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IAI IX Series Operation Manual

Horizontal articulated robot, tabletop type, arm length 120/150/180, intelligent actuator
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Horizontal Articulated Robot – IX Series
Tabletop Type, Arm Length 120/150/180
IX-NNN-1205, IX-NNN-1505, IX-NNN-1805
Operation Manual
Second Edition

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Summary of Contents for IAI IX Series

  • Page 1 Horizontal Articulated Robot – IX Series Tabletop Type, Arm Length 120/150/180 IX-NNN-1205, IX-NNN-1505, IX-NNN-1805 Operation Manual Second Edition...
  • Page 3 [Important] • The product cannot be operated in any way unless expressly specified in this operation manual. IAI shall assume no responsibility for the outcome of any operation not specified herein. • Information contained in this operation manual is subject to change without notice for the purpose of product improvement.
  • Page 4 Introduction Thank you for purchasing an IAI Horizontal Articulated Robot. This manual describes the handling, structure, maintenance and other important aspects of the IX-Series Horizontal Articulated Robot (IX-NNN-1205/1505/1805), and provides the user with information necessary to the safe operation of the robot.

  • Page 5: Table Of Contents

    Table of Contents 1. For Safe Use of Robots ..................... 1 Safety Symbols........................1 Safety Precautions ......................... 1 Conducting Special Training on Industrial Robots..............7 Warranty Period and Scope of Warranty................7 2. Names of Robot Parts ....................8 Robot Body..........................8 Robot Controller ........................

  • Page 7: For Safe Use Of Robots

    1. For Safe Use of Robots Safety Symbols Industrial robots are machines offering an advanced programming function and capable of realizing highly flexible movements. When using industrial robots, therefore, be sure to observe the safety instructions and precautions applicable to these robots. Failure to provide the necessary safety measures or incorrect handling of the robot may not only cause the robot to break down or sustain damage, but it can also lead to a major accident involving the operator (person who installs, operates, adjusts/inspects or otherwise handles the robot) including injury or even death.
  • Page 8 Precautions for Installation of the Robot (1) Ensuring a proper service environment Refer to the section entitled “Installation Environment and Storage Environment” to secure a proper service environment for the robot. (2) Ensuring a space to cover the robot’s operating range Refer to the section entitled “Robot Operation Area”...
  • Page 10 Precautions for Work Near the Robot Contact with a moving robot may result in a serious accident. Be sure to observe the following items: (1) Prohibition against entering the robot’s range of movement during operation Never enter the robot’s range of movement while it is operating or in the ready mode. (2) Before entering the robot’s range of movement If you must enter the robot’s range of movement, always press the emergency-stop switch or turn off the power to halt the robot’s operation before entering.
  • Page 11 Precautions for Operation of the Robot (1) Power on Before turning on the power, confirm that no one is working in the immediate vicinity of the robot. (2) Performing work when the robot is operating Before entering the robot’s range of movement to perform setup or any other task, always press the emergency-stop switch to disable operation of the robot.
  • Page 12 (3) Participation of inspection/maintenance/adjustment personnel in IAI’s seminar on robots Inspection, maintenance and adjustment must be performed by qualified personnel who have participated in the robot seminar organized by IAI or in the presence of personnel who have participated in the seminar.

  • Page 13: Conducting Special Training On Industrial Robots

    • A defect arising from an act of God, such as an earthquake, storm, flood or lightning, accident, fire or other unforeseen event This warranty only covers the product unit delivered. IAI shall bear no responsibility for any secondary loss caused by a defect in the delivered product.

  • Page 14: Names Of Robot Parts

    2. Names of Robot Parts Robot Body...

  • Page 15: Robot Controller

    Robot Controller Robot Controller (Non-brake type specification)

  • Page 16: Labels

    Labels The following labels are attached on the robot and controller. Be sure to observe the instructions and cautions written on the labels to ensure the correct use of the robot/controller. (1) Labels on the Robot Prohibition of entry into Warning on handling of Warning against the operation area...

  • Page 17: Label Positions

    Label Positions Label Positions on the Robot CE-certified robot (Provided Warning on handling of the vertical axis only for CE-certified models) Warning against electric shock (Same on the opposite side) Robot serial number Label Positions on the Controller Controller serial number Caution/warning on handling of the controller Designation of the connected robot...

  • Page 18: Transportation And Handling

    3. Transportation and Handling Handling of the Carton Each robot is packed with a controller prior to shipment. When transporting the carton containing the robot and controller, observe the following items and be careful not to drop the carton or apply impact due to forcible contact: •...

  • Page 19: Handling Of Individual Components

    After unpacking, be sure to confirm the condition of the robot and other items contained in the carton. Should you find a damaged or missing part, please contact IAI immediately.

  • Page 20: Transporting The Robot

    Transporting the Robot When transporting the robot alone, hang the cable over your arm and carry the robot by holding the base and arm 2 with both hands. Do not hold the robot only by arm 2 or the wiring duct. Warning Caution If the robot is held only by arm 2 or an excessive load is applied to arm 2, the robot may be...
  • Page 21 When transporting the robot that has been assembled with an equipment, etc., produce a bracket conforming to the specifications below and affix arm 2 to the equipment’s platform, etc., using the bracket. φ4 hole φ5 hole Arm affixing bracket Material: SPCC or equivalent Platform During the transport, move the equipment slowly by paying attention to the balance of the robot and avoid...

  • Page 22: Installation Environment And Storage Environment

    4. Installation Environment and Storage Environment Installation Environment Install the robot in an environment that satisfies the following conditions: • Away from direct sunlight • Not subject to radiated heat from a high-capacity energy source such as a heat-treating furnace •...

  • Page 23: Installation Of The Robot

    5. Installation of the Robot Installing the Robot Install the robot on a level surface. Securely affix the robot using four M3 or M4 hexagonal socket head bolts and washers. Bolt size Tightening torque Remarks Be sure to use a flat washer (outer diameter φ7 mm, inner diameter φ3.2 mm, 0.81 N⋅m thickness 0.5 mm) With a M4 bolt, using a flat washer will cause the washer to protrude from the...

  • Page 24: Connecting The Controller

    Connecting the Controller The controller connection cables are attached on the robot. (Standard cable: 3 m) Pay attention to the following items when connecting the controller: • Connect to the robot of the serial number specified on the robot designation label provided on the front panel of the controller.
  • Page 25 • Connect the cables securely after confirming that they are free from damage or bent connector pins. • Connect each cable by aligning the indication on the marking tube on the cable with the indication on the controller panel. • When installing the PG connector (D-sub connector), ensure correct orientation of the connector. •...
  • Page 26 PG cable (outside robot) M cable (outside robot) Controller (Non-brake type specification) To air tube (provided by Tool, control unit, etc. user) φ3 quick joint (white) (provided by user) φ3 quick joint (black) U cable (outside robot) cable for user wiring Standard cable length: 3 m Robot-end connector Controller-end connector...

  • Page 27: Checking After Installation

    Warning Before connecting or disconnecting a cable, always turn off the power to the controller. Connecting/disconnecting a cable with the power supplied to the controller may cause the robot to malfunction, resulting in a serious accident. Installing the connectors into the wrong sockets may cause the robot to malfunction. Be sure to check the designation on the cable with that on the controller panel before plugging in any connector.

  • Page 28: Precautions For Use

    6. Precautions for Use Reference Acceleration/Deceleration Settings Use the robot based on appropriate acceleration/deceleration settings by referring to the following graph: (1) PTP operation (Set using the SEL language commands ACCS and DCLS.) IX120/150/180: Reference acceleration/deceleration settings for PTP operation Reference range of maximum setting Reference range for continuous operation Carrying load mass (kg)
  • Page 29 (2) CP operation (Set using the SEL language commands ACC and DCL.) IX120/150/180: Reference acceleration/deceleration settings for CP operation Reference range of maximum setting Reference range for continuous operation Carrying load mass (kg) Moment of inertia (kg⋅mm Maximum CP operation speed IX120: 300 mm/sec IX150/180:...

  • Page 30: Tools

    Tools The tool mounting part must have sufficient strength and rigidity, along with adequate fastening power to prevent positional shift. It is recommended that a tool be installed over a split ring, span ring or other appropriate part. A sample configuration of tool installation is given below.

  • Page 31: Carrying Load

    Carrying Load Load capacity Model Rated load capacity Maximum load capacity IX-NNN1205/1505/1805 0.2 kg 1.0 kg Load’s permissible moment of inertia Permissible moment of inertia Model Rated Maximum IX-NNN1205/1505/1805 96.5 kg ⋅ 386 kg ⋅ Load offset (from the center of axis 4 (rotational axis)) 17.5 mm or less Center of axis 4 (rotational axis) Load’s center of gravity...

  • Page 32: Actuator With Vertical Axis Brake (Optional)

    Actuator with Vertical Axis Brake (Optional) The brake (optional) of the vertical axis is designed to hold the load in position in vertical direction when the servo turns off for some reason. Take note that this brake cannot be used as an emergency-stop brake. The brake is capable of holding a maximum load of 1.0 kg.

  • Page 33: User Wiring And Piping

    User Wiring and Piping The IX-NNN1205/1505/1805 comes standard with the user wiring connector and air tube joints. The applicable user wires and air tubes are specified in the tables below. User connector, 8-pin SMP-08V-NC by JST ALM (indicator) Quick joint Quick joint φ3 (black) φ3 (white)
  • Page 34 A mating receptacle housing (SMR-08V-N, 1 pc) and pin contacts (BYM-001T-P0.6, 10 pcs) are supplied (both are manufactured by JST) with the user connector. Pressure-bond the user-provided wires to pin contacts, insert the pin contacts into the receptacle housing, and then plug the receptacle housing into the user connector. Pressure bonding of pin contacts requires a manual pressure bonder YC-121R (manufactured by JST).

  • Page 35: Inspection/Maintenance

    Disassembly of brake Cutting of cable If any of the above is performed at the user site, IAI may not be able to correct or repair the malfunctions and failures the robot may exhibit or suffer thereafter. Periodic inspection may be performed with the controller power turned on or off. In either case, take appropriate measures to prevent other operators from turning on/off the controller power accidentally during the inspection.
  • Page 36 • Check the exterior for abnormality, loose covers, flaws, dents, etc. • Check for abnormal move, vibration or noise while the robot is operating. (If the robot has flaws or other abnormalities, please contact IAI.) • Check the cables for flaws and dents.
  • Page 37 Description • Check for play in the rotational and axial directions. Harmonic speed reducer (Contact IAI if an abnormality is found.) • Check for play in the rotational and axial directions. Joint bearing (Contact IAI if an abnormality is found.) •...

  • Page 38: Encoder Battery Replacement

    Encoder Battery Replacement 7.2.1 Preparation The following items are required when replacing the encoder batteries: • Hex wrench (size: 2 mm) • New dedicated batteries for IX120/150/180: AB-6 (4 pcs) Before replacing the batteries, turn off the power to the controller, control panel and other relevant units. Warning Caution Performing inspection or maintenance without fully understanding the details of work may result in...
  • Page 39 7.2.2 Encoder Battery Replacement Procedure (1) Remove the four hexagonal countersunk bolts from the base cover, and remove the cover (base). (2) Select the connector (BAT*) corresponding to the battery you want to replace. (3) Unplug the BAT connector and install a new battery. ●...
  • Page 40 (4) Store the batteries into the battery holder. (5) Affix the cover (base) using the four hexagonal countersunk bolts (tightening torque: 0.8 N⋅m). Caution When installing the cover (base), be careful not to pinch the internal wires.

  • Page 41: Absolute Reset Procedure

    Absolute Reset Procedure The robot is shipped after complete home position adjustment. Since the IX-NNN-1205/1505/1805 uses an absolute encoder, the home position is set when an absolute reset is performed. The absolute data in the encoder is backed up by the batteries, which means that once an absolute reset is performed, you need not perform an absolute reset the next time the power is turned on.
  • Page 42 7.3.2 Starting the Absolute Reset Menu (1) Open the absolute reset window from the PC software. (2) The absolute reset window opens. • One of three absolute reset screens—for arm 1, arm 2 and rotational axis + vertical axis—is displayed when a corresponding tab is clicked. Absolute reset screen for arm 1 or 2 Absolute reset screen for...
  • Page 43 7.3.3 Absolute Reset Procedure for Arm 1 or 2 (1) Click the “Encoder Rotation Data Reset1” button. (2) Click the “Reset Controller Error” button.
  • Page 44 (3) Click the “Servo ON” button. (4) Jog the arm to near the reference position (see reference position drawing in step 7), and click the “Jog end” button. (5) Click the “Servo-OFF” button.
  • Page 45 (6) Press the emergency-stop switch. (7) To perform an absolute reset of arm 1, set an adjustment jig (pin) in arm 1 to fix the arm at the reference position. To perform an absolute reset of arm 2, set an adjustment jig (pin) in arm 2 to fix the arm at the reference position.
  • Page 46 (8) Click the “OK” button. (9) Click the “Encoder Rotation Data Reset2” button.
  • Page 47 (10) Remove the adjustment jig. (11) Release the emergency-stop switch. (12) Click the “OK” button. • An arrow is shown next to the “Home pos. automatic update” button. Do not set this item. • If home position automatic update was performed by mistake, do not write the flash ROM, but perform a software reset instead.
  • Page 48 7.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis (1) Click “Encoder Rotation Data Reset1” button. (2) Click the “Reset Controller Error” button.
  • Page 49 (3) Click the “Servo ON” button. (4) Click the “Temp. Standard posture standby” button. • The vertical axis returns to its home position. Exercise caution so as not to be injured by the axis during movement. (5) Jog the rotational axis to the reference position (see reference position drawing in step 8), and click the “Jog end”...
  • Page 50 (6) Click the “Servo-OFF” button. (7) Press the emergency-stop switch. (8) Affix the rotational axis at the reference position by setting the plate and pin of the adjustment jig as illustrated below. • Set the jig after confirming that the emergency-stop switch is pressed. Reference position of IX-NNN1205 vertical axis Plate (absolute reset jig)
  • Page 51 Reference position of IX-NNN1505/1805 vertical axis Plate (absolute reset jig) Pin (absolute reset jig) Set the plate so that the φ3 hole comes to Turn the rotational axis and the opposite side of the D-cut surface. press the jig so as not to leave any gaps along the plate.
  • Page 52 (9) Click the “OK” button. (10) Click the “Encoder Rotation Data Reset2” button.
  • Page 53 (11) Click the “Home pos. automatic update” button. (12) Remove the adjustment jig. (13) Release the emergency-stop switch. (14) Click the “OK” button.
  • Page 54 (15) Click the “Servo ON” button. (16) Click the “Standard posture standby” button. • The vertical axis returns to its home position. Exercise caution so as not to be injured by the axis during movement. (17) Click the “Servo-OFF” button.
  • Page 55 (18) Click the “Encoder Rotation Data Reset3” button. (19) Click the “Home pos. automatic update” button, and then click “X” in the top right-hand corner to exit the absolute reset window.
  • Page 56 (20) If an absolute reset was performed on both the rotational axis and vertical axis, or home position automatic update was performed for arm 1 or 2 by mistake, closing the absolute reset window will display the following screen. Click the “No” button. •...
  • Page 57 7.3.5 Resetting the Software (1) Select “Software Reset” from the Controller menu on the tool bar. (2) Click the “Yes” button twice. The controller will be reset and restarted. • The message asking whether to delete data that has not written to the flash ROM appears. Click “Yes.”...

  • Page 59: Specifications

    Specifications Specification Table IX-NNN-1205 (Arm Length 120, Standard Specification) Item Specifications Type IX-NNN1205-**L Degree of freedom Four degrees of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) AC servo motor + Speed reducer Axis 2 (arm 2) AC servo motor + Speed reducer Axis 3 (vertical axis)
  • Page 60 Item Specifications Operating Ambient temperature/humidity Temperature: 0 to 40°C, humidity: 20 to 85%RH or less (non-condensing) environment Altitude 1,000 or less Noise 52 to 59 Robot weight Controller Power supply Three-phase 200/230 V, 50/60 Hz, 2.2 A ±10 Allowable supply voltage fluctuation Overvoltage category (IEC60664-1) Category III Pollution degree (IEC60664-1)
  • Page 61 IX-NNN-1505 (Arm Length 150, Standard Specification) Item Specifications Type IX-NNN1505-**L Degree of freedom Four degrees of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) AC servo motor + Speed reducer Axis 2 (arm 2) AC servo motor + Speed reducer Axis 3 (vertical axis) AC servo motor + Belt + Ball-screw spline...
  • Page 62 Item Specifications Operating Ambient temperature/humidity Temperature: 0 to 40°C, humidity: 20 to 85%RH or less (non-condensing) environment Altitude 1,000 or less Noise 52 to 59 Robot weight Controller Power supply Three-phase 200/230 V, 50/60 Hz, 2.2 A ±10 Allowable supply voltage fluctuation Overvoltage category (IEC60664-1) Category III Pollution degree (IEC60664-1)
  • Page 63 IX-NNN-1805 (Arm Length 180, Standard Specification) Item Specifications Type IX-NNN1805-**L Degree of freedom Four degrees of freedom Overall arm length Arm 1 length Arm 2 length Drive method Axis 1 (arm 1) AC servo motor + Speed reducer Axis 2 (arm 2) AC servo motor + Speed reducer Axis 3 (vertical axis) AC servo motor + Belt + Ball-screw spline...
  • Page 64 Item Specifications Operating Ambient temperature/humidity Temperature: 0 to 40°C, humidity: 20 to 85%RH or less (non-condensing) environment Altitude 1,000 or less Noise 52 to 59 Robot weight Controller Power supply Three-phase 200/230 V, 50/60 Hz, 2.2 A ±10 Allowable supply voltage fluctuation Overvoltage category (IEC60664-1) Category III Pollution degree (IEC60664-1)

  • Page 65: External Dimensions

    External Dimensions IX − NNN − 1205 (Arm Length 120, Standard Specification) (indicator) User connector, 8-pin (*2) SMP-08V-NC by JST Quick joint Quick joint φ3 (white) φ3 (black) M3, depth 6 Quick joint Quick joint φ3 (white) φ3 (black) 2-M3, depth 6 Same on the opposite side (*1) Cable handling space...
  • Page 66 IX − NNN − 1505 (Arm Length 150, Standard Specification) (indicator) (*2) User connector, 8-pin SMP-08V-NC by JST Quick joint Quick joint φ3 (white) φ3 (black) M3, depth 6 2-M3, depth 6 Same on the opposite side (*1) Quick joint Quick joint φ3 (black) φ3 (white)
  • Page 67 IX − NNN − 1805 (Arm Length 180, Standard Specification) (indicator) User connector, (*2) 8-pin SMP-08V-NC by JST Quick joint Quick joint φ3 (white) φ3 (black) M3, depth 6 2-M3, depth 6 Same on the opposite side (*1) Quick joint Quick joint φ3 (black) φ3 (white)

  • Page 68: Robot Operation Area

    Robot Operation Area IX − NNN − 1205 (Arm Length 120, Standard Specification) Pay attention not to let these areas contact the base. Movement range Area of prohibited entry Area of prohibited entry Stopper position range IX − NNN − 1505 (Arm Length 150, Standard Specification) Pay attention not to let these areas contact the base.
  • Page 69 IX − NNN − 1805 (Arm Length 180, Standard Specification) Pay attention not to let these areas contact the base. Movement range Stopper position range...
  • Page 70 Inside base Inside arm 2 Controller Socket DF11-6DS-2C Axis 1 (arm 1) rotor/stator, Hirose ABS encoder Relay plug Drawing No. 1090996* 12 W (200 V) Relay plug DF11-6DEP-2C DF3-4EP-2C Drawing No. 1090998* Relay plug DF11-6DEP-2C Socket Socket DF11-6DS-2S PG cable (inside robot) DF3-4S-2C ABS encoder Flexible...
  • Page 71 U cable (inside robot) M cable (inside robot) Flexible cable PG cable (inside robot) Air piping User connector Air joint White (φ3), black (φ3) U cable (outside robot) User wiring terminals Axis 4 Axis 3 Air piping U cable (inside robot) encoder Axis 2 motor...
  • Page 73 Machine Harness Wiring Table (1) PG cable (inside robot): Drawing No. 1090996* Base end Arm 2 end Tube Tube Connector Signal Connection Signal Connector ID No. Wire symbol symbol Relay plug Socket BAT+ BAT+ DF11-6DEP-2C DF11-6DS-2C BAT- BAT- (Hirose) (Hirose) BAT+ BAT+ 0.3-mm...
  • Page 74 Robot Cable Wiring Table (1) PG cable (outside robot): Drawing No. 1090985* Robot end Controller end Tube Tube Connector Signal Connection Signal Connector ID No. Wire symbol symbol BAT1 Plug Plug BAT+ DF3-2EP-2C BAT2 connector (Hirose) BAT- BAT4 10126- 3000VE Socket BAT+ 0.12-mm...
  • Page 75 Robot end Controller end Tube Tube Connector Signal Connection Signal Connector ID No. Wire symbol symbol Plug Plug BAT+ BAT3 DF3-2EP-2C connector BAT- (Hirose) 10126- BAT+ 3000VE 0.12-mm BAT- (Sumitomo 3-core, Socket shielded DF11-6DS-2S twisted (Hirose) pair cable Orange 1 red Orange 1 black BAT+...
  • Page 76 (2) M cable (outside robot): Drawing No. 1090971* Robot end Controller end Tube Tube Connector Signal Connection Signal Connector ID No. Wire symbol symbol Socket Plug DF3-4S2C GIC2-5/4 (Hirose) -STF-7-62 (Phoenix) Same as above Same as above 0.2-mm 16-core Same as above Same as above Same as above Same as above...
  • Page 77 IX-NNN1205/1505/1805 Code name Manufacturer Remarks Axis 1/2/3 servo motor AC servo motor, 12 W Axis 4 servo motor AC servo motor, 60 W M cable (inside robot) Used wire: 250 V, 105°C (rated), 0.3 mm...
  • Page 82 SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China TEL 021-6448-4753 FAX 021-6448-3992 website: www.iai-robot.com The information contained in this document is subject to change without notice for purposes of product improvement. Copyright 2009. Dec. IAI Corporation. All rights reserved.

This manual is also suitable for:

Ix-nnn-1205Ix-nnn-1505Ix-nnn-1805

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