Horizontal Articulated Robot – IX SeriesTabletop Type, Arm Length 1000/1200IX-NNN10040IX-NNN12040Operation Manual First Edition
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 andInspection 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 Handling 1. Ensure use of the product in the specified conditions, environments and ranges.Operation out of the specified conditions coul
9International Standards Compliances This product complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287)
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11 Names of the Parts2nd Arm Top PanelCover R (2nd Arm )Cover L (2nd Arm)Top Cover (1st Arm) Bracket UJoint ShaftBall Spline Ball Screw Heatsink Plate
12[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
1. Specications Check131. Specifications Check 1.1 Product Check The standard configuration of this product is comprised of the following parts. Se
1. Specications Check141.1.3 How to Read the Model Nameplate1.1.4How to Read the Model NumberNote 1 Identification for IAI use only: This may be ma
1. Specications Check151.2 Specifications 1.2.1 Basic Specifications List Specifications Specifications ItemIX-NNN10040 IX-NNN12040 Vertical axis
1. Specications Check16Note 1 Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP operation. Note 2 Posi
1. Specications Check171.2.2 Operation Range and Operation Restriction [1] Operation Range (1) IX-NNN10040 Arm Length 1000 Right arm System
1. Specications Check18(3) IX-NNN12040 Arm Length 1200 Right arm System (4) IX-NNN12040 Arm Length 1200 Left arm System
1. Specications Check19[2] Operation Restriction When a load or the arm of the robot interferes with the base or other equipment, restrict the opera
1. Specications Check20(1) J1-Axis Operation Restriction Angles J1-axis of the angles of the mechanical ends, angles of the operation restrictions
1. Specications Check21(2) J2-Axis Operation Restriction Angles J2-axis of the angles of the mechanical ends, angles of the operation restrictions
1. Specications Check221.2.3 Acceleration/Deceleration and Transfer Load [1] PTP Operation Shown in the graph below is a reference for the accelera
1. Specications Check23[2] CP Operation For CP Operation, the operational available range differs depending on if it includes the vertical axis oper
[Important] x This Operation Manual is original. x The product cannot be operated in any way unless expressly specified in this Operation Manual.IAI
1. Specications Check241.2.4 Acceleration/Deceleration and Duty [1] PTP Operation Shown in the graph below is a reference for the acceleration sett
1. Specications Check25[2] CP Operation For CP Operation, the operational available range differs depending on if it includes the vertical axis oper
1. Specications Check26Caution: x When using PTP operation, make to use WGHT Command in the program to set the weight and moment of inertial befor
1. Specications Check271.3 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. AAφ
1. Specications Check281.4 Motor • Encoder Cables 1.4.1 Motor cable Model : CB-SX4-MAƑƑƑƑƑƑ indicates the cable length L (Example. 030 3m). Max.1
1. Specications Check291.4.2 Encoder cable Model : CB-SX4-PAƑƑƑƑƑƑ indicates the cable length L (Example. 030 3m). Max.10m PGPG1PG2PG3PG4BK RMTφ11
2. Installation302. Installation 2.1 Transportation 2.1.1 Handling of the Robot Unless otherwise specified, the robot is delivered in the package a
2. Installation31[1] Handling of the Carton x Do not damage or drop. The package is not applied with any special treatment that enables it to resist
2. Installation322.1.2 Handling of the Robot Mounted on Mechanical Equipment (System) The following are the cautions for when transporting robot inst
2. Installation332.3 How to Install 2.3.1 Installation Orientation ż㧦Available ×㧦Not available Horizontally Oriented Mount Wall-Mount Ceiling-M
2. Installation342.3.2 Installation [1] Installation of the Main UnitThe platform on which to install the robot receives a significant reactive for
2. Installation35[2] Attachment of the load x To attach the load, use a bracket with tightening force that possesses enough strength and stiffness
2. Installation36x For the attachment of the load, make sure to keep it below the allowable load diameter, load offset, transportable weight and allo
2. Installation37[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 le
3. Wiring and Piping383. Wiring and Piping 3.1 Wiring and Piping in the body (1) 2nd Arm Vertical AxisVertical AxisVertical Axis BrakeMotorMotorEnc
3. Wiring and Piping39Number Parts Name Remarks 1Motor Cable (between robot and controller) 230V circuit component Electric wire to be used : Rated
3. Wiring and Piping403.2 Connection to the Controller [XSEL-SX Connecting to the Controller] Dedicated Controller XSEL-SXHorizontal Articulated Robo
3. Wiring and Piping41Refer to the operation manuals for the controller and PC software for the procedures to connect the I/O cable, controller power
3. Wiring and Piping423.3 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
3. Wiring and Piping43Connect the Resectable and plug as shown in the figure below.٧ALM Display If 24V DC current is flown to pins 36 and
Table of Contents Safety Guide ····················································································································· 1
3. Wiring and Piping443.4 Grounding On the robot body, use a grounding terminal shown in the figure for grounding. FG GroundingTerminal Cable Size 3.
3. Wiring and Piping453.5 Caution for Wiring and Piping Warning: For wiring, please follow the warnings stated below. When constructing a system as
3. Wiring and Piping46• Do not pull the cable with a strong force. Strong forceStrong force• Pay attention not to concentrate the twisting force to
3. Wiring and Piping47Follow the instructions below when using a cable track. • If there is an indication to the cable for the space factor in a cabl
4. Maintenance inspection484. Maintenance inspection 4.1 Inspection Items and Periods Have daily inspections and regular inspections to use the robo
4. Maintenance inspection494.2 Grease Supply on the Vertical Axis The ball screw and ball spline on the vertical axis require grease supply. 4.2.1 Ap
4. Maintenance inspection504.3 Replacement of Absolute Backup Battery Alarms described in the list could be generated in relation to the absolute da
4. Maintenance inspection51Replacement procedure 1) Until finishing the battery replacement, keep the controller turned on and do not disconnect the
4. Maintenance inspection524.4 Absolute Reset In case the absolute data is lost, conduct “Stopper push type absolute reset”. [4.4.1 How to Operate
4. Maintenance inspection534.4.1 How to Operate the Push Type Absolute Reset 1) Backup the parameters so that they can be put back anytime to those
5. External Dimensions ···································································································78 6. Warranty··············
4. Maintenance inspection54[1] When Performing Stopper Pressing Type Absolute Reset to All Axes at Once To have the push stopper type absolute reset
4. Maintenance inspection553) In case there is a concern that a load may interfere with surroundings at the absolute reset, detach the load. Have the
4. Maintenance inspection56For the position, put it apart from the stopper position for 10deg or more. Setting it too close to the stopper, Error No.
4. Maintenance inspection577) Once the push type absolute reset for all the axes is finished, the Information window will appear. Click “OK” button.
4. Maintenance inspection58[2] When performing Stopper Pressing Type Absolute Reset on Each Axis One by One To have the push stopper type absolute re
4. Maintenance inspection592) Click “Encoder Rotation Data Reset / Reset Controller Error (Step 1/4)”. 3) In case there is a concern that a load may
4. Maintenance inspection60For the position, put it apart from the stopper position for 10deg or more. Setting it too close to the stopper, Error No.
4. Maintenance inspection617) Once the push type absolute reset, the Information window will appear. Click “OK” button. 8) If it is necessary to hav
4. Maintenance inspection62(2) Vertical Axis, Rotation Axis 1) Select “Individual axis” in the Push stopper type absolute reset window, and set Axis
4. Maintenance inspection634) By referring to the displayed movement direction for each axis, adjust the axes to the initial posture. The posture dif
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
4. Maintenance inspection647) Once the push type absolute reset for the axis is complete, the information window will appear. Click “OK” button. 8)
4. Maintenance inspection654.4.2 How to Acquire the Stopper Interfering PointIn the following case, conduct “Stopper pressing position acquirement (N
4. Maintenance inspection66Push stopper position acquisition with the process shown below. 1) Backup the parameters so that they can be put back anyt
4. Maintenance inspection674) A Confirmation window shows up. Click “Yes”. If conducting on all the axes at once, have the process of [1].When not al
4. Maintenance inspection68[1] When Acquiring Stopper Pressing Position for All Axes at Once To acquire the push stopper position for all the axes at
4. Maintenance inspection693) Adjust each axis to the initial posture. The posture differs depending on the movement direction. Click on “Display the
4. Maintenance inspection704) Select the direction to move for the vertical axis and rotation axis. It is not necessary to change the direction to mo
4. Maintenance inspection717) Once the push stopper position acquirement for all the axes is complete, the Information window will appear. Click “OK”
4. Maintenance inspection72[2] When Acquiring Stopper Pressing Position on Each Axis One by One To have an acquirement on each axis, follow the steps
4. Maintenance inspection733) Adjust each axis to the initial posture. The posture differs depending on the movement direction. Click on “Display the
2No.Operation Description Description 2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment suc
4. Maintenance inspection744) Select the movement method. Make to select motor drive on the selection of motor drive/hand. Change the movement direct
4. Maintenance inspection75(2) Vertical Axis, Rotation Axis 1) Select “Individual axis” in the Push stopper position acquisition window, and set Axi
4. Maintenance inspection763) Adjust each axis to the initial posture. The posture differs depending on the movement direction. Click on “Display the
4. Maintenance inspection776) A Warning window shows up. Click “Yes”. Process to acquire the push stopper position will start. 7) Once the push stop
5. External Dimensions785. External Dimensions 2-M4, Depth 8B15515055(50)204-φ13.5 Through Hole φ25 Counterbore(Dimension from the seat to the insta
5. External Dimensions7959 (Tool Attachment Range)1.2 (Note 22-2)18 838I.D. φ29φ407 ( ) 0-0.025D130(129.8)DETAIL: D (Scale: 1/2)Datum SurfaceDe
6. Warranty806. Warranty 6.1 Warranty Period One of the following periods, whichever is shorter: x 18 months after shipment from IAI x 12 months a
6. Warranty816.4 Limit in Responsibility (1) We shall assume no liability for any special damage, consequential loss or passive loss such as a loss
Change History82Change History Revision Date Description of Revision 2013.01 First edition
3No.Operation Description Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for
Manual No.: ME3726-1A (January 2013)The information contained in this document is subject to change without notice for purposes of product improvement
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