IAI America IX-NNW3515H User Manual
Horizontal Articulated Robot – IX Series
Tabletop Type, Arm Length 250/350
IX-NNN-2515H, IX-NNN-3515H
Dust-proof/Splash-proof Specification
IX-NNW2515H/IX-NNW3515H
Clean Room Specification
IX-NNC2515H/IX-NNC3515H
Operation Manual Sixth Edition
Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to
ensure safe use of the product.
The CD or DVD that comes with the product co ntains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
• This Operation Manual is original.
• The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI
shall assume no responsibility for the outcome of any operation not specified herein.
• Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
• If you have any question or comment regarding the content of this manual, please contact the IAI
sales office near you.
• Using or copying all or part of this Operation Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.
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
Handling Precaution ................................................................................................................ 9
1. Name of Each Part...........................................................................................................12
1.1 Robot ...........................................................................................................................................12
1.2 Labels ..........................................................................................................................................15
1.3 Label Positions ............................................................................................................................16
2. External Dimensions........................................................................................................ 17
3. Robot Operation Area...................................................................................................... 23
4. Wiring Diagram ................................................................................................................ 25
4.1 Layout Drawing............................................................................................................................25
4.2 Machine Harness Wiring Table....................................................................................................30
4.3 Cable Wiring Table.......................................................................................................................34
4.4 230 V Circuit Components...........................................................................................................38
5. Option .............................................................................................................................. 39
5.1 Absolute Reset Jig.......................................................................................................................39
5.2 Flange..........................................................................................................................................39
5.3 Absolute Data Backup Battery.....................................................................................................39
6. Checking after Unpacking................................................................................................ 40
6.1 Items Included in the Carton........................................................................................................40
6.2 Operation Manuals Relating to This Product...............................................................................41
6.3 How to Read Model Nameplate...................................................................................................41
6.4 How to Read Model Number .......................................................................................................42
7. Specifications................................................................................................................... 43
7.1 IX-NNN2515H/3515H ..................................................................................................................43
7.2 IX-NNW2515H/3515H .................................................................................................................47
7.3 IX-NNC2515H/3515H ..................................................................................................................51
8. Installation Environment and Storage Environment ......................................................... 55
8.1 Installation Environment ..............................................................................................................55
8.1.1 IX-NNN2515H/3515H, IX-NNC2515H/3515H ........................................................................55
8.1.2 IX-NNW2515H/3515H.............................................................................................................55
8.2 Installation Platform .....................................................................................................................57
8.3 Storage/preservation Environment..............................................................................................57
9. How to Install.................................................................................................................... 58
9.1 Installation Posture...................................................................................................................... 58
9.2 Installing the Robot.......................................................................................................................59
10. Connecting the Controller ................................................................................................ 61
11. Checking after Installation................................................................................................ 64
12. Precautions for Use .........................................................................................................65
12.1 Setting the Acceleration/Deceleration .........................................................................................65
12.2 Push Force of the Vertical Axis....................................................................................................67
12.3
12.4 Transferring Load ........................................................................................................................70
12.5 User Wiring and Piping................................................................................................................71
12.6 Suction Rate of Cleanroom Specification IX-NNC2515H/3515H ................................................77
12.7 Air Purge for Dust-proof/Splash-proof Specification IX-NNW2515H/3515H ...............................78
Tools ............................................................................................................................................68
12.5.1 IX-NNN2515H/3515H, IX-NNC2515H/3515H ........................................................................71
12.5.2 IX-NNW2515H/3515H.............................................................................................................74
13. Inspection/Maintenance ................................................................................................... 79
13.1 Inspection/Maintenance...............................................................................................................79
13.1.1 Daily Inspection.......................................................................................................................80
13.1.2 Six-Month Inspection ..............................................................................................................80
13.1.3 Yearly Inspection ....................................................................................................................81
13.2 Battery Replacement ...................................................................................................................81
13.2.1 Preparation .............................................................................................................................81
13.2.2 Replacement Procedure IX-NNN2515H/3515H, IX-NNC2515H/3515H ................................82
12.2.3 Replacement Procedure IX-NNW2515H/3515H ....................................................................83
13.3 Absolute Encoder Reset Method.................................................................................................84
13.3.1 Preparation for Absolute Reset...............................................................................................84
13.3.2 Starting the Absolute Reset Menu ..........................................................................................85
13.3.3 Absolute Reset Procedure for Arm 1 or 2...............................................................................86
13.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis .........................................92
14. Warranty ........................................................................................................................100
14.1 Warranty Period ..........................................................................................................................
14.2 Scope of Warranty.......................................................................................................................
14.3 Honoring the Warranty................................................................................................................
14.4 Limited Liabil ...............................................................................................................................
14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications......
14.6 Other Items Excluded from Warranty..............................................................................................
100
100
100
100
101
101
Change History .....................................................................................................................102
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
1 Model
Operation
Description
Selection
Description
This product has not been planned and designed for the application where
high level of safety is required, so the guarantee of the protection of
human life is impossible. Accordingly, do not use it in any of the following
applications.
1) Medical equipment used to maintain, control or otherwise affect human
life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving part
may drop when the power is turned OFF and may cause an accident such
as an injury or damage on the work piece.
1
No.
Operation
Description
Description
2 Transportation When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the instructions
in the operation manual for each model.
Do not step or sit on the package.
Do not put any heavy thing that can deform the package, on it.
When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Do not get on the load that is hung on a crane.
Do not leave a load hung up with a crane.
Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
Store the products with a consideration not to fall them over or drop due to
an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
Make sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
2
No.
Operation
Description
4 Installation
and Start
Description
(2) Cable Wiring
Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Perform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
When the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is
not correct, it might cause a fire, product breakdown or malfunction.
Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction
of the product.
Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
(3) Grounding
The grounding operation should be performed to prevent an electric shock
or electrostatic charge, enhance the noise-resistance ability and control
the unnecessary electromagnetic radiation.
For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair cable
with wire thickness 0.5mm
2
(AWG20 or equivalent) or more for grounding
work. For security grounding, it is necessary to select an appropriate wire
thickness suitable for the load. Perform wiring that satisfies the
specifications (electrical equipment technical standards).
Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100 or below).
3
No.
4 Installation
Operation
Description
and Start
Description
(4) Safety Measures
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’s movable range. When the
robot under operation is touched, it may result in death or serious injury.
Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an
injury or damage to the product.
Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power
input.
When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
Take the measure so that the work part is not dropped in power failure or
emergency stop.
Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Do not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
4
No.
Operation
Description
Description
6 Trial Operation When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Check before starting the automatic operation or rebooting after operation
stop that there is nobody in the safety protection fence.
Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm
indication.
Make sure to operate automatic operation start from outside of the safety
protection fence.
In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn
OFF the power switch. Failure to do so may result in a fire or damage to
the product.
When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.
5
No.
8 Maintenance
Operation
Description
and Inspection
Description
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Perform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see.
For the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
Pay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing so
may affect the performance of your medical device.
See Overseas Specifications Compliance Manual to check whether
complies if necessary.
For the handling of actuators and controllers, follow the dedicated
operation manual of each unit to ensure the safety.
6
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the operation Manual for each model.
Level Degree of Danger and Damage Symbol
Danger
Warning
Caution
Notice
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, may result in minor injury or property
damage.
This indicates lower possibility for the injury, but should be kept to
use this product properly.
Danger
Warning
Caution
Notice
7
8
Handling Precaution
1. Positioning Repeatability Does Not
Change Even If the Positioning Band is
Changed.
Positioning repeatability does not change ev
If the positioning band is narrower than the default value, the positioning repeatability does not change, but the
time it takes for the positioning complete signal to be output takes longer. The execution of next operation
instruction (e.g., MOVP, MOVL) is delayed and, as a result, the tact time of the entire cycle may be delayed.
en if the positioning band is changed.
2. Make sure to attach the Horizontal Articulated Robot properly by following
this operation manual.
Using the product with the Horizontal Articulated Robot not being certainly retained or affixed may cause
abnormal noise, vibration, malfunction or shorten the product life.
3. Handling of the Carton
Each robot is packed with a controller prior to shipment.
When transporting the carton containing the robot and controller, observe the following items and be careful not
to drop the carton or apply impact due to forcible contact:
• If the carton is heavy, one operator should not attempt to carry it alone.
• Place the carton on a level surface if it is to be left there for a while.
• Do not climb upon the carton.
• Do not place on the carton any heavy object that may cause the carton to deform, or an article whose shape
allows a work part to be concentrated at one point.
[Carton]
Robot
Controller, accessories and
other items (except for the robot)
Arm fixing plate
9
CautionWarning
• The robot and controller are very heavy. When transporting the carton containing the robot and controller,
handle it with extra care so as not to drop the carton or apply impact due to forcible contact, as it may cause
injury or damage to the robot or controller.
• Serious injury may result if the carton is dropped onto a person during transportation.
• Never stand below the carton as it is hoisted.
• Use a carrier device with sufficient loading capacity.
• If a machine or method is used that requires specified skills, it must be operated/performed by a person
having the proper qualifications.
4. Handling of Individual Components
The robot and controller are supplied as a set.
Your robot cannot be used with the controller supplied with another robot.
When handling multiple robots, confirm that the serial number on the robot is the same as the serial number on
the controller and 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.
10
5. Transportation
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 so that it maintains its balance. Also, safeguard the robot against vibration or impact.
When a crane is used, install the supplied eyebolts on the robot for the pass-through of ropes. Install the
eyebolts following removal of the top cover.
Hoisting hook with lock
Cross-recessed countersunk
head screw, M3 x 8
String, rope, etc.
Eyebolt (supplied)
Top cover
Fix with a tie wrap.
HexboltM4x10
Cables
(Wrap around the base.)
WarningDanger
• 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.
• 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.
• Serious injury may result if a person is caught under a fallen robot during transportation.
• Never stand below the robot as it is hoisted.
• Use a hoist and ropes that can comfortably support the weight of the robot.
• If a machine or method is used that requires specified skills, it must be operated/performed by a person
having the proper qualifications.
11
1. Name of Each Part
1.1 Robot
IX-NNN2515H/3515H
4 user piping
(black, red, white;
3 locations)
1. Name of Each Part
User connector
Spacer for user
part installation
BK SW (Brake- release switch)
Mechanical
stopper for axis
3 (vertical axis)
Ball screw
spline shaft
Cover (arm 2)
ALM (indicator)
Reference
surface
Top cover (arm 1)
Mechanical stopper for arm 1
Mechanical stopper for arm 2
Wiring duct
M cable (outside robot)
End cover (arm 1)
Air tubes
(4: 3 pcs.)
Mechanical
stopper for axis
3 (vertical axis)
12
Arm 2
Arm 1
Front panel (base)
Reference
surface
Rear panel
(base)
Base
T-slot for peripheral
installation
(M3, M4)
U cable
(outside robot)
PG cable
(outside robot)
BK power cable
(outside robot)
X-NNW2515H/3515H
ALM (indicator)
Spacer for user part
installation
User connector
4 user piping
(black, red, white; 3
locations)
BK SW
(Brake- release switch)
Mechanical stopper for
axis 3 (vertical axis)
<Inside dust cover>
Ball screw spline shaft
<Inside dust cover>
Axis 3
(vertical axis)
Cover (arm 2)
Mechanical stopper for
axis 3 (vertical axis)
<Inside bellows>
Axis 4
(R-axis)
Arm 2
Reference
surface
Duct cover
Axis 2
Axis 1
Top cover (arm 1)
Mechanical stopper for arm 1
3
Mechanical stopper for arm 2
Wiring duct
End cover (arm 1)
Rear panel
(base)
Base
T-slot for peripheral
installation (M3, M4)
1. Name of Each Part
Purge air inlet: Outer
diameter 6
(Inner diameter 8)
Applicable tube: Outer
diameter 12
(Inner diameter 8)
Arm 1
Front panel (base)
Reference surface
13
IX-NNC2515H/3515H
4 user piping
(black, red, white; 3 locations)
1. Name of Each Part
User connector
Spacer for user part installation
Mechanical stopper for
axis 3 (vertical axis)
<Inside bellows>
Ball screw spline shaft
<Inside bellows>
(vertical axis)
Cover (arm 2)
ALM (indicator)
Axis 4
(R-axis)
Panel
Axis 3
Reference
surface
Bellows
Panel
Top cover (arm 1)
BK SW
(Brake-release switch)
Mechanical stopper for arm 2
Mechanical stopper for arm 1
Wiring duct
End cover (arm 1)
Mechanical stopper for
axis 3 (vertical axis)
<Inside bellows>
Front panel (base)
Reference surface
Arm 2
Arm 1
Axis 2
Axis 1
Rear panel
(base)
Base
Applicable tube: Outer
diameter 12
(Inner diameter 8)
T-slot for peripheral
installation (M3, M4)
14
1.2 Labels
The following labels are attached on the robot and controller. Be sure to observe the instructions and cautions
written on the labels to ensure the correct use of the robot/controller.
(1) Labels on the Robot
Prohibition of entry into
the operation area
Robot serial number
(2) Labels on the Controller
Warning on handling of
the vertical axis
CE-certified robot
(Provided only for CE-certified models)
Warning against
electric shock
1. Name of Each Part
Caution/warning on
handling of the controller
Controller serial number
(Other than CE-certified models)
WarningDanger
Failure to observe the cautionary information provided on the labels may result in serious injury or damage
to the robot.
Designation of the connected robot
Controller serial number
(CE-certified models)
Caution
15
1.3 Label Positions
Label Positions on the Robot
Warning on handling
of the vertical axis
1. Name of Each Part
Robot serial number
View A
CE-certified robot
(Provided only for
CE-certified models)
Label Positions on the Controller
Controller serial number
Other than CE-certified models
CE-certified models
Caution/warning on handling
of the controller
A
Designation of the
connected robot
Warning against
electric shock
16
2. External Dimensions
r
IX-NNN2515H (Arm Length 250, Standard Specification)
4 quick ai
(black, red, white; 3 locations)
User connector
(D-sub 15-pin connector)
BK SW
(Brake-release switch)
-tube joint
ALM (indicator)
4 (Mechanical end)
Reference
surface
Arm 2 stopper
Tapped hole for
peripheral installation
(4-M4, depth 12)
Same on opposite
surface
Arm 1 stopper
4-9
16, counterbore depth 0.5
2. External Dimensions
T-slot for peripheral
installation (M3, M4)
(Mechanical end)
Reference
surface
*1: External force applied to the spacers must not
exceed 30 N in the axial direction or 2 Nm in the
rotating direction (for each spacer).
*2: The LED operates only when the user provides a
circuit that receives controller I/O output signal and
supplies 24 VDC to the LED terminal in the user
connector.
11 (inner diameter)
Detailed view of arm end
17
IX-NNN3515H (Arm Length 350, Standard Specification)
4 quick air-tube joint
(black, red, white; 3 locations)
User connector
(D-sub 15-pin connector)
BK SW
(Brake-release switch)
2. External Dimensions
4 (Mechanical end)
ALM (indicator)
Arm 2 stopper
Reference surface
Tapped hole for peripheral
installation (4-M4, depth 12)
Same on opposite surface
Arm 1 stopper
4-9
16, counterbore depth 0.5
4 (Mechanical end)
Reference surface
11 (inner diameter)
Detailed view of arm end
T-slot for peripheral
installation (M3, M4)
*1: External force applied to the spacers must not
exceed 30 N in the axial direction or 2 Nm in the
rotating direction (for each spacer).
*2: The LED operates only when the user provides a
circuit that receives controller I/O output signal and
supplies 24 VDC to the LED terminal in the user
connector.
18
IX-NNW2515H (Arm Length 250, Dust-proof/Splash-proof Specification)
(
)
ALM (indicator)
User connector
4 quick air-tube joint
(black, red, white; 3 locations)
BK SW (Brake-release switch)
Arm 2 stopper
249.5
Reference
surface
(424.5)
92.5
55 130
15
155
185
2-8H10
Arm 1 stopper
001
041
061
4-9
16, counterbore depth 0.5
2. External Dimensions
Tapped hole for peripheral
installation
Same on opposite surface
*1: External force applied to the spacers must not
exceed 30 N in the axial direction or 2 Nm in the
rotating direction (for each spacer).
*2: The LED operates only when the user provides a
circuit that receives controller I/O output signal and
supplies 24 VDC to the LED terminal in the user
connector.
03
4-M4, depth 12
51
8 01
11 (inner diameter)
16h7(
0
-0.018
)
35
Detailed view of arm end
732
727
8
12
5.601051TS5.2 012
16
4 (Mechanical end)
T-slot for peripheral
installation (M3, M4)
5106
)5.861(
30
50
125
125
Reference
surface
120
Air supply port for air purge
)5.896(
602 47 052
External diameter 6
(Internal diameter 4)
BK SW
ALM (Red LED)
(Brake-release switch)
4(black)
quick joint
21
Spacer for user part installation
Height 10, M4, depth 5
57
User connector
(15-pin connector)
4(white)
quick joint
21
4(red)
quick joint
Detailed view of panel
19
IX-NNW3515H (Arm Length 350, Dust-proof/Splash-proof Specification)
(
)
(
)
2. External Dimensions
Tapped hole for peripheral
installation
Same on opposite surface
*1: External force applied to the spacers
must not exceed 30 N in the axial
direction or 2 Nm in the rotating
direction (for each spacer).
*2: The LED operates only when the user
provides a circuit that receives
controller I/O output signal and
supplies 24 VDC to the LED terminal
in the user connector.
User connector
4 quick air-tube joint
black, red, white; 3 locations
BK SW (Brake-release switch)
4-M4, depth 12
727
ALM (Alarm indicator
Arm 2 stopper
732
0125.2 051TS 5.601 12
50
8
16
)
249.5
30
125
Reference surface
3
(524.5)
225
Reference surface
55 130
15
92.5
155
185
2- 8H10
Arm 1 stopper
001
4-9
16, counterbore depth 0.5
041
061
)5.861(
052
)5.896(
602 47
4 (Mechanical end)
120
Air supply port for air purge
External diameter 6
(Internal diameter 4)
BK SW
(Brake-release switch)
4(black)
quick joint
4(bwhite)
quick joint
21
4(red)
quick joint
018
03
11 (inner diameter)
16h7(
0
-0.018
35
Detailed view of arm end
51
)
T-slot for peripheral
installation (M3, M4)
06 51
ALM (Red LED)
21
Spacer for user part
Height 10, M4, depth 5
installation
57
User connector
(15-pin connector)
Detailed view of panel
20
IX-NNC2515H (Arm Length 250, Clean Room Specification)
4 quick air-tube joint
(black, red, white; 3 locations)
User connector
(D-sub 15-pin connector)
BK SW (Brake-release switch)
Tapped hole for peripheral
installation (4-MA, depth 12)
Same on opposite surface
ALM (indicator)
Arm 2 stopper
4 (Mechanical end)
249.5
Reference
surface
15
(424.5)
92.5
55 130
155
185
8H10
Arm 1 stopper
001
041
061
4-
9
16, counterbore depth 0.5
)071(
2. External Dimensions
03
8 01
11 (inner diameter)
16h7 (
35
Detailed view of arm end
617
0
-0.018
30
50
)007(
8
12
5.601051TS5.2 012 622
16
Reference
surface
125
Applicable tube: Outer
diameter 12
(Inner diameter 8)
125
4 (Mechanical end)
51
T-slot for peripheral
installation (M3, M4)
)
602 47 052
120
21
06 51
21
IX-NNC3515H (Arm Length 350, Clean Room Specification)
2. External Dimensions
Tapped hole for peripheral
installation (4-MA, depth 12)
Same on opposite surface
4 quick air-tube joint
(black, red, white; 3 locations)
User connector
(D-sub 15-pin connector)
BK SW (Brake-release switch)
4 (Mechanical end)
6220125.2 051TS 5.601 12
617
ALM (indicator)
Arm 2 stopper
249.5
30
50
Arm 2 stopper
Reference
surface
(524.5)
92.5
55 130
15
155
185
2- 8H10
Arm 1 stopper
001
4-9
16, counterbore depth 0.5
041
061
)071(
052
)007(
03
8 01
11 (inner diameter)
16h7(
35
Detailed view of arm end
0
-0.018
8
16
4 (Mechanical end)
125
225
Reference
surface
602 47
120
Applicable tube: Outer
diameter 12
51
(Inner diameter 8)
T-slot for peripheral
installation (M3, M4)
)
21
06 51
22
3. Robot Operation Area
IX-NNN2515H (Arm Length 250, Standard Specification)
1
1
3
0
0
3
0
0
2
2
1
1
7
7
3
3
.
.
1
1
3
1
1
R
R
2
2
5
5
0
0
5
5
2
2
1
1
R
R
160
160
3
0
0
7
7
5.
5.
0
0
1
1
R
R
R
R
1
1
2
2
Area of prohibited entry Area of prohibited entry
1
1
2
2
0
0
5
5
1
1
.
.
73
73
5
5
2
2
1
1
3. Robot Operation Area
1
1
1
3
3
9
5
5
.
.
139
139
R
R
1
1
7
7
.
.
5
5
R
R
2
2
5
5
0
0
5
5
2
2
1
1
R
R
6
6
5
5
.
.
3
3
160
160
9
.
.
5
5
5
5
.
.
6
6
8
8
R
R
R
R
1
1
2
2
5
5
1
2
2
5
5
3
3
.
.
5
5
6
6
Movement range
IX-NNN3515H (Arm Length 350, Standard Specification)
1
160
160
1
3
3
5
5
1
1
2
2
0
0
7
7
.
.
2
2
6
6
1
1
R
R
5
5
2
2
1
1
R
R
5
5
3
3
1
1
0
0
2
2
1
1
R
R
3
3
5
5
0
0
R
R
1
1
2
2
5
5
126.8 126.8
126.8 126.8
Area of prohibited entry Area of prohibited entry
Movement range
Mechanical stopper position
5
5
.
.
9
9
3
3
1
1
5
5
2
2
1
1
R
R
3
3
5
5
0
0
R
R
1
1
2
2
5
5
111.6
111.6
160
160
Mechanical stopper position
1
1
3
3
9
9
.
.
5
5
1
1
2
2
5
5
2
2
.
.
3
3
5
5
1
1
R
R
5
5
2
2
1
1
R
R
111.6
111.6
23
3. Robot Operation Area
IX-NNW2515H (Arm Length 250, Dust-proof/Splash-proof Specification), IX-NNC2515H (Arm Length 250, Clean
Room Specification)
Area of prohibited entry Area of prohibited entry
Movement range
Mechanical stopper position
IX-NNW3515H (Arm Length 350, Dust-proof/Splash-proof Specification), IX-NNC3515H (Arm Length 350, Clean
Room Specification)
Area of prohibited entry Area of prohibited entry
24
Movement range
Mechanical stopper position
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