Horizontal Articulated Robot – IX Series Tabletop Type, Arm Length 250/350 IX-NNN-2515, IX-NNN-3515 Operation Manual Seventh Eition
CAUTION Notes on Supplying Brake Power (+24 V) to X-SEL-PX/QX Controllers If you are using an X-SEL-PX/QX controller, you must also supply the brake power to the controller, separately from the brake power supplied through the brake power cable connected from the SCARA robot. Supply the brake power (+24 V) to the controller as shown below. 3-phase 200 to 230 VAC power supply Auxiliary power supply circuit BK PWR The top socket receives 0 V. The bottom socket receives 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 1.1 1.2 2.
. Warranty ·················································································································· 63 8.1 8.2 8.3 8.4 8.5 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 Danger This indicates an imminently hazardous situation which, if the 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 I 4 user piping (black, red, white; 3 locations) User connector Spacer for user part installation 1.
1. Names of Robot Parts 1.1 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.
1.2 Label Positions Label Positions on the Robot 1.
2 Transportation and Handling 2. Transportation and Handing 2.1 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: x x x x 2.2 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.
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. 2.4 Checking after Unpacking After unpacking the carton, check the condition of the robot and other items contained in the carton.
2.5 Transporting the Robot 2. Transportation and Handing 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. 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 Installation Environment and Storage Environment 3.
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 s s 4.
4.2 4.1 Installing the Robot Install the robot on a level surface. Secure the robot using M8 hex bolts and washers (tightening torque: 3.2 kgfm). For the hex bolts, use high-tension bolts with an ISO rating of 10.9 or higher. 4. How to Install 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.
Output voltage: 24 VDC r 10% Current capacity: 20 to 30 W M cable (outside robot) PG cable (outside robot) 4. How to Install 24 VDC power supply for brake (provided by user) 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 I 4, quick joint (3 pcs.) To air tube (provided by user) Warning z Before connecting or disconnecting a cable, always turn off the power to the controller.
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.) Reference acceleration/deceleration settings for PTP operation Acceleration/deceleration (%) 5.
(2) CP operation (Set using the SEL language commands ACC and DCL.) Arm length 250 Reference acceleration/deceleration settings for CP operation Arm length 350 Reference acceleration/deceleration settings for CP operation Acceleration/deceleration (G) 1.6 1.2 0.8 Reference range of maximum setting 0.4 Reference range for continuous operation setting 1.2 Reference range of maximum setting 0.8 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. 5. Precautions for Use If the tool diameter exceeds 80 mm, the tool will interfere with the robot within the robot’s operation area.
5.3 Carrying Load Load capacity Rated load capacity: 1 kg Maximum load capacity: 3 kg Load’s permissible moment of inertia 0.015 kgm2 (both rated and maximum) Load offset (from the center of axis 4 (rotational axis)) 40 mm or less 5. Precautions for Use Center of axis 4 (rotational axis) Load’s center of gravity 40 mm or less Caution z Set appropriate acceleration/deceleration according to the mass of the tip and moment of inertia.
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.
The robot comes with a 15-pin plug for the D-sub connector for user wiring. 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 ALM (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 D-sub, 15-pin Controller side No.
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. 6.
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 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.
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.) 6.
6.2.2 1. 2. 3. 4. Battery Replacement Procedure Remove the six low-head cap screws (1) and remove the rear panel (base). Remove the batteries from the battery holder. Remove the batteries from the extension cables from 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).
6.3 Absolute Reset Procedure This actuator has been shipped with its home adjusted fully. The IX-NNN-2515/3515 adopts an absolute encoder, which means that the home will be set upon an absolute reset. Absolute data stored in the encoder is backed up with a battery. Therefore, as long as an absolute reset is performed once, the actuator will not require an absolute reset the next time its power is turned on.
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.
6.3.2 Starting the Absolute Reset Menu Open the Abs Encoder Reset window from the PC software. 2. The Abs Encoder 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. Inspection/Maintenance 1.
6.3.3 Absolute Reset Procedure for Arm 1 or 2 Click the “Encoder Rotation Data Reset1” button. 2. Click the “Reset Controller Error” button. 6. Inspection/Maintenance 1.
6. Inspection/Maintenance 3. 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.
6. Press the emergency-stop switch. 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. x Set the jig after confirming that the emergency-stop switch is pressed.
6. Inspection/Maintenance 8. Click the “OK” button. 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 (not required for arm 2). 11. Release the emergency-stop switch. 12. Click the “OK” button. x x x 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 Click “Encoder Rotation Data Reset1” button. 2. Click the “Reset Controller Error” button. 6. Inspection/Maintenance 1.
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. 39 6. Inspection/Maintenance 3.
6. Inspection/Maintenance 6. 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. Set the jig after confirming that the emergency-stop switch is pressed. 1) Confirm that the rotational axis is roughly in the reference position. (The positioning marks for rotational axis should align. The D-cut surface should be on the right side when viewed from the front.) 2) Set a plate jig on the rotational axis by causing its side labeled “UPPER (ARM SIDE)” to face up.
6. Inspection/Maintenance 9. Click the “OK” button. 10. Click the “Encoder Rotation Data Reset2” button.
11. Click the “Home pos. automatic update” button. 6. Inspection/Maintenance 12. Remove the adjustment jig. 13. Release the emergency-stop switch. 14. Click the “OK” button.
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.
18. Click the “Encoder Rotation Data Reset3” button. 6. 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. x Once the absolute reset is complete, be sure to write the flash ROM and reset the controller.
6. Inspection/Maintenance 20. If you have performed an absolute reset of both the rotational axis and vertical axis or allowed the home preset value of arm 1 or arm 2 to be updated automatically by mistake, closing the absolute reset window will open the following dialog box. Click No on this dialog box. y Click Yes only if any of the mechanical fastenings has been released, such as when any arm or belt has been replaced. y Click No if you have only replaced a cable or cables.
6.3.5 Resetting the Controller Select “Software Reset” from the Controller menu on the tool bar. 2. Click Yes on both of the dialog boxes that will open. This will execute a reset and restart the controller. y When another dialog box opens with the message, “The application found data not yet written to the flash ROM. Do you want to delete these data?,” select Yes. 47 6. Inspection/Maintenance 1.
48 6.
7 7.
Item 7. Specifications Operating Surrounding air temperature/humidity environment Altitude m Noise dB Robot weight kg Brake power source for main unit W Controller Power supply Allowable supply voltage % fluctuation Overvoltage category (IEC60664-1) Pollution degree (IEC60664-1) Specifications Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 1,000 or less 71 17.
IX-NNN-3515 (Arm Length 350, Standard Specification) Item Specifications Type IX-NNN3515- Degree of freedom Four degrees of freedom Overall arm length Arm 2 length Drive method 350 mm Arm 1 length Axis 1 (arm 1) AC servo motor + Speed reducer Axis 2 (arm 2) AC servo motor + Speed reducer AC servo motor with brake + Belt + Ball-screw spline Axis 4 (rotational axis) Motor capacity Axis 1 (arm 1) Axis 3 (vertical axis) AC servo motor + Belt + Reduction gear + Spline 200 W Axis 4 (rotational axis)
7. Specifications Item Operating Surrounding air temperature/humidity environment Altitude m Noise dB Robot weight kg Brake power source for main unit W Controller Power supply Allowable supply voltage % fluctuation Overvoltage category (IEC60664-1) Pollution degree (IEC60664-1) Specifications Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) 1,000 or less 71 18.
7.2 External Dimensions IX NNN 2515 (Arm Length 250, Standard Specification) Reference surface ALM (indicator) 2-I8H10 92.5 55 130 Arm 1 stopper BK SW (Brake-release switch) 155 185 4-I9 I 16, counterbore depth 0.5 (164) 15 249.5 7. Specifications 4 (Mechanical end) Arm 2 stopper (424.5) 160 User connector (D-sub 15-pin connector) 140 100 I 4 quick air-tube joint (black, red, white; 3 locations) Tapped hole for peripheral installation (4-M4, depth 12) 30 (694) 50 21 8 652.
IX NNN 3515 (Arm Length 350, Standard Specification) ALM (indicator) Reference surface 92.5 55 2-I8H10 130 Arm 1 stopper User connector (D-sub 15-pin connector) BK SW (Brake-release switch) 160 (164) 4 (Mechanical end) 2 4-I9 I 16, counterbore depth 0.5 249.5 Tapped hole for peripheral installation (4-MA, depth 12) Same on opposite surface 250 50 30 120 68 225 125 T-slot for peripheral installation (M3, M4) 15 I16 206 ST150 4 (Mechanical end) 55 74 21 8 (694) 44.5 652.
7.3 Robot Operation Area IX NNN 2515 (Arm Length 250, Standard Specification) 139. 5q 130 q 120 q 12 5q R1 25 65 .3q 7. Specifications R1 25 R86.5 25 R1 25 R1 1q 73. 5q 12 7.5 R250 73 . 1q q .7 05 R1 R250 9.5 13 0q 12 0q 13 R1 3q 65. 160 160 Area of prohibited entry Area of prohibited entry Mechanical stopper position Movement range IX NNN 3515 (Arm Length 350, Standard Specification) .5q 139 120 q 5q 12 0q 12 R35 0 .7 R162 126.8q R1 25 R1 25 R153.
56 U14 U15 LED +24V LED G24V FG U13 UB Air joint, white (I 4) Air joint, red (I 4) Air joint, black (I 4) Connector XAP-02V-1 (JST) FG (To base) 24 VDC BAT 4 BAT 3 BAT 2 Plug DF11-10DEP-2C (Hirose) SW Socket DF11-10DS-2C (Hirose) Plug 172166-1 (Tyco Electronics AMP) Plug 172165-1 (Tyco Electronics AMP) BK3 BK4 BK3 OUTPG4 INPG4 BAT 1 M3 OUTPG3 INPG3 FG (to D-sub housing) Electromagnetic brake for axis 4 (R-axis) (Optional) Servo motor for axis 4 (R-axis) Servo motor with brake for
4-axis brake 4-axis motor 4-axis encoder Air joint Black (I4), Red (I4), White (I4) Brake-release switch for axes 3/4 (Z/R-axes) Alarm LED 3-axis encoder 3-axis motor 3-axis brake M2 PG2 M3 PG3 BK3 M4 PG4 BK4 LED D-sub connector for user wiring (15-oin, socket) 2-axis motor 2-axis encoder U cable (inside robot) Air tubes 1-axis encoder 1-axis motor Air tubes PG cable (inside robot) M cable (inside robot) SW BK4 BK3 OUTPG1 OUTPG2 OUTPG3 OUTPG4 Board M1 M2 M3 M4 24 VDC BAT4 BAT
Machine Harness Wiring Table (1) PG cables (inside robot) Base end Same as above Same as above BAT+ Connector M2 Mini Universal MATE-N-LOK plug housing 172167-1 (by Tyco Electronics AMP) M3 58 Same as above M4 Same as above BK3 Mini Universal MATE-N-LOK plug housing 172165-1 (by Tyco Electronics AMP) BK4 Same as above Pin Signal No.
(3) UA and UB cables (outside robot) Base end Tube symbol Connector Double-brazed relay plug DF1110DEP-2C (by Hirose Electric) UA Same as above U1 U2 U3 U4 U5 U6 U7 U8 U9 U10 U11 U12 U13 U14 U15 LED +24V LED G24V SW Mini Universal MATEN-LOK plug housing 172166-1 (by Tyco Electronics AMP) Uninsulated terminal (Y type) F0.3-4 Connection Pin Signal No.
Robot Cable Wiring Table (1) PG cables (outside robot) DWG No. 1068764* Robot end Tube symbol Connector Female crimp connector HIF3BA-10D2.54C (by INPG1 Hirose Electric) INPG2 INPG3 INPG4 Controller end Signal Pin No. BAT+ BATSD Connection Pin Signal No. 1 2 3 4 1 2 3 4 5 6 7 5 GND BKBK+ FG 8 9 -SD Vcc 7. Specifications M1 M2 M3 Same as above Same as above Same as above Signal Pin No. Connection Pin Signal No.
(3) UA and UB cables (outside robot) DWG No. 1068765* Robot end Tube symbol Connector Double-brazed crimp socket DF11-10DS-2C (by Hirose Electric) UA Signal Pin No. Pin Signal No. 1 U2 U3 U4 U5 U6 2 3 1 2 3 4 5 6 7 8 9 10 1 4 5 6 7 8 9 10 11 U15 LED +24V LED G24V 2 3 4 5 6 7 8 9 U1 U2 U3 U4 U5 U6 U7 U8 U9 U10 U11 12 U12 13 U13 14 U14 15 U15 16 LED +24V 17 LED G24V FG Connector Uninsulated terminal (Y type) F0.
62 Code name Axis 1 servo motor Axis 2 servo motor Axis 3 servo motor w/ brake Axis 4 servo motor M cable (inside robot) M cable (outside robot) No. 1 2 3 4 5 6 IX-NNN25**/35** Model TS4607 N2027 E200 TS4606 N2032 E200 TS4606 N7032 E200 TS4602 N2032 E200 IAI IAI Tamagawa Seiki Manufacturer 40, 50 W, key groove, CE certified 60, 100 W, w/ brake, round shaft, CE 60, 100 W, key groove, CE certified 60, 200 W, key groove, CE certified Wire: 300 V, 105qC (rated), AWG18 (0.
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.
8.5 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 Description of Revision Fifth edition A page for CE Marking added March 2012 Sixth edition Introduction, Safety Symbols and Safety Precautions are deleted Pg. 1 to 7 Safety Guide added Pg. 8 Caution in Handling added Pg. 17 Brake voltage source capacity from 20W to 30W ĺ changed to 20W Pg. 26 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.: ME3624-7A (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.
