Horizontal Articulated Robot – IX Series Tabletop Type, Arm Length 1000/1200 IX-NNN10040 IX-NNN12040 Operation Manual First 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.
Table of Contents Safety Guide ····················································································································· 1 Caution in Handling ·········································································································· 8 International Standards Compliances ··············································································· 9 Names of the Parts ·······························································································
5. External Dimensions ···································································································78 6. Warranty······················································································································80 6.1 6.2 6.3 6.4 6.5 6.
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 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 Use our company’s genuine cables 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 5 4 Operation Description Installation and Start Teaching 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. Ɣ 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 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 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 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. Ensure use of the product in the specified conditions, environments and ranges. Operation out of the specified conditions could cause a drop in performance or malfunction of the product. 2. Positioning Repeatability Does Not Change Even If the Positioning Band is Changed. It would not improve the positioning accuracy repeatability even if setting the positioning band narrower than it originally was at the delivery.
International Standards Compliances This product complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
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Names of the Parts 2nd Arm Top Panel Cover R (2nd Arm ) Top Cover (1st Arm) Cover L (2nd Arm) Bracket U Joint Shaft Detail of 2nd Arm Top Panel 4-φ6 Quick joint Ball Spline User Connector Ball Screw Heatsink Plate ALM (Display) BK SW (Brake Release Switch) J2-Axis Panel Bracket J1-Axis 1st Arm Side Cover (1st Arm) 2nd Arm External Cable Panel Bracket L Vertical Axis Rotation Axis 4-φ6 Quick joint Front Cover M Connector Base Plate Bottom Cover (1st Arm) J2 Mechanical Stopper Base FG
[Labels] On the unit body, there are some labels attached on as shown in the figures below. Caution and warning labels describe the necessary things in order to use the robot safely.
1. Specifications Check Product Check The standard configuration of this product is comprised of the following parts. See the component list for the details of the enclosed components. If you find any fault or missing parts,contact your local IAI distributor. 1.1.1 Parts No.
1.1.3 How to Read the Model Nameplate 1. Specifications Check Model Serial number MODEL IX-NNN10040-5L-T2 RS-I-30-50-360-T2-S-K MODEL SERIAL No. 900014180 MADE MADE IN JAPAN JAPAN SERIAL No.000061911 1.1.
1.2 Specifications 1.2.1 Basic Specifications List Specifications IX-NNN12040 10 Four degrees of freedom 1200 700 500 r140 r150 400 r360 mm/s 7356 8308 mm degree/s 273 298 1000 1197.3 273 298 1000 1197.3 mm r0.040 r0.050 mm degree sec r0.020 r0.010 0.59 20 50 1020 r0.020 r0.010 0.66 20 50 1020 kg•m 0.5 0.
Note 1 1. Specifications Check Note 2 Note 3 Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP operation. Positioning precision when the robot is operated repeatedly to one specified position from the same starting position at the same speed and acceleration/deceleration using the same arm (at a constant surrounding air temperature of 20°C). It is not the absolute positioning accuracy.
1.2.2 Operation Range and Operation Restriction 1.
1.
[2] J1-Axis M8 Tapped Holes for Rotational Restriction J2-Axis M8 Tapped Holes for Rotational Restriction When load interferes with a base area Base When the operation restriction is applied, make to change the parameters in the software limitation in Each Axis Parameter No. 7 and No. 8. [Refer to (1) J1-Axis Operation Restriction Angles and (2) J2-Axis Operation Restriction Angles for the soft limit values.
14 J1-Axis M8 Tapped Holes for Rotational Restriction Negative Direction 13 12 11 10 9 Positive Direction Positive Direction 2 8 3 4 5 6 7 1 Negative Direction Mechanical end angles from the top view of J1-axis with M8 hex socket head screws for rotational restriction allocated (operation available on the side of rotational restriction screws) J1-Axis Operation Restriction Angles and Parameters Positive Direction of Coordinate No. 1 2 3 4 5 6 7 Default No.
7 6 5 4 3 2 1 Positive Direction Positive Direction J2-Axis M8 Tapped Holes for Rotational Restriction Positive Direction of Coordinate 1 2 3 4 5 6 7 Default Negative Direction of Coordinate No.
1.2.3 Acceleration/Deceleration and Transfer Load 1. Specifications Check [1] PTP Operation Shown in the graph below is a reference for the acceleration setting against the transported load. Refer to this graph for setting and make sure to tune the acceleration speed so it would not be overload.
[2] Acceleration/Deceleration [G] (1) In case vertical axis operation is included 0.3 0.2 Operation is Available Range 0.1 Reference Range for Continuous Operation 0 0 10 20 30 40 50 Transported Load [kg] CP Operation Max. Speed: 1000mm/s (2) In case vertical axis operation is excluded Acceleration/Deceleration [G] 0.7 0.6 Operation is Available Range 0.5 0.4 0.3 0.2 Reference Range for Continuous Operation 0.1 0 0 10 20 30 40 50 Transported Load [kg] CP Operation Max.
1.2.4 Acceleration/Deceleration and Duty 1. Specifications Check [1] PTP Operation Shown in the graph below is a reference for the acceleration setting against the duty. Refer to this graph for setting and make sure to tune the acceleration speed so it would not be overload.
[2] Acceleration/Deceleration [%] (1) In case vertical axis operation is included 0.3 Transported load 0kg 0.2 Transported load 20kg 0.1 Transported load 20 to 50kg 0 100 90 80 70 60 50 40 30 Duty [%] CP Operation Max. Speed: 1000mm/s (2) In case vertical axis operation is excluded Acceleration/Deceleration [%] 0.7 Transported load 0kg 0.6 0.5 0.4 Transported load 20kg 0.3 0.2 Transported load 20 to 50kg 0.1 0 100 90 80 70 60 50 Duty [%] CP Operation Max.
1. Specifications Check 26 Caution: x When using PTP operation, make to use WGHT Command in the program to set the weight and moment of inertial before starting operation. The operation time varies depending on the transfer mass even when the same acceleration has been set. x When overload error occurs, either reduce the acceleration speed or make the stop time longer referring to the graph in 1.2.4 Acceleration and Duty.
Flange (Option Model: IX-FL-5) It is the flange to be used when attaching a load on the tip of the vertical axis arm. 1. Specifications Check φ68 (7.2) A B Hex Socket Set Screw 15 (35) Bracket 3 A C φ9 2-φ8 H7 45° 4-φ11 Through Hole Through Hole Ball Spline Shaft 0 -0.025 +0.015 0 φ40 h7 φ110 30° 0 φ56 2-M6, Depth 12 Tapped hole for detaching flange 45 ±0.03 45 ±0.03 Bumping Hood Optional flange dismantling tool M6×6 φ9 +0.
Motor cable 3m). Max.10m M1 M Robot Side Model : CB-SX4-MAƑƑƑ ƑƑƑ indicates the cable length L (Example. 030 Cotroller Side (40) M3 Plug : CE01-6A20-29SC-D0 Contact : CE01-#16S-1620-100 (Supplier : DDK) M4 1. Specifications Check 1.4.1 Motor • Encoder Cables M2 1.4 No. L 1 3000 2 5000 3 10000 L+100 0 GIC-2.5/4-STF-7.62 (Supplier : PHOENIX CONTACT) 150+25 0 Allocate on the connector side and heat shrink Robot Side Pin ID No. Signal No Name 1 1 U 2 2 V 3 3 W 4 4 C.
Encoder cable 3m). Max.10m PG1 PG Sheath O/D φ11.4 (50) D (80) PG3 10126-3000PE (Supplier : Sumitomo 3M) DF11-6DS-2C (Supplier : Hirose) BK RMT PG4 Plug : CE01-6A20-30SC-D0 Contact : CE01-#20S-C2-100 (Supplier : DDK) 1. Specifications Check Cotroller Side Robot Side Model : CB-SX4-PAƑƑƑ ƑƑƑ indicates the cable length L (Example. 030 PG2 1.4.2 150 +25 0 L +100 0 (30) 300 10 +50 +25 0 No.
2. Installation 2. Installation 2.1 Transportation 2.1.1 Handling of the Robot Unless otherwise specified, the robot is delivered in the package as shown in the figure below. There are stoppers attached on the J1 and J2 axes. Notice: Remove the stoppers before starting to operate the robot. Keep the removed stoppers, and use them to hold the robot when it is necessary to transport or carry the robot.
[1] Handling of the Carton [2] Handling after Unpackaged x Carry the robot using the eyebolts to hang on a hook. When pulling up the robot, hold the 1st arm, 2nd arm or the base to keep the robot horizontal and pull it up slowly. x When carrying a robot, it has to be done by a person who is certified for sling work and crane operation. x Carry the robot with stoppers attached on J1 and J2 axes. x Do not attempt to hold the Z-axes or 2nd arm for transportation.
2. Installation 2.1.2 Handling of the Robot Mounted on Mechanical Equipment (System) The following are the cautions for when transporting robot installed in the machinery equipment (system) in the whole system. x Transportation must be carried out with stoppers applied on J1 and J2-axes. x When suspending the mechanical equipment (system) with ropes, avoid applying force to robot, connector, etc. Also, avoid the cables being pinched or caused an excessive deformation. 2.
2.3 How to Install 2.3.1 Installation Orientation Wall-Mount Ceiling-Mount × × 2.
2.3.2 Installation 2. Installation [1] Installation of the Main Unit 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. (1) Installation Platform x The surface on which the robot is fixed must have a thickness of 25mm or more. The levelness of the robot installation surface must be at least 0.05mm or less.
[2] Attachment of the load x To attach the load, use a bracket with tightening force that possesses enough strength and stiffness, and would not slip. Shown in the figure below is an example of attachment when the optional flange is used. Please take this as a reference. 2. Installation Shrink Discs Flange (Option) Splined Ball Screw x Utilize the D-shaped flat face on the tip of rotation axis for positioning (in rotational direction) of rotation axis.
Clearance 1.2mm Min. 2. Installation x For the attachment of the load, make sure to keep it below the allowable load diameter, load offset, transportable weight and allowable moment of inertia.
[Load and Offset] ٧PTP Operation In the case that the actuator is moved with a transfer load of 10kg or less and a speed of 50% or less, set the load offset to 70mm or less as shown in the following graph. When the speed is at 50%, the load offset is 70mm no matter what the transported load weight is. 2.
3. Wiring and Piping 3.1 Wiring and Piping in the body 3.
Number 1 3 4 5 6 7 Motor Cable (between robot and controller) Encoder Cable (between robot and controller) Motor (M) Connector Wiring (Base) Encoder (PG) Connector Wiring (Base) User (U) Connector Wiring (Base, D-sub) BAT Cable (Base) AB-3 Absolute Data Backup Battery 8 J1_N160_Cable Assy_M ٟMotor (M) Cable (Base) 9 J1_N170_Cable Assy_PG ٟEncoder (PG) Cable (Base) ٟUser (U) Cable (Base) 10 Arm1_N020_internal wiring Assy_1 ٟMotor (M) Cable (Arm 1) ٟEncoder (PG) Cable (Arm 1) ٟUser (U) Cable (Arm 1)
3.2 Connection to the Controller [XSEL-SX Connecting to the Controller] 3. Wiring and Piping Horizontal Articulated Robot Dedicated Connection Cable (SCARA Robot with the dedicated controller) Regenerative Resistor Unit 4 Units Dedicated Controller XSEL-SX x Motor Cable CB-SX4-MAƑƑƑ x Encoder Cable CB-SX4-PAƑƑƑ ƑƑƑ indicates the cable length L Example.
Warning: x 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 x Do not attempt to use a cable out of the dedicated cable for connection.Doing x x x x x x so may cause not only error operation or malfunction, but also may cause a critical accident such as fire or injury. When the cable is connected or disconnected, make to turn off the power to the controller.
3.3 User Wiring and Tubing The unit is equipped with some wires and pipes free for you to use. Make sure to use them within the specifications. 3. Wiring and Piping 2nd Arm Side User Connector D-Sub, 25-Pin, Receptacle ALM Display Vertical Axis Brake Release Switch 4-φ6 Quick Joint 4-φ6 Quick Joint Base Side User Connector D-Sub Connector with 37-Pin Receptacle (1) User Wiring D-sub 25-pin plug and D-sub 37-pin plug are enclosed in standard. The plugs are solder type.
Connect the Resectable and plug as shown in the figure below. Resectable Plug Specifications Rated Voltage 24V DC Rated Current 12mA Illumination Color Red LED 24V DC 0V Base side D-Sub Connector Receptacle with 37-Pin 37 36 24V DC 0V Pin No. 36 37 2 1 (2) User Tubing Connect an air tube that you have prepared to the quick joint. Specifications Normal Service Pressure 0.
3.4 Grounding 3. Wiring and Piping On the robot body, use a grounding terminal shown in the figure for grounding. FG Grounding Terminal Cable Size 3.5mm 2 (AWG12) or more Ground resistance 100: or below (Note) Have a grounding cable and grounding wiring layout dedicated for the unit. Do not share them with other devices.
3.5 Caution for Wiring and Piping Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equipment, pay attention to the wiring and connection of each cable so they are conducted properly. Not following them may cause not only a malfunction such as cable breakage or connection failure, or an operation error, but also electric shock or electric leakage, or may even cause a fire. 3.
• Do not pull the cable with a strong force. Strong force 3. Wiring and Piping Strong force • Pay attention not to concentrate the twisting force to one point on a cable. • Do not pinch, drop a heavy object onto or cut the cable. • When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too much. Do not use spiral tube in any position where cables are bent frequently.
47 3. Wiring and Piping Follow the instructions below when using a cable track. • If there is an indication to the cable for the space factor in a cable track, refer to the wiring instruction given by the supplier when storing the cable in the cable track. • Avoid the cables to get twined or twisted in the cable track, and also to have the cables move freely and do not tie them up. (Avoid tension being applied when the cables are bent.) Do not pile up cables.
4. Maintenance inspection 4. Maintenance inspection Warning: Do not attempt to have dismantlement work or cable cut for the following items. By doing so, recovery to normal condition cannot be done, and it may cause a critical accident such as error operation, fire or malfunction.
4.2 Grease Supply on the Vertical Axis The ball screw and ball spline on the vertical axis require grease supply. 4.2.1 Applicable Grease and Supply Period THK Grease to Apply AFG+70 Supply Period Every 6 months 4.2.2 Grease Supply For grease supply, take off one of the 2nd arm covers on the right and left, and supply 6 to 10cc at two places grease nipple with using a grease gun. Also, do not forget to wipe away excess grease. To take off the arm, refer to the figure.
4.3 Replacement of Absolute Backup Battery 4. Maintenance inspection Alarms described in the list could be generated in relation to the absolute data backup battery voltage. In case of occurrence, have the battery replaced immediately. Alarm Absolute Backup Battery Voltage Drop Alarm Code A03, A23 Absolute Data Backup Battery Voltage Error 914, CA2 Status It is an alarm to tell the battery voltage drop.
For J1-Axis For J2-Axis For Vertical Axis For Rotation Axis Storage Area Absolute Data Backup Batteries Absolute Data Backup Batteries Model No. AB-3 Product Life 3 years 51 4. Maintenance inspection Replacement procedure 1) Until finishing the battery replacement, keep the controller turned on and do not disconnect the encoder cable. (It is to protect from losing the absolute data even in a case of the battery voltage error while the controller is booted (while the control power is ON).
4.4 Absolute Reset In case the absolute data is lost, conduct “Stopper push type absolute reset”. [4.4.1 How to Operate the Push Type Absolute Reset] 4. Maintenance inspection In the following case, conduct “Stopper pressing position acquirement” before having the absolute reset Do not execute it after it comes to a circumstance that requires the absolute reset. Have it done while the normal operation can be performed. [4.4.
4.4.1 How to Operate the Push Type Absolute Reset 1) Backup the parameters so that they can be put back anytime to those before changing them. Select “Parameter (P)” ĺ “Edit (E)” from PC Software Menu to show the Edit Parameter window. Press the “Save As” button in the Edit Parameter window to store the parameters in the file. 3) A Confirmation window shows up. Click “Yes”. If conducting on all the axes at once, have the process of [1].
[1] When Performing Stopper Pressing Type Absolute Reset to All Axes at Once To have the push stopper type absolute reset for all the axes at once, follow the steps shown below. 4. Maintenance inspection 1) Select “All axes”. 2) Click “Encoder Rotation Data Reset / Reset Controller Error (Step 1/4)”.
3) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load. Have the work during the emergency stop condition. After the work is finished, click on the “OK” button. [Initial posture] Arm1, Arm 2 Considering the stopper pressing position, adjust the posture to either of right arm system or left arm system. When the product is delivered, it is set to the right arm system. Adjust to the right arm system.
For the position, put it apart from the stopper position for 10deg or more. Setting it too close to the stopper, Error No. B0D “Stopper Pressing Operation Start Position Error” may occur at operation. Vertical Axis For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more. Setting it at 10mm or less, Error No. B0D “Stopper Pressing Operation Start Position Error” may occur at operation. 4.
7) Once the push type absolute reset for all the axes is finished, the Information window will appear. Click “OK” button. 57 4. Maintenance inspection 8) Close the Push stopper position acquisition window by clicking “u” on the upper right side of the window. Once the window is closed, the parameters start to be written automatically to the flash ROM, and controller is rebooted by the software reset.
[2] When performing Stopper Pressing Type Absolute Reset on Each Axis One by One To have the push stopper type absolute reset for each axis one by one, follow the steps shown below. 4. Maintenance inspection (1) 1st Arm and 2nd Arm 1) Select “Individual axis” in the push type absolute reset window, and set Axis to “Arm 1” (or Arm 2).
2) Click “Encoder Rotation Data Reset / Reset Controller Error (Step 1/4)”. 3) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load. Have the work during the emergency stop condition. After the work is finished, click on the “OK” button. [Initial posture] Arm1, Arm 2 Considering the stopper pressing position, adjust the posture to either of right arm system or left arm system. When the product is delivered, it is set to the right arm system.
For the position, put it apart from the stopper position for 10deg or more. Setting it too close to the stopper, Error No. B0D “Stopper Pressing Operation Start Position Error” may occur at operation. 4. Maintenance inspection 5) Click ”Execution” button. 6) 60 A Warning window shows up. Click “Yes”. Each operation for the push type absolute reset starts.
Once the push type absolute reset, the Information window will appear. Click “OK” button. 8) If it is necessary to have the push type absolute reset for another axis, move on to the axis selection. When finishing the process, click “u” on the upper right side of the window. Once the window is closed, the parameters start to be written automatically to the flash ROM, and controller is rebooted by the software reset. 61 4.
4. Maintenance inspection (2) Vertical Axis, Rotation Axis 1) Select “Individual axis” in the Push stopper type absolute reset window, and set Axis to “Vert. Axis + Rot. Axis”. 2) Click “Encoder Rotation Data Reset / Reset Controller Error (Step 1/4)”. 3) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load. Have the work during the emergency stop condition. After the work is finished, click on the “OK” button.
4) By referring to the displayed movement direction for each axis, adjust the axes to the initial posture. The posture differs depending on the movement direction. Click on “Display the explanation of initial posture” to check the explanations. Make to work on with the emergency stop activated when moving the axes with hand. Click on the “OK” button after the work is finished. Rotation axis There is no specific indication for the position of rotation shaft. It can be set at any position.
4. Maintenance inspection 64 7) Once the push type absolute reset for the axis is complete, the information window will appear. Click “OK” button. 8) When finishing the process, click “u” on the upper right side of the window. Once the window is closed, the parameters start to be written automatically to the flash ROM, and controller is rebooted by the software reset.
4.4.2 How to Acquire the Stopper Interfering Point In the following case, conduct “Stopper pressing position acquirement (Note 1)” before having the absolute reset. x When the absolute reset cannot be performed in the direction of the stopper interfering movement with the initial posture at the delivery from the factory due to such reasons as interference to the peripheral equipment x There was a change in the stopper position due to such reasons as a removal of the stopper of the vertical axis 4.
4. Maintenance inspection Push stopper position acquisition with the process shown below. 66 1) Backup the parameters so that they can be put back anytime to those before changing them. Select “Parameter (P)” ĺ “Edit (E)” from PC Software Menu to show the Edit Parameter window. Press the “Save As” button in the Edit Parameter window to store the parameters in the file. 2) Select “Controller” ĺ “Abs. Encoder Reset” ĺ “Push stopper position acquisition” from the menu. 3) A Warning window shows up.
4) A Confirmation window shows up. Click “Yes”. 4. Maintenance inspection If conducting on all the axes at once, have the process of [1]. When not all the axes, but having one or some of the 4 axes to be conducted, have the process of [2].
[1] When Acquiring Stopper Pressing Position for All Axes at Once To acquire the push stopper position for all the axes at once, follow the steps shown below. 4. Maintenance inspection 1) Select “All axes” in the Push stopper position acquisition window. 2) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load. Have the work during the emergency stop condition. After the work is finished, click on the “OK” button.
3) Adjust each axis to the initial posture. The posture differs depending on the movement direction. Click on “Display the explanation of initial posture” to check the explanations. Make to work on with the emergency stop activated when moving the axes with hand. Click on the “OK” button after the work is finished.
4. Maintenance inspection 4) Select the direction to move for the vertical axis and rotation axis. It is not necessary to change the direction to move for the vertical axis and rotation axis. Make the vertical axis is in the coodinates minus direction. Once the selection is made, click on the “OK” button. At this time, the direction of movement from the current position of the initial posture to Arm 1 (1st arm) and Arm 2 (2nd arm) is automatically selected. Check the selected movement direction.
7) Once the push stopper position acquirement for all the axes is complete, the Information window will appear. Click “OK” button. 9) Once the controller reboot is finished, conduct the push type absolute reset on all the axes together. 71 4. Maintenance inspection 8) Close the Push stopper position acquisition window by clicking “u” on the upper right side of the window.
[2] When Acquiring Stopper Pressing Position on Each Axis One by One To have an acquirement on each axis, follow the steps below. 4. Maintenance inspection (1) 1st Arm and 2nd Arm 1) Select “Individual axis” in the Push stopper position acquisition window, and set Axis to “Arm 1” (or Arm 2). 2) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load. Have the work during the emergency stop condition.
3) Adjust each axis to the initial posture. The posture differs depending on the movement direction. Click on “Display the explanation of initial posture” to check the explanations. Make to work on with the emergency stop activated when moving the axes with hand. Click on the “OK” button after the work is finished.
4. Maintenance inspection 4) Select the movement method. Make to select motor drive on the selection of motor drive/hand. Change the movement direction if necessary. If clicking on “Auto. Select” button, the direction of movement from the current position of the initial posture is automatically selected. Once the selection is made, click on the “OK” button. 5) Click “Execution” button. 6) A Warning window shows up. Click “Yes”. Process to acquire the push stopper position will start.
(2) Vertical Axis, Rotation Axis 1) Select “Individual axis” in the Push stopper position acquisition window, and set Axis to “Vert. Axis + Rot. Axis”. 4. Maintenance inspection 2) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load. Have the work during the emergency stop condition. After the work is finished, click on the “OK” button.
3) Adjust each axis to the initial posture. The posture differs depending on the movement direction. Click on “Display the explanation of initial posture” to check the explanations. Make to work on with the emergency stop activated when moving the axes with hand. Click on the “OK” button after the work is finished. 4. Maintenance inspection [Initial posture] Vertical Axis For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more. Setting it at 10mm or less, Error No.
6) A Warning window shows up. Click “Yes”. Process to acquire the push stopper position will start. 8) When finishing the process, click “u” on the upper right side of the window. Once the window is closed, the parameters start to be written automatically to the flash ROM, and controller is rebooted by the software reset. 9) Once the controller reboot is finished, conduct the push type absolute reset on the axis with the push stopper position acquisition. 77 4.
5. External Dimensions DETAIL: B (Scale: 1/2) B 2-M4, Depth 8 5. External Dimensions 10(ME) (φ15.2) Detail of Arm 2 Panel 218 S 500 478 77.5 180 4-φ6 Quick Joint 150 (Wiring Space) Datum Surface FG Layer (M4, Depth 8) 149 M Connector PG Connector (12.3) 10(ME) 2-M4, Depth 8 255 277 4-M4, Depth 8 (Same on the Opposite Side) 84.5 400(st) 325.5 128 50 50 50 1183 322 1267.5 847.5 117.5 7.5 220 25 220 (259.7) A (84.9) 65 4-φ13.
8 D 18 59 (Tool Attachment Range) 5. External Dimensions 1.2 (Note 22-2) DETAIL: D (Scale: 1/2) I.D. φ29 0 φ407 (-0.025 ) 38 Detail of Spline Shaft Tip Datum Surface 130 (129.
6. Warranty 6.1 Warranty Period One of the following periods, whichever is shorter: x 18 months after shipment from IAI x 12 months after delivery to the specified location x 2,500 hours of operation 6.2 Scope of the Warranty 6. Warranty Our products are covered by warranty when all of the following conditions are met.
6.4 Limit in Responsibility (1) We shall assume no liability for any special damage, consequential loss or passive loss such as a loss of expected profit arising from or in connection with our product. (2) We shall not be liable for any program or control method created by the customer to operate our product or for the result of such program or control method. 6.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.
Change History Revision Date Change History 2013.
Manual No.: ME3726-1A (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.
