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IAI Intelligent Actuator IX Series Operation Manual

Horizontal articulated robot, tabletop type, dust-proof/splash-proof specification arm length 250/350
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Horizontal Articulated Robot – IX Series
Tabletop Type, Dust-proof/Splash-proof Specification
Arm Length 250/350
IX-NNW-2515, IX-NNW-3515
Operation Manual
Fourth Edition

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  • Page 1 Horizontal Articulated Robot – IX Series Tabletop Type, Dust-proof/Splash-proof Specification Arm Length 250/350 IX-NNW-2515, IX-NNW-3515 Operation Manual Fourth Edition...
  • Page 3 Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products. When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC.
  • Page 4 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

  • Page 5: Table Of Contents

    Table of Contents Safety Guide ······················································································································1 Caution in Handling ···········································································································8 Names of Robot Parts ································································································9 Labels ·········································································································································10 Label Positions ··························································································································· 11 Transportation and Handling ··················································································· 12 Handling of the Carton ················································································································12 Packing Condition of the Robot ··································································································12 Handling of Individual Components ····························································································13 Checking after Unpacking ··········································································································13 Transporting the Robot ···············································································································14 Installation Environment and Storage Environment ················································...
  • Page 6 Warranty ·················································································································· 66 Warranty Period ··························································································································66 Scope of Warranty ······················································································································66 Honoring the Warranty ················································································································66 Limited Liability ···························································································································66 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ·····67 Other Items Excluded from Warranty ·························································································67 Change History ··············································································································· 68...

  • 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 Instruction 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: Caution In Handling

    Caution in Handling 1. Make sure to attach the vertical articulated robot properly by following this operation manual. Using the product with the vertical articulated robot not being certainly retained or affixed may cause abnormal noise, vibration, malfunction or shorten the product life.

  • Page 15: Names Of Robot Parts

    Names of Robot Parts Dust-proof/Splash-proof Specification ALM (indicator) Top cover (arm 1) Reference Spacer for user part installation surface Mechanical stopper for arm 1 User connector I4 user piping (black, red, white; 3 locations) BK SW (Brake-release switch) Mechanical stopper for arm 2 Axis 4 (R-axis) Mechanical stopper for...

  • 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. Labels on the Robot Prohibition of entry into Warning on handling of Warning against the operation area the vertical axis...

  • Page 17: Label Positions

    Label Positions Label Positions on the Robot Warning on handling of the vertical axis Robot serial number View A CE-certified robot (Provided Warning against only for CE-certified models) electric shock Rated Label Positions on the Controller Controller serial number Designation of the connected robot Other than CE-certified models CE-certified models...

  • Page 18: Transportation And Handling

    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: x If the carton is heavy, one operator should not attempt to carry it alone.

  • 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, affix the arms using the supplied arm fixing plate. Additionally, wrap the cables around the base and secure them with gummed tape or other means. Use a dolly, forklift, crane, or other appropriate equipment for transportation. When transporting the robot, move it slowly so that it maintains its balance.

  • Page 21: Installation Environment And Storage Environment

    Free from mist of cutting fluid, grinding fluid or other liquids containing sulfur. * The robot controller is not dust-proof or splash-proof. * Please contact IAI regarding the robot’s splash-proof performance against liquids other than water. * The bellows may change color depending on the use environment, but discoloration does not affect the robot’s splash-proof performance.

  • Page 22: Installation Platform

    Installation Platform The platform on which to install the robot receives a significant reactive force. Be certain the platform has sufficient rigidity to withstand the anticipated force. x The surface on which the robot is fixed must have a thickness of 25 mm or more. The levelness of the robot installation surface must be at least r0.05 mm.

  • Page 23: How To Install

    How to Install Shown below is how to install SCARA Robot. Installation Posture : Available : Not available Horizontally Oriented Mount Wall-Mount Ceiling-Mount...

  • Page 24: Installing The Robot

    Installing the Robot Install the robot on a level surface. Secure the robot using M8 hex bolts and washers (tightening torque: 3.2 kgf m). For the hex bolts, use high-tension bolts with an ISO rating of 10.9 or higher. Caution Warning Always insert a washer below each bolt.

  • Page 25: Connecting The Controller

    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 26: Checking After Installation

    Output voltage: 24 VDC Current capacity: 20 to 30 W M cable (outside robot) 24 VDC power supply for brake (provided by Tool, control user) unit, etc. PG cable (provided by (outside robot) user) U cable (outside robot) (cable for user wiring) BK power cable (outside robot) Standard cable length: 5 m 4, quick joint (3 pcs.)

  • Page 27: Precautions For Use

    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.) Reference acceleration/deceleration settings for PTP operation Reference range of maximum setting Reference range for continuous operation setting...
  • Page 28 (2) CP operation (Set using the SEL language commands ACC and DCL.) Arm length 350 Arm length 250 Reference acceleration/deceleration Reference acceleration/deceleration settings for CP operation settings for CP operation Reference range of maximum setting Reference range of maximum setting Reference range for continuous operation setting Reference range for...

  • Page 29: 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 30: Carrying Load

    Carrying Load Load capacity Rated load capacity: 1 kg Maximum load capacity: 3 kg Load’s permissible moment of inertia 0.015 kg m (both rated and maximum) Load offset (from the center of axis 4 (rotational axis)) 40 mm or less Center of axis 4 (rotational axis) Load’s center of gravity 40 mm or less...

  • Page 31: User Wiring And Piping

    User Wiring and Piping The robot comes with standard cables and tubes that the user can use in a desired wiring/piping configuration. Purge air inlet (Applicable tube: Outer diameter 6) BK SW (Brake-release switch) Quick joint 4 (black) ALM (indicator) Air tubes ( 4 x 3 pcs.) U cable (outside robot) Quick joint 4 (white)
  • Page 32 The robot comes with a 16-pin plug to be connected to the user connector. Pins 1 to 15 of the connector can be used. Pin 16 is connected to a shielded cable and cannot be used for signal lines. Use a cable with an outer diameter of 13.1 to 15.0. The method to wire the supplied connector is shown below.
  • Page 33 User connector pins and corresponding Y-terminals Inside unit Cable Arm 2 side Controller side Connection Connection Y-terminal designation Wire color Orange 1 red Orange 1 black Light gray 1 red Light gray 1 black White 1 red White 1 black Yellow 1 red D-sub, 15-pin Yellow 1 black...

  • Page 34: Air Purge

    Air Purge The dust-proof/splash-proof specification has a purge air inlet at the back of the base. Intrusion of powder dust into the robot can be prevented by supplying air through this inlet. Air pressure As a reference, the air pressure should be at least 0.3 MPa but not exceeding 0.6 MPa.

  • Page 35: Inspection/Maintenance

    Disassembly of harmonic speed reducer Disassembly of brake Cutting of cable IAI will not be responsible for any malfunction or damage resulting from the conduct of any operation cited above. Warning Performing inspection or maintenance without fully understanding the details of work may result in a serious accident.
  • Page 36 Check the robot mounting bolts for looseness. Check the exterior for abnormality, loose covers, flaws, dents, etc. Robot (If the robot has flaws or other abnormalities, please contact IAI.) Check for abnormal move, vibration or noise. Check the cables for flaws.

  • Page 37: How To Check/Adjust Belt Tension

    Check location Description Ball-screw spline Check the shaft for looseness. (Contact IAI if an abnormality is found.) * Harmonic speed Change the grease. (Contact IAI.) reducer * Based on 24-hour operation. Change the grease every three years or so if the robot is operated eight hours a day.
  • Page 38 6.2.2 Removing the Cover (1) With arms 1 and 2 extended as illustrated below, remove the four cap screws (M3 x 18) [1] and six cap screw (M3 x 18) [2]. (2) Lift the panel and remove the motor connectors (M, PG, BK) from the back of the panel. (Do not cause the wires to be pulled with excessive force when lifting the panel.) (3) Lift the cover and remove upward.
  • Page 39 6.2.3 Checking the Belt Tension Timing belt for vertical axis Timing belt for rotational axis 6.2.4 Checking the Belt Tension for the Vertical Axis Using a push-pull gauge, push the timing belt for vertical axis with a force of 300 gf and measure the amount of deflection.
  • Page 40 6.2.5 Checking the Belt Tension for the Rotational Axis Using a push-pull gauge, push the timing belt for rotational axis with a force of 300 to 400 gf and measure the amount of deflection. If the deflection is 0.7 mm, the belt tension is normal. If the deflection is not 0.7 mm, adjust the tension by referring to 6.2.7, “Adjusting the Belt Tension for the Rotational Axis.”...
  • Page 41 6.2.6 Adjusting the Belt Tension for the Vertical Axis (1) Loosen the four M5 bolts [1] slightly, making sure the fastened points do not become overly loose. (2) Loosen the lock nut [2], and then turn the adjuster bolt [3] to tension the belt. (3) Check the belt tension by referring to 6.2.4 “Checking the Belt Tension for the Vertical Axis.”...
  • Page 42 6.2.7 Adjusting the Belt Tension for the Rotational Axis (1) Loosen the two M4 bolts [1] slightly, making sure the fastened points do not become overly loose. (2) Move the rotational-axis motor [2] to tension the belt. (3) Check the belt tension by referring to 6.2.5 “Checking the Belt Tension for the Rotational Axis.” (4) Tighten the bolts [1] loosened in step 1 (tightening torque: [1] 3.7 N m).
  • Page 43 6.2.8 Installing the Cover (1) Install the cover and connect the motor connectors (M, PG, BK) extending from the rotary joint. (2) Affix the panel using the six cap screws (M3 x 18) [1] to a tightening torque of 0.08 kgf m by paying attention not to cause the wires to rest on top of one another.

  • Page 44: Battery Replacement

    Battery Replacement 6.3.1 Preparation The following items are required when replacing the batteries: Hex wrench (2.5 mm) New dedicated batteries for IX (4 pieces) Model: AB-3 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 45 6.3.2 Battery Replacement Procedure (1) Remove the six low-head cap screws [1] and remove the rear panel (base). (2) Remove the batteries from the battery holder. (3) Remove the batteries from the extension cables from the battery connectors, and connect new batteries.

  • Page 46: Absolute Reset Procedure

    Absolute Reset Procedure 6.4.1 Preparation for Absolute Reset The following jig is required when performing an absolute reset: Absolute reset adjustment jig (type: JG-2) Connect the cables for the robot, controller and PC, so the robot can be operated from the PC. Before commencing the work, always confirm that the emergency-stop switch is functioning properly.
  • Page 47 6.4.2 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...
  • Page 48 6.4.3 Absolute Reset Procedure for Arm 1 or 2 (1) Click the “Encoder Rotation Data Reset1” button. (2) Click the “Reset Controller Error” button.
  • Page 49 (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 50 (6) Press the emergency-stop switch. (7) Set an adjustment jig (pin) in arm 1 or 2 to fix the arm at the reference position. Set the jig after confirming that the emergency-stop switch is pressed. Set the jig after adjusting the arm to the reference position, using the positioning mark label as a guide.
  • Page 51 (8) Click the “OK” button. (9) Click the “Encoder Rotation Data Reset2” button.
  • Page 52 (10) Remove the adjustment jig. If you are working on arm 1, install the cover and secure it with the setscrews (not required for arm (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 53 6.4.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis (1) Click “Encoder Rotation Data Reset1” button. (2) Click the “Reset Controller Error” button.
  • Page 54 (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 55 (6) Click the “Servo-OFF” button. (7) Press the emergency-stop switch.
  • Page 56 (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. 1) Confirm that the rotational axis is roughly in the reference position. (Vertical positioning marks should align.
  • Page 57 (9) Click the “OK” button. (10) Click the “Encoder Rotation Data Reset2” button.
  • Page 58 (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 59 (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 60 (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. Once the absolute reset is complete, be sure to write the flash ROM and reset the controller.
  • Page 61 6.4.5 Writing the Flash ROM (1) Following an absolute reset of the rotational axis and vertical axis, the following screen opens when the absolute reset window is closed. Click the “Yes” button. Clicking “Yes” writes the information in the flash ROM. The flash ROM must also be written when home position automatic update has been performed for arm 1 or 2.
  • Page 62 6.4.6 Resetting the Controller (1) Select “Software Reset” from the Controller menu on the tool bar. (2) Click the “Yes” button. The controller is reset and restarted.

  • Page 63: Specifi Cations

    Specifications Specification Table IX-NNW2515 (Arm Length 250, Dust-proof/Splash-proof Specification) Item Specifications Type IX-NNW2515- 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)
  • Page 64 Item Specifications Three air tubes (outer diameter: 4, inner diameter: 2.5) (normal User piping service pressure: 0.8 MPa) Operating Ambient temperature/humidity Temperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing) environment Altitude 1,000 or less Robot weight Brake power source for main unit 24V DC ±10% 20W Air purge pressure (*11)
  • Page 65 IX-NNW3515 (Arm Length 350, Dust-proof/Splash-proof Specification) Item Specifications Type IX-NNW3515- 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 66 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 Robot weight Brake power source for main unit 24V DC ±10% 20W Air purge pressure (*11) 0.6 MPa max. Controller Power supply 230 V 50/60 Hz 5 A...

  • Page 67: External Dimensions

    External Dimensions 2515 (Arm Length 250, Dust-proof/Splash-proof Specification) Reference ALM (indicator) surface Arm 1 stopper User connector 4 quick air-tube joint (black, red, white; 3 locations) 4 - 9 BK SW (Brake-release switch) 16, counterbore depth 0.5 Arm 2 stopper Tapped hole for peripheral installation (4 locations, M4, depth 12)
  • Page 68 3515 (Arm Length 350, Dust-proof/Splash-proof Specification) Reference ALM (indicator) surface Arm 1 stopper User connector 4 quick air-tube joint (black, red, white; 3 locations) 4 - 9 BK SW (Brake-release switch) 16, counterbore depth 0.5 Arm 2 stopper Tapped hole for peripheral installation (4 locations, M4, depth 12) Same on opposite...

  • Page 69: Robot Operation Area

    Robot Operation Area 2515 (Arm Length 250, Dust-proof/Splash-proof Specification) Area of prohibited entry Area of prohibited entry Movement range Mechanical stopper position 3515 (Arm Length 350, Dust-proof/Splash-proof Specification) Area of prohibited entry Area of prohibited entry Movement range Mechanical stopper position...

  • Page 70: Wiring Diagram

    Wiring Diagram...

  • Page 71: 230V Circuit Components

    230V Circuit Components...

  • Page 72: Warranty

    Warranty Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from IAI 12 months after delivery to the specified location 2,500 hours of operation Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products...

  • Page 73: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications

    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 74: Change History

    Change History Revision Date Description of Revision April 2011 Second edition A page for CE Marking added March 2012 Third edition Introduction, Safety Symbols and Safety Precautions are deleted Pg. 1 to 7 Safety Guide added Pg. 8 Caution in Handling added Pg.
  • Page 76 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 © 2012. Aug. IAI Corporation. All rights reserved. 12.08.000...

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