Iai-america IX-NNW8040 Manuale Utente

IX-NNW50 /60 /70 /80Horizontal Articulated Robot – IX SeriesTabletop Type, Dust-proof/Splash-proof SpecificationArm Length 500/600/700/800Operation Ma

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

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

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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 (1) IX-NNW50/60User connectorALM (indicator)I4 joint for user piping, blackI6

101. Names of Robot Parts(2) IX-NNW70/80User connectorALM (indicator)I4 joint for user piping, blackI6 joint for user piping, redSpacer for user p

111. 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

121. Names of Robot PartsR1.3 Label Positions Label Positions on the Robot Label Positions on the Controller View A Warning on handling of the verti

132. Transportation and Handing2 Transportation and Handling 2.1 Handling of the Carton Each robot is packed with a controller prior to shipment. Whe

142. Transportation and Handing2.3 Handling of Individual Components The robot and controller are supplied as a set. Your robot cannot be used with t

152. Transportation and Handing2.5 Transporting the Robot When transporting the robot, affix the arms using the supplied arm fixing plate. Additional

163. Installation Environment and Storage Environment3 Installation Environment and Storage Environment 3.1 Installation Environment The dust-proof/s

173. Installation Environment and Storage Environment3.2 Installation Platform The platform on which to install the robot receives a significant react

184. How to Install44.1How to InstallShown below is how to install SCARA Robot.Installation PostureCeiling-MountWall-MountHorizontally Oriented Mountż

194. 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

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

214. How to Installz Before connecting or disconnecting a cable, always turn off the power to the controller. Connecting/disconnecting a cable with t

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

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

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 Use(2) CP operation (Set using the SEL language commands ACC and DCL.) z To operate the robot at the maximum acceleration, prov

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

265. Precautions for Use5.3 Carrying Load Load capacity Type Rated load capacity Maximum load capacity IX-NNW50/60 2 kg 10 kg IX-NNW70/80 5

275. 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

285. Precautions for UseThe robot comes with a 24-pin plug (NJW-28-24-PM-18 manufactured by Nanaboshi Electric Mfg.) to be connected to the user conne

295. 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

305. Precautions for Use5.5 Air Purge The robot will conform to the IP65 dust-proof/splash-proof specification when the pressure specified below is su

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

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

336. Inspection/Maintenance6.2 How to Replace Bellows Preparation The following tools are required when replacing bellows: x Hex wrenches (1.5, 2 and

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

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

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

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

376. 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

386. Inspection/Maintenance6.3.3 Checking the Belt Tension 6.3.4 Checking the Belt Tension for the Vertical Axis Using a push-pull gauge, push the ti

396. 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

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

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

426. Inspection/Maintenance(2) Install the M4 setscrew on the side face of arm 2. (3) Perform an absolute reset for the rotational axis and vertical

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

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

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

456. Inspection/Maintenance(5) Affix the cover (base) using the hex bolts [1] and sealing washers (six pieces each) (tightening torque: 0.74 N-m). z

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

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

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

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

506. 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

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

526. 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

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

8. Warranty ·················································································································· 788.1 Warranty Period ·

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

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

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

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

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

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

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

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

627. Specifi cations7 Specifications 7.1 Specification Table IX-NNW50 (Arm Length 500, Dust-proof/Splash-proof Specification) Item Specifications Typ

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

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647. Specifi cationsIX-NNW60 (Arm Length 600, Dust-proof/Splash-proof Specification) Item Specifications Type IX-NNW6020-**L-T1 Degree of freedom F

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

667. Specifi cationsIX-NNW70 (Arm Length 700, Dust-proof/Splash-proof Specification) Item Specifications Type IX-NNW70-**L-T1 Dust-proof/splash-proo

677. Specifi cationsItem Specifications0 to 40 CAltitude m 1,000 or lessBdesioN 74Robot weight kg 60230 V 50/60 Hz 15 AAllowable supply voltage fluct

687. Specifi cationsIX-NNW80 (Arm Length 800, Dust-proof/Splash-proof Specification) Item Specifications Type IX-NNW80-**L-T1 Dust-proof/splash-proo

697. Specifi cationsItem Specifications0 to 40 CAltitude m 1,000 or lessBdesioN 74Robot weight kg 62230 V 50/60 Hz 15 AAllowable supply voltage fluct

707. Specifi cations7.2 External Dimensions IX-NNW504 - I11 hole I24 counterbore, depth 5 5 (Mechanical end) I6 quick air-tube jointI4 quick air-tube

717. Specifi cationsIX-NNW604 - I11 hole I24 counterbore, depth 5 5 (Mechanical end) I6 quick air-tube jointI4 quick air-tube jointALM (*2) BK SW B

727. Specifi cationsIX-NNW704 - I14 hole I30 counterbore, depth 5 6 (Mechanical end) 6 (Mechanical end) I6 quick air-tube jointI4 quick air-tube join

737. Specifi cationsIX-NNW804 - I14 hole I30 counterbore, depth 5 6 (Mechanical end) 6 (Mechanical end) I6 quick air-tube jointI4 quick air-tube join

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

747. Specifi cations7.3 Robot Operation Area IX-NNW50IX-NNW60(Operation prohibited area) (Operation prohibited area) Stopper position range Movemen

757. Specifi cationsIX-NNW70IX-NNW80(Operation prohibited area) Stopper position range Movement range (Operation prohibited area) Movement range St

767. Specifi cationsNotes(1) The actual layout of board connectors varies from this drawing. (2) Since the brake power circuit is provided on the pri

777. Specifi cations7.5 230V Circuit Components IX-NNW50/60No. Code name Model Manufacturer Remarks1 Axis 1 servo motor TS4609 N2027 E200AC s

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

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

80Change History Revision Date Description of RevisionA page for CE Marking addedIntroduction, Safety Symbols and Safety Precautions are deletedPg. 1

Manual No.: ME3632-4A (August 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvement.C

3No.Operation Description Description (2) Cable Wiring Ɣ8VHRXUFRPSDQ\¶VJHQXLQHFDEOHVfor connecting between the actuator and controller, and for