Iai-america IX-INN8040 Manuale Utente

Operation Manual Fifth EditionHorizontal Articulated Robot – IX SeriesCeiling-mount Type, Arm Length 500/600/700/800IX-HNN50 /60 /70 /80IX-INN50 /60 /

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 cl

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

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 Parts11 Names of Robot Parts 1.1 Ceiling-mount Specification * The inverse specification is installed upside down. User connector

101. Names of Robot Parts2Rated1.2 Labels The following labels are attached on the robot and controller. Be sure to observe the instructions and caut

111. Names of Robot Parts31.3 Label Positions Label Positions on the Robot Label Positions on the Controller View A Warning on handling of the vertic

122. Transportation and Handling42 Transportation and Handling 2.1 Handling of the Carton Each robot is packed with a controller prior to shipment.

132. Transportation and Handling52.3 Handling of Individual Components The robot and controller are supplied as a set. Your robot cannot be used with

142. Transportation and Handling62.5 Transporting the Robot Use a dolly, forklift, crane, or other appropriate equipment for transportation. When tra

152. Transportation and Handling72.5.2 Transporting the Inverse Specification Secure the arms with the arm-affixing plate, and wrap the cables around

163. Installation Environment and Storage Environment83 Installation Environment and Storage Environment 3.1 Installation Environment Install the ro

174. How to Install×%!

184. How to Install4.1 Notes on Installation In the case of the ceiling-mount specification, the robot will move to points above the base installation

194. How to InstallCenter of recommended installation part

204. How to Install4.2 Installing the Robot Install the robot on a level surface. Secure the robot using hex bolts and washers. Type Bolt size Tight

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

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

234. How to Install4.4 Checking after Installation Once the robot has been installed, check the following items:  Visually check the robot, controll

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

255. Precautions for Use(2) CP operation  To operate the robot at the maximum acceleration, provide a stopping period of three seconds or more after

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

275. Precautions for Use5.3 Carrying Load Load capacity Type Rated load capacity Maximum load capacity IX-HNN50/60IX-INN50/602 kg 10 kg IX-

285. 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

295. Precautions for UseThe robot comes with a 25-pin plug for the D-sub connector for user wiring. Solder a user-supplied cable to the D-sub connecto

306. Inspection/Maintenance6 Inspection/Maintenance 6.1 Inspection/Maintenance Your horizontal articulated robot must be inspected daily and on a regu

316. Inspection/Maintenance6.1.1 Daily InspectionCheck the following items daily before and after operating the robot.Observe the precautions for work

326. Inspection/MaintenancePerforming inspection or maintenance without fully understanding the details of work may result ina serious accident.If ins

336. Inspection/Maintenance6.2.2 Removing the Cover (1) With arms 1 and 2 extended as illustrated below, press the brake-release switch [1] to relea

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

346. Inspection/Maintenance6.2.3 Checking the Belt Tension 6.2.4 Checking the Belt Tension for the Vertical Axis Using a push-pull gauge, push the ti

356. Inspection/Maintenance6.2.5 Checking the Belt Tension for the Rotational Axis (1) Insert a  3 pin in the hole provided on one side of arm 2 (pi

366. Inspection/Maintenance6.2.6 Adjusting the Belt Tension for the Vertical Axis (1) Loosen the four M5 nuts [4] slightly, making sure the fastened

376. Inspection/Maintenance6.2.8 Installing the Cover (1) Place the cover on the robot and connect the connectors, cables and air tubes installed as

386. Inspection/Maintenance(2) Perform an absolute reset for the rotational axis and vertical axis. This completes the procedure for installation of

396. Inspection/Maintenance6.3 Battery Replacement 6.3.1 Preparation The following items are required when replacing the batteries:  Phillips screwdr

406. Inspection/Maintenance6.3.2 Battery Replacement Procedure (1) Remove the countersunk head screws [1] (six pieces) and detach the cover (base).

416. Inspection/Maintenance(5) Affix the cover (base) using the countersunk head screws [1] (six pieces) (tightening torque: 0.74 Nm).  When insta

426. Inspection/Maintenance6.4 Absolute Reset Procedure 6.4.1 Preparation for Absolute Reset The following jig is required when performing an absolut

436. Inspection/Maintenance6.4.2 Starting the Absolute Reset Menu (1) Open the absolute reset window from the PC software. (2) The absolute reset w

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

446. Inspection/Maintenance6.4.3 Absolute Reset Procedure for Arm 1 or 2 (1) Click the “Encoder Rotation Data Reset1” button. (2) Click the “Reset

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

466. 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

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

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

496. Inspection/Maintenance6.4.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis (1) Click “Encoder Rotation Data Reset1” button. (

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

516. Inspection/Maintenance(6) Click the “Servo-OFF” button. (7) Press the emergency-stop switch.

526. Inspection/Maintenance(8) Affix the rotational axis at the reference position by setting the plate and pin of the adjustment jig as illustrated

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

8. Warranty ·················································································································· 838.1 Warranty Period ·

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

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

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

576. Inspection/Maintenance6.4.5 Writing the Flash ROM (1) Following an absolute reset of the rotational axis and vertical axis, the following scree

586. Inspection/Maintenance6.4.6 Resetting the Controller (1) Select “Software Reset” from the Controller menu on the tool bar. (2) Click the “Yes”

597. Specifi cations7 Specifications 7.1 Horizontal Articulated Robot Specifications IX-HNN-50 (Arm Length 500, Ceiling-mount Specification) Item Sp

607. Specifi cationsItem SpecificationsTemperature: 0 to 40 C, humidity: 20 to 85%RH or less (non-condensing)Altitude m 1,000 or lessBdesioN 73230 V 5

617. Specifi cationsIX-INN50 (Arm Length 500, Inverse Specification) Item Specifications Type IX-INN50-**L Degree of freedom Four degrees of free

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

637. Specifi cationsIX-HNN60 (Arm Length 600, Ceiling-mount Specification) Item Specifications Type IX-HNN60-**L Degree of freedom Four degrees o

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 lessBdesioN 73Robot we

657. Specifi cationsIX-INN60 (Arm Length 600, Inverse Specification) Item Specifications Type IX-INN60-**L Degree of freedom Four degrees of free

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

677. Specifi cationsIX-HNN70 (Arm Length 700, Ceiling-mount Specification) Item Specifications Type IX-HNN70-**L-T1 Degree of freedom Four degree

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

697. Specifi cationsIX-INN70 (Arm Length 700, Inverse Specification) Item Specifications Type IX-INN70-**L-T1 Degree of freedom Four degrees of f

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

717. Specifi cationsIX-HNN80 (Arm Length 800, Ceiling-mount Specification) Item Specifications Type IX-HNN80-**L-T1 Degree of freedom Four degree

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

737. Specifi cationsIX-INN80 (Arm Length 800, Inverse Specification) Item Specifications Type IX-INN80-**L-T1 Degree of freedom Four degrees of f

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

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

757. Specifi cations7.2 External Dimensions IX-HNN-50(Mechanical end) 3-M4, depth 8Same on opposite side (*1)(Mechanical end) Arm 1 Arm 2 stopper 6

767. Specifi cationsIX-HNN-605.5 (Mechanical end) 3-M4, depth 8Same on opposite side (*1)5 (Mechanical end) Arm 1 Arm 2 stopper 6 quick air-tube joi

777. Specifi cationsIX-HNN-706 (Mechanical end) 3-M4, depth 8Same on opposite side (*1)6 (Mechanical end) Arm 1 stopper 6 quick air-tube joint 4 qu

787. Specifi cationsIX-HNN-806 (Mechanical end) 3-M4, depth 8Same on opposite side (*1)6 (Mechanical end) Arm 1 stopper 6 quick air-tube joint 4 qu

797. Specifi cations7.3 Robot Operation Area IX-HNN-50IX-INN-50IX-HNN-60IX-INN-60(Operation prohibited area) (Operation prohibited area) Stoppe

807. Specifi cationsIX-HNN-70IX-INN-70IX-HNN-80IX-INN-80(Operation prohibited area) (Operation prohibited area) Stopper position range Movement

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

827. Specifi cations7.5 230V Circuit Components IX-HNN50**/60**, IX-INN50**/60** No. Code name Model Manufacturer Remarks1 Axis 1 servo motor TS4

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

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

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

85Change HistoryChange History Revision Date Description of RevisionApril 2011March 2012August 2012Third editionFourth editionFifth editionSafety Guid

Manual No.: ME3636-5A (August 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvement.C