housing
for panel
installation
172169-1
(Tyco
Electronics

MP)

Same as above

Same as above

Tube

symbol

ID No.

Red

White

Red

White

Red

White

Green

Red

White

Red

White

Red

White

Green

Red

White

Red

White

Red

White

Green

Wire

0.3 mm
shield

wire

(2) M cables (inside machine) DWG No. 1068651*

Base end Arm end

Tube

symbol

Connector Signal

Mini universal
Mate-N-Lock plug
housing 172167-1
(Tyco Electronics

MP)

Same as above

Same as above

Mini universal
Mate-N-Lock plug
housing 172165-1
(Tyco Electronics

MP)

Same as above

Pin
No.

Connection

Pin

No.

Signal

Mini univers al
Mate-N-Lock
Socket housing for
panel installation
172159-1
(Tyco Electronics AMP)

Mini univers al
Mate-N-Lock
Socket housing for
panel installation
172157-1
(Tyco Electronics AMP)

Connector

Same as above

Same as above

Same as above

Tube

symbol

ID No.

Wire

Flexible

cable

66

(3) UA, UB cables (outside machine) DWG No. 1069364*

A

2

(

)

Base end Arm end

Tube

symbol

Connector Signal Connection

Pin

No.

Double brazed
relay plug
DF11-14DEP-2C
(Hirose Electric)

Same as above

Pin

No.

Signal

Connector

Double brazed
crimp socket
DF11-14DEP-2C
(Hirose Electric)

Same as above

Tube

symbol

ID No.

Black

White

Wire

7. Specifi cations

0.3 mm
shield

wire

Mini universal
Mate-N-Lock plug
housing 172166-1
(Tyco Electronics

MP)

Bare terminal (Y type)
F0.3-3

Single brazed
crimp socket
DF3-2S-2C

Hirose Electric

Single brazed
crimp socket
DF3-3S-2C
(Hirose Electric)

Green

Red

Black

White
Black

Red

67

Robot Cable Wiring Table

A

(1) PG cables (outside machine) DWG No. 1068656*

Robot end Controller end

Tube

symbol

Connector Signal Connection

Female crimp
connector
HIF3BA-10D-2.5
4C
(Hirose Electric)

Pin
No.

Pin
No.

Signal

Connector

Housing
KEC-15P
(JST)

Contact
JK-SP2140
(JST)

Connector hood
D13A
(for
17HE-23150-C)
(DDK)

Tube

symbol

ID No.

Light gray

1 red

Light gray

1 black

Orange 1

red

Orange 1

black

White 1

red

White 1

black

Yel low 1

red

Yel low 1

black

Wire

7. Specifi cations

(2) M cables (outside machine) DWG No. 1068655*

Robot end Controller end

Tube

symbol

Connector Signal Connection

Mini universal
Mate-N-Lock socket
housing for panel
installation172159-1
(Tyco Electronics

MP)

Pin

No.

Same as above

Same as above

Same as above

Pin

No.

Signal

Connector

Reverse plug
GIC2.5
4-sTF-7.62
(Phoenix)

Same as above

Same as above

Same as above

Tube

symbol

ID No.

Wire

68

(3) UA, UB cables (outside machine) DWG No. 1068657*

ype)

Robot end Controller end

Tube

symbol

Double brazed
crimp socket
DF11-14DS-2C
(Hirose Electric)

Connector Signal Connection

Same as above

Pin

No.

Pin

No.

Signal

Connector

Bare terminal (Y

F0.3-3

t

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
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

Tube

symbol

U1
U2
U3
U4
U5
U6
U7
U8
U9

U10

U11
U12
U13
U14
U15
U16
U17
U18
U19
U20
U21
U22
U23
U24
U25

LED+24V

LEDG24V

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

black

Orange 2

black

Light gray

2 red

Light gray

2 black
White 2

red

White 2

black

Yellow 2

red

Yellow 2

black

Pink 2 red

Pink 2

black

Orange 3

red

Orange 3

black

Light gray

3 red

Light gray

3 black
White 3

red

White 3

black

Yellow 3

red

Green

Wire

7. Specifi cations

69

7. Specifi cations

), flexible cable, UL

2

), oil-resistant cable, UL

2

VW-1, c-UL FT-1

VW-1, c-UL FT-1

AC servo motor,  60, 400 W, key groove, CE certified

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

AC servo motor,  60, 200 W, w/ brake, round shaft, CE certified

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

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

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

AC servo motor,  80, 750 W, key groove, CE certified

AC servo motor,  60, 400 W, key groove, CE certified

AC servo motor,  60, 400 W, w/ brake, round shaft, CE certified

), flexible cable,

2

), oil-resistant cable,

2

UL VW-1, c-UL FT-1

UL VW-1, c-UL FT-1

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

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

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

70

58

Seiki

Tamagawa

E200

E200

E200

E200

TS4609 N2027

TS4607 N2027

TS4607 N7027

TS4606 N7027

1 Axis 1 servo motor

2 Axis 2 servo motor

3 Axis 3 servo motor w/ brake

4 Axis 4 servo motor w/ brake

5 M cable (inside robot) IAI

7.5 230V Circuit Components

No. Code name Model Manufacturer Remarks

IX-NNN50/60

6 M cable (outside robot) IAI

IX-NNN70/80

E200

TS4614 N2027

1 Axis 1 servo motor

No. Code name Model Manufacturer Remarks

TS4609 N2027

Seiki

Tamagawa

E200

E200

E200

TS4609 N7027

TS4607 N2027

2 Axis 2 servo motor

3 Axis 3 servo motor w/ brake

4 Axis 4 servo motor w/ brake

5 M cable (inside robot) IAI

6 M cable (outside robot) IAI

8. Warranty

8.1 Warranty Period

One of the following periods, whichever is shorter:

y 18 months after shipment from our company
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.

71

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

72

Change History

Revision Date Revision Description

April 2011

March 2012

August 2012

Fourth Edition

A page for CE Marking added

Fifth edition

Introduction, Safety Symbols and Safety Precautions are deleted
Pg. 1 to 7
Pg. 8
Pg. 18

Pg. 28

Pg. 50, 52, 54, 56

Pg. 70, 71

Sixth 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

73

Manual No.: ME3620-6A (August 2012)

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

TEL [phone] FAX [phone]

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

Technical Support available in USA, Europe and China

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

TEL [phone] FAX [phone]

Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143

TEL [phone] FAX [phone]

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

TEL [phone] FAX [phone]

website: www.intelligentactuator.com

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

TEL [phone] FAX [phone]

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

TEL [phone] FAX [phone]

website: www.iai-robot.com

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

12.08.000