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Horizontal Articulated Robot – IX Series
Wall-Mounting Type, Arm Length 300/350 (Wall-Mounting)
IX-TNN-3015H, IX-TNN-3515H
Wall-Mounting Type, Arm Length 300/350 (Inverse)
IX-UNN-3015H, IX-UNN-3515H
Operation Manual First Edition
Operation Manual Sixth Edition
Pre1
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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.
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CE Marking
If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.
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Table of Contents
Safety Guide ............................................................................................................................. 1
Handling Precautions................................................................................................................ 8
1. Positioning Repeatability Does Not Change Even If the Positioning Band is Changed. ..... 8
2. Make sure to attach the Horizontal Articulated Robot properly by following
operation manual.
..........................................................................................................
this
8
3. Handling of the Carton........................................................................................................ 9
4. Handling of Individual Components .................................................................................. 10
5. Transportation................................................................................................................... 11
1. Name of Each Part............................................................................................................ 13
1.1 Robot.............................................................................................................................................13
1.2 Labels............................................................................................................................................14
1.3 Label Positions.............................................................................................................................. 15
2. External Dimensions......................................................................................................... 17
3. Robot Operation Area ....................................................................................................... 21
4. Wiring Diagram .................................................................................................................22
4.1 Layout Drawing ............................................................................................................................. 22
4.2 230 V Circuit Components ......................................................................................................... 23
5. Option ............................................................................................................................... 24
5.1 Absolute Reset Jig ........................................................................................................................ 24
5.2 Flange ........................................................................................................................................... 24
5.3 Absolute Data Backup Battery...................................................................................................... 24
6. Checking after Unpacking................................................................................................. 25
6.1 Items Included in the Carton ......................................................................................................... 25
6.2 Operation Manuals Relating to This Product ................................................................................ 26
6.3 How to Read Model Nameplate.................................................................................................... 26
6.4 How to Read Model Number.........................................................................................................27
7. Specifications.................................................................................................................... 28
7.1 IX-TNN3015H, IX-UNN3015H ......................................................................................................28
7.2 IX-TNN3515H, IX-UNN3515H ......................................................................................................30
8. Installation Environment and Storage/Preservation Environment ..................................... 32
8.1 Installation Environment................................................................................................................ 32
8.2 Installation Platform....................................................................................................................... 32
8.3 Storage/Preservation Environment............................................................................................... 33
9. How to Install..................................................................................................................... 34
9.1 Installation Posture........................................................................................................................ 34
9.2 Installing the Robot........................................................................................................................ 35
10. Connecting the Controller ................................................................................................. 37
11. Checking after Installation................................................................................................. 40
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12. Precautions for Use .......................................................................................................... 41
12.1 Setting the Acceleration/Deceleration........................................................................................... 41
12.2 Push Force of the Vertical Axis ..................................................................................................... 43
12.3 Tools.............................................................................................................................................. 44
12.4 Carrying Load................................................................................................................................46
12.5 User Wiring and Piping ................................................................................................................. 47
12.6 Moving Direction ........................................................................................................................... 49
13. Inspection/Maintenance .................................................................................................... 50
13.1 Inspection/Maintenance ................................................................................................................ 50
13.1.1 Daily Inspection...................................................................................................................... 51
13.1.2 Six-Month Inspection ............................................................................................................. 51
13.1.3 Yearly Inspection ................................................................................................................... 52
13.2 Battery Replacement .................................................................................................................... 52
13.2.1 Preparation ............................................................................................................................ 52
13.3 Absolute Encoder Reset Method ..................................................................................................54
13.3.1 Preparation for Absolute Reset..............................................................................................54
13.3.2 Starting the Absolute Reset Menu......................................................................................... 55
13.3.3 Absolute Reset Procedure for Arm 1 or 2.............................................................................. 56
13.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis ........................................ 62
14. Warranty ........................................................................................................................... 70
14.1 Warranty Period ............................................................................................................................
14.2 Scope of Warranty.........................................................................................................................
14.3 Honoring the Warranty....................................................................................................................
14.4 Limited Liabil .................................................................................................................................
14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications........
14.6 Other Items Excluded from Warranty................................................................................................
Change History .......................................................................................................................
70
70
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70
71
71
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Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
1 Model
Operation
Description
Selection
Description
This product has not been planned and designed for the application where
high level of safety is required, so the guarantee of the protection of
human life is impossible. Accordingly, do not use it in any of the following
applications.
1) Medical equipment used to maintain, control or otherwise affect human
life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving part
may drop when the power is turned OFF and may cause an accident such
as an injury or damage on the work piece.
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No.
Operation
Description
Description
2 Transportation When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the instructions
in the 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
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No.
Operation
Description
4 Installation
and Start
Description
(2) Cable Wiring
Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Perform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
When the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is
not correct, it might cause a fire, product breakdown or malfunction.
Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction
of the product.
Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
(3) Grounding
The grounding operation should be performed to prevent an electric shock
or electrostatic charge, enhance the noise-resistance ability and control
the unnecessary electromagnetic radiation.
For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair cable
with wire thickness 0.5mm
2
(AWG20 or equivalent) or more for grounding
work. For security grounding, it is necessary to select an appropriate wire
thickness suitable for the load. Perform wiring that satisfies the
specifications (electrical equipment technical standards).
Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100 or below).
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No.
4 Installation
Operation
Description
and Start
Description
(4) Safety Measures
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’s movable range. When the
robot under operation is touched, it may result in death or serious injury.
Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an
injury or damage to the product.
Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power
input.
When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
Take the measure so that the work part is not dropped in power failure or
emergency stop.
Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Do not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
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No.
Operation
Description
Description
6 Trial Operation When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Check before starting the automatic operation or rebooting after operation
stop that there is nobody in the safety protection fence.
Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm
indication.
Make sure to operate automatic operation start from outside of the safety
protection fence.
In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn
OFF the power switch. Failure to do so may result in a fire or damage to
the product.
When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.
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No.
8 Maintenance
Operation
Description
and Inspection
Description
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Perform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see.
For the grease for the guide or ball screw, use appropriate grease
according to the 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.
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Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the 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
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Handling Precautions
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.
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A
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]
Robot
Controller, accessories
and other items
(except for the robot)
rm 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.
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4. Handling of Individual Components
The robot and controller are supplied as a set.
Your robot cannot be used with the controller supplied with another robot.
When handling multiple robots, check that the serial number described on the robot is the same as the one on
the controller and be careful not to switch the controllers.
The robot will not stand on its own after being unloaded from the carton pallet.
Hold it by hand, or place a cushioning material on the floor and place the robot on its side upon the cushion.
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5. Transportation
A
A
When transporting the robot, loop the cables around the upper part of the robot using adhesive tape, etc., and
transport the robot with the supplied arm locking plates and arm support plates securely fixed.
Use a dolly, forklift, etc., to transport the robot.
When transporting the robot, move the robot slowly by paying attention to the balance of the robot and being
careful not to apply vibration or shock.
rm support plate
rm locking plate
WarningDanger
• It is dangerous not to fix the arms and table securely because any free arm may turn suddenly and pinch
your hand or the cables may be dragged and catch your feet.
• Do not attempt to transport or move the robot by directly carrying it, because you may hurt your back or
drop the robot onto your feet.
• If the robot drops you may be pinned down and sustain serious injury.
• Never stand underneath the robot while it is transported.
• If any machine or means is used that requires a specified qualification, it must be operated by a person
having the required qualification.
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1. Name of Each Part
A
A
A
A
A
A
1.1 Robot
LM (indicator)
4 user piping (black,
red, white; 3 locations)
User connector
Spacer for user
part installation
Brake release switch
Mechanical
stopper for axis 3
(vertical axis)
Panel
U cable (outside robot)
rm 2 (mechanical stopper)
1. Name of Each Part
PG cable (outside robot)
BK power-supply cable
(outside robot)
M cable (outside robot)
ir tube (4, 3 pcs)
Wiring duct
Rear panel
(Base)
Reference
surface
Ball screw
spline shaft
Cover
(arm 2)
Mechanical
stopper for axis 3
(vertical axis)
rm 2
rm 1
Base
rm 1 (mechanical stopper)
End-face cover (arm 1)
Reference
surface
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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
1. Name of Each Part
(2) Labels on the Controller
handling of the controller
Prohibition of entry into
the operation area
Robot serial number
Caution/warning on
Warning on handling of
the vertical axis
CE-certified robot
(Provided only for CE-certified models)
Designation of the connected robot
Warning against
electric shock
Controller serial number
(Other than CE-certified models)
WarningDanger
Failure to observe the cautionary information provided on the labels may result in serious injury or damage
to the robot.
14
Caution
Controller serial number
(CE-certified models)
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1.3 Label Positions
A
Label Positions on the Robot
Warning on handling
of the vertical axis
Warning against
electric shock
CE-Certified robot
(Provided only for CEcertified models)
Robot serial number
View
1. Name of Each Part
View B
Warning on handling
of the vertical axis
CE-Certified robot
(Provided only for CE-certified models)
Warning against
electric shock
Robot serial number
View A
View B
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Label Positions on the Controller
Controller serial number
Other than CE-certified specification
CE-certified specification
Specification of connected robot
1. Name of Each Part
Caution/warning on controller handling
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2. External Dimensions
A
r
pp
)
,
A
r
A
r
IX-TNN3015H (Arm Length 300)
Tapped hole for
installing peripheral
equipment (4-M4,
depth 12)
Same on opposite
side
4-9
16 counterbored,
depth 0.5
(Counterbored on
osite side
o
T-slot for installing
rm 2 stoppe
Reference
surface
Reference
surface
(Mechanical end)
peripheral
equipment (M3, M4)
2. External Dimensions
rm 1 stoppe
(Mechanical end)
Quick joint
4, white
BK switch (brake
release switch)
User connector
11 (inner diameter)
Detail view of arm
*1: The external force acting upon the
spacer shall be kept to 30 N or less
in axial direction or 2 N-m or less in
rotating direction (per spacer).
*2: The LED will actuate when the user
wires the applicable lines in such a
way that 24 VDC is applied to the
user-wired LED terminal upon I/O
output of a signal from the
controller.
Quick joint
red
4
LM (*2)
Quick joint
User space
Outer diameter 7, height
10, M4, depth 5 (*1)
4, black
Detail view of panel
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Page 24
IX-TNN3515H (Arm Length 350)
A
pp
)
,
A
r
A
r
4-9
16 counterbored,
depth 0.5
(Counterbored on
o
osite side
2. External Dimensions
Tapped hole for
installing peripheral
equipment (4-M4,
depth 12)
Same on opposite
side
rm 2 stopper
Reference
surface
Reference
surface
(Mechanical end)
T-slot for installing
peripheral
equipment (M3, M4)
rm 1 stoppe
(Mechanical end)
Quick joint
4, white
BK switch (brake
release switch)
User connector
11 (inner diameter)
Enlarged view of arm tip
*1: The external force acting upon the
spacer shall be kept to 30 N or less
in axial direction or 2 N-m or less in
rotating direction (per spacer).
*2: The LED will actuate when the user
wires the applicable lines in such a
way that 24 VDC is applied to the
user-wired LED terminal upon I/O
output of a signal from the
controller.
User space
Outer diameter 7, height
10, M4, depth 5 (*1)
Quick joint
red
4
LM (*2)
Quick joint
4, black
Detail View of Panel
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IX-UNN3015H (Arm Length 300)
A
r
A
r
A
r
Reference
surface
Reference surface
4-9
16 counterbored, depth 0.5
(Counterbored on opposite
side)
Tapped hole for
installing peripheral
equipment (4-M4,
depth 12)
Same on opposite side
Detail view of arm
11 (inner diameter)
rm stoppe
4 (Mechanical end)
2. External Dimensions
*1: The external force acting upon the spacer
shall be kept to 30 N or less in axial direction
or 2 N-m or less in rotating direction (per
spacer).
*2: The LED will actuate when the user wires
the applicable lines in such a way that 24
VDC is applied to the user-wired LED
terminal upon I/O output of a signal from the
controller.
Quick joint
4, red
LM (*2)
Quick joint
User space
Outer diameter 7, height
10, M4, depth 5 (*1)
4, black
Detail view of panel
4 (Mechanical end)
Quick joint
4, white
BK switch (brake
release switch)
User connector
rm 2 stoppe
Reference surface
T-slot for installing peripheral
equipment (M3, M4)
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IX-UNN3015H (Arm Length 350)
,
A
r
A
r
A
r
,
Enlarged view of arm end
Quick joint
red
4
LM (*2)
Quick joint
4, black
User space
Outer diameter 7, height
2. External Dimensions
10, M4, depth 5 (*1)
Detail view of panel
Tapped hole for
installing peripheral
equipment (4-M4,
depth 12)
Same on opposite side
Quick joint
4
white
BK switch (brake
release switch)
User connector
4 (Mechanical end)
*1: The external force acting upon the spacer
shall be kept to 30 N or less in axial direction
or 2 N-m or less in rotating direction (per
spacer).
*2: The LED will actuate when the user wires
the applicable lines in such a way that 24
VDC is applied to the user-wired LED
terminal upon I/O output of a signal from the
controller.
11 (inner diameter)
rm 1 stoppe
Reference surface
20
Reference
surface
4 (Mechanical end)
Reference
surface
4-9
16 counterbored, depth 0.5
(Counterbored on opposite
side)
rm 2 stoppe
T-slot for installing peripheral
equipment (M3, M4)
Page 27
3 Robot Operation Area
IX-TNN3015H, IX-UNN3015H
Line of contact
with base
Area of prohibited entry
Movement range
Pay attention to contact with
the mounting wall surface
3. Robot Operation Area
Area of prohibited entry
Range of mechanical stopper
IX-TNN3515H, IX-UNN3515H
Area of prohibited entry
Line of contact
with base
Movement range
Pay attention to contact with
the mounting wall surface
Area of prohibited entry
Range of mechanical stopper
21
Page 28
4 Wiring Diagram
A
4.1 Layout Drawing
4. Wiring Diagram
Alarm LED
xis 4 (R-axis)
xis 2 (arm 2)
servo motor
Inside arm 2
U cable (inside robot)
PG cable (inside robot)
M cable (inside robot)
cable
Flexible
xis 3 (Z-axis)
servo motor with brake
xis 4 (R-axis)
electromagnetic brake
servo motor
FG (to D-sub housing)
D-sub connector for user wiring [15-pin, sock et]
ir joint, black (4)
ir joint, red (4)
ir joint, white (4)
Axis 3/4 (Z/R) brake release switch
Inside base
xis 1 (arm 1)
servo motor
Cap (Capcon)
M cable (outside robot)
Controller
Wiring/Piping Diagram: 300/350
22
Board
FG [to base]
ir joint, black (4)
ir joint, red (4)
ir joint, white (4)
PG cable (outside robot)
BK power-supply cable
U cable (outside robot)
(outside robot)
power supply is required. The 24-V power supply for I/O or any other power supply used on the secondary
side (low-pressure side) cannot be used.
(2) The brake power-supply circuit is provided on the primary side (high-pressure side), so a dedicated 24-V
(3) To operate the alarm LED, the user must provide a circuit that uses the controller I/O output signal.
terminal
Brake power-
supply terminal
User wiring
Notes (1) The actual positions of board connectors vary from this drawing.
Page 29
4.2 230 V Circuit Components
No. Code name Model number Manufacturer Remarks
1 Axis 1 servo motor TS4607 N2027 E201
2 Axis 2 servo motor TS4606 N2044 E201
Axis 3 servo motor
3
w/ brake
TS4606 N7044 E201
4 Axis 4 servo motor TS4602 N2044 E201
M cable (inside
5
robot)
M cable (outside
6
robot)
IAI
IAI
Tamagawa
Seiki
AC servo motor, 60, 200 W, key
groove, CE certified
AC servo motor, 60, 100 W, key
groove, CE certified
AC servo motor, 60, 100 W, w/ brake,
round shaft, CE certified
AC servo motor, 40, 50 W, key groove,
CE certified
Wire: 300 V, 105C (rated), AWG18
(0.84 mm
2
), flexible cable, UL
VW-1, c-UL FT-1
Wire: 300 V, 80C (rated), AWG18
(0.89 mm
2
), oil-resistant cable, UL
VW-1, c-UL FT-1
4. Wiring Diagram
23
Page 30
5. Option
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.
Model number Remarks
JG-2 For arm length 250/350
5.2 Flange
This flange is used to install a load at the end of the Z-axis arm.
Model number Remarks
IX-FL-2 For arm length 250/350
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
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.
24
Remarks
Page 31
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
Refer to "How to Read Model
1 Robot
2 Controller
Accessories
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
Nameplate" and "How to Read
Model Number."
skrameRrebmunledoMmetI.oN
6. Checking after Unpacking
25
Page 32
6.2 Operation Manuals Relating to This Product
r
r
No. Item Control No.
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
6.3 How to Read Model Nameplate
Model numbe
Serial numbe
6. Checking after Unpacking
26
Page 33
6.4 How to Read Model Number
IX-TNN3015H-5L-T2-JY
<Series>
SCARA robot
<Type>
Wall mount type
Arm length 300 mm/Z-axis 150 mm
TNN3015H
Arm length 350 mm/Z-axis 150 mm
TNN3515H
Wall mount inverse type
Arm length 300 mm/Z-axis 150 mm
UNN3015H
Arm length 350 mm/Z-axis 150 mm
UNN3515H
<Option>
JY: Joint cable specification
<Applicable controller>
T2: XSEL-PX/QX
<Cable length>
5L: 5 m
10L: 10 m
6. Checking after Unpacking
27
Page 34
7. Specifications
7.1 IX-TNN3015H, IX-UNN3015H
IX-TNN3015H (arm length 300, wall mount), IX-UNN3015H (arm length 300, inverse)
Item Specifications
Model number IX-TNN3015H-**L-T1/IX-UNN3015H-**L-T1
Degree of freedom Four degrees of freedom
Overall arm length 300
Arm 1 length 175
Arm 2 length
Drive method
Motor capacity
Movement
range
7. Specifications
Maximum
operating
speed (*2)
Positioning
repeatability
precision (*3)
Cycle time (*4) sec 0.41
Load capacity
Axis 3 (vertical
axis)
Push force
control range
Permissible
load on axis 4
Permissible tool diameter (*6) mm 40
Home detection Absolute
User wiring
Alarm indicator (*8) One small, red LED indicator (rated voltage: 24 V)
User piping
mm
125
Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer
Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline
Axis 4 (rotational axis) AC servo motor + Belt + Reduction gear + Spline
Axis 1 (arm 1) 200
Axis 2 (arm 2) 100
Axis 3 (vertical axis) 100
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
Axis 3 (vertical axis) (*1) mm 150
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree/sec 1600
Axis 1 + Axis 2
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree
Rated 1
Maximum
Upper limit (*5) 111.0 (11.3) Push torque limit 70%
Lower limit (*6)
Permissible moment of inertia
(*7)
Permissible torque N-m (kgf-cm) 1.9 (19.5)
W
50
degree
mm/sec
mm
kg
N (kgf)
2
kg-m
0.015
D-sub 15-pin connector with 15-core AWG26 shielded
Three air tubes (outer diameter: 4, inner diameter: 2.5)
58.0 (5.9) Push torque limit 40%
(normal service pressure: 0.8 MPa)
120
130
360
3616
1316
0.010
0.010
0.005
3
cable (socket)
28
Page 35
Item Specifications
p
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40°C, humidity: 20 to 85%RH or
less (non-condensing)
sselro000,1medutitlA
BdesioN 71
Robot weight kg 20.8
Brake power source for main unit W
Controller
Power supply 230 V 50/60 Hz 5 A
Allowable supply voltage
fluctuation
%
DC24VI10% 20W
±10
Overvoltage category (IEC60664-1) Category III
3eergednoitulloP)1-46606CEI(eergednoitulloP
*1: To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to
the top position as possible. (Fig. 1)
To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be
reduced as appropriate. (Fig. 2)
*2: Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP
operation.
*3: Positioning precision when the robot is operated repeatedly to one specified position from the same
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.
*4: Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.
*5: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.
*6: 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 20 to 70%.
*7: The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from
the rotational center of axis 4 to the tool’s 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.
*8: 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.
7. Specifications
Center of
rotational axis
Top
osition
Tool
(Fig. 1)
Bottom
position
Tool
(Fig. 2)
Tool
Tool’s center
of gravity
(Fig. 3)
Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775
29
Page 36
7.2 IX-TNN3515H, IX-UNN3515H
IX-TNN3515H (arm length 350, wall mount), IX-UNN3515H (arm length 350, inverse)
Item Specifications
Model number IX-TNN3515H-**L-T1/IX-UNN3515H-**L-T1
Degree of freedom Four degrees of freedom
Overall arm length 350
Arm 1 length 225
Arm 2 length
Drive method
Motor capacity
Movement
range
7. Specifications
Maximum
operating
speed (*2)
Positioning
repeatability
(*3)
Cycle time (*4) sec 0.42
Load capacity
Axis 3 (vertical
axis)
Push force
control range
Permissible
load on axis 4
Permissible tool diameter (*6) mm 40
Home detection Absolute
User wiring
Alarm indicator (*8) One small, red LED indicator (rated voltage: 24 V)
User piping
mm
125
Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer
Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline
Axis 4 (rotational axis) AC servo motor + Belt + Reduction gear + Spline
Axis 1 (arm 1) 200
Axis 2 (arm 2) 100
Axis 3 (vertical axis) 100
Axis 4 (rotational axis)
Axis 1 (arm 1)
Axis 2 (arm 2)
Axis 3 (vertical axis) (*1) mm 150
Axis 4 (rotational axis) degree
Axis 1 + Axis 2 (maximum
composite speed)
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree/sec 1600
Axis 1 + Axis 2
Axis 3 (vertical axis)
Axis 4 (rotational axis) degree
Rated 1
Maximum
Upper limit (*5) 111.0 (11.3) Push torque limit 70%
Lower limit (*6)
Permissible moment of inertia
(*7)
Permissible torque N-m (kgf-cm) 1.9 (19.5)
W
50
degree
mm/sec
mm
kg
N (kgf)
2
0.015
kg-m
D-sub 15-pin connector with 15-core AWG26 shielded
Three air tubes (outer diameter: 4, inner diameter: 2.5)
58.0 (5.9) Push torque limit 40%
(normal service pressure: 0.8 MPa)
120
135
360
4042
1316
0.010
0.010
0.005
3
cable (socket)
30
Page 37
Item Specifications
p
Operating
environment
Surrounding air temperature/humidity
Temperature: 0 to 40°C, humidity: 20 to 85%RH or
less (non-condensing)
sselro000,1medutitlA
BdesioN 71
Robot weight
Brake power source for main unit
Controller
Power supply 230 V 50/60 Hz 5 A
Allowable supply voltage
fluctuation
kg
W
%
21.9
DC24VI10% 20W
±10
Overvoltage category (IEC60664-1) Category III
3eergednoitulloP)1-46606CEI(eergednoitulloP
*1: To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to
the top position as possible. (Fig. 1)
To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be
reduced as appropriate. (Fig. 2)
*2: Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP
operation.
*3: Positioning precision when the robot is operated repeatedly to one specified position from the same
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.
*4: Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.
*5: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.
*6: 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 20 to 70%.
*7: The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from
the rotational center of axis 4 to the tool’s 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.
*8: 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.
7. Specifications
Center of
rotational axis
Top
osition
Tool
(Fig. 1)
Bottom
position
Tool
(Fig. 2)
Tool
Tool’s center
of gravity
(Fig. 3)
Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775
31
Page 38
8. Installation Environment and Storage/Preservation
Environment
8.1 Installation Environment
Install the robot in an environment that satisfies the following conditions:
Away from direct sunlight
Not subject to radiated heat from a high-capacity energy source such as a heat-treating furnace
Surrounding air temperature: 0C to 40C
Humidity: 85% or less (non-condensing)
Not exposed to corrosive or flammable gases
Not subject to impact or vibration
Not exposed to a significant amount of electromagnetic waves, ultraviolet rays or radiation
Sufficient space is available to ensure safety in teaching and maintenance/inspection operations
Generally, the robot must be installed where the operator need not wear protective gear in order to work.
8.2 Installation Platform
The platform on which to install the robot receives a significant reactive force. Be certain the platform has
sufficient rigidity to withstand the anticipated force.
The surface on which the robot is fixed must have a thickness of 25 mm or more.
The levelness of the robot installation surface must be at least 0.05 mm.
Machine tapped holes of the size shown in the table below in the mounting surface of the platform.
Model number Tapping size Remarks
IX-TNN3015H/3515H
IX-UNN3015H/3515H
The platform must have sufficient rigidity to withstand not only the weight of the robot but also the dynamic
moment of inertia that is generated when the robot is operated at maximum speed.
Secure the platform to the floor or other rigid structure in a manner that prevents any movement due to
operation of the robot.
The installation platform must allow the robot to be mounted on a level surface.
8. Installation Environment and Storage/Preservation Environment
M8 M8: The effective thread shall be 10 mm or more
32
Page 39
8.3 Storage/Preservation Environment
The storage/preservation environment conforms to the installation environment. If the robot is to be
stored/preserved for a prolonged period of time, be sure the robot will not be exposed to dew condensation.
Unless otherwise specified, desiccant is not placed in the carton when shipped. If the robot is to be
stored/preserved in an environment subject to condensation, provide preventive measures from over the carton
or directly to the robot after unpacking.
The maximum storage/preservation temperature is 60C for a short storage/preservation period. If the robot is to
be stored for more than a month, the temperature should not exceed 50C.
WarningDanger
Failure to provide a proper environment for installation and storage/preservation may shorten the service
life of the robot, reduce its operation precision, or cause a malfunction or failure.
Never use the robot in a flammable atmosphere. The robot may explode or ignite.
8. Installation Environment and Storage/Preservation Environment
33
Page 40
How to Install
9.
Shown below is how to install SCARA Robot.
9.1
: Available s : Not available
9. How to Install
Installation Posture
s
Ceiling-MountWall-MountHorizontally Oriented Mount
s
34
Page 41
9.2 Installing the Robot
The operation area of the wall mount type extends to the back of the base. Because this type is specially
designed for mounting on a wall surface, however, the operation area may be limited substantially depending on
the structure of the mounting wall.
Make sure the mounting wall surface is structured in a manner minimizing the potential for contact within the
robot’s operation area.
If the above structure cannot be ensured, set a smaller operation area using the soft limits to prevent contact
with the wall within the robot’s operation area.
Mounting wall surface
Line of contact
with base
Area of prohibited entry
Movement range
Pay attention to contact with
the mounting wall surface
Arm length: 300
130 or more
9. How to Install
Mounting wall surface
Line of contact
with base
Area of prohibited entry
Movement range
Pay attention to contact with
the mounting wall surface
Arm length: 350
150 or more
WarningDanger
Since the wall mount specification is installed on a wall surface, the robot will drop and create a dangerous
situation if the mounting area on the wall surface is damaged. Make sure the mounting area has sufficient
strength and rigidity.
Make sure the mounting wall surface is structured in a manner minimizing the potential for contact within
the robot’s operation area.
If the above structure cannot be ensured, set a smaller operation area using the soft limits to prevent
contact with the wall within the robot’s operation area.
35
Page 42
2-8H10 reference holes are provided on the mounting surface of the base. Use these holes to prevent the
A
machine from dropping during installation or determine the machine position roughly. (Use the reference
surface of the base to determine the accurate position of the machine.)
When installing the machine, affix the machine onto the mounting surface with arms 1 and 2 extended and
the machine supported by the base and arm 1.
* Be careful not to apply force on the rotational axis and arm 2 cover during the installation work.
Use M8 hexagonal socket head bolts and washers to securely affix the robot.
(Tightening torque: 3.2 kgf-m)
For the hexagonal socket head bolts, use high-strength bolts of ISO10.9 or higher.
Flexible cable
Mounting wall
Arm 2 cover
surface
Positioning pin
2-8H10
4-
9
9. How to Install
Rotational axis
Be careful not to apply force on the rotational axis, flexible cable or arm 2 cover during the installation work
(because it may cause these parts to bend, deform or otherwise trigger machine troubles).
Tighten the hexagonal socket head bolts securely to the correct torque. If not, precision may drop and in the
worst case the robot may topple and cause an accident.
Support (base)
rm 2
Support (arm 1)
* The mounting direction is vertically reversed for the inverse specification.
CautionWarning
Reference
surface
Reference
surface
36
Page 43
10. Connecting the Controller
The controller connection cables are attached on the robot (standard cable: 5 m, to air-tube joint: 150 mm).
Pay attention to the following items when connecting the controller:
Connect to the robot of the serial number specified on the robot designation label provided on the front panel
of the controller.
Robot designation label
Robot serial number
Connect the cables securely after confirming that they are free from damage or bent connector pins.
Connect each cable by aligning the indication on the marking tube on the cable with the indication on the
controller panel.
When installing the PG connector (D-sub connector), ensure correct orientation of the connector.
Please prepare the dedicated 24V DC power source for the brake power circuit of Horizontal Articulated
Robot since it is on the primary (high pressure) side.
Do not attempt to share the secondary circuit power sources such as I/O power source.
The brake power to be supplied to Horizontal Articulated Robot should be 24V DC 10% and the voltage
source capacity 20W.
The brake power to be supplied to the controller should be 24V DC 10% and the voltage source capacity 9W.
(Note) It is necessary to increase the voltage source capacity of the brake power source if brake actuators are
to be connected to the 5th and 6th axes of the controller. [Refer to the section of the voltage source
capacity and heat generation in the controller operation manual.]
10. Connecting the Controller
Refer to the operation manuals for the controller and PC software for the procedures to connect the I/O cable,
controller power cable, PC connection cable, etc.
Warning
Be sure to connect to the robot of the serial number specified on the front panel of the controller.
The controller will not operate properly if any other robot is connected. Failure to observe this warning may
cause the robot to malfunction, resulting in a serious accident.
Before connecting or disconnecting a cable, always turn off the power to the controller.
Connecting/disconnecting a cable with the power supplied to the controller may cause the robot to
malfunction, resulting in a serious accident.
Installing the connectors into the wrong sockets may cause the robot to malfunction. Be sure to check the
designation on the cable with that on the controller panel before plugging in any connector.
If the connectors are not inserted securely, the robot may malfunction and generate the risk of danger.
Be sure to affix each connector with the supplied screws.
37
Page 44
Output voltage: 24 VDC 10%
r
Current capacity: 20 to 30 W
M cable
Warning
Before connecting or disconnecting a cable, always turn off the power to the controller.
Connecting/disconnecting a cable with the power supplied to the controller may cause the robot to
malfunction, resulting in a serious accident.
10. Connecting the Controller
Installing the connectors into the wrong sockets may cause the robot to malfunction. Be sure to check the
designation on the cable with that on the controller panel before plugging in any connector.
If the connectors are not inserted securely, the robot may malfunction and generate the risk of danger.
Be sure to affix each connector with the supplied screws.
PG cable
U cable
(cable for user wiring)
BK power cable
Standard cable length: 5 m
4 quick joint (3 pcs.)
Provided by use
To air tube
24 VDC power
supply for brake
(provided by user)
Tool, control unit, etc.
(provided by user)
38
Page 45
If you are using an X-SEL-PX/QX controller, you must supply the brake power to the controller in addition to
y
y
wiring the brake power cable from the SCARA robot.
Supply the brake power (+24 V) to the controller as shown in the figure.
3-phase 200 to 230-
VAC power suppl
Auxiliary power-
suppl
circuit
Upper position: 0 V
Lower position: 24 V
Example of X-SEL-PX
controller (4-axis SCARA
robot of arm length 250 to
600 mm without I/O
expansion)
Brake power
+24-V power
supply
10. Connecting the Controller
SCARA robot
39
Page 46
11. Checking after Installation
Once the robot has been installed, check the following items:
Visually check the robot, controller and cables for dents and other abnormalities.
Confirm that the cables are connected properly and that the connectors are inserted securely.
Warning
z Failure to perform these checks may result in a malfunctioning robot or a damaged controller or
robot.
11. Connecting the Controller
40
Page 47
12. Precautions for Use
2
12.1 Setting the Acceleration/Deceleration
Set the acceleration/deceleration using the graphs below as a reference.
(1) PTP operation (Set using the SEL language commands ACCS and DCLS.)
IX arm length 300/350
Reference settings for PTP
acceleration/deceleration
Maximum
setting range
Reference range for
continuous operation
Acceleration deceleration (%)
Mass of carrying load (kg)
Inertial moment (kg-m
Acceleration deceleration (%)
) Duty (%) = (Continuous operation /
(Continuous operation + Stopping time)) / 100
IX arm length 300/350
Reference duties for PTP
Reference range of duty for
continuous operation duty
(2) CP operation (Set using the SEL Language commands ACC and DCL.)
Reference settings for CP
acceleration/deceleration
continuous operation
Duty (%)
12. Precautions for Use
Maximum setting range =
Reference range for
continuous operation
Acceleration deceleration (G)
Mass of carrying load (kg)
Maximum speed of CP operation at arm length 300 600 mm/sec
Maximum speed of CP operation at arm length 350 700 mm/sec
41
Page 48
Caution
When PTP operation is performed with the acceleration/deceleration set to 100%, the optimal
acceleration/deceleration function adjusts the maximum acceleration/acceleration at which the robot can
accelerate/decelerate carrying the load weight set by the WGHT command, to 100%.
Be sure to set the mass and inertial moment using the WGHT command.
Never set in the WGHT command a value smaller than the load mass installed on the vertical axis.
If such smaller value is set, the robot accelerates/decelerates at the maximum acceleration/deceleration
permitted for the applicable load weight or even higher, and consequently the SCARA robot may stop by
generating an error or break down.
Start from the appropriate reference setting for acceleration/deceleration during continuous operation, and
then gradually raise the value for the purpose of adjustment.
Operate the SCARA robot by maintaining an acceleration/deceleration appropriate for the applicable mass
and inertial moment. If not, the life of the driving part may be shortened or damage or vibration may result.
If an overload error (error code: D0A) occurs, lower the acceleration/deceleration setting or provide an
appropriate stopping time based on the reference duty for continuous operation.
Duty (%) = (Continuous operation / (Continuous operation + Stopping time)) / 100
To move arm 1 or 2 of the SCARA robot horizontally at high speed, keep the vertical axis near the top
position. If such high-speed operation is performed with the vertical axis lowered, the vertical axis may
vibrate.
Be sure to keep the inertial moment and carrying load at the allowable values or less.
The carrying load represents the inertial moment and mass at the center of rotation of axis 4. If the
acceleration/deceleration is raised when the inertial moment far exceeds the allowable value, control is
disabled in the rotating direction.
Depending on the position of the vertical axis, the vertical axis may generate vibration when the inertial
moment of the load is high. If vibration occurs, lower the acceleration/deceleration.
12. Precautions for Use
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12.2 Push Force of the Vertical Axis
Set the push force of the vertical axis by referring to the graph below.
Relationship of push force and push
torque limit during positioning
Push force (N)
Push torque limit during positioning (%)
Push-motion operating speed 10 mm/sec
Caution
Use the PUSH command to perform push-motion operation involving the vertical axis. If push-motion
operation is performed without using the PUSH command, the life of the driving part may be shortened or
damage or vibration may result.
Push force can be changed by driver card parameter No. 38, “Torque limit during positioning.”
When performing push-motion operation, keep the speed to 10 mm/sec or below.
If the speed exceeds 10 mm/sec, provide a shock-reducing mechanism to keep the vertical axis from
receiving shock.
The graph of push force and push torque limit during positioning shows characteristics when no load is
installed on the vertical axis. In downward push-motion operation, the applicable push force increases by
the load mass.
In upward push-motion operation with the inverse specification, the applicable push force decreases by the
load mass.
Push force is controlled by servo motor current. No control is implemented based on feedback of push
force.
Push force is subject to a variation of approx. 5%.
12. Precautions for Use
43
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12.3 Tools
The tool mounting part must have sufficient strength and rigidity, along with adequate fastening power to prevent
positional shift.
It is recommended that a tool be installed over a split ring, span ring or other appropriate part. A sample
configuration of tool installation is given below.
Set the tool diameter to 100 mm or less. If the tool diameter exceeds 100 mm, the tool will interfere with the
robot within the robot’s operation area. If the tool diameter exceeds 100 mm or the tool interferes with peripheral
equipment, decrease the soft limits to reduce the operation area.
Also keep the inertial moment of the tool and load at the allowable value or less. (Refer to 11.4, “Carrying Load.”)
Use the D-cut surface at the end of axis 4 (rotational axis) to adjust the position (direction) of axis 4. To set the
rotating direction using the D-cut surface and setscrews, be sure to use setscrews with resin or brass pad or set
pieces made of soft material.
(Avoid attachment of the tool at the D-cut surface via thread fastening. Doing so may damage the D-cut
positioning surface.)
12. Precautions for Use
Tool diameter:
100 or less
D-cut surface
Center of axis 4
(rotational axis)
D-cut surface
Tool
Span ring, etc.
Pressure flange
44
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CautionWarning
Turn off the power to the controller and robot before installing a tool.
If the tool mounting part does not have sufficient strength, it may break while the robot is operating and
cause the tool to detach and fly off.
If the tool diameter exceeds 100 mm, the tool will contact the robot within the robot’s operation area,
causing damage to the tool, load and/or robot.
Avoid attachment of the tool at the D-cut surface via thread fastening. Doing so may damage the D-cut
positioning surface.
12. Precautions for Use
45
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12.4 Carrying Load
Loading capacity
Model number Rated load capacity Maximum load capacity
IX-TNN3015H/3515H
IX-UNN3015H/3515H
Load’s permissible moment of inertia
Model number Rated load capacity Remarks
IX-TNN3015H/3515H
IX-UNN3015H/3515H
Load offset (from the center of axis 4 (rotational axis))
40 mm or less
1 kg 3 kg
0.015 kg-m
Center of axis 4 (rotational axis)
Load’s center of gravity
2
Both rated and maximum
40 mm or less
12. Precautions for Use
Caution
Set appropriate acceleration/deceleration according to the mass of the end and moment of inertia. Failure to
do so may cause the drive part to wear prematurely or may result in damage or vibration.
If vibration occurs, lower the acceleration/deceleration as appropriate.
If the load gets offset, the robot becomes more likely to cause vibration. Design the tools so that the load’s
center of gravity aligns with the center of axis 4.
Do not move the robot horizontally with axis 3 (vertical axis) extended. It may cause the vertical axis to bend
and disable the axis. To move the robot horizontally with axis 3 extended, adjust the speed and
acceleration/deceleration as appropriate.
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12.5 User Wiring and Piping
The robot comes with standard cables and tubes that the user can use in a desired wiring/piping configuration.
Quick joint
4, red
ALM (indicator)
Quick joint
4, black
Spacer for user part installation
Quick joint
4, white
BK SW
Brake-release switch
User connector
Panel Rear Panel
User connector specifications
Rated voltage 30 V
Permissible current 1.1 A
Conductor size and number of wires
Other
AWG 26 (0.15 mm
15 wires
Twisted-pair cable
(1 to 24), shielded
Air
(4, 3 pcs)
M cable
(outside
robot)
BK power cable (outside robot)
U cable
(outside robot)
PG cable
(outside robot)
Shape of Y-terminal
2
),
12. Precautions for Use
Piping specifications
Normal service pressure 0.8 MPa
Dimensions (outer diameter x inner
diameter) and number of tubes
4 mm x 2.5 mm,
3 pieces
Working medium Air
ALM (indicator) specifications
Rated voltage 24 VDC
Rated current 12 mA
Illumination color Red LED
Spacer for user part installation
7
M4, depth 5
30 N or less
m or less
2 N
External force applied to the spacers must not
exceed 30 N in the axial direction or 2 Nm in the
rotating direction (for each spacer).
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The robot comes with a mating 15-pin plug for the D-sub connector.
Solder a user-supplied cable to the D-sub connector (plug), attach the supplied hood, and then connect to the
user connector (socket). Use a shielded cable with an outer diameter of
11 or less.
To turn on the ALM (indicator), the user must configure a dedicated circuit that uses the controller I/O output
signal, etc.
User connector pins and corresponding Y-terminals
Inside unit Cable
Arm 2 side
Connection
D-sub,
15-pin
User Connector
ALM
Indicator
(LED)
To D-sub connector frame
No.
10
11
12
13
14
15
Y-terminal designation
1
2
3
4
5
6
7
8
9
LED +24V
LED G24V
U1
U2
U3
U4
U5
U6
U7
U8
U9
U10
U11
U12
U13
U14
U15
FG
Controller side
Wire color Connection
Orange 1 red
Orange 1 black
Light gray 1 red
Light gray 1 black
White 1 red
White 1 black
Yellow 1 red
Yellow 1 black
Pink 1 red
Pink 1 black
Orange 2 red
Orange 2 black
Lightgray 2 red
Light gray 2 black
White 2 red
White 2 black
Yellow 2 red
Green
Y-terminal
12. Precautions for Use
Warning
Before commencing wiring/piping work, turn off the power to the controller and the power/air supplies to the
robot. Failure to do so may cause the robot to malfunction.
Use cables and tubes within their specifications. Failure to do so may result in fire or short circuit due to an
overheated cable, or may cause air leaks.
Connect the shielded cable to the hood. Otherwise, the robot may malfunction due to noise.
Secure the supplied D-sub connector using the screws on the hood.
48
To base
Page 55
A
A
A
A
A
A
A
A
A
A
A
12.6 Moving Direction
rm 2
xis 3
xis 3
rm 2
xis 4
xis 4
xis 2
xis 1
rm 1
Wall mount specification
rm 1
xis 2
Axis 1
12. Precautions for Use
Inverse specification
49
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13 Inspection/Maintenance
13.1 Inspection/Maintenance
Your horizontal articulated robot must be inspected daily and on a regular basis to ensure safe, efficient
operation. Perform the necessary inspections after confirming the maintenance/inspection items required for
your IAI robot, as defined in this section.
Do not inspect, adjust or repair the robot or controller, replace any of the robot/controller parts, or perform any
other operation in a manner not specified in this operation manual. In particular, do not disassemble the robot or
controller or cut any robot/controller cable in the installation location because it will necessitate adjustments
using factory machines.
Disassembly of servo motor
Disassembly of ball reduction gear
Disassembly of ball-screw spline
Disassembly of bearing
Disassembly of harmonic speed reducer
Disassembly of brake
Cutting of cable
IAI may not be able to repair any malfunction or failure occurring as a result of or in connection with the
performance of any of the operations listed above.
Periodic inspection covers items that must be performed with or without the controller power turned on. In either
case, take proper measures so that operators other than the person carrying out the inspection will not be able
to accidentally operate the power switch.
Warning
z Performing inspection or maintenance without fully understanding the details of work may result in a
serious accident.
z If inspections are neglected, the drive part may wear prematurely or the robot may malfunction
unexpectedly.
13. Inspection/Maintenance
50
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13.1.1 Daily Inspection
Check the following items daily before and after operating the robot.
Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations when
carrying out each check.
noitpircseDnoitacolkcehC
Safety cage
Robot
Cables
Emergency-stop switch
• Correct the deformation or positional shift of the cage.
• Confirm that the interlock mechanism is operating properly.
• Check the robot mounting bolts for looseness.
• Check the exterior for abnormality, loose covers, flaws, dents, etc.
(If the robot has flaws or other abnormalities, please contact IAI.)
• Check for abnormal move, vibration or noise.
• Check the cables for flaws.
• Check the cable mounting parts for looseness.
• Confirm that the emergency-stop switch functions properly.
13.1.2 Six-Month Inspection
Check the following items on the robot every six months.
Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations when
carrying out each check.
noitpircseDnoitacolkcehC
Robot Check the arm mounting sections for looseness.
(If any of the arm mounting sections is loose, tighten the fastening parts securely.)
Ball-screw spline • Check the ball screw and ball spline for looseness.
• Add grease after removing old grease with a waste cloth, etc.
(Multitemp LRL 3 Grease (Manufacted by Kyodo Yushi) or equivalent)
Connectors Check the connectors for looseness.
If the robot has flaws or other abnormalities, please contact IAI.
13. Inspection/Maintenance
Caution
••In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.
After finishing the grease supply work, wash your hands carefully with water and soap to rinse the
grease OFF.
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13.1.3 Yearly Inspection
Check the following items on the robot every year.
Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations when
carrying out each check.
noitpircseDnoitacolkcehC
Joint bearing for
harmonic reduction gear
Ball-screw spline Check the vertical axis for looseness. (Contact IAI if an abnormality is found.)
Check arms 1 and 2 for looseness in the rotating direction and axial direction.
(Contact IAI should you find any abnormality.)
Warning
z Performing inspection or maintenance without fully understanding the details of work may result in a
serious accident.
z If inspections are neglected, the drive part may wear prematurely or the robot may malfunction
unexpectedly.
z Display a “Work in Progress” sign so that other operators will not operate the controller, operation panel,
etc.
13.2 Battery Replacement
13.2.1 Preparation
The following items are required when replacing the batteries:
Before replacing the batteries, turn off the power to the controller, control panel and other relevant units.
IX-TNN3015H/3515H
IX-UNN3015H/3515H
13. Inspection/Maintenance
noitacificepsylno-x1,weNlooTrebmunledoM
Allen wrench AB3 (4 pcs)
52
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Replacement Procedure
(1) Remove the six low-head cap screws (1) and remove the rear panel (base).
(2) Remove the batteries from the battery holder.
(3) Remove the connectors between the extension cable from the BAT connector and the battery and connect
new batteries.
After removing the old batteries, quickly connect new batteries (roughly within 5 minutes x
number of batteries).
If new batteries are not connected for a longer period, the rotation data will be lost and an
absolute reset will become necessary.
Replace batteries one axis at a time. If the batteries for all axes are replaced at once, the work
may not be completed within the specified time.
(4) Install the batteries into the battery holder.
Battery connector 2
(for axis 2)
Battery connector 1
(for axis 1)
Battery
(for axis 1)
Battery
(for axis 2)
Battery
(for axis 4)
Battery connector 4
(for axis 4)
Battery
connector 3
(for axis 3)
Battery
(for axis 3)
Rear panel (base)
[1] Low-head bolt CAP4 x 8 (6 pieces)
13. Inspection/Maintenance
(5) Affix the rear panel (base) using the six low-head cap screws (1).
Caution
z When installing the rear panel (base), be careful not to pinch the cables inside.
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13.3 Absolute Encoder Reset Method
13.3.1 Preparation for Absolute Reset
The following jigs are required to perform an absolute reset.
Absolute reset adjustment jigs
Model
number
JG-2 For arm length 250/300/350
Connect the robot, controller and PC cables so that the robot/controller can be operated using the PC software.
Be sure to check the EMG switch operation beforehand.
An absolute reset of the rotational and vertical axes requires absolute reset adjustment jigs, but jigs are not
always required for an absolute reset of arms 1 and 2.
(A multi-rotation reset can be performed as long as the current position is within 1 graduation on the positioning
mark sticker.)
Remarks
Plate
Pin
Warning
z Fully understand the applicable inspection/maintenance work, because failure to do so may result in a
serious injury accident.
z Put up a “WORK IN PROGRESS” sign to prevent other operators from accidentally operating the
13. Inspection/Maintenance
controller, operation panel, etc. Remember to insert the seal washer
54
Example of Absolute Reset Adjustment Jig(Model number JG-1)
Page 61
13.3.2 Starting the Absolute Reset Menu
A
(1) Open the Abs Encoder Reset window from the PC software.
(*) Select “Absolute Reset (SCARA Axis) (Y)" if you are using an X-SEL-PX/QX controller.
Starting Up Absolute Reset Window
2. The Abs Encoder Reset window opens.
One of three absolute reset screens for arm 1, arm 2 and rotational axis + vertical axis is displayed
when a corresponding tab is clicked.
Abs Encoder Reset
screen for arm 1 or 2
bs Encoder Reset
screen for rotational
axis + vertical axis
13. Inspection/Maintenance
Absolute Reset Window
55
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13.3.3 Absolute Reset Procedure for Arm 1 or 2
(1) Click the “Encoder Rotation Data Reset1” button.
(2) Click the “Reset Controller Error” button.
13. Inspection/Maintenance
56
Encoder Multi-rotation Data Reset 1
Controller Reset
Page 63
(3) Click the “Servo ON” button.
Servo ON
(4) Jog the arm to near the reference position (see reference position drawing in step (7), and click the “Jog
end” button.
(5) Click the “Servo-OFF” button.
13. Inspection/Maintenance
Jogging
Servo OFF
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(6) Press the emergency-stop switch.
(7) When performing an absolute reset of arm 1, set the adjustment jig (pin) on arm 1 to secure the arm in its
reference position. You can move arm 2 when securing arm 1. When performing an absolute reset of arm 2,
set the adjustment jig (pin) on arm 2 to secure the arm in its reference position. You can move arm 1 when
securing arm 2.
Set the jig after confirming that the emergency-stop switch is pressed.
Set the jig after adjusting the arm to the reference position, using the positioning mark label as a guide.
Arm 1 has a cover (not arm 2), which is fixed with setscrews. Remove the setscrews and detach the
cover before setting the jig.
It is recommended that an adjustment jig be used to perform an absolute reset. With arm 1 or 2,
however, rotation data can be reset as long as a positioning precision of “center of positioning mark label
1 graduation” is ensured.
13. Inspection/Maintenance
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Arm 1
A
Positioning mark
label for arm 1
Positioning
mark label
for arm 2
Insertion depth
Approx. 60 mm
pprox. 20 mm
Insertion depth
Arm 2
Warning
z Always press the emergency-stop switch before setting an adjustment jig. Failure to do so may cause the
robot to malfunction and result in a serious accident.
13. Inspection/Maintenance
59
Page 66
(8) Click the “OK” button.
Confirmation
(9) Click the “Encoder Rotation Data Reset2” button.
13. Inspection/Maintenance
60
Encoder Multi-rotation Data Reset 2
Page 67
(10) Remove the adjustment jig.
If you are working on arm 1, install the cover and secure it with the setscrews (not required for arm 2).
(11) Release the emergency-stop switch.
(12) Click the “OK” button.
An arrow is shown next to the “Home pos. automatic update” button. Do not set this item. (In particular, be
sure this item is not set when performing an absolute reset without using a jig).
If you have allowed the home preset value to be updated automatically by mistake, do not write the updated
data to the flash ROM. Instead, perform a software reset. (After the software reset, the data will return to the
original condition before the home preset value was automatically updated.)
Always click the “OK” button after removing the jig and releasing the emergency-stop switch.
Confirmation
(13) Click “X” in the top right-hand corner to exit the absolute reset window.
Once the absolute reset is complete, be sure to reset the software.
Warning
z Be careful not to perform a reset using an incorrect sequence, since it may cause the arm position to
become offset.
z Update the home preset value only if any of the mechanical settings has been changed, such as after an
arm has been replaced. (Changes relating to joints only)
13. Inspection/Maintenance
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13.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis
(1) Click “Encoder Rotation Data Reset1” button.
(2) Click the “Reset Controller Error” button.
13. Inspection/Maintenance
62
Encoder Multi-rotation Data Reset 1
Controller Reset
Page 69
(3) Click the “Servo ON” button.
Servo ON
(4) Click the “Temp. Standard posture standby” button.
The vertical axis returns to its home position. Exercise caution so as not to be injured by the axis during
movement.
Standing By at Tentative Home Position
(5) Jog the rotational axis to the reference position (see reference position drawing in step 8), and click the “Jog
end” button.
Jogging
13. Inspection/Maintenance
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(6) Click the “Servo-OFF” button.
Servo OFF
(7) Press the emergency-stop switch.
(8) Affix the rotational axis at the reference position by setting the plate and pin of the adjustment jig as
illustrated below.
Set the jig after confirming that the emergency-stop switch is pressed.
Set the jigs by using the positioning mark as a reference.
Make sure the top surface of the stopper roughly matches in height with the bottom surface of arm 2.
13. Inspection/Maintenance
64
Page 71
A
A
Cause the jig to
lightly contact
the pin.
Reference
position drawing
Adjust so that a
clearance of approx.
4 mm is provided
between the
stopper’s top face
and the bottom face
of arm 2.
pprox. 4 mm
D-cut surface
Rotational axis D
cut surface
Right side from the
front
Down view
Wall mount
specification
pprox. 4 mm
Reference
position
drawing
Inverse Specification
Rotational axis D
cut surface
Right side from the
front
13. Inspection/Maintenance
Warning
z Always press the emergency-stop switch before setting an adjustment jig. Failure to do so may cause the
robot to malfunction and result in a serious accident.
65
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(9) Click the “OK” button.
Confirmation
(10) Click the “Encoder Rotation Data Reset2” button.
13. Inspection/Maintenance
66
Encoder Multi-rotation Data Reset 2
Page 73
(11) Click the “Home pos. automatic update” button.
Automatic Refresh of Home Preset Value
(12) Remove the adjustment jig.
(13) Release the emergency-stop switch.
(14) Click the “OK” button.
Confirmation
13. Inspection/Maintenance
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(15) Click the “Servo ON” button.
Confirmation
(16) Click the “Standard posture standby” button.
The vertical axis returns to its home position. Exercise caution so as not to be injured by the axis during
movement.
(17) Click the “Servo-OFF” button.
13. Inspection/Maintenance
68
Standing By at Reference Posture
Servo OFF
Page 75
(18) Click the “Encoder Rotation Data Reset3” button.
Encoder Multi-rotation Data Reset 3
(19) Click the “Home pos. automatic update” button, and then click “X” in the top right-hand corner to exit the
absolute reset window.
After the reset is completed, be sure to perform “Software reset.”
Automatic Refresh of Home Preset Value
13. Inspection/Maintenance
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14. Warranty
14.1 Warranty Period
One of the following periods, whichever is shorter:
y 18 months after shipment from our company
y 12 months after delivery to the specified location
14.2 Scope of Warranty
Our products are covered by warranty when all of the following conditions are met. Faulty products
covered by warranty will be replaced or repaired free of charge:
(1) The breakdown or problem in question pertains to our product as delivered by us or our authorized
dealer.
(2) The breakdown or problem in question occurred during the warranty period.
(3) The breakdown or problem in question occurred while the product was in use for an appropriate
purpose under the conditions and environment of use specified in the operation manual and catalog.
(4) The breakdown of problem in question was caused by a specification defect or problem, or by a
quality issue with our product.
Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:
[1] Anything other than our product
[2] Modification or repair performed by a party other than us (unless we have approved such
modification or repair)
[3] Anything that could not be easily predicted with the level of science and technology available at
the time of shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
[5] Natural fading of paint or other symptoms of aging
[6] Wear, depletion or other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or maintenance
14. Warranty
Note that the warranty only covers our product as delivered and that any secondary loss arising from a
breakdown of our product is excluded from the scope of warranty.
14.3 Honoring the Warranty
As a rule, the product must be brought to us for repair under warranty.
14.4 Limited Liability
(1) We shall assume no liability for any special damage, consequential loss or passive loss such as a
loss of expected profit arising from or in connection with our product.
(2) We shall not be liable for any program or control method created by the customer to operate our
product or for the result of such program or control method.
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14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications
(1) If our product is combined with another product or any system, device, etc., used by the customer,
the customer must first check the applicable standards, regulations and/or rules. The customer is also
responsible for confirming that such combination with our product conforms to the applicable
standards, etc. In such a case we will not be liable for the conformance of our product with the
applicable standards, etc.
(2) Our product is for general industrial use. It is not intended or designed for the applications specified
below, which require a high level of safety. Accordingly, as a rule our product cannot be used in these
applications. Contact us if you must use our product for any of these applications:
[1] Medical equipment pertaining to maintenance or management of human life or health
[2] A mechanism or mechanical equipment intended to move or transport people (such as a
vehicle, railway facility or aviation facility)
[3] Important safety parts of mechanical equipment (such as safety devices)
[4] Equipment used to handle cultural assets, art or other irreplaceable items
(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that
differs from what is specified in the catalog or operation manual.
14.6 Other Items Excluded from Warranty
The price of the product delivered to you does not include expenses associated with programming, the
dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during
the warranty period:
[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance and inspection
[3] Technical guidance and education on operating/wiring methods, etc.
[4] Technical guidance and education on programming and other items related to programs
71
14. Warranty
Page 78
Change History
Revision Date Description of Revision
August 2010 First edition
April 2011
May 2011
March 2012
August 2012
January 2013
Second edition
P. 27 Added options “JY (Joint cable specification)”
Third edition
A page for CE Marking added
Fourth edition
P. 1 to 7 Contents added and changed in Safety Guide
P. 8 Precautions in Handling
Note “Certainly attach the Horizontal Articulated Robot by
following this operation manual.” added
P. 29, 31
Brake voltage source capacity 20W added to specifications
P. 36 Brake voltage source capacity from 20W to 30W
→ changed to 20W
P. 50 Caution notes added telling to go to see the doctor to have
an appropriate treatment when the grease got into an eye
P. 69, 70
Contents changed in 14. Warranty
Fifth edition
9.1 Installation Posture added
Sixth edition
P. 51 Grease applied to ball screw spline changed to Multemp
LRL No. 3
Change History
Page 79
Page 80
Manual No.: ME3705-6A (January 2013)
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143
TEL (630) 467-9900 FAX (630) 467-9912
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL 06196-88950 FAX 06196-889524
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com
The information contained in this document is subject to change without notice for purposes of
product improvement.
Copyright © 2013. Jan. IAI Corporation. All rights reserved.
13.01.000
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