Horizontal Articulated Robot – IX Series Wall-Mounting Type, Arm Length 300/350 (Wall-Mounting) IX-TNN-3015H, IX-TNN-3515H Wall-Mounting Type, Arm Length 300/350 (Inverse) IX-UNN-3015H, IX-UNN-3515H Operation Manual Operation Manual First SixthEdition Edition Pre1
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products.
CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
Table of Contents Safety Guide ............................................................................................................................. 1 Handling Precautions................................................................................................................ 8 1. Positioning Repeatability Does Not Change Even If the Positioning Band is Changed. ..... 8 2. Make sure to attach the Horizontal Articulated Robot properly by following this operation manual.........................
12. Precautions for Use .......................................................................................................... 41 12.1 12.2 12.3 12.4 12.5 12.6 Setting the Acceleration/Deceleration........................................................................................... 41 Push Force of the Vertical Axis ..................................................................................................... 43 Tools.........................................................................
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
No. 6 7 Operation Description Trial Operation Automatic Operation Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the operation Manual for each model. Level Degree of Danger and Damage Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
Handling Precautions 1. 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, loop the cables around the upper part of the robot using adhesive tape, etc., and transport the robot with the supplied arm locking plates and arm support plates securely fixed. Use a dolly, forklift, etc., to transport the robot. When transporting the robot, move the robot slowly by paying attention to the balance of the robot and being careful not to apply vibration or shock.
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1. Name of Each Part Robot 1. Name of Each Part 1.
1. Name of Each Part 1.2 Labels The following labels are attached on the robot and controller. Be sure to observe the instructions and cautions written on the labels to ensure the correct use of the robot/controller.
1.3 Label Positions 1.
1.
2. External Dimensions IX-TNN3015H (Arm Length 300) Arm 2 stopper 2. External Dimensions 4- 9 16 counterbored, depth 0.
IX-TNN3515H (Arm Length 350) 2. External Dimensions 4- 9 16 counterbored, depth 0.5 (Counterbored on opposite side) Arm 2 stopper Reference surface T-slot for installing peripheral equipment (M3, M4) (Mechanical end) Reference surface (Mechanical end) Tapped hole for installing peripheral equipment (4-M4, depth 12) Same on opposite side Arm 1 stopper *1: The external force acting upon the spacer shall be kept to 30 N or less in axial direction or 2 N-m or less in rotating direction (per spacer).
IX-UNN3015H (Arm Length 300) Detail view of arm ti Reference surface 4- 9 16 counterbored, depth 0.5 (Counterbored on opposite side) 2.
IX-UNN3015H (Arm Length 350) Quick joint 4, white BK switch (brake release switch) Quick joint 4, red ALM (*2) User connector Quick joint 4, black 11 (inner diameter) 4 (Mechanical end) User spacer Outer diameter 7, height 10, M4, depth 5 (*1) *1: The external force acting upon the spacer shall be kept to 30 N or less in axial direction or 2 N-m or less in rotating direction (per spacer).
3 Robot Operation Area IX-TNN3015H, IX-UNN3015H 3.
22 Notes User wiring terminal Brake powersupply terminal Cap (Capcon) Air joint, white ( 4) Air joint, red ( 4) Air joint, black ( 4) FG [to base] Board Axis 1 (arm 1) servo motor Flexible cable (1) The actual positions of board connectors vary from this drawing. (2) The brake power-supply circuit is provided on the primary side (high-pressure side), so a dedicated 24-V power supply is required.
4.2 No. 230 V Circuit Components Code name Model number Manufacturer Axis 1 servo motor TS4607 N2027 E201 2 Axis 2 servo motor TS4606 N2044 E201 3 Axis 3 servo motor w/ brake TS4606 N7044 E201 4 Axis 4 servo motor TS4602 N2044 E201 5 M cable (inside robot) IAI 6 M cable (outside robot) IAI Tamagawa Seiki 23 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-2 For arm length 250/350 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-2 For arm length 250/350 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 Model number Refer to "How to Read Model Nameplate" and "How to Read Model Number." Remarks 6.
6. Checking after Unpacking 6.2 Operation Manuals Relating to This Product No. 1 2 3 4 5 6 7 8 9 10 11 6.
6.4 How to Read Model Number IX-TNN3015H-5L-T2-JY SCARA robot
7. Specifications 7.1 IX-TNN3015H, IX-UNN3015H 7.
Center of rotational axis Top position Tool Bottom position Tool (Fig. 1) (Fig. 2) Tool Tool’s center of gravity (Fig. 3) Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775 29 7. Specifications Item Specifications Operating Temperature: 0 to 40°C, humidity: 20 to 85%RH or Surrounding air temperature/humidity environment less (non-condensing) Altitude m 1,000 or less Noise dB 71 Robot weight kg 20.
7.
Center of rotational axis Top position Tool Bottom position Tool (Fig. 1) (Fig. 2) Tool Tool’s center of gravity (Fig. 3) Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775 31 7. Specifications Item Specifications Operating Temperature: 0 to 40°C, humidity: 20 to 85%RH or Surrounding air temperature/humidity environment less (non-condensing) Altitude m 1,000 or less Noise dB 71 kg Robot weight 21.
8. Installation Environment and Storage/Preservation 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.
How to Install 9. Shown below is how to install SCARA Robot. 9.1 Installation Posture : Available s : Not available 9.
9.2 Installing the Robot The operation area of the wall mount type extends to the back of the base. Because this type is specially designed for mounting on a wall surface, however, the operation area may be limited substantially depending on the structure of the mounting wall. Make sure the mounting wall surface is structured in a manner minimizing the potential for contact within the robot’s operation area.
2- 8H10 reference holes are provided on the mounting surface of the base. Use these holes to prevent the machine from dropping during installation or determine the machine position roughly. (Use the reference surface of the base to determine the accurate position of the machine.) When installing the machine, affix the machine onto the mounting surface with arms 1 and 2 extended and the machine supported by the base and arm 1.
10. Connecting the Controller The controller connection cables are attached on the robot (standard cable: 5 m, to air-tube joint: 150 mm). Pay attention to the following items when connecting the controller: Connect to the robot of the serial number specified on the robot designation label provided on the front panel of the controller.
Output voltage: 24 VDC 10% Current capacity: 20 to 30 W M cable 24 VDC power supply for brake (provided by user) PG cable Tool, control unit, etc. (provided by user) U cable (cable for user wiring) BK power cable Standard cable length: 5 m 10. Connecting the Controller 4 quick joint (3 pcs.) Provided by user To air tube Warning Before connecting or disconnecting a cable, always turn off the power to the controller.
If you are using an X-SEL-PX/QX controller, you must supply the brake power to the controller in addition to wiring the brake power cable from the SCARA robot. Supply the brake power (+24 V) to the controller as shown in the figure. 3-phase 200 to 230VAC power supply Auxiliary powersupply circuit Upper position: 0 V Lower position: 24 V 10.
11. Checking after Installation Once the robot has been installed, check the following items: Visually check the robot, controller and cables for dents and other abnormalities. Confirm that the cables are connected properly and that the connectors are inserted securely. Warning 11. Connecting the Controller z Failure to perform these checks may result in a malfunctioning robot or a damaged controller or robot.
12. Precautions for Use 12.1 Setting the Acceleration/Deceleration Set the acceleration/deceleration using the graphs below as a reference. Acceleration deceleration (%) IX arm length 300/350 Reference settings for PTP acceleration/deceleration Maximum setting range Reference range for continuous operation Acceleration deceleration (%) (1) PTP operation (Set using the SEL language commands ACCS and DCLS.
Caution 12. Precautions for Use When PTP operation is performed with the acceleration/deceleration set to 100%, the optimal acceleration/deceleration function adjusts the maximum acceleration/acceleration at which the robot can accelerate/decelerate carrying the load weight set by the WGHT command, to 100%. Be sure to set the mass and inertial moment using the WGHT command. Never set in the WGHT command a value smaller than the load mass installed on the vertical axis.
12.2 Push Force of the Vertical Axis Set the push force of the vertical axis by referring to the graph below. Push force (N) Relationship of push force and push torque limit during positioning Push torque limit during positioning (%) Push-motion operating speed 10 mm/sec Caution 43 12. Precautions for Use Use the PUSH command to perform push-motion operation involving the vertical axis.
12.3 Tools The tool mounting part must have sufficient strength and rigidity, along with adequate fastening power to prevent positional shift. It is recommended that a tool be installed over a split ring, span ring or other appropriate part. A sample configuration of tool installation is given below. Set the tool diameter to 100 mm or less. If the tool diameter exceeds 100 mm, the tool will interfere with the robot within the robot’s operation area.
Warning Caution Turn off the power to the controller and robot before installing a tool. If the tool mounting part does not have sufficient strength, it may break while the robot is operating and cause the tool to detach and fly off. If the tool diameter exceeds 100 mm, the tool will contact the robot within the robot’s operation area, causing damage to the tool, load and/or robot. Avoid attachment of the tool at the D-cut surface via thread fastening.
12.4 Carrying Load Loading capacity Model number IX-TNN3015H/3515H IX-UNN3015H/3515H Load’s permissible moment of inertia Model number IX-TNN3015H/3515H IX-UNN3015H/3515H Rated load capacity Maximum load capacity 1 kg 3 kg Rated load capacity Remarks 0.015 kg-m2 Both rated and maximum Load offset (from the center of axis 4 (rotational axis)) 40 mm or less Center of axis 4 (rotational axis) 12.
12.5 User Wiring and Piping The robot comes with standard cables and tubes that the user can use in a desired wiring/piping configuration.
The robot comes with a mating 15-pin plug for the D-sub 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 11 or less. To turn on the ALM (indicator), the user must configure a dedicated circuit that uses the controller I/O output signal, etc.
12.6 Moving Direction Arm 2 Axis 3 Axis 2 Axis 1 Arm 1 Axis 4 Wall mount specification 12.
13 Inspection/Maintenance 13.1 Inspection/Maintenance Your horizontal articulated robot must be inspected daily and on a regular basis to ensure safe, efficient operation. Perform the necessary inspections after confirming the maintenance/inspection items required for your IAI robot, as defined in this section. Do not inspect, adjust or repair the robot or controller, replace any of the robot/controller parts, or perform any other operation in a manner not specified in this operation manual.
13.1.1 Daily Inspection Check the following items daily before and after operating the robot. Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations when carrying out each check. Check location Safety cage Robot Cables Emergency-stop switch • • • • • • • • Description Correct the deformation or positional shift of the cage. Confirm that the interlock mechanism is operating properly. Check the robot mounting bolts for looseness.
13.1.3 Yearly Inspection Check the following items on the robot every year. Observe the precautions for work near the robot and for inspection/maintenance/adjustment operations when carrying out each check. Check location Joint bearing for harmonic reduction gear Ball-screw spline Description Check arms 1 and 2 for looseness in the rotating direction and axial direction. (Contact IAI should you find any abnormality.) Check the vertical axis for looseness. (Contact IAI if an abnormality is found.
Replacement Procedure (1) Remove the six low-head cap screws (1) and remove the rear panel (base). (2) Remove the batteries from the battery holder. (3) Remove the connectors between the extension cable from the BAT connector and the battery and connect new batteries. After removing the old batteries, quickly connect new batteries (roughly within 5 minutes x number of batteries).
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-2 Remarks For arm length 250/300/350 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.
Positioning mark label for arm 2 Insertion depth Approx. 60 mm Positioning mark label for arm 1 Insertion depth Approx. 20 mm Arm 1 Arm 2 z 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. 59 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 so as not to be injured by the axis during movement. (5) Jog the rotational axis to the reference position (see reference position drawing in step 8), and click the “Jog end” button. Jogging 63 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.
Reference position drawing Adjust so that a clearance of approx. 4 mm is provided between the stopper’s top face and the bottom face of arm 2. Approx. 4 mm Cause the jig to lightly contact the pin. Rotational axis D cut surface Right side from the front D-cut surface Wall mount specification Rotational axis D cut surface Right side from the front Approx. 4 mm Down view 13.
(9) Click the “OK” button. Confirmation 13. Inspection/Maintenance (10) Click the “Encoder Rotation Data Reset2” button.
(11) Click the “Home pos. automatic update” button. Automatic Refresh of Home Preset Value (12) Remove the adjustment jig. (13) Release the emergency-stop switch. (14) Click the “OK” button. 13.
(15) Click the “Servo ON” button. Confirmation 13. Inspection/Maintenance (16) Click the “Standard posture standby” button. The vertical axis returns to its home position. Exercise caution so as not to be injured by the axis during movement. Standing By at Reference Posture (17) Click the “Servo-OFF” button.
(18) Click the “Encoder Rotation Data Reset3” button. Encoder Multi-rotation Data Reset 3 Automatic Refresh of Home Preset Value 69 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: y 18 months after shipment from our company y 12 months after delivery to the specified location 14.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
Change History Revision Date August 2010 Description of Revision First edition April 2011 Second edition P. 27 Added options “JY (Joint cable specification)” May 2011 Third edition A page for CE Marking added March 2012 Fourth edition P. 1 to 7 Contents added and changed in Safety Guide P. 8 Precautions in Handling Note “Certainly attach the Horizontal Articulated Robot by following this operation manual.” added P. 29, 31 Brake voltage source capacity 20W added to specifications P.
Manual No.: ME3705-6A (January 2013) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
