Mate Operador

< Robot LR Mate 200+D
< Robot ARC Mate 50+D
MECHANICAL UNIT
OPERATOR'S MANUAL
B-83494EN/08
© FANUC CORPORATION, 2012

• Original Instructions
Thank you very much for purchasing FANUC Robot.

Before using the Robot, be sure to read the "FANUC Robot series SAFETY HANDBOOK
(B-80687EN)" and understand the content.
• No part of this manual may be reproduced in any form.

• All specifications and designs are subject to change without notice.
The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.
In this manual, we endeavor to include all pertinent matters. There are, however, a very
large number of operations that must not or cannot be performed, and if the manual
contained them all, it would be enormous in volume. It is, therefore, requested to assume
that any operations that are not explicitly described as being possible are "not possible".
B-83494EN/08 SAFETY PRECAUTIONS
SAFETY PRECAUTIONS
This chapter describes the precautions which must be followed to enable the safe use of the robot. Before
using the robot, be sure to read this chapter thoroughly.
For detailed functions of the robot operation, read the relevant operator's manual to understand fully its
specification.
For the safety of the operator and the system, follow all safety precautions when operating a robot and its
peripheral equipment installed in a work cell.
For safe use of FANUC robots, you must read and follow the instructions in “FANUC Robot series
SAFETY HANDBOOK (B-80687EN)”.
1 PERSONNEL
Personnel can be classified as follows.
Operator:
• Turns the robot controller power ON/OFF
• Starts the robot program from operator panel
Programmer or Teaching operator:

• Operates the robot
• Teaches the robot inside the safeguarded space
Maintenance technician:
• Operates the robot
• Teaches the robot inside the safeguarded space
• Performs maintenance (repair, adjustment, replacement)
- The operator is not allowed to work in the safeguarded space.

- The programmer or teaching operator and maintenance technician are allowed to work in the
safeguarded space. Works carried out in the safeguarded space include transportation, installation,
teaching, adjustment, and maintenance.
- To work inside the safeguarded space, the person must be trained on proper robot operation.
s-1
SAFETY PRECAUTIONS B-83494EN/08
Table 1 (a) lists the work outside the safeguarded space. In this table, the symbol “” means the work
allowed to be carried out by the specified personnel.
Table 1 (a) List of work outside the Safeguarded Space

Programmer or Maintenance
Operator
Teaching operator technician
Turn power ON/OFF to Robot controller   
Select operating mode (AUTO/T1/T2)  
Select remote/local mode  
Select robot program with teach pendant  
Select robot program with external device  
Start robot program with operator’s panel   
Start robot program with teach pendant  
Reset alarm with operator’s panel  
Reset alarm with teach pendant  
Set data on teach pendant  
Teaching with teach pendant  
Emergency stop with operator’s panel   
Emergency stop with teach pendant   
Operator’s panel maintenance 
Teach pendant maintenance 
During robot operation, programming and maintenance, the operator, programmer, teaching operator and
maintenance technician take care of their safety using at least the following safety protectors.
• Use clothes, uniform, overall adequate for the work

• Safety shoes
• Helmet
2 DEFINITION OF SAFETY NOTATIONS

To ensure the safety of users and prevent damage to the machine, this manual indicates each precaution
on safety with "WARNING" or "CAUTION" according to its severity. Supplementary information is
indicated by "NOTE". Read the contents of each "WARNING", "CAUTION" and "NOTE" before
using the robot.
Symbol Definitions
Used if hazard resulting in the death or serious injury of the user will be expected to
WARNING occur if he or she fails to follow the approved procedure.
Used if a hazard resulting in the minor or moderate injury of the user, or equipment
CAUTION damage may be expected to occur if he or she fails to follow the approved
procedure.
Used if a supplementary explanation not related to any of WARNING and CAUTION
NOTE is to be indicated.
s-2
3 PROCEDURE TO MOVE ARM WITHOUT

DRIVE POWER IN EMERGENCY OR
ABNORMAL SITUATIONS
Please drop the power supply of the robot control system at once when the worker is placed by the robot
by any chance or it is confined, push the robot arm directly, change posture, and liberate the worker.
4 WARNING & CAUTION LABEL

(1) Transportation label
(except 7C/7LC) (7C/7LC)

Fig. 4 (a) Transportation label
Description
When transporting the robot, observe the instructions indicated on this label.
1) Use a crane having a load capacity of 100 kg or greater.

2) Use at least four slings each having a load capacity of 100 kg or greater.
3) Use at least four shackles and eyebolts each having an allowable load of 784 N (80 kgf) or greater.
s-3
(2) Greasing label

(if greasing kit A05B-1142-K021, A05B-1142-K026 is specified)
每向前推动柱塞 2.5mm,
就会有 1ml的润滑脂被推出来。
轴量
供脂时
(Except 7C/7L) (7C/7LC)

Fig. 4 (b) Greasing label
Description
When using a grease kit, observe the instructions indicated on this label.
1) Before filling the cylinder with grease from tube, squeeze the tube to make the grease in it soft.
2) Pushing in the plunger by 2.5 mm causes a grease of 1 ml to be pushed out.
(3) Operation space and payload label

The following label is added if the CE specification is requested.
(Except 7H/14L) (7H)
s-4
(14L)
Fig. 4 (c) Operation space and payload label
s-5
B-83494EN/08 PREFACE
PREFACE
This manual explains maintenance procedures for the following mechanical units:
Mechanical unit
Model name Maximum load Remarks
specification No.
FANUC Robot LR Mate 200iD A05B-1142-B201
FANUC Robot LR Mate 200iD/7H A05B-1142-B211 5-axes type
FANUC Robot LR Mate 200iD/7C A05B-1142-B221 Clean type
FANUC Robot LR Mate 200iD/7WP A05B-1142-B231 For washing
7kg
FANUC Robot ARC Mate 50iD A05B-1142-B251
FANUC Robot LR Mate 200iD/7L A05B-1142-B301 Long arm type
FANUC Robot LR Mate 200iD/7LC A05B-1142-B321 Long arm, clean type
FANUC Robot ARC Mate 50iD/7L A05B-1142-B351 Long arm type
FANUC Robot LR Mate 200iD/14L A05B-1142-B341 14kg
NOTE
The following abbreviations are used herein.
STANDARD : LR Mate 200iD, ARC Mate 50iD
7H : LR Mate 200iD/7H
7C : LR Mate 200iD/7C
7WP : LR Mate 200iD/7WP
7L : LR Mate 200iD/7L, ARC Mate 50iD/7L
7LC : LR Mate 200iD/7LC
14L : LR Mate 200iD/14L
p-1
PREFACE B-83494EN/08
The label stating the mechanical unit specification number is affixed in the position shown below. Before
reading this manual, verify the specification number of the mechanical unit.
(1)
TYPE (2)
NO. (3)
DATE (4)
WEIGHT (5) kg
Position of label indicating mechanical unit specification number
TABLE 1）
(1) (2) (3) (4) (5)
WEIGHT kg
CONTENTS Model name TYPE No. DATE (Without
controller)
FANUC Robot
A05B-1142-B201 25
LR Mate 200iD
FANUC Robot
A05B-1142-B211 24
LR Mate 200iD/7H
FANUC Robot
A05B-1142-B221 25
LR Mate 200iD/7C
FANUC Robot
A05B-1142-B231 25
LR Mate 200iD/7WP PRODUCTION
FANUC Robot SERIAL NO. IS YEAR AND
LETTERS A05B-1142-B251 25
ARC Mate 50iD PRINTED MONTH ARE
FANUC Robot PRINTED
A05B-1142-B301 27
LR Mate 200iD/7L
FANUC Robot
A05B-1142-B321 27
LR Mate 200iD/7LC
FANUC Robot
A05B-1142-B351 27
ARC Mate 50iD/7L
FANUC Robot
A05B-1142-B341 27
LR Mate 200iD/14L
p-2
B-83494EN/08 PREFACE
RELATED MANUALS
For the FANUC Robot series, the following manuals are available:
SAFETY HANDBOOK B-80687EN Intended readers :

All persons who use the FANUC Robot and system Operator, system designer
designer must read and understand Topics :
thoroughly this handbook Safety items for robot system design, operation,
maintenance
R-30iB Mate OPERATOR’S MANUAL Intended readers :
R-30iB Mate Plus Basic Operation Operator, programmer, maintenance technician,
controller B-83284EN system designer
Alarm Code List Topics :
B-83284EN-1 Robot functions, operations, programming, setup,
Optional Function interfaces, alarms
B-83284EN-2 Use :
Robot operation, teaching, system design
MAINTENANCE MANUAL Intended readers :
Standard : B-83525EN Maintenance technician, system designer
Open Air : B-83555EN Topics :
Installation, start-up, connection, maintenance
Use :
Installation, start-up, connection, maintenance
This manual uses following terms.
Name Terms in this manual

Connection cable between robot and controller Robot connection cable
Robot mechanical unit Mechanical unit
p-3
TABLE OF CONTENTS
SAFETY PRECAUTIONS ............................................................................ s-1
PREFACE ....................................................................................................p-1
1 TRANSPORTATION AND INSTALLATION ........................................... 1

1.1 TRANSPORTATION...................................................................................... 1
1.2 INSTALLATION ............................................................................................. 6
1.2.1 Angle of Mounting Surface Setting ........................................................................ 10
1.3 MAINTENANCE AREA ................................................................................ 12
1.4 INSTALLATION CONDITIONS .................................................................... 12
2 CONNECTION WITH THE CONTROLLER .......................................... 13
3 BASIC SPECIFICATIONS .................................................................... 15
3.1 ROBOT CONFIGURATION ......................................................................... 15
3.1.1 Note of Severe Dust /Liquid Specification ............................................................. 20
3.1.2 Cautions in Selecting the 7WP ............................................................................... 21
3.1.3 Cautions for 7C/7LC .............................................................................................. 23
3.1.4 IP69K (option) ........................................................................................................ 23
3.2 MECHANICAL UNIT OPERATION AREA AND INTERFERENCE AREA ... 24
3.3 ZERO POINT POSITION AND MOTION LIMIT ........................................... 27
3.4 WRIST LOAD CONDITIONS ....................................................................... 33
3.5 LOAD CONDITION ON EQUIPMENT MOUNTING FACE .......................... 38
3.6 OPERATING AREA FOR INCLINATION INSTALLATION .......................... 39
4 EQUIPMENT INSTALLATION TO THE ROBOT .................................. 43
4.1 END EFFECTOR INSTALLATION TO WRIST ............................................ 43
4.2 EQUIPMENT MOUNTING FACE ................................................................ 44
4.3 LOAD SETTING .......................................................................................... 46
4.4 HIGH INERTIA MODE (OPTION) (LR Mate 200iD/7H) ............................... 48
5 PIPING AND WIRING TO THE END EFFECTOR ................................ 49

5.1 AIR SUPPLY (OPTION) .............................................................................. 50
5.2 INSTALLING THE AIR PURGE KIT (OPTION) ........................................... 55
5.3 INTERFACE FOR OPTION CABLE ............................................................ 59
6 AXIS LIMIT SETUP ............................................................................... 62
6.1 SOFTWARE SETTING CHANGE AXIS LIMIT BY DCS (OPTION) ............. 62
7 CHECKS AND MAINTENANCE ........................................................... 66
7.1 CHECKS AND MAINTENANCE .................................................................. 66
7.1.1 Daily Checks .......................................................................................................... 66
7.1.2 Periodic Check and Maintenance ........................................................................... 67
7.2 CHECK POINTS .......................................................................................... 69
7.2.1 Confirmation of Oil Seepage .................................................................................. 69
s-1
7.2.2 Confirmation of the Air Control Set and Air Purge kit (option) ............................ 70
7.2.3 Check the Connectors ............................................................................................. 71
7.2.4 Check of Mechanical Stopper ................................................................................ 71
7.3 MAINTENANCE........................................................................................... 72
7.3.1 Replacing the Batteries
(1-Year Periodic Inspection If Built-in Batteries Are Specified)
(1.5-Year Periodic Inspection If External Batteries Are Specified) ....................... 72
7.3.2 Replenish the Grease of the Reducer
(4 years (15360 hours) or 2 years (7680 hours) checks) ........................................ 75
7.4 CLEANING THE ROBOT (7C/7LC) ............................................................. 77
7.5 STORAGE ................................................................................................... 78
8 MASTERING ......................................................................................... 79
8.1 OVERVIEW ................................................................................................. 79
8.2 RESETTING ALARMS AND PREPARING FOR MASTERING ................... 81
8.3 ZERO POSITION MASTERING .................................................................. 82
8.4 QUICK MASTERING ................................................................................... 85
8.5 QUICK MASTERING FOR SINGLE AXIS ................................................... 88
8.6 SINGLE AXIS MASTERING ........................................................................ 91
8.7 MASTERING DATA ENTRY ........................................................................ 94
8.8 VERIFYING MASTERING ........................................................................... 96
9 TROUBLESHOOTING .......................................................................... 97
9.1 TROUBLESHOOTING................................................................................. 97
APPENDIX
A PERIODIC MAINTENANCE TABLE ................................................... 107
B STRENGTH OF BOLT AND BOLT TORQUE LIST............................ 114
C OPTIONAL CONNECTOR WIRING PROCEDURE ............................ 115
D INSULATION ABOUT ARC WELDING ROBOT ................................ 116
D.1 INSULATION AT THE WRIST ................................................................... 116
D.2 INSULATION AT THE ADDITIONAL AXIS ................................................ 117
s-2
B-83494EN/08 1. TRANSPORTATION AND INSTALLATION
1 TRANSPORTATION AND INSTALLATION

1.1 TRANSPORTATION
Use a crane to transport the robot. When transporting the robot, be sure to change the posture of the robot
to that shown below and lift by using the eyebolts and the transport equipment at their points.
WARNING
1 The robot becomes unstable when it is transported with the end effector applied
to wrist. Please be sure to remove the end effector when the robot is
transported.
2 Before moving the robot with a crane, check and tighten any loose bolts on the
transport equipment on the robot.
3 Do not pull eyebolts sideways.
Transportation using a crane (Fig. 1.1 (a) to (f))

Fasten the transport equipment to the robot base and lift the robot with the four slings.
CAUTION
Note that slings with insufficient length may break the J2 base or J2 arm cover.
Crane
クレーン
クレーン許容荷重：500kg以上
Sling
スリング
スリング許容荷重：100kg以上
Crane
Load capacity.: 100kg or more
Sling
Load capacity. : 100kg/sling or more
Shackle
Allowable load. : 80kgf/each or more
Transport
輸送部材
equipment
Shackle
シャックル
703
Transport Transport posture

posture
輸送姿勢 (7H Horizontal wrist
輸送姿勢
(標準,7WP)
(Standard/ 7WP) zero
(7H specification)
手首水平が0°)
J1： 0° J1： 0°
J2：-30° J2：-30°
J3：-40° J3：-40°
J4： 0° J4：-45°
J5：-45° J5： 0°
J6： 0°
Transport posture
輸送姿勢
(7H Downward wrist
(7Hspecification)
手首下向きが0°)
235 207 191 zero
Note) 注） J1： 0°
1. Mechanical unit mass: 25kg (Standard/7WP) J2：-30°
1. 機構部質量：25kg (標準,7WP)
24kg (7H) J3：-40°
J4： 5°
2. Shackle complied24kg
with(7H)
JIS B 2801.
2. シャックル JIS B 2801に準ずるものを使用 J5： 0°
3. Quantity
3. 使用数 Shackle:4
シャックル：4 Sling:4
スリング：4
Fig. 1.1 (a) Transportation using a crane (back side connector plate)
(Standard/7H/7WP)
-1-
1. TRANSPORTATION AND INSTALLATION B-83494EN/08
クレーン
Crane
Sling
スリング
Crane
Sling
Shackle
Transport
Shackle
シャックル輸送部材
equipment
Transport Transport posture
輸送姿勢
posture (7H Horizontal wrist
輸送姿勢
786
(標準,7WP)
(Standard/7WP) zero
(7H specification)
手首水平が0°)
J1： 0° J1： 0°
J2：-30° J2：-30°
J3：-40° J3：-40°
Stand
スタンド J4： 0° J4：-45°
J5：-45° J5： 0°
J6： 0°
Transport posture
輸送姿勢
(7H Downward wrist
(7H 手首下向きが0°)
zero specification)
J1： 0°
J2：-30°
190 130 130 J3：-40°
J4： 5°
235 207 191 J5： 0°
Note)
注）
1. Mechanical unit mass: 25kg (Standard/7WP)
1. 機構部質量：25kg (標準,7WP) 24kg (7H)
2. 24kg (7H)
Shackle complied with JIS B 2801.
2. シャックル JIS B 2801に準ずるものを使用
3. 3. 使用数
Quantityシャックル：4
Shackle:4 スリング：4
Sling:4
Fig. 1.1 (b) Transportation using a crane (bottom connector plate)

(Standard/7H/7WP)
-2-
Crane
クレーン
Slingスリング
Crane
Sling
Transport Shackle
輸送部材 Allowable load. : 80kgf/each or more
equipment
798
Shackle
シャックル
Transport
posture
輸送姿勢
J1： 0°
J2：-30°
J3：-40°
J4： 0°
J5：-50°
J6： 0°
235 217 246
Note)
注）
1. Mechanical unit mass: 27kg
2. 1. Shackle
機構部質量：27kg
complied with JIS B 2801.
3. 3. Quantity
使用数シャックル：4Shackle:4スリング：4
Sling:4
Fig. 1.1 (c) Transportation using a crane (back side connector plate) (7L/14L)
Crane
クレーン
Sling
スリング
Crane
Sling
Transport Shackle
equipment
輸送部材 Allowable load. : 80kgf/each or more
798
Shackle
シャックル
Transport
posture
輸送姿勢
J1： 0°
J2：-30°
J3：-40°
J4： 0°
J5：-50°
J6： 0°
130 130
190
235 217 246
Note)
注）
1. Mechanical unit mass: 27kg
1. 機構部質量：27kg
2. Shackle complied with JIS B 2801.
3.
3. 使用数Quantity
シャックル：4Shackle:4
スリング：4Sling:4
Fig. 1.1 (d) Transportation using a crane (bottom connector plate) (7L/14L)
-3-
Crane
クレーン Crane
クレーン
可搬質量： 100kg以上
Sling
Sling
スリングスリング
可搬質量： 100kg/本以上
Eyebolt
アイボルト
許容荷重： 80kgf/個以上
輸送姿勢
Transport posture
J1： 0°
J2：-30°
J3：-40°
J4： 0°
J5：-45°
J6： 0°
Plastic
プラスチック袋 bag
A290-7134-X918 (1)
A290-7134-X918
727
Plastic bag
プラスチック袋
A290-7134-X918
A290-7134-X918 (1)
Fix with tape
テープにて固定すること。
Tape
テープ
（クリーンルーム用）
(for clean room) Eyebolt (M10)
アイボルト (M10)
JB-BEY-10SS41-M-ZN (4)(4)
JB-BEY-10SS41-M-ZN
380 570
注）
テープ（クリーンルーム用）
Tape (for clean room) Transport
輸送部材
Note)
1 機構部質量：25kg equipment
12 アイボルト
MechanicalJIS
unitB mass: 25 kg
1168に準ずるものを使用
23 使用数Eyeboltアイボルト：4
complied withスリング：4
JIS B 1168.
3 Quantity Eyebolt:4 Sling:4
Fig. 1.1 (e) Transportation using a crane (7C)
-4-
Crane
クレーン
Crane
クレーン
可搬質量： 100kg以上
Sling Sling
スリング Load capacity. : 100kg/sling or more
スリング
可搬質量： 100kg/本以上
Eyebolt
アイボルト
許容荷重： 80kgf/個以上
Transport posture
輸送姿勢
J1： 0°
J2：-30°
J3：-40°
J4： 0°
J5：-50°
820
J6： 0°
Plastic
A290-7134-X918
A290-7134-X918
Plastic
A290-7134-X918
テープにて固定すること。
Fix with tape
Tape
テープ
（クリーンルーム用）
(for clean room) Eyebolt
アイボルト (M10)
(M10)
JB-BEY-10SS41-M-ZN(4)
JB-BEY-10SS41-M-ZN (4)
380 570
Tape (for clean room)
テープ（クリーンルーム用） Transport
注）輸送部材
Note) equipment
11 機構部質量：27kg
Mechanical unit mass: 27 kg
22 アイボルト JIS B 1168に準ずるものを使用
Eyebolt complied with JIS B 1168
3 使用数アイボルト：4 スリング：4
3 Quantity Eyebolt:4 Sling:4
Fig. 1.1 (f) Transportation using a crane (7LC)
NOTE
About the LR Mate 200iD/7C/7LC
1 Before shipment of the LR Mate 200iD/7C/7LC, it is cleaned in a clean room,
covered with an antistatic sheet, then packed as shown in Fig. 1.1 (e),(f).
2 The transport plate can be used as a roll–over prevention plate in a clean room.
If the plate is cleaned before being carried in a clean room, it can be carried in
the room together with the robot.
3 The antistatic sheet can be removed in a clean room.
4 When installing the robot, use the eyebolts to lift it as shown Fig. 1.1 (e), (f).
5 Once the robot has been installed, remove the eyebolts from it.
6 After transportation, be sure to fix it as described in Section 1.2.
-5-
1.2 INSTALLATION
Fig. 1.2 (a), (b) show the robot base dimensions.
Fig. 1.2 (c) shows the dimensions of the connector cover for the IP69K option.
CAUTION
Flatness of robot installation surface must be less than or equal to 0.5mm.
Inclination of robot installation surface must be less than or equal to 0.5°.
If robot base is placed on uneven ground, it may result in the base breakage or
low performance of the robot.
Front
正面
J1-axis
J1軸旋回中心
rotation center
165
( 7 )
15 82.5
( 13 ) 4-O11 through
貫通
82.5
190
165
198
( 13 )
95
( 7 )
( 7 )
( 13 )
( 7 ) ( 13 )
95
190 Locating
突き当て面 surface
200
Fig. 1.2 (a) Dimensions of the robot base (back side connector plate)
-6-
Front
正面 J1-axis
rotation
J1軸旋回中心center
165
4-O11through
貫通
82.5
200 15
92
* R
82.5
190
165
* 35
21
95
* R
* 5°
21
Locating
突き当て面 surface
* R
°
* 35
* 92 95
190
*) *)
Please be careful to the interference of the mounting holes and the bolts.
設置面の取り付け穴とボルトの干渉にご注意下さい。
Fig. 1.2 (b) Dimensions of the robot base (bottom connector plate)
190
95
190
95
95
Connector
コネクタカバー
cover
157
173
Cable
ケーブルタイtie
23 144 23
154
Robotロボット接続
connector
cable ケーブル
Fig. 1.2 (c) Dimensions of the connector cover for IP69K option (back side connector plate)
NOTE
Bottom connector plate does not have the connector cover.
-7-
Fig. 1.2 (d) and Table 1.2 (a) to (c) indicate the force and moment applied to the base plate. Table 1.2 (d)
to (f) indicate the stopping distance and time of the J1 to J3 axis until the robot stopping by Power-Off stop,
by Controlled stop or by Smooth stop after input of the stop signal. Refer to the data when considering the
strength of the installation face.
NOTE
Table 1.2 (d) to (f) are measured reference value complied with ISO10218-1.
Values differs depending on each robot individual difference, payload and the
program. So confirm the real value by measurement. Values in Table 1.2 (d) is
affected by the robot operating status and number of times of the servo-off stop.
Periodically measure the real values and confirm those.
Table 1.2 (a) Force and moment that acts on J1 base (Standard/7H/7WP/7C)
Force in Vertical Horizontal Force in
Vertical moment
direction moment Horizontal direction
MV(Nm)
FV(N) MH(Nm) FH(N)
During stillness 115.5 313.6 0 0
During acceleration or
605.2 595.2 289.1 860.3
deceleration
During Power-Off stop 768.3 1054.6 402.2 1100.1
Table 1.2 (b) Force and moment that acts on J1 base (7L/7LC)
Vertical moment
MV(Nm)
FV(N) MH(Nm) FH(N)
439.8 602.1 336.3 784.8
deceleration
Table 1.2 (c) Force and moment that acts on J1 base (14L)
Vertical moment
MV(Nm)
FV(N) MH(Nm) FH(N)
329.9 545.6 82.4 211.0
deceleration
Table 1.2 (d) Stopping time and distance until the robot stopping by Power-Off stop after input of stop signal
J1 J2 J3
Stopping time [ms] 348 284 332
Standard/7WP/7C
Stopping angle [deg] (rad) 82.1 (1.43) 43.0 (0.75) 63.7 (1.11)
7H
7L/7LC
14L
-8-
Table 1.2 (e) Stopping time and distance until the robot stopping by Controlled stop after input of stop signal
J1 J2 J3
Standard/7WP/7C
7H
7L/7LC
Table 1.2 (f) Stopping time and distance until the robot stopping by Smooth stop after input of stop signal
J1 J2 J3
Standard/7WP/7C
7L/7LC
14L
MV
FV
FH
MH
Fig. 1.2 (d) Force and moment that acts on J1 base
-9-
1.2.1 Angle of Mounting Surface Setting

If robot is used except floor mount, be sure to set the mounting angle referring to the procedure below.
Refer to specifications in Section 3.1 for installation type.
1 Turn on the controller with the [PREV] and the [NEXT] key pressed. Then select [3 Controlled start].
2 Press the [MENU] key and select “9 MAINTENANCE”.
3 Select the robot for which you want to set the mount angle and press the [ENTER] key.
ROBOT MAINTENANCE CTRL START MANU

Setup Robot System Variables
Group Robot Library/Option Ext Axes

1 LR Mate 200iD 0
[TYPE]ORD NO AUTO MANUAL
4 Press the [F4] key.

5 Press the [ENTER] key until screen below is displayed.
*******Group 1 Initialization************
*************LR Mate 200iD*************
--- MOUNT ANGLE SETTING ---

0 [deg] : floor mount type
90 [deg] : wall mount type
180 [deg] : upside-down mount type
Set mount_angle (0-180[deg])->
Default value = 0
- 10 -
6 Input the mount angle referring to Fig. 1.2.1 (a). 7H Downward wrist zero specification is restricted
to floor mount and upside-down mount.
Angle of
設置角度
mounting face
Fig. 1.2.1 (a) Robot mounting angle
7 Press the [ENTER] key until the screen below is displayed again.
ROBOT MAINTENANCE CTRL START MANU


1 LR Mate 200iD 0
[TYPE]ORD NO AUTO MANUAL
8 Press the [FCTN] key and select ”1 START (COLD)”.
- 11 -
1.3 MAINTENANCE AREA

Fig.1.3 (a) shows the maintenance area of the mechanical unit. Be sure to leave enough room for the robot
to be mastered. See Chapter 8 the mastering.
500
190
250
500
500 (*) 500

(In case of bottom
(底面分線盤の場合)
connector plate)
(*)
(*)
620
620(Standard/7H/7C/7WP)
(標準/7H/7C/7WP)
705
705(7L/7LC/14L)
(7L/7LC)
500
Fig. 1.3 (a) Maintenance area
1.4 INSTALLATION CONDITIONS

Refer to the caution below concerning installation conditions.
Refer to also to the specifications found in Section 3.1 and Section 3.2.
CAUTION
1 When external battery option is specified, please fix the battery box in the part
without the vibration, and do measures of a protection against dust and liquid.
2 Damage of coating of robot connection cable and external battery cable can
causes water intrusion. Take care when installing the cable and exchange it if it
is damaged.
- 12 -
B-83494EN/08 2. CONNECTION WITH THE CONTROLLER
2 CONNECTION WITH THE CONTROLLER

The robot is connected with the controller via the power cable and signal cable. Connect these cables to the
connectors on the back of the robot base. Please be sure to connect the earth cable.
For details on air and option cables, see Chapter 5.
WARNING
Before turning on controller power, be sure to connect the robot and controller
with the earth line (ground). Otherwise, there is the risk of electrical shock.
CAUTION
1 Before connecting the cables, be sure to turn off the controller power.
2 Don’t use 10m or longer coiled cable without first untying it. The long coiled
cable will heat up and become damaged.
3 If external batteries are in use, do not remove it with the power supply turned off.
Replacing the batteries with the power supply turned off causes all current
position data to be lost. Therefore, mastering will be required again.
Robot
Controller
cable for power and signal
earth cable
Air
Connector for
power and signal
Earth
Detail A
A
Fig. 2 (a) Cable connection (back side connector plate)
- 13 -
2. CONNECTION WITH THE CONTROLLER B-83494EN/08
Robot
Controller
cable for power and brake
earth cable
Connector for
Air power and signal
A
Earth
Detail A
Fig. 2 (b) Cable connection (bottom connector plate)
- 14 -
B-83494EN/08 3. BASIC SPECIFICATIONS
3 BASIC SPECIFICATIONS
3.1 ROBOT CONFIGURATION
J3 housing
J3ハウジング
J5-axis
J5軸モータ motor
J4-axis
J4軸モータ motor J6-axis motor
J6軸モータ
End effector
エンドエフェクタ取付面
mounting face
手首ユニット
Wrist unit
J3 arm
J3アーム
J2 arm
J2アーム
J3-axis
J2-axis
J2 base
J2ベース
J1 base
J1ベース
J1-axis
Fig. 3.1 (a) Mechanical unit configuration (Except 7H)
J3ハウジング
J3 housing
J4-axis
J5-axis
エンドエフェクタ
End effector
取付面face
mounting
Wrist
手首ユニットunit
J3J3アーム
arm
J2 arm
J2アーム
J3軸モータ
J3-axis motor
J2軸モータ
J2-axis motor
J2ベース
J2 base
J1ベース
J1 base
J1軸モータ
J1-axis motor
Fig. 3.1 (b) Mechanical unit configuration (7H)
- 15 -
3. BASIC SPECIFICATIONS B-83494EN/08
-
X
J4 +
Y J6 +
J3
- J5 +
Z -
+ - J2
-
+
-
J1 +
*All axes are 0°at this posture
Fig. 3.1 (c) Each axis coordinates and mechanical interface coordinates (Except 7H)
X +
Y J5 +
J3
- J4
Z -
+ -- J2
-
+
-
J1 +
Fig. 3.1 (d) Each axis coordinates and mechanical interface coordinates
(7H Horizontal wrist zero specification)
- 16 -
+
+
Y J3
J4
- - -
X
+ J2
J5 Z
-
+
-
J1 +
Fig. 3.1 (e) Each axis coordinates and mechanical interface coordinates
(7H Downward wrist zero specification)
NOTE
The end effector mounting face center is 0, 0, 0 of the mechanical interface
coordinates.
- 17 -
Table 3.1 (a) Specifications (1/2) (NOTE 1)

Item Specifications
LR Mate 200iD, ARC Mate 50iD
Model LR Mate 200iD/7H
LR Mate 200iD/7C, LR Mate 200iD/7WP
Type Articulated Type
Controlled axis 6-axis (J1, J2, J3, J4, J5, J6) 5-axis (J1, J2, J3, J4, J5)
Reach 717mm
Installation (NOTE 2) Floor, Upside-down (Angle mount)
340°/360° (option) (450°/s)
J1-axis
5.93rad/6.28rad (option) (7.85rad/s)
245° (380°/s)
J2-axis
4.28rad (6.63rad/s)
420° (520°/s)
Motion range J3-axis
7.33rad (9.08rad/s)
(Max. speed)
380° (550°/s) 250° (545°/s)
(NOTE 3) J4-axis
6.63rad (9.60rad/s) 4.36rad (9.51rad/s)
250° (545°/s) 720° (1500°/s)
J5-axis
4.36rad (9.51rad/s) 12.57rad (26.18rad/s)
720° (1000°/s)
J6-axis
12.57rad (17.45rad/s)
Max. load capacity
Wrist 7 kg
(NOTE 4)
J4-axis 16.6Nm 16.6Nm
Allowable load 4.0Nm
J5-axis 16.6Nm
moment at wrist 5.5Nm (NOTE 5)
J6-axis 9.4Nm
J4-axis 0.47 kgm2 0.47 kgm2
Allowable load 0.046 kgm2
J5-axis 0.47 kgm2
inertia at wrist 0.15 kgm2 (NOTE 5)
J6-axis 0.15 kgm2
Drive method Electric servo drive by AC servo motor
Repeatability (NOTE 6) ±0.01mm
Mass (NOTE 7) 25kg 24kg
Dust proof and drip proof Conform to IP67 (Option :IP69K) (Except 7C)
mechanism (NOTE 8) Conform to IP67 , Class 10 (ISO class 4) (Option :IP69K) (7C)
Acoustic noise level Less than 70dB (NOTE 9)
Ambient temperature: 0 - 45°C (NOTE 10)
Ambient humidity: Normally 75%RH or less. No dew, nor frost allowed.
Short time (within one month) Max 95%RH
Installation environment Height: Up to 1000 meters above the sea level required,
no particular provision for posture.
Vibration acceleration : 4.9m/s2 (0.5G) or less
Free of corrosive gases (NOTE 11)
NOTE 1) Even if the robot is used according to the defined specifications, motion programs might shorten reducer life or cause the robot to
overheat. Use ROBOGUIDE (system design support tool by FANUC) for further evaluation before running production.
NOTE 2) Under the installation condition within ( ), the J1 and J2 axis motion range will be limited. See Section 3.6. 7H Downward wrist zero
specification is restricted to floor mount and upside-down mount.
NOTE 3) During short distance motions, the axis speed may not reach the maximum value stated.
NOTE 4) The all up weight including the equipment and connection cables and its swing must not exceed this value when you install the
equipment. Section 3.5.
NOTE 5) This value is for high inertia mode. Please refer to Section 4.4 about change method.
NOTE 6) Compliant with ISO 9283.
NOTE 7) It doesn't contain the mass of the control part.
NOTE 8) The liquid that is the deterioration of the seal material such as Organic solvent, acid, alkali and chlorine system, cutting liquid cannot
be use. (See Subsection 3.1.1.)
NOTE 9) This value is equivalent continuous A-weighted sound pressure level that applied with ISO11201 (EN31201). This value is measured
with the following conditions.
- Maximum load and speed
- Operating mode is AUTO
NOTE 10) When robot is used in low temperature environment that is near to 0ºC, or robot is not operated for a long time in the environment
that is less than 0ºC in a holiday or the night, because viscous resistance of the drive train is so big that may cause occurrence of
collision detect alarm (SRVO –050) etc. In this case, we recommend performing the warm up operation for several minutes.
NOTE 11) Contact the service representative, if the robot is to be used in an environment or a place subjected to hot/cold temperatures, severe
vibrations, heavy dust, water, water vapor, cutting oil, cleaning fluid splash and or other contaminations.
- 18 -
Table 3.1 (b) Specifications (2/2) (NOTE 1)
Item Specifications
LR Mate 200iD/7L
Model ARC Mate 50iD/7L LR Mate 200iD/14L
LR Mate 200iD/7LC
Type Articulated Type
Controlled axis 6-axis (J1, J2, J3, J4, J5, J6)
911mm (load capacity <12kg)
Reach 911mm
820mm (load capacity >=12kg)
Installation (NOTE 2) Floor, Upside-down (Angle mount)
340°/360°(option) (370°/s) 340°/360°(option) (120°/s)
J1-axis
5.93rad/6.28rad(option) (6.45rad/s) 5.93rad/6.28rad(option) (2.09rad/s)
245° (310°/s) 245° (61°/s)
J2-axis
4.28rad (5.41rad/s) 4.28rad (1.06rad/s)
430° (410°/s) 430° (58°/s)
Motion range J3-axis
7.50rad (7.15rad/s) 7.50rad (1.01rad/s)
(Max. speed)
380° (550°/s) 380° (400°/s)
(NOTE 3) J4-axis
6.63rad (9.60rad/s) 6.63rad (6.98rad/s)
250° (545°/s) 250° (240°/s)
J5-axis
4.36rad (9.51rad/s) 4.36rad (4.19rad/s)
720° (1000°/s) 720° (400°/s)
J6-axis
12.57rad (17.45rad/s) 12.57rad (6.98rad/s)
Max. load capacity
Wrist 7kg 14kg
(NOTE 4)
Allowable load
moment at wrist
J4-axis 0.47 kgm2 0.66 kgm2
Allowable load
J5-axis 0.47 kgm2 0.66 kgm2
inertia at wrist
J6-axis 0.15kgm2 0.30kgm2
Drive method Electric servo drive by AC servo motor
Repeatability (NOTE 5) ±0.01mm
Mass (NOTE 6) 27kg
Dust proof and drip proof Conform to IP67 (Option :IP69K) (Except 7LC)
mechanism (NOTE 7) Conform to IP67 , Class 10 (ISO class 4) (7LC)
Acoustic noise level 64.7dB.(NOTE 8)
Ambient temperature: 0 - 45°C (NOTE 9)
Ambient humidity: Normally 75%RH or less. No dew, nor frost allowed.
Short time (within one month) Max 95%RH
Acoustic noise level Height: Up to 1000 meters above the sea level required,
no particular provision for posture.
Vibration acceleration : 4.9m/s2 (0.5G) or less
Free of corrosive gases (NOTE 10)
NOTE 1) Even if the robot is used according to the defined specifications, motion programs might shorten reducer life or cause the robot to
overheat. Use ROBOGUIDE (system design support tool by FANUC) for further evaluation before running production.
NOTE 2) Under the installation condition within ( ), the J1 and J2 axis motion range will be limited. See Section 3.6.
NOTE 3) During short distance motions, the axis speed may not reach the maximum value stated. In case of 14L, Max. speed is restricted to
500mm/s.
NOTE 4) The all up weight including the equipment and connection cables and its swing must not exceed this value when you install the
equipment. Section 3.5.
NOTE 5) Compliant with ISO 9283.
NOTE 6) It doesn't contain the mass of the control part.
NOTE 7) The liquid that is the deterioration of the seal material such as Organic solvent, acid, alkali and chlorine system, cutting liquid cannot
be use. (See Subsection 3.1.1.)
NOTE 8) This value is equivalent continuous A-weighted sound pressure level that applied with ISO11201 (EN31201). This value is measured
with the following conditions.
- Maximum load and speed
- Operating mode is AUTO
NOTE 9) When robot is used in low temperature environment that is near to 0ºC, or robot is not operated for a long time in the environment
that is less than 0ºC in a holiday or the night, because viscous resistance of the drive train is so big that may cause occurrence of
collision detect alarm (SRVO–050) etc. In this case, we recommend performing the warm up operation for several minutes.
NOTE 10) Contact the service representative, if the robot is to be used in an environment or a place subjected to hot/cold temperatures, severe
vibrations, heavy dust, water, water vapor, cutting oil, cleaning fluid splash and or other contaminations.
- 19 -
3.1.1 Note of Severe Dust /Liquid Specification

1 The liquids below cannot be applied because they may cause deterioration or corrosion of the rubber
parts (such as gaskets, oil seals, and O-rings) used in the robot.
(a) Organic solvents
(b) Cutting fluid or cleaning fluid including chlorine / gasoline
(c) Amine type cutting fluid or cleaning fluid
(d) Acid, alkali and liquid causing rust
(e) Other liquids or solutions, that will harm NBR or CR rubber
2 When the robot is used in an environment where a liquid such as water is dashed over the robot, great
attention should be given to drainage under the J1 base. A failure may be caused if the J1 base is kept
immersed in water due to poor drainage.
3 Gaskets can be reused.
4 Don’t use unconfirmed liquid.
- 20 -
3.1.2 Cautions in Selecting the 7WP

The 7WP specifies cleaning fluids usable with the robot. (Always keep all the liquids at or below 60°C.)
Reference
Cleaning fluid type Manufacturer name Permissible concentration
pH
5%
Lub clean 54 TOHO Chemical Industry Co., LTD. 10.4
Diluted to 20 parts of water
3%
Sun cleaner G-2000B SUGIMURA Chemical Industry Co., LTD. 10.0
5%
Sun cleaner G-2100S SUGIMURA Chemical Industry Co., LTD. 10.0
3%
Sun cleaner G-2300F SUGIMURA Chemical Industry Co., LTD. 10.0
5%
Toyosol SE-78P Toyoda Chemical Industry Co., Ltd. 10.5
2%
Toyosol SE-91P Toyoda Chemical Industry Co., Ltd. 10.3
3%
Toyoknock R747P Toyoda Chemical Industry Co., Ltd. 10.3
3%
Toyoknock RE-777P Toyoda Chemical Industry Co., Ltd. 9.5
5%
Detergent 2000 NEOS Co., LTD. 11.0
5%
Packna FD-800 YUKEN Industry CO., LTD. 9.0
3%
Packna FD-85 YUKEN Industry CO., LTD. 11.0
Yushiro cleaner YUSHIRO CHEMICAL INDUSTRY CO., 5%
9.8
PCW553 LTD. Diluted to 20 parts of water
YUSHIRO CHEMICAL INDUSTRY CO., 3.3%
Yushiro cleaner W80 9.0
LTD. Diluted to 30 parts of water
3%
Quakerclean 624CP Quaker Chemical Corporation 9.7
Please don’t use the cleaning fluid under the condition over the allowable concentration or temperature.
- 21 -
Using cleaning fluid other than those above

When using some other cleaning fluid, please choose it carefully in accordance with the following
description.
Choosing cleaning fluid

Please confirm that pH of the cleaning fluid is 8.5 to 11.0. LR Mate 200iD/7WP has a good resistance
against alkali but not acid or neutral.
Confirmation test by using a dipping test kit (A05B-1142-K024)

FANUC provides the dipping test kit (A05B-1142-K024) to confirm the usability of the cleaning fluid.
Test condition is as follows:
Concentration : 1.3 times of the concentration that you plant to use.
Temperature : Test at 5 degrees Celsius higher than specified temperature.
Period : 14 days
If the following situation happens with the test pieces, the liquid doesn’t suit for use. (*1)
Causing precipitate : It may indicate that the test piece dissolves.
Causing corrosion on the metal parts
Changes (swelling, etc.) on the rubber parts
(*1) LR Mate 200iD/7WP doesn’t have painting. Please use only the test pieces without painting.
Management of cleaning fluid

Insufficient management of cleaning fluid causes bad effects such as corrosion on the robot. Please manage
it carefully in accordance with the following description.
Management of pH
Please monitor pH by using pH test paper, etc., and keep pH in 8.5 to 11.0.
PH decrease causes deterioration of cleaning fluid, and it makes the robot parts corroded.
Cleaning filtration of cleaning fluid

 Removing foreign materials
Removing chips and foreign materials with a high efficiency filter, etc. The more chloride ions from diluted
solution accumulate, the more cleaning fluid becomes harmful to the robot. In cases that the chloride ions
may enter from tap water, please take measures such as installation of some removing filter.
 Removing oil from other processes

FANUC recommends installing oil skimmer or oil removal equipment. Other simple ways are as below.
- Absorbing floating ingredients of the oil with non-woven fabric, etc.
- Scooping floating ingredients of the oil by a dedicated container (please use a dedicated one to prevent
other contaminations).
- 22 -
Other verification items

Appearance
Please check the followings of cleaning fluid on a daily basis and find the abnormality beforehand.
Cleanliness / Discoloration / Occurrence of film and sludge
Bad smell
Bad smell occurs when microorganisms are bred. Please check the smell of cleaning fluid on a daily basis.
Examples of typical bad smell are as follows.
Rotten egg smell / Acidulous smell / Moldy smell / Other putrid smell
Concentration
Cleaning fluid is perishable when concentration is decreased, and the robot is also damaged when cleaning
fluid is too much concentrated. Keep the appropriate concentration in reference to the manual of cleaning
fluid.
Refilling of diluted solution

Cleaning fluid is likely to be reduced by splashing or evaporation and carried out with workpieces and chips.
Please refill diluted solution regularly. Refilling before holidays will help to prevent decay of cleaning fluid
and maintain pH and antirust effect.
FANUC recommends making a check-sheet of the above items and recording a management history.
OTHER CAUTIONS
1 The cables connecting the robot, controller, and external battery are not resistant to any cleaning fluid.
So, install them in such a way that no cleaning fluid will be splashed to the cables.
2 Be sure to perform air purge by regulated pressure. (See Section 5.2.) Please do the air purge whenever
the robot is stopping or the power supply is cut. The air purge stop causes the flood and the be dewy
in the mechanism.
3.1.3 Cautions for 7C/7LC

1 As for the clean specification, only the robot mechanical unit satisfies clean class 10. Note that none
of the controller, the cables between the controller and robot, and teach pendant does not meet the
clean specification.
2 When using liquids in cleaning, see 1 and 4 in Subsection 3.1.1.
3 If gaskets are dismounted during parts replacement or inspection, replace them with new ones.
3.1.4 IP69K (option)

Definition of IP69K is below.
Robot are sprayed at high pressure via a flat jet nozzle from at angles of 0°, 30°, 60°, 90°.
- each for at least 30 seconds.
The nozzle is held 100 to 150mm from the robot
- at a water pressure of 80-100 bars and a temperature of 80℃
- the quantity of water is 14-16 L/minute
After testing, water must not be present inside the robot.
- 23 -
3.2 MECHANICAL UNIT OPERATION AREA AND

INTERFERENCE AREA
Fig. 3.2 (a) to (c) show the robot operating space. When installing peripheral equipment, be careful not to
interfere with the robot and its operating space.
-170 DEG
0 DEG -180 DEG(OPTION)

+180 DEG(OPTION)
0 +170 DEG
20
R
0
15
17
R7
R
J3-axis rear side

J3軸後部干渉領域
Interference area
235 80 (*1) 352
92 (*2)
227
0 J5-axis 335 50
R7
10
J5軸回転
rotation 0°
35
中心
center
Operating space
of J5-axis rotation
J5軸中心動作領域 R
center 75
997
330
30°
145°
28
0°
6°
75
°
280°
330
190
11
2°
277
(*1) Except 7C
(*1) 7C以外
(*2) 7C
(*2) 7C
717 617
Fig. 3.2 (a) Operating space

(Standard/7H/7C/7WP)
NOTE
Fig. 3.2 (a) is an example of Standard, please read J5-axis as J4-axis
throughout these figures in case of 7H.
- 24 -
-170 DEG
-180 DEG(OPTION)
0 DEG
+180 DEG(OPTION)
6 +170 DEG
23
R
1
R 91
J3-axis rear side

J5-axis 510
235 J5軸回転 J3軸後部干渉領域
Interference area
rotation
中心 center
Operating space 80 (7L)
227 92 (7LC) 420 50
ofJ5軸中心動作領域
J5-axis rotation
35
center
R 7
5
1191
28
440
0°
145°
7°
67 100°
°
280°
330
190
11
7 °
452
911 811
Fig. 3.2 (b) Operating space

(7L/7LC)
- 25 -
Load負荷が12kg以上の場合
is more than 12kg
-170 DEG
-180 DEG(OPTION)
0 DEG
+180 DEG(OPTION)
6 +170 DEG
23
R
1
R 91
20
R8
J3-axis rear side

J5-axis 510
235 J5軸回転 J3軸後部干渉領域
Interference area
Operating space rotation
中心
center
227 of J5-axis rotation
80 420 50
center
J5軸中心動作領域
35
R7
5
1191
440
28
0°
145°
7°
67 100°
°
280°
330
190
117
°
452
820 720
911 811
Load is more than 12kg

負荷が12kg以上の場合
Fig. 3.2 (c) Operating space

(14L)
- 26 -
3.3 ZERO POINT POSITION AND MOTION LIMIT

A zero point and motion range are provided for each controlled axis. Exceeding the software motion limit
of a controlled axis is called overtravel (OT). Overtravel is detected at both ends of the motion limit for
each axis. The robot cannot exceed the motion range unless there is a loss of the zero point position due to
abnormalities in servo system or a system error. In addition, a mechanical stopper is also used to limit
maximum motion and to improve safety.
Fig. 3.3 (a) shows the position of the mechanical stopper. Don’t reconstruct the mechanical stopper. If you
do, there is a possibility that the robot will not stop normally.
J5-axis stroke end

J5軸ストロークエンド
(upper
（上下）side and J1-axis mechanical stopper
lower side) J1軸機械式ストッパ
Spec.:
仕様：spring pin :A6-PS-8X20S
スプリングピン：A6-PS-8X20S
詳細
DetailB B J3-axis mechanical stopper
J3軸機械式ストッパ
仕様：
Spec.:
J3ストッパ：A290-7142-X427
J3 stopper : A290-7142-X427
Section
断面 A-AA-A
spring pin: A6-PS-8X20S
B 注：J3ストッパをスプリングピンに組み
付ける時はセメダイン
Note:When assmeblingスーパーX
the J3
（クリア）を塗布して下さい。
stopper to the spring pin, apply
cemedine super X (clear)
(spce. A98L-0004-0717#C).
J2-axis stroke end

J2軸ストロークエンド
(front
(前後)and rear)
A A
Fig. 3.3 (a) Position of mechanical stopper
- 27 -
Fig.3.3 (b) to (j) show the zero point, motion limit and maximum stopping distance (stopping distance in
condition of max speed and max load) of each axis.
Only in case of the J1, J3-axis, when the robot comes in contact with the mechanical stopper, it may deform.
When the mechanical stopper is deformed, replacement is needed. See Fig.3.3 (a) about replacing J3-axis
mechanical stopper. Contact FANUC about replacing J1-axis mechanical stopper.
* The motion range can be changed. For information on how to change the motion range, see Chapter
6, "AXIS LIMIT SETUP".
- 170°
-170°Stroke end （Lower limit）
-175°The max stopping distance (position）
0°
+175°The max stopping distance (position）
+170°Stroke end （Upper limit）
+ 170°
Fig. 3.3 (b) J1-axis motion limit (J1-axis 340ºturn specification)
-180°
0° ±180°Stroke end （Upper limit, lower limit）
+180°
Fig. 3.3 (c) J1-axis motion limit (J1-axis 360ºturn specification)
- 28 -
0°
-
10
0°
5°
+ 14
-100°Stroke end
（Lower limit）
-102°The max stopping

distance (position)
+145°Stroke end
（Upper limit）
+147°The max stopping
distance (position)
Fig. 3.3 (d) J2-axis motion limit
+205°
0°
-70
°
+205°Stroke end
（Upper limit）
+209°The max stopping

distance （position）
-70°Stroke end
（Lower limit）
-72°The max stopping

Fig.3.3 (e) J3-axis motion limit

(Standard/7H/7C/7WP)
- 29 -
+ 21
3°
0°
-
70
°
+213°Stroke end
（Upper limit）
+217°The max stoppoing

-70°Stroke end
（Lower limit）
-72°The max stoppoing
Fig. 3.3 (f) J3-axis motion limit

(7L/7LC/14L)
Software restriction
0°

Note） There is no mechanical stopper.

Fig. 3.3 (g) J4-axis motion limit
(Except 7H)
- 30 -
25°
+ 1 +128°The max stoppoing
distance (position）
0°
- 1
25° -128°The max stoppoing
distance (position）

Fig. 3.3 (h) J5-axis motion limit (Except 7H)
J4-axis motion limit (7H Horizontal wrist zero specification)
+215v Stroke end (Upper limit)
+218v The max stopping

distance (position)
215°
35° -38v The max stopping

distance (position)
0° -35v Stroke end (Lower limit)
Fig. 3.3 (i) J4-axis motion limit (7H Downward wrist zero specification)
- 31 -
Software restriction
+360°Stroke end
-360°Stroke end （Upper limit）
+360°
（Lower limit）
0°
-360°
Note) There is no mechanical stopper.

Fig. 3.3 (j) J6-axis motion limit (Except 7H)
J5-axis motion limit (7H)
- 32 -
3.4 WRIST LOAD CONDITIONS

Fig. 3.4 (a) to (e) are diagram to limit loads applied to the wrist.
 Apply a load within the region indicated in the graph.
 Apply the conditions of the allowable load moment and the allowable load inertia. See Section 3.1
about the allowable load moment and the allowable load inertia.
 See Section 4.1 about the mounting of an end effector.
Z (cm)
65
60.5 60
1kg
55
50
45
40.4 40
2kg
35
31.5
30
3kg
26.1
25
4kg
22.5 5kg
19.7 20
7kg 6kg
16.2
15
10
X,Y (cm)
5 10 15 20 25 30 35 40
8cm
15.4
17.0
19.1
13.7
27.3
38.7
22.2
Fig. 3.4 (a) Wrist load diagram (Standard/7L/7WP)
- 33 -
Z (cm)
65
60.5 60 1kg
55
50
45
2kg
40.4 40
35
31.5 3kg
30
26.1 4kg
25
22.5 5kg
20 6kg
19.7
7kg
16.2
15
10
X,Y (cm)
5 10 15 20 25
14.9
8cm
5.8
21.3
12.0
10.2
8.2
6.8
Fig. 3.4 (b) Wrist load diagram (7H standard mode)
- 34 -
Z (cm)
65
60.5 60
1kg
55
50
45
40.4 40
2kg
35
31.5 3kg
30
26.1 4kg
25
22.5 5kg
20 6kg
19.7
7kg
16.2
15
10
X,Y (cm)
5 10 15 20 25 30 35 40
11.2
8cm
8.0
9.4
38.7
27.3
14.0
18.7
Fig. 3.4 (c) Wrist load diagram (7H High inertia mode)
- 35 -
Z (cm)
65
59.3 60
1kg
55
50
45
39.2 40
2kg
35
30.3
30
3kg
24.9
25
4kg
21.3 5kg
18.5 20
7kg 6kg
15.0
15
10
X,Y (cm)
5 10 15 20 25 30 35 40
9.2cm
15.4
17.0
19.1
13.7
27.3
38.7
22.2
Fig. 3.4 (d) Wrist load diagram (7C/7LC)
- 36 -
Z (cm)
40
35
32.5
4kg
30
25
22.5
7kg
20
17.3 10kg
15.0 15 12kg
13.1
14kg
10
5 10 15 20 25 30 X,Y (cm)
8cm
13.7
11.4
19.5
27.2
9.8
Fig. 3.4 (e) Wrist load diagram (14L)
- 37 -
3.5 LOAD CONDITION ON EQUIPMENT MOUNTING FACE

The equipment can be installed as shown in Fig. 3.5 (a). When the equipment is installed, the total mass of
the installed equipment, hand and work must not exceed 7kg (14kg for /14L). Please refer to Chapter 4 for
the size on the equipment installation side.
Equipment mounting face
Equipment (1kg or less)
Fig. 3.5 (a) Load condition of equipment mounting face
- 38 -
3.6 OPERATING AREA FOR INCLINATION INSTALLATION

If applied load on the robot exceeds constant value (except 14L: 5kg, 14L: 7kg), when the robot is installed
on an angle, the operating area is limited as the angle. The robot can’t stop except for the ranges that are
shown in the fig. 3.6 (a) to (d).
If payload is less than constant value, there is no restriction of the operating space. 7H Downward wrist
zero specification is restricted to floor mount and upside-down mount.
123°
Installation
設置範囲(1) area (1)
57
°
O
7°
- 5
3°
12
-
Operating space of
J5-axis rotation center J5-axis
J5軸回転中心rotation center
R717
R 7(Standard/7H/7WP)
17 (標準
R911 (7L/7LC)
R 911 (7 /7H/
7
L/7LC) WP)
Fig. 3.6 (a) Installation area (1) Operation area (except 14L)
(-180º≦φ≦-123º, -57º≦φ≦57º, 123º≦φ≦180º)
- 39 -
Installation
設置範囲(2) area (2)
123°
57°
O
7°
- 5
23°
- 1
J5-axis rotation center Operating space of

J5軸回転中心 J5軸中心動作領域
J5-axis rotation center
(標準/7H/7WP)
594 (Standard/7H/7WP)
56°
756 (7L/7LC)
756 (7L/7LC)
594 (標準/7H/7WP)
594 (Standard/7H/7WP)
756 (7L/7LC)
756 (7L/7LC)
56°
594
Fig. 3.6 (b) Installation area (2) Operation area (except 14L)
(-123º<φ<-57º, 57º<φ<123º)
- 40 -
137
° Installation area (1)
設置範囲(1)
43°
O
3°
- 4
37°
- 1
Operating space of
J5軸動作中心
R
91
1
Fig. 3.6 (c) Installation area (1) Operation area (14L)

(-180º≦φ≦-137º -43º≦φ≦43º, 137º≦φ≦180º)
- 41 -
137 Installation area (2)

° 設置範囲(2)
43°
- 43O°
37 °
- 1

J5軸回転中心 Operating space of
35° °
50
697
522
522
35°
697
50°
When load is more than

7kg 7kg以上負荷時
When load is more than

10kg以上負荷時
10kg
Fig. 3.6 (d) Installation area (2) Operation area (14L)

(-137º<φ<-43º, 43º<φ<137º)
- 42 -
4. EQUIPMENT INSTALLATION
B-83494EN/08 TO THE ROBOT
4 EQUIPMENT INSTALLATION TO THE

ROBOT
4.1 END EFFECTOR INSTALLATION TO WRIST
Fig. 4.1 (a), (b) are the diagrams for installing end effectors on the wrist. Select screws and positioning
pins of a length that matches the depth of the tapped and pin holes. Fasten the bolt for attaching the end
effector referring to Appendix B for the tightening torque.
CAUTION
1 Notice the tooling coupling depth to wrist flange should be shorter than the flange
coupling length.
2 Don’t use a pin without tap for removal at wrist flange.
User tap
ユーザタップ O5H7depth
φ5H7 深さ7 7
User tap
ユーザタップ
4.5
4.5(h7(h7範囲)
area)
-0.025
+0.021
2-M3 depth 5 2-M3 depth 5

2-M3 深さ5
0
2-M3 深さ5
0
80 (*1) (80 (*1))

45°
O 40 h7
O 20 H7
18 92 (*2) (92 (*2)) 18
25.5
25.5
1.5
O3
51
51
33 (H7 area)
(H7範囲)
Wrist
手首回転中心rotation
center (*1)
4-M5 depth 8 (*1)Standard/7H/7L/7WP
標準/7H/7L/7WP
4-M5 深さ8
equally spaced
(*2)
(*2)7C/7LC
7C/7LC
周上等配
Fig. 4.1 (a) Surface for installing the end effector (except 14L)
-0.025
User tap
0
ユーザータップ User tap

ユーザータップ
2-M3 depth 5 O5H7 depth
φ5H7 深さ7 7 2-M3 depth 5
+0.021
O 40 h7
2-M3 深さ5 18 80 2-M3 深さ5

0
4.5 45° 80 18
O 20 H7
25.5
5
31.
25.5
O
51
51
3
Wrist rotation
手首回転中心 7-M5 depth
7-M5 深さ88
center equally
周上等配 spaced
Fig. 4.1 (b) Surface for installing the end effector (14L)
NOTE: Figure is example with J6-axis reducer bolt cover (A05B-1142-J001)

User tap (2-M3) is for piping and wiring to the end effector
- 43 -
TO THE ROBOT B-83494EN/08
4.2 EQUIPMENT MOUNTING FACE

As shown in Fig. 4.2 (a) tapped holes are provided to install equipment to the robot.
CAUTION
1 Never perform additional machining operations such as drilling or tapping on the
robot body. This can seriously affect the safety and functions of the robot.
2 Note that the use of a tapped hole not shown in the following figure is not
assured. Please do not tighten both with the tightening bolts used for mechanical
unit.
3 Equipment should be installed so that mechanical unit cable is not pinched or
damaged. If equipment installation restricts or damages the mechanical unit
cable, it might become disconnected, and unexpected conditions might occur.
- 44 -
93
76.5 （ 50 )
2-M6
2-M6depth
深さ9 9
39
46
46
Equipment mounting face
機器取付面範囲 2-M8
2-M8depth
深さ1616
45
(for mastering fixture)
35 （マスタリング治具用）
88.5
51
190
2-M6
2-M6depth
深さ1010
152
41 33 102 97
2-M6
2-M6depth 10
190
深さ10
33 41
Fig. 4.2 (a) Equipment mounting faces
- 45 -
4.3 LOAD SETTING

CAUTION
1 Set the load condition parameter before the robot runs. Do not operate the robot
when its payload is exceeded. Don’t exceed the allowable payload including
connection cables and its swing. Operation in with the robot over payload may
result in troubles such as reducer life reduction.
2 When performing load estimation after parts replacement
If wrist axes (J5/J6-axis) motors or reducers are replaced, estimation accuracy
may go down. Perform the calibration for load estimation before performing load
estimation. Refer to Chapter 9 “LOAD ESTIMATION” in Optional Function
OPERATOR’S MANUAL (B-83284EN-2).
The operation motion performance screens include the MOTION PERFORMANCE screen, MOTION
PAYLOAD SET screen, and payload information and equipment information on the robot.
1 Press the [MENU] key to display the screen menu.
2 Select [6 SYSTEM] on the next page,
3 Press the F1 ([TYPE]) key to display the screen switch menu.
4 Select “MOTION.” The MOTION PERFORMANCE screen will be displayed.
MOTION PERFORMANCE JOINT 10%

Group1
No. PAYLOAD[kg] Comment
1 7.00 [ ]
2 0.00 [ ]
3 0.00 [ ]
4 0.00 [ ]
5 0.00 [ ]
6 0.00 [ ]
7 0.00 [ ]
8 0.00 [ ]
9 0.00 [ ]
10 0.00 [ ]
Active PAYLOAD number =0

[ TYPE] GROUP DETAIL ARMLOAD SETIND >
5 Ten different pieces of payload information can be set using condition No. 1 to 10 on this screen. Place
the cursor on one of the numbers, and click F3 (DETAIL). The MOTION PAYLOAD SET screen
appears.
MOTION PAYLOAD SET JOINT 10%
Group 1
1 Schedule No[ 1]:[Comment ]
2 PAYLOAD [kg] 7.00
3 PAYLOAD CENTER X [cm] -13.72
4 PAYLOAD CENTER Y [cm] 0.00
5 PAYLOAD CENTER Z [cm] 11.954
6 PAYLOAD INERTIA X [kgfcms^2] 138.974
7 PAYLOAD INERTIA Y [kgfcms^2] 169.538
8 PAYLOAD INERTIA Z [kgfcms^2] 102.039
[TYPE] GROUP NUMBER DEFAULT HELP
- 46 -
Center of robot X
ロボットの
end effector mounting face X
エンドエフェクタ取付面
中心
y
Z Mass m (kg)
質量m(kg)
xg (cm) Center of
Iy (kgf・cm・s2 ) Center of
重心重心
gravity
gravity
Iz (kgf・cm・s2 )
yg (cm)
Ix (kgf・cm・s )
2
zg (cm)
Fig. 4.3 (a) Standard tool coordinate
6 Set the payload, gravity center position, and inertia around the gravity center on the MOTION
PAYLOAD SET screen. The X, Y, and Z directions displayed on this screen correspond to the
respective standard tool coordinates (with no tool coordinate system set up). When values are entered,
the following message appears: “Path and Cycletime will change. Set it?” Respond to the message
with F4 ([YES]) or F5 ([NO]).
7 Pressing F3 ([NUMBER]) will bring you to the MOTION PAYLOAD SET screen for another
condition number. For a multigroup system, clicking F2 ([GROUP]) will bring you to the MOTION
PAYLOAD SET screen for another group.
8 Press the [PREV] key to return to the MOTION PERFORMANCE screen. Click F5 ([SETIND]), and
enter the desired payload setting condition number.
9 On the list screen, pressing F4 ARMLOAD brings you to the device-setting screen.
MOTION ARMLOAD SET JOINT 100%
Group 1
1 ARM LOAD AXIS #1 [kg] 0.00
2 ARM LOAD AXIS #3 [kg] 1.00
[ TYPE ] GROUP DEFAULT HELP
10 Specify the mass of the loads on the J2 base and J3 housing. When you enter
ARMLOAD AXIS #1[kg] : Mass of the load on the J2 base and
ARMLOAD AXIS #3[kg] : Mass of the load on the J3 housing,
the confirmation message “Path and Cycle time will change. Set it?” appears. Select F4 YES or F5
NO. Once the mass of a device is entered, it is put in effect by turning the power off and on again.
- 47 -
4.4 HIGH INERTIA MODE (OPTION) (LR Mate 200iD/7H)

High Inertia Option
Two servo motion parameters are prepared depending on the magnitude of load inertia. The best addition
and subtraction velocity operation can be achieved by setting the parameter matched to the load inertia
mode. The parameter is changed by the following methods.
1 Turn on the controller with [PREV] key and the [NEXT] key pressed.
Then select “3. Controlled start”.
2 Press the [MENU] key and select “9. MAINTENANCE”.
3 You will see a screen similar to the following.
Press arrow (↑,↓) keys and move the cursor to “LR Mate 200iD/7H”. Then press F4, MANUAL.
ROBOT MAINTENANCE
1/10

1 LR Mate 200iD/7H 0
4 Set “Standard Inertia Mode” or “High Inertia Mode” on the INERTIA MODE SETTING screen.
******** Group 1 Initialization ********
------- INERTIA MODE SETTING -------
1. Standard Inertia Mode

2. High Inertia Mode
Select Inertia Mode (1 or 2)->
5 Press the [FCTN] key and select “1. START (COLD)”.
Robot is set in standard inertia mode when robot is shipped.
- 48 -
5. PIPING AND WIRING TO
B-83494EN/08 THE END EFFECTOR
5 PIPING AND WIRING TO THE END

EFFECTOR
WARNING
• Only use appropriately-specified mechanical unit cables.
• Do not add user cables or hoses inside of the mechanical unit.
• Please do not obstruct the movement of the mechanical unit when cables are
added to the outside of the mechanical unit.
• Please do not perform remodeling (adding a protective cover, or secure an
additional outside cable) that obstructs the behavior of the cable.
• When external equipment is installed on the robot, make sure that it does not
interfere with other parts of the robot.
• Cut and discard any unnecessary length of wire strand of the end effector (hand)
cable. Insulate the cable with seal tape. (See Fig. 5 (a))
• If you have end effector wiring and a process that develops static electricity,
keep the end effector wiring as far away from the process as possible. If the
end effector and process must remain close, be sure to insulate the cable.
• Be sure to seal the connectors of the user cable and terminal parts of all cables
to prevent water from entering the mechanical unit. Also, attach the cover to the
unused connector.
• Frequently check that connectors are tight and cable jackets are not damaged.
• When precautions are not followed, damage to cables might occur. Cable failure
may result in incorrect function of the end effector, robot faults, or damage to
robot electrical hardware. In addition, electric shock could occur when touching
the power cables.
End effector (hand) cable
Insulation processing
Cut unnecessary length of unused wire strand
Fig. 5 (a) Treatment method of end effector (hand) cable
- 49 -
THE END EFFECTOR B-83494EN/08
5.1 AIR SUPPLY (OPTION)

Air supply holes (Rc1/4) exists on the J1–axis connector panel for end effector as shown in Fig.5.1 (c) and
(d). Optional solenoid valves can be mounted as shown in Tables 5.1 (a). Plugs are inserted in all the ports
used for supplying air before the robot is shipped. To use the air circuit, you must remove the plugs and
connect couplings to the ports.
When the solenoid valve is replaced, the entire manifold should be replaced.
Table 5.1 (a) Optional solenoid valves

Option spec. Model Description Solenoid (Manifold) spec. Remarks RO
Path 2 air piping, RO
Standard/7H
A05B-1142-H091#B connector output ― ― ―
/7C (without solenoid valve)
Standard/7H A97L-0218-0130#D1
A05B-1142-H092#B Double solenoids x 1 2 position x 1 RO1 to 2
/7WP (manufactured by SMC)
Standard/7H A97L-0218-0130#D3B 3 position
A05B-1142-H095#B Double solenoids x 3 RO1 to 6
/7WP (manufactured by SMC) (closed center) x 3
Standard/7H A97L-0218-0130#D3R 3 position
A05B-1142-H096#B Double solenoids x 3 RO1 to 6
/7WP (manufactured by SMC) (exhaust center) x 3
Without air piping, RO
Standard/7H
connector output
A05B-1142-H097#B /7L/7C/7WP (without solenoid valve) ― ― ―
/7LC/14L for IP69K
Standard/7H Path 1 air piping, RO
A05B-1142-H099#B 7L/7C connector output ― ― ―
/7LC/14L (without solenoid valve)
Path 2 air piping, RO
7L/7LC
A05B-1142-H091#L connector output ― ― ―
/14L (without solenoid valve)
A97L-0218-0130#D1
A05B-1142-H092#L 7L/14L Double solenoids x 1 2 position x 1 RO1 to 2
(manufactured by SMC)
A97L-0218-0130#D2
A97L-0218-0130#D3
7L/7LC A97L-0218-0130#D3B 3 position
A05B-1142-H095#L Double solenoids x 3 RO1 to 6
/14L (manufactured by SMC) (closed center) x 3
7L/7LC A97L-0218-0130#D3R 3 position
A05B-1142-H096#L Double solenoids x 3 RO1 to 6
/14L (manufactured by SMC) (exhaust center) x 3
2 position x2
7L/7LC A97L-0218-0130#D3-1P
A05B-1142-H090#L Double solenoids x 3 3 position RO1 to 6
/14L (manufactured by SMC) (pressure center) x 1
A97L-0218-0130#D1
A05B-1142-H092#CB 7C Double solenoids x 1 2 position x 1 RO1 to 2
A97L-0218-0130#D2
A97L-0218-0130#D3
A97L-0218-0130#D3B 3 position
A05B-1142-H095#CB 7C Double solenoids x 3 RO1 to 6
(manufactured by SMC) (closed center) x 3
A97L-0218-0130#D3R 3 position
A05B-1142-H096#CB 7C Double solenoids x 3 RO1 to 6
(manufactured by SMC) (exhaust center) x 3
A97L-0218-0130#D1
A05B-1142-H092#CL 7LC Double solenoids x 1 2 position x 1 RO1 to 2
A97L-0218-0130#D2
A97L-0218-0130#D3
A97L-0218-0130#D3B 3 position
A05B-1142-H095#CL 7LC Double solenoids x 3 RO1 to 6
(manufactured by SMC) (closed center) x 3
- 50 -
Option spec. Model Description Solenoid (Manifold) spec. Remarks RO

A97L-0218-0130#D3R 3 position
A05B-1142-H096#CL 7LC Double solenoids x 3 RO1 to 6
(manufactured by SMC) (exhaust center) x 3
Available section area of the solenoid valve：1.98mm2 (CV value：0.11)
NOTE
1 When the air circuit is not used, reinstall the plugs as originally installed for the
purpose of dust and water protection.
2 Attach an air filter with a mesh size of 5µm or better on the upstream side near
the robot. Compressed air including much drainage causes valve malfunctions.
Take action to prevent the entry of drainage, and also drain the air filter
periodically.
3 For 7C/7LC, remove the exhaust port plug before using it. (Fig.5.1 (a)) Air of the
built-in solenoid valve exhaust port is exhausted from here. So connect the
piping and exhaust it to outer of the clean room.
Exhaust port for 7C and 7LC
Fig. 5.1 (a) Exhaust port plug for 7C and 7LC
- 51 -
Exhaust port for integrated

内蔵電磁弁排気ポート
solenoid valve
(7C/7LC以外)
(Except 7C/7LC)
A EE(*)
RO3
M5
RO5
M5 RO1
M5 16 16
M5
M5 depth
深さ 44 RO4
(User air)
(ユーザ用エア) M5
10
RO2
RO2
M5 (If there is no
M5
solenoid valve, it is AIR 2)
RO6 (電磁弁なしの時はAIR 2)
M5 Double solenoid x 1
ダブルソレノイドX1 161616 36
Double solenoid x 2
ダブルソレノイドX2
Detail
詳細 B Double solenoid x 3
ダブルソレノイドX3
RO1-6
DetailAA
RO1～6(電磁弁オプション選択時)
(When solenoid valve option
is specified) 詳細
(*)(*)
TheLRend
Mateeffector cannot be used for LR Mate 200iD/7WP.
200iD/7WPではエンドエフェクタは使用できません。
Fig. 5.1 (b) Air supply (J2 arm, J3 arm side)
- 52 -
Air
エア入口inlet Rc1/4
Rc1/4 Air
AIR11 Air
Rc1/4 Air
AIR11
(user air)
(ユーザ用エア) (user air)
(ユーザ用エア)
AIR 2
(air
AIR for
2 solenoid Air
AIR22
(電磁弁用エア (オプション))
valve (option)) (user air)
When Type 1 is specified

タイプ1指定時 (表5.1(See Table 5.1 (b))
(b)参照) When Type 2 is (表
タイプ2指定時 specified
5.1 (b)(See
参照)Table 5.1 (b))
Air
AIR1 1
Air
Rc1/4 (user air)
Camera
カメラケーブルcable
interface
インタフェース AIR 2
Relay connector Force sensor (air
AIR for
2 solenoid
別置バッテリケーブル力センサケーブル (電磁弁用エア (オプション))
for 中継コネクタ
remote battery cable Air cable interface valve (option))
AIR22 インタフェース
(user air)

タイプ3指定時 (表5.1(See Table 5.1 (b))
(b)参照) When Type 4 is specified
タイプ4指定時 (See Table 5.1 (b))
(表5.1 (b)参照)
Additional axis Ethernet cable

イーサネットケーブル
付加軸モータケーブル interface Ethernet cable
motor cable インタフェースイーサネットケーブル
(パワー、ブレーキ線) interface
インタフェース
(power,brake
インタフェース line)
interface Air
Rc1/4
Additional axis motor Air

Rc1/4
付加軸モータケーブル
cable (Pulsecoder line)
(パルスコーダ線)
interface When Type 5 is specified (See
インタフェースタイプ5指定時 (表5.1 (b)Table
参照) 5.1 (b)) When Type 6 is (表
タイプ6指定時 specified (See Table 5.1 (b))
5.1 (b)参照)
Relay別置バッテリケーブル
connector
for remote battery cable
中継コネクタ
When Typeタイプ7指定時
7 is specified(表
(See Table
5.1 (b)参照)5.1 (b)) When Type 8 is specified
タイプ8指定時 (See Table 5.1 (b))
(表5.1 (b)参照)
Fig. 5.1 (c) Air supply (back side connector panel)
Table 5.1 (b) Correspondence table for mechanical unit cable

Type Spec. of mechanical unit cable
Type 1 A05B-1142-H301, H501, H701#STB, H701#STL, H714#STB, H721#CB, H721#CL
Type 2 A05B-1142-H302, H502, H702#STB, H702#STL, H707#STB, H722#CB, H722#CL
Type 3 A05B-1142-H306, H307, H341, H706#STB, H707#STB, H726#CB, H726#CL, H741#WPB
Type 4 A05B-1142-H303, H323, H703#STB, H715#STB, H715#STL, H723#CB, H735#CB, H735#CL
Type 5 A05B-1142-H304, H704#STB, H724#CL
Type 6 A05B-1142-H305, H313, H705#STB, H713#STB, H725#CB, H725#CL, H733#CB, H733#CL
Type 7 A05B-1142-H311, H331, H711#STB, H731#CB, H731#CL
Type 8 A05B-1142-H312, H332, H342, H712#STB, H732#CB, H732#CL, H742#WPB
- 53 -
Air
Rc1/4 Air
Rc1/4
AIR 1Air 1
(user air)
(ユーザ用エア） Air 2
AIR Air
1 1 AIR 2 AIR 2
(user air)
(ユーザ用エア） AIRfor2 solenoid
(air (user air)
電磁弁用エア (オプション))
valve (option))
タイプ1指定時 (See
(表5.1 (c)Table
参照) 5.1 (c)) Whenタイプ2指定時
Type 2 is specified (See
(表5.1 (c)参照)Table 5.1 (c))
Camera
カメラケーブル cable Ethernet cable
Air
Rc1/4 イーサネットケーブル
interface
インタフェース interface
AIR 2
(airAIR
for 2solenoid
(電磁弁用エア） Force sensor
力センサケーブル
valve (option)) cable interface
Air inlet Rc1/4
エア入口 Rc1/4
When Type 3 is specified (See Table 5.1 (c)) When Type 4 is specified (See Table 5.1 (c))
タイプ3指定時 (表5.1 (c)参照) タイプ4指定時 (表5.1 (c)参照)
Relay connector
Relay connector 別置バッテリケーブル
別置バッテリケーブル中継コネクタ
中継コネクタ Air 2
AIR 2 (ユーザ用エア)
(user air)
Air 1
AIR 1 (ユーザ用エア)
(user air) Air
Rc1/4

(表5.1 (c)Table
参照) 5.1 (c)) When Type 6 is specified
(表5.1 (c)参照)Table 5.1 (c))

(表5.1 (c)Table
参照) 5.1 (c))
Fig. 5.1 (d) Air supply (bottom side connector panel)
- 54 -
Table 5.1 (c) Correspondence table for mechanical unit cable
Type 1 A05B-1142-H351, H352, H551, H751#STB, H751#STL, H771#CB, H771#CL
Type 2 A05B-1142-H552, H752#STB, H752#STL
Type 3 A05B-1142-H553, H753#STB, H753#STL, H765#STB, H765#STL
Type 4 A05B-1142-H355, H363, H755#STB, H755#STL, H763#STB, H763#STL
Type 5 A05B-1142-H356, H357, H556, H557, H756#STB, H756#STL, H757#STB,H757#STL,H791#WPB
Type 6 A05B-1142-H362, H562, H762#STB, H762#STL, H782#CB, H782#CL
Type 7 A05B-1142-H361, H561, H761#STB, H781#STB, H781#CB, H781#CL
Supply air pressure 0.49 to 0.69MPa(5 to 7kgf/cm2), Setting: 0.49MPa(5kgf/cm2)

Air pressure
Amount of consumption Maximum instantaneous amount 120Nl/min (0.12Nm3/min)
* The air should be dry. Do not use oiled compressed air.
CAUTION
The user air and the solenoid valve is not available when the IP69K option is
specified
5.2 INSTALLING THE AIR PURGE KIT (OPTION)

Air purge kit, air purge kit with a monitor port are preparatory as the option, and use it, please. Use the
prepared air purge kit. In case of LR Mate 200iD/7WP, be sure to perform air purge.
 Air purge kit (A05B-1142-J061, J064)

Set the air purge pressure to 15 kPa (0.015 MPa, 0.15 kgf/cm2) or less. Air purge regulator kit (A05B-
1138-J062) is appropriate for controlling the purge pressure.
 Air purge kit with a monitor port (A05B-1142-J062, J063, J065)

This is air purge with purge monitor port. By adding a pressure sensor etc. to the port, the robot inside
pressure can be monitored. If the monitor port is not utilized, be sure to close the port by a plug. Air purge
regulator kit (A05B-1138-J062) is appropriate for controlling the purge pressure. Combination with
mechanical unit cables and solenoid valves has some restrictions. Set the air purge pressure to 15 kPa (0.015
MPa, 0.15 kgf/cm2) or less.
NOTE
1 It is recommended that a dedicated air pressure source be used for an air purge.
Do not use the same air pressure source for both the air purge kit and others.
Otherwise, the dryer capacity is exceeded and water or oil remains in air,
causing serious damage to the robot.
2 After installing the robot, perform an air purge at all times.
Even when the robot is not operating, an air purge is required if it is placed in a
bad condition. Intermittent purge sometimes causes liquid entrance or internal
dew.
3 When removing the air tube from the air inlet of the J1 connector panel, replace
the joint together. Be careful to prevent cleaning fluids from entering into the
joint. Otherwise, rubbers in the joint are degraded and the robot may be
damaged.
4 Air purge kit cannot be used when using 7C/7LC in the clean room. It causes
particle generation. Except for clean room, such as food environment is
acceptable.
- 55 -
220
60 100
2-Φ11
70
140
(335)
272
(33) 59 158
PURGE connector
(J1 connector panel)
4-Φ7 (101)
95
Air outlet 41
22
(O6 Air tube)
180
14
35
Pneumatic
187
air outlet
11
7
170
Pressure gauge
Air inlet
(O10 Air tube)
S
O
7 S
O
Pressure adjustment knob
Fig. 5.2 (a) Regulator kit for air purge external dimensions
Inlet for air purge
Fig. 5.2 (b) Inlet for air purge (A05B-1142-J061, J064 for backside connector plate)
- 56 -
Inlet for air purge
Fig. 5.2 (c) Inlet for air purge (A05B-1142-J061, J064 for bottom connector plate)
Inlet for air purge
Purge pressure
monitor port
Fig. 5.2 (d) Inlet for air purge (A05B-1142-J062, J063, J065 for backside connector plate)
- 57 -
Inlet for air purge
Purge pressure
monitor port
Fig. 5.2 (e) Inlet for air purge (A05B-1142-J062, J063, J065 for bottom connector plate)
- 58 -
5.3 INTERFACE FOR OPTION CABLE

CAUTION
1 The connector to be plugged into the interface and the cable attached to that
connector should be prepared by the customer.
2 Please cover the unused connector and air port reliably by a metal cap (option)
and a plug. If the covering is loose, unexpected substances will enter into the
robot and cause any troubles. At ex-factory, the interfaces are covered by easy
caps in order to avoid dust during transportation. Please keep in mind that the
cap doesn’t work enough as a protect means in factory environment.
3 Please do the waterproof processing of the hand cable surely to prevent the
flood in the mechanism.
Moreover, the damage of the cover of the cable causes the flood so exchange it,
please when it is damaged.
(1) EE interface (RI/RO signal)

Fig. 5.3 (a) shows the pin layout for the EE interface (RI/RO signal).
Cap
キャップ
When EE12P is specified Plug connector
(See Table 5.3 (a)) プラグコネクタ(お客様にて用意)
EE12P指定時 (表5.3 (a)参照) (outside FANUC delivery scope)
EE
8 RO8 9 24V 1 RI1
7 RO7 12 0V 10 24V 2 RI2
6 RI6 11 0V 3 RI3 Waterproof
5 RI5 4 RI4 防水処理
processing
XHBKXHBK:
: Hand broken signal
手首破断信号
Cap
キャップ
When EE20P is specified
(See Table
EE20P 指定時 5.3 (a))
(表5.3 (a)参照)
EE 5 RO1 11 RI1
1 0V 6 RO2 12 RI2 17 XHBK
2 0V 7 RO3 13 RI3 18 24V
3 0V 8 RO4 14 RI4 19 24V
4 0V 9 RO5 15 RI5 20 24V
10 RO6 16 RI6
Fig. 5.3 (a) EE interface pin layout (RI/RO signal)
Table 5.3 (a) Correspondence table for mechanical unit cable

EE Type Spec. of mechanical unit cable
A05B-1142-H301, H303, H306, H313, H321, H323, H333, H351, H353, H356,
H363, H501, H503, H551, H701#STB, H701#STL, H703#STB, H703#STL,
H706#STB, H706#STL, H713#STB, H713#STL, H715#STB, H715#STL,
EE12P
H721#CB, H721#CL, H723#CB, H726#CB, H733#CB, H735#CB, H735#CL,
H751#STB, H751#STL, H753#STB, H753#STL, H756#STB, H763#STB,
H763#STL, H765#STB, H765#STL
A05B-1142-H302, H305, H307, H322, H325, H352, H355, H357, H502,
H702#STB, H702#STL, H705#STB, H707#STB, H707#STL, H722#CB,
EE20P
H723#CL, H725#CB, H726#CL, H733#CL, H752#STB, H752#STL, H755#STB,
H757#STB, H757#STL, H763#STB
- 59 -
(2) J3 arm interface

Fig. 5.3 (b) shows the J3 arm interface.
EE Force
力センサ sensor
EE
Camera
カメラ
Type
タイプ 1 1 Type
タイプ 2 2
(表5.3
(see (b)5.3
Table 参照)(b)) (see Table
(表5.3 (b)5.3
参照)(b))
Ethernet
イーサネット EE
Type
タイプ3 3
(see Table 5.3 (b))
(表5.3 (b)参照)
Fig. 5.3 (b) J3 arm interface
Table 5.3 (b) Correspondence table for mechanical unit cable

A05B-1142-H301, H302, H306, H307, H313, H701#STB, H702#STB,
Type 1
H706#STB, H707#STB, H713#STB
A05B-1142-H303, H323, H503, H523, H703#STB, H703#STL, H715#STB,
Type 2
H715#STL, H723#CB, H723#CL, H735#CB, H735#CL, H765#STB, H765#STL
A05B-1142-H305, H313, H325, H333, H505, H513, H525, H705#STB,
Type 3
H705#STL, H713#STB, H713#STL, H725#CB, H733#CB, H733#CL
CAUTION
1 For wiring peripheral devices to the EE interface, see the sections in the
manuals listed below.
a. Section II, chapter 4, “Peripheral Device, Arc Welding, And EE Interfaces” in
the “R-30iB Mate/R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL”
(B-83525EN)
b. Section II, chapter 1, “Electrical Connections” in the “R-30iB Mate/R-30iB
Mate Plus CONTROLLER Open Air MAINTENANCE MANUAL” (B-83555EN)
2 This interface is not available when the IP69K option is specified.
- 60 -
Connector specifications
Table 5.3 (c) show the connector parts supported by the end effector interface. Some of these parts are
available as an option from FANUC.
Table 5.3 (c) Supported connector (user side)

Maker Manufacturer specification Remarks
Straight type connector (12 pins)
∗ indicates an applicable cable diameter selected from the
Plug: RM15WTPZ-12P(71)
following:
Clamp: JR13WCC-*(72)
∗ : φ5，6，7，8，9，10mm
(For EE12P See Table 5.3 (a))
Elbow type connector (12 pins)
∗ indicates an applicable cable diameter selected from the
Hirose Electric Plug: RM15WTLP-12P(71)
following:
Co. Ltd. Clamp: JR13WCC-*(72)
∗ : φ5，6，7，8，9，10mm
Elbow type connector (20 pins)
* indicates an applicable cable diameter selected from the
Plug: RM15WTLP-20P (31)
following:
Clamp: JR13WCC-*(72)
* : φ5，6，7，8，9，10mm
NOTE
For details, such as the dimensions, refer to the related catalogs offered by the
respective manufacturers, or contact your local FANUC representative.
Table 5.3 (d) Supported option

Option specification Remarks
Straight type connector (12-pins)
A05B-1137-J057
Applicable cable diameter: 8mm
Elbow type connector (12-pins)
A05B-1137-J058
Elbow type connector (20-pins)
A05B-1139-J059
Cable with elbow type connector (12-pins)
A05B-1142-K052
Length: 300mm
Cable with elbow type connector (20-pins)
A05B-1142-K053
Length: 300mm
Table 5.3 (e) shows the connector parts supported by the Eternet cable (ES) interface.
Table 5.3 (e) Connector specifications（user side）

Cable Maker/ Maker/
Input side (J1 base) Output side（J3 arm）
name dealer dealer
2103 881 1405
2103 881 1415
HARTING HARTING
ES 2103 281 1405 ←The same
K.K K.K
2103 282 1405
Many other types are available.
NOTE
See Appendix C, "OPTIONAL CONNECTOR WIRING PROCEDURE" for
explanations about how to wire optional connectors.
- 61 -
6. AXIS LIMIT SETUP B-83494EN/08
6 AXIS LIMIT SETUP

When axis limits are defined, the motion range of the robot can be changed from the standard value. The
motion range of the robot axes can be restricted because of:
- Used motion range of the robot is limited.

- Tools and peripheral equipment interfere each other in some areas.
- Length of the cable or hose attached to the application is limited.
The following method used to prevent the robot from going beyond the necessary motion range.
- Axis limit by DCS (All axes (option))
WARNING
Changing the motion range of any axis affects the operating range of the robot.
To avoid trouble, carefully consider any possible effect of the change to the
movable range of each axis in advance. Otherwise, it is likely that an unexpected
condition will occur; for example, an alarm may occur in a previously taught
position.
6.1 SOFTWARE SETTING CHANGE AXIS LIMIT BY DCS

(OPTION)
The robot motion can be restricted with DCS (Dual check safety) function by using the following software.
For J2/J3-axis, the same effect as an adjustable mechanical stopper can be obtained.
The robot motion can be restricted at any angle and position if it is in robot motion area. DCS functions are
certified to meet the requirements of International Standard ISO13849-1 and IEC61508 approved by
certificate authority. If only the operating space is set using Joint Position Check, the robot stops after it
goes beyond the workspace. When the motor power is shut down, the robot’s momentum causes it to move
some distance before it completely stops. The actual "Robot Stop Position" will be beyond the workspace.
To stop the robot within the robot workspace, use the DCS Stop Position Prediction function. The stop
position prediction is disabled by default.
 DCS position/speed check function (J567)
As an example, we shows the procedure to set ±90° for J2-axis in here. Refer to R-30iB/R-30iB Mate
/R-30iB Plus Controller Dual check safety function Operator’s Manual (B-83184EN) for details of other
setting, function and DCS stop position prediction.
- 62 -
B-83494EN/08 6. AXIS LIMIT SETUP
Setting procedure
2 Press [0 NEXT] and press [6 SYSTEM].
3 Press the F1 ([TYPE]).
4 Select [DCS]. The following screen will be displayed.
AUTO
DCS JOINT 1%
1 Joint position check

2 Joint speed check:
3 Cart. position check OK
4 Cart. speed check
5 T1 mode speed check
6 User model
7 Tool frame
8 User frame
9 Stop position prediction
[TYPE] APPLY DETAIL UNDO
5 Move the cursor to [1 Joint position check], then press the [DETAIL].
AUTO
DCS JOINT 1%
Join Position check
No. G A Status Comment
1 DISABLE 1 1 ---- [ ]
2 DISABLE 1 1 ---- [ ]
3 DISABLE 1 1 ---- [ ]
4 DISABLE 1 1 ---- [ ]
5 DISABLE 1 1 ---- [ ]
6 DISABLE 1 1 ---- [ ]
7 DISABLE 1 1 ---- [ ]
8 DISABLE 1 1 ---- [ ]
9 DISABLE 1 1 ---- [ ]
10 DISABLE 1 1 ---- [ ]
[TYPE] DETAIL
6 Move the cursor to [1], then press the [DETAIL].
AUTO
DCS JOINT 1%
No. 1 Status:
1 Comment [*********************]
2 Enable/Disable DISABLE
3 Group 1
4 Axis 1
5 Safe side:
Position (deg):
Current: 0.000
6 Upper limit : 0.000
7 Lower limit : 0.000
8 Stop type: Power-off stop
[TYPE] PREV NEXT UNDO
7 Move the cursor to [DISABLE], then press [CHOICE], set the status to [ENABLE].
8 Move the cursor to [Group], then input the robot group number, then press the [ENTER] key.
9 Move the cursor to [Axis], then input “2”, then press the [ENTER] key.
10 Move the cursor to [Upper limit] right side, then input “90”, then press the [ENTER] key.
11 Move the cursor to [Lower limit] right side, then input “-90”, then press the [ENTER] key.
- 63 -
6. AXIS LIMIT SETUP B-83494EN/08
WARNING
If only the operating space is set using Joint Position Check, the robot stops
after it goes beyond the workspace. When the motor power is shut down, the
robot’s momentum causes it to move some distance before it completely stops.
The actual "Robot Stop Position" will be beyond the workspace. To stop the
robot within the robot workspace, use the DCS Stop Position Prediction function.
The stop position prediction is disabled by default.
AUTO
DCS JOINT 1%
No. 1 Status:
1 Comment [*********************]
2 Enable/Disable ENABLE
3 Group 1
4 Axis 2
5 Safe side:
Position (deg):
Current: 0.000
6 Upper limit : +30.000
7 Lower limit : -30.000
8 Stop type: Power-off stop
[TYPE] PREV NEXT UNDO
12 Press the [PREV] key two times, back to the first screen.
AUTO
DCS JOINT 1%
1 Joint position check UNSF CHGD

4 Cart. speed check
6 User model
7 Tool frame
8 User frame
13 Press the [APPLY].

14 Input 4-digit password, then press the [ENTER] key. (Password default setting is “1111”.)
15 The following screen will be displayed, then press the [OK].
AUTO
DCS JOINT 1%
Verify (diff)
F Number : F0000
VERSION : HandlingTool
$VERSION : V7.7097 9/1/2015
DATE: 17-7-28 19;44
DCS Version: V2. 0. 11
---Joint Position Check-----------------

No. G A Status Comment
1 EBABLE 1 2 CHGD [
2 ENABLE 1 2 ---- [
3 DISABLE 1 2 ---- [
ALL OK QUIT
- 64 -
B-83494EN/08 6. AXIS LIMIT SETUP
[CHGD] on the right side of [1 Joint position check] will change to [PEND].
AUTO
DCS JOINT 1%
1 Joint position check UNSF PEND

4 Cart. speed check
6 User model
7 Tool frame
8 User frame
16 Cycle the power of the controller in the cold start mode so the new settings are enabled.
WARNING
You must cycle the power of the controller to enable the new setting. If you fail to
do so, the robot does not work normally and it may injure personnel or damage
the equipment.
- 65 -
7. CHECKS AND MAINTENANCE B-83494EN/08
7 CHECKS AND MAINTENANCE

Optimum performance of the robot can be maintained by performing the checks and maintenance
procedures presented in this chapter. (See the APPENDIX A PERIODIC MAINTENANCE TABLE.)
NOTE
The periodic maintenance procedures described in this chapter assume that the
FANUC robot is used for up to 3840 hours a year. In cases where robot use
exceeds 3840 hours/year, adjust the given maintenance frequencies
accordingly. The ratio of actual operating time/year vs. the 3840 hours/year
should be used to calculate the new (higher) frequencies. For example, when
using the robot 7680 hours a year, the maintenance frequency should be
doubled – i.e. the time interval should be divided by 2.
7.1 CHECKS AND MAINTENANCE
7.1.1 Daily Checks

Clean each part, and visually check component parts for damage before daily system operation. Check the
following items when necessary.
Check items Check points and management

Check to see if there is oil on the sealed part of each joint. If there is an oil seepage,
Oil seepage clean it.
⇒”7.2.1 Confirmation of Oil Seepage”
Air control set (When air control set or air purge kit is used)
Air purge kit ⇒”7.2.2 Confirmation of the Air Control Set and Air Purge kit”
Check whether vibration or abnormal noises occur.
Vibration, abnormal When vibration or abnormal noises occur, perform measures referring to the following
noises section:
⇒”9.1 TROUBLESHOOTING”(symptom：Vibration, Noise)
Check that the taught positions of the robot have not deviated from the previously taught
positions. If displacement occurs, perform the measures as described in the following
Positioning accuracy
section:
⇒”9.1 TROUBLESHOOTING” (Symptom : Displacement)
Peripheral equipment Check whether the peripheral equipment operates properly according to commands from
for proper operation the robot and the peripheral equipment.
Check that the end effector drops 2 mm or less when servo power is turned off.
If the end effector (hand) drops, perform the measures as described in the following
Brakes for each axis
section:
⇒”9.1 TROUBLESHOOTING” (symptom : Dropping axis)
Check whether unexpected warnings occur in the alarm screen on the teach pendant. If
Warnings unexpected warnings occur, perform the measures as described in the following manual:
⇒”OPERATOR’S MANUAL (Alarm Code List)(B-83284EN-1)”
- 66 -
B-83494EN/08 7. CHECKS AND MAINTENANCE
7.1.2 Periodic Check and Maintenance

Check the following items at the intervals recommended below based on the period or the accumulated
operating time, whichever comes first. (○ : Item needs to be performed.)
Check and maintenance

intervals
(Period, Accumulated Periodic
Check and Check points, management and
operating time) maintenance
maintenance item maintenance method
1 3 1 1.5 2 4 No.
month months year years years years
320h 960h 3840h 5760h 7680h 15360h
○ ○ Cleaning the Confirm that the controller ventilation system

Only controller is not dusty. If dust has accumulated,
13
1st ventilation remove it.
check system
○ Check for Check whether the robot has external
external damage or peeling paint due to contact with
damage or the peripheral devices. If unintended contact
peeling paint has occurred, eliminate the cause. Also, if 1
the external damage is serious, and causes
a problem in which the robot will not operate,
replace the damaged parts.
○ Check for water Check whether the robot is subjected to
(except 7WP) water or cutting oils. If water is found, 2
remove the cause and wipe off the liquid.
○ ○ Check for Check whether the cable connected to the
Only
damages teach pendant, operation box and robot are
to the teach
1st
pendant cable, the unevenly twisted or damaged. If damage is
check operation box found, replace the damaged cables. 12
connection cable
or the robot
connection cable
○ ○ Check for Check whether the end effector cables and
Only
damage to the external batteries cable are unevenly twisted
end effector
1st
(hand) or damaged. If damage is found, replace the
8
Check cable and damaged cables.
external
batteries cable
○ ○ Check the Check the exposed connectors.
Only exposed ⇒”7.2.3 Check the Connectors”
3
1st connectors
check
○ ○ Retightening the Retighten the end effector mounting bolts.
Only end effector Refer to the following section for tightening
1st mounting bolts torque information: 4
check ⇒”4.1 END EFFECTOR INSTALLATION
TO WRIST”
○ ○ Retightening the Retighten the robot installation bolts, bolts
Only external main that have been removed for inspection, and
bolts exposed to the outside. Refer to the
1st bolts recommended bolt tightening torque
check guidelines at the end of the manual. An
adhesive to prevent bolts from loosening is
applied to some bolts. If the bolts are 5
tightened with greater than the
recommended torque, the adhesive might be
removed.
Therefore, follow the recommended bolt
tightening torque guidelines when
retightening the bolts.
- 67 -
Check and maintenance

intervals
(Period, Accumulated Periodic
Check and Check points, management and
operating time) maintenance
maintenance item maintenance method
1 3 1 1.5 2 4 No.
month months year years years years
320h 960h 3840h 5760h 7680h 15360h
○ ○ Check the Check that the spring pin of J1/J3-axis

Only mechanical mechanical stopper is not deformed, if it is
6
1st stopper deformed, replace it with a new one.
check ⇒”7.2.4 Check of Mechanical Stopper ”
○ ○ Clean spatters, Check that spatters, sawdust, or dust does
Only sawdust and not exist on the robot main body. If dust has
1st dust accumulated, remove it. Especially, clean the
check robot movable parts well (each joint).
For 7WP
- Remove sludge and foreign materials in
the cleaner.
- Replace the cleaner periodically.
- Wash the strainer, and replace it
periodically. 7
- Clean the joints of mechanical unit and
clean the foreign materials.
For an arc welding robot
Insulation failure might occur when spatter
has collected around the wrist flange or
welding torch, and there is a possibility of
damaging the robot mechanism by the
welding current.
(See Appendix D)
○ ○ Replacing the Replace the mechanical unit batteries.
(*) (*) mechanical unit (*) Periodic interval differs according to the
batteries batteries.
Regardless of operating time, replace
9
batteries at these intervals.
built-in batteries : 1 years (3840 hours)
external batteries: 1.5 years (5760 hours)
⇒”7.3.1 Replacing the batteries”
○ ○ Replenish Grease each axis reducer
(*) (*) grease to each (*) Periodic interval differs according to the
axis reducer model.
7C/7LC : 2 years (7680 hours) 10
Except 7C/7LC : 4 years (15360 hours)
⇒”7.3.2 Replenish the Grease of the
Reducer”
○ Replacing the Replace the mechanical unit cable
mechanical unit Contact your local FANUC representative for 11
cable information regarding replacing the cable.
○ Replacing the Replace the controller batteries.
controller Regardless of operating time, replace
batteries batteries at 4 years.
⇒Chapter 7 Replacing batteries of
R-30iB Mate/R-30iB Mate Plus 14
CONTROLLER
MAINTENANCE MANUAL (B-83525EN)
R-30iB Mate CONTROLLER Open Air
MAINTENANCE MANUAL (B-83555EN)”
- 68 -
7.2 CHECK POINTS
7.2.1 Confirmation of Oil Seepage

Check items
Check to see whether there is an oil seepage on the rotating parts of each joint axis.
Fig. 7.2.1 (a) Check points of oil seepage
Management
 Oil might accumulate on the outside of the seal lip depending on the movement condition or
environment of the axis. If the oil changes to a state of liquid，the oil might fall depending on the axis
movement. To prevent oil spots, be sure to wipe away any accumulated oil under the axis components
before you operate the robot.
 Also，motors might become hot and the internal pressure of the grease bath might rise by frequent
repetitive movement and use in high temperature environments. In these cases, normal internal can be
restored by venting the grease inlet. (When opening the grease inlet, refer to Subsection .7.3.2 and
ensure that grease is not expelled onto the machine or tooling.)
 If you must wipe oil frequently, and opening the grease outlet does not stop the seepage, perform the
measures below.
⇒”9.1 TROUBLESHOOTING” (symptom：Grease leakage)
- 69 -
7.2.2 Confirmation of the Air Control Set and Air Purge kit (option)
When an air control set or an purge kit is used, check the items below.
Item Check items Check points

Check air pressure using the pressure gauge on the air control set as
shown in Fig.7.2.2 (a). If it does not meet the specified pressure of
1 Air pressure
0.49MPa (5 kgf/cm2), adjust it using the regulator pressure setting
handle.
When air control
Leakage from Check the joints, tubes, etc. for leaks.
2 set is provided.
hose Repair leaks, or replace parts, as required.
Check the drain and empty it. When the quantity of liquid in the drain
3 Drain is excessive, examine the setting of the air dryer on the air supply
side.
Check the supply pressure using the air purge kit shown in Fig.7.2.2
Supply
4 (b). If it does not meet the specified pressure of 15 KPa (0.15 kgf/cm2),
pressure
adjust it using the regulator pressure setting handle.
Check whether the color of the dew point checker is blue. When it is
When air purge kit
5 Dryer not blue, identify the cause and replace the dryer. Maintenance for air
is provided.
purge kit, refer to the operator’s manual attached kit.
Check the drain and empty it. When the quantity of liquid in the drain
6 Drain is excessive, examine the setting of the air dryer on the air supply
side.
Fig. 7.2.2 (a) Air control set (option)
4-7 x 11
4-7x11 長丸穴
Length round hole Air outlet
空気出力口
(φ6 Air tube)
(O6エアチューブ)
Pneumatic Pressure
圧力計 gauge
一次空圧源
air outlet
Air inlet
空気入力口
(O10エアチューブ)
(φ10 Air tube)
Handle for
圧力調整用ノブ
S
O
S
O Lubricator adjustment
Fig. 7.2.2 (b) Air purge kit (option)
- 70 -
7.2.3 Check the Connectors

Inspection points of the connectors
 Robot connection cables, earth terminal and user cables
Check items
 Circular connector : Check the connector for tightness by turning it manually.
 Square connector : Check the connector for engagement of its lever.
 Earth/Ground terminal : Check the terminal for tightness.
Fig. 7.2.3 (a) Connector Inspection points
7.2.4 Check of Mechanical Stopper

 Check the spring pin of J1/J3-axis mechanical stopper is not deformed, if it is deformed, replace it
with a new one.
J1-axis J1軸機械式ストッパ
mechanical stopper
Spec. : 仕様：
Spring pin : A6-PS-8X20S
J3-axis mechanical stopper

Spec.J3軸機械式ストッパ
:
仕様：
J3 stopper : A290-7142-X427
J3ストッパ：A290-7142-X427 Section
断面 A-A A-A
springスプリングピン：A6-PS-8X20S
ping A6-PS-8X20S
Note : When assembling the J3 stopper
注：J3ストッパをスプリングピンに組み
付ける時はセメダイン
to the spring pin, applyスーパーX
（クリア）を塗布して下さい。
CEMEDINE SUPER X (CLEAR)
(Spec. : A98L-0004-0717#C).
A A
Fig. 7.2.4 (a) Check of mechanical stopper
- 71 -
7.3 MAINTENANCE
7.3.1 Replacing the Batteries

(1-Year Periodic Inspection If Built-in Batteries Are Specified)
(1.5-Year Periodic Inspection If External Batteries Are
Specified)
The position data of each axis is preserved by the backup batteries. If built-in batteries are in use, replace
them every year. If external batteries are in use, replace them every year and a half. Also use the
following procedure to replace them when the backup battery voltage drop alarm occurs.
Procedure of replacing the battery (if built-in batteries are specified)

1 Press the EMERGENCY STOP button to prohibit the robot motion.
CAUTION
Be sure to keep the power supply turned on. Replacing the batteries with the
power supply turned off causes all current position data to be lost. If this occurs,
mastering will be required again.
2 Remove the battery case cap. (Fig. 7.3.1 (a)) If it cannot be removed, tap it on the side with a plastic
hammer.
3 Loosen the plate screw and take off the lid of the battery box and replace the battery. The battery can
be taken out by pulling the stick which is in the center of the battery box.
4 Assemble them by reversing the sequence. Pay attention to the direction of batteries.
It is necessary to replace the gasket.
C単2バッテリ(4個)
battery (4 pcs)
FANUC spec. : A98L-0031-0027
ファナック仕様：A98L-0031-0027
The batteries can be taken out

この棒を引っ張ると
by pulling this stick.
バッテリが取り出せます。
Lid of battery box

バッテリボックス蓋
Gasket
ガスケット
A290-7142-X249
A290-7142-X249
Battery box cover
バッテリボックスカバー
Standard/7H/7L/14L
標準/7H/7L/14L
Bolt with plate processing
hex-head hole
メッキ加工六角穴付きボルト
M4 x 12 (4 pcs) or M4 x 20 (4 pcs)
M4X12(4個) またはM4X20(4個)
7C/7LC
Stainless
7C/7LC hex-head hole bolt
M4 x-12 (4 pcs) or M4 x-20 (4 pcs)
ステンレス六角ボルト
& washer
M4X12(4個) またはM4X20(4個)およびワッシャ
Plate screw M4 x 12 (2 pcs)

皿ねじ M4X12(2個)
Fig. 7.3.1 (a) Replacing the battery (if built-in batteries are specified)
- 72 -
Procedure for replacing the battery (if external batteries are specified)
1 Press the EMERGENCY STOP button to prohibit the robot motion.
CAUTION
Be sure to keep the power supply turned on. Replacing the batteries with the
power supply turned off causes all current position data to be lost. If this occurs,
mastering will be required again.
2 Uncap the battery case (Fig. 7.3.1 (b)).

3 Take out the old batteries from the battery case.
4 Insert new batteries into the battery case while observing their correct orientation.
5 Cap the battery case.
External battery case

別置バッテリボックス
Battery cable
バッテリケーブル
Diameter
径約about
O5mmφ5mm
(Max (最大 O5.5mm)
φ5.5mm)
Battery spec. : A98L-0031-0005

バッテリ仕様:A98L-0031-0005 Case cap
ケースキャップ
Battery
バッテリケースcase (D battery alkali, 4 pcs) 4本)
(単一アルカリバッテリ
Fig. 7.3.1 (b) Replacing the battery (if external batteries are specified)
- 73 -
Fig. 7.3.1 (c) shows the external size of external battery box.
When the battery box needs to be built into the controller or other internal units, refer to the external
dimensions shown in Fig. 7.3.1 (c)
The battery box can be fixed by using M4 flat–head screws. (The bolts do not come with the system.)
A maximum of six terminals can be attached to the backplane of the battery box.
Fig. 7.3.1 (c) External dimensions of the battery box
- 74 -
7.3.2 Replenish the Grease of the Reducer

(4 years (15360 hours) or 2 years (7680 hours) checks)
For Standard/7H/7L/7WP, supply reducer grease every four years or 15360 hours by using the following
procedures.
For 7C/7LC supply reducer grease every two years or 7680 hours by using the following procedures.
For the grease name and quantity, see the Table 7.3.2 (a).
Table 7.3.2 (a) Grease for 4-year (15360 hours) or 2-year (7680 hours) periodical greasing
Greasing points Greasing amount Models Specified grease
J1-axis reducer 2.7g (3ml)
Except 7C/7LC Spec: A98L-0040-0230
7C/7LC Spec: A98L-0040-0320
For grease replacement, use the arbitrary postures.
CAUTION
1 The following maintenance kits are prepared for the greasing.
- Greasing kit: (for Standard/7H/7WP/7L/14L) A05B-1142-K021
(This a set of greasing syringe and grease in tube. (90g))
- Greasing kit (for 7C/7LC) : A05B-1142-K026
(This a set of greasing syringe and grease in tube. (90g))
- Grease in tube: A05B-1139-K022
(for Standard/7H/7WP/7L/14L) (grease in tube. (90g))
- Grease in tube: A05B-1142-K027
(for 7C/7LC) (grease in tube. (90g))
LR Mate 200iD/7H does not have J6-axis.
2 Failure to follow proper lubrication procedures may cause the suddenly increase
of the grease bath internal pressure and the damage to the seal, which could
lead to grease leakage and abnormal operation. When greasing, observe the
following cautions.
1 Use specified grease. Use of non-approved grease may damage the reducer
or lead to other problems.
2 To prevent slipping accidents and catching fire, completely remove any
excess grease from the floor or robot.
3 Please fill a necessary amount to the injection syringe after softening grease
in the tube massaging it by the hand when you use the grease greasing kit.
Please install the nozzle in the point of the injection syringe. Please remove
the nozzle and do the cap when you do not use the injection syringe.
- 75 -
1 Turn off controller power.

2 Remove the seal bolts from the grease inlet.
3 Supply a regulated amount of grease by using the injection syringe. Please note that grease might come
out immediately after the grease has been supplied, or during the greasing. Even in this case, please
do not supply grease beyond the regulated amount specified.
4 Replace the seal bolts with new ones. When reusing a seal bolt, be sure to seal it with seal tape.
J6-axis reducer grease inlet

J6軸減速機給脂口
Seal bolt M4 xM4X6
シールボルト 6
シールボルト
Seal bolt M4 xM4X6
6

Seal bolt M4 x 6M4X6
シールボルト
J3-axis reducer
grease
シールボルト inlet M4X6
Seal bolt M4 x 6
J2-axis reducer J1-axis reducer

J2軸減速機給脂口 J1軸減速機給脂口
grease inlet M4X6 grease
シールボルト inlet M8X10
シールボルト
Seal bolt M4 x 6 Seal bolt M8 x 10
Fig. 7.3.2 (a) Applying grease of the reducer
Table 7.3.2 (b) Spec. of seal bolts

Parts name Specifications Remarks
Seal bolt A97L-0318-0410#040606EN J2 to J6-axis grease inlet 5 pcs/1 robot
Seal bolt A97L-0318-0410#081010S J1-axis grease inlet
- 76 -
7.4 CLEANING THE ROBOT (7C/7LC)

The LR Mate 200iD/7C/7LC robot has been specially treated and materials have been used which are
resistant to Alkaline cleaning solution and disinfectant solution. It is, therefore, possible to spray some
cleaners directly on the robot surface so that the robot can be kept in sanitary condition by daily cleaning.
The cleaners in Table 7.4 (a) have been proven to have no harmful effects on the robot LR Mate
200iD/7C/7LC surface. Other cleaners have to be checked in order to know the impact to the robot surface.
Please contact your local FANUC representative if other cleaners are to be used.
Make sure the cleaner is properly diluted. If you use cleaner whose dilution ratio is not correct, it may cause
damage to the robot surface. Please use a cleaner and water at a temperature equal to or less than 50 degrees
Celsius.
Alcohol and organic solvent may have a damaging effect on the robot surface. Do not use them when
cleaning the robot.
Table 7.4 (a) Cleaners whose harmlessness for the robot surface is confirmed
DILUTION
NAME MAKER TYPE MAIN INGREDIENT RATE
(NOTE 1)
Geron IV ANDERSON Sanitizer Quaternary ammonium chloride 0.2%
Reg13 ANDERSON Sanitizer Sodium hypochloride 0.15%
FOMENT ANDERSON Alkali cleaner Potassium hydroxide
1.5%
Sodium hypochlorite
P3-topax 99 ECOLAB Sanitizer N-3(-Aminopropyl)-N-Dodecylpropan
2%
-1,3-diamin
P3-topax 91 ECOLAB Sanitizer Benzalkonium chloride 0.5%
P3-topax 66 ECOLAB Sanitizer Sodium hydroxide
Sodium hypochlorite 5%
Alkylamine oxide
P3-topactive 200 ECOLAB Alkali cleaner Ethanol
Potassium hydroxide 4%
Sodium hydroxide
Hypofoam VF6 JohsonDiversey Sanitizer Sodium hydroxide
Sodium hypochlorite 10%
Amine
DIVOSAN EXTRA VT55 JohsonDiversey Sanitizer Quaternary ammonium chloride 1%
Vesphene IIse STERIS Sanitizer Sulfonic acids,
C14-16-alkane hydroxy and C14-16-
alkene,
sodium salts
2-Phenylphenol
0.8%
4-tert-Pentylphenol
Potassium hydroxide
Phosphoric acid
Sodium hydroxide
Sodium xylene sulfonate
CIDEX Activated Advanced Cleaner Pentane
Dialdehyde Solution ASP Sterilization 1%
Products
- 77 -
NOTE
1 DILUTION RATE = STOCK SOLUTION / (STOCK SOLUTION+WATER)
2 Acid cleaners have to be rinsed diligently and should never remain on the robot
surface. The robot surface cannot stay in contact with an acid cleaner
continuously for over 15 minutes.
3 The use of the cleaners in Table 7.4 (a) might be restricted by the laws of the
country or the region in which the robot is used, making them difficult to obtain.
7.5 STORAGE
When storing the robot, place it on a level surface with the same posture that was used for transportation.
(See Section 1.1.)
- 78 -
B-83494EN/08 8. MASTERING
8 MASTERING
Mastering associates the angle of each robot axis with the pulse count value supplied from the absolute
Pulsecoder connected to the corresponding axis motor. To be specific, mastering is an operation for
obtaining the pulse count value; corresponding to the zero position.
CAUTION
In case of performing mastering with gravity compensation (option) is enabled, if
load setting (See Section 4.3) is not correct, it will influence the precision of the
mastering.
8.1 OVERVIEW
The current position of the robot is determined according to the pulse count value supplied from the
Pulsecoder on each axis.
Mastering is factory-performed. It is unnecessary to perform mastering in daily operations. However,
mastering becomes necessary after:
 Motor replacement.
 Pulsecoder replacement
 Reducer replacement
 Cable replacement
 Batteries for pulse count backup in the mechanical unit have gone dead
CAUTION
Robot data (including mastering data) and Pulsecoder data are backed up by
their respective backup batteries. Data will be lost if the batteries die. Replace
the batteries in the controller and mechanical units periodically. An alarm will
alert you when battery voltage is low.
Types of Mastering
Table 8.1 (a) describes the following mastering methods. Note that "Quick Mastering for Single Axis" is
not supported in software version 7DC2 (V8.20P) or earlier.
Table 8.1 (a) Type of mastering

This is performed using a mastering fixture before the machine is shipped from the
Fixture position mastering
factory.
This is performed with all axes set at the 0-degree position. A zero-position mark
Zero-position mastering
(witness mark) is attached to each robot axis. This mastering is performed with all
(witness mark mastering)
axes aligned to their respective witness marks.
This is performed at a user-specified position. The corresponding count value is
obtained from the rotation count of the Pulsecoder connected to the relevant motor
Quick mastering and the rotation angle within one rotation. Quick mastering uses the fact that the
absolute value of a rotation angle within one rotation will not be lost. (All axes at the
same time)
This is performed at a user-specified position for one axis. The corresponding count
Quick mastering value is obtained from the rotation count of the Pulsecoder connected to the relevant
for single axis motor and the rotation angle within one rotation. Quick mastering uses the fact that
the absolute value of a rotation angle within one rotation will not be lost.
This is performed for one axis at a time. The mastering position for each axis can be
Single-axis mastering
specified by the user. This is useful in performing mastering on a specific axis.
Mastering data entry Mastering data is entered directly.
- 79 -
8. MASTERING B-83494EN/08
Once mastering is performed, you must carry out positioning (calibration). Positioning is an operation in
which the controller reads the pulse count value to sense the current position of the robot.
This section describes zero-position mastering, quick mastering, quick mastering for single axis, single-
axis mastering, and mastering data entry. For more detailed mastering (fixture position mastering), contact
your local FANUC representative.
CAUTION
1 If mastering is performed incorrectly, the robot may behave unexpectedly. This is
very dangerous. For this reason, the Master/Cal screen is designed to appear
only when the $MASTER_ENB system variable is 1 or 2. After performing
positioning, press F5, ([DONE]) on the Master/Cal screen. The $MASTER_ENB
system variable is then reset to 0 automatically, and the Master/Cal screen will
disappear.
2 Before performing mastering, it is recommended that you back up the current
mastering data.
3 When the motion range is mechanically 360 degrees or more, if any of the axes
(J1-axis and J4-axis) to which the cables are connected is turned one turn
beyond the correct mastering position when mastering occurs, the cables in the
mechanical unit are may be damaged. If the correct rotation position is not clear
because the axis is moved too much during mastering, remove the connector
panel or cover, check the states of the internal cables, and perform mastering in
the correct position. For the checking procedure, see Fig. 8.1 (a) and 8.1 (b).
Connector
分線盤 panel
Bolt
ボルト
M4 x12 (5)
M4X12 (5)
締付けトルク 2.0Nm
Tightening torque 2.0Nm
Check that the cables are

J1=0vの時
not twisted with the
ケーブルが捻れていないか
J1-axis placed in 0º
確認してください
Fig. 8.1 (a) Confirming the state of cable (J1-axis)
- 80 -
O-ring
Oリング
A290-7142-X409
A290-7142-X409
Check
J4=0vの時that the cables are Bolt
ボルト
not twisted with the
ケーブルが捻れていないか M4X10
M4 x10(4)(4)
確認してください締付けトルク 2.0Nm
J4-axis placed in 0º Tightening torque 2.0Nm
J3 cover
J3カバー
Fig. 8.1 (b) Confirming the state of cable (J4-axis)
8.2 RESETTING ALARMS AND PREPARING FOR

MASTERING
Before performing mastering because a motor has been replaced, it is necessary to release the relevant alarm
and display the positioning menu.
Alarm displayed
“SRVO-062 BZAL” or “SRVO-075 Pulse not established”
Procedure
1 Display the positioning menu by following the steps 1 to 6.
1 Press the [MENU] key.
2 Press [0 NEXT] and select [6 SYSTEM].
3 Press F1 ([TYPE]), and select [Variable] from the menu.
4 Place the cursor on $MASTER_ENB, then key in “1” and press the [ENTER] key.
5 Press F1 ([TYPE]), and select [Master/Cal] from the menu.
6 Select the desired mastering type from the [Master/Cal] menu.
2 To reset the “SRVO-062 BZAL” alarm, follow steps 1 to 5.

1 Press the [MENU] key.
2 Press [0 NEXT] and select [6 SYSTEM].
3 Press F1 ([TYPE]), and select [Master/Cal] from the menu.
4 Press F3 ([RES_PCA]), then press F4 ([YES]).
5 Cycle power of the controller.
3 To reset the “SRVO-075 Pulse not established” alarm, follow the steps 1 to 2.
1 After cycling controller power, the message “SRVO-075 Pulse not established” appears again.
2 Move the axis for which the message mentioned above has appeared in either direction till the
alarm disappears when you press the [RESET] key.
- 81 -
8.3 ZERO POSITION MASTERING

Zero-position mastering (witness mark mastering) is performed with all axes set at the 0-degree position.
A zero-position mark (witness mark) is attached to each robot axis. (Fig.8.3 (a)) This mastering is performed
with all axes set at the 0-degree position using their respective witness marks.
Zero-position mastering involves a visual check, and might not be highly accurate. It should be used only
as a quick-fix method.
Zero-position Mastering Procedure

2 Select [0 NEXT] and press [6 SYSTEM].
3 Press F1 [TYPE]. Then select [Variables] from the menu.
4 If $DMR_GRP [group]. $GRAV_MAST=1, set the gravity compensation to enabled, if it is 0, set the
gravity compensation to disabled. In addition release the brake control.
NOTE
Gravity compensation can be set to enabled/disabled by setting the system
variables as follows:
$PARAM_GROUP[group].$SV_DMY_LNK[8] : FALSE or TRUE
Brake control can be released by setting the system variables as follows:
$PARAM_GROUP.SV_OFF_ALL : FALSE
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE (for all axes)
After changing the system variables, cycle power of the controller.
(Mastering can be performed without setting of gravity compensation. However,
it will affect precision.)

7 Press F1 [TYPE], display the screen change menu.
8 Select [Master/Cal]. The positioning screen will be displayed.
SYSTEM Master/Cal AUTO JOINT 10 %

TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE
Press 'ENTER' or number key to select.
[ TYPE ] LOAD RES_PCA DONE
- 82 -
9 Jog the robot into a posture for mastering.
10 Select [2 ZERO POSITION MASTER]. Press F4 [YES].

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
Robot Mastered! Mastering Data:
<0> <11808249> <38767856>
<9873638> <12200039> <2000319>
11 Select [7 CALIBRATE] and press F4 [YES]. Mastering will be performed automatically.

Alternatively, turn off the controller power and on again. Turning on the power always causes
positioning to be performed.

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
Robot Calibrated! Cur Jnt Ang(deg):
< 0.0000> < 0.0000> < 0.0000>
< 0.0000> < 0.0000> < 0.0000>
12 After positioning is completed, press F5 [DONE].

DONE
F5
13 Return the setting of the gravity compensation.

14 Return brake control to original setting, and cycle power of the controller.
- 83 -
Table 8.3 (a) Posture with position marks aligned

Axis Position
J1-axis 0 deg
J2-axis 0 deg
J3-axis 0 deg (When J2-axis is 0 deg.)
0 deg (NOTE 1)
J4-axis
90 deg (When J3-axis is 0 deg.) (NOTE 2)
J5-axis 0 deg
J6-axis 0 deg
(NOTE 1) Except 7H Downward wrist zero specification
(NOTE 2) 7H Downward wrist zero specification
NOTE
There is no J6-axis for LR Mate 200iD/7H.
Scribe
Scribemark
markJ5J5
(For 7H,
(For 7H,J4)
J4)
Scribe
Scribemark
mark J3
J3
Scribe
Scribemark
mark J2
J2
Scribe
Scribemark
mark J1
J1
Pin position
Pin position when Scribe mark J4 J4
J6-axis
J6-axis 0ºposition
0v position
Scribe mark
(except (except 7H)
(For 7H, 7H,J5)
J5)
Detail
DetailAA
Fig. 8.3 (a) Marking position
- 84 -
8.4 QUICK MASTERING

Quick mastering is performed at a user-specified position for each axis. The pulse count value is obtained
from the rotation times of the Pulsecoder connected to the relevant motor and the rotation angle within one
rotation. Quick mastering uses the fact that the absolute value of a rotation angle within one rotation will
not be lost.
Quick mastering is factory-performed at the position indicated in Table 8.3 (a). If possible, do not change
the setting.
If it is impossible to set the robot at the position mentioned above, it is necessary to re-set the quick
mastering reference position using the following method. (It would be convenient to set up a marker that
can work in place of the witness mark.)
CAUTION
1 Quick mastering can be used, if the pulse count value is lost, for example,
because a low voltage has been detected on the backup battery for the pulse
counter.
2 Quick mastering cannot be used, after the Pulsecoder is replaced or after the
mastering data is lost from the robot controller.
Procedure for Recording the Quick Mastering Reference Position

4 If $DMR_GRP[group].$GRAV_MAST=1, set the gravity compensation to enabled, if it is 0, set the
NOTE
- 85 -
5 Select [6 SYSTEM].

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
7 Jog the robot to the quick mastering reference position.

8 Select [6 SET QUICK MASTER REF] and press F4 [YES]. Quick mastering reference position is
saved.

7 CALIBRATE

CAUTION
If the robot has lost mastering data due to mechanical disassembly or repair, you
cannot perform this procedure. In this case, perform Fixture position mastering
or Zero position mastering to restore mastering data.
- 86 -
Procedure of Quick Mastering

NOTE
5 Display the Master/Cal screen.

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
Robot Not Mastered!
Quick master? [NO]

7 Move the cursor to [3 QUICK MASTER] and press [ENTER]. Press F4 [YES]. Quick mastering data
is memorized.
3 QUICK MASTER
8 Move the cursor to [7 CALIBRATE] and press the [ENTER] key. Calibration is executed.
Calibration can also be executed by cycling power.
9 After completing the calibration, press F5 Done.
DONE
F5

- 87 -
8.5 QUICK MASTERING FOR SINGLE AXIS

Quick mastering for a single axis is performed at a user-specified position for one axis. The pulse count
value is obtained from the rotation times of the Pulsecoder connected to the relevant motor and the rotation
angle within one rotation. Quick mastering uses the fact that the absolute value of a rotation angle within
one rotation will not be lost.
Quick mastering is factory-performed at the position indicated in Table 8.3 (a). If possible, do not change
the setting.
If setting the robot at the position mentioned above is impossible, you must re-set the quick mastering
reference position using the following method. (It would be convenient to set up a marker that can work in
place of the witness mark.)
CAUTION
1 Quick mastering can be used, if the pulse count value is lost, for example,
because a low voltage has been detected on the backup battery for the pulse
counter.
2 Quick mastering cannot be used, after the Pulsecoder is replaced or after the
mastering data is lost from the robot controller.
Procedure for Recording the Quick Mastering Reference Position

NOTE
- 88 -

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE

8 Select [6 SET QUICK MASTER REF] and press F4 [YES]. Quick mastering reference position is
saved.

7 CALIBRATE

CAUTION
If the robot has lost mastering data due to mechanical disassembly or repair, you
cannot perform this procedure. In this case, perform Fixture position mastering
or zero –position mastering to restore mastering data.
Procedure of Quick Mastering for single axis

NOTE
- 89 -
5 Display the Master/Cal screen.

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
Robot Not Mastered!
Quick master? [NO]
6 Select [4 QUICK MASTER FOR SINGLE AXIS]. You will see the quick master for single axis screen.
SINGLE AXIS MASTER AUTO JOINT 10%

1/9
ACTUAL POS (MSTR POS) (SEL) [ST]
J1 0.000 ( 0.000) (0) [2]
J2 0.000 ( 0.000) (0) [2]
J3 0.000 ( 0.000) (0) [2]
J4 0.000 ( 0.000) (0) [2]
J5 0.000 ( 0.000) (0) [2]
J6 0.000 ( 0.000) (0) [0]
E1 0.000 ( 0.000) (0) [0]
E2 0.000 ( 0.000) (0) [0]
E3 0.000 ( 0.000) (0) [0]
EXEC
7 Move the cursor to the [SEL] column for the unmastered axis and press the numeric key [1]. Setting
of [SEL] is available for one or more axes.

1/9
J5 0.000 ( 0.000) (0) [2]
J6 0.000 ( 0.000) (0) [0]
EXEC

9 Press F5 [EXEC]. Mastering is performed. So, [SEL] is reset to 0, and [ST] is re-set to 2.
10 Move the cursor to [7 CALIBRATE] and press the [ENTER] key. Calibration is executed.
Calibration can also be executed by cycling power.
11 After completing the calibration, press F5 Done.
DONE
F5
12 If gravity compensation is disabled, set it to enabled.

- 90 -
8.6 SINGLE AXIS MASTERING

Single axis mastering is performed for one axis at a time. The mastering position for each axis can be
specified by the user.
Single axis mastering can be used, if mastering data for a specific axis is lost, for example, because a low
voltage has been detected on the pulse counter backup battery or because the Pulsecoder has been replaced.

1/9
J1 0.000 ( 0.000) (0) [2]
J2 0.000 ( 0.000) (0) [2]
J3 0.000 ( 0.000) (0) [2]
J4 0.000 ( 0.000) (0) [2]
J5 0.000 ( 0.000) (0) [2]
J6 0.000 ( 0.000) (0) [0]
E1 0.000 ( 0.000) (0) [0]
E2 0.000 ( 0.000) (0) [0]
E3 0.000 ( 0.000) (0) [0]
EXEC
Table 8.6 (a) Items set in single axis mastering

Item Description
Current position The current position of the robot is displayed for each axis in degree units.
(ACTUAL AXIS)
Mastering position A mastering position is specified for an axis to be subjected to single axis mastering. It
(MSTR POS) would be convenient to set to it to the 0_ position.
SEL This item is set to 1 for an axis to be subjected to single axis mastering. Usually, it is 0.
ST This item indicates whether single axis mastering has been completed for the
corresponding axis. It cannot be changed directly by the user.
The value of the item is reflected in $EACHMST_DON
(1 to 9).
0 :Mastering data has been lost. Single axis mastering is necessary.
1 :Mastering data has been lost. (Mastering has been
performed only for the other interactive axes.) Single axis
mastering is necessary.
2 :Mastering has been completed.
- 91 -
Procedure of Single axis mastering

NOTE

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
7 Select [5 SINGLE AXIS MASTER]. The following screen will be displayed.

1/9
J1 0.000 ( 0.000) (0) [2]
J2 0.000 ( 0.000) (0) [2]
J3 0.000 ( 0.000) (0) [2]
J4 0.000 ( 0.000) (0) [2]
J5 0.000 ( 0.000) (0) [2]
J6 0.000 ( 0.000) (0) [0]
E1 0.000 ( 0.000) (0) [0]
E2 0.000 ( 0.000) (0) [0]
E3 0.000 ( 0.000) (0) [0]
EXEC
- 92 -
8 Move the cursor to the [SEL] column for the unmastered axis and press the numeric key [1]. Setting
of [SEL] is available for one or more axes.
9 Turn off brake control, then jog the robot to the mastering position.
10 Enter axis data for the mastering position.
11 Press F5 [EXEC]. Mastering is performed. So, [SEL] is reset to 0, and [ST] is re-set to 2 or 1.

6/9
J1 0.000 ( 0.000) (0) [2]
J2 0.000 ( 0.000) (0) [2]
J3 0.000 ( 0.000) (0) [2]
J4 0.000 ( 0.000) (0) [2]
J5 0.000 ( 0.000) (0) [2]
J6 90.000 ( 0.000) (1) [0]
E1 0.000 ( 0.000) (0) [0]
E2 0.000 ( 0.000) (0) [0]
E3 0.000 ( 0.000) (0) [0]
EXEC
12 When single axis mastering is completed, press the [PREV] key to resume the previous screen.

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
13 Select [7 CALIBRATE], then press F4 [YES]. Positioning is performed. Alternatively, turn off the
controller power and on again. Positioning is performed.
14 After positioning is completed, press F5 [DONE].
DONE
F5

- 93 -
8.7 MASTERING DATA ENTRY

This function enables mastering data values to be assigned directly to a system variable. It can be used if
mastering data has been lost but the pulse count is preserved.
Mastering data entry method

1 Press the [MENU] key, then press [0 NEXT] and select [6 SYSTEM].
2 Press F1 [TYPE]. Select [Variables]. The system variable screen will be displayed.
SYSTEM Variables AUTO JOINT 10%

1/669
1 $AAVM_GRP AAVM_GRP_T
2 $AAVM_WRK AAVM_WRK_T
3 $ABSPOS_GRP ABSPOS_GRP_T
4 $ACC_MAXLMT 0
5 $ACC_MINLMT 0
6 $ACC_PRE_EXE 0
[ TYPE ] DETAIL
3 Change the mastering data.

The mastering data is saved to the $DMR_GRP.$MASTER_COUN system variable.

1/669
135 $DMR_GRP DMR_GRP_T
136 $DMSW_CFG DMSW_CFG_T
[ TYPE ]
4 Select $DMR_GRP.

$DMR_GRP 1/1
1 [1] DMR_GRP_T
[ TYPE ] DETAIL

$DMR_GRP 1/29
1 $MASTER_DONE FALSE
2 $OT_MINUS [9] of BOOLEAN
3 $OT_PLUS [9] of BOOLEAN
4 $NASTER_COUN [9] of INTEGER
5 $REF_DONE FALSE
6 $REF_POS [9] of REAL
[ TYPE ] TRUE FALSE
- 94 -
5 Select $MASTER_COUN, and enter the mastering data you have recorded.

$DMR_GRP[1].$MASTER_COUN 1/9
1 [1] 95678329
2 [2] 10223045
3 [3] 3020442
4 [4] 30405503
5 [5] 20497709
6 [6] 2039490
7 [7] 0
8 [8] 0
9 [9] 0
[ TYPE ]
6 Press the [PREV] key.

7 Set $MASTER_DONE to TRUE.

$DMR_GRP 1/29
1 $MASTER_DONE TRUE
2 $OT_MINUS [9] of BOOLEAN
[ TYPE ] TRUE FALSE
8 Display the positioning screen, and select [7 CALIBRATE], then press F4 [YES].
9 After completing positioning, press F5 [DONE].
DONE
F5
- 95 -
8.8 VERIFYING MASTERING

1 How to verify that the robot is mastered properly:
Usually, positioning is performed automatically when the power is turned on. To check whether
mastering has been performed correctly, examine if the current displayed position matches the actual
robot position by using one or more of the procedures described below:
(1) Reproduce a particular point in a program. Check whether the point agrees with the specified
position.
(2) Set all axes of the robot to their 0-degree (0 rad) positions. Check that the zero-degree position
marks indicated in Section 8.3 of the OPERATOR’S MANUAL are aligned. There is no need to
use a visual aid.
If the displayed and actual positions do not match, the counter value for a Pulsecoder may have
been invalidated as a result of an alarm described in 2. Alternatively, the mastering data in system
variable $DMR_GRP.$MASTER_COUN may have been overwritten as a result of an operation
error or some other reason.
Compare the data with the values indicated on the supplied data sheet. This system variable is
overwritten whenever mastering is performed. Whenever mastering is performed, record the
value of the system variable on the data sheet.
2 Alarm types displayed during mastering and their solution method:
(1) BZAL alarm
This alarm is displayed if the Pulsecoder's backup battery voltage decreases to 0 V while the
power to the controller is disconnected. Furthermore, if the Pulsecoder connector is removed for
cable replacement, etc. this alarm is displayed as the voltage decreases to 0. Check to see if the
alarm will disappear by performing a pulse reset (See Section 8.2.). Then, cycle controller power
and check if the alarm disappears or not.
The battery may be drained if the alarm is still displayed. Perform a pulse reset, and turn off and
on the controller power after replacing the battery. Note that, if this alarm is displayed, all the
original data held by the Pulsecoder will be lost. Mastering is required.
(2) BLAL alarm
This alarm is displayed if the voltage of the Pulsecoder's backup battery has fallen to a level
where backup is no longer possible. If this alarm is displayed, replace the battery with a new one
immediately while keeping the power turned on. Check whether the current position data is valid,
using the procedure described in 1.
(3) Alarm notification like CKAL, RCAL, PHAL, CSAL, DTERR, CRCERR, STBERR, and
SPHAL may have trouble with Pulsecoder, contact your local FANUC representative.
- 96 -
B-83494EN/08 9. TROUBLESHOOTING
9 TROUBLESHOOTING
The source of mechanical unit problems may be difficult to locate because of overlapping causes. Problems
may become further complicated, if they are not corrected properly. Therefore, you must keep an accurate
record of problems and take proper corrective actions.
9.1 TROUBLESHOOTING
Table 9.1 (a) lists the major troubleshooting that may occur in the mechanical unit and their probable causes.
If you cannot pinpoint a failure cause or which measures to apply, contact your local FANUC representative.
For troubleshooting except the mechanical unit, refer to “CONTROLLER MAINTENANCE MANUAL
(B-83525EN etc.)” and Alarm Code List (B-83284EN-1).
Table 9.1 (a) Troubleshooting

Symptom Description Cause Measure
Vibration - The J1 base lifts off the [J1 base fastening] - If a bolt is loose, apply
Noise floor plate as the robot - It is likely that the robot J1 LOCTITE and tighten it to
operates. base is not securely the appropriate torque.
- There is a gap bfetween fastened to the floor plate. - Adjust the floor plate
the J1 base and floor plate. - Probable causes are a surface flatness to within
- The J1 base retaining bolt loose bolt, an insuffcient the specified tolenrance.
is loose. degree of surface flatness, - If there is any
or contamination caught contamination between the
between the robot and floor J1 base and floor plate,
plate. remove it.
- If the robot is not securely
fastened to the floor plate,
the J1 base lifts the floor
plate as the robot operates,
allowing the base and floor
plates to strike each other.
That, in turn, leads to
vibration.
- The rack or floor plate [Rack or floor] - Reinforce the rack or floor
vibrates during operation of - It is likely that the rack or to make it more rigid.
the robot. floor is not rigid enough. - If reinforcing the rack or
- If they are not rigid enough, floor is impossible, modify
counterforce deforms the the robot control program;
rack or floor, and is doing so might reduce the
responsible for the vibration.
vibration.
- 97 -
9. TROUBLESHOOTING B-83494EN/08

Vibration - Vibration becomes more [Overload] - Check the maximum load
Noise serious when the robot - It is likely that the load on that the robot can handle
(Continued) adopts a specific posture. the robot is greater than once more. If the robot is
- If the operating speed of the maximum rating. found to be overloaded,
the robot is reduced, - It is likely that the robot reduce the load, or modify
vibration stops. control program is too the robot control program.
- Vibration is most noticeable demanding for the robot - Vibration in a specific
when the robot is hardware. portion can be reduced by
accelerating. - It is likely that the modifying the robot control
- Vibration occurs when two ACCELERATION value is program while slowing the
or more axes operate at excessive. robot and reducing its
the same time. acceleration (to minimize
the influence on the entire
cycle time).
- Vibration was first noticed [Gear, bearing, or reducer] - Operate one axis at a time
after the robot collided with - It is likely that the collision to determine which axis is
an object or the robot was or overload applied an vibrating.
overloaded for a long excessive force to the drive - Remove the motor, and
period. mechanism, thus damaging replace the gear , the
- The grease of the vibrating the geartooth surface or bearing, and the reducer.
axis has not been rolling surface of a bearing, For the spec. of parts and
replenished for a long or reducer. the method of replacement,
period. - Prolonged overloaded use contact FANUC.
- Cyclical vibration and noise may cause fretting fatigue - Using the robot within its
occur. on the gear tooth surface maximum rating prevents
or the rolling surface of problems with the drive
bearing and reducer. mechanism.
- It is likely that - Using the specified grease
contamination which was at the recommended
caught in a gear, bearing, interval will prevent
or within a reducer caused problems.
damage on the gear tooth
surface or rolling surface of
the bearing, or reducer.
- It is likely that
contamination which was
caught in a gear, bearing,
or within a reducer cause
vibration.
- It is likely that, because the
grease has not been
supplied for a long period,
fretting occurred on the
gear tooth surface or rolling
surface of a bearing, or
reducer due to metal
fatigue.
- 98 -

Vibration - The cause of problem [Controller, cable, and motor] - Refer to the Controller
Noise cannot be identified from - If a failure occurs in a Maintenance Manual for
(Continued) examination of the floor, controller circuit, preventing troubleshooting related to
control commands from
rack, or mechanical unit. being supplied to the motor the controller and amplifier.
normally, or preventing - Replace the motor of the
motor information from axis that is vibrating, and
being sent to the controller check whether vibration still
normally, vibration might occurs. For the method of
occur.
replacement, contact your
- Pulse coder defect may be
the cause of the vibration local FANUC
as the motor cannot representative.
propagate the accurate - If vibration occurs only
position. when the robot assumes a
- If the motor becomes specific posture, it is likely
defective, vibration might that there is a mechanical
occur because the motor
problem.
cannot deliver its rated
performance. - Check whether the cable
- If a power line in a movable jacket of the robot
cable of the mechanical connection cable is
unit has an intermittent damaged. If so, replace the
break, vibration might
connection cable, and
occur because the motor
cannot accurately respond check whether vibration still
to commands. occurs.
- If a Pulsecoder wire in a - Check whether the power
movable part of the cable jacket is damaged. If
mechanical unit has an
so, replace the power
intermittent break, vibration
might occur because cable, and check whether
commands cannot be sent vibration still occurs.
to the motor accurately. - Check that the robot is
- If a robot connection cable supplied with the rated
has an intermittent break,
voltage.
vibration might occur.
- If the power cable between - Check that the robot
them has an intermittent control parameter is set to
break, vibration might a valid value. If it is set to
occur. an invalid value, correct
- If the power source voltage
them. Contact your local
drops below the rating,
vibration might occur. FANUC representative for
- The robot may vibrate further information if
when the invalid value necessary.
parameter was set. - Contact your local FANUC
- If the noise occurs on a belt
representative if performing
driving axis, damage of the
bel may cause the noise. the belt check.
- There is some relationship [Noise from a nearby machine] - Connect the grounding wire
between the vibration of - If the robot is not grounded firmly to ensure a reliable
the robot and the operation properly, electrical noise ground potential and
may be induced on the
of a machine near the grounding wire, preventing prevent extraneous
robot. commands from being electrical noise.
transferred accurately, thus
leading to vibration.
- If the robot is grounded at
an unsuitable point, its
grounding potential
becomes unstable, and
noise is likely to be induced
on the grounding line, thus
leading to vibration.
- 99 -

Rattling - While the robot is not [Mechanical unit coupling bolt] - Check that the following
supplied with power, - It is likely that overloading bolts for each axis are tight.
pushing it with the hand or a collision has loosened If any of these bolts is
causes part of the a mounting bolt in the robot loose, apply LOCTITE and
mechanical unit to wobble. mechanical unit. tighten it to the appropriate
- There is a gap on the torque.
mounting face of the - Motor retaining bolt
mechanical unit. - Reducer retaining bolt
- Base retaining bolt
- Arm retaining bolt
- Casting retaining bolt
- End effector retaining
bolt
Motor - The motor overheated due [Ambient temperature] - Reducing the ambient
overheating to a rise in temperature in - It is likely that the motor temperature is the most
the installation area. overheated when the effective means of
- After changing the Robot ambient temperature rose, preventing overheating.
control program or the and could not dissipate the - If there is a source of heat
load, the motor overheated. heat. near the motor, it is
[Operating condition] advisable to install
- It is likely that the shielding to protect the
overcurrent is above the motor from heat radiation.
specified permissive - Relaxing the robot control
average current. program and load condition
is an effective way to
reduce the average
current. Thus, prevent
overheating.
- The teach pendant can be
used to monitor the
average current. Check the
average current when the
robot control program is
running.
- After a control parameter [Parameter] - As for load setting, Input an
(load setting etc.) was - If data input for a appropriate parameter
changed, the motor workpiece is invalid, the referring to Section 4.3.
overheated. robot cannot be accelerate
or decelerate normally, so
the average current
increases, leading to the
motor overheating.
- 100 -

- Symptom other than stated [Mechanical unit problems] - Repair the mechanical unit
above - It is likely that problems while referring to the above
occurred in the mechanical descriptions of vibration,
unit drive mechanism, thus noise, and rattling.
placing an excessive load - Check that, when the servo
on the motor. system is energized, the
[Motor problems] brake is released.
- It is likely that a failure of If the brake remains
the motor brake resulted in applied to the motor all the
the motor running with the time, replace the motor.
brake applied, thus placing - If the average current falls
an excessive load on the
after the motor is replaced,
motor.
it indicates that the first
- It is likely that a failure of
the motor prevented it from motor was faulty.
delivering its rated
performance, thus causing
an excessive current to
flow through the motor.
Grease - Grease is leaking from the [Poor sealing] - If a crack develops in the
leakage mechanical unit. - Probable causes are a casting, sealant can be
crack in the casting, a used as a quick-fix to
broken O-ring, a damaged prevent further grease
oil seal, or a loose seal leakage. However, the
bolt. component should be
- A crack in a casting can replaced as soon as
occur due to excessive possible, because the
force that might be caused crack might extend.
in a collision. - O-rings are used in the
- An O-ring can be damaged locations listed below.
if it is pinched or cut during - Motor coupling section
disassembling or re- - Reducer coupling
assembling. section
- An oil seal might be - Wrist coupling section
damaged if extraneous - J3 arm coupling
dust scratches the lip of the section
oil seal. - Inside the wrist
- A loose seal bolt might - Oil seals are used in the
allow grease to leak along locations stated below.
the threads. - Inside the reducer
- Inside the wrist
- Seal bolts are used in the
locations stated below.
- Grease inlet and outlet
- 101 -

Dropping - An axis drops because the [Brake drive relay and motor] - Check whether the brake
axis brake does not function. - It is likely that brake drive drive relays contacts are
- An axis drops gradually relay contacts are stuck to stuck to each other or not.
when it should be at rest. each other to keep the If they are found to be
brake current flowing, thus stuck, replace the relays.
preventing the brake from - Replace the motor after
operating when the motor confirming whether the
is deenergized. following symptoms have
- It is likely that the brake occurred.
shoe has worn out or the - Brake shoe is worn out
brake main body is - Brake main body is
damaged, preventing the damaged
brake from operating - Oil soaked through the
efficiently. motor
- It is likely that oil or grease
has entered the motor,
causing the brake to slip.
Displace- - The robot moves to a point [Mechanical unit problems] - If the repeatability is
ment other than the taught - If the repeatability is unstable, repair the
position. unstable, probable causes mechanical unit by
- The repeatability is not are a failure in the drive referring to the above
within the tolerance. mechanism or a loose bolt. descriptions of vibration,
- If the repeatability becomes noise, and rattling.
stable it is likely that a - If the repeatability is stable,
collision imposed an correct the taught program.
excessive load, leading to The problem will not
slipping on the base reoccur unless another
surface or the mating collision occurs.
surface of an arm or - If the Pulsecoder is faulty,
reducer. replace the motor.
- It is likely that the
Pulsecoder is faulty.
- Displacement occurs only [Peripheral unit displacement] - Correct the setting of the
in specific peripheral unit. - It is likely that an external peripheral unit position.
force was applied to the - Correct the taught
peripheral unit, thus shifting program.
its position relative to the
robot.
- Displacement occurred [Parameter] - Re-enter the previous
after a parameter was - It is likely that the mastering data, which is
changed. mastering data was known to be correct.
rewritten in such a way that - If correct mastering data is
the robot origin was shifted. unavailable, perform
mastering again.
- 102 -

CLALM - Ambient temperature of the [Peripheral temperature] - Perform a warm up
alarm robot installation location is - When the robot is used in a operation or a low speed
occurred. low, CLALM alarm is low temperature operation for several
Move error displayed on the teach environment that is near to minutes.
excess alarm pendant screen. 0ºC, or the robot is not
occurred. - Ambient temperature of the operated for a long time in
robot installation position is an environment that is less
low, than 0ºC, there will be a
“Move error excess” alarm large viscous resistance of
is displayed on the teach the drive train immediately
pendant screen. after starting which will
cause the alarm.
- After changing the motion - It is likely that a robot - If a robot collision has
program or the load collision occurred. occurred, press the
condition, the CLALM [RESET] key while
alarm is displayed. pressing the [SHIFT] key.
- After changing the motion Then, jog the robot in the
program or the load opposite direction while
condition, the “Move error pressing the [SHIFT] key.
excess” alarm is displayed. - Check the motion program.
[Overload] - Check the permissible
- It is likely that load value of the robot payload.
exceeded the permissible If the load exceeds the
value. permissible value, reduce
- It is likely that the motion the load or change the
program is too severe for motion program.
the robot. - Consider minimizing the
- Excessive motion due cycle time by reducing the
to a large acceleration. speed or acceleration, and
- Tight motion such as changing the motion
reverse motion using program.
“CNT”. - Check that the load setting
- Linear motion occurs is performed correctly.
near singularity point
where axes revolve in
high speed.
- None of the symptoms - It is likely the vibration - Refer to the Symptoms:
stated above are the occurred. Vibration, Noise section of
problem. this troubleshooting for
more information.
- It is likely that rated voltage - Check that the robot is
is not supplied due to the supplied with the proper
voltage drop. rated voltage.
BZAL alarm - BZAL is displayed on the - It is likely that the voltage - Replace the battery.
occured controller screen of the memory backup - Replace the cable.
battery is low.
- It is likely that the
Pulsecoder cable is
defective.
- 103 -
APPENDIX
B-83494EN/08 APPENDIX A. PERIODIC MAINTENANCE TABLE
A PERIODIC MAINTENANCE TABLE
- 107 -
A. PERIODIC MAINTENANCE TABLE APPENDIX B-83494EN/08
FANUC Robot LR Mate 200iD, ARC Mate 50iD, LR Mate 200iD/7H/7L/14L, ARC Mate 50iD/7L
Periodic Maintenance Table
Accumulated operating First 3 6 9 1 2

Check Grease
time (H) check years
months months months years
time amount
Items 320 960 1920 2880 3840 4800 5760 6720 7680 8640 9600 10560
Check for external
1 damage or peeling paint 0.1H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
2 Check for water 0.1H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

Check the exposed
3 connector.(loosening) 0.2H ― ○ ○ ○
4 Tighten the end effector bolt. 0.2H ― ○ ○ ○

Tighten the cover and main
5 bolt. 2.0H ― ○ ○ ○
Check the mechanical
6 stopper.
0.1H ― ○ ○ ○
Mechanical unit
Clean spatters, sawdust and

7 dust
1.0H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Check hand cable and
8 external battery cable 0.1H ― ○ ○ ○
(option)
Replacing batteries
(if built-in batteries are 0.1H ― ● ●
specified) *5
9 Replacing batteries
(if external batteries are 0.1H ― ●
specified) *5
14ml
(*1)
10 Greasing the reducers. 0.5H 12ml
(*2)
Replacing cable of
11 mechanical unit 4.0H ―
Check the robot cable, teach
12 pendant cable and robot 0.2H ― ○ ○ ○
Controller
connecting cable
Cleaning the controller
13 ventilation system 0.2H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
14 Replacing battery *3 *5 0.1H ―
*1 Except 7H
*2 7H
*3 Refer to the “REPLACING UNITS Chapter of “MAINTENANCE” in the following manuals.
R-30iB Mate/R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL (B-83525EN)
R-30iB Mate CONTROLLER Open Air MAINTENANCE MANUAL (B-83555EN)
*4 ●: requires order of parts
○: does not require order of parts
*5 Regardless of the operating time, replace the mechanical unit batteries at 1 year or 1.5 year, replace
controller batteries at 4 years.
- 108 -
3 4 5 6 7 8
years years years years years years Item
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 1
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 2
○ ○ ○ ○ ○ 3
○ ○ ○ ○ ○ 4
○ ○ ○ ○ ○ 5
○ ○ ○ ○ ○ 6
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 7
○ ○ ○ ○ ○ 8
Overhaul
● ● ● ● ●
9
● ● ● ●
● 10
● 11
○ ○ ○ ○ ○ 12
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 13
● 14
- 109 -
FANUC Robot LR Mate 200iD/7C/7LC Periodic Maintenance Table
Accumulated operating
Check Grease First 3 6 9 1 2
time (H) years years
time amount check months months months
Items 320 960 1920 2880 3840 4800 5760 6720 7680 8640 9600 10560
Check for external
1 damage or peeling paint 0.1H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
2 Check for water 0.1H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

Check the exposed

5 bolt. 2.0H ― ○ ○ ○
Mechanical unit

6 stopper. 0.1H ― ○ ○ ○
7 dust 1.0H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
(option) *3
Replacing batteries
9 (if built-in batteries are 0.1H ― ● ●
specified) *3
10 Greasing the reducers. 0.5H 6ml ●

Replacing cable of
Controller
connecting cable
14 Replacing batteries *1 *3 0.1H ―
*1 Refer to “REPLACING UNITS Chapter of MAINTENANCE” of the following manuals.

R-30iB Mate/R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL (B-83525EN)
R-30iB Mate CONTROLLER Open Air MAINTENANCE MANUAL (B-83555EN)
- 110 -
3 4 5 6 7 8
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 1
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 2
○ ○ ○ ○ ○ 3
○ ○ ○ ○ ○ 4
○ ○ ○ ○ ○ 5
○ ○ ○ ○ ○ 6
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 7
Overhaul
○ ○ ○ ○ ○ 8
● ● ● ● ● 9
● ● 10
● 11
○ ○ ○ ○ ○ 12
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 13
● 14
- 111 -
FANUC Robot LR Mate 200iD/7WP Periodic Maintenance Table
Accumulated operating
Check Grease First 3 6 9 1 2
time (H) years years
time amount check months months months
Items 320 960 1920 2880 3840 4800 5760 6720 7680 8640 9600 10560
1 Check for external damage 0.1H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

Check the exposed

5 bolt. 2.0H ― ○ ○ ○
Mechanical unit

6 stopper. 0.1H ― ○ ○ ○
7 dust 1.0H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
(option)
Replacing battery.
9 (if external batteries are 0.1H ― ●
specified) *3
10 Greasing the reducers. 0.5H 14ml
Replacing cable of
Controller
connecting cable
14 Replacing batteries *1 *3 0.1H ―
*1 Refer to “REPLACING UNITS Chapter of MAINTENANCE” of the following manuals.

R-30iB Mate /R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL (B-83525EN)
- 112 -
3 4 5 6 7 8
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 1
○ ○ ○ ○ 3
○ ○ ○ ○ 4
○ ○ ○ ○ 5
○ ○ ○ ○ 6
Overhaul
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 7
Overhaul
○ ○ ○ ○ 8
● ● ● 9
10
11
○ ○ ○ ○ ○ 12
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 13
● 14
- 113 -
B. STRENGTH OF BOLT AND
BOLT TORQUE LIST APPENDIX B-83494EN/08
B STRENGTH OF BOLT AND BOLT TORQUE LIST

NOTE
When applying LOCTITE to a part, spread the LOCTITE on the entire length of the
engaging part of the female thread. If applied to the male threads, poor adhesion
can occur, potentially loosening the bolt. Clean the bolts and the threaded holes
and wipe off any oil on the engaging section. Make sure that there is no solvent left
in the threaded holes. When finished, remove all the excess LOCTITE when you
are finished screwing the bolts into the threaded holes.
Use the following strength bolts. Comply with any bolt specification instructions.
Hexagon socket head bolt made of steel:
Size M22 or less: Tensile strength 1200N/mm2 or more
Size M24 or more: Tensile strength 1000N/mm2 or more
All size plated bolt: Tensile strength 1000N/mm2 or more
Hexagon bolt, stainless bolt, special shape bolt (button bolt, low-head bolt, flush bolt .etc.)
Tensile strength 400N/mm2 or more
Refer to the following tables if the bolts tightening torque is not specified.
Recommended bolt tightening torques Unit: Nm

Hexagon socket head
button bolt
Hexagon socket head
Hexagon socket head Hexagon socket head Hexagon bolt
bolt
Nominal bolt (stainless) flush bolt (steel)
(steel)
diameter Low-head bolt
(steel)
Tightening torque Tightening torque Tightening torque Tightening torque
Upper limit Lower limit Upper limit Lower limit Upper limit Lower limit Upper limit Lower limit
M3 1.8 1.3 0.76 0.53 ―――― ―――― ―――― ―――
M4 4.0 2.8 1.8 1.3 1.8 1.3 1.7 1.2
M5 7.9 5.6 3.4 2.5 4.0 2.8 3.2 2.3
M6 14 9.6 5.8 4.1 7.9 5.6 5.5 3.8
M8 32 23 14 9.8 14 9.6 13 9.3
M10 66 46 27 19 32 23 26 19
M12 110 78 48 33 ―――― ―――― 45 31
(M14) 180 130 76 53 ―――― ―――― 73 51
M16 270 190 120 82 ―――― ―――― 98 69
(M18) 380 260 160 110 ―――― ―――― 140 96
M20 530 370 230 160 ―――― ―――― 190 130
(M22) 730 510 ―――― ―――― ―――― ―――― ―――― ――――
M24 930 650 ―――― ―――― ―――― ―――― ―――― ――――
(M27) 1400 960 ―――― ―――― ―――― ―――― ―――― ――――
M30 1800 1300 ―――― ―――― ―――― ―――― ―――― ――――
M36 3200 2300 ―――― ―――― ―――― ―――― ―――― ――――
- 114 -
C. OPTIONAL CONNECTOR
B-83494EN/08 APPENDIX WIRING PROCEDURE
C OPTIONAL CONNECTOR WIRING

PROCEDURE
Source of information: Hirose Electric Co., Ltd.
- 115 -
D. INSULATION ABOUT
ARC WELDING ROBOT APPENDIX B-83494EN/08
D INSULATION ABOUT ARC WELDING

ROBOT
The arc welding robot performs welding, using a welding torch attached to its end effector mounting face
via a bracket. Because a high welding current flows through the welding torch, the insulating material
must not permit bolting directly from the welding torch bracket to mounting face plate.
If no due consideration is taken, a poor insulation caused by a pileup of spatter can allow the welding
current to leak into robot mechanical units, possibly damaging the motor or melting the mechanical unit
cable jackets.
D.1 INSULATION AT THE WRIST

Please be careful to the following contents.
- Insulate the end effector mounting surface. Insulation material which is inserted between the end
effector mounting surface and the welding torch bracket must be different, and bolt them separately
referring to Fig. D.1 (a).
- Insert the insulating material between the torch bracket and faceplate to ensure the two are
electrically isolated. When installing the insulating material, be sure to set the crack in the torch
holder away from that of the insulating material to prevent spatter from getting in the cracks.
- Allow a sufficient distance (at least 5 mm) at the insulating materials in case a pileup of spatter
should occur.
5mm5mm以上
or more Torch bracket
トーチブラケット
Torch
トーチ
Robot
ロボット手首wrist
Torch bracket mounting bolts

トーチブラケット固定ボルト
Insulation material
絶縁部材固定ボルト
mounting bolts
Bad 悪い例
example
Insulation
絶縁部材 material
(bakelite
(ベークライト等)etc.)
Fig. D.1 (a) Insulation at the wrist
- Even after the insulation is reinforced, it is likely that, if a pileup of spatter grows excessively,
current may leak. Periodically remove the spatter.
- 116 -
D. INSULATION ABOUT
B-83494EN/08 APPENDIX ARC WELDING ROBOT
D.2 INSULATION AT THE ADDITIONAL AXIS

If welding fixtures are installed to the additional axis, Perform insulation against between welding
fixtures and the additional axis to prevent welding electric current intrusion. If the follower unit is used,
perform insulation against between welding fixtures and follower unit to prevent welding electric current
intrusion into the housing.
Points
絶縁必要箇所 that need
the insulation
Fig. D.2 (a) Insulation at the additional axis
- 117 -
B-83494EN/08 INDEX
INDEX
<A> <N>
AIR SUPPLY (OPTION) ................................................ 50 Note of Severe Dust /Liquid Specification...................... 20
Angle of Mounting Surface Setting................................. 10
AXIS LIMIT SETUP ...................................................... 62 <O>
OPERATING AREA FOR INCLINATION
<B> INSTALLATION ........................................................ 39
BASIC SPECIFICATIONS............................................. 15 OPTIONAL CONNECTOR WIRING PROCEDURE . 115
OVERVIEW ................................................................... 79
<C>
Cautions for 7C/7LC ....................................................... 23 <P>
Cautions in Selecting the 7WP ........................................ 21 Periodic Check and Maintenance .................................... 67
Check of Mechanical Stopper ......................................... 71 PERIODIC MAINTENANCE TABLE ........................ 107
CHECK POINTS ............................................................ 69 PIPING AND WIRING TO THE END EFFECTOR ...... 49
Check the Connectors ..................................................... 71 PREFACE ...................................................................... p-1
CHECKS AND MAINTENANCE ................................. 66
CLEANING THE ROBOT (7C/7LC) ............................. 77 <Q>
Confirmation of Oil Seepage........................................... 69 QUICK MASTERING .................................................... 85
Confirmation of the Air Control Set and Air Purge kit QUICK MASTERING FOR SINGLE AXIS .................. 88
(option) ........................................................................ 70
CONNECTION WITH THE CONTROLLER ................ 13 <R>
Replacing the Batteries (1-Year Periodic Inspection
<D> If Built-in Batteries Are Specified) (1.5-Year
Daily Checks ................................................................... 66 Periodic Inspection If External Batteries Are
Specified) .................................................................... 72
<E> Replenish the Grease of the Reducer (4 years (15360
END EFFECTOR INSTALLATION TO WRIST .......... 43 hours) or 2 years (7680 hours) checks) ....................... 75
EQUIPMENT INSTALLATION TO THE ROBOT....... 43 RESETTING ALARMS AND PREPARING FOR
EQUIPMENT MOUNTING FACE ................................ 44 MASTERING.............................................................. 81
ROBOT CONFIGURATION.......................................... 15
<H>
HIGH INERTIA MODE (OPTION) (LR Mate <S>
200iD/7H).................................................................... 48 SAFETY PRECAUTIONS ............................................ s-1
SINGLE AXIS MASTERING ........................................ 91
<I> SOFTWARE SETTING CHANGE AXIS LIMIT BY
INSTALLATION .............................................................. 6 DCS (OPTION) ........................................................... 62
INSTALLATION CONDITIONS ................................... 12 STORAGE ...................................................................... 78
INSTALLING THE AIR PURGE KIT (OPTION) ......... 55 STRENGTH OF BOLT AND BOLT TORQUE LIST . 114
INSULATION ABOUT ARC WELDING ROBOT ..... 116
INSULATION AT THE ADDITIONAL AXIS ............ 117 <T>
INSULATION AT THE WRIST .................................. 116 TRANSPORTATION ....................................................... 1
INTERFACE FOR OPTION CABLE ............................. 59 TRANSPORTATION AND INSTALLATION ................ 1
IP69K (option) ................................................................ 23 TROUBLESHOOTING .................................................. 97
<L> <V>
LOAD CONDITION ON EQUIPMENT MOUNTING VERIFYING MASTERING ........................................... 96
FACE........................................................................... 38
LOAD SETTING ............................................................ 46 <W>
WRIST LOAD CONDITIONS ....................................... 33
<M>
MAINTENANCE............................................................ 72 <Z>
MAINTENANCE AREA ................................................ 12 ZERO POINT POSITION AND MOTION LIMIT ........ 27
MASTERING ................................................................. 79 ZERO POSITION MASTERING ................................... 82
MASTERING DATA ENTRY ....................................... 94
MECHANICAL UNIT OPERATION AREA AND
INTERFERENCE AREA ............................................ 24
i-1
B-83494EN/08 REVISION RECORD
REVISION RECORD
Edition Date Contents
08 May 2021 • Correction of errors
• Addition of LR Mate 200iD/14L
07 Sep, 2019
• Correction of errors
06 Apr., 2018 • Correction of errors
• Addition of R-30iB Mate Plus controller
05 Jul., 2017 • Addition of cleaning method of 7C/7LC
• Addition of quick master for single axis
04 Jan., 2015
• Addition of LR Mate 200iD/7H/7C/7WP/7LC
03 Dec., 2013 • Addition of air purge kit
• Addition of ARC Mate 50iD,LR Mate 200iD/7L, ARC Mate 50iD/7L
• Addition of greasing procedure
02 Jul., 2013
• Addition of insulation about arc welding robot
01 Dec., 2012
r-1
B-83494EN/08
* B - 8 3 4 9 4 E N / 0 8 *

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< Robot LR Mate 200+D

< Robot ARC Mate 50+D

© FANUC CORPORATION, 2012

Thank you very much for purchasing FANUC Robot.

• No part of this manual may be reproduced in any form.

Programmer or Teaching operator:

- The operator is not allowed to work in the safeguarded space.

Table 1 (a) List of work outside the Safeguarded Space

• Use clothes, uniform, overall adequate for the work

2 DEFINITION OF SAFETY NOTATIONS

3 PROCEDURE TO MOVE ARM WITHOUT

4 WARNING & CAUTION LABEL

(except 7C/7LC) (7C/7LC)

1) Use a crane having a load capacity of 100 kg or greater.

(2) Greasing label

(Except 7C/7L) (7C/7LC)

(3) Operation space and payload label

(Except 7H/14L) (7H)

Position of label indicating mechanical unit specification number

SAFETY HANDBOOK B-80687EN Intended readers :

This manual uses following terms.

Name Terms in this manual

1 TRANSPORTATION AND INSTALLATION ........................................... 1

5 PIPING AND WIRING TO THE END EFFECTOR ................................ 49

1 TRANSPORTATION AND INSTALLATION

Transportation using a crane (Fig. 1.1 (a) to (f))

Transport Transport posture

Fig. 1.1 (b) Transportation using a crane (bottom connector plate)

Fig. 1.1 (e) Transportation using a crane (7C)

Fig. 1.1 (f) Transportation using a crane (7LC)

1.2.1 Angle of Mounting Surface Setting

ROBOT MAINTENANCE CTRL START MANU

Group Robot Library/Option Ext Axes

[TYPE]ORD NO AUTO MANUAL

4 Press the [F4] key.

--- MOUNT ANGLE SETTING ---

Fig. 1.2.1 (a) Robot mounting angle

ROBOT MAINTENANCE CTRL START MANU

Group Robot Library/Option Ext Axes

[TYPE]ORD NO AUTO MANUAL

8 Press the [FCTN] key and select ”1 START (COLD)”.

1.3 MAINTENANCE AREA

500 (*) 500

Fig. 1.3 (a) Maintenance area

1.4 INSTALLATION CONDITIONS

2 CONNECTION WITH THE CONTROLLER

cable for power and signal

cable for power and brake

Fig. 3.1 (a) Mechanical unit configuration (Except 7H)

Fig. 3.1 (b) Mechanical unit configuration (7H)

Table 3.1 (a) Specifications (1/2) (NOTE 1)

3.1.1 Note of Severe Dust /Liquid Specification

3.1.2 Cautions in Selecting the 7WP

Using cleaning fluid other than those above

Choosing cleaning fluid

Confirmation test by using a dipping test kit (A05B-1142-K024)

Management of cleaning fluid

Cleaning filtration of cleaning fluid

80 (1) (80 (1))

18 92 (2) (92 (2)) 18