Iai-america IX-NNC3515 Manual de usuario

Operation Manual Fourth EitionHorizontal Articulated Robot – IX SeriesTabletop Type, Clean-room SpecificationArm Length 250/350IX-NNC-2515, IX-NNC-351

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. Change History1 Names of Robot Parts1.1 Clean-room SpecificationUser connectorSpacer for user part installationBK SW (Brake-release switch)Top cov

101. Change History1.2 Labels The following labels are attached on the robot and controller. Be sure to observe the instructions and cautions written

111. Change HistoryRated 1.3 Label Positions Label Positions on the Robot Label Positions on the Controller Designation of the connected robot Control

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

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

164. How to Install4.4.1How to InstallShown below is how to install SCARA Robot.Installation PostureżsCeiling-MountWall-MountHorizontally Oriented Mou

174. How to Install4.1 Installing the Robot Install the robot on a level surface. Secure the robot using M8 hex bolts and washers (tightening torque:

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

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

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

215. Precautions for Use(2) CP operation (Set using the SEL language commands ACC and DCL.) z To operate the robot at the maximum acceleration/decel

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

235. Precautions for Use5.3 Carrying Load Load capacity Rated load capacity: 1 kg Maximum load capacity: 3 kg Load’s permissible moment of inertia 0

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

255. Precautions for UseThe robot comes with a 15-pin plug for the D-sub connector for user wiring. Solder a user-supplied cable to the D-sub connecto

265. 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

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

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

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

306. Inspection/Maintenance6.2.2 Removing the Cover (1) With arms 1 and 2 extended as illustrated below, remove the six countersunk head screws [1

316. Inspection/Maintenance(4) Remove the two cap screws (M4 x 8) [2] on the cap, and remove the cap. (5) Loosen the cap screw (M5 x 15) [3] on the

326. 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 t

336. Inspection/Maintenance6.2.5 Checking the Belt Tension for the Rotational Axis Using a push-pull gauge, push the timing belt for rotational axis

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

346. Inspection/Maintenance6.2.6 Adjusting the Belt Tension for the Vertical Axis (1) Loosen the four M5 bolts [1] slightly, making sure the fastene

356. Inspection/Maintenance6.2.7 Adjusting the Belt Tension for the Rotational Axis (1) Loosen the two M4 bolts [1] slightly, making sure the fasten

366. Inspection/Maintenance6.2.8 Installing the Cover (1) Install the cover and connect the motor connectors (M, PG, BK) extending from the rotary j

376. Inspection/Maintenance(5) Tighten the two cap screws (M4 x 8) [4] to affix the cap. (6) Tighten the bellows clamp using a Phillips screwdriver.

386. Inspection/Maintenance6.3 Battery Replacement 6.3.1 Preparation The following items are required when replacing the batteries: x Hex wrench (2.5

396. Inspection/Maintenance6.3.2 Battery Replacement Procedure (1) Remove the six low-head cap screws [1] and remove the rear panel (base). (2) Rem

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

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

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

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

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

446. 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

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

466. 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 requ

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

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

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

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

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

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

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

8. Warranty ·················································································································· 668.1 Warranty Period ·

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

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

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

577. Specifi cations7 Specifications 7.1 Specification Table IX-NNC2515 (Arm Length 250, Clean-room Specification) Item Specifications Type IX-NNC2515

587. Specifi cationsItem SpecificationsUser wiring D-sub 15-pin connector with 15-core AWG26 shielded cable (socket)Alarm indicator (*9) One small, re

597. Specifi cationsIX-NNC3515 (Arm Length 350, Clean-room Specification) Item Specifications Type IX-NNC3515-L-T1 Degree of freedom Four degrees o

607. Specifi cationsItem SpecificationsUser pipingThree air tubes (outer diameter: 4, inner diameter: 2.5)(normal service pressure: 0.8 MPa)Temperature

617. Specifi cations7.2 External Dimensions IX  NNC  2515 (Arm Length 250, Clean-room Specification) Arm 1 stopperI16, counterbore depth 0.5(Mechanic

627. Specifi cationsIX  NNC  3515 (Arm Length 350, Clean-room Specification) Arm 1 stopperI16, counterbore depth 0.5ReferencesurfaceALM (indicator)Ar

637. Specifi cations7.3 Robot Operation Area IX  NNC  2515 (Arm Length 250, Clean-room Specification) IX  NNC  3515 (Arm Length 350, Standard Speci

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

657. Specifi cationsIX-NNC25**/35** No. Code name Model ManufacturerRemarks1 Axis 1 servo motor TS4607 N2027 E200AC servo motor, 60, 200 W, key groo

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

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

68Change HistoryChange History Revision Date Description of RevisionA page for CE Marking addedIntroduction, Safety Symbols and Safety Precautions are

Manual No.: ME3629-4A (August 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvement.C

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

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