Horizontal Articulated Robot – IX Series Tabletop Type, Dust-proof/Splash-proof Specification Arm Length 500/600/700/800 IX-NNW50 /60 Operation Manual /70 /80 Fourth Edition
Please Read Before Use Thank you for purchasing an IAI product. This operation manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products.
CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
Table of Contents Safety Guide ······················································································································1 Caution in Handling ···········································································································8 1. Names of Robot Parts ································································································9 1.1 1.2 1.3 2.
8. Warranty ·················································································································· 78 8.1 8.2 8.3 8.4 8.5 8.
Safety Guide ³6DIHW\ *XLGH´ KDV EHHQ ZULWWHQ WR XVH WKH PDFKLQH VDIHO\ DQG VR SUHYHQW SHUVRQDO LQMXU\ RU SURSHUW\ GDPDJH EHIRUHKDQG 0DNH VXUH WR UHDG LW EHIRUH WKH RSHUDWLRQ RI WKLV SURGXFW Safety Precautions for Our Products 7KH FRPPRQ VDIHW\ SUHFDXWLRQV IRU WKH XVH RI DQ\ RI RXU URERWV LQ HDFK RSHUDWLRQ 1R 2SHUDWLRQ 'HVFULSWLRQ 0RGHO 6HOHFWLRQ 'HVFULSWLRQ Ɣ 7KLV SURGXFW KDV QRW EHHQ SODQQHG DQG GHVLJQHG IRU WKH DSSOLFDWLRQ ZKHUH KLJK OHYHO RI VDIHW\ LV UHTXLUHG VR WKH JXDUDQWHH RI WKH
No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Ɣ 8VH RXU FRPSDQ\¶V JHQXLQH FDEOHV for connecting between the actuator and controller, and for the teaching tool. Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 4 Operation Description Installation and Start 7HDFKLQJ Description (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 6 7 Operation Description Trial Operation Automatic Operation Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ Perform the work out of the safety protection fence, if possible.
Alert Indication 7KH VDIHW\ SUHFDXWLRQV DUH GLYLGHG LQWR ³'DQJHU´ ³:DUQLQJ´ ³&DXWLRQ´ DQG ³1RWLFH´ DFFRUGLQJ WR WKH ZDUQLQJ OHYHO DV IROORZV DQG GHVFULEHG LQ WKH ,QVWUXFWLRQ 0DQXDO IRU HDFK PRGHO /HYHO 'HJUHH RI 'DQJHU DQG 'DPDJH 'DQJHU 7KLV LQGLFDWHV DQ LPPLQHQWO\ KD]DUGRXV VLWXDWLRQ ZKLFK LI WKH SURGXFW LV QRW KDQGOHG FRUUHFWO\ ZLOO UHVXOW LQ GHDWK RU VHULRXV LQMXU\ 'DQJHU :DUQLQJ 7KLV LQGLFDWHV D SRWHQWLDOO\ KD]DUGRXV VLWXDWLRQ ZKLFK LI WKH SURGXFW LV QRW KDQGOHG FRUUHFWO\ FRXOG
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 (1) Names of Parts IX-NNW50 1. Names of Robot Parts 1.
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. Names of Robot Parts 1.
2 Transportation and Handling 2.1 Handling of the Carton 2. Transportation and Handing 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 2. Transportation and Handing 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. 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. When a crane is used, install the supplied eyebolts on the robot for the pass-through of ropes. Install the eyebolts following removal of the top cover. Hoisting hook with lock Cross-recessed countersunk head screw, M3 x 8 Eyebolt (supplied) String, rope, etc. 45 degrees or more Fix with a tie wrap.
3 Installation Environment and Storage Environment 3. Installation Environment and Storage Environment 3.1 Installation Environment The dust-proof/splash-proof specification provides a dust-proof/splash-proof structure against water and powder dust conforming to the IEC standard and protection class IP65. The robot must be installed in an environment satisfying the following conditions. Please note that the dust-proof/splash-proof specification does not provide an explosion-proof structure.
3.2 Installation Platform The platform on which to install the robot receives a significant reactive force. Be certain the platform has sufficient rigidity to withstand the anticipated force. x The surface on which the robot is fixed must have a thickness of 25 mm or more. The levelness of the robot installation surface must be at least r0.05 mm. x Drill and tap holes, as indicated below, into the installation surface of the platform.
4 How to Install Shown below is how to install SCARA Robot. 4.1 Installation Posture ż : Available s : Not available Wall-Mount Ceiling-Mount 4.
4.2 4.1 Installing the Robot Install the robot on a level surface. Secure the robot using hex bolts and washers. Type Bolt size Tightening torque IX-NNW50 /60 M10 60 Nxm IX-NNW70 /80 M12 104 Nxm 4. How to Install 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.
24 VDC power supply for brake (provided by user) M cable (outside robot) PG cable (outside robot) 4. How to Install Output voltage: 24 VDC r 10% Current capacity: 20 to 30 W 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 I4, I6 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.
4.4 4.3 Checking after Installation Once the robot has been installed, check the following items: 4. How to Install 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. 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.
(2) CP operation (Set using the SEL language commands ACC and DCL.) IX-NNW70 /80 Reference acceleration/deceleration settings for CP operation IX-NNW50 /60 Reference acceleration/deceleration settings for CP operation 1.0 Reference range of maximum setting Acceleration (G) Reference range of maximum setting Acceleration (G) 5. Precautions for Use 1.0 0.5 Reference range for continuous operation setting 0.
5.2 Tools The tool mounting part must have sufficient strength and rigidity, along with adequate fastening power to prevent positional shift. It is recommended that a tool be installed over a split ring, span ring or other appropriate part. A sample configuration of tool installation is given below. The diameter of each tool must not exceed 100 mm. A tool larger than this dimension will interfere with the robot within the robot’s range of movement.
5.3 Carrying Load Load capacity Type Rated load capacity Maximum load capacity IX-NNW50 /60 2 kg 10 kg IX-NNW70 /80 5 kg 20 kg Load’s permissible moment of inertia 5. Precautions for Use Type Permissible moment of inertia Remarks 2 IX-NNW50 /60 0.06 kgxm IX-NNW70 /80 0.
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. I6 (yellow) quick air-tube joint I6 (red) quick air-tube joint I4 (black) quick air-tube joint Standard cable (5 m) BK power cable (outside robot) M cable (outside robot) I4 (white) quick air-tube joint PG cable (outside robot) To controller Y-terminal at the end User connector, waterproof, 24 pins (including the shield terminal) BK SW Brake-release switch 5.
The robot comes with a 24-pin plug (NJW-28-24-PM-18 manufactured by Nanaboshi Electric Mfg.) to be connected to the user connector. Solder the cable provided by the user to the connector (plug) and connect to the user connector. Use a shielded cable with an outer diameter of I16.1 to I18.0. Pins 1 to 23 of the connector can be used. Pin 24 is connected to the shielded cable. 5. Precautions for Use How to wire the connector Tightening torque 1.5 to 2.0 N-m Clamp nut Tightening torque 0.2 to 0.
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 I11 or less. To turn on the indicator, the user must configure a dedicated circuit that uses the controller I/O output signal, etc. User connector pins and corresponding Y-terminals Inside unit ALM Waterproof connector, 24 pins No.
5.5 Air Purge The robot will conform to the IP65 dust-proof/splash-proof specification when the pressure specified below is supplied from the air inlet provided on a side face of the base. x The user must provide the air supply (pressure-reducing valve, etc.) and air tube (I6). x The speed controller has already been adjusted to an appropriate flow rate corresponding to the specified pressure. The needle need not be readjusted. Supply pressure Pipe size 5. Precautions for Use Purge medium 0.2 to 0.
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. The following items must be adjusted at our factory.
6.1.2 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. Description Check the arm mounting sections for looseness. Robot (If any of the arm mounting sections is loose, tighten the fastening parts securely.) Ball-screw spline Add grease. (AFE Grease by THK or equivalent) Timing belts of axes 3 and • Check the belt tension for axes 3 and 4.
6.2 How to Replace Bellows Preparation The following tools are required when replacing bellows: x Hex wrenches (1.5, 2 and 2.5 mm) x Phillips screwdriver x Replacement bellows (2 units) Turn off the power to the controller. Do not cut off the 24 VDC power supply to the brake. Disassembly (1) Remove the bolts affixing the bellows. (2) Remove the top and bottom bellows units. (Remove only the bottom bellows unit in the case of IX-NNW50 /60 .) 6. Inspection/Maintenance Collar C (4 pcs.
(3) Remove the bellows-turning unit (one unit each at the top and bottom). (4) Remove affixing plate D from the bellows. Bellows-turning unit Plate D (4 pcs.) 6. Inspection/Maintenance Gasket D Plate D Warning Caution z Performing inspection or maintenance without fully understanding the details of work may result in a serious accident. z If inspections are neglected, the drive part may wear prematurely or the robot may malfunction unexpectedly.
Assembly (1) Assemble the bellows by following the disassembly procedure in reverse. (2) Install the bellows by aligning the positioning mark labels attached on the turning unit and collar B. Move the robot’s X-axis, Y-axis, vertical axis and rotational axis to 0, arm length, 0 and 0, respectively, and install and affix the bellows in this position by aligning the arrow position on collar B with the mark on the turning unit. If the marks do not align, reattach the labels. 6.
6.3 How to Check/Adjust Belt Tension 6.3.1 Preparation The following tools are required when checking/adjusting belt tension: x Push-pull gauge (maximum measurement capability of 2 kg) x Hex wrenches (2.5, 3 and 4 mm) x Spanners (5.5 and 8 mm) x Phillips screwdriver x Scale x Pin (I3, 40 to 80 mm in length) 6. Inspection/Maintenance Turn off the power to the controller. Do not cut off the 24 VDC power supply to the brake.
6.3.2 Removing the Cover (1) With arms 1 and 2 extended as illustrated below, press the brake-release switch [1] to release the brake and then push down the vertical axis until the stopper contacts the pulley. (2) Remove the countersunk head screws [2], [3] and [4] (four pieces each), in that order. (3) Remove all connectors (UA, UB, BK and LED) and air tubes (four pieces) from the back of the panel. (4) Move the cover to the position shown in the photograph.
6.3.3 Checking the Belt Tension Top view Timing belt for vertical axis Bottom view 6.3.4 Checking the Belt Tension for the Vertical Axis Using a push-pull gauge, push the timing belt for vertical axis with a force of A (gf) and measure the amount of deflection. If the deflection is B (mm), the belt tension is normal. If not, adjust the belt tension by referring to 6.3.6, “Adjusting the Belt Tension for the Vertical Axis.” Type A B IX-NNW50 /60 340 ~ 410 (gf) 1.
6.3.5 Checking the Belt Tension for the Rotational Axis (1) Remove one setscrew provided on a side face of arm 2. Remove the screw at the center. Type C D IX-NNW50 /60 2.48 (mm) 1.3 ~ 1.5 (kgf) IX-NNW70 /80 3.60 (mm) 1.6 ~ 2.0 (kgf) Arm 2 Pulley Mark aligns with the surface of arm 2. C (mm) Belt Pin D (kgf) Mark here Pulley Pulley Caution z Do not use a pin with a sharp tip that may damage the belt.
6.3.6 (1) (2) (3) (4) (5) Loosen the four M5 nuts [4] slightly, making sure the fastened points do not become overly loose. Loosen the lock nut [5], and then turn the bolt with urethane stopper [6] to tension the belt properly. Check the belt tension by referring to 6.3.4, “Checking the Belt Tension for the Vertical Axis.” Tighten the M5 nuts [4] loosened in step 1, and then tighten the lock nut [5]. Check the belt tension again by referring to 6.3.4, “Checking the Belt Tension for the Vertical Axis.
6.3.8 Installing the Cover (1) Place the cover on the robot and connect the connectors, cables and air tubes installed as illustrated below. (Absolute reset, as described on the following page, is not required after the belt tension is only checked.) [2] 4 - M3 x 20 [1] 4 - M3 x 18 6. Inspection/Maintenance Sealing washer Installation position of PG connector PG cable Caution z z z z z z Check the marking tubes to prevent improper connections. Be careful not to bend the air tubes.
[3] 4 - M3 x 18 Sealing washer M cable 6. Inspection/Maintenance Installation position of M connector Note: Be careful not to let the cables contact the pulley. U cables Installation position of U connectors (2) Install the M4 setscrew on the side face of arm 2. (3) Perform an absolute reset for the rotational axis and vertical axis. This completes the procedure for installation of the cover. (Refer to 6.5, “Absolute Reset Procedure.
6.4 Battery Replacement 6.4.1 Preparation The following items are required when replacing the batteries: x Phillips screwdriver x New dedicated batteries for IX: AB-3 (4 pieces) Before replacing the batteries, turn off the power to the controller, control panel and other relevant units. 6. Inspection/Maintenance Warning Caution z Performing inspection or maintenance without fully understanding the details of work may result in a serious accident.
6.4.2 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 hex bolts [1] and sealing washers (six pieces each) (tightening torque: 0.74 N-m). 6. Inspection/Maintenance Sealing washer [1] 6 - M3 x 6 Cover (base) Affix one side of the cover (base) first, and then tighten the mounting bolts on the opposite side while pressing the cover against the curve along the contact surface of the base. Confirm that no gaps remain between the cover (base) and gasket.
6.5 Absolute Reset Procedure 6.5.1 Preparation for Absolute Reset The following jig is required when performing an absolute reset: 6. Inspection/Maintenance x Absolute reset adjustment jig Model: JG-1 (IX-NNW50 JG-3 (IX-NNW70 /60 /80 ) ) Connect the cables for the robot, controller and PC, so the robot can be operated from the PC. Before commencing the work, always confirm that the emergency-stop switch is functioning properly.
6.5.2 Starting the Absolute Reset Menu Open the absolute reset window from the PC software. (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.
6.5.3 6. Inspection/Maintenance (1) 48 Absolute Reset Procedure for Arm 1 or 2 Click the “Encoder Rotation Data Reset1” button.
Click the “Servo ON” button. (4) Jog the arm to near the reference position (see reference position drawing in step 7), and click the “Jog end” button. (5) Click the “Servo-OFF” button. 49 6.
Press the emergency-stop switch. (7) Set an adjustment jig (pin) in arm 1 or 2 to fix the arm at the reference position. x Set the jig after confirming that the emergency-stop switch is pressed. x Set the jig after adjusting the arm to the reference position, using the positioning mark label as a guide. x Arm 1 has a cover (not arm 2), which is fixed with setscrews. Remove the setscrews and detach the cover before setting the jig.
Click the “OK” button. (9) Click the “Encoder Rotation Data Reset2” button. 6.
(10) Remove the adjustment jig. x If you are working on arm 1, install the cover and secure it with the setscrews (not required for arm 2). (11) Release the emergency-stop switch. (12) Click the “OK” button. 6. Inspection/Maintenance 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).
6.5.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis Click “Encoder Rotation Data Reset1” button. (2) Click the “Reset Controller Error” button. 6.
6. Inspection/Maintenance (3) Click the “Servo ON” button. (4) Click the “Temp. Standard posture standby” button. 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.
Click the “Servo-OFF” button. (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 Carefully turn the rotational axis so as not to change the position of the vertical axis.
6. Inspection/Maintenance (9) Click the “OK” button. (10) Click the “Encoder Rotation Data Reset2” button.
Click the “Home pos. automatic update” button. (12) Remove the adjustment jig. (13) Release the emergency-stop switch. (14) Click the “OK” button. 6.
6. Inspection/Maintenance (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.
Click the “Encoder Rotation Data Reset3” button. (19) Click the “Home pos. automatic update” button, and then click “X” in the top right-hand corner to exit the absolute reset window. x Once the absolute reset is complete, be sure to write the flash ROM and reset the controller. 6.
6.5.5 Writing the Flash ROM Following an absolute reset of the rotational axis and vertical axis, the following screen opens when the absolute reset window is closed. Click the “Yes” button. x Clicking “Yes” writes the information in the flash ROM. x The flash ROM must also be written when home position automatic update has been performed for arm 1 or 2. (2) When the writing of flash ROM is complete, the following screen is displayed. Click the “Yes” button.
6.5.6 Resetting the Controller Select “Software Reset” from the Controller menu on the tool bar. (2) Click the “Yes” button. The controller is reset and restarted. 6.
7 Specifications 7.1 Specification Table IX-NNW50 (Arm Length 500, Dust-proof/Splash-proof Specification) Item Specifications Type IX-NNW5020-**L-T1 Degree of freedom Four degrees of freedom Overall arm length 500 mm Arm 1 length 250 Arm 2 length Drive method 250 Axis 1 (arm 1) AC servo motor + Speed reducer Axis 2 (arm 2) AC servo motor + Speed reducer 7.
Item Specifications Operating environment Ambient temperature/humidity Altitude Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) m 1,000 or less Noise dB 73 Robot weight kg 32.5 Brake power source for main unit W 24V DC ±10% Air purge pressure (*11) 0.05 to 0.
IX-NNW60 (Arm Length 600, Dust-proof/Splash-proof Specification) Item Specifications Type IX-NNW6020-**L-T1 Degree of freedom Four degrees of freedom Overall arm length 600 mm Arm 1 length Arm 2 length Drive method 250 Axis 1 (arm 1) AC servo motor + Speed reducer Axis 2 (arm 2) AC servo motor + Speed reducer Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline Axis 4 (rotational axis) 7.
Item Specifications Operating environment Ambient temperature/humidity Altitude Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) m 1,000 or less Noise dB 73 Robot weight kg 34.5 Brake power source for main unit W 24V DC ±10% Air purge pressure (*11) 0.05 to 0.
IX-NNW70 (Arm Length 700, Dust-proof/Splash-proof Specification) Item Specifications Type IX-NNW70-**L-T1 Dust-proof/splash-proof performance (*10) IP65 or equivalent Degree of freedom Four degrees of freedom Overall arm length 700 mm Arm 1 length 350 Arm 2 length Drive method 350 Axis 1 (arm 1) AC servo motor + Speed reducer Axis 2 (arm 2) AC servo motor + Speed reducer Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline 7.
Item Specifications Operating environment Ambient temperature 0 to 40 C Altitude m 1,000 or less Noise dB 74 Robot weight kg 60 Brake power source for main unit W 24V DC ±10% Controller (*11) Power supply 230 V Allowable supply voltage fluctuation % 50/60 Hz 20W 15 A 10 Overvoltage category (IEC60664-1) Category III Pollution degree (IEC60664-1) Pollution degree 3 *1 Center of rotational axis Center of rotational axis Tool Top position Tool Bottom position Tool Tool 50 (Fi
IX-NNW80 (Arm Length 800, Dust-proof/Splash-proof Specification) Item Specifications Type IX-NNW80-**L-T1 Dust-proof/splash-proof performance (*10) IP65 or equivalent Degree of freedom Four degrees of freedom Overall arm length 800 mm Arm 1 length 450 Arm 2 length Drive method 350 Axis 1 (arm 1) AC servo motor + Speed reducer Axis 2 (arm 2) AC servo motor + Speed reducer Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline Axis 4 (rotational axis) 7.
Item Specifications Operating environment Ambient temperature 0 to 40 C Altitude m 1,000 or less Noise dB 74 Robot weight kg 62 Brake power source for main unit W Controller 24V DC ±10% Power supply 230 V Allowable supply voltage fluctuation % 50/60 Hz 20W 15 A 10 Overvoltage category (IEC60664-1) Category III Pollution degree (IEC60664-1) Pollution degree 3 *1 Center of rotational axis Center of rotational axis Tool Top position Tool Bottom position Tool Tool 50 (Fig.
7.2 External Dimensions IX-NNW50 7.
IX-NNW60 4 - I11 hole I24 counterbore, depth 5 5 (Mechanical end) 7.
IX-NNW70 Applicable tube: Outer diameter I6 (inner diameter I4) Purge air inlet (*4) Arm 2 stopper 7.
IX-NNW80 Applicable tube: Outer diameter I6 (inner diameter I4) Purge air inlet (*4) Arm 2 stopper 7.
7.3 Robot Operation Area 7.
IX-NNW70 7.
76 U cable (outside robot) BK power cable (outside robot) Dedicated batteries for IX: PG cable (outside robot) M cable (outside robot) Cable fix cap (Capcon) Air joint, black (I4) Air joint, white (I4) Air tube, white (I4) Purge air inlet Air joint, yellow (I6) Air tube, black (I4) Brake-release switch for axes 3/4 (Z/R-axes) Alarm LED Waterproof user connecter (24 pins, including the shield terminal) Servo motor with brake for axis 4 (R-axis) Servo motor with brake for axis 3 (Z-axis) Serv
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-NNW70 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 IAI 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.
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 80 Description of Revision Second edition A page for CE Marking added March 2012 Third edition Introduction, Safety Symbols and Safety Precautions are deleted Pg. 1 to 7 Safety Guide added Pg. 8 Caution in Handling added Pg. 19 Brake voltage source capacity from 20W to 30W ĺ changed to 20W Pg. 31 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.: ME3632-4A (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.
