Iai-america IX-NNC8040 Manuale Utente

Operation Manual Fourth Edition Horizontal Articulated Robot – IX Series Tabletop Type, Clean-room SpecificationArm Length 500/600/700/800IX-NNC50

4No.Operation Description Description 4 Installation and Start (4) Safety Measures  When the work is carried out with 2 or more persons, make it cle

5No.Operation Description Description 6 Trial Operation  When the work is carried out with 2 or more persons, make it clear who is to be the leader

6No.Operation Description Description 8 Maintenance and Inspection  When the work is carried out with 2 or more persons, make it clear who is to be

7Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and

8Caution in Handling1. Make sure to attach the vertical articulated robot properly by following this operation manual.Using the product with the verti

91. Names of Robot Parts1 Names of Robot Parts 1.1 Names of Parts I4 joint for user piping, blackUser connectorI6 joint for user piping, redSuction

101. Names of Robot Parts1.2 Labels The following labels are attached on the robot and controller. Be sure to observe the instructions and cautions wr

111. Names of Robot Parts1.3 Label Positions Label Positions on the Robot Robot serial number Prohibition of entry into the operation area View A Warn

122. Transportation and Handling2 Transportation and Handling 2.1 Handling of the Carton Each robot is packed with a controller prior to shipment. Wh

132. Transportation and Handling2.3 Handling of Individual Components The robot and controller are supplied as a set. Your robot cannot be used with

142. Transportation and Handling2.5 Transporting the Robot When transporting the robot, affix the arms using the supplied arm fixing plate. Additiona

153. Installation Environment and Storage Environment3 Installation Environment and Storage Environment 3.1 Installation Environment Install the robo

163. Installation Environment and Storage Environment3.3 Storage Environment The storage environment conforms to the installation environment. If the

174. How to Install4.4.1How to InstallShown below is how to install SCARA Robot.Installation Postureż : Available s : Not availableCeiling-MountWall-M

184. How to Install4.1 Installing the Robot Install the robot on a level surface. Secure the robot using hex bolts and washers. Type Bolt size Tight

194. How to Install4.3 Connecting the ControllerThe controller connection cables are attached on the robot (standard cable: 5 m, to air-tube joint: 15

204. How to InstallOutput voltage: 24 VDC r 10% Current capacity: 20 to 30 W 24 VDC power supply for brake (provided by user)M cable (outside robot)

214. How to Install4.3 Checking after Installation Once the robot has been installed, check the following items: x Visually check the robot, controll

225. Precautions for Use5 Precautions for Use 5.1 Reference Acceleration/Deceleration Settings Use the robot based on appropriate acceleration/decele

235. Precautions for Use(2) CP operation (Set using the SEL language commands ACC and DCL.) IX-NNC70/80Reference acceleration/deceleration settin

Please Read Before UseThank you for purchasing an IAI product.This operation manual explains the handling methods, structure and maintenance of this p

245. Precautions for Use5.2 Tools The tool mounting part must have sufficient strength and rigidity, along with adequate fastening power to prevent po

255. Precautions for Use5.3 Carrying Load Load capacity Type Rated load capacity Maximum load capacity IX-NNC50/60 2 kg 10 kg IX-NNC70/80 5

265. Precautions for Use5.4 User Wiring and Piping The robot comes with standard cables and tubes that the user can use in a desired wiring/piping co

275. Precautions for UseThe robot comes with a D-sub 25-pin mating plug for the user connector. Solder a user-supplied cable to the D-sub connector (p

285. Precautions for Use5.5 Suction Rate The robot will conform to cleanliness class 10 when air is sucked at a specified rate from the quick suction

296. Inspection/Maintenance6 Inspection/Maintenance6.1 Inspection/MaintenanceYour horizontal articulated robot must be inspected daily and on a regula

306. Inspection/Maintenance6.1.3 Yearly InspectionCheck the following items on the robot every year.Observe the precautions for work near the robot an

316. Inspection/Maintenance6.2 How to Replace Bellows 6.2.1 IX-NNC-50/60Preparation The following tools are required when replacing bellows in th

326. Inspection/Maintenance(3) Remove the stopper at the top and bellows-turning unit at the bottom. (4) Remove the bellows from the robot and separ

336. Inspection/MaintenanceAssembly (1) Assemble the bellows by following the disassembly procedure in reverse. (2) Install the bellows by aligning

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

346. Inspection/Maintenance6.2.2 IX-NNC-70/80Preparation The following tools are required when replacing bellows in the IX-NNC-70/80:x Hex wre

356. Inspection/Maintenance(3) Remove the bellows-turning unit (one unit each at the top and bottom). (4) Remove affixing plate D from the bellows.

366. Inspection/MaintenanceAssembly (1) Assemble the bellows by following the disassembly procedure in reverse. (2) Install the bellows by aligning

376. Inspection/Maintenance6.3 How to Check/Adjust Belt Tension 6.3.1 Preparation The following tools are required when checking/adjusting belt tensi

386. Inspection/Maintenance6.3.2 Removing the Cover (1) With arms 1 and 2 extended as illustrated below, press the brake-release switch [1] to relea

396. Inspection/Maintenance6.3.3 Checking the Belt Tension Bottom view Timing belt for vertical axis Timing belt for rotational axis Top view 6.3.4 C

406. Inspection/Maintenance6.3.5 Checking the Belt Tension for the Rotational Axis (1) Remove one setscrew provided on a side face of arm 2. Remove

416. Inspection/Maintenance6.3.6 Adjusting the Belt Tension for the Vertical Axis (1) Loosen the four M5 nuts [4] slightly, making sure the fastened

426. Inspection/Maintenance6.3.8 Installing the Cover (1) Place the cover on the robot and connect the connectors, cables and air tubes installed as

436. Inspection/Maintenance[3] 4 - M3 x 12M cable Installation position of M connector Installation position of U connectorsU cables Be careful

Table of Contents Safety Guide ······················································································································1

446. Inspection/Maintenance6.4 Battery Replacement 6.4.1 Preparation The following items are required when replacing the batteries: x Phillips screwdr

456. Inspection/Maintenance6.4.2 Battery Replacement Procedure (1) Remove the countersunk head screws [1] (six pieces) and detach the cover (base).

466. Inspection/Maintenance(5) Affix the cover (base) using the countersunk head screws [1] (six pieces) (tightening torque: 0.74 Nm). [1] 6 - M3 x

476. Inspection/Maintenance6.5 Absolute Reset Procedure 6.5.1 Preparation for Absolute Reset The following jig is required when performing an absolut

486. Inspection/Maintenance6.5.2 Starting the Absolute Reset Menu (1) Open the absolute reset window from the PC software. (2) The absolute reset w

496. Inspection/Maintenance6.5.3 Absolute Reset Procedure for Arm 1 or 2 (1) Click the “Encoder Rotation Data Reset1” button. (2) Click the “Reset

506. Inspection/Maintenance(3) Click the “Servo ON” button. (4) Jog the arm to near the reference position (see reference position drawing in step 7

516. Inspection/Maintenance(6) Press the emergency-stop switch. (7) Set an adjustment jig (pin) in arm 1 or 2 to fix the arm at the reference positi

526. Inspection/Maintenance(8) Click the “OK” button. (9) Click the “Encoder Rotation Data Reset2” button.

536. Inspection/Maintenance(10) Remove the adjustment jig. x If you are working on arm 1, install the cover and secure it with the setscrews (not req

8. Warranty ·················································································································· 798.1 Warranty Period ·

546. Inspection/Maintenance6.5.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis (1) Click “Encoder Rotation Data Reset1” button. (

556. Inspection/Maintenance(3) Click the “Servo ON” button. (4) Click the “Temp. Standard posture standby” button. x The vertical axis returns to it

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

576. Inspection/Maintenance(9) Click the “OK” button. (10) Click the “Encoder Rotation Data Reset2” button.

586. Inspection/Maintenance(11) Click the “Home pos. automatic update” button. (12) Remove the adjustment jig. (13) Release the emergency-stop swit

596. Inspection/Maintenance(15) Click the “Servo ON” button. (16) Click the “Standard posture standby” button. x The vertical axis returns to its ho

606. Inspection/Maintenance(18) Click the “Encoder Rotation Data Reset3” button. (19) Click the “Home pos. automatic update” button, and then click

616. Inspection/Maintenance6.5.5 Writing the Flash ROM (1) Following an absolute reset of the rotational axis and vertical axis, the following scree

626. Inspection/Maintenance6.5.6 Resetting the Controller (1) Select “Software Reset” from the Controller menu on the tool bar. (2) Click the “Yes”

637. Specifi cations7 Specifications 7.1 Specification Table IX-NNC50 (Arm Length 500, Clean-room Specification) Item Specifications Type IX-NNC50

1Safety Guide“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read

647. Specifi cationsItem SpecificationsTemperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)Altitude m 1,000 or lessNoise dB 73Cleanli

657. Specifi cationsIX-NNC60 (Arm Length 600, Clean-room Specification) Item Specifications Type IX-NNC60-L-T1 Degree of freedom Four degrees o

667. Specifi cationsItem SpecificationsTemperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)Altitude m 1,000 or lessNoise dB 73Robot w

677. Specifi cationsIX-NNC70 (Arm Length 700, Clean-room Specification) Item Specifications Type IX-NNC70-L-T1 Cleanliness class (*10)Class 10 (

687. Specifi cationsItem SpecificationsTemperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)Altitude m 1,000 or lessNoise dB 74Robot w

697. Specifi cationsIX-NNC80 (Arm Length 800, Clean-room Specification) Item Specifications Type IX-NNC80-L-T1 Cleanliness class (*10)Class 10 (

707. Specifi cationsItem SpecificationsAmbient temperature/humidityTemperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)Operatingenvir

717. Specifi cations7.2 External Dimensions IX-NNC504 - I11 hole I24 counterbore, depth 5 5 (Mechanical end) 2-M4 depth 8 (*1) Air joint (o

727. Specifi cationsIX-NNC604 - I11 hole I24 counterbore, depth 5 5 (Mechanical end) 2-M4 (*1) Air joint (opposite side)Applicable tube: Outer di

737. Specifi cationsIX-NNC70Applicable tube: Outer diameter I12(inner diameter I8) Air joint (*4) Arm 2 stopper4 - I14 hole I30 counterbore, depth

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

747. Specifi cationsIX-NNC80Applicable tube: Outer diameter I12(inner diameter I8) Air joint (*4) Arm 2 stopper4 - I14 hole I30 counterbore, depth

757. Specifi cations7.3 Robot Operation Area IX-NNC50(Operation prohibited area) Stopper position range Movement range IX-NNC60(Operation prohibite

767. Specifi cationsIX-NNC70(Operation prohibited area) Stopper position range Movement range IX-NNC80(Operation prohibited area) Stopper position

777. Specifi cations7.4 Wiring Diagram Wiring/Piping Diagram (Arm Length: 500/600) Controller Inside base Inside arm 2Cable fix cap (Capcon) Servo mot

787. Specifi cations7.5 230V Circuit Components IX-NNC50/60No. Code name Model Manufacturer Remarks1 Axis 1 servo motor TS4609 N2027 E200AC s

798. Warranty8. Warranty 8.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from IAI y 12 months

808. Warranty8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications(1) If our product is combined with another

81Change HistoryChange History Revision Date Description of RevisionA page for CE Marking addedIntroduction, Safety Symbols and Safety Precautions are

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

Manual No.: ME3628-4A (August 2012)The information contained in this document is subject to change without notice for purposes of product improvement.