Pre1Horizontal Articulated Robot – IX Series Wall-Mounting Type, Arm Length 300/350 (Wall-Mounting)IX-TNN-3015H, IX-TNN-3515HWall-Mounting Type, Arm L
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 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
8Handling Precautions1. Positioning Repeatability Does Not Change Even If the Positioning Band is Changed.Positioning repeatability does not change ev
9RobotArm fixing plateController, accessoriesand other items(except for the robot)3. Handling of the CartonEach robot is packed with a controller prio
104. Handling of Individual ComponentsThe robot and controller are supplied as a set.Your robot cannot be used with the controller supplied with anoth
115. TransportationWhen transporting the robot, loop the cables around the upper part of the robot using adhesive tape, etc., andtransport the robot w
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131. Name of Each Part1. Name of Each Part 1.1 Robot ALM (indicator) U cable (outside robot)PG cable (outside robot)BK power-supply cable (outside ro
141. Name of Each Part1.2 Labels The following labels are attached on the robot and controller. Be sure to observe the instructions and cautions writt
151. Name of Each Part1.3 Label Positions Label Positions on the Robot Warning on handling of the vertical axis Robot serial number Warning against el
161. Name of Each PartLabel Positions on the Controller Other than CE-certified specification CE-certified specification Controller serial number Spec
172. External Dimensions2. External Dimensions IX-TNN3015H (Arm Length 300) Detail view of arm tiArm 2 stopper4-916 counterbored, depth 0.5 (Counter
182. External DimensionsIX-TNN3515H (Arm Length 350) Enlarged view of arm tipArm 2 stopper4-916 counterbored, depth 0.5 (Counterbored on opposite si
192. External DimensionsReference surface IX-UNN3015H (Arm Length 300) 4-916 counterbored, depth 0.5(Counterbored on opposite side)T-slot for instal
202. External DimensionsIX-UNN3015H (Arm Length 350) 4-916 counterbored, depth 0.5(Counterbored on opposite side)T-slot for installing peripheral eq
213. Robot Operation Area3 Robot Operation Area IX-TNN3015H, IX-UNN3015H IX-TNN3515H, IX-UNN3515H Area of prohibited entry Area of prohibited entry Mo
224. Wiring Diagram4 Wiring Diagram 4.1 Layout Drawing Wiring/Piping Diagram: 300/350 M cable (outside robot) PG cable (outside robot) User wiring ter
234. Wiring Diagram4.2 230 V Circuit Components No. Code name Model number Manufacturer Remarks 1 Axis 1 servo motor TS4607 N2027 E201 AC servo
Please Read Before UseThank you for purchasing our product.This Operation Manual explains the handling methods, structure and maintenance of this prod
245. 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
256. Checking after Unpacking6. Checking after UnpackingAfter unpacking the carton, check the condition of the product and items included in the carto
266. Checking after Unpacking6.2 Operation Manuals Relating to This Product No. Item Control No. 1 Operation Manual for XSEL-PX/QX Controller ME01
276. Checking after Unpacking6.4 How to Read Model Number IX-TNN3015H-5L-T2-JY<Series>SCARA robot <Type>Wall mount typeArm length 300 mm/
287. Specifications7. Specifications 7.1 IX-TNN3015H, IX-UNN3015H IX-TNN3015H (arm length 300, wall mount), IX-UNN3015H (arm length 300, inverse) Item
297. SpecificationsItem SpecificationsSurrounding air temperature/humidityTemperature: 0 to 40°C, humidity: 20 to 85%RH orless (non-condensing)Operatin
307. Specifications7.2 IX-TNN3515H, IX-UNN3515H IX-TNN3515H (arm length 350, wall mount), IX-UNN3515H (arm length 350, inverse) Item Specifications Mod
317. SpecificationsItem SpecificationsSurrounding air temperature/humidityTemperature: 0 to 40°C, humidity: 20 to 85%RH orless (non-condensing)Operatin
328. Installation Environment and Storage/Preservation Environment8. Installation Environment and Storage/Preservation Environment8.1 Installation En
338. Installation Environment and Storage/Preservation Environment8.3 Storage/Preservation Environment The storage/preservation environment conforms t
CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
349. How to Install9.9.1How to InstallShown below is how to install SCARA Robot.Installation PostureCeiling-MountWall-MountHorizontally Oriented Mount
359. How to InstallThe operation area of the wall mount type extends to the back of the base. Because this type is specially designed for mounting on
369. How to Install 2-8H10 reference holes are provided on the mounting surface of the base. Use these holes to prevent the machine from dropping du
3710. Connecting the Controller10. Connecting the Controller The controller connection cables are attached on the robot (standard cable: 5 m, to air-t
3810. Connecting the Controller Before connecting or disconnecting a cable, always turn off the power to the controller. Connecting/disconnecting a
3910. 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
4011. Connecting the Controller11. Checking after Installation Once the robot has been installed, check the following items: Visually check the ro
4112. Precautions for Use12. Precautions for Use 12.1 Setting the Acceleration/Deceleration Set the acceleration/deceleration using the graphs below a
4212. Precautions for Use When PTP operation is performed with the acceleration/deceleration set to 100%, the optimal acceleration/deceleration func
4312. 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
Table of Contents Safety Guide ...
4412. Precautions for UseD-cut surface Center of axis 4 (rotational axis) Span ring, etc. Pressure flange D-cut surface ToolTool diameter: 100 or les
4512. Precautions for Use Turn off the power to the controller and robot before installing a tool. If the tool mounting part does not have suffic
4612. Precautions for Use12.4 Carrying Load Loading capacity Model number Rated load capacity Maximum load capacity IX-TNN3015H/3515H IX-UNN3015H/35
4712. Precautions for UseShape of Y-terminal Spacer for user part installation M4, depth 530 N or less2 Nm or lessExternal force applied to the space
4812. Precautions for UseThe robot comes with a mating 15-pin plug for the D-sub connector. Solder a user-supplied cable to the D-sub connector (plug)
4912. Precautions for UseArm 2 Axis 3 Axis 2 Axis 1 Arm 1 Wall mount specificationArm 1 Arm 2 Axis 3 Axis 4 Inverse specificationAxis 4 Axis 2 Axis 11
5013. Inspection/Maintenance13 Inspection/Maintenance 13.1 Inspection/Maintenance Your horizontal articulated robot must be inspected daily and on a r
5113. Inspection/Maintenance13.1.1 Daily InspectionCheck the following items daily before and after operating the robot.Observe the precautions for wo
5213. Inspection/Maintenance13.2 Battery Replacement13.2.1 PreparationThe following items are required when replacing the batteries:Before replacing t
5313. Inspection/MaintenanceReplacement Procedure (1) Remove the six low-head cap screws (1) and remove the rear panel (base). (2) Remove the batter
12. Precautions for Use ... 4112.1 Setting the
5413. Inspection/MaintenancePlatePin13.3 Absolute Encoder Reset Method 13.3.1 Preparation for Absolute Reset The following jigs are required to
5513. Inspection/Maintenance13.3.2 Starting the Absolute Reset Menu (1) Open the Abs Encoder Reset window from the PC software. (*) Select “Absolut
5613. Inspection/Maintenance13.3.3 Absolute Reset Procedure for Arm 1 or 2 (1) Click the “Encoder Rotation Data Reset1” button. Encoder Multi-rotati
5713. Inspection/Maintenance(3) Click the “Servo ON” button. Servo ON (4) Jog the arm to near the reference position (see reference position drawi
5813. Inspection/Maintenance(6) Press the emergency-stop switch. (7) When performing an absolute reset of arm 1, set the adjustment jig (pin) on arm
5913. Inspection/MaintenanceArm 1 Positioning mark label for arm 1 Positioningmark label for arm 2 Arm 2 Insertion depth Approx. 60 mmInsertion depth
6013. Inspection/Maintenance(8) Click the “OK” button. Confirmation (9) Click the “Encoder Rotation Data Reset2” button. Encoder Multi-rotation Data
6113. Inspection/Maintenance(10) Remove the adjustment jig. If you are working on arm 1, install the cover and secure it with the setscrews (not re
6213. Inspection/Maintenance13.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis (1) Click “Encoder Rotation Data Reset1” button.
6313. Inspection/Maintenance(3) Click the “Servo ON” button. Servo ON (4) Click the “Temp. Standard posture standby” button. The vertical axis ret
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
6413. Inspection/Maintenance(6) Click the “Servo-OFF” button. Servo OFF (7) Press the emergency-stop switch. (8) Affix the rotational axis at the r
6513. Inspection/MaintenanceApprox. 4 mm Approx. 4 mm z Always press the emergency-stop switch before setting an adjustment jig. Failure to do so may
6613. Inspection/Maintenance(9) Click the “OK” button. Confirmation (10) Click the “Encoder Rotation Data Reset2” button. Encoder Multi-rotation Data
6713. Inspection/Maintenance(11) Click the “Home pos. automatic update” button. Automatic Refresh of Home Preset Value (12) Remove the adjustment jig.
6813. Inspection/Maintenance(15) Click the “Servo ON” button. Confirmation (16) Click the “Standard posture standby” button. The vertical axis ret
6913. Inspection/Maintenance(18) Click the “Encoder Rotation Data Reset3” button. Encoder Multi-rotation Data Reset 3 (19) Click the “Home pos. automa
7014. Warranty14. Warranty 14.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company
7114. Warranty14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications(1) If our product is combined with anothe
Change HistoryChange History Revision Date Description of RevisionAugust 2010 First editionApril 2011P. 27 Added options “JY (Joint cable specific
2No.Operation Description Description 2 Transportation When carrying a heavy object, do the work with two or more persons or utilize equipment su
Manual No.: ME3705-6A (January 2013)The information contained in this document is subject to change without notice for purposes ofproduct improvement.
3No.Operation Description Description (2) Cable Wiring Use our company’s genuine cables for connecting between the actuator and controller, and for
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