Horizontal Articulated Robot – IX Series For Ceiling Mount Arm Length 500/600/700/800 Operation Manual Sixth Eition
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.
CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
Table of Contents Safety Guide .................................................................................................................... 1 Handling Precautions....................................................................................................... 8 1. Name of Each Part................................................................................................... 13 1.1 1.2 1.3 Robot ..............................................................................................
13. Inspection/Maintenance ........................................................................................... 68 13.1 Inspection/Maintenance.....................................................................................................68 13.1.1 Daily Inspection .......................................................................................................69 13.1.2 Six-Month Inspection ...............................................................................................
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 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description 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.
No. 4 Operation Description 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.
No. 4 5 4 Operation Description Installation and Start Teaching 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.
No. 6 7 Operation Description Trial Operation Automatic Operation Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other 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.
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 Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
Handling Precautions 1. Repetitive Positioning Accuracy Does Not Change Even If the Positioning Width is Changed. Repetitive positioning accuracy does not change even if the positioning width is changed. If the positioning width is narrower than the default value, the repetitive positioning accuracy 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.
Warning Caution • 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.
5. Transportation 5.1 IX-HNN50 H/60 H/70 H/80 H Use a dolly, forklift, crane, 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. 5.1.1 Transporting the Ceiling Specification Remove the arm locking plates and let arms 1 and 2 extend straight. Loop the cables around the base and secure them with adhesive tape, etc.
5.2 IX-INN50 H/60 H/70 H/80 H Secure the arms with arm locking plates, and loop the cables around the base and secure them with adhesive tape, etc. If a crane is used, install the supplied eye-bolts (2 pcs) on the robot and transport the robot using the eye-bolts. Remove the top cover of arm 1 and install the eye-bolts in the positions shown in the figure. IX-INN70 H/80 H IX-INN50 H/60 H Remove the cover and install the supplied eye-bolts in the positions shown in the figure.
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1. Name of Each Part 1. Name of Each Part 1.
1. Name of Each Part 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 Label Positions on the Robot 1.
2. External Dimensions 235 (recommended mounting dimension) Reference surface (Mounting center) 5.5 (Mechanical end) Reference surface 112 146 5 (Mechanical end) 2. External Dimensions IX-HNN-50 H Arm 2 stopper 3-M4, depth 8 Same on opposite side (*1) Arm 1, arm2 stopper 4- 11, large 24 counterbored, depth 5 Quick joint for 6 air tube Quick joint for 4 air tube 44 User connector (D- red yellow sub connector for user wiring, 25-pin, socket, fastener black white size M2.
IX-HNN-60 H 2. External Dimensions 235 (recommended mounting dimension) (Mounting center) Reference surface 5.5 (Mechanical end) Reference surface 112 Arm 2 stopper 5 (Mechanical end) 146 3-M4, depth 8 Same on opposite side (*1) Arm 1, arm2 stopper 4- 11, large 24 counterbored, depth 5 Quick joint for 6 air tube 44 Quick joint for 4 air tube User connector (D- red yellow sub connector for user wiring, 25-pin, black white socket, fastener size M2.
2. External Dimensions IX-HNN-70 H 310 (recommended mounting dimension) Reference surface 17.5 (Mounting center) 6 (Mechanical end) Reference surface 144 188 6 (Mechanical end) 3-M4, depth 8 Same on Arm 2 opposite side stopper (*1) Arm 1 stopper Arm 2 stopper * The inverse specification is installed upside down. Quick joint for 6 air tube Quick joint for 4 air tube red yellow User connector (Dsub connector for user wiring, 25-pin, black white socket, fastener size M2.
( 144) Reference surface (Mounting center) 6 (Mechanical end) Reference surface 310 (recommended mounting dimension) ( 188) 3-M4, depth 8 Same on opposite side (*1) Arm 1 stopper Arm 2 stopper 6 (Mechanical end) 6 (Mechanical end) Arm 2 stopper * The inverse specification is installed upside down. 4- 14, board 24 counterbored, depth 5 Quick joint for 6 air tube Quick joint for 4 air tube User connector (Dsub connector for user wiring, 25-pin, socket, fastener size M2.
235 (recommended mounting dimension) Reference surface (Mounting center) 5.5 (Mechanical end) Reference surface 112 146 Arm 2 stopper 5 (Mechanical end) 2. External Dimensions IX-INN-50 H Arm 1, arm2 stopper 3-M4, depth 8 Same on opposite side (*1) 4- 11, large 24 counterbored, depth 5 Quick joint for 6 air tube 44 Quick joint for 4 air tube red yellow User connector (Dsub connector for user wiring, 25-pin, black white socket, fastener size M2.
IX-INN-60 H 2. External Dimensions 235 (recommended mounting dimension) (Mounting center) Reference surface 5.5 (Mechanical end) Reference surface 112 5 (Mechanical end) 146 Arm 2 stopper 3-M4, depth 8 Same on opposite side (*1) Arm 1, arm2 stopper 4- 11, large 24 counterbored, depth 5 Quick joint for 6 air tube 44 Quick joint for 4 air tube yellow User connector (D- red sub connector for user wiring, 25-pin, black white socket, fastener size M2.
6(Mechanical end) 2. External Dimensions IX-INN-70 H Reference surface (Mounting center) 6(Mechanical end) Reference surface 310 (recommended mounting dimension) 144 188 6 (Mechanical end) 6 (Mechanical end) 3-M4, depth 8 Same on Arm 2 opposite side stopper (*1) Arm 1 stopper Arm 2 stopper * The inverse specification is installed upside down.
144 Reference surface (Mounting center) 6 (Mechanical end) Reference surface 235 (recommended mounting dimension) 188 3-M4, depth 8 Same on opposite side (*1) Arm 1 stopper Arm 2 stopper 6 (Mechanical end) 6 (Mechanical end) Arm 2 stopper * The inverse specification is installed upside down. 4- 14, large 30 counterbored, depth 5 Quick joint for 6 air tube Quick joint for 4 air tube User connector (Dsub connector for user wiring, 25-pin, socket, fastener size M2.
3. Robot Operation Area 3.
IX-HNN70 H, IX-INN70 H 3.
26 26 U cable (outside robot) PG cable (inside robot) Air joint, Yellow ( 6) Air joint, black ( 4) Air joint, white ( 4) Air joint, black ( 4) Air joint, white ( 4) Axis 3/4 (Z/R) brake release switch Alarm LED D-sub connector for user wiring (15-pin, socket) FG (to D-sub housing) Axis 4 (R-axis) servo motor Axis 3 (Z-axis) servo motor with brake Axis 2 (arm 2) servo motor Air joint, red ( 6) U cable (inside robot) M cable (inside robot) Air joint, yellow ( 6) Flexible cable Inside arm 2
4.2 230-V Circuit Components IX-HNN50 H/60 H, IX-INN50 H/60 H No. Code name Model number 1 Axis 1 servo motor TS4609 N2077 E206 2 Axis 2 servo motor TS4607 N2077 E201 3 TS4607 N7077 E201 Tamagawa Seiki TS4606 N7077 E201 5 M cable (inside robot) IAI 6 M cable (outside robot) IAI IX-HNN70 H/80 H, IX-INN70 H/80 H No.
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. Remarks JG-2 For arm length 500/600 JG-3 For arm length 700/800 5. Option Model number 5.2 Flange This flange is used to install a load at the end of the Z-axis arm. Model number Remarks IX-FL-1 For arm length 500/600 IX-FL-3 For arm length 700/800 5.3 Absolute Data Backup Battery This battery is used to retain absolute data in the encoder.
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 No. 1 Item Robot Model number Refer to 6.3, "How to Read Model Nameplate" and 6.4, "How to Read Model Number." Remarks 6.
6. Checking after Unpacking 6.2 No. 1 2 3 4 5 6 7 8 9 10 11 6.
6.4 How to Read Model Number IX-HNN7020H-5L-T2-JY SCARA robot
7. Specifications 7.1 IX-HNN50 H/60 H/70 H/80 H IX-HNN-50 H (arm length 500, ceiling mount) Item Model number Degree of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) Axis 2 (arm 2) Axis 3 (vertical axis) Specifications IX-HNN50 H-**L Four degrees of freedom 500 250 250 AC servo motor + Speed reducer AC servo motor + Speed reducer AC servo motor with brake + Belt + Ball-screw spline AC servo motor with brake + Reduction gear + Belt + Spline 400 200 200 100 mm 7.
Center of rotational axis Bottom position Tool Tool Tool Top position Tool (Fig. 1) Center of rotational axis Tool’s center of gravity (Fig. 2) (Fig. 3) φ 100 (Fig. 4) Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775 33 7. Specifications Item Specifications Operating Temperature: 0 to 40°C, humidity: 20 to 85%RH or Surrounding air temperature/humidity environment less (non-condensing) Altitude m 1,000 or less Noise dB 73 Robot weight kg 30.
IX-HNN-60 H (arm length 600, ceiling mount) Item Model number Degree of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) Axis 2 (arm 2) Axis 3 (vertical axis) Specifications IX-HNN60 H-**L Four degrees of freedom 600 350 250 AC servo motor + Speed reducer AC servo motor + Speed reducer AC servo motor with brake + Belt + Ball-screw spline AC servo motor with brake + Reduction gear + Belt + Spline 400 200 200 100 mm 7.
Center of rotational axis Bottom position Tool Tool Tool Top position Tool (Fig. 1) Center of rotational axis Tool’s center of gravity (Fig. 2) (Fig. 3) φ 100 (Fig. 4) Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775 35 7. Specifications Item Specifications Operating Temperature: 0 to 40°C, humidity: 20 to 85%RH or Surrounding air temperature/humidity environment less (non-condensing) Altitude m 1,000 or less Noise dB 73 Robot weight kg 31.
IX-HNN-70 H (arm length 700, ceiling mount) Item Model number Degree of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) Axis 2 (arm 2) Axis 3 (vertical axis) Specifications IX-HNN70 H-**L-T1 Four degrees of freedom 700 350 350 AC servo motor + Speed reducer AC servo motor + Speed reducer AC servo motor with brake + Belt + Ball-screw spline AC servo motor with brake + Reduction gear + Belt + Spline 750 400 400 200 mm 7.
Center of rotational axis Bottom position Tool Tool Tool Top position Tool (Fig. 1) Center of rotational axis Tool’s center of gravity (Fig. 2) (Fig. 3) φ 100 (Fig. 4) Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775 37 7.
IX-HNN-80 H (arm length 800, ceiling mount) Item Model number Degree of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) Axis 2 (arm 2) Axis 3 (vertical axis) Specifications IX-HNN80 H-**L-T1 Four degrees of freedom 800 450 350 AC servo motor + Speed reducer AC servo motor + Speed reducer AC servo motor with brake + Belt + Ball-screw spline AC servo motor with brake + Reduction gear + Belt + Spline 750 400 400 200 mm 7.
Center of rotational axis Bottom position Tool Tool Tool Top position Tool (Fig. 1) Center of rotational axis Tool’s center of gravity (Fig. 2) (Fig. 3) φ 100 (Fig. 4) Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775 39 7.
7.2 IX-INN50 H/60 H/70 H/80 H IX-INN-50 H (arm length 500, inverse) Item Model number Degree of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) Axis 2 (arm 2) Axis 3 (vertical axis) Specifications IX-INN50 H-**L Four degrees of freedom 500 250 250 AC servo motor + Speed reducer AC servo motor + Speed reducer AC servo motor with brake + Belt + Ball-screw spline AC servo motor with brake + Reduction gear + Belt + Spline 400 200 200 100 mm 7.
Tool’s center of gravity Tool Bottom position Tool Tool Top position Center of rotational axis (Fig. 1) φ 100 (Fig. 2) (Fig. 3) Tool Center of rotational axis (Fig. 4) Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775 41 7. Specifications Item Specifications Operating Temperature: 0 to 40°C, humidity: 20 to 85%RH or Surrounding air temperature/humidity environment less (non-condensing) Altitude m 1,000 or less Noise dB 73 kg Robot weight 30.
IX-INN-60 H (arm length 600, inverse) Item Model number Degree of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) Axis 2 (arm 2) Axis 3 (vertical axis) Specifications IX-INN60 H-**L Four degrees of freedom 600 350 250 AC servo motor + Speed reducer AC servo motor + Speed reducer AC servo motor with brake + Belt + Ball-screw spline AC servo motor with brake + Reduction gear + Belt + Spline 400 200 200 100 mm 7.
Tool’s center of gravity Tool Bottom position Tool Tool Top position Center of rotational axis (Fig. 1) φ 100 (Fig. 2) (Fig. 3) Tool Center of rotational axis (Fig. 4) Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775 43 7. Specifications Item Specifications Operating Temperature: 0 to 40°C, humidity: 20 to 85%RH or Surrounding air temperature/humidity environment less (non-condensing) Altitude m 1,000 or less Noise dB 73 kg Robot weight 31.
IX-INN-70 H (arm length 700, inverse) Item Model number Degree of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) Axis 2 (arm 2) Axis 3 (vertical axis) Specifications IX-INN70 H-**L-T1 Four degrees of freedom 700 350 350 AC servo motor + Speed reducer AC servo motor + Speed reducer AC servo motor with brake + Belt + Ball-screw spline AC servo motor with brake + Reduction gear + Belt + Spline 750 400 400 200 mm 7.
Tool’s center of gravity Tool Bottom position Tool Tool Top position Center of rotational axis (Fig. 1) φ 100 (Fig. 2) (Fig. 3) Tool Center of rotational axis (Fig. 4) Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775 45 7.
IX-INN-80 H (arm length 800, inverse) Item Model number Degree of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) Axis 2 (arm 2) Axis 3 (vertical axis) Specifications IX-INN80 H-**L-T1 Four degrees of freedom 800 450 350 AC servo motor + Speed reducer AC servo motor + Speed reducer AC servo motor with brake + Belt + Ball-screw spline AC servo motor with brake + Reduction gear + Belt + Spline 750 400 400 200 mm 7.
Tool’s center of gravity Tool Bottom position Tool Tool Top position Center of rotational axis (Fig. 1) φ 100 (Fig. 2) (Fig. 3) Tool Center of rotational axis (Fig. 4) Design references: Machine Directive Annex I, EN292-1, EN292-2, EN1050, EN60204-1, EN775 47 7.
8. Installation Environment and Storage Environment 8.
8.3 Storage/Preservatoin 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 kept in an environment subject to condensation, provide preventive measures from over the carton or directly to the robot after unpacking.
× 9.
9.1 9.2 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.
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9.3 9.2 Installing the Robot Install the robot on a level surface. Secure the robot using M3 or M4 hex bolts (4 pcs) and washers. Type Bolt size Tightening torque IX-HNN50 /60 H IX-INN50 /60 H M10 60 N m IX-HNN70 /80 H IX-INN70 /80 H M12 104 N m For the hex bolts, use high-tension bolts with an ISO rating of 10.9 or higher. 4- 11 hole 24 counterbore, depth 5 9. How to Install 4- 14 drilled 30 counterbore, depth 5 Warning Caution Always insert a washer below each bolt.
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 10.
Output voltage: 24 VDC 10% Current capacity: 20 to 30 W M cable 24 VDC power supply for brake (provided by user) PG cable Tool, control unit, etc. (provided by user) U cable (cable for user wiring) BK power cable Standard cable length: 5 m 4, 6 quick joint (2 pcs.) To air tube (provided by user) Before connecting or disconnecting a cable, always turn off the power to the controller.
If you are using an X-SEL-PX/QX controller, you must supply the brake power to the controller in addition to 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 230VAC power supply Auxiliary powersupply circuit Upper position: 0 V Lower position: 24 V 10.
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 Failure to perform these checks may result in a malfunctioning robot or a damaged controller or robot. 11.
12. Precautions for Use 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.
(2) CP operation (Set using the SEL Language commands ACC and DCL.
Maximum setting range Reference range for continuous operation IX arm length 700 Reference duties for CP continuous operation Acceleration deceleration (G) Acceleration deceleration (G) IX arm length 700 Reference settings for PTP acceleration/deceleration Reference range of duty for continuous operation duty Duty (%) IX arm length 800 Reference settings for PTP acceleration/deceleration IX arm length 800 Reference duties for CP continuous operation Maximum setting range Reference range for contin
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.
12.2 Push Force of the Vertical Axis Set the push force of the vertical axis by referring to the graph below. IX arm length 700/800 Relationship of push force and push torque limit during positioning Push force (N) Push force (N) IX arm length 500/600 Relationship of push force and push torque limit during positioning Push torque limit during positioning (%) Push torque limit during positioning (%) Push-motion operating speed: 10 mm/sec Push-motion operating speed: 10 mm/sec 12.
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.
Warning Caution 12. Precautions for Use 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.
12.4 Carrying Load Load capacity Model number IX-HNN50 H/60 H IX-INN50 H/60 H Rated load capacity Maximum load capacity 2 kg 10 kg IX-HNN70 H/80 H 5 kg IX-INN70 H/80 H Load’s permissible moment of inertia Model number Allowable inertial moment IX-HNN50 H/60 H IX-INN50 H/60 H 0.06 kg-m2 IX-HNN70 H/80 H IX-INN70 H/80 H 0.10 kg-m2 20 kg Remarks Both rated and maximum Load offset (from the center of axis 4 (rotational axis)) 50 mm or less Center of axis 4 (rotational axis) 12.
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 6, red Quick joint 4, black User connector D-sub connector 25-pin, socket Fastener size M2.
The user connector comes with the mating D-sub 25-pin plug. 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.
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.
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. Check location Safety cage Robot Cables Emergency-stop switch • • • • • • • • 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.
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. Check location Joint bearing for harmonic reduction gear Ball-screw spline Description Check arms 1 and 2 for looseness in the rotating direction and axial direction. (Contact IAI should you find any abnormality.) Check the vertical axis for looseness. (Contact IAI if an abnormality is found.
13.2.2 Replacement Procedure (1) Remove the countersunk head screws (6 pcs) [1] and take out the cover (base). (2) Remove the batteries from the battery holder. (3) Unplug the BAT connector and connect a new battery. 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.
(5) Secure the cover (base) using the countersunk head screws [1]. (Tightening torque: 0.74 N-m) 13. Inspection/Maintenance Instead of tightening to the specified torque in one go, loosely position each screw in the position shown to the left, and while pressing the cover in the direction of the arrow tighten both screws uniformly to secure the cover effectively with the gasket.
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-1 JG-3 Remarks For arm length 500/600 For arm length 700/800 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.
13.3.2 Starting the Absolute Reset Menu (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 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. 13. Inspection/Maintenance 2.
13.3.3 Absolute Reset Procedure for Arm 1 or 2 (1) Click the “Encoder Rotation Data Reset1” button. Encoder Multi-rotation Data Reset 1 13. Inspection/Maintenance (2) Click the “Reset Controller Error” button.
(3) Click the “Servo ON” button. Servo ON 13. Inspection/Maintenance (4) Jog the arm to near the reference position (see reference position drawing in step (7), and click the “Jog end” button. Jogging (5) Click the “Servo-OFF” button.
(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.
(8) Click the “OK” button. Fig. 13.18 Confirmation 13. Inspection/Maintenance (9) Click the “Encoder Rotation Data Reset2” button.
(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).
13.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis 13. Inspection/Maintenance (1) Click “Encoder Rotation Data Reset1” button. Encoder Multi-rotation Data Reset 1 (2) Click the “Reset Controller Error” button.
(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. (5) Jog the rotational axis to the reference position (see reference position drawing in step 8), and click the “Jog end” button. Jogging 81 13.
(6) Click the “Servo-OFF” button. Servo OFF 13. Inspection/Maintenance (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. Ceiling mount specification reference position D-cut surface The pin is lightly contacted.
(9) Click the “OK” button. Confirmation 13. Inspection/Maintenance (10) Click the “Encoder Rotation Data Reset2” button.
(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. 13.
(15) Click the “Servo ON” button. Confirmation 13. Inspection/Maintenance (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. Standing By at Reference Posture (17) Click the “Servo-OFF” button.
(18) Click the “Encoder Rotation Data Reset3” button. Encoder Multi-rotation Data Reset 3 Automatic Refresh of Home Preset Value 87 13. Inspection/Maintenance (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.
14. Warranty 14.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from our company 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.
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.
Change History Revision Date August 2010 Description of Revision First edition April 2011 Second edition P. 31 Added options “JY (Joint cable specification)” May 2011 Third edition A page for CE Marking added March 2012 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.
Manual No.: ME3704-6A (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.
