Operation Manual Fifth EditionHorizontal Articulated Robot – IX SeriesCeiling-mount Type, Arm Length 500/600/700/800IX-HNN50 /60 /70 /80IX-INN50 /60 /
4No.Operation Description Description 4 Installation and Start (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it cl
5No.Operation Description Description 6 Trial Operation Ɣ 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 and Inspection Ɣ When the work is carried out with 2 or more persons, make it clear who is to be
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 Parts11 Names of Robot Parts 1.1 Ceiling-mount Specification * The inverse specification is installed upside down. User connector
101. Names of Robot Parts2Rated1.2 Labels The following labels are attached on the robot and controller. Be sure to observe the instructions and caut
111. Names of Robot Parts31.3 Label Positions Label Positions on the Robot Label Positions on the Controller View A Warning on handling of the vertic
122. Transportation and Handling42 Transportation and Handling 2.1 Handling of the Carton Each robot is packed with a controller prior to shipment.
132. Transportation and Handling52.3 Handling of Individual Components The robot and controller are supplied as a set. Your robot cannot be used with
142. Transportation and Handling62.5 Transporting the Robot Use a dolly, forklift, crane, or other appropriate equipment for transportation. When tra
152. Transportation and Handling72.5.2 Transporting the Inverse Specification Secure the arms with the arm-affixing plate, and wrap the cables around
163. Installation Environment and Storage Environment83 Installation Environment and Storage Environment 3.1 Installation Environment Install the ro
174. How to Install×%!
184. How to Install4.1 Notes on Installation In the case of the ceiling-mount specification, the robot will move to points above the base installation
194. How to InstallCenter of recommended installation part
204. How to Install4.2 Installing the Robot Install the robot on a level surface. Secure the robot using hex bolts and washers. Type Bolt size Tight
214. How to Install4.3 Connecting the ControllerThe controller connection cables are attached on the robot (standard cable: 5 m, to air-tube joint: 15
224. How to Install Before connecting or disconnecting a cable, always turn off the power to the controller. Connecting/disconnecting a cable with t
234. How to Install4.4 Checking after Installation Once the robot has been installed, check the following items: Visually check the robot, controll
Please Read Before UseThank you for purchasing an IAI product.This operation manual explains the handling methods, structure and maintenance of this p
245. Precautions for Use5 Precautions for Use 5.1 Reference Acceleration/Deceleration Settings Use the robot based on appropriate acceleration/decele
255. Precautions for Use(2) CP operation To operate the robot at the maximum acceleration, provide a stopping period of three seconds or more after
265. Precautions for Use5.2 Tools The tool mounting part must have sufficient strength and rigidity, along with adequate fastening power to prevent po
275. Precautions for Use5.3 Carrying Load Load capacity Type Rated load capacity Maximum load capacity IX-HNN50/60IX-INN50/602 kg 10 kg IX-
285. 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
295. Precautions for UseThe robot comes with a 25-pin plug for the D-sub connector for user wiring. Solder a user-supplied cable to the D-sub connecto
306. Inspection/Maintenance6 Inspection/Maintenance 6.1 Inspection/Maintenance Your horizontal articulated robot must be inspected daily and on a regu
316. Inspection/Maintenance6.1.1 Daily InspectionCheck the following items daily before and after operating the robot.Observe the precautions for work
326. Inspection/MaintenancePerforming inspection or maintenance without fully understanding the details of work may result ina serious accident.If ins
336. Inspection/Maintenance6.2.2 Removing the Cover (1) With arms 1 and 2 extended as illustrated below, press the brake-release switch [1] to relea
CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
346. Inspection/Maintenance6.2.3 Checking the Belt Tension 6.2.4 Checking the Belt Tension for the Vertical Axis Using a push-pull gauge, push the ti
356. Inspection/Maintenance6.2.5 Checking the Belt Tension for the Rotational Axis (1) Insert a 3 pin in the hole provided on one side of arm 2 (pi
366. Inspection/Maintenance6.2.6 Adjusting the Belt Tension for the Vertical Axis (1) Loosen the four M5 nuts [4] slightly, making sure the fastened
376. Inspection/Maintenance6.2.8 Installing the Cover (1) Place the cover on the robot and connect the connectors, cables and air tubes installed as
386. Inspection/Maintenance(2) Perform an absolute reset for the rotational axis and vertical axis. This completes the procedure for installation of
396. Inspection/Maintenance6.3 Battery Replacement 6.3.1 Preparation The following items are required when replacing the batteries: Phillips screwdr
406. Inspection/Maintenance6.3.2 Battery Replacement Procedure (1) Remove the countersunk head screws [1] (six pieces) and detach the cover (base).
416. Inspection/Maintenance(5) Affix the cover (base) using the countersunk head screws [1] (six pieces) (tightening torque: 0.74 Nm). When insta
426. Inspection/Maintenance6.4 Absolute Reset Procedure 6.4.1 Preparation for Absolute Reset The following jig is required when performing an absolut
436. Inspection/Maintenance6.4.2 Starting the Absolute Reset Menu (1) Open the absolute reset window from the PC software. (2) The absolute reset w
Table of Contents Safety Guide ······················································································································1
446. Inspection/Maintenance6.4.3 Absolute Reset Procedure for Arm 1 or 2 (1) Click the “Encoder Rotation Data Reset1” button. (2) Click the “Reset
456. Inspection/Maintenance(3) Click the “Servo ON” button. (4) Jog the arm to near the reference position (see reference position drawing in step 7
466. Inspection/Maintenance(6) Press the emergency-stop switch. (7) Set an adjustment jig (pin) in arm 1 or 2 to fix the arm at the reference positi
476. Inspection/Maintenance(8) Click the “OK” button. (9) Click the “Encoder Rotation Data Reset2” button.
486. Inspection/Maintenance(10) Remove the adjustment jig. If you are working on arm 1, install the cover and secure it with the setscrews (not req
496. Inspection/Maintenance6.4.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis (1) Click “Encoder Rotation Data Reset1” button. (
506. Inspection/Maintenance(3) Click the “Servo ON” button. (4) Click the “Temp. Standard posture standby” button. The vertical axis returns to it
516. Inspection/Maintenance(6) Click the “Servo-OFF” button. (7) Press the emergency-stop switch.
526. Inspection/Maintenance(8) Affix the rotational axis at the reference position by setting the plate and pin of the adjustment jig as illustrated
536. Inspection/Maintenance(9) Click the “OK” button. (10) Click the “Encoder Rotation Data Reset2” button.
8. Warranty ·················································································································· 838.1 Warranty Period ·
546. Inspection/Maintenance(11) Click the “Home pos. automatic update” button. (12) Remove the adjustment jig. (13) Release the emergency-stop swit
556. Inspection/Maintenance(15) Click the “Servo ON” button. (16) Click the “Standard posture standby” button. The vertical axis returns to its ho
566. Inspection/Maintenance(18) Click the “Encoder Rotation Data Reset3” button. (19) Click the “Home pos. automatic update” button, and then click
576. Inspection/Maintenance6.4.5 Writing the Flash ROM (1) Following an absolute reset of the rotational axis and vertical axis, the following scree
586. Inspection/Maintenance6.4.6 Resetting the Controller (1) Select “Software Reset” from the Controller menu on the tool bar. (2) Click the “Yes”
597. Specifi cations7 Specifications 7.1 Horizontal Articulated Robot Specifications IX-HNN-50 (Arm Length 500, Ceiling-mount Specification) Item Sp
607. Specifi cationsItem SpecificationsTemperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)Altitude m 1,000 or lessBdesioN 73230 V 5
617. Specifi cationsIX-INN50 (Arm Length 500, Inverse Specification) Item Specifications Type IX-INN50-**L Degree of freedom Four degrees of free
627. Specifi cationsItem SpecificationsTemperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)Altitude m 1,000 or lessBdesioN 73Robot we
637. Specifi cationsIX-HNN60 (Arm Length 600, Ceiling-mount Specification) Item Specifications Type IX-HNN60-**L Degree of freedom Four degrees o
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
647. Specifi cationsItem SpecificationsTemperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)Altitude m 1,000 or lessBdesioN 73Robot we
657. Specifi cationsIX-INN60 (Arm Length 600, Inverse Specification) Item Specifications Type IX-INN60-**L Degree of freedom Four degrees of free
667. Specifi cationsItem SpecificationsTemperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)Altitude m 1,000 or lessBdesioN 73Robot we
677. Specifi cationsIX-HNN70 (Arm Length 700, Ceiling-mount Specification) Item Specifications Type IX-HNN70-**L-T1 Degree of freedom Four degree
687. Specifi cationsItem SpecificationsTemperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)Altitude m 1,000 or lessBdesioN 74Robot we
697. Specifi cationsIX-INN70 (Arm Length 700, Inverse Specification) Item Specifications Type IX-INN70-**L-T1 Degree of freedom Four degrees of f
707. Specifi cationsItem SpecificationsTemperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)Altitude m 1,000 or lessBdesioN 74Robot we
717. Specifi cationsIX-HNN80 (Arm Length 800, Ceiling-mount Specification) Item Specifications Type IX-HNN80-**L-T1 Degree of freedom Four degree
727. Specifi cationsItem SpecificationsTemperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)Altitude m 1,000 or lessBdesioN 74Robot we
737. Specifi cationsIX-INN80 (Arm Length 800, Inverse Specification) Item Specifications Type IX-INN80-**L-T1 Degree of freedom Four degrees of f
2No.Operation Description Description 2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment su
747. Specifi cationsItem SpecificationsTemperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)Altitude m 1,000 or lessBdesioN 74Robot we
757. Specifi cations7.2 External Dimensions IX-HNN-50(Mechanical end) 3-M4, depth 8Same on opposite side (*1)(Mechanical end) Arm 1 Arm 2 stopper 6
767. Specifi cationsIX-HNN-605.5 (Mechanical end) 3-M4, depth 8Same on opposite side (*1)5 (Mechanical end) Arm 1 Arm 2 stopper 6 quick air-tube joi
777. Specifi cationsIX-HNN-706 (Mechanical end) 3-M4, depth 8Same on opposite side (*1)6 (Mechanical end) Arm 1 stopper 6 quick air-tube joint 4 qu
787. Specifi cationsIX-HNN-806 (Mechanical end) 3-M4, depth 8Same on opposite side (*1)6 (Mechanical end) Arm 1 stopper 6 quick air-tube joint 4 qu
797. Specifi cations7.3 Robot Operation Area IX-HNN-50IX-INN-50IX-HNN-60IX-INN-60(Operation prohibited area) (Operation prohibited area) Stoppe
807. Specifi cationsIX-HNN-70IX-INN-70IX-HNN-80IX-INN-80(Operation prohibited area) (Operation prohibited area) Stopper position range Movement
817. Specifi cationsNotes(1) The actual layout of board connectors varies from this drawing. (2) Since the brake power circuit is provided on the pri
827. Specifi cations7.5 230V Circuit Components IX-HNN50**/60**, IX-INN50**/60** No. Code name Model Manufacturer Remarks1 Axis 1 servo motor TS4
838. Warranty8. Warranty 8.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from IAI 12 months
3No.Operation Description Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for
848. Warranty8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications(1) If our product is combined with another
85Change HistoryChange History Revision Date Description of RevisionApril 2011March 2012August 2012Third editionFourth editionFifth editionSafety Guid
Manual No.: ME3636-5A (August 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvement.C
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