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IAI IX Series Operation Manual

Horizontal articulated robot for ceiling mount arm length 500/600/700/800
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Horizontal Articulated Robot – IX Series
For Ceiling Mount Arm Length 500/600/700/800
Operation Manual Seventh Edition

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Summary of Contents for IAI IX Series

  • Page 1 Horizontal Articulated Robot – IX Series For Ceiling Mount Arm Length 500/600/700/800 Operation Manual Seventh Edition...
  • Page 3 Information contained in this Operation Manual is subject to change without notice for the purpose of product improvement. If you have any question or comment regarding the content of this manual, please contact the IAI sales office near you. Using or copying all or part of this Operation Manual without permission is prohibited.

  • Page 5: Table Of Contents

    Table of Contents Safety Guide ........................1 Handling Precautions....................... 8 International Standards Compliances ................12 1. Name of Each Part....................13 Robot ..........................13 Labels ..........................14 Label Positions ........................15 2. External Dimensions ....................16 3. Robot Operation Area ....................24 4.
  • Page 6 13. Maintenance and Inspection..................68 13.1 Inspection Items and Periods.................... 68 13.2 Ball Screw Spline Grease Supply ..................13.2.1 Applicable Grase and Supply Period...............70 13.2.2 Grease Supply ......................71 13.2 Battery Replacement ......................70 13.2.1 Preparation ......................70 13.2.2 Replacement Procedure ..................71 13.3 Check for Looseness of Arm Attachment Screws ............72 13.4...

  • Page 7: Safety Guide

    Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
  • Page 8 Operation Description Description Transportation When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
  • Page 9 Operation Description Description Installation (2) Cable Wiring and Start Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
  • Page 10 Operation Description Description Installation (4) Safety Measures and Start When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
  • Page 11 Operation Description Description Trial Operation When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
  • Page 12 Operation Description Description Maintenance When the work is carried out with 2 or more persons, make it clear who is and Inspection to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
  • Page 13 Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the operation Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger Danger product is not handled correctly, will result in death or serious injury.

  • Page 14: Handling Precautions

    Handling Precautions Repetitive Positioning Accuracy Does Not Change Even If the Positioning Width is Changed. Repetitive positioning accuracy does not change even if the positioning width is changed. If the positioning width is narrower than the default value, the repetitive positioning accuracy does not change, but the time it takes for the positioning complete signal to be output takes longer.
  • Page 15 Warning Caution • 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 drop the carton or apply impact due to forcible contact, as it may cause injury or damage to the robot or controller.
  • Page 16 Transportation IX-HNN50 H/60 H/70 H/80 Use a dolly, forklift, crane, etc., to transport the robot. When transporting the robot, move the robot slowly by paying attention to the balance of the robot and being careful not to apply vibration or shock. 5.1.1 Transporting the Ceiling Specification Remove the arm locking plates and let arms 1 and 2 extend straight.
  • Page 17 IX-INN50 H/60 H/70 H/80 Secure the arms with arm locking plates, and loop the cables around the base and secure them with adhesive tape, etc. If a crane is used, install the supplied eye-bolts (2 pcs) on the robot and transport the robot using the eye-bolts. Remove the top cover of arm 1 and install the eye-bolts in the positions shown in the figure.

  • Page 18: International Standards Compliances

    International Standards Compliances This actuator complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information. RoHS Directive CE Marking ○ ○...

  • Page 19: Name Of Each Part

    1. Name of Each Part Robot User piping ‡4, black User connector User piping ‡6, red Indicator lamp (LED) Spacer for user part installation User piping ‡6, yellow BK switch (brake release switch) User piping ‡4, white Mechanical stopper for Reference axis 3 (vertical axis) surface...

  • Page 20: 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 21: Label Positions

    Label Positions Label Positions on the Robot Warning against electric shock Ceiling mount specification CE-certified robot (Provided only for CE-certified models) Warning on handling Robot serial number of the vertical axis Prohibition of entry into the operation area View A Warning against electric shock Robot serial number...

  • Page 22: External Dimensions

    2. External Dimensions IX-HNN-50††H ‡235 (recommended mounting dimension) Reference surface (Mounting center) Reference surface ‡112 ‡146 Arm 2 Arm 1, stopper arm2 stopper 3-M4, depth 8 Same on opposite side (*1) 4-‡11, large ‡24 counterbored, depth 5 Quick joint for ‡6 air tube Quick joint for ‡44...
  • Page 23 IX-HNN-60††H ‡235 (recommended mounting dimension) (Mounting center) Reference surface Reference surface ‡112 ‡146 Arm 1, Arm 2 arm2 stopper stopper 3-M4, depth 8 Same on opposite side (*1) 4-‡11, large ‡24 counterbored, depth 5 Quick joint for ‡6 air tube ‡44 Quick joint for ‡4 air tube...
  • Page 24 IX-HNN-70††H ‡310 (recommended mounting dimension) Reference 17.5 (Mounting center) surface Reference surface ‡144 ‡188 Arm 2 Arm 1 3-M4, depth 8 stopper Same on Arm 2 stopper opposite side stopper (*1) * The inverse specification is installed upside down. Quick joint for ‡6 air tube Quick joint for ‡4 air tube...
  • Page 25 IX-HNN-80††H ‡310 (recommended mounting dimension) Reference (Mounting center) surface Reference surface (‡144) (‡188) 3-M4, depth 8 Arm 2 Arm 1 Same on opposite stopper side (*1) stopper Arm 2 stopper * The inverse specification is installed upside down. 4-‡14, board ‡24 counterbored, depth 5 Quick joint for ‡6 air tube...
  • Page 26 IX-INN-50††H ‡235 (recommended mounting dimension) Reference (Mounting center) surface Reference surface ‡112 ‡146 Arm 1, Arm 2 arm2 stopper stopper 3-M4, depth 8 Same on opposite side (*1) 4-‡11, large ‡24 counterbored, depth 5 Quick joint for ‡6 air tube Quick joint for ‡44 ‡4 air tube...
  • Page 27 IX-INN-60††H ‡235 (recommended mounting dimension) (Mounting center) Reference surface Reference surface ‡112 ‡146 Arm 1, Arm 2 stopper arm2 stopper 3-M4, depth 8 Same on opposite side (*1) 4-‡11, large ‡24 counterbored, depth 5 Quick joint for ‡6 air tube ‡44 Quick joint for ‡4 air tube...
  • Page 28 IX-INN-70††H ‡310 (recommended mounting dimension) Reference (Mounting center) surface Reference surface ‡144 ‡188 Arm 2 Arm 1 3-M4, depth 8 stopper Same on Arm 2 stopper opposite side stopper (*1) * The inverse specification is installed upside down. Quick joint for ‡6 air tube Quick joint for ‡4 air tube...
  • Page 29 IX-INN-80††H ‡235 (recommended mounting dimension) Reference (Mounting center) surface Reference surface ‡144 ‡188 3-M4, depth 8 Arm 2 Arm 1 Same on opposite stopper side (*1) stopper Arm 2 stopper * The inverse specification is installed upside down. 4-‡14, large ‡30 counterbored, depth 5 Quick joint for ‡6 air tube...

  • Page 30: Robot Operation Area

    3. Robot Operation Area IX-HNN50 H, IX-INN50 (Area of prohibited entry) Movement range Range of stopper position IX-HNN60 H, IX-INN60 (Area of prohibited entry) Movement range Range of stopper position...
  • Page 31 IX-HNN70 H, IX-INN70 (Area of prohibited entry) Range of stopper position Movement range IX-HNN80 H, IX-INN80 (Area of prohibited entry) Movement range Range of stopper position...

  • Page 32: Wiring Diagram

    4. Wiring Diagram Layout Drawing...

  • Page 33: 230-V Circuit Components

    230-V Circuit Components IX-HNN50††H/60††H, IX-INN50††H/60††H Code name Model number Manufacturer Remarks AC servo motor, 60, 400 W, key Axis 1 servo motor TS4609 N2077 E206 groove, CE certified AC servo motor, … 60, 200 W, key Axis 2 servo motor TS4607 N2077 E201 Tamagawa groove, CE certified...

  • Page 34: Absolute Reset Jig

    5. Option Absolute Reset Jig This jig is used to perform an absolute reset in the event that absolute data in the encoder was lost. Remarks Model number JG-2 For arm length 500/600 JG-3 For arm length 700/800 Flange This flange is used to install a load at the end of the Z-axis arm. Model number Remarks IX-FL-1...

  • Page 35: Checking After Unpacking

    6. Checking after Unpacking After unpacking the carton, check the condition of the product and items included in the carton. Items Included in the Carton Refer to 6.3, "How to Read Model Nameplate" Robot and 6.4, "How to Read Model Number." Controller Eye-bolt D-sub connector...

  • Page 36: Operation Manuals Relating To This Product

    Operation Manuals Relating to This Product Operation Manual for XSEL-PX/QX Controller ME0152 Operation Manual for XSEL-R/S/RX/SX/RXD/SXD Controller ME0313 Operation Manual for XSEL Controller P/Q/PX/QX – RC Gateway Function ME0188 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154 Operation Manual for Teaching Pendant SEL-T/TD/TG ME0183 Operation Manual for Teaching Pendant IA-T-X/XD ME0160...

  • Page 37: How To Read Model Number

    How to Read Model Number IX-HNN7020H-5L-T2-JY-** Identification for IAI use only (Note 1) <Series> SCARA robot <Option> <Type> JY: Joint cable specification Ceiling mount type Arm length 500 mm/Z-axis 200 mm HNN5020H <Applicable controller> Arm length 600 mm/Z-axis 200 mm...

  • Page 38: Specifications

    7. Specifications IX-HNN50 H/60 H/70 H/80 IX-HNN-50††H (arm length 500, ceiling mount) Item Specifications Model number IX-HNN50††H-**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 39 Item Specifications Operating Temperature: 0 to 40°C, humidity: 20 to 85%RH or Surrounding air temperature/humidity environment less (non-condensing) i t l Robot weight 30.5 Brake power source for main unit DC24VI10% Controller Power supply 230 V 50/60 Hz 8 A Allowable supply voltage ±10 fluctuation...
  • Page 40 IX-HNN-60††H (arm length 600, ceiling mount) Item Specifications Model number IX-HNN60††H-**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 with brake + Belt + Ball-screw spline...
  • Page 41 Item Specifications Operating Temperature: 0 to 40°C, humidity: 20 to 85%RH or Surrounding air temperature/humidity environment less (non-condensing) i t l Robot weight 31.5 Brake power source for main unit DC24VI10% Controller Power supply 230 V 50/60 Hz 8 A Allowable supply voltage ±10 fluctuation...
  • Page 42 IX-HNN-70††H (arm length 700, ceiling mount) Item Specifications Model number IX-HNN70††H-**L-T1 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 with brake + Belt + Ball-screw spline...
  • Page 43 Item Specifications Operating Temperature: 0 to 40°C, humidity: 20 to 85%RH or Surrounding air temperature/humidity environment less (non-condensing) i t l Robot weight Brake power source for main unit DC24VI10% Controller Power supply 230 V 50/60 Hz 15 A Allowable supply voltage ±10 fluctuation Overvoltage category (IEC60664-1)
  • Page 44 IX-HNN-80††H (arm length 800, ceiling mount) Item Specifications Model number IX-HNN80††H-**L-T1 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 with brake + Belt + Ball-screw spline...
  • Page 45 Item Specifications Operating Temperature: 0 to 40°C, humidity: 20 to 85%RH or Surrounding air temperature/humidity environment less (non-condensing) i t l Robot weight Brake power source for main unit DC24VI10% Controller Power supply 230 V 50/60 Hz 15 A Allowable supply voltage ±10 fluctuation Overvoltage category (IEC60664-1)

  • Page 46: Ix-Inn50

    IX-INN50 H/60 H/70 H/80 IX-INN-50††H (arm length 500, inverse) Item Specifications Model number IX-INN50††H-**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 47 Item Specifications Operating Temperature: 0 to 40°C, humidity: 20 to 85%RH or Surrounding air temperature/humidity environment less (non-condensing) i t l Robot weight 30.5 Brake power source for main unit DC24VI10% Controller Power supply 230 V 50/60 Hz 8 A Allowable supply voltage ±10 fluctuation...
  • Page 48 IX-INN-60††H (arm length 600, inverse) Item Specifications Model number IX-INN60††H-**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 with brake + Belt + Ball-screw spline...
  • Page 49 Item Specifications Operating Temperature: 0 to 40°C, humidity: 20 to 85%RH or Surrounding air temperature/humidity environment less (non-condensing) i t l Robot weight 31.5 Brake power source for main unit DC24VI10% Controller Power supply 230 V 50/60 Hz 8 A Allowable supply voltage ±10 fluctuation...
  • Page 50 IX-INN-70††H (arm length 700, inverse) Item Specifications Model number IX-INN70††H-**L-T1 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 with brake + Belt + Ball-screw spline...
  • Page 51 Item Specifications Operating Temperature: 0 to 40°C, humidity: 20 to 85%RH or Surrounding air temperature/humidity environment less (non-condensing) i t l Robot weight Brake power source for main unit DC24VI10% Controller Power supply 230 V 50/60 Hz 15 A Allowable supply voltage ±10 fluctuation Overvoltage category (IEC60664-1)
  • Page 52 IX-INN-80††H (arm length 800, inverse) Item Specifications Model number IX-INN80††H-**L-T1 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 with brake + Belt + Ball-screw spline...
  • Page 53 Item Specifications Operating Temperature: 0 to 40°C, humidity: 20 to 85%RH or Surrounding air temperature/humidity environment less (non-condensing) i t l Robot weight Brake power source for main unit DC24VI10% Controller Power supply 230 V 50/60 Hz 15 A Allowable supply voltage ±10 fluctuation Overvoltage category (IEC60664-1)

  • Page 54: Installation Environment And Storage Environment

    8. Installation Environment and Storage Environment Installation Environment Install the robot in an environment that satisfies the following conditions: x Away from direct sunlight x Not subject to radiated heat from a high-capacity energy source such as a heat-treating furnace x Surrounding air temperature: 0qC to 40qC x Humidity: 85% or less (non-condensing) x Not exposed to corrosive or flammable gases...

  • Page 55: Storage/Preservatoin Environment

    Storage/Preservatoin Environment The storage/preservation environment conforms to the installation environment. If the robot is to be stored/preserved for a prolonged period of time, be sure the robot will not be exposed to dew condensation. Unless otherwise specified, desiccant is not placed in the carton when shipped. If the robot is to be kept in an environment subject to condensation, provide preventive measures from over the carton or directly to the robot after unpacking.

  • Page 56: How To Install

    × × × × ×...

  • Page 57: Notes On Installation

    Notes on Installation In the case of the ceiling-mount specification, the robot will move to points above the base installation surface when the vertical axis (Z-axis) is moved to the top position. In the case of the inverse specification, the robot will move to points below the base installation surface when the vertical axis (Z-axis) is moved to the bottom position.
  • Page 58 Center of recommended installation part...

  • Page 59: Installing The Robot

    Installing the Robot Install the robot on a level surface. Secure the robot using M3 or M4 hex bolts (4 pcs) and washers. Type Bolt size Tightening torque IX-HNN50……/60……H 60 Nxm IX-INN50……/60……H IX-HNN70……/80……H 104 Nxm IX-INN70……/80……H For the hex bolts, use high-tension bolts with an ISO rating of 10.9 or higher. 4-‡11 hole ‡24 counterbore, depth 5 4-‡14 drilled...

  • Page 60: Connecting The Controller

    10. Connecting the Controller The controller connection cables are attached on the robot (standard cable: 5 m, to air-tube joint: 150 mm). 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 61 Output voltage: 24 VDC r 10% Current capacity: 20 to 30 W M cable 24 VDC power supply for brake (provided by user) PG cable Tool, control unit, etc. (provided by user) U cable (cable for user wiring) BK power cable Standard cable length: 5 m ‡4, ‡6 quick joint (2 pcs.) To air tube (provided by user)
  • Page 62 If you are using an X-SEL-PX/QX controller, you must supply the brake power to the controller in addition to wiring the brake power cable from the SCARA robot. Supply the brake power (+24 V) to the controller as shown in the figure. 3-phase 200 to 230- VAC power supply Auxiliary power-...

  • Page 63: Checking After Installation

    11. Checking after Installation Once the robot has been installed, check the following items: x Visually check the robot, controller and cables for dents and other abnormalities. x Confirm that the cables are connected properly and that the connectors are inserted securely. Warning z Failure to perform these checks may result in a malfunctioning robot or a damaged controller or robot.

  • Page 64: Precautions For Use

    12. Precautions for Use 12.1 Setting the Acceleration/Deceleration Set the acceleration/deceleration using the graphs below as a reference. (1) PTP operation (Set using the SEL language commands ACCS and DCLS.) IX arm length 500/600 IX arm length 500/600 Reference settings for PTP Reference duties for PTP acceleration/deceleration continuous operation...
  • Page 65 (2) CP operation (Set using the SEL Language commands ACC and DCL.) IX arm length 500 IX arm length 500 Reference settings for PTP Reference duties for CP acceleration/deceleration continuous operation Carrying 2 kg or less Carrying Maximum 10 kg setting range Reference range of duty for continuous operation duty...
  • Page 66 IX arm length 700 IX arm length 700 Reference settings for PTP Reference duties for CP acceleration/deceleration continuous operation Carrying 5 kg or less Carrying Maximum 20 kg setting range Reference range for Reference range of duty for continuous operation continuous operation duty Mass of carrying load (kg) Duty (%)
  • Page 67 Caution x When PTP operation is performed with the acceleration/deceleration set to 100%, the optimal acceleration/deceleration function adjusts the maximum acceleration/acceleration at which the robot can accelerate/decelerate carrying the load weight set by the WGHT command, to 100%. Be sure to set the mass and inertial moment using the WGHT command. Never set in the WGHT command a value smaller than the load mass installed on the vertical axis.

  • Page 68: Push Force Of The Vertical Axis

    12.2 Push Force of the Vertical Axis Set the push force of the vertical axis by referring to the graph below. IX arm length 500/600 IX arm length 700/800 Relationship of push force and push Relationship of push force and push torque limit during positioning torque limit during positioning Push torque limit during positioning (%)

  • Page 69: Tools

    12.3 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 70 Warning Caution x Turn off the power to the controller and robot before installing a tool. x If the tool mounting part does not have sufficient strength, it may break while the robot is operating and cause the tool to detach and fly off. x If the tool diameter exceeds 100 mm, the tool will contact the robot within the robot’s operation area, causing damage to the tool, load and/or robot.

  • Page 71: Carrying Load

    12.4 Carrying Load Load capacity Model number Rated load capacity Maximum load capacity IX-HNN50††H/60††H 2 kg 10 kg IX-INN50††H/60††H IX-HNN70††H/80††H 5 kg 20 kg IX-INN70††H/80††H Load’s permissible moment of inertia Model number Allowable inertial moment Remarks IX-HNN50††H/60††H 0.06 kg-m IX-INN50††H/60††H Both rated and maximum IX-HNN70††H/80††H 0.10 kg-m...

  • Page 72: User Wiring And Piping

    12.5 User Wiring and Piping The robot comes with standard cables and tubes that the user can use in a desired wiring/piping configuration. Quick joint ‡6, Quick joint M cable (outside robot) ‡6, red yellow Air tube Quick joint ‡4, Quick joint ‡4 (black, white) ‡4, black...
  • Page 73 The user connector comes with the mating D-sub 25-pin plug. Solder a user-supplied cable to the D-sub connector (plug), attach the supplied hood, and then connect to the ‡ user connector (socket). Use a shielded cable with an outer diameter of 11 or less.

  • Page 74: Maintenance And Inspection

    [2] Half a Year Maintenance Inspection Have a maintenance and inspection for the following items once in half a year (every 6 months). If the robot main body has flaws or other abnormalities, please contact IAI. Maintenance Inspection Area Maintenance Inspection Details...
  • Page 75 [Refer to 13.3, “Check for Looseness of Arm Attachment Bolts”.] [4] 2.5 Years Maintenance Inspection Have a maintenance and inspection for the following items once every 2.5 years. If the robot main body has flaws or other abnormalities, please contact IAI. Maintenance Inspection Area Maintenance Inspection Details Replace the absolute data backup battery.

  • Page 76: Ball Screw Spline Grease Supply

    13.2 Ball Screw Spline Grease Supply The Ball Screw Spline on the vertical axis require grease to be supplied. 13.2.1 Applicable Grease and Supply Period Types Grease to Apply Supply Period Other Types than Multemp LRL Dustproof/Splash proof type Kyodo Yushi No.

  • Page 77: Grease Supply

    13.2.2 Grease Supply Tool necessary for work Grease, Cloth Procedure 1) Wipe old grease away from entire surface of the ball screw spline axis using a cloth. 2) Apply new grease on the entire surface of the ball screw spline axis. 3) Apply grease two or three times and after the grease application, move the ball screw spline up and down so that grease is spread smoothly all over the inside bearing.

  • Page 78: Check For Looseness Of Arm Attachment Screws

    13.3 Check for Looseness of Arm Attachment Screws Tool necessary for work Hex wrench set, Phillips Screwdriver (M3 Flat-head screw) Procedure 1) The first axis set screw appears when the cover is removed. 2) The second axis set screw can be seen from the position under the arm #1. 3) Check for any looseness of the set screws for each axis using the hex wrench.

  • Page 79: Preparation

    13.4 Replacement of Absolute Backup Battery 13.4.1 Preparation The following items are required when replacing the batteries: Before replacing the batteries, turn off the power to the controller, control panel and other relevant units. Model number Tool New, 1x-only specification IX-HNN50 H/60 H/70...

  • Page 80: Replacement Procedure

    13.4.2 Replacement Procedure (1) Remove the countersunk head screws (6 pcs) and take out the cover (base). (2) Remove the batteries from the battery holder. (3) Unplug the BAT connector and connect a new battery. • After removing the old batteries, quickly connect new batteries (roughly within 5 minutes x number of batteries).
  • Page 81 (5) Secure the cover (base) using the countersunk head screws . (Tightening torque: 0.74 N-m) Instead of tightening to the specified torque in one go, loosely position each screw in the position shown to the left, and while pressing the cover in the direction of the arrow tighten both screws uniformly to secure the cover effectively with the gasket.

  • Page 82: Third Axis Timing Belt Visual Check

    13.5 Third Axis Timing Belt Visual Check Tool necessary for work Penlight Procedure Check the timing belt surface using a penlight as shown in the pictures for any defect or excessive wear.

  • Page 83: How To Measure Lost Motion

    13.6 How to Measure Lost Motion Tool necessary for work Digimatic Indicator (Measurement range 10mm or more, minimum display 0.001mm) or equivalent acceptable Magnet stand Procedure 1) Create a position and a program to operate first Axis and second Axis in ±5deg with PTP Operation.
  • Page 84 Example for Lost Motion Measurement Number of Times Positive Direction Negative Direction +0.003 -0.003 -0.003 +0.003 +0.003 +0.005 -0.003 -0.005 +0.003 -0.005 +0.003 -0.004 +0.003 -0.006 Average +0.0013 -0.0021 Difference (mm) |+0.0013-(-0.0021)| = 0.0034 Measurement Radius (mm) Lost Motion (arc min) [atan(0.0034/100)]*60 nearly equals 0.12 How to decide It is normal as long as the figured out values are below the allowable values shown in the table below.

  • Page 85: Forth Axis Timing Belt Visual Check

    13.7 Forth Axis Timing Belt Visual Check Tool necessary for work Penlight, Hex Wrench Set, Phillips Screwdriver (M3 Flat-head screw) Procedure 1) Move the up/down axis to the position of 50 to 100mm. 2) Remove the set screw for the arm 2 lower cover. 3) Check the timing belt surface using a penlight for any defect or excessive wear.

  • Page 86: Absolute Encoder Reset Method

    13.8 Absolute Encoder Reset Method 13.8.1 Preparation for Absolute Reset The following jigs are required to perform an absolute reset. • Absolute reset adjustment jigs Model Remarks number JG-1 For arm length 500/600 JG-3 For arm length 700/800 Connect the robot, controller and PC cables so that the robot/controller can be operated using the PC software. Be sure to check the EMG switch operation beforehand.

  • Page 87: Starting The Absolute Reset Menu

    13.8.2 Starting the Absolute Reset Menu (1) Open the Abs Encoder Reset window from the PC software. Select “Absolute Reset (SCARA Axis) (Y)" if you are using an X-SEL-PX/QX controller. Starting Up Absolute Reset Window The Abs Encoder Reset window opens. •...

  • Page 88: Absolute Reset Procedure For Arm 1 Or 2

    13.8.3 Absolute Reset Procedure for Arm 1 or 2 (1) Click the “Encoder Rotation Data Reset1” button. Encoder Multi-rotation Data Reset 1 (2) Click the “Reset Controller Error” button. Controller Reset...
  • Page 89 (3) Click the “Servo ON” button. Servo ON (4) Jog the arm to near the reference position (see reference position drawing in step (7), and click the “Jog end” button. Jogging (5) Click the “Servo-OFF” button. Servo OFF...
  • Page 90 (6) Press the emergency-stop switch. (7) When performing an absolute reset of arm 1, set the adjustment jig (pin) on arm 1 to secure the arm in its reference position. You can move arm 2 when securing arm 1. When performing an absolute reset of arm 2, set the adjustment jig (pin) on arm 2 to secure the arm in its reference position.
  • Page 91 (8) Click the “OK” button. Fig. 13.18 Confirmation (9) Click the “Encoder Rotation Data Reset2” button. Encoder Multi-rotation Data Reset 2...
  • Page 92 (10) Remove the adjustment jig. x If you are working on arm 1, install the cover and secure it with the setscrews (not required for arm 2). (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. (In particular, be sure this item is not set when performing an absolute reset without using a jig).

  • Page 93: Absolute Reset Procedure For The Rotational Axis + Vertical Axis

    13.8.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis (1) Click “Encoder Rotation Data Reset1” button. Encoder Multi-rotation Data Reset 1 (2) Click the “Reset Controller Error” button. Controller Reset...
  • Page 94 (3) Click the “Servo ON” button. Servo ON (4) Click the “Temp. Standard posture standby” button. x The vertical axis returns to its home position. Exercise caution so as not to be injured by the axis during movement. Standing By at Tentative Home Position (5) Jog the rotational axis to the reference position (see reference position drawing in step 8), and click the “Jog end”...
  • Page 95 (6) Click the “Servo-OFF” button. Servo OFF (7) Press the emergency-stop switch.
  • Page 96 (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. Set the jigs by using the positioning mark as a reference. Make sure the top surface of the stopper roughly matches in height with the bottom surface of arm 2.
  • Page 97 (9) Click the “OK” button. Confirmation (10) Click the “Encoder Rotation Data Reset2” button. Encoder Multi-rotation Data Reset 2...
  • Page 98 (11) Click the “Home pos. automatic update” button. Automatic Refresh of Home Preset Value (12) Remove the adjustment jig. (13) Release the emergency-stop switch. (14) Click the “OK” button. Confirmation...
  • Page 99 (15) Click the “Servo ON” button. Confirmation (16) Click the “Standard posture standby” button. x The vertical axis returns to its home position. Exercise caution so as not to be injured by the axis during movement. Standing By at Reference Posture (17) Click the “Servo-OFF”...
  • Page 100 (18) Click the “Encoder Rotation Data Reset3” button. Encoder Multi-rotation Data Reset 3 (19) Click the “Home pos. automatic update” button, and then click “X” in the top right-hand corner to exit the absolute reset window. xAfter the reset is completed, be sure to perform “Software reset.” Automatic Refresh of Home Preset Value...

  • Page 101: Warranty Period And Scope Of Warranty

    14. Warranty 14.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from our company 12 months after delivery to the specified location 14.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.

  • Page 102: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications

    14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.

  • Page 103: Change History

    Change History Revision Date Description of Revision August 2010 First edition April 2011 Second edition P. 31 Added options “JY (Joint cable specification)” May 2011 Third edition A page for CE Marking added March 2012 Fourth edition P. 1 to 7 Contents added and changed in Safety Guide P.
  • Page 106 825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand TEL +66-2-361-4458 FAX +66-2-361-4456 The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2013. Jul. IAI Corporation. All rights reserved. 13.07.000...

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