Iai-america IX-NNW3515H Manuel d'utilisateur

Horizontal Articulated Robot – IX SeriesTabletop Type, Arm Length 250/350IX-NNN-2515H, IX-NNN-3515HDust-proof/Splash-proof SpecificationIX-NNW2515H/IX

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

9413. Inspection/Maintenance(6) Click the “Servo-OFF” button. Servo OFF (7) Press the emergency-stop switch. (8) Affix the rotational axis at the r

9513. Inspection/MaintenanceReference Posture for Arm Length 250/350 z Always press the emergency-stop switch before setting an adjustment jig. Failu

9613. Inspection/Maintenance(9) Click the “OK” button. Confirmation (10) Click the “Encoder Rotation Data Reset2” button. Encoder Multi-rotation Data

9713. Inspection/Maintenance(11) Click the “Home pos. automatic update” button. Automatic Refresh of Home Preset Value (12) Remove the adjustment jig.

9813. Inspection/Maintenance(15) Click the “Servo ON” button. Confirmation (16) Click the “Standard posture standby” button.  The vertical axis retu

9913. Inspection/Maintenance(18) Click the “Encoder Rotation Data Reset3” button. Encoder Multi-rotation Data Reset 3 (19) Click the “Home pos. automa

10014. Warranty14. Warranty 14.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company

10114. Warranty14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications(1) If our product is combined with anoth

102Change History Revision Date Description of RevisionAugust 2010 First editionSecond editionP. 41 Added options “JY (Joint cable specification)”

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

Manual No.: ME3702-6A (January 2013)The information contained in this document is subject to change without notice for purposes ofproduct improvement.

6No.Operation Description Description 8 Maintenance and Inspection  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

8

9Handling Precaution 1. Positioning Repeatability Does Not2. Make sure to attach the Horizontal Articulated Robot properly by following this operation

10• The robot and controller are very heavy. When transporting the carton containing the robot and controller,handle it with extra care so as not to d

11Cross-recessed countersunkhead screw, M3 x 8Eyebolt (supplied)Top coverFix with a tie wrap.HexboltM4x10Hoisting hook with lockString, rope, etc.Cabl

121. Name of Each Part1. Name of Each Part 1.1 Robot IX-NNN2515H/3515H ALM (indicator)4 user piping (black, red, white; 3 locations)Referencesurf

131. Name of Each PartX-NNW2515H/3515H 3ALM (indicator)ReferencesurfaceTop cover (arm 1)Mechanical stopper for arm 1Mechanical stopper for arm 2BK SW

141. Name of Each PartIX-NNC2515H/3515H ALM (indicator)4 user piping (black, red, white; 3 locations)ReferencesurfaceTop cover (arm 1)Mechanical sto

151. Name of Each Part1.2 Labels The following labels are attached on the robot and controller. Be sure to observe the instructions and cautions writ

161. Name of Each PartAController serial numberOther than CE-certified modelsCE-certified modelsCaution/warning on handling of the controller Designa

172. External Dimensions2. External Dimensions IX-NNN2515H (Arm Length 250, Standard Specification) BK SW (Brake-release switch)User connector (D-sub

182. External Dimensions IX-NNN3515H (Arm Length 350, Standard Specification) ALM (indicator)4 quick air-tube joint (black, red, white; 3 locations)U

192. External Dimensions21510612004106115518555 130001(424.5)92.515602 47 05212125249.55.601051TS5.2 01212516308732727)5.896()5.861(5003358 0116h7( 0-

202. External Dimensions 06 5121120052602 47161250125.2 051TS 5.601 12249.5225308732727)5.861()5.896(50304106115518555 130001(524.5))92.52- 8H10155721

212. External Dimensions1202106 51602 47 05212125249.55.601051TS5.2 012 62261712516308)071()007(5004106115518555 130001 (424.5)92.58H101503358 0116h7

222. External Dimensions 052602 47161256176220125.2 051TS 5.601 12249.5225308)071()007(5004106115518555 130001(524.5)92.52- 8H10151202106 515116h7( 0-

233. Robot Operation Area3. Robot Operation Area IX-NNN2515H (Arm Length 250, Standard Specification) IX-NNN3515H (Arm Length 350, Standard Specificat

Please Read Before UseThank you for purchasing our product.This Operation Manual explains the handling methods, structure and maintenance of this prod

243. Robot Operation AreaIX-NNW2515H (Arm Length 250, Dust-proof/Splash-proof Specification), IX-NNC2515H (Arm Length 250, Clean Room Specification) I

254. Wiring Diagram244. Wiring Diagram Wiring/Piping Diagram (Arm Length: 250/350) Notes(1) The actual layout of board connectors varies from this dr

264. Wiring DiagramD-sub connector for user wiring (15-oin, socket) Alarm LED Brake-release switch for axes 3/4 (Z/R-axes) Air joint Black (4), Red

274. Wiring Diagram26Wiring/Piping Diagram (Arm Length: 250/350) Notes(1) The actual layout of board connectors varies from this drawing.(2) Since t

284. Wiring DiagramU cable (inside robot) PG cable (inside robot) M cable (inside robot) U cable (inside robot) Flexible cableM cable (inside robot) P

294. Wiring DiagramWiring/Piping Diagram (Arm Length: 250/350) Notes(1) The actual layout of board connectors varies from this drawing.(2) Since the

304. Wiring Diagram294.2 Machine Harness Wiring Table IX-NNN2515H/3515H (1) PG cables (inside robot) DWG No. 1069443* Base end Arm end (2) M cabl

314. Wiring Diagram(3) UA and UB cables (outside robot) DWG No. 1069444* Base end Arm end Double-brazed relay plug DF11-10DEP-2C (by Hirose Electri

324. Wiring DiagramIX-NNW2515H/3515H (1) PG cables (inside robot) DWG No. 1068795* Base end Arm end (2) M cables (inside robot) DWG No. 1068794

334. Wiring Diagram(3) UA and UB cables (outside robot) DWG No. 1068796* Base end Arm end Double brazed extension plug DF11-10DEP-2C (by Hirose Ele

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

344. Wiring Diagram4.3 Cable Wiring Table IX-NNN2515H/3515H (1) PG cables (outside robot) DWG No. 1068764* Robot end Controller end (2) M cables (

354. Wiring DiagramIX-NNW2515H/3515H (1) PG cables (outside robot) DWG No. 1068764* Robot end Controller end (2) M cables (outside robot) DWG No.

364. Wiring Diagram(3) UA and UB cables (outside robot) DWG No. 1068765*Robot end Controller end Orange 1 red Orange 1 black Light gray 1 red Light

374. Wiring Diagram(3) UA and UB cables (outside robot) DWG No. 1068765*Robot end Controller end Orange 1 red Orange 1 black Light gray 1 red Light

384. Wiring Diagram4.4 230 V Circuit Components IX-NNN2515H/3515H, IX-NNC2515H/3515H, IX-NNW2515H/3515H No. Code name Model number Manufacturer Re

395. Option5. Option 5.1 Absolute Reset Jig This jig is used to perform an absolute reset in the event that absolute data in the encoder was lost. Mod

406. Checking after Unpacking6. Checking after UnpackingAfter unpacking the carton, check the condition of the product and items included in the carto

416. Checking after UnpackingMODEL IXNNN2515H5LT2SERIAL No. 9035D298 MADE IN JAPANIX-NNC2515H/3515HskrameRrebmunledoMmetI.oN1

426. Checking after UnpackingIX-NNN2515H-5L-T2-JY6.4 How to Read Model Number <Option>JY: Joint cable specification<Applicable controller>

437. Specifications7. Specifications 7.1 IX-NNN2515H/3515H IX-NNN2515H (Arm Length 250, Standard Specification) Item Specifications Type IX-NNN2515H-

Table of ContentsSafety Guide ...

447. SpecificationssnoitacificepSmetIUser pipingThree air tubes (outer diameter: φ 4, inner diameter: φ 2.5)(normal service pressure: 0.8 MPa)Surroundi

457. SpecificationsIX-NNN3515H (Arm Length 350, Standard Specification) Item Specifications Type IX-NNN3515H-L-T1 Degree of freedom Four degrees of

467. SpecificationsItem SpecificationsSurrounding air temperature/humidityTemperature: 0 to 40°C, humidity: 20 to 85%RH orless (non-condensing)Operatin

477. Specifications7.2 IX-NNW2515H/3515H IX-NNW2515H (Arm Length 250, Dust-proof/Splash-proof Specification) Item Specifications Type IX-NNW2515H-L-

487. Specifications47ToppositionToolBottompositionToolCenter ofrotational axisTool40Tool’s centerofgravityToolCenter ofrotational axisφ80(Fig. 1)(Fig.

497. SpecificationsIX-NNW3515H (Arm Length 350, Standard Specification) Item Specifications Type IX-NNW3515H-L-T1 Dust-proof/splash proof performanc

507. SpecificationsTop positionToolBottompositionToolCenter ofrotational axisTool40Tool’s centerof gravityToolCenter ofrotational axisφ80(Fig. 1)(Fig.

517. Specifications7.3 IX-NNC2515H/3515H IX-NNC2515H (Arm Length 250, Cleanroom Specification) Item Specifications Type IX-NNC2515H-L-T1 Degree of f

527. SpecificationssnoitacificepSmetIUser pipingThree air tubes (outer diameter:φ4, inner diameter:φ2.5)(normal service pressure: 0.8 MPa)Surrounding a

537. SpecificationsIX-NNC3515H (Arm Length 350, Clean Room Specification) Item Specifications Type IX-NNW3515H-L-T1 Degree of freedom Four degrees

12.3Tools ...

547. SpecificationssnoitacificepSmetIUser pipingThree air tubes (outer diameter:φ4, inner diameter:φ2.5)(normal service pressure: 0.8 MPa)Surrounding a

558. Installation Environment and Storage Environment8. Installation Environment and Storage Environment 8.1 Installation Environment 8.1.1 IX-NNN251

568. Installation Environment and Storage EnvironmentDust-proof/splash-proof items y Will not become immersed in liquid. y Free from fine shavings g

578. Installation Environment and Storage Environment8.2 Installation Platform The platform on which to install the robot receives a significant react

589. How to Install9. How to InstallShown below is how to install SCARA Robot.9.1 Installation Posture○ : Available × : Not availableCeiling-MountW

599. How to InstallInstall the robot horizontally. Use four M3 or M4 hexagonal socket head bolts and washers to securely affix the robot. Model number

609. How to InstallFor the hexagonal socket head bolts, use high-strength bolts of ISO10.9 or higher.  Be sure to use washers. If not, the bearing s

6110. Connecting the Controller10. Connecting the Controller The controller connection cables are attached on the robot (standard cable: 3 m).Pay atte

6210. Connecting the Controller Before connecting or disconnecting a cable, always turn off the power to the controller. Connecting/disconnecting a

6310. Connecting the ControllerIf you are using an X-SEL-PX/QX controller, you must supply the brake power to the controller in addition to wiring the

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

6411. Checking after Installation11. Checking after Installation Once the robot has been installed, check the following items:  Visually check the

6512. Precautions for Use12. Precautions for Use 12.1 Setting the Acceleration/Deceleration Set the acceleration/deceleration using the graphs below a

6612. Precautions for Use When PTP operation is performed with the acceleration/deceleration set to 100%, the optimal acceleration/deceleration func

6712. Precautions for Use12.2 Push Force of the Vertical Axis Set the push force of the vertical axis by referring to the graph below. Push-motion op

6812. Precautions for UseD-cut surfaceCenter of axis 1 (rotational axis)ToolSpan ring, etc. Pressure flange 12.3 Tools The tool mounting part must hav

6912. Precautions for UseD-cut surface Center of axis 1 (rotational axis) ToolSpan ring, etc. Pressure flange IX-NNW2515H/3515H, IX-NNC2515H/3515H 

7012. Precautions for Use12.4 Transferring Load Model number Rated transferring mass Maximum transferring mass IX-NNN2515H/3515H IX-NNW2515H/3515H I

7112. Precautions for UseQuick joint 4(red) ALM (indicator)Quick joint 4(black) Spacer for user part installationQuick joint 4(white) BK SW Brake-r

7212. Precautions for UseShape of Y-terminal Spacer for user part installation M4, depth 530 N or less2 Nm or lessExternal force applied to the space

7312. Precautions for UseThe user connector comes with the mating D-sub 25-pin plug. The robot comes with a 15-pin plug for the D-sub connector for us

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

7412. Precautions for UseShape of Y-terminal Spacer for user part installation M4, depth 530 N or less2 Nm or lessExternal force applied to the space

7512. Precautions for UseThe user connector comes with a mating 16-pin plug. Connector pins 1 to 15 can be used. Pin 16 is connected to a shield wire

7612. Precautions for UseUser connector pins and corresponding Y-terminals  Before commencing wiring/piping work, turn off the power to the controll

7712. Precautions for Use12.6 Suction Rate of Cleanroom Specification IX-NNC2515H/3515HCleanness class 10 can be achieved by suctioning air at the sp

7812. Precautions for Use12.7 Air Purge for Dust-proof/Splash-proof Specification IX-NNW2515H/3515H By applying the pressure specified below from t

7913. Inspection/Maintenance13. Inspection/Maintenance 13.1 Inspection/Maintenance Your horizontal articulated robot must be inspected daily and on a

8013. Inspection/Maintenance13.1.1 Daily InspectionCheck the following items daily before and after operating the robot.Observe the precautions for wo

8113. Inspection/Maintenance13.2 Battery Replacement13.2.1 PreparationThe following items are required when replacing the batteries:Before replacing t

8213. Inspection/Maintenance13.2.2 Replacement Procedure IX-NNN2515H/3515H, IX-NNC2515H/3515H (1) Remove the six low-head cap screws (6 pcs) and rem

8313. Inspection/MaintenanceBattery (for axis 1) Battery connector 3(for axis 3) Battery (for axis 3)Battery connector 2 (for axis 2) Battery (for

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

8413. Inspection/MaintenancePlatePin13.3 Absolute Encoder Reset Method 13.3.1 Preparation for Absolute Reset The following jigs are required to

8513. Inspection/Maintenance13.3.2 Starting the Absolute Reset Menu (1) Open the Abs Encoder Reset window from the PC software. (*) Select “Absolut

8613. Inspection/Maintenance13.3.3 Absolute Reset Procedure for Arm 1 or 2 (1) Click the “Encoder Rotation Data Reset1” button. Encoder Multi-rotati

8713. Inspection/Maintenance(3) Click the “Servo ON” button. Servo ON (4) Jog the arm to near the reference position (see reference position drawi

8813. Inspection/Maintenance(6) Press the emergency-stop switch. (7) When performing an absolute reset of arm 1, set the adjustment jig (pin) on arm

8913. Inspection/MaintenanceArm 1 (arm length 250/350) Arm 2 (arm length 250/350) Positioning mark label for arm 1 Reference Posture for Arm Length 25

9013. Inspection/Maintenance(8) Click the “OK” button. Confirmation (9) Click the “Encoder Rotation Data Reset2” button. Encoder Multi-rotation Data

9113. Inspection/Maintenance(10) Remove the adjustment jig.  If you are working on arm 1, install the cover and secure it with the setscrews. (11) R

9213. Inspection/Maintenance13.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis (1) Click “Encoder Rotation Data Reset1” button.

9313. Inspection/Maintenance(3) Click the “Servo ON” button. Servo ON (4) Click the “Temp. Standard posture standby” button.  The vertical axis re