Iai-america IX-NNN1805 Uživatelský manuál

Horizontal Articulated Robot – IX Series Tabletop Specification, for Arm Length 120/150/180IX-NNN-1205/IX-NNN-1505/IX-NNN-1805 Clean room Specificatio

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

Manual No.: ME3693-4A (January 2013)The information contained in this document is subject to change without notice for purposes ofproduct improvement.

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 Precaution 1. Positioning Repeatability Does Not Change Even If the Positioning Band is Changed.Positioning repeatability does not change ev

93. Handling of the Carton Each robot is packed with a controller prior to shipment.When transporting the carton containing the robot and controller,

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 in a standalone state, put the cables over your shoulder and hold the base and arm2 with both hands.Do

12When transporting the robot while it is still attached to the equipment, etc., fabricate a metal bracket like the one shown below and use the bracke

131. Name of Each Part1. Name of Each Part 1.1 Robot IX-NNN1205/1505/1805 User connectorSpacer for user part installation M cable (outside robot)Refe

141. Name of Each PartIX-NNC1205/1505/1805 Mechanical stopper for axis 3 (vertical axis) <Inside bellows> Wiring ductALM(indication) Bellows (up

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 writt

161. Name of Each PartWarning on handling of the vertical axis Robot model nameplate Warning against electric shock(same on opposite side) CE-certifie

172. External DimensionsReference surface Reference surface 158h7(-0.015)02. External Dimensions IX-NNN-1205 (Arm Length 120, Standard Specification

182. External DimensionsReference surface Reference surface 158h7(-0.015)0IX-NNN-1505 (Arm Length 150, Standard Specification) Detail view of arm en

192. External Dimensions158h7(-0.015)0IX-NNN-1805 (Arm Length 180, Standard Specification) Detail view of arm end (1/1)ALM lamp (Note 2) 2-M3, depth

202. External DimensionsIX-NNC-1205 (arm length 120, clean room specification) ALM lamp (Note 2) 2-M3, depth 6 Same on opposite side (Note 1) User con

212. External DimensionsIX-NNC-1505 (arm length 150, clean room specification) Detail view of arm end (1/1)ALM lamp (Note 2) 2-M3, depth 6 Same on opp

222. External DimensionsIX-NNC-1805 (arm length 180, clean room specification) Detail view of arm end (1/1)ALM lamp (Note 2) 2-M3, depth 6 Same on opp

233. Robot Operation Area3. Robot Operation Area IX-NNN-1205 (Arm Length 120, Standard Specification) IX-NNN-1505 (Arm Length 150, 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-NNN-1805 (Arm Length 180, Standard Specification) Movement range Range of stopper positionPay attention to contact with th

253. Robot Operation AreaIX-NNC-1205 (arm length 120, clean room specification) IX-NNC-1505 (arm length 150, clean room specification) Movement range

263. Robot Operation AreaIX-NNC-1805 (arm length 180, clean room specification) Movement range Range of stopper positionPay attention to contact betw

274. Wiring DiagramNotes (1) To operate the alarm LED, the user must provide a circuit that uses the controller I/O output signal. 4. Wiring Diagram

284. Wiring DiagramPG cable (inside robot)M cable (inside robot) U cable (inside robot) Flexible cableU cable (inside robot) M cable (inside robot) PG

294. Wiring DiagramNotes (1) To operate the alarm LED, the user must provide a circuit that uses the controller I/O output signal. (2) If 24 VDC is

304. Wiring DiagramPG cable (inside robot) M cable (inside robot) U cable (inside robot) Flexible cableU cable (inside robot) M cable (inside robot) P

314. Wiring Diagram4.2 Machine Harness Wiring Table (1) PG cables (inside robot) DWG No. 1090996* Base end Arm 2 end (2) M cables (inside robot)

324. Wiring Diagram4.3 Cable Wiring Table (1) PG cables (outside robot) DWG No. 1090985* Robot end Controller end PlugDF3-2EP-2C(by Hirose Electric

334. Wiring DiagramRobot end Controller end Plug DF3-2EP-2C (by Hirose Electric) SocketDF11-6DS-2S (by Hirose Electric)Orange 1 red Orange 1 black Li

Precautions on Compliance to CE Marking Please be aware that the product does not comply with the CE marking (European EC Directive) if the nameplate

344. Wiring Diagram(2) M cables (outside robot) DWG No. 1090971* Robot end Controller end (3) U cables (outside robot) DWG No. 1090985* Robot end

354. Wiring Diagram4.4 230 V Circuit Components No. Code name Manufacturer Remarks 1 Axis 1 to 3 servo motor AC servo motor, 12 W 2 Axis 4 servo

365. 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

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

386. Checking after Unpacking6.2 Operation Manuals Relating to This Product No. Item Control No. 1 Operation Manual for XSEL-PX/QX Controller ME01

396. Checking after Unpacking6.4 How to Read Model Number<Applicable controller>T2: XSEL-PX/QX<Cable length>3L:3m5:5m<Series>SCARA r

407. Specifications7. Specifications 7.1 IX-NNN1205/1505/1805 IX-NNN-1205 (Arm Length 120, Standard Specification) Item Specifications Model number I

417. SpecificationsTop positionToolCenter of rotational axisTool’s center of gravity ToolCenter of rotational axis35(Fig. 1)(Fig. 2)(Fig. 3)(Fig. 4)T

427. SpecificationsIX-NNN-1505 (Arm Length 150, Standard Specification) Item Specifications Model number IX-NNN1505-**L Degree of freedom Four degre

437. SpecificationsTop positionToolCenter of rotational axisTool’s center of gravity ToolCenter of rotational axis35(Fig. 1)(Fig. 2)(Fig. 3)(Fig. 4)T

Table of ContentsSafety Guide ...

447. SpecificationsIX-NNN-1805 (Arm Length 180, Standard Specification) Item Specifications Model number IX-NNN1805-**L Degree of freedom Four degre

457. SpecificationsTop positionToolCenter of rotational axisTool’s center of gravity ToolCenter of rotational axis35(Fig. 1)(Fig. 2)(Fig. 3)(Fig. 4)T

467. Specifications7.2 IX-NNC1205/1505/1805 IX-NNC-1205 (arm length 120, clean room specification) Item Specifications Type IX-NNC1205-**L-T1 Cleanne

477. SpecificationsItem SpecificationsUser piping Outer diameter 3, inner diameter 2, air tube x 2 pcs (service pressure 0.7 MPa) Surrounding air te

487. SpecificationsIX-NNC-1505 (arm length 150, clean room specification) Item Specifications Type IX-NNC1505-**L-T1 Cleanness (Note 10) Class 10 (0.

497. SpecificationsItem SpecificationsUser piping Two air tubes (outer diameter: 3, inner diameter: 2)(normal service pressure: 0.7 MPa)Surrounding

507. SpecificationsIX-NNC-1805 (arm length 180, clean room specification) Item Specifications Type IX-NNC1805-**L-T1 Cleanness (Note 10) Class 10 (0.

517. SpecificationsItem SpecificationsUser piping Outer diameter 3, inner diameter 2, air tube x 2 pcs (service pressure 0.7 MPa) Surrounding air te

528. Installation Environment and Storage Environment8. Installation Environment and Storage Environment 8.1 Installation Environment Install the rob

538. Installation Environment and Storage Environment8.3 Storage/Preservation Environment The storage/preservation environment conforms to the install

12. Precautions for Use ... 6112.1 Reference Set

549. How to Install9.9.1How to InstallShown below is how to install SCARA Robot.Installation Posture : Available s : Not available : Please co

559. How to Install9. Installation Install the robot horizontally. Use four M3 or M4 hexagonal socket head bolts and washers to securely affix the rob

5610. Connecting the Controller10. Connecting the Controller The controller connection cables are attached on the robot (standard cable: 3 m). Pay att

5710. Connecting the Controller Connect the cables securely after confirming that they are free from damage or bent connector pins.  Connect each

5810. Connecting the ControllerPG cable (outside robot)Tool, control unit, etc. provided by userU cable (outside robot)cable for user wiring Controlle

5910. Connecting the Controller Before connecting or disconnecting a cable, always turn off the power to the controller. Connecting/disconnecting a

6011. Checking after Installation11. Checking after Installation Once the robot has been installed, check the following items:  Visually check the

6112. Precautions for Use10050000 193 38610300.51Kg0.2K g000.751.5001933860.45G0.15G0.51Kg0.2K g12. Precautions for Use 12.1 Reference Settings for A

6212. Precautions for Use To operate the robot at the maximum acceleration/deceleration, provide a stopping period of 3 seconds or more after each a

6312. Precautions for Use12.2 Tools The tool mounting part must have sufficient strength and rigidity, along with adequate fastening power to prevent

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

6412. Precautions for UseIX-NNC1205/1505/1805  Turn off the power to the controller and robot before installing a tool.  If the tool mounting part

6512. Precautions for Use12.3 Carrying Load Loading capacity Model number Rated loading capacity Maximum loading capacity IX-NNN1205/1505/1805 IX-NN

6612. Precautions for UseQuick joint 3,white Quick joint 3 , blackALM (indicator) User connector 8-pinSM P-08V-NC J.S.T. Mfg. Co., Ltd.User spacer (

6712. Precautions for UseIX-NNC1205/1505/1805User connector specifications Shape of Y-terminal Rated voltage 30 V Permissible current 1.1 A Conducto

6812. Precautions for UseReceptacle housing SMR-08V-N (1) and pin contact BYM-001T-P0.6 (10) for the mating side of user connectors is provided (made

6912. Precautions for Use12.5 Suction Rate of Clean Room Specification IX-NNC 1205/1505/1805 Cleanness of class 10 can be achieved when air is suctio

7013. Inspection/Maintenance13. Inspection/Maintenance 13.1 Inspection/MaintenanceYour horizontal articulated robot must be inspected daily and on a r

7113. Inspection/Maintenance13.1.2 Six-Month InspectionCheck the following items on the robot every six months.Observe the precautions for work near t

7213. Inspection/Maintenance13.2 Battery Replacement 13.2.1 Preparation The following items are required when replacing the batteries:  Hexagonal wr

7313. Inspection/Maintenance(3) Unplug the BAT connector and connect a new battery.  After removing each battery, set a new battery within 1 to 2

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

7413. Inspection/Maintenance13.3 Absolute Encoder Reset Method 13.3.1 Preparation for Absolute Reset The following jigs are required to perform

7513. Inspection/Maintenance13.3.2 Starting the Absolute Reset Menu (1) Open the Abs Encoder Reset window from the PC software. (*) Select “Absolut

7613. Inspection/Maintenance13.3.3 Absolute Reset Procedure for Arm 1 or 2 (1) Click the “Encoder Rotation Data Reset1” button. Encoder Multi-rotati

7713. Inspection/Maintenance(3) Click the “Servo ON” button. Servo ON (4) Jog the arm to near the reference position (see reference position drawi

7813. Inspection/Maintenance(6) Press the emergency-stop switch. (7) When performing an absolute reset of arm 1, set the adjustment jig (pin) on arm

7913. Inspection/MaintenanceReference Posture for Arm Length 120*1/150/180 *1 Absolute reset of arm 1 whose length is 120 Pin,absolute reset jig Arm 1

8013. Inspection/Maintenance(8) Click the “OK” button. Confirmation (9) Click the “Encoder Rotation Data Reset2” button. Encoder Multi-rotation Data

8113. 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

8213. Inspection/Maintenance13.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis (1) Click “Encoder Rotation Data Reset1” button.

8313. Inspection/Maintenance(3) Click the “Servo ON” button. Servo ON (4) Click the “Temp. Standard posture standby” button.  The vertical axis ret

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

8413. Inspection/Maintenance(6) Click the “Servo-OFF” button. Servo OFF (7) Press the emergency-stop switch. (8) Affix the rotational axis at the r

8513. Inspection/MaintenanceReference Posture for Arm Length 150/180  Always press the emergency-stop switch before setting an adjustment jig. Failu

8613. Inspection/Maintenance(9) Click the “OK” button. Confirmation (10) Click the “Encoder Rotation Data Reset2” button. Encoder Multi-rotation Data

8713. Inspection/Maintenance(11) Click the “Home pos. automatic update” button. Automatic Refresh of Home Preset Value (12) Remove the adjustment jig.

8813. Inspection/Maintenance(15) Click the “Servo ON” button. Confirmation (16) Click the “Standard posture standby” button.  The vertical axis ret

8913. Inspection/Maintenance(18) Click the “Encoder Rotation Data Reset3” button. Encoder Multi-rotation Data Reset 3 (19) Click the “Home pos. automa

9014. Warranty14. Warranty 14.1 Warranty Period One of the following periods, whichever is shorter:  18 months after shipment from our company

9114. Warranty14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications(1) If our product is combined with anothe

92Change HistoryChange History Revision Date Description of RevisionAugust 2010 First editionP. 1 to 7 Contents added and changed in Safety GuideP. 70