Inovance IR-R11 Series User Manual

6-axis robot manipulator

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Summary of Contents for Inovance IR-R11 Series

Page 2: Preface
First release. Document Acquisition This guide is not delivered with the product. You can obtain the PDF version by the following method: http://www.inovance.com Visit , go to Support > Download, search by keyword, ● and then download the PDF file.
Page 3: Warranty
Damage or secondary damage caused by force majeure (natural disaster, ● earthquake, and lightning strike) The maintenance fee is charged according to the latest Price List of Inovance. If otherwise agreed upon, the terms and conditions in the agreement shall prevail. For details, see the Product Warranty Card.
Page 4: Table Of Contents
Table of Contents T T a a b b l l e e o o f f C C o o n n t t e e n n t t s s Preface ................1 Safety Instructions .
Page 5 Table of Contents 4.5.3 Cable‑Hole Dimensions ........... . 45 4.6 Wiring and Tubing .
Page 6: Safety Instructions
Use this equipment according to the designated environment requirements. ● Damage caused by improper use is not covered by warranty. Inovance shall take no responsibility for any personal injuries or property damage ● caused by improper use. Safety Levels and Definitions Indicates that failure to comply with the notice will result in death or severe personal injuries.
Page 7 Safety Instructions Check whether the packing is intact and whether there is damage, water seepage, ● dampness, and deformation before unpacking. Unpack the package by following the package sequence. Do not hit the package with ● force. Check whether there are damage, rust, or injuries on the surface of the equipment or ●...
Page 8 Safety Instructions Read through the guide and safety instructions before installation. ● Do not install this equipment in places with strong electric or magnetic fields. ● Before installation, check that the mechanical strength of the installation site can bear ● the weight of the equipment.
Page 9 Safety Instructions Do not connect the input power supply to the output end of the equipment. Failure to ● comply can result in equipment damage or even a fire. When connecting a drive with the motor, make sure that the phase sequences of the ●...
Page 10 Safety Instructions Do not touch the equipment casing, fan, or resistor with bare hands to feel the ● temperature. Failure to comply may result in personal injuries. Prevent metal or other objects from falling into the device during operation. Failure to ●...
Page 11: Safety Labels
Safety Instructions Disposal Dispose of retired equipment in accordance with local regulations and standards. ● Failure to comply may result in property damage, personal injuries, or even death. Recycle retired equipment by observing industry waste disposal standards to avoid ● environmental pollution.
Page 12: Special Reminder
Special Reminder Special Reminder To prevent accidents with the robot, please be sure to set up relevant safety measures according to the specific situation. All operators must fully comply with the requirements. 1. Please ensure that the safety protection range of the robot is greater than the maximum motion range of the robot.
Page 13: Safety Signs
Safety Signs Safety Signs The following signs are sticked on the manipulator. Pay attention that special dangers exist around the positions sticked with safety signs. For safe equipment operation and maintenance, comply with safety signs on the equipment. Do not damage or remove the safety signs.
Page 14 Safety Signs Description Safety Signs Do not touch the energized parts when the power is on. Failure to comply may result in an electric shock. If a lifting is required, please follow the lifting diagram, otherwise the robot may tilt and cause damage or injury to personnel.
Page 15: Product Information
Otherwise, the robot system may not work properly. Figure 1‑2 Model number ① Family ③ Load Mounting Mode ⑤ INOVANCE Robot 10: 10 kg C: Cleanroom 11: 11 kg S: Standard P: Protection ② Serial Number ④...
Page 16: Components
Product Information Note The product information in this guide is the information of standard models in a standard environment. For information about non‑standard models or cleanroom models, contact the provider. Components Table 1–1 Component description Name Name QR code Wrist flange ①...
Page 17: Rotation Direction
Product Information Rotation Direction The rotation direction of the respective joints is shown below. Figure 1‑3 Rotation direction of each joint ‑ ‑...
Page 18: Dimensions
Product Information Dimensions Figure 1‑4 Dimensions of IR‑R10‑110S5 (unit: mm) ‑17‑...
Page 19: Specifications
Product Information Figure 1‑5 Dimensions of IR‑R11‑90S5 (unit: mm) Specifications IR‑R10‑110S5 IR‑R11‑90S5 Model Structural style Vertical axis cascading structure 6 axes Number of axes 1101.6 mm 901.9 mm Maximum reach Repeatability ±0.02 mm Absolute accuracy ±0.3 mm 0.383s Standard Cycle Time Max.
Page 20 Product Information IR‑R10‑110S5 IR‑R11‑90S5 Model Axis Motion Velocity J1 300°/s 225°/s 330°/s 450°/s 420°/s 720°/s Axis Motion Range +170° to ‑170° +100° to ‑135° ‑66° to +210° +190° to ‑190° +125° to ‑125° +360° to ‑360° 18.59 Nm 20.45 Nm Allowed wrist torque 18.59 Nm...
Page 21: Motion Range
Product Information Motion Range The safety protection range of the robot is greater than the maximum motion ● range of the robot. Comprehensive safety protection devices (fences, etc.) must be installed on the periphery, and emergency stop devices must be installed within easy reach of the operator.
Page 22 Product Information Figure 1‑6 Motion range of IR‑R10‑110S5 (unit: mm) ‑21‑...
Page 23: Maximum Load Of Wrist Flange
Product Information Figure 1‑7 Motion range of IR‑R11–90S5 (unit: mm) Maximum Load of Wrist Flange The IR‑R10‑110S5 series and IR‑R11‑90S5 series support a maximum payload of 10 kg and 11 kg, respectively. In addition, the torque and maximum inertia should meet the following conditions.
Page 24: Wrist Load Chart
Product Information Figure 1‑8 Distance from the rotation center of J5/J6 axis Note Distance from the rotation center of J5 axis: a+80 (mm). ● Distance from the rotation center of J6 axis: b (mm). ● Wrist Load Chart Figure 1‑9 Wrist load chart of IR‑R10‑110S5 ‑23‑...
Page 25 Product Information Figure 1‑10 Wrist load chart of IR‑R11‑90S5 ‑ ‑...
Page 26: Preparations Before Installation
Preparations Before Installation Preparations Before Installation Requirements on Installation Personnel Ensure that the installation personnel have obtained mechanics knowledge or received mechanics training in advance to understand various dangers and risks in the installation process. The installation personnel must be familiar with all the installation requirements and related technical documents.
Page 27: Requirements On Mounting Stand
Preparations Before Installation The robot is not suitable for use in harsh environments such as explosive spraying opera‑ tions. Contact your provider if the robot needs to be used in an environment that does not meet the preceding conditions. The EMC test is performed according to IEC 61800‑3:2017. Special environmental requirements The surface of the robot provides certain protection.
Page 28 Preparations Before Installation Keep the Z‑axis of the robot perpendicular to the horizontal plane during ● installation. Take the storage space of the controller into account when designing the stand. ● Please see the user guide of the controller for detailed data. The torque and reaction force generated by the robot action are described in the ●...
Page 29: Mounting Clearance Requirements
Preparations Before Installation Mounting Clearance Requirements 2.4.1 Range of Safety Fence The safety protection range of the robot is greater than the maximum motion ● range of the robot. Comprehensive safety protection devices (fences, etc.) must be installed on the periphery, and emergency stop devices must be installed within easy reach of the operator.
Page 30: Installation Area
Preparations Before Installation 2.4.2 Installation Area 1. In addition to the area required for installation of the manipulator, controller, and peripherals, reserve the following minimum required space: Space for teaching; ● Space for maintenance and inspection (for mounting fixtures); ● Space for cables.
Page 31: Unpacking And Handling
Unpacking and Handling Unpacking and Handling Notes Check whether the packing is intact and whether there is damage, water seepage, damp, and deformation. Unpack the package by following the package sequence. Do not hit the package with force. Check whether there are damage, rust, or injuries on the surface of the equipment or equipment accessories.
Page 32: Unpacking
Unpacking and Handling Danger Only qualified personnel are allowed to carry out transportation including rigger operation, hoisting by crane, and forklift driving. Transport the equipment with a hoist or forklift with the original package. ● Wear personal protective equipment (PPE) during transportation with a hoist or ●...
Page 33 Unpacking and Handling Figure 3‑1 Unpacking the carton 2. Unpack the controller. Cut off the packing tape that fixes the controller and accessory packing box. ● Move the carton to the open ground. Pay attention to the direction indicated on ●...
Page 34 Unpacking and Handling 3. Remove bolts fixing the manipulator. Remove bolts (M8×80) connecting the robot and the pallet using the M8 outer hexagon wrench. Figure 3‑2 Packaging diagram 4. Take out the manipulator. Take out the manipulator from bottom to top, and move the manipulator to the destination only after the bottom of the manipulator does not interfere with the top of the pallet.
Page 35: Post-Unpacking Inspection
Unpacking and Handling Figure 3‑3 Taking out the manipulator Note Take out the robot carefully to avoid collision. ● To repack the robot, reverse the steps above. Please wear protective gloves to ● prevent scratches and work carefully to prevent damaging the machine. Post-Unpacking Inspection Check the products and accessories against the packing list after unpacking.
Page 36: Handling
Unpacking and Handling Handling Pre-Handling Preparation 1. For a newly shipped robot, move it in the posture as it was delivered, as shown below. Angle of each joint: 0° +55° ‑55° 0° ‑105° 0° 2. If you want to relocate a robot that is already in use, do the following before moving it: Disconnect all power supplies of the equipment.
Page 37: Handling Procedure
Unpacking and Handling Handling procedure Note The equipment is heavy and manual handling is strictly prohibited. ● Wear safety shoes for handling and at least two people are required. ● Wear protective equipment and ensure that the lifting area is safe enough to ●...
Page 38 Unpacking and Handling Figure 3‑4 Lifting the robot 2. Make sure the manipulator is balanced before operating the crane, and lift the manipulator with four steel ropes at the same time. 3. Move the manipulator by two people, with one stabilizing the robot during transportation, and the other operating the crane to lift the robot and move it to the mounting stand.
Page 39 Unpacking and Handling Figure 3‑5 Moving the robot with forklift Note The robot is located on one side of the pallet. Therefore, when inserting the fork from the Y direction, pay attention to the counterweight on the other side to prevent the robot from falling over.
Page 40: Installation
Installation Installation Installation precautions Danger Equipment installation, wiring, maintenance, inspection, or parts replacement ● must be performed by professionals. Install a safety fence for the system. Failure to comply will result in serious ● accidents. Reserve sufficient space between the equipment and surrounding buildings, ●...
Page 41: Installing End Effector
Installation 6. Install four spring washers and four plain washers, and fix the base with four hexagon socket head cap screws M10×35 (tightening torque: 75 N•m). Use screws conforming to the strength of GB/T 3098.1 class 12.9. Figure 4‑1 Installing the robot base Name Robot base Four hexagon socket head cap screws (GB/T 70.1‑2000 M10X35‑12.9)
Page 42: Installing Auxiliary Accessories
Installation Connect the end effector to the wrist flange by using M5 screws (Class 12.9). Figure 4‑2 Wrist flange Installing Auxiliary Accessories The robot is equipped with installation interfaces on both sides of the forearm and upper arm and on upper end of the elbow, which are used for installing auxiliary accessories such as the pneumatic valve.
Page 43 Installation Figure 4‑3 Installation position of pneumatic valve (unit: mm) ‑ ‑...
Page 44: Cable Connection
Installation Cable Connection 4.5.1 Connecting Power Cable and Signal Cable Danger Equipment installation, wiring, maintenance, inspection, or parts replacement ● must be performed by professionals. Cut off the power before wiring. Failure to comply will result in electric shock or ●...
Page 45 Installation 4. After connecting the power terminals in the accessory package, plug them into the power connector of the controller and check that the L/PE/N sequence of the cables is correct. Figure 4‑4 Connecting the power and encoder cables ‑ ‑...
Page 46: Definition Of Heavy-Duty Connector
Installation 4.5.2 Definition of Heavy-Duty Connector Table 4–1 Pin definition Connector Pin Pin No. Pin No. Pin No. Pin No. Defini Defini Defini Defini Layout tion tion tion tion 23FG 4BK‑ 14GND 42 56BK+ ‑ 2PS‑ 2PS+ 1BK‑ 56FG 6BK‑ ‑...
Page 47 Installation Table 4–2 Cable‑hole dimensions Name Power Cable Connector Encoder Cable Connector Heavy‑duty Connector (Controller Side) (Controller Side) (Manipulator Side) sions gram 40 mm x 22 mm x 15 mm 54 mm x 55 mm x 18 mm 105 mm x 100 mm x 60 (L x W x H) (L x W x H) mm (L x W x H)
Page 48: Wiring And Tubing
Installation Cable‑hole dimensions: The size of opening reserved on the casing or sheet metal for the robot connector to pass through, as shown in the following figure. Figure 4‑5 Cut‑out dimensions (mm) Wiring and Tubing 4.6.1 Wiring (Electrical Wires) Perform wiring and air tubing of the chuck only when the power supply is ●...
Page 49: Tubing (Air Tubes)
Installation Current higher than 0.5 A is not allowed. The specifications of the connector are described in the following table. Cable Code 15050817 12‑pin aviation connection on forearm 1504B978 I/O cable of base, 19‑pin, 5m 4.6.2 Tubing (Air Tubes) User tubing (air tubes) The following table describes the specifications of air tubes.
Page 50 Installation Figure 4‑6 Standard wiring/tubing interfaces Note The standard model does not come with an Ethernet port, and the optional model comes with an Ethernet port. Optional tubing (air tubes) Optional solenoid valves are available to support one Φ4mm straight‑through air supply, and conversion of up to three Φ4mm inputs to six Φ4mm outputs.
Page 51: Aviation Connector Pins
Installation Figure 4‑8 Optional solenoid valve connection diagram 4.6.3 Aviation Connector Pins I/O aviation connector The robot provides a 12‑pin aviation connector and a 19‑pin aviation connector on the forearm top and the base respectively. The two connectors are connected by cables routed inside the manipulator.
Page 52 Installation The following table describes the specifications of the Ethernet aviation connector. Number of pins 0.5 A Rated current (40°C) 30 VAC, 30 VDC Rated voltage CAT5A Cable type CAT6A I/O cable type I/O cable specifications 0.14 mm (26AWG) Figure 4‑10 Ethernet aviation connector pins ‑51‑...
Page 53: Motion Range
Motion Range Motion Range Method for Setting the Motion Range Note The default motion range at delivery is the maximum motion range of the robot. To improve layout efficiency and to take into account the maximum safe range of motion of the robot, the following motion range setting methods are provided: Setting by angle range (for all joints) ●...
Page 54: Maximum Angle Range Of Joint 1
Motion Range 5.2.2 Maximum Angle Range of Joint 1 Figure 5‑1 Maximum angle range of joint 1 ‑53‑...
Page 55: Maximum Angle Range Of Joint 2
Motion Range 5.2.3 Maximum Angle Range of Joint 2 Figure 5‑2 Maximum angle range of joint 2 ‑ ‑...
Page 56: Maximum Angle Range Of Joint 3
Motion Range 5.2.4 Maximum Angle Range of Joint 3 Figure 5‑3 Maximum angle range of Joint 3 ‑55‑...
Page 57: Maximum Angle Range Of Joint 4
Motion Range 5.2.5 Maximum Angle Range of Joint 4 Figure 5‑4 Maximum angle range of joint 4 ‑ ‑...
Page 58: Maximum Angle Range Of Joint 5
Motion Range 5.2.6 Maximum Angle Range of Joint 5 Figure 5‑5 Maximum angle range of joint 5 ‑57‑...
Page 59: Maximum Angle Range Of Joint 6
Motion Range 5.2.7 Maximum Angle Range of Joint 6 Figure 5‑6 Maximum angle range of joint 6 Description of Mechanical Stops As shown below, IR‑R11‑90 and IR‑R10‑110 have mechanical stops pre‑installed at joint 1, joint 2 and joint 3. The setting of the angle range cannot exceed the set angle range of the mechanical stops.
Page 60 Motion Range Figure 5‑7 Angle limit of J1 Figure 5‑8 Angle limit of J2 ‑59‑...
Page 61 Motion Range Figure 5‑9 Angle limit of J3 ‑ ‑...
Page 62: Maintenance
Maintenance Maintenance Description Before maintenance, read this section, this guide, and other related guides carefully to fully understand the methods of safe maintenance. Danger Equipment installation, wiring, maintenance, inspection, or parts replacement ● must be performed by professionals. Do not maintain the equipment after power‑on. Failure to comply will result in ●...
Page 63 Maintenance dust from entering the equipment. Clear the greasy dirt from the cooling fan of the equipment. Inspection while the power is OFF (robot is not operating) ● ‑ ‑...
Page 64 Maintenance Maintenance Personnel Month Quarter Semi‑ Quali Inspec Inspec Routine Annual Manu annual tion tion Inspec Inspec Profes fied factur Inspec Inspec Inspec Point Place sionals Person tion tion tion tion tion effec ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓...
Page 65 Maintenance Maintenance Personnel Month Quarter Semi‑ Quali Inspec Inspec Routine Annual Manu annual tion tion Inspec Inspec Profes fied factur Inspec Inspec Inspec Point Place sionals Person tion tion tion tion tion Exter Check wheth tors er the on the connec manip ✓...
Page 66 Maintenance Maintenance Personnel Month Quarter Semi‑ Quali Inspec Inspec Routine Annual Manu annual tion tion Inspec Inspec Profes fied factur Inspec Inspec Inspec Point Place sionals Person tion tion tion tion tion Check tension of the timing Inside belt. arms 5 ✓...
Page 67 Maintenance Maintenance Personnel Month Quar Semi‑ Quali Inspec Inspec Annual Manu tine terly annual tion tion Inspec Profes fied factur Inspec Inspec Inspec Inspec Point Place sionals Person tion tion tion tion tion Exter Shake ✓ ✓ ✓ ✓ cables cable (includ gently...
Page 68 Maintenance Maintenance Personnel Quarter Semi‑ Quali Inspec Inspec Monthly Annual tine annual Manu tion tion fied Inspec Inspec Inspec Inspec Inspec factur Point Place tion tion tion tion tion nals Check Each ✓ ✓ ✓ joint motion range. Check Whole ✓...
Page 69: Component Replacement
Maintenance Component Replacement 6.3.1 Replacing Battery (Lithium Battery) Do not maintain the equipment after power‑on. Failure to comply will result in an ● electric shock. When disposing the battery, consult with the professional disposal services or ● comply with the local regulation. Be sure to use lithium batteries correctly, the wrong way of use may lead to ●...
Page 70: Home Position Calibration
Maintenance Note When limiting the motion range for safety reasons, consider both the angle range ● and mechanical stop at the same time. The default motion range at delivery is the maximum motion range of the robot. ● The replacement procedure is as follows: Cut the binding strap securing the battery to the cable plate.
Page 71: Home Position Calibration Procedure
Maintenance Note After home position calibration, the absolute accuracy of the robot may deviate from the default absolute accuracy at delivery. Install a safety fence for the system to prevent people from entering the action ● area of the system. Failure to comply will result in serious accidents. Before operation, check that there is no person inside the safety fence.
Page 72 Maintenance 2. Switch to the absolute zero setting interface. Choose Set > BasePos > ZeroPoint on the main interface of the teaching software or the hand‑held teach pendant. 3. Move each joint of the robot to the home position. a. Move the robot near the home position by using the joystick on the hand‑held teach pendant or on the operation interface on the teaching software.
Page 73 Maintenance 4. Switch to the emergency stop state. a. Click the virtual emergency stop button on the PC teaching software or press the red emergency stop button on the hand‑held teach pendant. b. The status indicator on the upper right corner of the teaching software (or the display of the hand‑held teach pendant) shows the emergency stop state (in red).
Page 74: Home Position Of Each Joint
Maintenance 6.4.3 Home Position of Each Joint Calibration tool ● The calibration tool is used to calibrate the axes of the robot manually. Calibration of joints 1 to 6 ● Control the robot to move at the lowest speed by using the teach pendant, adjust the positions of joints 1 to 5 until the calibration tool is just inserted into the reference slot.
Page 75 Maintenance Figure 6‑1 Calibration of joints 1 to 6 ‑ ‑...
Page 76: Options
Maintenance Options Options Description Specification Code 1504B978 Base I/O Used for connection connection cable between IR‑R11 series 6‑ axis robot manipulator and the controller. 15050817 90° I/O aviation 12‑pin Used for wiring of the connector on aviation connector on the forearm upper end of the forearm in IR‑R11 series 6‑axis...
Page 77 *PS00008436A01*...

This manual is also suitable for:

Ir-r10-110s5 Ir-r11-90s5