Horizontal Articulated Robot – IX Series Tabletop Specification, for Arm Length 120/150/180 IX-NNN-1205/IX-NNN-1505/IX-NNN-1805 Clean room Specification IX-NNC-1205/IX-NNC-1505/IX-NNC-1805 Operation Manual Fourth Edition
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products.
Precautions on Compliance to CE Marking Please be aware that the product does not comply with the CE marking (European EC Directive) if the nameplate does not indicate that it is CE-certified.
Table of Contents Safety Guide ............................................................................................................................ 1 Handling Precaution ................................................................................................................ 8 1. Name of Each Part .......................................................................................................... 13 1.1 1.2 1.3 Robot ....................................................................
12. Precautions for Use ......................................................................................................... 61 12.1 12.2 12.3 12.4 12.5 Reference Settings for Acceleration/Deceleration............................................................. 61 Tools.................................................................................................................................. 63 Carrying Load........................................................................................
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 Precaution 1. Positioning Repeatability Does Not Change Even If the Positioning Band is Changed. Positioning repeatability does not change even if the positioning band is changed. If the positioning band is narrower than the default value, the positioning repeatability does not change, but the time it takes for the positioning complete signal to be output takes longer. The execution of next operation instruction (e.g.
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.
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.
5. Transportation When transporting the robot in a standalone state, put the cables over your shoulder and hold the base and arm 2 with both hands. Do not transport the robot by holding it by arm 2 only or by the wiring duct only. Danger Warning • If you hold the robot only by arm 2 or an excessive load is applied on arm 2, the robot may be damaged. • If the robot is dropped during transport, injury may occur or the robot may be damaged.
When transporting the robot while it is still attached to the equipment, etc., fabricate a metal bracket like the one shown below and use the bracket to secure arm 2 to a platform, etc. 25 1.6 4 hole 145 0.7 (150) 150 5 12.5 5 hole Material: SPCC or equivalent 12.5 Arm securing bracket 6 Platform 15 Move the robot slowly by paying attention to the balance of the robot and being careful not to apply vibration or shock.
Axis 3 (vertical axis) Mechanical stopper for axis 3 (vertical axis) Arm 2 Arm 1 Reference surface Base Mechanical stopper for arm 1 Axis 2 Axis 1 Cover (base) Same on opposite side Mechanical stopper for arm 2 Panel User piping 3, white Spacer for user part installation User piping 3, white User connector Reference surface User piping 3, black PG cable (outside robot) U cable (outside robot) M cable (outside robot) User piping 3, black IX-NNN1205/1505/1805 Cover (arm 2) Ball scre
14 Axis 3 (vertical axis) Axis 4 (rotational axis) Bellows (lower) Mechanical stopper for axis 3 Arm 2 Cover (arm 2) Mechanical stopper for axis 3 (vertical axis) Reference surface Front panel (Base) Mechanical stopper for arm 1 Arm 1 Axis 2 ALM (indication) Bellows (upper) Axis 1 Cover (base) Same on opposite side Mechanical stopper for arm 2 Panel Wiring duct User piping 3, white Quick joint for suction 6 Rear panel (base) User piping 3, white R
1.
1. Name of Each Part 1.
2. External Dimensions IX-NNN-1205 (Arm Length 120, Standard Specification) 2. External Dimensions User connector 8-pin SM P-08V-NC J.S.T. Mfg. Co., Ltd. ALM lamp (Note 2) Quick joint 3, white Quick joint 3, black FG M3, depth 6 Quick joint 3, white Quick joint 3, black 2-M3, depth 6 Same on opposite side (Note 1) Cable wiring space Reference surface Reference surface 15 Section A-A 0 8h7(-0.
2. External Dimensions IX-NNN-1505 (Arm Length 150, Standard Specification) User connector 8-pin SM P-08V-NC J.S.T. Mfg. Co., Ltd. ALM lamp (Note 2) Quick joint 3, white Quick joint 3, black FG M3, depth 6 2-M3, depth 6 Same on opposite side (Note 1) Quick joint 3, white Cable wiring space Reference surface Quick joint 3, black Reference surface 15 Section A-A 0 8h7(-0.
IX-NNN-1805 (Arm Length 180, Standard Specification) 2. External Dimensions User connector 8-pin SM P-08V-NC J.S.T. Mfg. Co., Ltd. ALM lamp (Note 2) Quick joint 3, white Quick joint 3, black FG M3, depth 6 2-M3, depth 6 Same on opposite side (Note 1) Quick joint 3, white Quick joint 3, black 15 Section A-A 0 8h7(-0.015) Detail view of arm end (1/1) Note 1: The holes denoted by “2-M3, depth 6” are through holes connecting both sides of the arm.
2. External Dimensions IX-NNC-1205 (arm length 120, clean room specification) User connector 8-pin SM P-08V-NC J.S.T. Mfg. Co., Ltd. ALM lamp (Note 2) Quick joint 3, white Quick joint 3, black M3, depth 6 Quick suction joint 6 Quick joint 3, white 2-M3, depth 6 Same on opposite side (Note 1) Quick joint 3, black Reference surface Provide a clearance of approx. 0.5 mm when installing the tool. Detail view of arm end (1/1) 20 Section A-A Note 1: These holes are plugged with setscrews.
IX-NNC-1505 (arm length 150, clean room specification) 2. External Dimensions User connector 8-pin SM P-08V-NC J.S.T. Mfg. Co., Ltd. ALM lamp (Note 2) Quick joint 3, white Quick joint 3, black M3, depth 6 Quick suction joint 6 Quick joint 3, white 2-M3, depth 6 Same on opposite side (Note 1) Quick joint 3, black Reference surface Provide a clearance of approx. 0.5 mm when installing the tool. Detail view of arm end (1/1) Section A-A Note 1: These holes are plugged with setscrews.
2. External Dimensions IX-NNC-1805 (arm length 180, clean room specification) User connector 8-pin SM P-08V-NC J.S.T. Mfg. Co., Ltd. ALM lamp (Note 2) Quick joint 3, white Quick joint 3, black M3, depth 6 Quick suction joint 6 Quick joint 3, white 2-M3, depth 6 Same on opposite side (Note 1) Quick joint 3, black Reference surface Provide a clearance of approx. 0.5 mm when installing the tool. Detail view of arm end (1/1) 22 Section A-A Note 1: These holes are plugged with setscrews.
3. Robot Operation Area IX-NNN-1205 (Arm Length 120, Standard Specification) 3.
3.
IX-NNC-1205 (arm length 120, clean room specification) 3. Robot Operation Area Pay attention to contact between the bellows and base. Movement range Range of stopper position IX-NNC-1505 (arm length 150, clean room specification) Pay attention to contact between the bellows and base.
3. Robot Operation Area IX-NNC-1805 (arm length 180, clean room specification) Pay attention to contact between the bellows and base.
Notes User piping DWG No. 1090985* (to frame) (JST) Receptacle housing (Hirose) Plug (to frame) ABS encoder DWG No. 1090997* Flexible cable DWG No. 1090998* DWG No. 1090996* (1) To operate the alarm LED, the user must provide a circuit that uses the controller I/O output signal. Air joint, white ( 3) Air joint, black ( 3) Plug housing DWG. No.
28 3-axis motor 3-axis encoder 4-axis encoder 4-axis motor PG cable (inside robot) M cable (inside robot) U cable (inside robot) 2-axis motor 2-axis encoder Air tubes 1-axis motor 1-axis encoder Air tubes Air joint White ( 3), Black ( 3) User connector Controller User wiring terminals PG cable (outside robot) M cable (outside robot) U cable (outside robot) Air joint White ( 3), Black ( 3) PG cable (inside robot) M cable (inside robot) U cable (inside robot) FG (frame) Flexible cable
User wiring terminal Plug-in connector 10126-3000VE (Sumitomo 3M) Notes User piping DWG No.
30 4-axis encoder 4-axis motor 3-axis motor 3-axis encoder PG cable (inside robot) M cable (inside robot) U cable (inside robot) 2-axis encoder 2-axis motor Air tubes 1-axis motor 1-axis encoder Air tubes Air joint White ( 3), Black ( 3) User connector Air joint for suction ( 6) Controller User wiring terminals PG cable (outside robot) M cable (outside robot) U cable (outside robot) Air joint White ( 3), Black ( 3) PG cable (inside robot) M cable (inside robot) U cable (inside robot) F
4.2 Machine Harness Wiring Table (1) PG cables (inside robot) Base end Tube symbol Connector Signal Pin No. DWG No. 1090996* Arm 2 end Connection Pin Signal No. Connector Tube symbol Socket DF11-6DS-2C (Hirose) Cable Red 4. Wiring Diagram Relay plug DF11-6DEP-2C (Hirose) ID No. 2 Same as above Same as above (2) M cables (inside robot) Base end Connector Same as above Red Red DWG No. 1090998* Arm 2 end Signal Pin No. Connection Pin Signal No. Connector Tube symbol ID No.
4.3 Cable Wiring Table (1) PG cables (outside robot) DWG No. 1090985* Robot end Tube symbol Connector 4. Wiring Diagram Plug DF3-2EP-2C (by Hirose Electric) Socket DF11-6DS-2S (by Hirose Electric) Signal Pin No. Connection Pin Signal No. Controller end Connector Tube symbol ID No. Cable Orange 1 red Orange 1 black 0.
Robot end Tube symbol Connector Plug DF3-2EP-2C (by Hirose Electric) Signal Pin No. Connection Pin Signal No. Connector Tube symbol ID No. Plug connector 10126-3000VE (Sumitomo 3M) Orange 1 red Orange 1 black Cable 0.12-mm twistedpair, 3-core shielded cable 2 4.
(2) M cables (outside robot) Robot end 4. Wiring Diagram Tube symbol Connector Signal Pin No. Controller end Connection Pin Signal No. Connector Socket DF3-4S-2C (by Hirose ) Plug GIC2x5/4 -STF-7x62 (by Phoenix Contact) Same as above Same as above Same as above Same as above Same as above Same as above (3) U cables (outside robot) Robot end Tube symbol DWG No. 1090971* Connector Plug housing SMR-10V-N (by JST) Signal Pin No. Tube symbol ID No. 0.2-mm 16-core 2 DWG No.
4.4 No. 1 2 3 230 V Circuit Components Code name Axis 1 to 3 servo motor Axis 4 servo motor M cable (inside robot) Manufacturer IAI Remarks AC servo motor, 12 W AC servo motor, 60 W Wire: 250 V, 150 C (rated), 0.3 mm3 4.
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-5 For arm length 120/150/180 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-4 For arm length 120/150/180 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.
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 Remarks Refer to "How to Read Model Nameplate" and "How to Read Model Number." Remarks 7 8 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 SCARA robot T2: XSEL-PX/QX 6.
7. Specifications 7.1 IX-NNN1205/1505/1805 7.
Item Operating environment Surrounding air temperature/humidity Altitude m dB kg Noise Robot weight Specifications Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 1,000 or less 52 to 59 2.7 3-phase 200/230 V 50/60 Hz 2.2 A Center of rotational axis Center of rotational axis Tool Tool Tool’s center of gravity Top position Bottom position Tool (Fig. 1) 35 (Fig. 2) (Fig. 3) (Fig. 4) Tool 41 7.
IX-NNN-1505 (Arm Length 150, Standard Specification) Item Specifications Model number IX-NNN1505-**L Degree of freedom Four degrees of freedom Overall arm length 150 mm Arm 1 length Arm 2 length Drive method 75 75 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 + Belt + Ball-screw spline Axis 4 (rotational axis) Motor capacity Axis 1 (arm 1) 7.
Item Operating environment Surrounding air temperature/humidity Altitude m dB kg Noise Robot weight Specifications Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 1,000 or less 52 to 59 2.7 3-phase 200/230 V 50/60 Hz 2.2 A Center of rotational axis Center of rotational axis Tool Tool Tool’s center of gravity Top position Bottom position Tool (Fig. 1) 35 (Fig. 2) (Fig. 3) (Fig. 4) Tool 43 7.
IX-NNN-1805 (Arm Length 180, Standard Specification) Item Specifications Model number IX-NNN1805-**L Degree of freedom Four degrees of freedom Overall arm length 180 mm Arm 1 length Arm 2 length Drive method 105 75 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 + Belt + Ball-screw spline Axis 4 (rotational axis) Motor capacity Axis 1 (arm 1) 7.
Item Operating environment Surrounding air temperature/humidity Altitude m dB kg Noise Robot weight Specifications Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 1,000 or less 52 to 59 3.0 3-phase 200/230 V 50/60 Hz 2.2 A Center of rotational axis Center of rotational axis Tool Tool Tool’s center of gravity Top position Bottom position Tool 35 (Fig. 2) (Fig. 1) (Fig. 3) (Fig. 4) Tool 45 7.
7.2 IX-NNC1205/1505/1805 7.
Item User piping Operating environment Surrounding air temperature/humidity Altitude m dB kg Noise Robot weight Specifications Outer diameter 3, inner diameter 2, air tube x 2 pcs (service pressure 0.7 MPa) Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 1,000 or less 52 to 59 2.8 230 V 50/60 Hz 15 A Center of rotational axis Center of rotational axis Tool Tool Tool’s center of gravity Top position Tool (Fig. 1) 35 Bottom position Tool (Fig. 3) (Fig. 4) (Fig.
7.
Item User piping Operating environment Specifications Two air tubes (outer diameter: 3, inner diameter: 2) (normal service pressure: 0.7 MPa) Surrounding air temperature/humidity Altitude m dB kg Noise Robot weight Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 1,000 or less 52 to 59 2.8 230 V 50/60 Hz 15 A Center of rotational axis Center of rotational axis Tool Tool Tool’s center of gravity Top position Tool (Fig. 1) Bottom position Tool (Fig. 3) 35 (Fig. 4) (Fig.
7.
Item User piping Operating environment Surrounding air temperature/humidity Altitude m dB kg Noise Robot weight Specifications Outer diameter 3, inner diameter 2, air tube x 2 pcs (service pressure 0.7 MPa) Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 1,000 or less 52 to 59 2.9 230 V 50/60 Hz 15 A Center of rotational axis Center of rotational axis Tool Tool Tool’s center of gravity Top position Tool (Fig. 1) Bottom position Tool (Fig. 3) 35 (Fig. 4) (Fig.
8. Installation Environment and Storage Environment 8.
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.
9. How to Install Shown below is how to install SCARA Robot. 9.1 Installation Posture : Available s : Not available : Please contact us. Wall-Mount s 9.
9.2 Installing the Robot 9. Installation Install the robot horizontally. Use four M3 or M4 hexagonal socket head bolts and washers to securely affix the robot. Model number IX-NNN1205/1505/1805 IX-NNC1205/1505/1805 Bolt size Tightening torque M3 0.81 N m Be sure to use a flat washer (outer diameter 7, inner diameter 3.2, t = 0.5). M4 1.41 N m If the bolt size is M4, use of a flat washer causes the washer to project from the reference surface.
10. Connecting the Controller The controller connection cables are attached on the robot (standard cable: 3 m). 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 10.
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. In the case of a controller with brake, provide a dedicated DC power supply for the brake. Do not use the I/O power supply or power supply for secondary circuit.
PG cable (outside robot) M cable (outside robot) Controller (without brake) Quick joint 3, white To air tube (provided by user) Quick joint 3, black 10. Connecting the Controller Standard cable length: 3 m Tool, control unit, etc.
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. 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.
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 11. Checking after Installation Failure to perform these checks may result in a malfunctioning robot or a damaged controller or robot.
12. Precautions for Use 12.1 Reference Settings for Acceleration/Deceleration Set the acceleration/deceleration by referring to the graphs below. (1) PTP operation (Setting the acceleration/deceleration using the SEL commands ACCS/DCLS languages) 100 0.2Kg Acceleration deceleration (%) IX120/150/180 Reference settings for PTP acceleration/deceleration Reference range for maximum setting Reference range for continuous operation 50 30 10 0 0 0.
Caution 12. Precautions for Use To operate the robot at the maximum acceleration/deceleration, provide a stopping period of 3 seconds or more after each acceleration/deceleration. If arm 1 operates by 125 degrees or more, use the reference settings for acceleration/deceleration during continuous operation as the reference settings for maximum acceleration/deceleration. Also, set to 1/3 of that value as the reference settings for continuous operation.
12.2 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. If the tool diameter exceeds 35 mm, the tool will interfere with the robot within the robot’s operation area.
IX-NNC1205/1505/1805 Tool Span ring, etc. Pressure flange D-cut surface Center of axis 4 (rotation axis) Tool diameter 35 or less 12. Precautions for Use Warning Provide a clearance of approx. 0.5 mm when installing the tool. Caution 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.
12.3 Carrying Load Loading capacity Model number IX-NNN1205/1505/1805 IX-NNC1205/1505/1813 Rated loading capacity Maximum loading capacity 0.2 kg 1.0 kg Load’s permissible moment of inertia Model number IX-NNN1205/1505/1805 IX-NNC1205/1505/1813 Permissible moment of inertia Rated Maximum 96.5 kg-mm2 386 kg-mm2 Load offset (from the center of axis 4 (rotational axis)) 17.5 mm or less Center of axis 4 (rotational axis) 12. Precautions for Use Load’s center of gravity 17.
12.4 User Wiring and Piping The IX-NNN1205/1505/1805 and IX-NNC1205/1505/1805 robots come with standard cables and air tubes that the user can use in a desired wiring/piping configuration. The available cables and air tubes are shown in the table below. IX-NNC1205/1505/1805 User connector 8-pin SM P-08V-NC J.S.T. Mfg. Co., Ltd.
IX-NNC1205/1505/1805 User connector 8-pin SM P-08V-NC J.S.T. Mfg. Co., Ltd. ALM (indicator) Quick joint 3, white Quick joint 3, black User spacer (FG) M3, depth 6 PG cable (outside robot) Standard 3m M cable (outside robot) To controller Terminal: Y terminal To air tube provided by the user U cable (outside robot) Quick joint 3, black Quick joint 6, (for suction) Quick joint 3, white Shape of Y-terminal 5.2 1.1 A AWG 26 (0.
Receptacle housing SMR-08V-N (1) and pin contact BYM-001T-P0.6 (10) for the mating side of user connectors is provided (made by JST). Press fit cables provided by the customer on the pin contact and insert them to the receptacle housing and connect to the user connector. Note that manual crimping tool YC-121R (made by JST) is required to press fit to the pin contact. The crimping task must be performed by an operator with required techniques according to the procedure recommended by the manufacturer.
12.5 Suction Rate of Clean Room Specification IX-NNC 1205/1505/1805 Cleanness of class 10 can be achieved when air is suctioned at the specified rate from the quick suction joint provided on the base/rear panel. The user must provide the suction device and air tube for suction ( 6). Suction rate (NR/min) 90 Quick suction joint (Applicable tube: Outer diameter 6, inner diameter 4) 12. Precautions for Use Caution The clean room must have a down-flow environment.
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.
13.1.2 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. Check location Robot Ball-screw spline Connectors Description Check the arm mounting sections for looseness. (If any of the arm mounting sections is loose, tighten the fastening parts securely.) Check the ball screw and ball spline for looseness.
13.2 Battery Replacement 13.2.1 Preparation The following items are required when replacing the batteries: Hexagonal wrench (size: 2 mm) New battery for IX 120/150/180: AB-6 (4) Before replacing the batteries, turn off the power to the controller, control panel and other relevant units. Warning Caution Serious accidents resulting in injury and death may occur if you perform inspection or maintenance tasks without proper knowledge.
(3) Unplug the BAT connector and connect a new battery. After removing each battery, set a new battery within 1 to 2 minutes (reference). If replacement takes a longer time, multi-rotation data will be cleared and an absolute reset will become necessary. Replace the batteries axis by axis. If all batteries are replaced at once, the replacement may not finish within the time limit. (4) Store the battery in the battery holder.
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-5 Remarks For arm length 120/150/180 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 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. 13.
13.3.3 Absolute Reset Procedure for Arm 1 or 2 13. Inspection/Maintenance (1) Click the “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) Jog the arm to near the reference position (see reference position drawing in step (7), and click the “Jog end” button. 13. Inspection/Maintenance Jogging (5) Click the “Servo-OFF” button.
(6) Press the emergency-stop switch. 13. Inspection/Maintenance (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.
Pin, absolute reset jig Arm 1 positioning mark Arm 2 positioning mark Pin, absolute reset jig Arm 1 (arm length 120/150/180) Reference Posture for Arm Length 120*1/150/180 *1 Absolute reset of arm 1 whose length is 120 Arm 2 (arm length 150/180) Adjust both arms 1 and 2 to positions within 1 graduation. 13.
(8) Click the “OK” button. 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. (5) Jog the rotational axis to the reference position (see reference position drawing in step 8), and click the “Jog end” button. Jogging 83 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.
Plate, absolute reset jig Pin, absolute reset jig Set the plate so that the 3 hole comes to the side opposite the D-cut surface. Turn the rotational axis until it makes contact, to eliminate any gap. Reference Posture for Arm Length 150/180 Warning 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.
(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. 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 89 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 Description of Revision August 2010 First edition March 2012 Second 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. 70 Caution notes added telling to go to see the doctor to have an appropriate treatment when the grease got into an eye P. 89, 90 Contents changed in 14. Warranty August 2012 Third edition 9.
Manual No.: ME3693-4A (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.
