IAI IX Series User manual

Horizontal Articulated Robot – IX Series
Tabletop Type, Arm Length 120/150/180
IX-NNN-1205, IX-NNN-1505, IX-NNN-1805
Operation Manual Second Edition

Please Read Before Use
Thank you for purchasing an IAI product.
This operation manual explains the handling methods, structure and maintenance of this product, among
others, providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein
to ensure safe use of the product.
The CD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing
them out or displaying them on a PC.
After reading the operation manual, keep it in a convenient place so that whoever is handling this product
can reference it quickly when necessary.
[Important]
•The product cannot be operated in any way unless expressly specified in this operation
manual. IAI shall assume no responsibility for the outcome of any operation not specified
herein.
•Information contained in this operation manual is subject to change without notice for the
purpose of product improvement.
•This operation manual is original.
•If you have any question or comment regarding the content of this manual, please contact
the IAI sales office near you.
•Unauthorized use or reproduction of this operation manual, whether in whole or in part, is strictly
prohibited.

Introduction
Thank you for purchasing an IAI Horizontal Articulated Robot.
This manual describes the handling, structure, maintenance and other important aspects of the
IX-Series Horizontal Articulated Robot (IX-NNN-1205/1505/1805), and provides the user with
information necessary to the safe operation of the robot.
To ensure safe operation, be sure to read this manual and fully understand its content before
using your IX-Series robot. After reading this manual, keep it in a convenient place for reference
whenever needed.
Please refer to the separate manual for other arm sizes, cleanroom specifications, dust-
proof/splash-proof specifications and wall-mount specifications. The standard specifications and
items that apply commonly to all specification types are covered in this manual.
Please refer to the separate controller manual for operation programs and other specifications or
instructions involving the controller.
Caution
The unauthorized use or reproduction of all or part of this manual is strictly
prohibited.
The information contained in this manual is subject to change without notice for
purposes of product improvement.
Should you find any error in the descriptions contained in this manual, or if you have
any comments or feedback, please contact IAI America, Inc.

Table of Contents
1. For Safe Use of Robots ............................................................................................. 1
1.1 Safety Symbols....................................................................................................................... 1
1.2 Safety Precautions ................................................................................................................. 1
1.3 Conducting Special Training on Industrial Robots.................................................................. 7
1.4 Warranty Period and Scope of Warranty................................................................................ 7
2. Names of Robot Parts ............................................................................................... 8
2.1 Robot Body............................................................................................................................. 8
2.2 Robot Controller ..................................................................................................................... 9
2.3 Labels ................................................................................................................................... 10
2.4 Label Positions ......................................................................................................................11
3. Transportation and Handling.................................................................................... 12
3.1 Handling of the Carton ......................................................................................................... 12
3.2 Packing Condition of the Robot............................................................................................ 12
3.3 Handling of Individual Components...................................................................................... 13
3.4 Checking after Unpacking .................................................................................................... 13
3.5 Transporting the Robot......................................................................................................... 14
4. Installation Environment and Storage Environment ................................................. 16
4.1 Installation Environment ....................................................................................................... 16
4.2 Installation Platform .............................................................................................................. 16
4.3 Storage Environment............................................................................................................ 16
5. Installation of the Robot ........................................................................................... 17
5.1 Installing the Robot............................................................................................................... 17
5.2 Connecting the Controller..................................................................................................... 18
5.3 Checking after Installation .................................................................................................... 21
6. Precautions for Use ................................................................................................. 22
6.1 Reference Acceleration/Deceleration Settings..................................................................... 22
6.2 Tools ..................................................................................................................................... 24
6.3 Carrying Load ....................................................................................................................... 25
6.4 Actuator with Vertical Axis Brake (Optional)......................................................................... 26
6.5 User Wiring and Piping......................................................................................................... 27
7. Inspection/Maintenance........................................................................................... 29
7.1 Inspection Items ................................................................................................................... 29
7.2 Encoder Battery Replacement ............................................................................................. 32
7.3 Absolute Reset Procedure ................................................................................................... 35
8. Specifications........................................................................................................... 53
8.1 Specification Table................................................................................................................ 53
8.2 External Dimensions ............................................................................................................ 59
8.3 Robot Operation Area........................................................................................................... 62

1
1. For Safe Use of Robots
1.1 Safety Symbols
Industrial robots are machines offering an advanced programming function and capable of realizing highly
flexible movements. When using industrial robots, therefore, be sure to observe the safety instructions and
precautions applicable to these robots. Failure to provide the necessary safety measures or incorrect
handling of the robot may not only cause the robot to break down or sustain damage, but it can also lead
to a major accident involving the operator (person who installs, operates, adjusts/inspects or otherwise
handles the robot) including injury or even death.
Danger Failure to observe this instruction is likely to result in serious injury or
death.
Warning Failure to observe this instruction may result in serious injury or
death.
Caution Failure to observe this instruction may result in injury or damage to
the equipment.
Note Failure to observe this instruction will not result in injury, but it should
be heeded to ensure proper use of the product.
1.2 Safety Precautions
General precautions regarding the handling of robots are provided on the following pages. For any work
that must be performed with the robot’s operating range, specify a work procedure, etc., and make sure it
is communicated to, and fully understood by, each operator.

2
Precautions for Installation of the Robot
(1) Ensuring a proper service environment
Refer to the section entitled “Installation Environment and Storage Environment” to secure a proper
service environment for the robot.
(2) Ensuring a space to cover the robot’s operating range
Refer to the section entitled “Robot Operation Area” to secure a sufficient operation area for the
robot.
(3) Ensuring work/maintenance space
Ensure a sufficient range of operation for work and maintenance so that operation, adjustment and
inspection can be carried out without a problem.
(4) Location for installation of control unit
Install the control unit, such as a controller, at a location outside the robot’s range of movement, from
which robot operation can be observed in its entirety.
(5) Installation of a safety cage
Install a safety cage or enclosure, or stretch ropes or chains, around the perimeter of the robot’s
range of movement, so that the operator and bystanders cannot easily enter or bring objects into the
robot’s operation area.
(6) Installation of interlocks
Install a switch (sensor) at the entrance to the safety cage, enclosure or other safety barrier and
interlock it to the robot, so that the robot will stop operating the moment the door, ropes, chains, etc.,
are opened. Additionally, make sure that entry into the operating range is not possible other than
from the interlocked entrance.
(7) Installation of an emergency-stop switch
Provide an emergency-stop switch at a location that is instantly accessible by the operator in case of
an emergency.
(8) Attachment of caution labels
Be sure to attach the supplied caution labels at the entrance to and exit from the operation area or
other location, placing such labels where the operator can easily see and recognize them. Also,
maintain the legibility of caution labels by making sure they are not removed or smudged.
(9) Prohibition of robot modification
Never attempt to modify the robot or controller.
(10) Protection against flying work
If there is a possibility that the work held by the robot may be released and allowed to fly off, drop or
otherwise jeopardize the operator’s safety, implement appropriate protective measures in
consideration of the size, weight, temperature, chemical properties and other characteristics of the
work.
zThe safety of the operator and bystanders cannot be assured if the above precautions for
installation are not heeded. Failure to observe these precautions may result in a serious accident
or damage to the robot.
Danger

3

4
Precautions for Work Near the Robot
Contact with a moving robot may result in a serious accident. Be sure to observe the following items:
(1) Prohibition against entering the robot’s range of movement during operation
Never enter the robot’s range of movement while it is operating or in the ready mode.
(2) Before entering the robot’s range of movement
If you must enter the robot’s range of movement, always press the emergency-stop switch or turn off
the power to halt the robot’s operation before entering.
(3) Operation inside the safety cage
For teaching, inspection and other operations that require the operator to work in the safety cage or
enclosure while the robot is operating, specify a work procedure and make sure it is communicated
to, and fully understood by, each operator. Additionally, the following measures should be taken:
•The operator shall carry a hand-held emergency-stop switch at all times so that the robot can be
stopped as soon as an abnormal condition arises.
•A person other than the operator shall monitor the work to ensure that operation of the robot can be
stopped as soon as an abnormal condition arises.
•A person other than the operator shall monitor the work in order to make sure that no unauthorized
person will inadvertently operate the switches or controls.
•A “Work in Progress” sign must be displayed in a conspicuous location.
zFailure to observe the above precautions for work near the robot may result in serious injury or
death.
zDo not enter the robot’s range of movement while it is operating.
zAlways press the emergency-stop switch or turn off the power before entering the robot’s range of
movement.
zA person other than the operator must be sure to monitor the work whenever the operator enters
the robot’s range of movement.
Danger Warning