Horizontal Articulated Robot – IX Series Tabletop Type, Arm Length 500/600/700/800 IX-NNN50 /60 /70 /80 Operation Manual Sixth Edition
CAUTION Note on Supply of Brake Power (+24 V) for X-SEL-PX/QX Controllers If you are using an X-SEL-PX/QX controller, you must supply brake power to the controller, in addition to connecting the brake power cable from the SCARA robot. Supply the brake power (+24 V) to the controller as shown below. 3-phase 200-230 VAC power supply Auxiliary power circuit The top socket corresponds to 0 V. The bottom socket corresponds to 24 V.
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 2. 3. 4. 5. 6. 7. 1.
. Warranty ·················································································································· 71 8.1 Warranty Period ··························································································································71 8.2 Scope of Warranty ······················································································································71 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 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 Instruction Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger 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 Names of Parts 1. Names of Robot Parts 1.
1.2 Labels 1. Names of Robot Parts 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 2.1 Handling of the Carton 2. Transportation and Handling 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. Transportation and Handling The robot will not stand on its own after being unloaded from the carton pallet. Hold it by hand, or place a cushioning material on the floor and place the robot on its side upon the cushion. 2.
2.5 Transporting the Robot When transporting the robot, affix the arms using the supplied arm fixing plate. Additionally, wrap the cables around the base and secure them with gummed tape or other means. 2. Transportation and Handling Use a dolly, forklift, crane or other appropriate equipment for transportation. When transporting the robot, move it slowly by maintaining balance and safeguarding against vibration or impact.
3 3.1 Installation Environment and Storage Environment Installation Environment Install the robot in an environment that satisfies the following conditions: 3.
3.3 Storage Environment 3. Installation Environment and Storage Environment The storage environment conforms to the installation environment. If the robot is to be stored 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.
4 How to Install Shown below is how to install SCARA Robot. 4.1 Installation Posture ż : Available s : Not available Horizontally Oriented Mount Ceiling-Mount s s 4.
4.1 4.2 Installing the Robot Install the robot on a level surface. Secure the robot using hex bolts and washers. 4. How to Install Type Bolt size Tightening torque IX-NNN50 /60 M10 60 Nxm IX-NNN70 /80 M12 104 Nxm For the hex bolts, use high-tension bolts with an ISO rating of 10.9 or higher. Warning Caution z Always insert a washer below each bolt. Without a washer, the bolt-bearing surface may sink. z Tighten the hex bolts securely to the correct torque.
4.3 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. 4. How to Install Robot designation label Robot serial number Connect the cables securely after confirming that they are free from damage or bent connector pins.
4. How to Install Output voltage: 24 VDC r 10% Current capacity: 20 to 30 W M cable (outside robot) 24 VDC power supply for brake (provided by user) PG cable (outside robot) Tool, control unit, etc. (provided by user) U cable (outside robot) (cable for user wiring) BK power cable (outside robot) Standard cable length: 5 m 150 mm I 4, I 6 quick joint (2 pcs. each) To air tube (provided by user) Warning z Before connecting or disconnecting a cable, always turn off the power to the controller.
4.3 4.4 Checking after Installation Once the robot has been installed, check the following items: x Visually check the robot, controller and cables for dents and other abnormalities. x Confirm that the cables are connected properly and that the connectors are inserted securely. 4. How to Install Warning z 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 (Set using the SEL language commands ACCS and DCLS.) IX-NNN70 /80 Reference acceleration/deceleration settings for PTP operation IX-NNN50 /60 Reference acceleration/deceleration settings for PTP operation 100 Acceleration (%) Acceleration (%) 5.
(2) CP operation (Set using the SEL language commands ACC and DCL.) IX-NNN70 /80 Reference acceleration/deceleration settings for CP operation IX-NNN50 /60 Reference acceleration/deceleration settings for CP operation Acceleration (G) Acceleration (G) Line of reference range for vertical axis during continuous operation 5.
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 Rated load capacity Maximum load capacity IX-NNN50 /60 2 kg 10 kg IX-NNN70 /80 5 kg 20 kg Load’s permissible moment of inertia Type Permissible moment of inertia /60 0.06 kgxm2 IX-NNN70 /80 0.10 kgxm2 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. Quick joint I 6 (red) Quick joint I 6 (yellow) Quick joint I 4 (black) Quick joint I 4 (white) 5. Precautions for Use User Connector D-sub 25-pin connector for user wiring (socket), fixing screw M2.
The robot comes with a D-sub 25-pin mating plug for the user connector. Solder a user-supplied cable to the D-sub connector (plug), attach the supplied hood, and then connect to the user connector (socket). Use a shielded cable with an outer diameter of I 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. Do not perform any inspection, adjustment or repair of the robot or controller, replacement of robot/controller part or any other operation not described in this operation manual.
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 6.1.2 6. Precautions for Use 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.
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 reduction gears, joint bearings Ball-screw spline Description Check arm 1 or 2 for looseness in the rotating direction or axial direction. (Contact IAI if an abnormality is found.) Check the vertical axis for looseness. (Contact IAI if an abnormality is found.) Warning 6.
6.2.2 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. x After removing the old batteries, quickly connect new batteries (roughly within 5 minutes x number of batteries). x 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). 6. Precautions for Use (1) 6 - M3 x 8 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 z When installing the cover (base), be careful not to pinch the cables inside.
6.3 Absolute Reset Procedure The home of your actuator has been adjusted fully prior to its shipment from IAI. IX-NNN-50**/60**/70**/80** actuators adopt an absolute encoder, which means that their home is set by means of an absolute reset. The absolute data in the encoder is backed up using a battery, so once an absolute reset is performed, you need not repeat an absolute reset the next time the power is turned on.
6. Precautions for Use (2) 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. (3) Back up the parameters. Be sure to back up the parameters before performing an absolute reset. (4) Start the absolute reset menu. (5) Perform an absolute reset. (6) Perform a software reset.
6.3.2 Starting the Absolute Reset Menu (1) Open the absolute reset window from the PC software. 6. Precautions for Use (2) The absolute reset window opens. x One of three absolute reset screens—for arm 1, arm 2 and rotational axis + vertical axis—is displayed when a corresponding tab is clicked.
6.3.3 Absolute Reset Procedure for Arm 1 or 2 6. Precautions for Use (1) Click the “Encoder Rotation Data Reset1” button. (2) Click the “Reset Controller Error” button.
(3) Click the “Servo ON” button. 6. Precautions for Use (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.
(6) Press the emergency-stop switch. 6. Precautions for Use (7) When performing an absolute reset of arm 1, set an adjustment jig (pin) on arm 1 to fix the arm in the reference position. In this case, arm 2 may be moved. When performing an absolute reset of arm 2, set an adjustment jig (pin) on arm 2 to fix the arm in the reference position. In this case, arm 1 may be moved. x Set the jig after confirming that the emergency-stop switch is pressed.
(8) Click the “OK” button. 6. Precautions for Use (9) Click the “Encoder Rotation Data Reset2” button.
(10) Remove the adjustment jig. x If you are working on arm 1, install the cover and secure it with the setscrews (11) Release the emergency-stop switch. (12) Click the “OK” button. 6. Precautions for Use x 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).
6.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis (1) Click “Encoder Rotation Data Reset1” button. 6. Precautions for Use (2) Click the “Reset Controller Error” button.
6. Precautions for Use (3) Click the “Servo ON” button. (4) Click the “Temp. Standard posture standby” button. x 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.
(6) Click the “Servo-OFF” button. 6. Precautions for Use (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. x Set the jig after confirming that the emergency-stop switch is pressed. x Set the jig after adjusting the rotational axis to the reference position, using the positioning mark label as a guide. x The top face of the stopper should roughly align with the bottom face of arm 2.
6. Precautions for Use (9) Click the “OK” button. (10) Click the “Encoder Rotation Data Reset2” button.
(11) Click the “Home pos. automatic update” button. 6. Precautions for Use (12) Remove the adjustment jig. (13) Release the emergency-stop switch. (14) Click the “OK” button.
6. Precautions for Use (15) Click the “Servo ON” button. (16) Click the “Standard posture standby” button. x 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.
(18) Click the “Encoder Rotation Data Reset3” button. 6. Precautions for Use (19) Click the “Home pos. automatic update” button, and then click “X” in the top right-hand corner to exit the absolute reset window. x Once the absolute reset is complete, be sure to write the flash ROM and reset the controller.
6. Precautions for Use (20) If an absolute reset was performed on both the rotational axis and vertical axis or if the home position was updated automatically based on arm 1 or 2 by mistake, closing the absolute reset window will open the following screen. Click the “No” button. x Click “Yes” only if you have released a mechanical connection such as replacing an arm or belt. x Click “No” if you have replaced a cable. x When all steps are finished, be sure to perform a “software reset.
6.3.5 Resetting the Controller (1) Select “Software Reset” from the Controller menu on the tool bar. 6. Precautions for Use (2) Click the “Yes” button. The controller is reset and restarted. x When the system informs you that not all data has been written to the flash ROM and asks you if you want to delete the data not yet written to the flash ROM, select “Yes.
7 Specifications 7.1 Specification Table IX-NNN50 (Arm Length 500, Standard Specification) Item Type Degree of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) Axis 2 (arm 2) mm Axis 3 (vertical axis) 7.
Item Operating environment Ambient temperature/humidity Specifications Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 1,000 or less 73 29.5 24V DC ±10% 20W 230 V 50/60 Hz 8 A 7.
IX-NNN60 (Arm Length 600, Standard Specification) Item Type Degree of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) Axis 2 (arm 2) mm Axis 3 (vertical axis) Axis 4 (rotational axis) Axis 1 (arm 1) Axis 2 (arm 2) Axis 3 (vertical axis) Axis 4 (rotational axis) Movement Axis 1 (arm 1) range Axis 2 (arm 2) Axis 3 (vertical axis) (*1) Axis 4 (rotational axis) Maximum Axis 1 + Axis 2 (maximum operating composite speed) speed (*2) Axis 3 (vertical axis) Axis 4 (rotational ax
Item Operating environment Ambient temperature/humidity Specifications Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 1,000 or less 73 30.5 24V DC ±10% 20W 230 V 50/60 Hz 8 A 7.
IX-NNN70 (Arm Length 700, Standard Specification) Item Type Degree of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) Axis 2 (arm 2) mm Axis 3 (vertical axis) Axis 4 (rotational axis) Axis 1 (arm 1) Axis 2 (arm 2) Axis 3 (vertical axis) Axis 4 (rotational axis) Movement Axis 1 (arm 1) range Axis 2 (arm 2) Axis 3 (vertical axis) (*1) Axis 4 (rotational axis) Maximum Axis 1 + Axis 2 (maximum operating composite speed) speed (*2) Axis 3 (vertical axis) Axis 4 (rotational ax
Item Operating environment Ambient temperature/humidity Specifications Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 1,000 or less 74 58 24V DC ±10% 20W 230 V 50/60 Hz 15 A 7.
IX-NNN80 (Arm Length 800, Standard Specification) Item Type Degree of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) Axis 2 (arm 2) mm Axis 3 (vertical axis) Axis 4 (rotational axis) Axis 1 (arm 1) Axis 2 (arm 2) Axis 3 (vertical axis) Axis 4 (rotational axis) Movement Axis 1 (arm 1) range Axis 2 (arm 2) Axis 3 (vertical axis) (*1) Axis 4 (rotational axis) Maximum Axis 1 + Axis 2 (maximum operating composite speed) speed (*2) Axis 3 (vertical axis) Axis 4 (rotational ax
Item Operating environment Ambient temperature/humidity Specifications Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 1,000 or less 74 60 24V DC ±10% 20W 230 V 50/60 Hz 15 A 7.
7.2 External Dimensions IX-NNN50 (723.2) 175 R40 90 50 (81.5) 5 (Mechanical end) 50 (684.1) 72 25 2-M4, depth 8 Same on opposite side (*1) 250 250 5 500 28 74 (18.5) Reference surface 63 (765.6) 470 [570] 25q Arm 1 Arm 2 stopper 5 (Mechanical end) 198 I 6 quick air-tube joint 4 - I 11 hole I 24 counterbore, depth 5 19 820 (920) (73.2) 200ST [300ST] 150 [50] 5 99 Reference surface 75 125 (182.4) 7. Specifications I 146 I 112 (73.
IX-NNN60 (823.2) 175 (90) 120 (130) R40 50 4 - I 11 hole I 24 counterbore, depth 5 (81.5) 5 (Mechanical end) (182.4) 470 [570] 75 125 (73.2) 25q Reference surface 2-M4, depth 8 Same on opposite side (*1) 50 5 (Mechanical end) 250 350 600 5 5 150 [50] I 112 (684.1) 72 (765.6) 19 Arm 1 Arm 2 stopper 25 200ST [300ST] I 146 7. Specifications 820 (920) (73.2) 100 200 75 Arm 2 stopper 150 (50) 99 Reference surface 74 63 I 6 quick air-tube joint I 44 28 (18.
IX-NNN70 (971.5) (65) 350 (206.5) 350 6 (Mechanical end) 268 200 (90) (169) Arm 2 stopper (R55) 60 (34) 95 155 (34) 4 - 14 drilled I 30 counterbore, depth 5 (81) 223 (263.4) 22.5 Arm 1 Arm 2 stopper 3-M4, depth 8 Same on opposite side (*1) 468 (853) 20 350 350 700 28 131 7 7 258 [58] (I 144) 51 6 (Mechanical end) 200st [400st] 61 (934) 73 962 [1162] 504 [704st] 7. Specifications 25q (I 188) Reference surface (134.
IX-NNN80 (1071.5) (65) 350 450 (206.5) 6 (Mechanical end) (R55) 60 (34) 95 155 (34) 268 200 (90) (169) Arm 2 stopper 4 - 14 drilled I 30 counterbore, depth 5 (81) 223 (853) 3-M4, depth 8 Same on opposite side (*1) 468 6 (Mechanical end) 20 (934) (263.4) 22.5 73 350 450 800 131 7 962 [1162] 51 28 Reference surface Arm 1 Arm 2 stopper 61 200st [400st] 7 258 [58] (I 144) 7. Specifications 504 [704st] 25q (I 188) (134.6) Reference surface 262 91 28 (18.
7.3 Robot Operation Area IX-NNN50 145q 145q 149q 120q 149q 120q 125q R500 125q R500 R150.4 R133.6 87.8q R250 R250 7. Specifications R95 119.1q 200 (Operation prohibited area) Movement range Stopper position range IX-NNN60 145q 149q 145q 120q 120q R600 R204 149q 125q 125q R600 R187 200 142q R250 114.
IX-NNN70 150q 145q 125q 150q 130q 145q 125q 130q R210.5 R181.2 R700 R700 127q R350 82.5q 7. Specifications R350 R110 250 (Operation prohibited area) Stopper position range Movement range IX-NNN80 145q 145q 150q 125q 125q R258.8 R800 150q 130q 130q R228.5 R800 99.
64 DWG No. 1068657* U cable (outside robot) BK power cable (outside robot) Dedicated batteries for IX: AB-3 DWG No. 1068656* PG cable (outside robot) Plug GIC2.5/4-STF-7.62 (Phoenix) DWG No.
Axis 4 brake Axis 4 motor Axis 4 encoder Air joints Red (6), yellow (6), black (4), white (4) Brake release switch for axis 3, axis 4 (Z, R) Alarm LED D-sub connector for user piping (25 pins, socket) Axis 3 brake Axis 3 encoder Axis 3 motor Axis 2 motor Axis 2 encoder Air pipes Axis 1 encoder Axis 1 motor U cable (inside machine) PG cable (inside machine) PG cable (inside machine) Board U cable (outside machine) PG cable (outside machine) Controller User wiring terminals Air joint
Machine Harness Wiring Table (1) PG cables (inside machine) Base end Tube symbol Connector Signal Pin No. DWG No. 1069363* Arm end Connection Mini universal Mate-N-Lock plug housing 172169-1 (Tyco Electronics AMP) Pin Signal No. Mini universal Mate-N-Lock Socket housing for panel installation 172169-1 (Tyco Electronics Shield AMP) Shield Shield Red White Red White Red White Green 7.
(3) UA, UB cables (outside machine) Base end Tube symbol Connector Double brazed relay plug DF11-14DEP-2C (Hirose Electric) Signal Pin No. DWG No. 1069364* Arm end Connection Pin Signal No. Connector Tube ID No. symbol Wire Double brazed crimp socket DF11-14DEP-2C (Hirose Electric) Black Same as above Mini universal Mate-N-Lock plug housing 172166-1 (Tyco Electronics AMP) Bare terminal (Y type) F0.3-3 7. Specifications White 0.
Robot Cable Wiring Table (1) PG cables (outside machine) Robot end Tube symbol Connector Signal Pin No. DWG No. 1068656* Controller end Connection Pin Signal No. Female crimp connector HIF3BA-10D-2.5 4C (Hirose Electric) Connector 7.
(3) UA, UB cables (outside machine) DWG No. 1068657* Robot end Controller end Tube symbol Connector Double brazed crimp socket DF11-14DS-2C (Hirose Electric) No. Connection Pin No. Signal Connector Bare terminal (Y type) F0.
58 70 M cable (inside robot) M cable (outside robot) 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) 1 2 3 4 5 6 Code name Axis 4 servo motor w/ brake 4 No. Axis 3 servo motor w/ brake 3 /80 Axis 2 servo motor 2 IX-NNN70 Axis 1 servo motor Code name No.
8. Warranty 8.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company y 12 months after delivery to the specified location y 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 Revision Description Fourth Edition A page for CE Marking added Fifth edition Introduction, Safety Symbols and Safety Precautions are deleted Pg. 1 to 7 Safety Guide added Pg. 8 Caution in Handling added Pg. 18 Brake voltage source capacity from 20W to 30W ĺ changed to 20W Pg. 28 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.: ME3620-6A (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.
