Iai-america IX-NNN8040 Manual do Utilizador

Tabletop Type, Arm Length 500/600/700/800IX-NNN50/60 /70 /80Operation Manual Sixth EditionHorizontal Articulated Robot – IX Series

2No.Operation Description Description 2 Transportation  When carrying a heavy object, do the work with two or more persons or utilize equipment suc

3No.Operation Description Description (2) Cable Wiring  Use our company’s genuine cables for connecting between the actuator and controller, and for

4No.Operation Description Description 4 Installation and Start (4) Safety Measures  When the work is carried out with 2 or more persons, make it cle

5No.Operation Description Description 6 Trial Operation  When the work is carried out with 2 or more persons, make it clear who is to be the leader

6No.Operation Description Description 8 Maintenance andInspection  When the work is carried out with 2 or more persons, make it clear who is to be t

7Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and

8Caution in Handling1. Make sure to attach the vertical articulated robot properly by following this operation manual.Using the product with the verti

91. Names of Robot Parts1 Names of Robot Parts 1.1 Names of Parts User connector ALM (indicator) I 4 joint for user piping, black I 6 joint for user

101. Names of Robot PartsDangerWarningCaution1.2 Labels The following labels are attached on the robot and controller. Be sure to observe the instruct

111. Names of Robot Parts1.3 Label Positions Label Positions on the Robot Label Positions on the Controller View A Warning on handling of the vertical

122. Transportation and HandlingWarningCaution2 Transportation and Handling 2.1 Handling of the Carton Each robot is packed with a controller prior t

132. Transportation and HandlingCaution2.3 Handling of Individual Components The robot and controller are supplied as a set. Your robot cannot be use

142. Transportation and HandlingDangerWarning2.5 Transporting the Robot When transporting the robot, affix the arms using the supplied arm fixing pla

153. Installation Environment and Storage Environment3 Installation Environment and Storage Environment 3.1 Installation Environment Install the robo

163. Installation Environment and Storage EnvironmentDangerWarning3.3 Storage Environment The storage environment conforms to the installation environ

174. How to Install44.1How to InstallShown below is how to install SCARA Robot.Installation PostureCeiling-MountWall-MountHorizontally Oriented Mountż

184. How to InstallWarningCaution4.1 Installing the Robot Install the robot on a level surface. Secure the robot using hex bolts and washers. Type Bo

194. How to InstallWarning4.3 Connecting the ControllerThe controller connection cables are attached on the robot (standard cable: 5 m, to air-tube jo

204. How to Installz Before connecting or disconnecting a cable, always turn off the power to the controller. Connecting/disconnecting a cable with t

214. How to Install4.3 Checking after Installation Once the robot has been installed, check the following items: x Visually check the robot, controll

CAUTIONNote on Supply of Brake Power (+24 V) for X-SEL-PX/QX Controllers If you are using an X-SEL-PX/QX controller, you must supply brake power to th

225. Precautions for UseCaution5 Precautions for Use 5.1 Reference Acceleration/Deceleration Settings Use the robot based on appropriate acceleration/

235. Precautions for UseCaution(2) CP operation (Set using the SEL language commands ACC and DCL.) z To operate the robot at the maximum acceleratio

245. Precautions for UseWarningCaution5.2 Tools The tool mounting part must have sufficient strength and rigidity, along with adequate fastening power

255. Precautions for UseCaution5.3 Carrying Load Load capacity Type Rated load capacity Maximum load capacity IX-NNN50/60 2 kg 10 kg IX-NNN70

265. Precautions for Use5.4 User Wiring and Piping The robot comes with standard cables and tubes that the user can use in a desired wiring/piping co

275. Precautions for UseWarningThe robot comes with a D-sub 25-pin mating plug for the user connector. Solder a user-supplied cable to the D-sub conne

286. Precautions for UseWarning6 Inspection/Maintenance 6.1 Inspection/Maintenance Your horizontal articulated robot must be inspected daily and on a

296. Precautions for Use6.1.1 Daily InspectionCheck the following items daily before and after operating the robot.Observe the precautions for work ne

306. Precautions for UsePerforming inspection or maintenance without fully understanding the details of work may result ina serious accident.Display a

316. Precautions for Use6.2.2 Battery Replacement Procedure (1) Remove the countersunk head screws (1) (six pieces) and detach the cover (base). (2)

Please Read Before UseThank you for purchasing an IAI product.This operation manual explains the handling methods, structure and maintenance of this p

326. Precautions for UseCaution(5) Affix the cover (base) using the countersunk head screws (1) (six pieces) (tightening torque: 0.74 Nm). z When

336. Precautions for Use6.3 Absolute Reset Procedure The home of your actuator has been adjusted fully prior to its shipment from IAI. IX-NNN-50**/60*

346. Precautions for UseWarning(2) Connect the cables for the robot, controller and PC, so the robot can be operated from the PC. Before commencing t

356. Precautions for Use6.3.2 Starting the Absolute Reset Menu (1) Open the absolute reset window from the PC software. (2) The absolute reset wind

366. Precautions for Use6.3.3 Absolute Reset Procedure for Arm 1 or 2 (1) Click the “Encoder Rotation Data Reset1” button. (2) Click the “Reset Con

376. Precautions for Use(3) Click the “Servo ON” button. (4) Jog the arm to near the reference position (see reference position drawing in step 7),

386. Precautions for UseWarning(6) Press the emergency-stop switch. (7) When performing an absolute reset of arm 1, set an adjustment jig (pin) on a

396. Precautions for Use(8) Click the “OK” button. (9) Click the “Encoder Rotation Data Reset2” button.

406. Precautions for UseCaution(10) Remove the adjustment jig. x If you are working on arm 1, install the cover and secure it with the setscrews (1

416. Precautions for Use6.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis (1) Click “Encoder Rotation Data Reset1” button. (2)

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual(ME0287) that is provided separately.

426. Precautions for Use(3) Click the “Servo ON” button. (4) Click the “Temp. Standard posture standby” button. x The vertical axis returns to its

436. Precautions for Use(6) Click the “Servo-OFF” button. (7) Press the emergency-stop switch. (8) Affix the rotational axis at the reference posit

446. Precautions for Use(9) Click the “OK” button. (10) Click the “Encoder Rotation Data Reset2” button.

456. Precautions for Use(11) Click the “Home pos. automatic update” button. (12) Remove the adjustment jig. (13) Release the emergency-stop switch. (

466. Precautions for Use(15) Click the “Servo ON” button. (16) Click the “Standard posture standby” button. x The vertical axis returns to its home p

476. Precautions for Use(18) Click the “Encoder Rotation Data Reset3” button. (19) Click the “Home pos. automatic update” button, and then click “X” i

486. Precautions for Use(20) If an absolute reset was performed on both the rotational axis and vertical axis or if the home position was updated auto

496. Precautions for Use6.3.5 Resetting the Controller (1) Select “Software Reset” from the Controller menu on the tool bar. (2) Click the “Yes” but

507. Specifi cations7 Specifications 7.1 Specification Table IX-NNN50 (Arm Length 500, Standard Specification) Item Specifications Type IX-NNN50-

517. Specifi cationssnoitacificepSmetIAmbient temperature/humidityTemperature: 0 to 40C, humidity: 20 to 85%RHor less (non-condensing)Operatingenvironm

527. Specifi cationsIX-NNN60 (Arm Length 600, Standard Specification) Item Specifications Type IX-NNN60-L-T1 Degree of freedom Four degrees of f

537. Specifi cationssnoitacificepSmetIAmbient temperature/humidityTemperature: 0 to 40C, humidity: 20 to 85%RHor less (non-condensing)Operatingenvironm

547. Specifi cationsIX-NNN70 (Arm Length 700, Standard Specification) Item Specifications Type IX-NNN70-L-T1 Degree of freedom Four degrees of f

557. Specifi cationssnoitacificepSmetIAmbient temperature/humidityTemperature: 0 to 40C, humidity: 20 to 85%RHor less (non-condensing)Operatingenvironm

567. Specifi cationsIX-NNN80 (Arm Length 800, Standard Specification) Item Specifications Type IX-NNN80-L-T1 Degree of freedom Four degrees of f

577. Specifi cationssnoitacificepSmetIAmbient temperature/humidityTemperature: 0 to 40C, humidity: 20 to 85%RHor less (non-condensing)Operatingenvironm

587. Specifi cations7.2 External Dimensions IX-NNN50Arm 2 stopper 4 - I 11 hole I 24 counterbore, depth 5 5 (Mechanical end) 2-M4, depth 8Same on op

597. Specifi cationsIX-NNN60Arm 2 stopper 4 - I 11 hole I 24 counterbore, depth 5 5 (Mechanical end) Arm 1 Arm 2 stopper 2-M4, depth 8Same on opposit

607. Specifi cationsIX-NNN70Arm 2 stopper 4 - 14 drilledI 30 counterbore, depth 5 6 (Mechanical end) Arm 1 Arm 2 stopper 3-M4, depth 8Same on opposit

617. Specifi cationsIX-NNN80Arm 2 stopper 4 - 14 drilledI 30 counterbore, depth 5 6 (Mechanical end) Arm 1 Arm 2 stopper 3-M4, depth 8Same on opposit

Table of ContentsSafety Guide ······················································································································1C

627. Specifi cations7.3 Robot Operation Area IX-NNN50IX-NNN60(Operation prohibited area) (Operation prohibited area) Stopper position range Movemen

637. Specifi cationsIX-NNN70IX-NNN80(Operation prohibited area) Stopper position range Movement range (Operation prohibited area) Movement range St

647. Specifi cationsWiring/Piping Diagram (Arm Length: 500/600)Controller Cable fix cap (Capcon) M cable (outside robot) PG cable (outside robot) BK po

657. Specifi cationsD-sub connector for user piping (25 pins, socket) Alarm LED Brake release switch for axis 3, axis 4 (Z, R) Air jointsRed (6), yell

667. Specifi cationsMachine Harness Wiring Table (1) PG cables (inside machine) DWG No. 1069363* Base end Arm end (2) M cables (inside machine) DW

677. Specifi cations(3) UA, UB cables (outside machine) DWG No. 1069364* Base end Arm end Tube symbol Connector Signal ConnectionSignalConnectorTube

687. Specifi cationsRobot Cable Wiring Table (1) PG cables (outside machine) DWG No. 1068656* Robot end Controller end (2) M cables (outside machin

697. Specifi cations(3) UA, UB cables (outside machine) DWG No. 1068657* Robot end Controller end Tube symbol Connector Signal ConnectionSignalConne

707. Specifi cations7.5 230V Circuit Components IX-NNN50/60No. Code name Model Manufacturer Remarks 1 Axis 1 servo motor TS4609 N2027 E200 AC

718. Warranty8. Warranty 8.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company y

8. Warranty ·················································································································· 718.1 Warranty Period ·

728. Warranty8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications(1) If our product is combined with another

73Change HistoryChange HistoryRevision Date Revision DescriptionApril 2011March 2012August 2012Fourth EditionFifth editionSixth editionA page for CE M

Manual No.: ME3620-6A (August 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvement.C

1Safety Guide“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read