IAI America IX-NSN6016H User Manual

Horizontal Articulated Robot – IX Series

Tabletop Specification, for Arm Length 500/600/700/800 IX-NNN-50

Dust-proof/Splash-proof Specification IX-NNW-50 H/60 H/70 H/80 H

Clean room Specification IX-NNC-50

High-speed Specification, for Arm Length 500/600 IX-NSN5016H/IX-NSN6016H

H/60 H/70 H/80 H

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 contains operation manuals for IAI products. When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC.

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

[Important]

• This Operation Manual is original.

• The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall

assume no responsibility for the outcome of any operation not specified herein.

• Information contained in this Operation Manual is subject to change without notice for the purpose of product improvement.

• If you have any question or comment regarding the content of this manual, please contact the IAI sales office near you.

• Using or copying all or part of this Operation Manual without permission is prohibited.

• The company names, names of products and trademarks of each company shown in the sentences are

registered trademarks.

CE Marking

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

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

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

6 Trial Operation  When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

 After the teaching or programming operation, perform the check operation

one step by one step and then shift to the automatic operation.

 When the check operation is to be performed inside the safety protection

fence, perform the check operation using the previously specified work procedure like the teaching operation.

 Make sure to perform the programmed operation check at the safety

speed. Failure to do so may result in an accident due to unexpected motion caused by a program error, etc.

 Do not touch the terminal block or any of the various setting switches in

the power ON mode. Failure to do so may result in an electric shock or malfunction.

7 Automatic

Operation

 Check before starting the automatic operation or rebooting after operation

stop that there is nobody in the safety protection fence.

 Before starting automatic operation, make sure that all peripheral

equipment is in an automatic-operation-ready state and there is no alarm indication.

 Make sure to operate automatic operation start from outside of the safety

protection fence.

 In the case that there is any abnormal heating, smoke, offensive smell, or

abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.

 When a power failure occurs, turn OFF the power switch. Failure to do so

may cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.

5

No.

8 Maintenance

Operation

Description

and Inspection

Description

 When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

 Perform the work out of the safety protection fence, if possible. In the case

that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

 When the work is to be performed inside the safety protection fence,

basically turn OFF the power switch.

 When the operation is to be performed inside the safety protection fence,

the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

 When the operation is to be performed inside the safety protection fence,

in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.

 Place a sign “Under Operation” at the position easy to see.  For the grease for the guide or ball screw, use appropriate grease

according to the Operation Manual for each model.

 Do not perform the dielectric strength test. Failure to do so may result in a

damage to the product.

 When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

 The slider or rod may get misaligned OFF the stop position if the servo is

turned OFF. Be careful not to get injured or damaged due to an unnecessary operation.

 Pay attention not to lose the cover or untightened screws, and make sure

to put the product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury.

* Safety protection Fence : In the case that there is no safety protection

fence, the movable range should be indicated.

9 Modification

and Dismantle

 Do not modify, disassemble, assemble or use of maintenance parts not

specified based at your own discretion.

10 Disposal  When the product becomes no longer usable or necessary, dispose of it

properly as an industrial waste.

 When removing the actuator for disposal, pay attention to drop of

components when detaching screws.

 Do not put the product in a fire when disposing of it.

The product may burst or generate toxic gases.

11 Other  Do not come close to the product or the harnesses if you are a person

who requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.

 See Overseas Specifications Compliance Manual to check whether

complies if necessary.

 For the handling of actuators and controllers, follow the dedicated

operation manual of each unit to ensure the safety.

6

Alert Indication

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

Level Degree of Danger and Damage Symbol

Danger

Warning

Caution

Notice

This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.

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

Danger

Warning

Caution

Notice

7

Handling Precaution

1. Positioning Repeatability Does Not Change Even If the Positioning Band is Changed.

Positioning repeatability does not change even if the positioning band is changed. If the positioning band is narrower than the default value, the positioning repeatability does not change, but the time it takes for the positioning complete signal to be output takes longer. The execution of next operation instruction (e.g., MOVP, MOVL) is delayed and, as a result, the tact time of the entire cycle may be delayed.

Make sure to attach the Horizontal Articulated Robot properly by following

2. 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 load to be concentrated at one point.

[Carton]

8

Robot

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

Arm fixing plate

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, check that the serial number printed on each of the robot main bodies and the serial number of the corresponding controller are the same and take caution not to switch the controllers.

The robot will not stand on its own after being unloaded from the carton pallet. Hold it by hand, or place a cushioning material on the floor and place the robot on its side upon the cushion.

9

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 by maintaining balance and safeguarding against vibration or impact.

When a crane is used, install the supplied eyebolts on the robot for the pass-through of ropes. Install the eyebolts following removal of the top cover.

Hoisting hook with lock

Cross-recessed countersunk head screw, M3 x 8

Fix with a tie wrap.

Hex bolt

M4 x 8: Arm Length 500/600 M5 x 10: Arm Length 700/800

Eyebolt

(supplied)

String, rope, etc.

45

45° or more

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.

10

1. Name of Each Part

(

)

1.1 Robot

IX-NNN50H/60H/70H/80H

1. Name of Each Part

Spacer for user part installation

Brake- release switch

Mechanical stopper for axis 3 (vertical axis)

Ball screw spline shaft

(vertical axis)

Cover (arm 2)

User Connector

ALM (indicator)

BK SW

Axis 3

User piping 4, black

User piping 6, yellow

User piping 4, white

Axis 4 (rotational axis)

Panel

Axis 2

User piping

6 red

Top cover (arm 1)

Wiring duct

Mechanical

stopper for arm 2

Axis 1

Mechanical stopper for arm 1, arm 2

Mechanical stopper for axis 3 (vertical axis)

End cover (arm 1)

Arm 2

Arm 1

Cover (base)

Base

Reference

surface

M cable (outside robot) PG cable (outside robot) U cable (outside robot) Airtube (4: 2pcs. 6: 2pcs.) BK power cable

11

IX-NSN5016H/6016H

(

)

Spacer for user

1. Name of Each Part

part installation

Brake- release switch

Mechanical stopper for axis 3 (vertical axis)

Ball screw spline shaft

Cover (arm 2)

BK SW

Axis 3

(vertical axis)

User Connector

ALM (indicator)

Axis 4 (rotational axis)

User piping 4, black

User piping 6 red

User piping 6, yellow

User piping 4, white

Panel

Axis 2

Top cover (arm 1)

Wiring duct

Mechanical

stopper for arm 2

Axis 1

Mechanical stopper for arm 1, arm 2

Mechanical stopper for axis 3 (vertical axis)

Arm 2

End cover (arm 1)

Arm 1

Cover (base)

Base

Reference

surface

M cable (outside robot) PG cable (outside robot) BK power cable U cable (outside robot) Airtube (4: 2pcs. 6: 2pcs.)

12

IX-NNW50H/60H/70H/80H

(

)

(

)

User Connector

ALM (indicator)

Spacer for user part installation

BK SW

Brake- release switch

Axis 4 (rotational axis)

Axis 3

(vertical axis)

Cover

arm 2

User piping 4, black

User piping 6 red

User piping 6, yellow

User piping 4, white

Dust cover

Axis 2

Mechanical stopper for arm 1

Axis 1

1. Name of Each Part

Suction joint

Exhaust/intake port

Top cover (arm 1)

Wiring duct

Mechanical stopper for arm 1, arm 2

Bellows

Ball screw spline shaft

Arm 2

End cover (arm 1)

Arm 1

Base

Reference

surface

Cover (base)

Exhaust/intake port

M cable (outside robot) PG cable (outside robot) U cable (outside robot) BK power cable Airtube (4: 2pcs. 6: 2pcs.)

Air supply port for air purge External diameter 6 (internal diameter 4)

13

IX-NNC50H/60H/70H/80H

(

)

(

)

Spacer for user part installation

1. Name of Each Part

Brake- release switch

Bellows

Axis 3

(vertical axis)

Cover

arm 2

User Connector

ALM (indicator)

BK SW

Axis 4 (rotational axis)

Panel

User piping 4, black

User piping 6 red

User piping 6, yellow

User piping 4, white

Axis 2

Mechanical stopper for arm 2

Axis 1

Suction joint

Top cover (arm 1)

Wiring duct

Mechanical stopper for arm 1, arm 2

Bellows

Ball screw spline shaft

End cover (arm 1)

14

Arm 2

Arm 1

Cover (base)

Base

Reference

surface

M cable (outside robot) PG cable (outside robot) U cable (outside robot) BK power cable (outside robot) Airtube (4: 2pcs. 6: 2pcs.)

1.2 Labels

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

(1) Labels on the Robot

Prohibition of entry into

the operation area

Robot model nameplate

Warning on handling of

the vertical axis

CE-certified robot

(Provided only for CE-certified models)

Warning against

electric shock

1. Name of Each Part

(2) Labels on the Controller

Caution/warning on

handling of the controller

CE-certified controller model number

(Other than CE-certified models)

WarningDanger

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

to the robot.

Designation of the connected robot

CE-certified controller model number

(CE-certified models)

Caution

15

1.3 Label Positions

Label Positions on the Robot

1. Name of Each Part

Robot model nameplate

Prohibition of entry into the operation area

View A

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

Warning on handling of the vertical axis

Warning against electric shock

Label Positions on the Controller

CE-certified controller model number

Other than CE-certified models

CE-certified models

Caution/warning on handling of the controller

Designation of the connected robot

16

2. External Dimensions

IX-NNN50H

(Mechanical end)

Arm 2 stopper

Arm 1, arm2 stopper

4-11 24, counterbore depth 5

2. External Dimensions

Reference surface

Quick joint for 6 air tube

Quick joint for 4 air tube

User connector (D-sub connector for user wiring) (25-pin, socket, fastener size M2.6)

ALM (Note 3)

BK SW (Brake-release switch)

Spacer outer diameter 7 Height 10, M4, depth 5 (Note 2)

146

112

Red

Yellow

White

Black

Detail view of panel (1/2)

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

(Mechanical end)

Reference surface

44

Section A-A

Note 1: The holes denoted by "2-M4, depth 8" are through

holes connecting both sides of the arm. Take note that long mounting screws may contact the internal mechanism parts.

14 hollow



Detail view of arm end

Note 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).

Note 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.

17

IX-NNN60H

2. External Dimensions

146

Arm 2 stopper

4-11 24, counterbore depth 5

(Mechanical end)

Arm 1, arm2 stopper

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

Reference surface

Detail view of arm end (1/2)

112

44

14 hollow



(Mechanical end)

Quick joint for 6 air tube

Quick joint for 4 air tube

User connector (D-sub connector for user wiring) (25-pin, socket, fastener size M2.6)

ALM (Note 3)

BK SW (Brake-release switch)

Spacer outer diameter 7 Height 10, M4, depth 5 (Note 2)

Red

Yellow

Black

White

Detail view of panel (1/2)

Reference surface

Note 1: The holes denoted by "2-M4, depth 8" are through

holes connecting both sides of the arm. Take note that long mounting screws may contact the internal mechanism parts.

Note 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).

Note 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.

18

IX-NNN70H

2. External Dimensions

Arm 2 stopper

4-14 bore 30 counterbored, depth 5

(Mechanical end)

Arm 1, arm 2 stopper

(188)

(144)

Reference surface

18 hollow



Detail view of arm end (1/2)

Section A-A

(Mechanical end)

Quick joint for 6 air tube

Quick joint for 4 air tube

User connector (D-sub connector for user wiring) (25-pin, socket, fastener size M2.6)

ALM (Note 3)

BK SW (Brake-release switch)

Spacer outer diameter 7 Height 10, M4, depth 5 (Note 2)

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

Red

Yellow

Black

White

Detail view of panel (1/2)

Reference surface

Note 1: The prepared holes denoted by “3-M4, depth

8” are through holes connecting both sides of the arm.

Note 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).

Note 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.

19

IX-NNN80H

2. External Dimensions

(188)

Arm 2 stopper

4-14 bore 30 counterbored, depth 5

(Mechanical end) (Mechanical end)

Arm 1, arm 2 stopper

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

(144)

Reference surface

18 hollow



Detail view of arm end (1/2)

Section A-A

Quick joint for 6 air tube

Quick joint for 4 air tube

User connector (D-sub connector for user wiring) (25-pin, socket, fastener size M2.6)

ALM (Note 3)

BK SW (Brake-release switch)

Spacer outer diameter 7 Height 10, M4, depth 5 (Note 2)

Red

Yellow

Black

White

Detail view of panel (1/2)

Reference surface

Note 1: The prepared holes denoted by “3-M4, depth

8” are through holes connecting both sides of the arm.

Note 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).

Note 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.

20

IX-NSN5016H

146

Arm 2 stopper

4-11 24, counterbore depth 5

(Mechanical end)

Arm 1, arm2 stopper

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

2. External Dimensions

Reference surface

Quick joint for 6 air tube

Quick joint for 4 air tube

User connector (D-sub connector for user wiring) (25-pin, socket, fastener size M2.6)

ALM (Note 3)

BK SW (Brake-release switch)

Spacer outer diameter 7 Height 10, M4, depth 5 (Note 2)

112

Red

Yellow

Black

White

Detail view of panel (1/2)

(Mechanical end)

35

11 (hollow)

Detail view of arm end (1/2)

Reference surface

Section A-A

Note 1: The holes denoted by "3-M4, depth 8" are through

holes connecting both sides of the arm. Take note that long mounting screws may contact the internal mechanism parts.

Note 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).

Note 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

21

IX-NSN6016H

2. External Dimensions

Arm 2 stopper

4-11 24, counterbore depth 5

(Mechanical end)

Arm 1, arm2 stopper

Reference surface

146

112

35

11 (hollow)



Detail view of arm end (1/2)

(Mechanical end)

Quick joint for 6 air tube

Quick joint for 4 air tube

User connector (D-sub connector for user wiring) (25-pin, socket, fastener size M2.6)

ALM (Note 3)

BK SW (Brake-release switch)

Spacer outer diameter 7 Height 10, M4, depth 5 (Note 2)

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

Red

Yellow

Black

White

Detail view of panel (1/2)

Reference surface

Note 1: The holes denoted by "3-M4, depth 8" are through

holes connecting both sides of the arm. Take note that long mounting screws may contact the internal mechanism parts.

Note 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).

Note 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.

22

IX-NNW50H

4-11 24, counterbore depth 5

Air supply port for air purge: Outer diameter 6 (inner diameter 4)

2. External Dimensions

(Mechanical end)

Note 1: 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).

Note 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.

Note 3: Insert a tube of 12 in outer

diameter into the intake/exhaust port and extend the tube to a place not exposed to water.

Reference surface

Quick joint for 6 air tube

Quick joint for 4 air tube

ALM (Note 2)

Spacer outer diameter 7 Height 10, M4, depth 5 (Note 1)

BK SW (Brake-release switch)

Red

Black

Yellow

White

Detail view of panel

Intake/exhaust port (Note 3)

User connector (user wiring connector, 23 pins)

Section A-A

14 hollow

Detail view of arm end

23

IX-NNW60H

2. External Dimensions

4-11 24, counterbore depth 5

(Mechanical end)

Note 1: 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).

Note 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.

Note 3: Insert a tube of 12 in outer diameter

into the intake/exhaust port and extend the tube to a place not exposed to water.

BK SW (Brake-release switch)

Quick joint for 6 air tube

Quick joint for 4 air tube

ALM (Note 2)

Spacer outer diameter 7 Height 10, M4, depth 5 (Note 1)

Detail View of Panel

Reference surface

Red

Black

User connector (user wiring connector, 23 pins)

44

Yellow

White

Intake/exhaust port (Note 3)

Detail View of End

Section A-A

14 hollow

Air supply port for air purge: Outer diameter 6 (inner diameter 4)

24

IX-NNW70H

A

r

Reference surface

ir supply port for air purge: (Note 4)

Arm 2 stopper

(Mechanical end)

3-M4, depth 8 (same on opposite side) Sealed by a setscrew. (Note 1)

Applicable tube: Outer diameter 6 (inner diameter 4)

4-14, bored 30, counterbored, depth 5

2. External Dimensions

Note 1: The prepared holes denoted by “3-M4,

depth 8” are through holes connecting both sides of the

Note 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).

Note 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.

Note 4: The attaching direction of the air

supply port can be reversed (by removing the PT3/8 plug and attaching the joint instead).

(Mechanical end)

Quick joint for 6 air tube

Quick joint for

User connecto Waterproof connector, 24 pins (24 pins include a shield terminal.)

4 air tube

ALM (Note 3)

BK SW (Brake-release switch)

Spacer outer diameter 7 Height 10, M4, depth 5 (Note 2)

Reference surface

Red

Black

Detail view of panel (1/2)

Yellow

White

PT3/8 Plug

18 hollow

Detail View of

Section A-A

Detail view of arm end (1/2)

25

IX-NNW80H

A

r

2. External Dimensions

(Mechanical end)

ir supply port for air purge: (Note 4)

Arm 2 stopper

3-M4, depth 8 (same on opposite side) Sealed by a setscrew. (Note 1)

Applicable tube: Outer diameter 6 (inner diameter 4)

4-14, bored 30, counterbored, depth 5

(Mechanical end)

Note 1: The prepared holes denoted by “3-M4,

depth 8” are through holes connecting both sides of the

Note 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).

Note 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.

Note 4: The attaching direction of the air supply

port can be reversed (by removing the PT3/8 plug and attaching the joint instead).

26

Reference surface

Quick joint for 6 air tube

Quick joint for

User connecto Waterproof connector, 24 pins (24 pins include a shield terminal.)

4 air tube

ALM (Note 3)

BK SW (Brake-release switch)

Spacer outer diameter 7 Height 10, M4, depth 5 (Note 1)

PT3/8 Plug

Red

Black

Detail view of panel (1/2)

Yellow

White

Reference surface

18 hollow

Detail view of arm end (1/2)

Detail View of

Section A-A

IX-NNC50H

A

2. External Dimensions

4-11 24, counterbore depth 5

(Mechanical end)

Section A-A

14 hollow



(Mechanical end)

BK SW (Brake-release switch)

Reference surface

Quick joint for 6 air tube

Quick joint for 4 air tube

User connector (D-sub connector for user wiring) (25-pin, socket, fastener size M2.6)

ALM (Note 3)

Spacer outer diameter 7 Height 10, M4, depth 5 (Note 2)

Red

Black

Yellow

White

Detail view of panel (1/2)

ir joint (same on opposite side) (Note 4)

pplicable tube: Outer diameter 12 (inner diameter 8)

Note 1: The holes denoted by "2-M4, depth 8" are through

holes connecting both sides of the arm.Take note that long mounting screws may contact the internal mechanism parts.

Note 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).

Note 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.

Note 4: The attaching direction of the joint can be reversed (by

removing the PT3/8 plug and attaching the joint instead).

27

IX-NNC60H

A

2. External Dimensions

4-11 24, counterbore depth 5

(Mechanical end)

Section A-A

14 hollow



(Mechanical end)

Quick joint for 6 air tube

Quick joint for 4 air tube

User connector (D-sub connector for user wiring) (25-pin, socket, fastener size M2.6)

ALM (Note 3)

BK SW (Brake-release switch)

Spacer outer diameter 7 Height 10, M4, depth 5 (Note 2)

Reference surface

Red

Yellow

Black

White

Detail view of panel (1/2)

ir joint (same

on opposite side)

pplicable tube: Outer diameter

12 (inner diameter 8)

Note 1: The holes denoted by "2-M4, depth 8" are through

holes connecting both sides of the arm. Take note that long mounting screws may contact the internal mechanism parts.

Note 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).

Note 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.

28

IX-NNC70H

A

ir joint (Note 4)

pplicable tube: Outer diameter

12 (inner diameter 8)

2. External Dimensions

Arm 2 stopper

4-14, bored 30 counterbored, depth 5

(Mechanical end)

Arm 1, arm2 stopper

3-M4, depth 8 (same on opposite side) Sealed by a setscrew (Note 1).

18 hollow



PT 3/8 Plug

(Mechanical end)

Reference surface

Quick joint for 6 air tube

Quick joint for

Section A-A

4 air tube

User connector (D-sub connector for user wiring) (25-pin, socket, fastener size M2.6)

ALM (Note 3)

BK SW (Brake-release switch)

Red

Black

Yellow

White

Note 1: The prepared holes denoted by “3-M4, depth 8” are

through holes connecting both sides of the arm.

Note 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).

Spacer outer diameter 7 Height 10, M4, depth 5 (Note 2)

Detail view of panel (1/2)

Note 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.

29

IX-NNC80H

A

2. External Dimensions

ir joint

(Note 4)

pplicable tube: Outer diameter

12 (inner diameter 8)

Arm 2 stopper

4-14, bored 30 counterbored, depth 5

(Mechanical end)

Arm 1, arm2 stopper

3-M4, depth 8 (same on opposite side) Sealed by a setscrew (Note 1).



18 hollow

PT 3/8 Plug

(Mechanical end)

Reference surface

Quick joint for 6 air tube

Quick joint for

Section A-A

4 air tube

User connector (D-sub connector for user wiring) (25-pin, socket, fastener size M2.6)

ALM (Note 3)

BK SW (Brake-release switch)

Spacer outer diameter 7 Height 10, M4, depth 5 (Note 2)

Red

Black

Yellow

White

Detail view of panel (1/2)

Note 1: The prepared holes denoted by “3-M4, depth 8” are

through holes connecting both sides of the arm.

Note 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).

Note 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.

30

3. Robot Operation Area

IX-NNN50H, IX-NSN5016H, IX-NNW50H, IX-NNC50H

(Operation prohibited area)

Movement range

3. Robot Operation Area

Range of stopper position

IX  NNN60H, IX-NSN6016H, IX-NNW60H, IX-NNC60H

(Operation prohibited area)

Movement range

Range of stopper position

31

3. Robot Operation Area

IX-NNN70H, IX-NNW70H, IX-NNC70H

(Operation prohibited area)

Movement range

Range of stopper position

IX-NNN80H, IX-NNW80H, IX-NNC80H

(Operation prohibited area)

Movement range

Range of stopper position

32

)

(25p

,

)

(

)

(

)

4. Wiring Diagram

4.1 Layout Drawing

IX-NNN50H/60H/70H/80H IX-NNC50H/60H/70H/80H

Servo motor with

brake for axis 3

M2

Socket

(Z-axis)

PG3

172159-1 (Tyco

Electronics AMP

Servo motor for

axis 2 (arm 2)

PG2

Inside arm 2

U cable (inside robot)

Socket

172161-1 (Tyco

M cable (inside robot)

PG cable (inside robot)

Electronics AMP)

ALM

BK SW

User

Connector

φ

4. Wiring Diagram

Alarm LED

Servo motor with brake

for axis 4 (R-axis)

FG (to D-sub housing)

socket in

D-sub connector for user wiring

M3

BK3

PG4

M4

BK4

UA

UB

Socket

172157-1 (Tyco

Electronics AMP

LED

Z/R-axes

Brake-release switch for axes 3/4

BK

Air joint, red ( 6)

Air joint, white ( 4)

Air joint, yellow ( 6)

Air joint, black ( 4)

Socket

DF3-3C-2C

(Hirose)

Socket

DF3-2S-2C

(Hirose)

DWG No. 1068651*

DWG No. 1069363*

Wiring/Piping Diagram: 500/600/700/800

Controller Inside base

Servo motor for

172159-1

axis 1 (arm 1)

(Tyco Electronics AMP)

Cable fix cap

(Capcon)

cable

Flexible

M1M2M3

DWG No. 1068655*

M cable (outside robot)

M1M2M3

Socket

DF11-14DS-2C

DWG No. 1069364*

Plug

172165-1

(Tyco Electronics AMP)

Plug

172166-1

(Tyco Electronics AMP)

Plug

172169-1

(Tyco Electronics AMP)

Plug

DF11-14DEP-2C

UB

U1U2U3

FG (To base)

DWG No. 1068657*

(Hirose)

φ

Air joint, red ( 6)

U13

terminals

User wiring

U14

φ

Air joint, yellow ( 6)

Air joint, black ( 4)

Air joint, white ( 4)

FG

U15

LED +24V

LED G24V

BK4

BK3

OUTPG1

M4

Connector

HIF3BA-10D-2.54 (Hirose)

OUTPG4

OUTPG2

OUTPG3

INPG1

INPG2

INPG3

INPG4

PG cable (outside robot)

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

M4

PG1

PG2

PG3

PG4

SW

BAT 1

BAT 2

BAT 3

DWG No. 1068656*

Dedicated batteries for IX: AB-3

Plug-in connector contact

JK-SP2140 (JST)

Contact cable D13A

(DDK)

Hirose

Socket

DF11-14DS-2C

Board

UA

24 VDC

BAT 4

Connector

XAP-02V-1 (JST)

U cable (outside robot)

BK power cable (outside robot)

+24 V

G24 V

terminals

Brake power

(Hirose)

Notes

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

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

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

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

33

U

M2

M4

FG

LED G24V

LED +24V

U25

U24

U23

U3

U2

U1

4. Wiring Diagram

Flexible

cable

User wiring terminals

U cable (outside robot)

Controller

M1M2M3M4PG1

PG2

PG3

PG4

φ

PG cable (outside robot)

φ

+24V

M cable (outside robot)

M

G24V

Air joint

Re ( 4), Yellow ( 6), Black ( 4), White ( 4)

Brake power terminals

B

LED

UA

M1

FG

INPG1

M3

OUTPG1

U cable (inside robot)

PG cable (inside robot)

M cable (inside robot)

BAT1

BAT2

BAT3

BAT4

INPG2

INPG3

INPG4

24 VDC

Board

BK4

BK3

SW

OUTPG2

OUTPG3

OUTPG4

1-axis motor

1-axis encoder

Air tubes

PG cable (inside robot)

M cable (inside robot)

Air tubes

U cable (inside robot)

2-axis motor

2-axis encoder

BK4

BK3

M4

PG4

M3

LED

PG3M2PG2

3-axis brake

3-axis motor

3-axis encoder

φ

φφφ

4-axis motor

4-axis brake

4-axis encoder

Alarm LED

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

Air joint

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

Re ( 4), Yellow ( 6), Black ( 4), White ( 4)

34

A

IX-NNW50H/ 60H/70H/80H

Servo motor with

brake for axis 3 (Z-

Servo motor for

axis 2 (arm 2)

axis)

4)

φ

Alarm LED

Air joint, white ( 4)

Servo motor with brake

for axis 4 (R-axis)

FG (to D-sub housing)

24 pins include a shield term inal.

Waterproof connector for user wiring (24 pins)

Air joint, yellow ( 6)

Air joint, red ( 6)

Air joint, black (

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

4. Wiring Diagram

Inside arm 2

Socket

DF3-3C-2C

(Hirose)

(Tyco Electronics

AMP)

Socket

U cable (inside robot)

M cable (inside robot)

PG cable (inside robot)

DWG No. 1068651*

DWG No. 1069363*

Flexible

cable

Socket

(Tyco Electronics

AMP)

Plug

(Tyco Electronics AMP)

Socket

(Tyco Electronics

AMP)

Socket

DF3-2S-2C

(Hirose)

Socket

DF11-14DS-

2C (Hirose)

DWG No. 1069364*

(Tyco Electronics AMP)

Plug

(Tyco Electronics AMP)

ir supply port for air purge

Socket

(HIrose)

Plug

(Hirose)

Servo motor for

axis 1 (arm 1)

Inside base

Connector

HIF3BA-10D-2.54C

(Tyco Electronics AMP)

(Hirose)

Board

φ

Air joint, white ( 4)

Air joint, yellow ( 6)

Air joint, black ( 4)

Connector

FG (To base)

φ

Air joint, red ( 6)

Cable fix cap

(Capcon)

DWG No. 1068655*

M cable (outside robot)

Plug GIC2,5/4-STF-7,62 (Phoenix Contact)

PG cable (outside robot)

DWG No. 1068656*

BK power cable (outside robot)

Dedicated batteries for IX: AB-3

U cable (outside robot)

DWG No. 1068657*

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 circuit.

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

Wiring/Piping Diagram: 500/600/700/800

Controller

terminals

Plug-in connector contact

JK-SP2140 (JST)

Contact cable D13A (DDK)

Brake power

terminals

User wiring

(4) User wiring terminals U24 and U25 cannot be used.

35

4. Wiring Diagram

Flexible

cable

User wiring terminals

Controller

PG cable (outside robot)

Air joint

Black (4), Yellow (6), Red (4), White (4)

Brake power

U cable (outside robot)

PG cable (inside robot)

M cable (inside robot)

U cable (inside robot)

M cable (outside robot)

1-axis motor

1-axis encoder

terminals

Board

Air supply port for air purge

Air tubes

U cable (inside robot)

M cable (inside robot)

Air tubes

PG cable (inside robot)

36

Waterproof connector for uaser wiring (24 pins)

24 pins include a shield terminal

2-axis motor

2-axis encoder

3-axis brake

3-axis motor

3-axis encoder

4-axis brake

4-axis encoder

4-axis motor

Alarm LED

Brake-release switch for axes

3/4 (Z/R-axes)

Air joint

Black (4), Yellow (6),

Red 4), White (4)

r

IX-NSN5016H/ 6016H

Servo motor for axis 2

Alarm LED

6)

4)

φ

(arm 2)

Servo motor with brake

for axis 3 (Z-axis)

Servo motor with brake

for axis 4 (R-axis)

φ

4. Wiring Diagram

FG (to D-sub housing)

D-sub connector for user wiring (15-pin, socket)

Air joint, red ( 6)

Air joint, black (

Air joint, white ( 4)

Air joint, yellow (

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

Inside arm 2

U cable (inside robot)

M cable (inside robot)

PG cable (inside robot)

cable

Flexible

Servo motor for

axis 1 (arm 1)

Inside base

Board

φ

FG (To base)

Air joint, red ( 6)

Air joint, yellow ( 6)

Air joint, white ( 4)

Air joint, black ( 4)

Cable fix cap

(Capcon)

M cable (outside robot)

PG cable (outside robot)

Dedicated batteries for IX: AB-3

BK power cable (outside robot)

U cable (outside robot)

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

Wiring/Piping Diagram: 500/600

Controlle

terminals

Brake power

terminals

User wiring

Notes

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

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

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

37

4.2 Machine Harness Wiring Table

2

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

Base end Arm end

Tube

symbol

Connector

Signal

Pin No.

Connection

Pin No.

Signal

Connector

Tube

symbol

ID No.

Cable

4. Wiring Diagram

Mini Universal MATE-N-LOK plug housing 172169-1 (by Tyco Electronics AMP)

Same as above

Shield

Mini Universal MATE-N-LOK panel installation socket housing 172162-1 (by Tyco Electronics AMP)

Same as above

Red

White

Red

White

Red White Green

Red White

Red White Green

Red White

Green

0.3 mm shielded

cable

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

Base end Arm end

Tube

symbol

Connector

Mini Universal MATE-N-LOK plug housing 172167-1 (by Tyco Electronics AMP)

Same as above

Mini Universal MATE-N-LOK plug housing 172165-1 (by Tyco Electronics AMP)

Same as above

Signal

Pin No.

Connection

Pin No.

Signal

38

Connector

Mini Universal MATE-N-LOK panel installation socket housing 172159-1 (by Tyco Electronics AMP)

Same as above

Mini Universal MATE-N-LOK panel installation socket housing 172157-1 (by Tyco Electronics AMP)

Same as above

Tube

symbol

ID No.

Cable

Flexible

cable

16 X

AWG18

(3) UA and UB cables (outside robot) DWG No. 1069364*

2

Base end Arm end

Tube

symbol

UA

UB

Connector

Double-brazed relay plug DF1114DEP-2C (by Hirose Electric)

Same as above

Signal

Pin No.

Connection

Pin No.

Signal

Connector

Double-brazed crimp socket

DF11-14DS-2C (by Hirose Electric)

Same as above

Tube

symbol

UA

UB

ID No. Cable

4. Wiring Diagram

Black

0.3 mm shielded

cable

White

Mini Universal MATEN-LOK plug housing

SW

172166-1 (by Tyco Electronics AMP)

Unisolated terminal (Y type) F0.3-3

Single-brazed crimp socket DF32S-2C (by Hirose Electric)

Single-brazed crimp socket DF33S-2C (by Hirose Electric)

LED

BK

Green

Red

Black

White Black

RED

39

4.3 Cable Wiring Table

)

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

Robot end Controller end

symbol

4. Wiring Diagram

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

Tube

symbol

Connector

Signal

Pin No.

Connection

Pin No.

Female crimp connector HIF3BA-10D-

2.54C (by Hirose Electric)

Robot end Controller end

Connector

Mini Universal MATE-N-LOK panel installation socket housing 172159-1 (by Tyco Electronics AMP)

Signal

No.

Connection

Signal

Hood

Pin No.

Housing KEC-15P (by JST)

Contact JK-SP2140 (by JST)

Connector hood D13A (for 17HE23150-C) (by DDK)

Signal

Reverse plug GIC2.5 4-STF-7.62 (by Phoenix Contact

Connector

Tube

symbol

Tube

symbol

M1

ID No.

Light gray

1 red

Light gray

1 black

Orange 1

red

Orange 1

black

White 1

red

White 1

black

Yellow 1

red

Yellow 1

black

ID No.

Cable

Same as above

M2

M3

M4

40

(3) UA and UB cables (outside robot) DWG No. 1068657*

Robot end Controller end

Tube

symbol

Connector

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

Same as above

Signal

Pin No.

Connection

Pin No.

Signal

Uninsulated terminal (Y type) F0.3-3

Same as above

Same as above Same as above

Same as above

Same as above Same as above

Same as above

Same as above Same as above

Same as above

Same as above Same as above Same as above

Same as above

Same as above Same as above

Same as above

Same as above Same as above

Same as above

Same as above Same as above

Same as above

Connector

Tube

symbol

ID No.

Orange 1

red

Orange 1

black

Light gray

1 red

Light gray

1 black White 1

red

White 1

black

Yellow 1

red

Yellow 1

black

Pink 1 red

Pink 1

black

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

Cable

4. Wiring Diagram

41

4.4 230 V Circuit Components

IX-NNN50H/60H, IX-NNW50H/60H, IX-NNC50H/60H

No. Code name Model number Manufacturer Remarks

1 Axis 1 servo motor TS4609 N2027 E206

2 Axis 2 servo motor TS4609 N2077 E201

3

4

5

4. Wiring Diagram

6

IX-NNN70H/80H, IX-NNW70H/80H, IX-NNC70H/80H

No. Code name Model number Manufacturer Remarks

1 Axis 1 servo motor TS4614 N2027 E209  80, 750 W, key groove, CE certified 2 Axis 2 servo motor TS4609 N2077 E206  60, 400 W, key groove, CE certified

3

4

5

6

Axis 3 servo motor w/ brake Axis 4 servo motor w/ brake

M cable (inside robot)

M cable (outside robot)

Axis 3 servo motor w/ brake Axis 4 servo motor w/ brake

M cable (inside robot)

M cable (outside robot)

AC servo motor,  60, 400 W, key groove, CE certified AC servo motor,  60, 200 W, key

Tamagawa

TS4607 N7077 E201

TS4606 N7077 E201

IAI

TS4609 N7077 E206

TS4607 N7077 E201

IAI

Seiki

Tamagawa

Seiki

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, 105C (rated), AWG18

(0.84e), flexible cable, UL VW-1, c-UL FT-1

Wire: 300 V, 80C (rated), AWG18

(0.89e), oil-resistant cable, UL VW-1, c-UL FT-1

 60, 400 W, round shaft with brake, CE certified

 60, 200 W, key groove, CE certified

Wire: 300 V, 105C (rated), AWG18

(0.84e), flexible cable, UL VW-1, c-UL FT-1

Wire: 300 V, 80C (rated), AWG18

(0.89e), oil-resistant cable, UL VW-1, c-UL FT-1

42

IX-NSN5016H/6016H

No. Code name Model number Manufacturer Remarks

1 Axis 1 servo motor TS4614 N2027 E209

2 Axis 2 servo motor TS4609 N2077 E206

Axis 3 servo motor

3

w/ brake Axis 4 servo motor

4

w/ brake

M cable (inside

5

robot)

M cable (outside

6

robot)

TS4609 N7077 E206

TS4607 N7077 E201

IAI

Tamagawa

Seiki

AC servo motor,  80, 750 W, key groove, CE certified AC servo motor,  80, 600 W, key groove, CE certified AC servo motor,  60, 200 W, round shaft with brake, CE certified AC servo motor,  60, 100 W, key groove, CE certified

Wire: 300 V, 105C (rated), AWG18

(0.84e), flexible cable, UL VW-1, c-UL FT-1

Wire: 300 V, 80C (rated), AWG18

(0.89e), oil-resistant cable, UL VW-1, c-UL FT-1

4. Wiring Diagram

43

5. Option

5.1 Absolute Reset Jig

This jig is used to perform an absolute reset in the event that absolute data in the encoder was lost.

5. Option

Model name

IX-NNN50H/60H/70H/80H IX-NNC50H/60H/70H/80H

IX-NNW50H/60H/70H/80H

IX-NSN5016H/6016H JG-4 For high-speed type 500/600

Model

number

JG-1 For arm length 500/600

JG-3 For arm length 700/800

5.2 Flange

This flange is used to install a load at the end of the Z-axis arm.

Model name

IX-NNN50H/60H/70H/80H IX-NNC50H/60H/70H/80H

IX-NNW50H/60H/70H/80H

Model

number

IX-FL-1 For arm length 500/600

IX-FL-3 For arm length 700/800

Remarks

44

IX-NSN5016H/6016H IX-FL-2 For high-speed type 500/600

5.3 Absolute Data Backup Battery

This battery is used to retain absolute data in the encoder. (Set the battery inside the cover of the SCARA robot.)

Model number Remarks

AB-3 For arm length 250 ~ 800

* Four batteries are needed for each robot (all

SCARA robot models). Since AB-3 batteries are packed individually, specify the required number in your order.

5. Option

45

6. Checking after Unpacking

After unpacking the carton, check the condition of the product and items included in the carton.

6.1 Items Included in the Carton

IX-NNN50H/60H/70H/80H, IX-NSN5016H/6016H

1 Robot

2 Controller

seirosseccA

3 Eye-bolt

4 D-sub connector

5 Hood set (for D-sub connector)

6 Danger label

7 Positioning sticker

8 PIO flat cable

9 First step-by-step guide

10 Operation manual (CD/DVD)

6. Checking after Unpacking

11 Safety guide

skrameRrebmunledoMmetI.oN

Refer to "How to Read Model Nameplate" and "How to Read Model Number."

IX-NNW50H/ 60H/ 70H/ 80H

1 Robot

2 Controller

seirosseccA

3 Eye-bolt

4 Waterproof connector

Hood set (for waterproof

5

connector)

6 Danger label

7 Positioning sticker

8 PIO flat cable

9 First step-by-step guide

10 Operation manual (CD/DVD)

11 Safety guide

Refer to "How to Read Model Nameplate" and "How to Read Model Number."

skrameRrebmunledoMmetI.oN

46

IX-NNW50H/60H/70H/80H

r

1 Robot

2 Controller

seirosseccA

3 Eye-bolt

4 D-sub connector

5 Hood set (for D-sub connector)

6 Danger label

7 Positioning sticker

8 PIO flat cable

9 First step-by-step guide

10 Operation manual (CD/DVD)

11 Safety guide

Refer to "How to Read Model Nameplate" and "How to Read Model Number."

6.2 Operation Manuals Relating to This Product

1 Operation Manual for XSEL-PX/QX Controller ME0152

2 Operation Manual for XSEL Controller P/Q/PX/QX – RC Gateway Function ME0188

3 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154

4 Operation Manual for Teaching Pendant SEL-T/TD/TG ME0183

5 Operation Manual for Teaching Pendant IA-T-X/XD ME0160

6 Operation Manual for DeviceNet ME0124

7 Operation Manual for CC-Link ME0123

8 Operation Manual for PROFIBUS ME0153

9 Operation Manual for X-SEL Ethernet ME0140

10 Operation Manual for Multi-point I/O Board ME0138

11 Operation Manual for Dedicated Terminal Block for Multi-point I/O Board ME0139

skrameRrebmunledoMmetI.oN

6. Checking after Unpacking

.oNlortnoCmetI.oN

6.3 How to Read Model Nameplate

Model numbe

Serial numbe

47

6.4 How to Read Model Number

IX-NNN7020H-5L-T2-JY

<Series> SCARA robot

<Type> Standard type Arm length 500 mm/Z-axis 200 mm

NNN5020H

Arm length 500 mm/Z-axis 300 mm

NNN5030H

Arm length 600 mm/Z-axis 200 mm

NNN6020H

Arm length 600 mm/Z-axis 300 mm

6. Checking after Unpacking

NNN6030H

Arm length 700 mm/Z-axis 200 mm

NNN7020H

Arm length 700 mm/Z-axis 400 mm

NNN7040H

Arm length 800 mm/Z-axis 200 mm

NNN8020H

Arm length 800 mm/Z-axis 400 mm

NNN8040H

<Option> JY: Joint cable specification

<Applicable controller> T2: XSEL-PX/QX

<Cable length> 5L: 5 m 10L: 10 m

Clean room Specification Arm length 500 mm/Z-axis 200 mm

NNC5020H

Arm length 500 mm/Z-axis 300 mm

NNC5030H

Arm length 600 mm/Z-axis 200 mm

NNC6020H

Arm length 600 mm/Z-axis 300 mm

NNC6030H

Arm length 700 mm/Z-axis 200 mm

NNC7020H

Arm length 700 mm/Z-axis 400 mm

NNC7040H

Arm length 800 mm/Z-axis 200 mm

NNC8020H

Arm length 800 mm/Z-axis 400 mm

NNC8040H

48

Dust-proof/Splash-proof Specification Arm length 500 mm/Z-axis 200 mm

NNW5020H

Arm length 500 mm/Z-axis 300 mm

NNW5030H

Arm length 600 mm/Z-axis 200 mm

NNW6020H

Arm length 600 mm/Z-axis 300 mm

NNW6030H

Arm length 700 mm/Z-axis 200 mm

NNW7020H

Arm length 700 mm/Z-axis 400 mm

NNW7040H

Arm length 800 mm/Z-axis 200 mm

NNW8020H

Arm length 800 mm/Z-axis 400 mm

NNW8040H

High-speed type Arm length 500 mm/Z-axis 160 mm

NSN5016H

Arm length 6

NSN6016H

00 mm/Z-axis 160 mm

7 Specifications

7.1 IX-NNN50H/60H/70H/80H

IX-NNN50H (Arm Length 500, Standard Specification)

Item Specifications

Type IX-NNN50H-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 (Note 2)

Positioning repeatability precision (Note

3) Cycle time (Note 4)

Load capacity

Axis 3 (vertical axis) Push force control range Permissible load on axis 4

Permissible tool diameter (Note 6) mm

Home detection Absolute

User wiring

Alarm indicator (Note 7) One small, red LED indicator (rated voltage: 24 V)

User piping

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

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

Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline

Axis 4 (rotational axis)

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) (Note 1) mm 200 (option: 300)

Axis 4 (rotational axis) degree Axis 1 + Axis 2 (maximum

composite speed) Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1857

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

Rated 2

Maximum

Upper limit (Note 8) 181.0 (18.5) Push torque limit 70%

Lower limit (Note 9)

Permissible moment of inertia (Note 5)

Permissible torque

mm

250

AC servo motor with brake + Reduction gear + Belt

+Spline

W

100

degree

mm/sec

mm

sec 0.39

kg

N (kgf)

kgm

N

m (kgfcm)

2

D-sub 25-pin connector with25-core AWG26 shielded

Two air tubes (outer diameter: 6, inner diameter: 4)

Two air tubes (outer diameter: 4, inner diameter: 2.5)

93 (9.5) Push torque limit 40%

(normal service pressure: 0.8 MPa)

120

145

360

6381

1473

0.010

0.005

10

0.06

3.7 (38.1)

100

cable (socket)

7. Speciﬁcations

49

Item Specifications Operating environment

Robot weight kg 29.5

Brake power source for main unit

Controller

Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to the top

Note 2) Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP operation. Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same starting

7. Speciﬁcations

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

Note: Continuous operation at the

Surrounding air temperature/humidity

Temperature: 0 to 40°C, humidity: 20 to 85%RH or

less (non-condensing)

sselro000,1medutitlA

BdesioN 73

W

DC24VI10% 20W

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

%

±10

Overvoltage category (IEC60664-1) Category III

3eergednoitulloP)1-46606CEI(eergednoitulloP

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)

position at the same speed and acceleration/deceleration using the same arm (at a constant surrounding air temperature of 20

°C). Take note that this is not the absolute positioning precision.

Also note that the positioning repeatability may deviate from the specified value if the arm is changed, positioning is performed to one specified position from multiple positions, or any of the operating conditions such as operating speed and acceleration/deceleration setting is changed.

This cycle time assumes a reciprocating operation involving a vertical travel of 25 mm and horizontal travel of 300 mm. (Rough positioning)

300 mm

maximum speed is not feasible.

25 mm

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

rotational center of axis 4 to the tool’s center of gravity is assumed to be 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. Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of movement. (Fig. 4) Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED terminal in the

user connector in response to the controller I/O output signal, etc. Note 8) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%. Note 9) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.

Although this parameter can be set to a desired value from 15 to 70%, push force will not stabilize if the set value

is outside the range of 40 to 70%.

Top position

Tool

Fig. 1

Bottom position

Tool

Fig. 2

40

Center of rotational axis

Tool

Tool’s center of gravity

Fig. 3

φ

100

Fig. 4

Center of rotational axis

Tool

Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775

50

IX-NNN-60H (Arm Length 600, Standard Specification)

Item Specifications

Type IX-NNN60H-L-T1

Degree of freedom Four degrees of freedom

Overall arm length 600

Arm 1 length 350

Arm 2 length Drive method

Motor capacity

Movement range

Maximum operating speed (Note 2)

Positioning repeatability precision (Note

3) Cycle time (Note 4)

Load capacity

Axis 3 (vertical axis) Push force control range Permissible load on axis 4

Permissible tool diameter (Note 6) mm

Home detection Absolute

User wiring

Alarm indicator (Note 7) One small, red LED indicator (rated voltage: 24 V)

User piping

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

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

Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline

Axis 4 (rotational axis)

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) (Note 1) mm 200 (option: 300)

Axis 4 (rotational axis) degree Axis 1 + Axis 2 (maximum

composite speed) Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1857

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

Rated 2

Maximum

Upper limit (Note 8) 181.0 (18.5) Push torque limit 70%

Lower limit (Note 9)

Permissible moment of inertia (Note 5)

Permissible torque

mm

250

AC servo motor with brake + Reduction gear + Belt

+Spline

W

100

degree

mm/sec

mm

sec 0.43

kg

N (kgf)

kg

m

m (kgfcm)

N

2

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

Two air tubes (outer diameter: 6, inner diameter: 4)

Two air tubes (outer diameter: 4, inner diameter: 2.5)

93 (9.5) Push torque limit 40%

(normal service pressure: 0.8 MPa)

120

145

360

7232

1473

0.010

0.005

10

0.06

3.7 (38.1)

100

cable (socket)

7. Speciﬁcations

51

Item Specifications Operating environment

Robot weight kg 30.5

Brake power source for main unit W

Controller

Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to the top

Note 2) Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP operation. Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same starting

7. Speciﬁcations

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

Note: Continuous operation at the

Surrounding air temperature/humidity

Temperature: 0 to 40°C, humidity: 20 to 85%RH or

less (non-condensing)

sselro000,1medutitlA

BdesioN 73

DC24VI10% 20W

Power supply 230 V 50/60 Hz 5 A Allowable supply voltage fluctuation

%

±10

Overvoltage category (IEC60664-1) Category III

3eergednoitulloP)1-46606CEI(eergednoitulloP

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)

position at the same speed and acceleration/deceleration using the same arm (at a constant surrounding air temperature of 20

°C). Take note that this is not the absolute positioning precision.

Also note that the positioning repeatability may deviate from the specified value if the arm is changed, positioning is performed to one specified position from multiple positions, or any of the operating conditions such as operating speed and acceleration/deceleration setting is changed.

This cycle time assumes a reciprocating operation involving a vertical travel of 25 mm and horizontal travel of 300 mm. (Rough positioning)

300 mm

maximum speed is not feasible.

25 mm

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

rotational center of axis 4 to the tool’s center of gravity is assumed to be 40 mm or less. (Fig. 3) If the tool’s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be

reduced as appropriate. Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of movement. (Fig. 4) Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED terminal in the

user connector in response to the controller I/O output signal, etc. Note 8) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%. Note 9) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.

Although this parameter can be set to a desired value from 15 to 70%, push force will not stabilize if the set value

is outside the range of 40 to 70%.

Top position

Tool

Fig. 1

Bottom position

Tool

Fig. 2

40

Center of rotational axis

Tool

Tool’s center of gravity

Fig. 3

φ

100

Fig. 4

Center of rotational axis

Tool

Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775

52

IX-NNN70H (Arm Length 700, Standard Specification)

Item Specifications

Type IX-NNN70H-L-T1

Degree of freedom Four degrees of freedom

Overall arm length 700

Arm 1 length 350

Arm 2 length Drive method

Motor capacity

Movement range

Maximum operating speed (Note 2)

Positioning repeatability precision (Note

3) Cycle time (Note 4)

Load capacity

Axis 3 (vertical axis) Push force control range Permissible load on axis 4

Permissible tool diameter (Note 6) mm

Home detection Absolute

User wiring

Alarm indicator (Note 7) One small, red LED indicator (rated voltage: 24 V)

User piping

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

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

Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline

Axis 4 (rotational axis)

Axis 1 (arm 1) 750

Axis 2 (arm 2) 400

Axis 3 (vertical axis) 400

Axis 4 (rotational axis)

Axis 1 (arm 1)

Axis 2 (arm 2)

Axis 3 (vertical axis) (Note 1) mm 200 (option: 400)

Axis 4 (rotational axis) degree Axis 1 + Axis 2 (maximum

composite speed) Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1266

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

Rated 5

Maximum

Upper limit (Note 8) 304 (31.0) Push torque limit 70%

Lower limit (Note 9)

Permissible moment of inertia (Note 5)

Permissible torque

mm

350

AC servo motor with brake + Reduction gear + Belt

+Spline

W

200

degree

mm/sec

mm

sec 0.42

kg

N (kgf)

kg

m

m (kgfcm)

N

2

D-sub 25-pin connector with25-core AWG26 shielded

Two air tubes (outer diameter: 6, inner diameter: 4)

Two air tubes (outer diameter: 4, inner diameter: 2.5)

146 (14.9) Push torque limit 40%

(normal service pressure: 0.8 MPa)

125

145

360

7010

1614

0.015

0.010

0.005

20

0.1

11.7 (119.3)

100

cable (socket)

7. Speciﬁcations

53

Item Specifications Operating environment

Robot weight kg 58

Brake power source for main unit W

Controller

Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to the top

Note 2) Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP operation. Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same starting

7. Speciﬁcations

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

Note: Continuous operation at the

Surrounding air temperature/humidity

Temperature: 0 to 40°C, humidity: 20 to 85%RH or

less (non-condensing)

sselro000,1medutitlA

BdesioN 74

DC24VI10% 20W

Power supply 230 V 50/60 Hz 15 A Allowable supply voltage fluctuation

%

±10

Overvoltage category (IEC60664-1) Category III

3eergednoitulloP)1-46606CEI(eergednoitulloP

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)

position at the same speed and acceleration/deceleration using the same arm (at a constant surrounding air temperature of 20

°C). Take note that this is not the absolute positioning precision.

Also note that the positioning repeatability may deviate from the specified value if the arm is changed, positioning is performed to one specified position from multiple positions, or any of the operating conditions such as operating speed and acceleration/deceleration setting is changed.

This cycle time assumes a reciprocating operation involving a vertical travel of 25 mm and horizontal travel of 300 mm. (Rough positioning)

300 mm

maximum speed is not feasible.

25 mm

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

rotational center of axis 4 to the tool’s center of gravity is assumed to be 40 mm or less. (Fig. 3) If the tool’s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be

reduced as appropriate. Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of movement. (Fig. 4) Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED terminal in the

user connector in response to the controller I/O output signal, etc. Note 8) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%. Note 9) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.

Although this parameter can be set to a desired value from 15 to 70%, push force will not stabilize if the set value

is outside the range of 35 to 70%.

Top position

Tool

Fig. 1

Bottom position

Tool

Fig. 2

40

Center of rotational axis

Tool

Tool’s center of gravity

Fig. 3

φ

100

Fig. 4

Center of rotational axis

Tool

Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775

54

IX-NNN80H (Arm Length 800, Standard Specification)

Item Specifications

Type IX-NNN80H-L-T1

Degree of freedom Four degrees of freedom

Overall arm length 800

Arm 1 length 450

Arm 2 length Drive method

Motor capacity

Movement range

Maximum operating speed (Note 2)

Positioning repeatability precision (Note

3) Cycle time (Note 4)

Load capacity

Axis 3 (vertical axis) Push force control range Permissible load on axis 4

Permissible tool diameter (Note 6) mm

Home detection Absolute

User wiring

Alarm indicator (Note 7) One small, red LED indicator (rated voltage: 24 V)

User piping

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

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

Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline

Axis 4 (rotational axis)

Axis 1 (arm 1) 750

Axis 2 (arm 2) 400

Axis 3 (vertical axis) 400

Axis 4 (rotational axis)

Axis 1 (arm 1)

Axis 2 (arm 2)

Axis 3 (vertical axis) (Note 1) mm 200 (option: 400)

Axis 4 (rotational axis) degree Axis 1 + Axis 2 (maximum

composite speed) Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1266

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

Rated 5

Maximum

Upper limit (Note 8) 304 (31.0) Push torque limit 70%

Lower limit (Note 9)

Permissible moment of inertia (Note 5)

Permissible torque

mm

350

AC servo motor with brake + Reduction gear + Belt

+Spline

W

200

degree

mm/sec

mm

sec 0.43

kg

N (kgf)

kg

m

m (kgfcm)

N

2

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

Two air tubes (outer diameter: 6, inner diameter: 4)

Two air tubes (outer diameter: 4, inner diameter: 2.5)

146 (14.9) Push torque limit 40%

(normal service pressure: 0.8 MPa)

125

145

360

7586

1614

0.015

0.010

0.005

20

0.1

11.7 (119.3)

100

cable (socket)

7. Speciﬁcations

55

Item Specifications Operating environment

Robot weight kg 60

Brake power source for main unit W

Controller

Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to the top

Note 2) Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP operation. Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same starting

7. Speciﬁcations

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

Note: Continuous operation at the

Surrounding air temperature/humidity

Temperature: 0 to 40°C, humidity: 20 to 85%RH or

less (non-condensing)

sselro000,1medutitlA

BdesioN 74

DC24VI10% 20W

Power supply 230 V 50/60 Hz 15 A Allowable supply voltage fluctuation

%

±10

Overvoltage category (IEC60664-1) Category III

3eergednoitulloP)1-46606CEI(eergednoitulloP

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)

position at the same speed and acceleration/deceleration using the same arm (at a constant surrounding air temperature of 20

°C). Take note that this is not the absolute positioning precision.

Also note that the positioning repeatability may deviate from the specified value if the arm is changed, positioning is performed to one specified position from multiple positions, or any of the operating conditions such as operating speed and acceleration/deceleration setting is changed.

This cycle time assumes a reciprocating operation involving a vertical travel of 25 mm and horizontal travel of 300 mm. (Rough positioning)

300 mm

maximum speed is not feasible.

25 mm

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

rotational center of axis 4 to the tool’s center of gravity is assumed to be 40 mm or less. (Fig. 3) If the tool’s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be

reduced as appropriate. Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of movement. (Fig. 4) Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED terminal in the

user connector in response to the controller I/O output signal, etc. Note 8) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%. Note 9) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.

Although this parameter can be set to a desired value from 15 to 70%, push force will not stabilize if the set value

is outside the range of 35 to 70%.

Top position

Tool

Fig. 1

Bottom position

Tool

Fig. 2

40

Center of rotational axis

Tool

Tool’s center of gravity

Fig. 3

φ

100

Fig. 4

Center of rotational axis

Tool

Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775

56

7.2 IX-NSN5016H/6016H

IX-NSN5016H (Arm length 500, high-speed)

Item Specifications

Type IX-NSN-5016H-**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 (Note 2)

Positioning repeatability precision (Note

3) Cycle time (Note 4)

Load capacity

Axis 3 (vertical axis) Push force control range Permissible load on axis 4

Permissible tool diameter (Note 8) mm

Home detection Absolute

User wiring

Alarm indicator (Note 9) One small, red LED indicator (rated voltage: 24 V)

User piping

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

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

Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline

Axis 4 (rotational axis)

Axis 1 (arm 1) 750

Axis 2 (arm 2) 600

Axis 3 (vertical axis) 200

Axis 4 (rotational axis)

Axis 1 (arm 1)

Axis 2 (arm 2)

Axis 3 (vertical axis) (Note 1) mm 160

Axis 4 (rotational axis) degree Axis 1 + Axis 2 (maximum

composite speed) Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1857

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

Rated 1

Maximum

Upper limit (Note 5) 196 (20.0) Push torque limit 65%

Lower limit (Note 6)

Permissible moment of inertia (Note 7)

Permissible torque

mm

250

AC servo motor with brake + Reduction gear + Belt

+Spline

W

100

degree

mm/sec

mm

sec Over 0.28, under 0.29 sec

kg

N (kgf)

kgm

m (kgfcm)

N

2

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

Two air tubes (outer diameter: 6, inner diameter: 4)

Two air tubes (outer diameter: 4, inner diameter: 2.5)

116 (11.8) Push torque limit 40%

(normal service pressure: 0.8 MPa)

120

145

360

5007

1304

0.010

3

0.015

3.7 (38.1)

100

cable (socket)

7. Speciﬁcations

57

Item Specifications

φ

Operating environment

Robot weight

Brake power source for main unit W

Controller

Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close

Note 2) Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP

Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same

7. Speciﬁcations

Note 4) Measured when the robot is operated at the maximum speed, carrying a load of 2 kg. Note 5) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%. Note 6) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.

Note 7) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset

Note 8) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of

Note 9) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED

Surrounding air temperature/humidity

Temperature: 0 to 40°C, humidity: 20 to 85%RH or

less (non-condensing)

sselro000,1medutitlA

BdesioN 73

kg

32

DC24VI10% 20W

Power supply 230 V 50/60 Hz 14 A Allowable supply voltage fluctuation

%

±10

Overvoltage category (IEC60664-1) Category III

3eergednoitulloP)1-46606CEI(eergednoitulloP

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)

operation.

starting position at the same speed and acceleration/deceleration using the same arm (at a constant surrounding air temperature of 20°C). Take note that this is not the absolute positioning precision. Also note that the positioning repeatability may deviate from the specified value if the arm is changed, positioning is performed to one specified position from multiple positions, or any of the operating conditions such as operating speed and acceleration/deceleration setting is changed.

Although this parameter can be set to a desired value from 15 to 70%, push force will not stabilize if the set value is outside the range of 40 to 65%.

from the rotational center of axis 4 to the tool’s center of gravity is assumed to be 40 mm or less. (Fig.

3) If the tool’s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be reduced as appropriate.

movement. (Fig. 4)

terminal in the user connector in response to the controller I/O output signal, etc.

Top position

(Fig. 1)

Tool

Bottom position

Tool

(Fig. 2)

(Fig. 3)

Tool

Tool’s center of gravity

(Fig. 4)

Tool

100

Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775

58

IX-NSN6016H (Arm length 600, high-speed)

Item Specifications

Type IX-NSN-6016H-**L-T1

Degree of freedom Four degrees of freedom

Overall arm length 600

Arm 1 length 350

Arm 2 length Drive method

Motor capacity

Movement range

Maximum operating speed (Note 2)

Positioning repeatability precision (Note

3) Cycle time (Note 4)

Load capacity

Axis 3 (vertical axis) Push force control range Permissible load on axis 4

Permissible tool diameter (Note 8) mm

Home detection Absolute

User wiring

Alarm indicator (Note 9) One small, red LED indicator (rated voltage: 24 V)

User piping

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

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

Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline

Axis 4 (rotational axis)

Axis 1 (arm 1) 750

Axis 2 (arm 2) 600

Axis 3 (vertical axis) 200

Axis 4 (rotational axis)

Axis 1 (arm 1)

Axis 2 (arm 2)

Axis 3 (vertical axis) (Note 1) mm 160

Axis 4 (rotational axis) degree Axis 1 + Axis 2 (maximum

composite speed) Axis 3 (vertical axis)

Axis 4 (rotational axis) degree/sec 1857

Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

Rated 1

Maximum

Upper limit (Note 5) 196 (20.0) Push torque limit 65%

Lower limit (Note 6)

Permissible moment of inertia (Note 7)

Permissible torque

mm

250

AC servo motor with brake + Reduction gear + Belt

+Spline

W

100

degree

mm/sec

mm

sec Over 0.28, under 0.29 sec

kg

N (kgf)

kg

m

m (kgfcm)

N

2

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

Two air tubes (outer diameter: 6, inner diameter: 4)

Two air tubes (outer diameter: 4, inner diameter: 2.5)

116 (11.8) Push torque limit 40%

(normal service pressure: 0.8 MPa)

120

145

360

5583

1304

0.010

3

0.015

3.7 (38.1)

100

cable (socket)

7. Speciﬁcations

59

Item Specifications

φ

Operating environment

Robot weight kg 33

Brake power source for main unit W

Controller

Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close

Note 2) Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP

Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same

7. Speciﬁcations

Note 4) Measured when the robot is operated at the maximum speed, carrying a load of 2 kg. Note 5) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%. Note 6) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.

Note 7) The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset

Note 8) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of

Note 9) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED

Surrounding air temperature/humidity

Temperature: 0 to 40°C, humidity: 20 to 85%RH or

less (non-condensing)

sselro000,1medutitlA

BdesioN 73

DC24VI10% 20W

Power supply 230 V 50/60 Hz 14 A Allowable supply voltage fluctuation

%

±10

Overvoltage category (IEC60664-1) Category III

3eergednoitulloP)1-46606CEI(eergednoitulloP

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)

operation.

starting position at the same speed and acceleration/deceleration using the same arm (at a constant surrounding air temperature of 20°C). Take note that this is not the absolute positioning precision. Also note that the positioning repeatability may deviate from the specified value if the arm is changed, positioning is performed to one specified position from multiple positions, or any of the operating conditions such as operating speed and acceleration/deceleration setting is changed.

Although this parameter can be set to a desired value from 15 to 70%, push force will not stabilize if the set value is outside the range of 40 to 65%.

from the rotational center of axis 4 to the tool’s center of gravity is assumed to be 40 mm or less. (Fig.

3) If the tool’s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be reduced as appropriate.

movement. (Fig. 4)

terminal in the user connector in response to the controller I/O output signal, etc.

Top position

(Fig. 1)

Tool

Bottom position

Tool

(Fig. 2)

(Fig. 3)

Tool

Tool’s center of gravity

(Fig. 4)

Tool

100

Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775

60

7.3 IX-NNW50H/60H/70H/80H

IX-NNW50H (arm length 500, dust-proof/splash-proof specification)

Item Specifications Model number IX-NNW50H-**L-T1 Dust-proof/splash-proof performance (Note 12) Corresponding to IP65 Overall arm length 500 Arm 1 length 250 Arm 2 length Drive method

Motor capacity

Movement range

Maximum operating speed (Note 2)

Positioning repeatability precision (Note

3) Cycle time (Note 4) sec 0.43

axis) Push force control range

Permissible load on axis 4

Permissible tool diameter (Note 6) mm Home detection Absolute User wiring (Note 10) Waterproof connector, 24 pins (including a shield terminal) Pipe joint for air purge Alarm indicator (Note 7) One small, red LED indicator (rated voltage: 24 V)

User piping

Axis 1 (arm 1) AC servo motor + Speed reducer Axis 2 (arm 2) AC servo motor + Speed reducer Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline Axis 4 (rotational axis) AC servo motor + Belt + Reduction gear + Spline Axis 1 (arm 1) 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) (Note 1) mm 200 (option: 300) Axis 4 (rotational axis) degree Axis 1 + Axis 2 (maximum

composite speed) Axis 3 (vertical axis) Axis 4 (rotational axis) degree/sec 1857 Axis 1 + Axis 2

Axis 3 (vertical axis)

Axis 4 (rotational axis) degree

Rated 2 Load capacity Maximum Upper limit (Note 8) 181.0 (18.5) Push torque limit 70% Axis 3 (vertical

Lower limit (Note 9)

Permissible moment of inertia (Note 5)

Permissible torque

mm

W

degree

mm/sec

mm

kg

N (kgf)

kg

m

N

m (kgfcm)

250

50

120

145

360

6381

1473

0.010

0.005

10

93 (9.5) Push torque limit 40%

2

Applicable tube: Outer diameter 6

Two air tubes (outer diameter: 6, inner diameter: 4)

(normal service pressure: 0.8 MPa)

Two air tubes (outer diameter: 4, inner diameter: 2.5)

(normal service pressure: 0.8 MPa)

0.06

37. (38.1)

100

7. Speciﬁcations

61

Item Specifications Operating environment

Robot weight

Brake power source for main unit W

Air purge pressure (Note 11)

Controller (Note 13)

Note 1) To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to the top position as

Note 2) Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP operation. Note 3) Positioning precision when the robot is operated repeatedly to one specified position from the same starting position at the same

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

7. Speciﬁcations

Note: Continuous operation at the

Surrounding air temperature/humidity

Temperature: 0 to 40°C, humidity: 20 to 85%RH or less

(non-condensing)

sselro000,1medutitlA

BdesioN 73

kg

32.5

DC24VI10% 20W

Pressure in a range of 0.05 to 0.6 MPa immediately before

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

%

±10

Overvoltage category (IEC IIIyrogetaC)1-46606

3eergednoitulloP)1-46606CEI(eergednoitulloP

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)

speed and acceleration/deceleration using the same arm (at a constant surrounding air temperature of 20°C). Take note that this is not the absolute positioning precision. Also note that the positioning repeatability may deviate from the specified value if the arm is changed, positioning is performed to one specified position from multiple positions, or any of the operating conditions such as operating speed and acceleration/deceleration setting is changed.

This cycle time assumes a reciprocating operation involving a vertical travel of 25 mm and horizontal travel of 300 mm. (Rough positioning)

300 mm

maximum speed is not feasible.

25 mm

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

axis 4 to the tool’s center of gravity is assumed to be 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 reduce d as

appropriate. Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of movement. (Fig. 4) Note 7) To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED terminal in the user connector

in response to the controller I/O output signal, etc. Note 8) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%. Note 9) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.

Although this parameter can be set to a desired value from 15 to 70%, push force will not stabilize if the set value is outside the

range of 40 to 70%. Note 10) Connector pins 1 to 23 can be used. Pin 24 is connected to a shield wire and cannot be used as a signal wire. Note 11) Increase the pressure to a level within a range of 0.05 to 0.6 MPa until immediately before the bellows inflates, and adjust the

flow rate using the speed controller. The fluid used should be clean, dry air free from compressor oil, etc., and the air filtration

rating should be 10 μm or less. Note 12) The dust-proof/splash-proof specification is based on a dust-proof/splash-proof structure corresponding to protection class IP65

against intrusion of water and powder dust as specified by the IEC standard. The structure is not explosion-proof. Note 13) The controller structure is not dust-proof or splash-proof.

Top position

Tool

(Fig. 1)

Bottom position

Tool

(Fig. 2)

40

Center of rotational axis

Tool’s center of gravity

(Fig. 3)

Tool

φ

100

(Fig. 4)

Center of rotational axis

Tool

Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775

62

IX-NNW60H (arm length 600, dust-proof/splash-proof specification)

Item Specifications Model number IX-NNW60H-**L-T1 Dust-proof/splash-proof performance Corresponding to IP65 Overall arm length 600 Arm 1 length 350 Arm 2 length Drive method

Motor capacity

Movement range

Maximum operating speed (Note 2)

Positioning repeatability precision (Note

3) Cycle time (Note 4) sec 0.47

axis) Push force control range

Permissible load on axis 4

Permissible tool diameter (Note 6) mm Home detection Absolute User wiring (Note 10) Waterproof connector, 24 pins (including a shield terminal) Pipe joint for air purge Alarm indicator (Note 7) One small, red LED indicator (rated voltage: 24 V)

User piping

Axis 1 (arm 1) AC servo motor + Speed reducer Axis 2 (arm 2) AC servo motor + Speed reducer Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline Axis 4 (rotational axis) AC servo motor + Belt + Reduction gear + Spline Axis 1 (arm 1) 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) (Note 1) mm 200 (option: 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 capacity Maximum Upper limit (Note 8) 181.0 (18.5) Push torque limit 70% Axis 3 (vertical

Lower limit (Note 9)

Permissible moment of inertia (Note 5)

Permissible torque

mm

W

degree

mm/sec

mm

kg

N (kgf)

m

kg

m (kgfcm)

N

250

100

120

145

360

7232

1393

0.010

0.005

10

93 (9.5) Push torque limit 40%

2

Applicable tube: Outer diameter 6

Two air tubes (outer diameter: 6, inner diameter: 4)

(normal service pressure: 0.8 MPa)

Two air tubes (outer diameter: 4, inner diameter: 2.5)

(normal service pressure: 0.8 MPa)

0.06

37. (38.1)

100

7. Speciﬁcations

63

Item Specifications Operating environment

Robot weight kg 34.5