Horizontal Articulated Robot – IX Series Ceiling-mount Type, Arm Length 500/600/700/800 IX-HNN50 /60 /70 /80 IX-INN50 /60 /70 /80 Operation Manual Fifth Edition
Please Read Before Use Thank you for purchasing an IAI product. This operation manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products.
CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
Table of Contents Safety Guide ······················································································································1 Caution in Handling ···········································································································8 1. Names of Robot Parts ································································································9 1.1 1.2 1.3 2.
8. Warranty ·················································································································· 83 8.1 8.2 8.3 8.4 8.5 8.
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.
No. 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ 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.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Ɣ 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.
No. 4 5 Operation Description Installation and Start Teaching Description (4) Safety Measures Ɣ 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. Ɣ 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.
No. 6 7 Operation Description Trial Operation Automatic Operation Description Ɣ 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. Ɣ After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description Ɣ 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. Ɣ Perform the work out of the safety protection fence, if possible.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model. Level Degree of Danger and Damage Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
Caution in Handling 1. Make sure to attach the vertical articulated robot properly by following this operation manual. Using the product with the vertical articulated robot not being certainly retained or affixed may cause abnormal noise, vibration, malfunction or shorten the product life.
1 Names of Robot Parts Ceiling-mount Specification 1. Names of Robot Parts 1.
1. Names of Robot Parts 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.
1.3 Label Positions 1.
2 Transportation and Handling 2. Transportation and Handling 2.1 Handling of the Carton Each robot is packed with a controller prior to shipment. When transporting the carton containing the robot and controller, observe the following items and be careful not to drop the carton or apply impact due to forcible contact: x If the carton is heavy, one operator should not attempt to carry it alone. x Place the carton on a level surface if it is to be left there for a while. x Do not climb upon the carton.
2.3 Handling of Individual Components The robot and controller are supplied as a set. Your robot cannot be used with the controller supplied with another robot. When handling multiple robots, be careful not to lose their correct pairings with the controllers. 2.4 Checking after Unpacking After unpacking the carton, check the condition of the robot and other items contained in the carton.
2.5 Transporting the Robot 2. Transportation and Handling Use a dolly, forklift, crane, or other appropriate equipment for transportation. When transporting the robot, move it slowly so that it maintains its balance. Also, safeguard the robot against vibration or impact. 2.5.1 Transporting the Ceiling-mount Specification Remove the arm-affixing plate and extend arm 1 and arm 2 straight. Wrap the cables around the base and secure with gummed tape, etc.
2.5.2 Transporting the Inverse Specification Secure the arms with the arm-affixing plate, and wrap the cables around the base and secure with gummed tape, etc. IX-INN50
/60
Remove the cover and install the eyebolts at the positions shown below. IX-INN70
/80
Remove the cover and install the eyebolts at the positions shown below. Secure the arms with the plate. Secure the arms with the plate. Must be higher than the resting surface. Wrap the cables around the base and secure with tape, etc.
3 Installation Environment and Storage Environment 3.1 Installation Environment 3.
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4.2 4.1 Notes on Installation In the case of the ceiling-mount specification, the robot will move to points above the base installation surface when the vertical axis (Z-axis) is moved to the top position. In the case of the inverse specification, the robot will move to points below the base installation surface when the vertical axis (Z-axis) is moved to the bottom position. 4.
4.
4.3 4.2 Installing the Robot Install the robot on a level surface. 4. How to Install Secure the robot using hex bolts and washers. Type Bolt size Tightening torque IX-HNN50/60 IX-INN50/60 M10 60 Nm IX-HNN70/80 IX-INN70/80 M12 104 Nm For the hex bolts, use high-tension bolts with an ISO rating of 10.9 or higher. 4-11 hole 24 counterbore, depth 5 4-14 drilled 30 counterbore, depth 5 Warning Caution Always insert a washer below each bolt.
4.3 4.4 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 Connect the cables securely after confirming that they are free from damage or bent connector pins.
4. How to Install Output voltage: Current capacity: M cable 24 VDC power supply for brake (provided by user) PG cable 150 mm 24 VDC 10% 20 to 30 W U cable (cable for user wiring) BK power cable Standard cable length: 5 m Tool, control unit, etc. (provided by user) 4, 6 quick joint (2 pcs. each) To air tube (provided by user) Warning Before connecting or disconnecting a cable, always turn off the power to the controller.
4.4 4.5 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. 4. How to Install Warning Failure to perform these checks may result in a malfunctioning robot or a damaged controller or robot.
5 Precautions for Use 5.1 Reference Acceleration/Deceleration Settings Use the robot based on appropriate acceleration/deceleration settings by referring to the following graph: (1) PTP operation 100 Acceleration (%) Acceleration (%) 100 5.
(2) CP operation IX-HNN50/60 IX-INN50/60 Reference acceleration/deceleration settings for CP operation IX-HNN70/80 IX-INN70/80 Reference acceleration/deceleration settings for CP operation 1.0 1.0 Reference range of maximum setting Acceleration (G) Acceleration (G) 0.5 Reference range for continuous operation setting 0 0 5 Carrying load mass (kg) 5. Precautions for Use Reference range of maximum setting 0.
5.2 Tools The tool mounting part must have sufficient strength and rigidity, along with adequate fastening power to prevent positional shift. It is recommended that a tool be installed over a split ring, span ring or other appropriate part. A sample configuration of tool installation is given below. The diameter of each tool must not exceed 100 mm. A tool larger than this dimension will interfere with the robot within the robot’s range of movement. 5.
5.3 Carrying Load Load capacity Type IX-HNN50/60 IX-INN50/60 IX-HNN70/80 IX-INN70/80 Rated load capacity Maximum load capacity 2 kg 10 kg 5 kg 20 kg Load’s permissible moment of inertia Permissible moment of inertia 0.06 kgm2 0.10 kgm2 Remarks 5.
5.4 User Wiring and Piping The robot comes with standard cables and tubes that the user can use in a desired wiring/piping configuration. Air tube 4 (black, white) 6 (red, yellow) Quick joint 4 (white) Quick joint 4 (black) User Connector D-sub 25-pin connector for user wiring (socket), fixing screw M2.
The robot comes with a 25-pin plug for the D-sub connector for user wiring. 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 indicator, the user must configure a dedicated circuit that uses the controller I/O output signal, etc.
6 Inspection/Maintenance 6.1 Inspection/Maintenance Your horizontal articulated robot must be inspected daily and on a regular basis to ensure safe, efficient operation. Perform the necessary inspections after confirming the maintenance/inspection items required for your IAI robot, as defined in this section. 6. Inspection/Maintenance The following items must be adjusted at our factory.
6.1.1 Daily Inspection Check the following items daily before and after operating the robot. Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations when carrying out each check. Check location Safety cage Robot Cables Emergency-stop switch 6. Inspection/Maintenance 6.1.2 Description Correct the deformation or positional shift of the cage. Confirm that the interlock mechanism is operating properly. Check the robot mounting bolts for looseness.
6.1.3 Yearly Inspection Check the following items on the robot every year. Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations when carrying out each check. Check location Harmonic speed reducer Ball-screw spline Description Change the grease. (Based on 24-hour operation. Change the grease every three years or so if the robot is operated eight hours a day.) Check the shaft for looseness. (Contact IAI if an abnormality is found.) 6.
6.2.2 Removing the Cover (1) With arms 1 and 2 extended as illustrated below, press the brake-release switch [1] to release the brake and then push down the vertical axis until the stopper contacts the pulley. (For the inverse specification, pull up the vertical axis until the stopper contacts the pulley.) (2) Remove the countersunk head screws [2], [3] and [4] (four pieces each), in that order. (3) Remove all connectors (UA, UB, BK and LED) and air tubes (four pieces) from the back of the panel.
6.2.3 Checking the Belt Tension Top view of the ceiling-mount specification Bottom view of the inverse specification Timing belt for vertical axis 6. Inspection/Maintenance Timing belt for rotational axis Bottom view of the ceiling-mount specification Top view of the inverse specification 6.2.4 Checking the Belt Tension for the Vertical Axis Using a push-pull gauge, push the timing belt for vertical axis with a force of A (gf) and measure the amount of deflection.
6.2.5 Checking the Belt Tension for the Rotational Axis (1) Insert a 3 pin in the hole provided on one side of arm 2 (pin length: 40 to 80 mm) until the pin lightly contacts the belt, and then mark a point off C (mm) from the surface of arm 2. (2) Using a push-pull gauge, push the pin with a force of D (kgf). The belt tension is normal if the mark on the pin aligns with the surface of arm 2. If not, adjust the belt tension by referring to 6.2.7, “Adjusting the Belt Tension for the Rotational Axis.
6.2.6 (1) (2) (3) (4) (5) Loosen the four M5 nuts [4] slightly, making sure the fastened points do not become overly loose. Loosen the lock nut [5], and then turn the bolt with urethane stopper [6] to tension the belt properly. Check the belt tension by referring to 6.2.4, “Checking the Belt Tension for the Vertical Axis.” Tighten the M5 nuts [4] loosened in step 1, and then tighten the lock nut [5]. Check the belt tension again by referring to 6.2.4, “Checking the Belt Tension for the Vertical Axis.
6.2.8 Installing the Cover (1) Place the cover on the robot and connect the connectors, cables and air tubes installed as illustrated below. (Absolute reset, as described on the following page, is not required after the belt tension is only checked.) [2] 4 - M3 x 10 [1] 4 - M3 x 8 M 6. Inspection/Maintenance PG U Installation position of PG connector PG cable Caution Check the marking tubes to prevent improper connections. Be careful not to bend the air tubes.
[3] 4 - M3 x 10 M cable 6. Inspection/Maintenance Installation position of M connector U cables Installation position of U connectors Be careful not to let them contact the pulley. (2) Perform an absolute reset for the rotational axis and vertical axis. This completes the procedure for installation of the cover. (Refer to 6.4, “Absolute Reset Procedure.”) Caution 38 Check the marking tubes to prevent improper connections. Be careful not to bend the air tubes.
6.3 Battery Replacement 6.3.1 Preparation The following items are required when replacing the batteries: Phillips screwdriver New dedicated batteries for IX: AB-3 (4 pieces) Before replacing the batteries, turn off the power to the controller, control panel and other relevant units. 6. Inspection/Maintenance Warning Caution Performing inspection or maintenance without fully understanding the details of work may result in a serious accident.
6.3.2 Battery Replacement Procedure (1) Remove the countersunk head screws [1] (six pieces) and detach the cover (base). (2) Remove the batteries from the battery holder. (3) Remove the battery connectors and connect new batteries. 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.
(5) Affix the cover (base) using the countersunk head screws [1] (six pieces) (tightening torque: 0.74 Nm). [1] 6 - M3 x 8 6. Inspection/Maintenance Do not tighten the screws to the specified torque in one go. First tighten the screws to the position shown to the left, and while pushing the cover in the direction of the arrow tighten the screws on both sides evenly to ensure tight sealing. Caution When installing the cover (base), be careful not to pinch the cables inside.
6.4 Absolute Reset Procedure 6.4.1 Preparation for Absolute Reset The following jig is required when performing an absolute reset: 6. Inspection/Maintenance Absolute reset adjustment jig Connect the cables for the robot, controller and PC, so the robot can be operated from the PC. Before commencing the work, always confirm that the emergency-stop switch is functioning properly.
6.4.2 Starting the Absolute Reset Menu Open the absolute reset window from the PC software. (2) The absolute 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. 6.
6.4.3 Click the “Encoder Rotation Data Reset1” button. 6. Inspection/Maintenance (1) Absolute Reset Procedure for Arm 1 or 2 (2) 44 Click the “Reset Controller Error” button.
Click the “Servo ON” button. (4) Jog the arm to near the reference position (see reference position drawing in step 7), and click the “Jog end” button. (5) Click the “Servo-OFF” button. 45 6.
Press the emergency-stop switch. (7) Set an adjustment jig (pin) in arm 1 or 2 to fix the arm at the reference position. 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.
Click the “OK” button. (9) Click the “Encoder Rotation Data Reset2” button. 6.
(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. 6. Inspection/Maintenance 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).
6.4.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis Click “Encoder Rotation Data Reset1” button. (2) Click the “Reset Controller Error” button. 6.
6. Inspection/Maintenance (3) Click the “Servo ON” button. (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. (5) Jog the rotational axis to the reference position (see reference position drawing in step 8), and click the “Jog end” button.
Click the “Servo-OFF” button. (7) Press the emergency-stop switch. 6.
(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 jig after adjusting the rotational axis to the reference position, using the positioning mark label as a guide. The top face of the stopper should roughly align with the bottom face of arm 2. 6.
Click the “OK” button. (10) Click the “Encoder Rotation Data Reset2” button. 6.
6. Inspection/Maintenance (11) Click the “Home pos. automatic update” button. (12) Remove the adjustment jig. (13) Release the emergency-stop switch. (14) Click the “OK” button.
Click the “Servo ON” button. (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. 55 6.
Click the “Encoder Rotation Data Reset3” button. (19) Click the “Home pos. automatic update” button, and then click “X” in the top right-hand corner to exit the absolute reset window. Once the absolute reset is complete, be sure to write the flash ROM and reset the controller. 6.
6.4.5 Writing the Flash ROM Following an absolute reset of the rotational axis and vertical axis, the following screen opens when the absolute reset window is closed. Click the “Yes” button. Clicking “Yes” writes the information in the flash ROM. The flash ROM must also be written when home position automatic update has been performed for arm 1 or 2. (2) When the writing of flash ROM is complete, the following screen is displayed. Click the “Yes” button.
6.4.6 Resetting the Controller Select “Software Reset” from the Controller menu on the tool bar. (2) Click the “Yes” button. The controller is reset and restarted. 6.
7 Specifications 7.
Item Specifications Operating environment Ambient temperature/humidity Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) m 1,000 or less Noise dB 73 Robot weight kg 30.5 Brake power source for main unit W Controller Altitude 24V DC ±10% 230 V Power supply Allowable supply voltage fluctuation 50/60 Hz % 8A 10 Overvoltage category (IEC60664-1) Category III Pollution degree (IEC60664-1) 7.
IX-INN50 (Arm Length 500, Inverse Specification) Item Specifications Type IX-INN50-**L Degree of freedom Four degrees of freedom Overall arm length 500 mm Arm 1 length 250 Arm 2 length Drive method 250 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) Motor capacity Axis 1 (arm 1) Axis 2 (arm 2) 200 Axis 4 (rotational axis) 100 120 Axis 3 (
Item Operating environment Specifications Ambient temperature/humidity Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) m 1,000 or less Noise dB 73 Robot weight kg 30.5 Brake power source for main unit W Controller Altitude 24V DC ±10% Power supply 230 V Allowable supply voltage fluctuation 50/60 Hz % 8A 10 Overvoltage category (IEC60664-1) Category III Pollution degree (IEC60664-1) 7.
IX-HNN60 (Arm Length 600, Ceiling-mount Specification) Item Specifications Type IX-HNN60-**L Degree of freedom Four degrees of freedom Overall arm length 600 mm Arm 1 length 350 Arm 2 length Drive method 250 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) Motor capacity Axis 1 (arm 1) Axis 2 (arm 2) 200 Axis 4 (rotational axis) 100 120 Ax
Item Specifications Operating environment Ambient temperature/humidity m 1,000 or less Noise dB 73 Robot weight kg 31.5 Brake power source for main unit W Controller Altitude Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 24V DC ±10% 230 V Power supply Allowable supply voltage fluctuation % 50/60 Hz 8A 10 Overvoltage category (IEC60664-1) Category III Pollution degree (IEC60664-1) 7.
IX-INN60 (Arm Length 600, Inverse Specification) Item Specifications Type IX-INN60-**L Degree of freedom Four degrees of freedom Overall arm length 600 mm Arm 1 length 350 Arm 2 length Drive method 250 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) Motor capacity Axis 1 (arm 1) Axis 2 (arm 2) 200 Axis 4 (rotational axis) 100 120 Axis 3 (
Item Operating environment Specifications Ambient temperature/humidity m 1,000 or less Noise dB 73 Robot weight kg 31.5 Brake power source for main unit W Controller Altitude Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 24V DC ±10% 230 V Power supply Allowable supply voltage fluctuation 50/60 Hz % 8A 10 Overvoltage category (IEC60664-1) Category III Pollution degree (IEC60664-1) 7.
IX-HNN70 (Arm Length 700, Ceiling-mount Specification) Item Specifications Type IX-HNN70-**L-T1 Degree of freedom Four degrees of freedom Overall arm length 700 mm Arm 1 length Arm 2 length Drive method 350 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) Motor capacity AC servo motor with brake + Speed reducer + Belt + Spline Axis 1 (arm 1) Ax
Item Specifications Operating environment Ambient temperature/humidity m 1,000 or less Noise dB 74 Robot weight kg 58 Brake power source for main unit W Controller Altitude Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 24V DC ±10% 230 V Power supply Allowable supply voltage fluctuation 50/60 Hz % 15 A 10 Overvoltage category (IEC60664-1) Category III Pollution degree (IEC60664-1) 7.
IX-INN70 (Arm Length 700, Inverse Specification) Item Specifications Type IX-INN70-**L-T1 Degree of freedom Four degrees of freedom Overall arm length 700 mm Arm 1 length Arm 2 length Drive method 350 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) Motor capacity AC servo motor with brake + Speed reducer + Belt + Spline Axis 1 (arm 1) Axis 3 (
Item Specifications Operating environment Ambient temperature/humidity Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) m 1,000 or less Noise dB 74 Robot weight kg 58 Brake power source for main unit W Controller Altitude 24V DC ±10% Power supply 230 V Allowable supply voltage fluctuation 50/60 Hz % 15 A 10 Overvoltage category (IEC60664-1) Category III Pollution degree (IEC60664-1) 7.
IX-HNN80 (Arm Length 800, Ceiling-mount Specification) Item Specifications Type IX-HNN80-**L-T1 Degree of freedom Four degrees of freedom Overall arm length 800 mm Arm 1 length Arm 2 length Drive method 350 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) Motor capacity AC servo motor with brake + Speed reducer + Belt + Spline Axis 1 (arm 1) Ax
Item Operating environment Specifications Ambient temperature/humidity Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) m 1,000 or less Noise dB 74 Robot weight kg 60 Brake power source for main unit W Controller Altitude 24V DC ±10% 230 V Power supply Allowable supply voltage fluctuation 50/60 Hz % 15 A 10 Overvoltage category (IEC60664-1) Category III Pollution degree (IEC60664-1) 7.
IX-INN80 (Arm Length 800, Inverse Specification) Item Specifications Type IX-INN80-**L-T1 Degree of freedom Four degrees of freedom Overall arm length 800 mm Arm 1 length Arm 2 length Drive method 350 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) Motor capacity AC servo motor with brake + Speed reducer + Belt + Spline Axis 1 (arm 1) Axis 3 (
Item Specifications Operating environment Ambient temperature/humidity Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) m 1,000 or less Noise dB 74 Robot weight kg 60 Brake power source for main unit W Controller Altitude 24V DC ±10% 230 V Power supply Allowable supply voltage fluctuation 50/60 Hz % 15 A 10 Overvoltage category (IEC60664-1) Category III Pollution degree (IEC60664-1) 7.
7.2 External Dimensions IX-HNN-50 235 (recommended installation dimension) Reference surface 12.5 (installation center) Reference surface (Mechanical end) 7. Specifications (Mechanical end) Arm 2 stopper 3-M4, depth 8 Same on opposite side (*1) Arm 1 Arm 2 stopper 4-11 hole 24 counterbore, depth 5 6 quick air-tube joint 4 quick air-tube joint Red User Connector D-sub 25-pin connector Black for user wiring (socket), fixing screw M2.
IX-HNN-60 12.5 (installation center) 235 (recommended installation dimension) Reference surface Arm 1 Arm 2 stopper Arm 2 stopper 5 (Mechanical end) 7. Specifications 5.5 (Mechanical end) Reference surface 3-M4, depth 8 Same on opposite side (*1) 4-11 hole 24 counterbore, depth 5 6 quick air-tube joint 4 quick air-tube joint Red D-sub 25-pin connector Black for user wiring socket, fixing screw M2.
Reference surface 310 (recommended installation dimension) Reference surface 6 (Mechanical end) 6 (Mechanical end) IX-HNN-70 17.5 (installation center) 7. Specifications 6 (Mechanical end) 6 (Mechanical end) 3-M4, depth 8 Arm 2 Same on stopper opposite side (*1) Arm 1 stopper Arm 2 stopper * The inverse specification is installed upside down. 6 quick air-tube joint 4 quick air-tube joint Red User Connector D-sub 25-pin connector (socket), fixing screw M2.
6 (Mechanical end) IX-HNN-80 Reference surface 6 (Mechanical end) 7. Specifications Reference surface 310 (recommended installation dimension) 6 (Mechanical end) 6 (Mechanical end) 3-M4, depth 8 Same on opposite side (*1) 17.5 (installation center) Arm 1 stopper Arm 2 stopper Arm 2 stopper * The inverse specification is installed upside down.
7.3 Robot Operation Area IX-HNN-50 IX-INN-50 7.
7.
81 User wiring terminals Brake power terminals U cable (outside robot) BK power cable (outside robot) PG cable (outside robot) M cable (outside robot) Cable fix cap (Capcon) PG cable (inside robot) Air joint, yellow (6) Air joint, black (4) Air joint, white (4) Air joint, black (4) Air joint, white (4) Brake-release switch for axes 3/4 (Z/R-axes) Alarm LED D-sub connector for user wiring (25-pin, socket) FG (to D-sub housing) Servo motor with brake for axis 4 (R-axis) Servo motor with br
82 73 Axis 2 servo motor Axis 3 servo motor w/ brake Axis 4 servo motor w/ brake M cable (inside robot) M cable (outside robot) 2 3 4 5 6 Axis 1 servo motor Axis 2 servo motor Axis 3 servo motor w/ brake Axis 4 servo motor w/ brake M cable (inside robot) M cable (outside robot) 2 3 4 5 6 Code name 1 No.
8. Warranty 8.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from IAI 12 months after delivery to the specified location 2,500 hours of operation 8.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
Change History Revision Date April 2011 Description of Revision Third edition A page for CE Marking added Fourth edition Introduction, Safety Symbols and Safety Precautions are deleted Pg. 1 to 7 Safety Guide added Pg. 8 Caution in Handling added Pg. 20 Brake voltage source capacity from 20W to 30W → changed to 20W Pg. 30 Caution notes added telling to go to see the doctor to have an appropriate treatment when the grease got into an eye Pg.
Manual No.: ME3636-5A (August 2012) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
