< Robot M-900+B/700/700E/400L

MECHANICAL UNIT
OPERATOR'S MANUAL

B-83444EN/06

© 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-83444EN/06 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 the “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. Work 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-83444EN/06

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
B-83444EN/06 SAFETY PRECAUTIONS

3 PROCEDURE TO MOVE ARM WITHOUT

DRIVE POWER IN EMERGENCY OR
ABNORMAL SITUATIONS
(1) For emergency or abnormal situations (e.g. persons trapped in or pinched by the robot), brake release
unit can be used to move the robot axes without drive power. Please order following unit and cable.

Name Specification
A05B-2450-J350 (Input voltage AC100-115V single phase)
Brake release unit
A05B-2450-J351 (Input voltage AC200-240V single phase)
A05B-2450-J360 ( 5m)
Robot connection cable
A05B-2450-J361(10m)
A05B-2525-J010 ( 5m) (AC100-115V Power plug) (*)
A05B-2525-J011(10m) (AC100-115V Power plug) (*)
Power cable
A05B-2450-J364 ( 5m) (AC100-115V or AC200-240V No power plug)
A05B-2450-J365(10m) (AC100-115V or AC200-240V No power plug)
(*) These do not support CE marking.

(2) Please make sure that adequate numbers of brake release units are available and readily accessible for
robot system before installation.
(3) Regarding how to use brake release unit, please refer to Robot controller maintenance manual.

CAUTION
Robot systems installed without adequate number of brake release units or
similar means are neither in compliance with EN ISO 10218-1 nor with the
Machinery Directive and therefore cannot bear the CE marking.

WARNING
Robot arm would fall down by releasing its brake because of gravity. Especially
because spring balancers are used for J2-axis and counter balancer is used for
J3-axis, it is hard to predict J2/J3-arm movement by the condition of Robot
posture and end effecter. Therefore, it is strongly recommended to take
adequate measures such as hanging Robot arm by a crane before releasing a
brake.

s-3
SAFETY PRECAUTIONS B-83444EN/06

In case of releasing J2-axis motor brake Method of supporintg robot arm

Use M12 eyebolt

(Sling 2 pcs)

Lever blocks (2 pcs)

？
Lever blocks (2 pcs)

Unpredictable
Fig. 3 (a) Releasing J2 motor brake and measures

In case of releasing J3-axis motor brake Method of supporintg robot arm

Use M12 eyebolt

？ (Sling 2 pcs)
Use M12 eyebolt
(Sling 2 pcs)

Use M16 eyebolt

(Sling 2 pcs)
Lever blocks (2 pcs)

Unpredictable

Fig. 3 (b) Releasing J3 motor brake and measures

s-4
B-83444EN/06 SAFETY PRECAUTIONS

4 WARNING & CAUTION LABEL

(1) Greasing and degreasing label

1) 必ず排脂口を開けて給脂して下さい。
Open the grease outlet at greasing.
必须在在在在打打的的态下供在。

2) 手動式ポンプを使用して給脂を行って
下さい。
Use a hand pump at greasing.
请使用用动用供在泵泵行供在。

3) 必ず指定グリスを使用して下さい。
Use designated grease at greasing.
必须使用指指的润滑在。

Fig. 4 (a) Greasing and degreasing label

Description
When greasing and degreasing, observe the instructions indicated on this label.
(a) When greasing, be sure to keep the grease outlet open.
(b) Use a manual pump to grease.
(c) Be sure to use specified grease.

CAUTION
See Chapter 7 CHECKS AND MAINTENANCE for explanations about specified
grease, the grease amount, and the locations of grease inlets and grease outlets
for individual models.

(2) Step-on prohibitive label

Fig. 4 (b) Step-on prohibitive label

Description
Do not step on or climb the robot as it may adversely affect the robot and you may get hurt if you lose your
footing as well.
s-5
SAFETY PRECAUTIONS B-83444EN/06

(3) High-temperature warning label

Fig. 4 (c) High-temperature warning label

Description
Be cautious about a section where this label is affixed, as the section generates heat. If you have to inevitably
touch such a section when it is hot, use a protective tool such as heat-resistant gloves.

(4) Transportation label

>3000kg >5000kg

<1400kg x2
<1600kg x2

>3000kg >3200kg

>1000kg x4 >1000kg x4

>950kg x4 >950kg x4

Fig. 4 (d) Transportation label

Description
When transporting the robot, observe the instructions indicated on this label.
1) Using a forklift
M-900iB/700
• Use a forklift with a load capacity of 3000 kg or greater.
• Keep the total mass of the robot to be transported to within 2800 kg, because the allowable load of the
forklift bracket (option) is 13720 N (1400 kgf).
M-900iB/400L
• Use a forklift with a load capacity of 5000 kg or greater.
• Keep the total weight of the robot to be transported to within 3200 kg, because the allowable load of
the forklift bracket (option) is 15680 N (1600 kgf).
2) Using a crane
• In case M-900iB/700, use a crane with a load capacity of 3000 kg or greater.
• In case M-900iB/400L, use a crane with a load capacity of 3200 kg or greater.
• Use four slings with each load capacity of 1000 kg or greater.
• Use two eyebolts with each allowable load of 9310 N (950 kgf) or greater.

CAUTION
See Section 1.1 TRANSPORTATION for explanations about the posture a
specific model should take when it is transported.

s-6
B-83444EN/06 SAFETY PRECAUTIONS

(5) Balancer replacement label

100kg
J2=0°

Fig. 4 (e) Balancer replacement label

Description
When replacing the balancer, observe the instructions indicated on this label.
The above balancer replacement label indicates the following:
• While replacing the balancer, keep the J2-axis at 0°.
• The mass of the balancer is 100 kg.

CAUTION
For information about balancer replacement, contact your local FANUC
representative.

(6) Operating space and payload label

Below label is added when CE specification is specified.

+180DEG 0DEG
-180DEG

J5-axis
rotation center
J5轴旋转中心
B

Operating space
of J5-axis
rotation center
J5轴旋转中心
动作范围
C

A
A B C MAX. PAYLOAD
(mm) (mm) (mm) (kg)
M-900iB/700 2832 2919 369 700
M-900iB/400L 3704 3367 1254 400
M-900iB/700E 2832 2919 369 700

Fig. 4 (f) Operating space and payload label

s-7
SAFETY PRECAUTIONS B-83444EN/06

(7) Transportation caution label

(When transport equipment option is specified.)

アイボルトを横引 輸送部材に衝撃を 輸送部材にチェーン

しないこと 与えないこと などを掛けないこと
Do not pull eyebolt Do not have impact Do not chain, pry,
sideways on this part or strap on this part
禁止横向拉拽吊环螺钉 禁止撞击搬运用部件 禁止在搬运用部件上使用锁链
等物品固指或者搬运机器人

Fig. 4 (g) Transportation caution label

Description
Keep the followings in mind when transporting the robot.

1) Do not pull eyebolts sideways.

2) Do not have impact on this part.
3) Do not chain, pry or strap on this part.

s-8
B-83444EN/06 PREFACE

PREFACE
This manual explains the operation for the mechanical units of the following robot:

Mechanical unit
Model name Maximum load
specification No.
FANUC Robot M-900iB/700 A05B-1332-B201 700kg
FANUC Robot M-900iB/700E A05B-1332-B202 700kg
FANUC Robot M-900iB/400L A05B-1332-B203 400kg

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) WEIGHT
DATE (4) (5) kg

TYPE
NO. WEIGHT
DATE kg

Position of label indicating mechanical unit specification number

TABLE 1
(1) (2) (3) (4) (5)
CONTENTS MODEL NAME TYPE No. DATE WEIGHT (kg)

FANUC Robot
A05B-1332-B201 2800
M-900iB/700
PRODUCTION
FANUC Robot SERIAL NO. YEAR AND
LETTERS A05B-1332-B202 3030
M-900iB/700E IS PRINTED MONTH
ARE PRINTED
FANUC Robot
A05B-1332-B203 3150
M-900iB/400L

p-1
PREFACE B-83444EN/06

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 thoroughly this Topics:
handbook Safety items for robot system design, operation,
maintenance
R-30iB, Operations manual Intended readers:
R-30iB 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:
Spot Welding Function Robot operation, teaching, system design
B-83284EN-4
Dispense Function
B-83284EN-5
Servo Gun Function
B-83264EN
Maintenance manual Intended readers:
B-83195EN Maintenance technician, system designer
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-2
B-83444EN/06 TABLE OF CONTENTS

TABLE OF CONTENTS
SAFETY PRECAUTIONS ............................................................................ s-1

PREFACE ....................................................................................................p-1

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

1.1 TRANSPORTATION...................................................................................... 1
1.2 INSTALLATION ............................................................................................. 5
1.2.1 Actual Installation Example ..................................................................................... 8
1.3 MAINTENANCE AREA .................................................................................. 9
1.4 INSTALLATION CONDITIONS ...................................................................... 9
2 CONNECTION WITH THE CONTROLLER .......................................... 10
3 BASIC SPECIFICATIONS .................................................................... 11
3.1 ROBOT CONFIGURATION ......................................................................... 11
3.2 MECHANICAL UNIT EXTERNAL DIMENSIONS AND OPERATING
SPACE ........................................................................................................ 14
3.3 ZERO POINT POSITION AND MOTION LIMIT ........................................... 16
3.4 WRIST LOAD CONDITIONS ....................................................................... 21
3.5 LOAD CONDITIONS ON J2 BASE/J3 ARM ................................................ 27
4 EQUIPMENT INSTALLATION TO THE ROBOT .................................. 28
4.1 END EFFECTOR INSTALLATION TO WRIST ............................................ 28
4.2 EQUIPMENT MOUNTING FACE ................................................................ 29
4.3 LOAD SETTING .......................................................................................... 34
5 PIPING AND WIRING TO THE END EFFECTOR ................................ 36
5.1 AIR SUPPLY (OPTION) .............................................................................. 37
5.2 AIR PIPING (OPTION) ................................................................................ 38
5.3 INTERFACE FOR OPTION CABLE (OPTION) ........................................... 40
6 AXIS LIMIT SETUP ............................................................................... 55
6.1 CHANGE AXIS LIMIT BY DCS (OPTION) ................................................... 55
6.2 ADJUSTABLE MECHANICAL STOPPER AND LIMIT SWITCH SETTING
(OPTION) .................................................................................................... 58
6.2.1 Installing adjustable mechanical stopper option..................................................... 59
6.2.2 Changing the parameter setting .............................................................................. 61
6.2.3 The maximum stopping distance (position) of adjustable mechanical stopper ...... 62
6.3 CHANGING THE MOTION RANGE BY THE LIMIT SWITCH (OPTION) .... 65
6.4 ADJUSTING LIMIT SWITCH (OPTION) ...................................................... 68
7 CHECKS AND MAINTENANCE ........................................................... 70
7.1 CHECKS AND MAINTENANCE .................................................................. 70
7.1.1 Daily Checks .......................................................................................................... 70
7.1.2 Periodic Checks and Maintenance.......................................................................... 71
c-1
TABLE OF CONTENTS B-83444EN/06

7.2 CHECK POINTS .......................................................................................... 73

7.2.1 Confirmation of Oil Seepage .................................................................................. 73
7.2.2 Confirmation of the Air Control Set (option) ......................................................... 74
7.2.3 Check the Mechanical Unit Cables and Connectors .............................................. 75
7.2.4 Check of Fixed Mechanical Stopper and Adjustable Mechanical Stopper ............ 77
7.3 MAINTENANCE........................................................................................... 78
7.3.1 Greasing of J3 Link Taper Roller Part and J2/J3-axis Connection Part Taper
Roller Part (3-year check (11,520 hours)) .............................................................. 78
7.3.2 Replacing the Batteries (1.5 year checks) .............................................................. 80
7.3.3 Replacing the Grease of the Drive Mechanism (3 years (11520 hours) checks).... 81
7.3.4 Procedure for Releasing Remaining Pressure from the Grease Bath ..................... 84
7.4 STORAGE ................................................................................................... 84
8 MASTERING ......................................................................................... 85
8.1 OVERVIEW ................................................................................................. 85
8.2 ENABLING/DISABLING OF THE iRCalibration SIGNATURE FUNCTION.. 86
8.3 RESETTING ALARMS AND PREPARING FOR MASTERING ................... 87
8.4 ZERO POSITION MASTERING
(WHEN iRCalibration SIGNATURE FUNCTION IS NOT SPECIFIED)........ 88
8.5 ZERO POSITION MASTERING
(WHEN iRCalibration SIGNATURE FUNCTION IS SPECIFIED) ................ 91
8.6 QUICK MASTERING
(WHEN iRCalibration SIGNATURE FUNCTION IS NOT SPECIFIED)........ 93
8.7 QUICK MASTERING
(WHEN iRCalibration SIGNATURE FUNCTION IS SPECIFIED) ................ 96
8.8 QUICK MASTERING FOR SINGLE AXIS
(WHEN iRCalibration SIGNATURE FUNCTION IS NOT SPECIFIED)........ 98
8.9 QUICK MASTERING FOR SINGLE AXIS
(WHEN iRCalibration SIGNATURE FUNCTION IS SPECIFIED) .............. 101
8.10 SINGLE AXIS MASTERING
(WHEN iRCalibration SIGNATURE FUNCTION IS NOT SPECIFIED) ...... 103
8.11 SINGLE AXIS MASTERING
(WHEN iRCalibration SIGNATURE FUNCTION IS SPECIFIED) .............. 106
8.12 SINGLE AXIS VISION AXIS MASTERING ................................................ 108
8.13 MASTERING DATA ENTRY
(WHEN iRCalibration SIGNATURE FUNCTION IS SPECIFIED) .............. 110
8.14 MASTERING DATA ENTRY
(WHEN iRCalibration SIGNATURE FUNCTION IS SPECIFIED) .............. 112
8.15 VERIFYING MASTERING ......................................................................... 113
9 TROUBLESHOOTING ........................................................................ 114
9.1 TROUBLESHOOTING............................................................................... 114
10 SEVERE DUST/LIQUID PROTECTION OPTION ............................... 122
10.1 SEVERE DUST/LIQUID PROTECTION PACKAGE (OPTION) ................. 122
10.2 PROTECTION PACKAGE ......................................................................... 122

c-2
B-83444EN/06 TABLE OF CONTENTS

APPENDIX
A PERIODIC MAINTENANCE TABLE ................................................... 127
B STRENGTH OF BOLT AND BOLT TORQUE LIST............................ 130

c-3
 1. TRANSPORTATION AND
B-83444EN/06 INSTALLATION

1 TRANSPORTATION AND INSTALLATION

1.1 TRANSPORTATION
Use a crane or a forklift 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.

M24 tap through

M24 tap through

Fig. 1.1 (a) Position of the eyebolt mounting

6-M16 tap depth 26

6-M16 tap depth 26

Fig. 1.1 (b) Position of the forklift bracket mounting

-1-
1. TRANSPORTATION AND
INSTALLATION B-83444EN/06

(1) Transportation using a crane (Fig. 1.1 (c), (d))

Fasten the M24 eyebolts at the points of J1 and lift the robot by the four slings.

CAUTION
When lifting the robot, be careful not to damage motors, connectors, or cables of
the robot by slings.

(2) Transportation using a forklift (Fig. 1.1 (e), (f))

Perform it by attaching special transport equipment to J2 base side.

WARNING
1 When hoisting or lowering the robot with a crane or forklift, move it slowly with
great care. When placing the robot on the floor, exercise care to prevent the
installation surface of the robot from striking the floor.
2 Detach the end effectors and base plate before transporting the robot. If the
robot must necessarily be transported with the base plate attached, take the
following precautions:
 Robot becomes unstable when it is transported with the end effector applied to
wrist, and it is dangerous.
Please be sure to remove the end effector when robot is transported. Be
extremely careful to keep the robot in balance.
If the base plate is attached, the center of gravity of the entire robot changes.
When lifting the robot, be sure to lift the base plate instead of the robot.
3 Use the forklift transport equipment only to transport the robot with a forklift. Do
not use the forklift transport equipment to secure the robot.
Before moving the robot by using transport equipment, check the bolts on the
transport equipment and tighten any loose bolts if any.
4 When J2/J3-axis motor covers (option) are installed, be sure to remove them
before transporting robot with a crane.

-2-
 1. TRANSPORTATION AND
B-83444EN/06 INSTALLATION

2262 1459
1402 860 729.5 729.5
40
1997

Center of
gravity
987

Center of
gravity
Eyebolt M24
Eyebolt M24 (4)
JB-BEY-24 (4)

Crane
Capacity min.: 3 ton
Crane
Robot transportation posture Capacity ：min 3 ton
Sling
Capacity min. : 1.0 ton/sling
Sling
J1 AXIS 0°
Capacity ：min 1 ton /per 1sling
J2 AXIS -64° Eyebolt
Capacity min. : 950kg/each
J3 AXIS -6°
Note）
Note）
J4 AXIS 0° 11．Robot
Robot mechanical unit
mechanical unit mass 2800kg
mass
J5 AXIS -120° M-900iB/700
2．Use : 2800kg
eyebolt which complied with JIS B 1168
M-900iB/700E :
3．Quantity eyebolt 4 3030kg
J6 AXIS 0° 2 Use eyebolt
slingwhich
4 complied with JIS B 1168
3 Quantity eyebolt 4 sling 4

Fig. 1.1 (c) Transportation using a crane (M-900iB/700/700E)

1402 1751 730 730

23
1997

Center of
gravity
1060

Eyebolt Center of
EyeboltM24
(M24) gravity
JB-BEY-24 (4)

Crane
Capacity min.: 3.2 ton
Crane
Robot transportation posture Sling
Capacity ：min 3.2 ton
Capacity min. : 1.0 ton/sling
J1 AXIS 0° Sling
Capacity ：min 1 ton /per 1sling
J2 AXIS -64° Eyebolt
J3 AXIS -6° Capacity min. : 950kg/each
Note）
J4 AXIS 0° 1．Robot mechanical unit mass 3150kg
J5 AXIS -120° 2．Use eyebolt which complied with JIS B 1168
3．Quantity eyebolt 4
J6 AXIS 0° sling 4

Fig. 1.1 (d) Transportation using a crane (M-900iB/400L)

-3-
1. TRANSPORTATION AND
INSTALLATION B-83444EN/06

Robot transportation posture

Note） Note）
1 1．Robot
Robot mechanical
mechanical unit mass 2800kg
unit mass J1 AXIS 0°
2．Use specified
M-900iB/700 : 2800kgforklift bracket J2 AXIS -64°
M-900iB/700E : 3030kg
J3 AXIS -6°
2 Use specified forklift bracket.
J4 AXIS 0°
J5 AXIS -120°
J6 AXIS 0°

2262 1459
1402 860 729.5 729.5
37

Center of
gravity
1997

Center of
gravity

100

100
977

200 200
Eyebolt M24 (4) Bracket L

445

445
Bolt M16X55 (6)

559 559
Forklift
Capacity：min 3 ton Bracket R
Bolt M16X55 (6)

Fig. 1.1 (e) Transportation using a forklift (M-900iB/700/700E)

Robot posture on transportation

ロボット輸送姿勢
Note）
注記）
2 1．ロボットの機構部質量3150kg
Robot mechanical unit mass 3150kg J1
J1 AXIS 0º 0°
2 2．指定のフォークリフトブラケットを使用すること
Use specified forklift bracket. J2
J2 AXIS -64º
-64°
J3
J3 AXIS -6º-6°
J4
J4 AXIS 0º 0°
J5 AXIS
J5 -120°
-120º
J6 AXIS
J6 -0º 0°
3152 1459

( 1402 ) 1751 725.8 725.8

20

Center of
重心位置
gravity
1997

1000

Center of
重心位置
gravity
88

88

Eyebolt
アイボルト (M24) (4)(4) 188
(M24) 188 Bracket
ブラケットL L
ボルト
Bolt M16X55
M16 x 55(6)
(6)
Bracket R
ブラケットR
Bolt
ボルト M16 x 55 (6)
M16X55 (6) 459 459
Forklift
フォークリフト
Capacity min. : 5 ton
可搬質量：5トン以上

Fig. 1.1 (f) Transportation using a forklift (M-900iB/400L)

CAUTION
Be careful not to strike the transport equipment strongly with the forklift forks.

-4-
 1. TRANSPORTATION AND
B-83444EN/06 INSTALLATION

1.2 INSTALLATION
Fig. 1.2 (a) shows the robot base dimensions. Avoid placing any object in front of the robot on the locating
surface to facilitate the installation of the mastering fixture.

410 ±0.1
+0.021
2- O 20 H7 0
340 380 O42counter
φ42 ザグリ深さ5bore depth 5
270 230 (Robot made after 2016)
(2016年以降製造分)
8-φ24 through
ロボット固定用
counter貫通
φ388-φ24 bore depth 5
(for φ38
fixing ザグリ深さ
the robot) 5

J1-axis

400
J1軸回転中心

370
350
rotation center

surface

180 ±0.1 180 ±0.1

270
40
突き当て面

220
Locating

540
440

700

740
54
B

414
B
A
A
70 199 164 69
Locating
突き当て面 surface Locating
突き当て面 surface
509 500
30 5
30 5

Section A-A Section B-B

断面 B-B
断面 A-A
Fig. 1.2 (a) Dimension of robot base

-5-
1. TRANSPORTATION AND
INSTALLATION B-83444EN/06

Table 1.2 (a) to (c) and Fig. 1.2 (b) indicate the force and moment applied to the base plate at the time of
Power-off stop of the robot. 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 or by Controlled 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 during Power off stop (M-900iB/700)
Force in vertical Force in horizontal
Vertical moment Horizontal moment
direction direction
MV [kNm (kgfm)] MH [kNm (kgfm)]
FV [kN (kgf)] FH [kN (kgf)]
During Power-Off stop 117.6 (12000) 65.7 (6700) 26.5 (2700) 36.3 (3700)
During acceleration 49.0 (5000) 42.1 (4300) 12.7 (1300) 13.7 (1400)
Static 37.2 (3800) 38.2 (3900) 0.0 (0) 0.0 (0)

Table 1.2 (b) Force and moment during Power off stop (M-900iB/700E)
Force in vertical Force in horizontal
Vertical moment Horizontal moment
direction direction
MV [kNm (kgfm)] MH [kNm (kgfm)]
FV [kN (kgf)] FH [kN (kgf)]
During Power-Off stop 119.6 (12200) 65.7 (6700) 27.4 (2800) 36.3 (3700)
During acceleration 52.9 (5400) 44.1 (4500) 14.7 (1500) 14.7 (1500)
Static 39.2 (4000) 40.2 (4100) 0.0 (0) 0.0 (0)

Table 1.2 (c) Force and moment during Power off stop (M-900iB/400L)
Force in vertical Force in horizontal
Vertical moment Horizontal moment
direction direction
MV [kNm (kgfm)] MH [kNm (kgfm)]
FV [kN (kgf)] FH [kN (kgf)]
During Power-Off stop 117.6 (12000) 65.7 (6700) 27.4 (2800) 36.3 (3700)
During acceleration 49.0 (5000) 42.1 (4300) 15.7 (1600) 13.7 (1400)
Static 37.2 (3800) 39.2 (4000) 0.0 (0) 0.0 (0)

Table 1.2 (d) Stopping time and distance until the robot stopping by Power-Off stop after input of stop signal
Model J1-axis J2-axis J3-axis
Stopping time [ms] 1172 252 372
M-900iB/700
Stopping distance [deg] (rad) 45.8 (0.80) 10.0 (0.17) 16.8 (0.29)
Stopping time [ms] 1311 271 467
M-900iB//700E
Stopping distance [deg] (rad) 45.7 (0.80) 9.7 (0.17) 19.3 (0.34)
Stopping time [ms] 1068 252 540
M-900iB/400L
Stopping distance [deg] (rad) 42.6(0.74) 10.2(0.18) 22.8(0.40)

Table 1.2 (e) Stopping time and distance until the robot stopping by Controlled stop after input of stop signal
Model J1-axis J2-axis J3-axis
Stopping time [ms] 1212 1196 1188
M-900iB/700
Stopping distance [deg] (rad) 51.1 (0.89) 47.6 (0.83) 47.1 (0.82)
Stopping time [ms] 1196 1204 1204
M-900iB/400L
Stopping distance [deg] (rad) 49.8 (0.87) 50.4 (0.88) 49.8 (0.87)

-6-
 1. TRANSPORTATION AND
B-83444EN/06 INSTALLATION
Table 1.2 (f) Stopping time and distance until the robot stopping by Power-Off stop after input of stop signal
Model J1-axis J2-axis J3-axis
Stopping time [ms] 1184 810 750
M-900iB/700
Stopping distance [deg] (rad) 45.6 (0.80) 30.2 (0.53) 30.2 (0.53)
Stopping time [ms] 1247 859 919
M-900iB//700E
Stopping distance [deg] (rad) 46.8 (0.82) 32.8 (0.57) 28.8 (0.50)
Stopping time [ms] 1078 988 1016
M-900iB/400L
Stopping distance [deg] (rad) 42.7 (0.75) 38.6 (0.67) 37.8 (0.66)

MV

FV
FH

MH

Fig. 1.2 (b) Force and moment that acts on robot base

-7-
1. TRANSPORTATION AND
INSTALLATION B-83444EN/06

1.2.1 Actual Installation Example

Fig. 1.2.1 (a) shows actual examples of robot installations. In Fig. 1.2.1 (a), the floor plate is imbedded in
concrete and fastened with twelve M20 (tensile strength 400N/mm2 or more) chemical anchors. Also, fasten
the base plate to the robot base using eight M20 x 60 bolts (tensile strength 1200N/mm2 or more strength).
Next, position the robot, and weld the base plate to the floor plate. (Foot length is 10 to 15mm.)
(The base plate is prepared as an option.)

NOTE
The strength of the chemical anchor depends on the concrete strength. See the
design guideline of the manufacturer for the execution of the chemical anchor
and consider the safety ratio sufficiently before use.

CAUTION
1 Parts to be provided by the customer:
Robot mounting bolts: M20 x 60 (tensile strength 1200N/mm2 or more) 8 pcs.
Chemical anchors: M20 (tensile strength 400N/mm2 or more) 12 pcs.
Base plates: Thickness 32t 4 pcs.
Floor plate: Thickness 32t 1 pc.
2 Installation work (welding, anchoring, etc.) is repaired by the customer.
3 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 0.5º.
If robot base is placed on uneven ground, it may result in the base breakage or
low performance of the robot.

1200
340 380
12-O24
270 230

360 360
8-M20
280

280
555

370
350

270

220
185

1200

Front
185

220
270
350

370
555

Welding part
Floor plate

Base plate (rear) 185 185

Base plate (front)
Welding after positioning 555 555
10～15 Robot mounting bolts
Floor plate M20X60 (8pcs)
32

2
Chemical anchor Tensile strength 1200N/mm or more
32

M20 (12pcs) Tightening torque 529.2Nm

Tensile strength 400N/mm2or more (54kgfm)
Tightening torque
186.2Nm
Depth

(19kgfm)
200

Note) Burt the floor plate in concrete

Fig. 1.2.1 (a) Actual installation example

-8-
 1. TRANSPORTATION AND
B-83444EN/06 INSTALLATION

1.3 MAINTENANCE AREA

Fig. 1.3 (a) and (b) show the maintenance area of the mechanical unit. Be sure to leave enough room for
the robot to be mastered. See Chapter 8 for mastering information.

Maintenance area (Mechanical unit)

500

2120
730

500
500
730

Mastering area
500

500 816 682 567

Fig. 1.3 (a) Maintenance area (M-900iB/700/700E)

Maintenance area (Mechanical unit)

3020
500
730

500
500
730

Mastering area
500

500 980 682 500

Fig. 1.3 (b) Maintenance area (M-900iB/400L)

1.4 INSTALLATION CONDITIONS

Refer to specification of Section 3.1 about installation conditions.

CAUTION
Damage of the cable jacket can cause water intrusion. Take care when installing
the cable and exchange it if it is damaged.

-9-
2. CONNECTION WITH THE
CONTROLLER B-83444EN/06

2 CONNECTION WITH THE CONTROLLER

The robot is connected with the controller via the power cable, the signal cable, and the earth cable. Connect
these cables to the connectors on the back of the base. 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 could heat up and become damaged.

Robot mehcanical unit

ロボット機構部

Controller
制御装置

Robot connection cable

ロボット接続ケーブル
(power, signal cables and earth line)
(動力、信号ケーブル、アース線)

Earth
アース端子terminal
取付け用タップ
Connector
動力線用 (M8)
(M8)
for powerコネクタ
line Connector Airエア
信号線用
for コネクタ
signal
Option
オプション

Fig. 2 (a) Cable connection

- 10 -
B-83444EN/06 3. BASIC SPECIFICATIONS

3 BASIC SPECIFICATIONS
3.1 ROBOT CONFIGURATION
Wrist unit J3 arm AC servo motor
for J6-axis
AC servo motor
for J5-axis AC servo motor
for J4-axis

End effector
mounting face
J2 arm Balancer Balancer

AC servo motor
for J3-axis AC servo motor
for J2-axis

J2 unit

AC servo motor
for J1-axis
J1 unit

Fig. 3.1 (a) Mechanical unit configuration

J4
+ +X J6
J3 - +
J5
+ - Z
- - Y

J2

+
+
-

-
J1

Fig. 3.1 (b) Each axes coordinates and mechanical interface coordinates

NOTE
The end effector mounting face center is 0, 0, 0 of the mechanical interface
coordinates.

- 11 -
3. BASIC SPECIFICATIONS B-83444EN/06

Table 3.1 (a) Specifications (Note 1)

M-900iB/700 M-900iB/700E M-900iB/400L
Type Articulated type
Controlled axes 6-axes (J1, J2, J3, J4, J5, J6)
Installation Floor mount
180°(3.14rad) / -180°(-3.14rad)
J1-axis
168°(2.93rad) / -168°(-2.93rad) (Note 2)
J2-axis 90°(1.57rad) / - 64°(-1.12rad)
Motion range
J3-axis 30°(0.52rad) / -130°(-2.27rad)
(Upper limit /
360°(6.28rad) / -360°(-6.28rad)
Lower limit) J4-axis
168°(2.93rad) / -168°(-2.93rad) (Note 2)
J5-axis 122°(2.13rad) / -122°(-2.13rad)
J6-axis 360°(6.28rad) / -360°(-6.28rad)
J1-axis 80°/s (1.40rad/s)
J2-axis 80°/s (1.40rad/s)
Maximum speed J3-axis 80°/s (1.40rad/s)
(Note 3) J4-axis 100°/s (1.75rad/s)
J5-axis 100°/s (1.75rad/s)
J6-axis 160°/s (2.79rad/s)
At wrist 700kg 700kg 400kg
Max.
On J2 base 550kg
payload
On J3 arm 25kg
J4-axis 3400Nm (347kgfm) 5000Nm (510kgfm) 2744Nm (280kgfm)
Allowable load
J5-axis 3400Nm (347kgfm) 5000Nm (510kgfm) 2744Nm (280kgfm)
moment at wrist
J6-axis 1725Nm (176kgfm) 2800Nm (286kgfm) 1725Nm (176kgfm)
J4-axis 1098kgm2 (11200kgfcms2)
Allowable load
J5-axis 1098kgm2 (11200kgfcms2)
inertia at wrist
J6-axis 444kgm2 ( 4532kgfcms2)
Drive method Electric servo drive by AC servo motor
Repeatability ±0.1mm (Note 4)
Mass 2800kg 3030kg 3150kg
Acoustic noise level 76.3dB (Note 5)
Ambient temperature : 0 to 45℃ (Note 6)
Ambient humidity : Normally 75%RH or less
(No condensation allowed.)
Short time (Within 1 month) 95%Rh or less
Installation environment
(No condensation allowed.)
Permissible altitude : Above the sea 1000m or less
Vibration acceleration : 4.9m/s2 (0.5G) or less
Free of corrosive gases (Note 7)

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) When accuracy and stiffness enhancement option is specified.
Note 3) During short distance motions, the axis speed may not reach the maximum value stated.
Note 4) Compliant with ISO 9283.
Note 5) 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 6) When robot is used in low temperature environment that is near to 0ºC, or not operated for a
long time in the environment that is less than 0ºC in a holiday or the night, collision detection
alarm (SRVO-050) etc. may occur since the resistance of the drive mechanism could be high
immediately after starting the operation. In this case, we recommend performing the warm up
operation for several minutes.
Note 7) 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 foreign materials.

- 12 -
B-83444EN/06 3. BASIC SPECIFICATIONS
The following table lists the IEC60529-based dustproof and waterproof characteristics of the M-900iB.
Refer to Chapter 10 about severe dust/liquid protection package (option).

Standard Severe dust/liquid protection package (option)

J3 arm and wrist section IP67 IP67
Drive unit of the main body IP66 IP66
Main body IP54 (*) IP56
(*) Except some connectors

Main 本体部：IP
body : IP 5454 J3 arm + Wrist : IP 67
J3アーム+手首部：IP 67 Main body : IP
本体部：IP 56 56 J3アーム+手首部：IP
J3 arm + Wrist67
: IP 67

Standard
標準 Severe dust/liquid
防塵防滴強化protection package (option)
パッケージ
Fig. 3.1 (c) Severe dust/liquid protection characteristics of M-900iB

NOTE
Definition of IP code
Definition of IP 67
6=Dust-tight
7=Protection from water immersion
Definition of IP 66
6=Dust-tight
6=Protection from powerful water jets
Definition of IP 54
5=Dust-protected
4=Protection from splashing water
Definition of IP 56
5=Dust-protected
6=Protection from powerful water jets

Performance of resistant chemicals and resistant solvents is as follows.

(1) The robot (including severe dust/liquid protection model) cannot be used with the following liquids.
Potentially these liquids will cause irreversible damage to the rubber parts (such as: gaskets, oil seals,
O-rings etc.). (As exception to this only liquids tested and approved by FANUC can be used with 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 robots work in the environment, using water or liquid, complete draining of J1 base must
be done. Incomplete draining of J1 base will make the robot break down.
(3) Don not use unconfirmed cutting fluid and cleaning fluid.
(4) Do not use the robot immersed in water, neither temporary nor permanent. Robot must not be wet
permanently.
*Example: in case motor surface is exposed to water for a long time, liquid may invade inside the
motor and cause failure.
- 13 -
3. BASIC SPECIFICATIONS B-83444EN/06

3.2 MECHANICAL UNIT EXTERNAL DIMENSIONS AND

OPERATING SPACE
Fig. 3.2 (a), (b) show the robot operating space. When installing peripheral devices, be careful not to
interfere with the robot and its operating space.

R
(70 980
0E
)

+180 DEG. 0 DEG.

-180 DEG.

R 28
2 32
81
R

410 1285 300

30 °
250

1412 (/700)
1349 (/700E)
J5-axis
J5軸回転中心
rotation center
3 0°

6°

Operating space of
1120

45° J5-axis rotation

2919
° 5 ° J5軸回転中心動作領域
64 11 center
°
11

°
1 30
940

369

2832
730 730
2568

414 400

Fig. 3.2 (a) Operating space (M-900iB/700/700E)

- 14 -
B-83444EN/06 3. BASIC SPECIFICATIONS

R
98
0

+180 DEG. 0 DEG.

-180 DEG.

2 R3
81 704
R

410 2180 300

250

1412 J5-axis
J5軸回転中心
2°

3367
rotation center
1120

6 4° A

7° B
0°
940

13

°
97

Operating space of
J5軸回転中心動作領域
J5-axis rotation
center

1254
3136
3704

730 730
1. Less than 300kg payload

1.Robot
手首負荷300kg以下の時
can move all motion area without restriction.

全エリア手首制限なしで動作可能です。
2. From more than 300kg to 400kg payload

2.Area A : Robot can move without restriction.

手首負荷300kgを超え400kg以下の時
2572

Area B :：Please
エリアA use the robot so that the vector
手首の制限なしで動作可能です。
from the J5-axis rotation center to the CofG
エリアB ：ofJ5軸回転中心から見た手首負荷の
the wrist payload is less than 30 degrees
重心位置が重力方向に対して30°
against the gravity direction.
以内に収まる手首姿勢でご使用
ください。

414 400

Fig. 3.2 (b) Operating space (M-900iB/400L)

- 15 -
3. BASIC SPECIFICATIONS B-83444EN/06

3.3 ZERO POINT POSITION AND MOTION LIMIT

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 zero point position due to
abnormalities in servo system or system error. In addition, the motion range limit by a mechanical stopper
or limit switch is also prepared to improve safety.

Fig. 3.3 (a) shows the position of mechanical stopper. Only in case of J1 axis, robot stops by transforming
mechanical stopper. Be sure to exchange transformed stopper to new one. Tight the bolts according to
Appendix B. Replace mechanical stopper of J1- axis referring to Fig. 3.3 (a). Don’t reconstruct the
mechanical stopper. There is a possibility that the robot doesn't stop normally.

J5-axis mechanical stopper

(Upper side and lower side
pluse side, minus side)

J2/J3-axis interference angle J2-axis mechanical stopper

mechanical stopper (minus side)
(plus side)

J2/J3-axis interference angle J3-axis mechanical stopper

mechanical stopper (minus side)
(minus side)
J2-axis mechanical stopper
(plus side)
J3-axis mechanical stopper
(plus side)

J1-axis mechanical stopper

(Fixed side)
(Common to plus side and minus side) J1-axis mechanical stopper (Movable side)
(Common to plus side and minus side)
Stopper spec. :A290-7324-X214
Bolt :M24 x 80 Stopper spec. :A290-7332-X215
Washer Bolt :M16 x 85 (3)
Tightening torque 128Nm Washer (3)

Fig. 3.3 (a) Position of mechanical stopper

- 16 -
B-83444EN/06 3. BASIC SPECIFICATIONS
Fig.3.3 (b) to (i) show the zero point, motion limit (stroke end), limit switch detection position, and
maximum stopping distance (stopping distance in condition of max.speed and max. load) of each axis.

* The motion range can be changed. For information on how to change the motion range, see Chapter
6, “AXIS LIMIT SETUP”.

-180°

+216°The maximum stopping distance (position)

36°
+180.5°Limit switch detect position

u180°Stroke end

-180.5°Limit switch detect position

36°

-216°The maximum stopping distance (position)

+180°

Fig. 3.3 (b) J1-axis motion limit

- 168°

+204º The maximum stopping

+204°最大停止距離 (位置)
distance (position)

-168º Stroke end (Lowper

-168°ストロークエンド limit)
(下限)
36°
36°

+168º Stroke end (Upper (上限)

+168°ストロークエンド limit)

-204º The maximum stopping

-204°最大停止距離 (位置)
distance (position)

+ 168°

Note) The limit switch cannot be used.

注) リミットスイッチは使用できません。

Fig. 3.3 (c) J1-axis motion limit

(When accuracy and stiffness enhancement option is specified)
- 17 -
3. BASIC SPECIFICATIONS B-83444EN/06

-64v Stroke end (Lower limit)

64
°

°
90
+90v Stroke end (Upper limit)

6°
7°

-70v The maximum stopping distance (position)

+97v The maximum stopping distance (position)

Note )
Motion limit is restricted by the position of the J3-axis.

Fig. 3.3 (d) J2-axis motion limit

J3=32.5°
The maximum stopping distance (position)
J3=30°
°

Stroke end (Upper limit)

2. 5
30°

Note )Figure is case of J2=0°.

Motion limit is restricted by the position of the J2-axis.
6°

130
°

J3=-136°
The maximum stopping distance (position)

J3=-130°
Stroke end (Lower limit)
Note )Figure is case of J2=60°.
Motion limit is restricted by the position of the J2-axis.

Fig. 3.3 (e) J3-axis motion limit

- 18 -
B-83444EN/06 3. BASIC SPECIFICATIONS
Software
Softwarerestriction
restriction

-360° Stroke end +360°

+360° Stroke end
+360°Stroke end(Upper limit)
(Lowper
-360° Stroke limit)limit)
end (Lower (Upper limit)
0°
-360°

Note)
Note）There is no
There mechanical
is no mechanicalstopper
stopper for
for J4-axis
J4-axis
Fig. 3.3 (f) J4-axis motion limit

Software restriction

0°
+ 168°
- 168°

-168° Stroke end +168° Stroke end

+168°ストロークエンド
-168°ストロークエンド (Upper limit)
(Lowper limit) （上限）
（下限） -168° +168°

注）
Note)J4軸に機械式ストッパはありません。
There is no mechanical stopper for J4-axis

Fig. 3.3 (g) J4-axis motion limit

(When accuracy and stiffness enhancement option is specified)

- 19 -
3. BASIC SPECIFICATIONS B-83444EN/06

+122v Stroke end (Upper limit)

°
122 2° +124v
The maximum stopping distance (position)

122 2° -124v
° The maximum stopping distance (position)

-122v Stroke end (Lower limit)

Fig. 3.3 (h) J5-axis motion limit

Software restriction

+360° +360°Stroke end (Upper limit)

-360° Stroke end (Lower limit) 0°
-360°

Note） There is no mechanical stopper for J6-axis

Fig. 3.3 (i) J6-axis motion limit

- 20 -
B-83444EN/06 3. BASIC SPECIFICATIONS

3.4 WRIST LOAD CONDITIONS

Fig. 3.4 (a) to (f) are diagrams showing the allowable load that can be applied to the wrist section.
 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 mounting of end effector.

Z [cm]
150
143.5
140
200kg
130

120

110

100

90
85.6
80
300kg
70

60
56.7
400kg
50

40
39.4 500kg
30
600kg
27.8
20
19.6
700kg
10
25.1

0
44.0
29.3
35.2

58.6

88.0

20 30 40 50 60 70 80 90 100
X,Y [cm]
30.0

Fig. 3.4 (a) Wrist load diagram (M-900iB/700) (ISO flange)

- 21 -
3. BASIC SPECIFICATIONS B-83444EN/06

Z [cm]
150
141.0
140

200kg
130

120

110

100

90
83.1
80
300kg
70

60
54.2

50
400kg

40
36.9 500kg
30
25.3 600kg
20
700kg
17.1
10
0
25.1

44.0
29.3

58.6
35.2

88.0

20 30 40 50 60 70 80 90 100
X,Y [cm]
32.5

Fig. 3.4 (b) Wrist load diagram (M-900iB/700) (Insulated ISO flange)

- 22 -
B-83444EN/06 3. BASIC SPECIFICATIONS

Z [cm]
210
204.3

200
200kg
190

180

170

160

150

140
140.1
300kg
130

120

110

100
97.6
400kg
90

80
72 500kg
70

60
55 600kg
50
42.9 700kg
40

30

20

10
142.9
71.5
57.2

0
40.9

47.7

95.3

20 30 40 50 60 70 80 90 100 110 120 130 140 150

X,Y [cm]
30.0

Fig. 3.4 (c) Wrist load diagram (M-900iB/700E) (ISO flange)

- 23 -
3. BASIC SPECIFICATIONS B-83444EN/06

Z [cm]
210
201.8
200
200kg
190

180

170

160

150

140
137.6
300kg
130

120

110

100
95.1 400kg
90

80
500kg
70
69.5
60
52.5 600kg
50
40.4 700kg
40

30

20

10
142.9
71.5

0
40.9

57.2
47.7

95.3

20 30 40 50 60 70 80 90 100 110 120 130 140 150

X,Y [cm]
32.5

Fig. 3.4 (d) Wrist load diagram (M-900iB/700E) (Insulated ISO flange)

- 24 -
B-83444EN/06 3. BASIC SPECIFICATIONS

Z [cm]
150

140

130

120

110
110.0
100
200kg

90
82.0
80
250kg
70
63.3
60
300kg
50
50.0
350kg
40
40.0 400kg
30

20

10
0
44.0

70.4
58.6
50.2

88.0

20 30 40 50 60 70 80 90 100
X,Y [cm]
30.0

Fig. 3.4 (e) Wrist load diagram (M-900iB/400L) (ISO flange)

NOTE
In case of M-900iB/400L, the operating space of the wrist is restricted when the
wrist payload is over 300kg. Refer to Section 3.2 about the operating space.

- 25 -
3. BASIC SPECIFICATIONS B-83444EN/06

Z [cm]
150

140

130

120

110
107.5
100
200kg
90

80
79.5 250kg
70
60.8
60
300kg
50
47.5
350kg
40
37.5 400kg
30

20

10
0
44.0

70.4
58.6
50.2

88.0

20 30 40 50 60 70 80 90 100
X,Y [cm]
32.5

Fig. 3.4 (f) Wrist load diagram (M-900iB/400L) (Insulated ISO flange)

NOTE
In case of M-900iB/400L, the operating space of the wrist is restricted when the
wrist payload is over 300kg. Refer to Section 3.2 about the operating space.

- 26 -
B-83444EN/06 3. BASIC SPECIFICATIONS

3.5 LOAD CONDITIONS ON J2 BASE/J3 ARM

Table 3.5 (a) and Fig. 3.5 (a) shows J2 base/J3 arm load condition.

Table 3.5 (a) Installation conditions of loads to be added

Installation site Loads Condition
The center of gravity must lie within a radius of 500 mm from the
J2 base 550kg
rotation center of the J1 axis.
See Fig. 3.5 (a) for the positional condition of the center of
J3 arm 25kg
R5 gravity.
00

Load capacity
on J3 arm 25kg
(valve etc.)

Load capacity on
J2 base 550kg
(Welding transfer etc.)

Fig. 3.5 (a) J2 base/J3 arm load condition

- 27 -
4. EQUIPMENT INSTALLATION
TO THE ROBOT B-83444EN/06

4 EQUIPMENT INSTALLATION TO THE

ROBOT
4.1 END EFFECTOR INSTALLATION TO WRIST
Fig. 4.1 (a) and (b) show the figures for installing end effectors on the wrist. To fasten the end effector, first
position it with two pin holes at [D] using fitting [B] or [C], then lock it using screws at [E]. Select screws
and positioning pins of a length that matches the depth of the tapped holes and pin holes. Fasten the bolt
for fixing the end effector with following torque: 128.4 ± 6.4 Nm (1310 ± 65kg fcm)

CAUTION
Notice the tooling coupling depth to wrist flange should be shorter than the
flange coupling length.

2-O12 H7 +0.018
0 depth 12
O250 equally spaced [D]
R
23
4 A 10-M12 depth 20
O250 [E]

30
°
8
153

30°
[B]
[C]

250 ±0.05
+0.040

-0.081
0
0
O160 H7
O315 h8

30°
153

°
30
13
300
Section A-A 198
A 162.3

Fig. 4.1 (a) End effector interface (ISO flange)

2- O 12 H7 +0.018 depth 12
A 0

O250 equally spaced [D]

10-M12 depth 20
O250 [E]
R 30
23 °
4

9
153

30°
[B]

[C]

250 ±0.05
+0.040

-0.081
0

0
O 160 H7
O 315 h8

30°
153

°
30
8
198 162.3
Section A-A
325 A
Fig. 4.1 (b) End effector interface (Insulated ISO flange)

- 28 -
 4. EQUIPMENT INSTALLATION
B-83444EN/06 TO THE ROBOT

4.2 EQUIPMENT MOUNTING FACE

As shown in Fig. 4.2 (a) to (d), 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 does not interfere. If
equipment interferes, the mechanical unit cable might be disconnected, and
unexpected troubles might occur.

- 29 -
4. EQUIPMENT INSTALLATION
TO THE ROBOT B-83444EN/06

120 75

depth 15)
5-M12
5-M12

(M10 タップ
tap depth 20
タップ深さ20 289 150 410 J3-axis
J3軸

深さ15)
7-M12

243.5 243.5 (M10

7-M12 タップ
130

tap
tap
深さdepth
20 20

2550
25 453
4-M12
4-M12
tap depth 18
タップ深さ 18

25 100 4-M12
4-M12
tap depth 20
タップ深さ20
10 10
20 20

60
50
M10
M10 tap depth 15
タップ深さ15
(both
(両側)side)

190
68

58

692 A
4-M10
4-M10tap depth 15
(both side)
タップ深さ15
(両側)
2-M12
2-M12
2-M12
2-M12 tap depth 17
tap depth 20 タップ深さ17
タップ深さ20
205
30

55
20°
30

B
50°
82
365

20
95

60
2-M12
2-M12tap depth 18
タップ深さ 18
(both 60
(両側)side)
2-M12
2-M12 tap depth 17
タップ深さ17
60

6-M16 tap depth 26

6-M16タップ深さ 26
(both
(両側) side)
50 (for forklift bracket)
79

(フォークリフトブラケット用)
390
30 30 30 30
463

851.5 2-M8
2-M8
851.5J3-axis)
(from 2-M12
2-M12 tap depth 20 245
(J3軸から) tap depth 20 タップ深さ12
タップ深さ 20
30

27.5
27.5
60

View A
矢視 A View BB
矢視
Fig. 4.2 (a) Equipment mounting faces (M-900iB/700/700E) (1/2)

- 30 -
 4. EQUIPMENT INSTALLATION
B-83444EN/06 TO THE ROBOT

4-M12

15
95 125
tap depth 20

15
40°
50
2-M6

170
tap depth 10

5
11

102.5 2-M12
tap depth 20

205
30

167.5
20°

30

50
2-M12
tap depth 20

Fig. 4.2 (b) Equipment mounting faces (M-900iB/700/700E) (2/2)

- 31 -
4. EQUIPMENT INSTALLATION
TO THE ROBOT B-83444EN/06

120 75

15) 15)
97.5

(M10 タップ
5-M12
5-M12 タップ 289 150 410 797.5

depth
tap
深さdepth
20 20 6-M12
6-M12 タップ
深さ
tap
深さdepth 20
243.5 243.5 (M10
130
20
130

tap

110
55
50
25
7-M12
7-M12 タップ
tap
深さdepth
20 20
25 453
J3-axis
J3軸
4-M12
4-M12 タップ
tap
深さdepth
18 18

25 100

10 10 4-M12 tap depth20

4-M12 タップ深さ 20
20 20
60

50
M10 tap depth
M10 タップ15
(both side)
深さ 15
(両側)

A
58

190
68

692
4-M10 tap depth15
4-M10 タップ深さ 15
(both
(両側)side)

2-M12
2-M12 タップ 2-M12
2-M12 tap depth 17
タップ深さ 17
tap
深さdepth
20 20
30

55 205
B
20°
30
82
365

20
0

50°
95

60
2-M12
2-M12
tap タップ
depth 18 60
深さ 18 2-M12 tap depth1717
(both
(両側) side) 2-M12 タップ深さ
60

6-M16タップ深さ
6-M16 tap depth2626
(both side)
(両側)
50
(for forklift bracket)
79

(フォークリフトブラケット輸送用)
30 30
463 390
30 30

2-M8
2-M8 タップ
tap
深さdepth
12 12 245
851.5851.5
(from (J3軸から)
J3-axis) 2-M12
2-M12 タップ
27.5

tap
深さdepth
20 20
30

27.5
60

View A
矢視 A View B
矢視 B
Fig. 4.2 (c) Equipment mounting faces (M-900iB/400L) (1/2)

- 32 -
 4. EQUIPMENT INSTALLATION
B-83444EN/06 TO THE ROBOT

4-M12 95 125
4-M12
tap depth 20
タップ深さ20

15

40°
50
170

2-M6
2-M6
5 tap depth 10
11 タップ深さ10

205

2-M12
2-M12
tap depth 20
タップ深さ20

102.5
2-M12
tap depth 17

167.5
タップ深さ17
20°

30
30

50

Fig. 4.2 (d) Equipment mounting faces (M-900iB/400L) (2/2)

- 33 -
4. EQUIPMENT INSTALLATION
TO THE ROBOT B-83444EN/06

4.3 LOAD SETTING

CAUTION
1 Set load condition parameter before operating the robot. Do not operate the
robot in over payload reduction. Don’t exceed allowable payload including
connection cables and its swing. Otherwise troubles such as degradation of
reducer life may occur.
2 WHEN PERFORMING LOAD ESTIMATION AFTER PARTS REPLACEMENT
If wrist axis motors (J5/J6-axis) or reducers are replaced, payload estimation
accuracy may decrease. Perform calibration of load estimation without the load
such as hand before performing load estimation.
Refer to Chapter 9 “LOAD ESTIMATION” in the Controller Optional Function
OPERATOR’S MANUAL

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
1 700.00 [ ]
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 SETING >
IDENT >

5 Ten different pieces of payload information can be set using condition No.1 to No.10 on this screen.
Place the cursor on one of the numbers, and press F3 (DETAIL). The MOTION PAYLOAD SET
screen appears.

MOTION PAYLOAD SET JOINT 100%

Group 1
Schedule No[ 1]:[Comment ]
1 PAYLOAD [kg] 700.00
2 PAYLOAD CENTER X [cm] -28.53
3 PAYLOAD CENTER Y [cm] 0.00
4 PAYLOAD CENTER Z [cm] 27.78
5 PAYLOAD INERTIA X [kgfcms^2] 560.84
6 PAYLOAD INERTIA Y [kgfcms^2] 590.39
7 PAYLOAD INERTIA Z [kgfcms^2] 150.10

[TYPE] GROUP NUMBER DEFAULT HELP

- 34 -
 4. EQUIPMENT INSTALLATION
B-83444EN/06 TO THE ROBOT

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 will be displayed: “Path and Cycle time will change. Set it?” Respond to the
message with F4 ([YES]) or F5 ([NO]).
7 Press F3 ([NUMBER]) will bring you to the MOTION PAYLOAD SET screen for another condition
number. For a multigroup system, pressing F2 ([GROUP]) will bring you to the MOTION PAYLOAD
SET screen for another group
8 Press [PREV] key to return to the MOTION PERFORMANCE screen. Press 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] 550.00
2 ARM LOAD AXIS #3 [kg] 25.00
[ TYPE ] GROUP DEFAULT HELP

10 Specify the weight of the load on the J2 base and J3 arm as follows:
ARMLOAD AXIS #1[kg] : Weight of the load on the J2 base
ARMLOAD AXIS #3[kg] : Weight of the load on the J3 arm
The following message appears: “Path and Cycletime will change. Set it?” Select F4 ([YES]) or F5
([NO]). Once the arm payload is set up, the settings are completed by switching the power off and on
again.

- 35 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83444EN/06

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 outside of mechanical unit.
• Please do not perform remodeling (adding a protective cover, or secure an
additional outside cable) that obstructs the behavior of the outcrop of the cable.
• When external equipment is installed in 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 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

- 36 -
 5. PIPING AND WIRING TO
B-83444EN/06 THE END EFFECTOR

5.1 AIR SUPPLY (OPTION)

Robot has air inlet and air outlet openings on the back of the J1 base and the side of the J3 arm used to
supply air pressure to the end effector. The connector is an Rc1/2 female (ISO).
Because coupling is not supplied, it will be necessary to prepare couplings, which suit to the tube size.

Dual air line：panel union Ｘ2

Single air line：panel union Ｘ1
Ｒｃ1/2(female)(Air outlet side)

Air tube Ｘ2
or
Air tubeX1
Outside diameter 12ｍｍ
Inside diameter 8ｍｍ

Dual air line：panel union Ｘ2

Single air line：panel union Ｘ1
Ｒｃ1/2(female)(Air inlet side)
Fig. 5.1 (a) Air supply (option)

- 37 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83444EN/06

5.2 AIR PIPING (OPTION)

Fig. 5.2 (a) shows how to connect air hose to the robot. If the air control set is specified as an option, the
air hose between the mechanical unit and the air control set is provided. A tap holes shown in Fig.5.2 (b)
are necessary for the installation of three points of air sets. This is outside FANUC delivery scope.

エルボニップル R3/8
Elbow nipple R3/8 ストレートニップル
Straight nipple R1/2 R1/2
R3/8

Air tube
エア3点セット
Air control set
Spec.:A05B-1311-J011
エアチューブ
All length 3m
A05B-1311-J011 全長3m 外径12mm 内径8mm
Outer 12mm Inside 8mm

In dotted line optional parts

破線内：オプション添付品
Fig. 5.2 (a) Air piping (option)

- 38 -
 5. PIPING AND WIRING TO
B-83444EN/06 THE END EFFECTOR

Air control set

Fill the lubricator having air control set to the specified level with turbine oil #90 to # 140. The machine
tool builder is required to prepare mounting bolts. This is outside FANUC delivery scope.

4-M6

IN OUT

70
Lubricator
ルブリケータ 57

Air filter
エアフィルタ
Fig. 5.2 (b) Air control set option (option)

NOTE
The capacity of the air control set is as follows.
These values must not be exceeded.

0.49 to 0.69MPa (5 to 7kgf/cm2)

Supply air pressure
Air pressure Setting: 0.49MPa (5kgf/cm2)
Amount of consumption Maximum instantaneous amount 150Nl/min (0.15Nm3/min)

- 39 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83444EN/06

5.3 INTERFACE FOR OPTION CABLE (OPTION)

Fig. 5.3 (a) shows the position of the option cable interface. Fig 5.3 (b) to (d) show the option cable interface.
EE interface (RI/RO), user cable (signal line , signal line usable to force sensor and 3D laser sensor and
power line), DeviceNet cable (signal line, power line) , additional axis motor cable (Pulsecoder line, power,
brake line) ,camera cable, Ethernet cable, accuracy and stiffness enhancement option cable as options.

NOTE
1 Each option cable is written as shown below on the connector panel.
EE(RI/RO) interface : EE
User cable (signal) : AS
User cable (power) : AP
User cable
(signal usable to force sensor and 3D Vision sensor) : ASi
DeviceNet cable (signal line) : DS
DeviceNet cable (power line) : DP
Additional axis motor cable (Pulsecoder line) : ARP
Additional axis motor cable (power, brake line) : ARM
Camera cable : CAM
Ethernet cable : ES
Accuracy and stiffness enhancement option cable : ARE
2 Specifications of camera cable for R-30iB/R-30iB Mate and R-30iB Plus/R-30iB Mate
Plus are different.

B
Fig. 5.3 (a) Position of interface for optional cable (option)

- 40 -
 5. PIPING AND WIRING TO
B-83444EN/06 THE END EFFECTOR
J3 arm side connector panel J1 base side connector panel
J3アーム側分線盤 J1ベース側分線盤
EE interface (RI/RO)
EEインタフェース (RI/RO) (Air inlet)
（エア入口)
User cable (signal
ユーザケーブル line)
(信号線)
interface
インタフェース

User cable (power(動力線)

ユーザケーブル line)
(Air outlet)
(エア出口) interface User cable (signal line)
インタフェース ユーザケーブル (信号線)
interface
Detail A Detail B インタフェース
詳細A User cable (power
ユーザケーブル (動力線)line) 詳細B
With user cable (signal line/power line), interface
インタフェース
ユーザケーブル
Spec. (信号線/動力線)付き
of mechanical unit cable : A05B-1332-H201
機構部内ケーブル仕様
A05B-1332-H201
J3 arm side connector panel J1 base side connector panel
J3アーム側分線盤 J1ベース側分線盤
DeviceNet cable
デバイスネットケーブル
EE interface (RI/RO)
EEインタフェース (RI/RO) (signal line) interface
(信号線)インタフェース
DeviceNet
デバイスネットケーブルcable
(signal
(信号線) line) interface
インタフェース DeviceNet cable
デバイスネットケーブル
(power line) interface
(動力線)インタフェース

(Air inlet)
（エア入口)

DeviceNet cable
デバイスネットケーブル
(signal line) interface
デバイスネットケーブル
DeviceNet cable (信号線)インタフェース
(Air outlet)
(エア出口) (動力線)インタフェース
(power line) interface DeviceNet cable
デバイスネットケーブル
Detail A 詳細C C
Detail Detail
詳細B B (power line) interface
(動力線)インタフェース
詳細A
With DeviceNet cable
デバイスネットケーブル (signal line/power line),
(信号線/動力線)付き DeviceNet cable
デバイスネットケーブル(動力線)
機構部内ケーブル仕様 (power line) interface
Spec. of mechanical unit cable : A05B-1332-H202
A05B-1332-H202 インタフェース
J3 arm side connector panel J1 base side connector panel
J3アーム側分線盤 J1ベース側分線盤
(Air inlet)
(エア入口)
EE interface(RI/RO)
EEインタフェース (RI/RO) Additional axis motor cable
付加軸モータケーブル (パルスコーダ線)
(Pulsecoder) interface
インタフェース

Additional axis motor

付加軸モータケーブル
cable (power, brake)
(パワー、ブレーキ線)
interface
インタフェース

Additional axis
付加軸モータケーブル
motor cable
(パルスコーダ線)
(Pulsecoder) interface
(Air outlet)
(エア出口) Additional axis
付加軸モータケーブル インタフェース
motor cable
(パワー、ブレーキ線)
Detail A (Pulsecoder) interface
インタフェース Detail
詳細B B
詳細A
With additional axis (パルスコーダ線/パワー、ブレーキ線)付き
付加軸モータケーブル motor cable (Pulsecoder line/power, brake line),
機構部内ケーブル仕様
Spec. of mechanical unit cable : A05B-1332-H204
A05B-1332-H204
J3 arm side connector panel J1 base sideJ1ベース側分線盤
connector panel
J3アーム側分線盤
User cable (signal line usable
ユーザケーブル (Air inlet)
EE interface(RI/RO)
EEインタフェース (RI/RO) to force sensor and 3D Vision （エア入口)
(力センサ・立体センサ対応信号線)
インタフェース
sensor) interface

Camera
カメラケーブルcable
interface
インタフェース

Camera
カメラケーブル cable
interface
インタフェース
(Air outlet)
(エア出口) User cable (signal line usable to
ユーザケーブル
Detail
詳細A
A force sensor and 3D Vision Detail
詳細BB
(力センサ・立体センサ対応信号線)
インタフェース
sensor) interface
ユーザケーブル (力センサ・立体センサ対応信号線)、カメラケーブル付き
With user cable (signal line usable to force sensor and 3D Vision sensor) and camera cable
機構部内ケーブル仕様
Spec. of mechanical unit cable : A05B-1332-H208
A05B-1332-H208

Fig. 5.3 (b) Option cable interface (1/3)

- 41 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83444EN/06

J3 arm side connector panel

J3アーム側分線盤 J1J1ベース側分線盤
base side connector panel
EE interface (RI/RO)(RI/RO)
EEインタフェース デバイスネットケーブル
DeviceNet cable
(信号線)
(signal line)インタフェース
interface
DeviceNet cable
デバイスネットケーブル
(signal line) interface
(信号線) インタフェース (Air inlet)
（エア入口)
DeviceNet cable
デバイスネットケーブル(動力線)
(power line) interface
インタフェース

Camera cable
カメラケーブル
(Air outlet)
(エア出口) interface
インタフェース Camera cable
カメラケーブル
interface
DeviceNet cable
デバイスネットケーブル(動力線) インタフェース
(power line) interface
インタフェース
Detail
詳細AA Detail
詳細B B

With DeviceNet cable(信号線/動力線)、カメラケーブル付き

デバイスネットケーブル (signal line/power line) and camera cable
機構部内ケーブル仕様
Spec. of mechanical unit cable : A05B-1332-H216
A05B-1332-H216
J3 arm side connector panel
J3アーム側分線盤 J1 base side connector panel
J1ベース側分線盤

User cable (signal line usable to

ユーザケーブル (Air inlet)
force sensor and 3D Vision
(力センサ・立体センサ対応信号線) （エア入口)
EE interface (RI/RO)
EEインタフェース (RI/RO) sensor)
インタフェースinterface

Ethernet cable
イーサネットケーブル
interface
インタフェース

Camera
カメラケーブル cable
interface Detail B
インタフェース
Ethernet cable
イーサネットケーブル
(Air outlet)
(エア出口) interface
インタフェース Camera cable
カメラケーブル
interface
インタフェース ユーザケーブル
User cable (signal line usable
Detail
詳細A A Detail B to force sensor and 3D Vision
(力センサ・立体センサ対応信号線)
詳細B
sensor)
インタフェース interface
With user cable (signal line usable to force sensor and 3D Vision sensor), camera cable and Ethernet cable
ユーザケーブル (力センサ・立体センサ対応信号線)、カメラケーブル、イーサネットケーブル付き
Spec. of mechanical unit cable :
機構部内ケーブル仕様
A05B-1332-H223
R-30iB Plus : A05B-1332-H223
J3 arm side connector panel J1 base side connector panel
J3アーム側分線盤 J1ベース側分線盤
EE interface (RI/RO)
EEインタフェース (RI/RO) (Air inlet)
（エア入口)
Additional axis motor
付加軸モータケーブル
cable (Pulsecoder)
(パルスコーダ線)
interface
インタフェース
Camera cable Additional axis motor
付加軸モータケーブル
カメラケーブル
interface cable (Pulsecoder)
(パルスコーダ線)
インタフェース interface
インタフェース

Camera
カメラケーブル cable
interface
インタフェース
Additional axis motor Additional
付加軸モータケーブルaxis motor
(Air outlet)
(エア出口) 付加軸モータケーブル cable (power, brake)
cable (power, brake)
(パワー、ブレーキ線) (パワー、ブレーキ線)
interface
interface インタフェース
インタフェース
Detail
詳細A A Detail
詳細B B
With additional axis motor cable (Pulsecoder line/power,brake line)
付加軸モータケーブル (パルスコーダ線/パワー、ブレーキ線)、カメラケーブル付き
and camera cable
機構部内ケーブル仕様
A05B-1332-H254
Spec. of mechanical unit cable : A05B-1332-H254
J1 base side connector panel
J3 arm side connector panel
J3アーム側分線盤 J1ベース側分線盤
(Air inlet)
(エア入口)
EE interface (RI/RO)(RI/RO)
EEインタフェース
User cable (signal line)
ユーザケーブル (信号線)
interface
インタフェース

User cable (signal line)

ユーザケーブル (信号線)
interface
インタフェース

User cable (power line)

ユーザケーブル (動力線)
(Air outlet)
(エア出口) interface
インタフェース User cable (power(動力線)
ユーザケーブル line)
interface
インタフェース
Detail
詳細AA
With user cable
ユーザケーブル (signal line/power
(信号線/動力線)付き line) for severe dust/liquid protection option
防塵防滴強化オプション用
Detail
詳細B B
Spec. of mechanical unit cable : A05B-1332-H301
機構部内ケーブル仕様
A05B-1332-H301

Fig. 5.3 (c) Option cable interface (2/3)

- 42 -
 5. PIPING AND WIRING TO
B-83444EN/06 THE END EFFECTOR

J3 arm side connector panel J1 base side connector panel

J3アーム側分線盤 J1ベース側分線盤
ユーザケーブル
User cable (signal line usable to (Air inlet)
(エア入口)
EE interface (RI/RO)(RI/RO)
EEインタフェース force sensor and 3D Vision
(力センサ・立体センサ対応信号線)
sensor)
インタフェースinterface

Camera
カメラケーブル
cable
インタフェース
interface Camera
カメラケーブルcable
interface
インタフェース
User cable (signal line usable
ユーザケーブル
(エア出口)
(Air outlet) to force sensor and 3D Vision
(力センサ・立体センサ対応信号線)
sensor) interface
インタフェース
Detail詳細A
A Detail
詳細B B

With user cable (signal

ユーザケーブル line usable to force sensor and 3D Vision
(力センサ・立体センサ対応信号線)、カメラケーブル付き sensor), camera cable
防塵防滴強化オプション用
機構部内ケーブル仕様
for severe dust/liquid protection option
A05B-1332-H308 Additional axis motor
Spec. of mechanical unit cable : A05B-1332-H308
cable (Pulsecoder) interface
J3 arm side connector panel J1 base side connector panel
J1ベース側分線盤
J3アーム側分線盤
(Air inlet)
Additional axis motor
付加軸モータケーブル (エア入口)
EE interface (RI/RO)
EEインタフェース (RI/RO) cable (Pulsecoder)
(パルスコーダ線)
interface
インタフェース

Additional axis motor

付加軸モータケーブル
cable (Pulsecoder)
Camera cable
カメラケーブル (パルスコーダ線)
interface
interface
インタフェース インタフェース
Additional axis motor
cable (power, brake)
付加軸モータケーブル
interface
(パワー、ブレーキ線)
インタフェース
Camera
カメラケーブルcable
(Air outlet)
(エア出口) interface
Additional axis motor
付加軸モータケーブル インタフェース
cable (power, brake)
(パワー、ブレーキ線)
Detail A interface Detail B
詳細A インタフェース 詳細B
With additional axis motor cable (Pulsecoder line/power,brake line) for severe dust/liquid protection option
Spec.付加軸モータケーブル
of mechanical unit (パルスコーダ線/パワー、ブレーキ線)、カメラケーブル付き
cable 防塵防滴強化オプション用
機構部内ケーブル仕様
R-30iB
R-30iB :: A05B-1332-H354
A05B-1332-H354
R-30iB iB Plus :: A05B-1332-H327
Plus
R-30 A05B=1324-H327

J3 arm side connector panel

J3アーム側分線盤 J1ベース側分線盤
J1 base side connector panel
Accuracy
精度・剛性強化対応and stiffness
enhancement option cable (Air inlet)
(エア入口)
オプション用ケーブル
interface
EE interface (RI/RO) インタフェース
EEインタフェース (RI/RO)

Camera
カメラケーブル cable
interface
インタフェース

Accuracy and stiffness

精度・剛性強化対応
enhancement option cable
(Air outlet) オプション用ケーブル
interface
(エア出口) Camera
カメラケーブル cable インタフェース
Detail A
詳細A interface
インタフェース Detail詳細B
B
Withカメラケーブル
camera cable and accuracy and
、精度・剛性強化対応オプション用ケーブル付き
stiffness enhancement option cable
Spec. of mechanical unit cable
機構部内ケーブル仕様
R-30iB
R-30iB :: A05B-1332-H401
A05B-1332-H401
R-30iB Plus : A05B-1332-H403
R-30iB Plus : A05B-1332-H403
J3J3アーム側分線盤
arm side connector panel J1 base side connector panel
J1ベース側分線盤
User cable (signal line) (Air inlet)
(エア入口)
EE interface (RI/RO)
EEインタフェース (RI/RO) ユーザケーブル
interface
(信号線)
インタフェース
User cable (signal line)
ユーザケーブル (信号線)
interface
インタフェース

User cable (power line)

ユーザケーブル
interface
(動力線)
インタフェース

(Air outlet)
(エア出口) Accuracy and stiffness
精度・剛性強化対応
enhancement option cable Accuracy and stiffness
User cable (power
ユーザケーブル line)
(動力線) オプション用ケーブル
interface 精度・剛性強化対応
enhancement option cable
interface
インタフェース インタフェース オプション用ケーブル
interface
Detail A Detail
詳細B B
詳細A インタフェース

With user cable (signal line/power line) and accuracy and stiffness enhancement option cable
ユーザケーブル(信号線/動力線) 、精度・剛性強化対応オプション用ケーブル付き
Spec.機構部内ケーブル仕様
of mechanical unit cable : A05B-1332-H402
A05B-1332-H402

Fig. 5.3 (d) Option cable interface (3/3)

- 43 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83444EN/06

1 EE interface (RI/RO) (option)

Fig. 5.3 (e), (f) show the pin layout for the EE interface (RI/RO). When severe dust/liquid protection
package is specified, the connector has guide pins and bushes for preventing improper insertion. For
cables prepared by the user, use these guide pins and bushes.

EEインタフェース(RI/RO)(出力側)
EE interface (RI/RO) (output)
W2524F (Fujikura Ltd.)
W2524F(藤倉商事(株))
4 3 2 1
RO4 RO3 RO2 RO1
9 8 7 6 5
RI1 0V(A1) XHBK RO6 RO5
エンド
End
15 14 13 12 11 10 エフェクタ
effector
RI5 XPPABN RI8 RI4 RI3 RI2
20 19 18 17 16
24VF(A4) 24VF(A3) 24VF(A2) 24VF(A1) RI6
24 23 22 21
RI7 0V(A2) RO8 RO7

Outside FANUC delivery scope

お客様にてご用意ください。
XHBK
XHBK : Hand broken
:ハンド破断検出信号
Controller
制御装置 XPPABN : Pneumatic pressure abnormal
XPPABN: 空気圧異常信号

Fig. 5.3 (e) Pin layout for EE interface(RI/RO) (option)

EE interface (RI/RO) (出力側)

EEインタフェース(RI/RO) (output)
F TYPEHan24DD
F TYPE Han24DD(ハーティング(株))
(HARTING K.K.)
G End
エンド
21 RO7 17 24VF(A1) 13 RI8 9 RI1 5 RO5 1 RO1 エフェクタ
effector
22 RO8 18 24VF(A2) 14 XPPABN 10 RI2 6 RO6 2 RO2
23 0V(A2) 19 24VF(A3) 15 RI5 11 RI3 7 XHBK 3 RO3
24 RI7 20 24VF(A4) 16 RI6 12 RI4 8 0V(A1) 4 RO4

Outside FANUC delivery scope

XHBK
XHBK: Hand broken
:ハンド破断検出信号 お客様にてご用意ください。
XPPABN : Pneumatic pressure
XPPABN: 空気圧異常信号
Controller
制御装置
No.1
1番ピンpin

Bush
ブッシュ Guide
ガイドピン pin

EE interface (RI/RO)
EEインタフェース(RI/RO)
出力側
(output side)

Fig. 5.3 (f) Pin layout for EE interface(RI/RO)

(When severe dust/liquid protection package is specified) (option)

- 44 -
 5. PIPING AND WIRING TO
B-83444EN/06 THE END EFFECTOR
2 User cable (signal line) (AS) Interface (option)
Fig. 5.3 (g) shows the pin layout for the user cable (signal line) interface. The connector has a code
pin for preventing improper insertion. The code pin is required for the cable which is prepared by the
user.

User cable (signal) interface (output)

F TYPE Han 24DD (HARTING K.K.)

G
End effector
21 17 13 9 5 1 etc.
S21 S17 S13 S9 S5 S1
22 18 14 10 6 2
S22 S18 S14 S10 S6 S2
23 19 15 11 7 3
S23 S19 S15 S11 S7 S3
24 20 16 12 8 4
S24 S20 S16 S12 S8 S4

Outside FANUC delivery scope

User cable (signal) interface (input)

M TYPE Han 24DD (HARTING K.K.)

1 5 9 13 17 21
S1 S5 S9 S13 S17 S21
2 6 10 14 18 22
S2 S6 S10 S14 S18 S22
3 7 11 15 19 23
S3 S7 S11 S15 S19 S23 0.4mm2 24 pcs
4 8 12 16 20 24
S4 S8 S12 S16 S20 S24

Outside FANUC delivery scope

Code pin
No.1 pin No.1 pin

Code pin
User cable (signal )
User cable (signal )
interface output
interface input

Fig. 5.3 (g) Pin layout and code pin position for user cable (signal) (AS) interface (option)

- 45 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83444EN/06

3 User cable (signal line usable to force sensor and 3D Laser Vision sensor) (ASi) interface (option)
Fig. 5.3 (h) shows the pin layout for the user cable (signal line usable to force sensor and 3D Laser
Vision sensor) interface. The connector has code pins for preventing improper insertion. The code pin
is required for the cable which is prepared by the user.

User cabel (signal usable to force sensor and 3D Laser Vision sensor)
interface (output)
F TYPE Han 24DD(HARTING K.K.)
G
FG
21 17 13 9 5 1 End effector
S21 S17 S13 S9 S5 S1 etc.
22 18 14 10 6 2
S22 S18 S14 S10 S6 S2
23 19 15 11 7 3
S23 S19 S15 S11 S7 S3
24 20 16 12 8 4
S24 S20 S16 S12 S8 S4

Outside FANUC dellivery scope

User cabel (signal usable to force sensor and 3D Laser Vision sensor)
interface (input)
F TYPE Han 24DD(HARTING K.K.)
G
FG
1 5 9 13 17 21
S1 S5 S9 S13 S17 S21
2 6 10 14 18 22
S2 S6 S10 S14 S18 S22
3 7 11 15 19 23
S3 S7 S11 S15 S19 S23
0.5mm×18
2

4 8 12 16 20 24
S4 S8 S12 S16 S20 S24 0.4mm×6 ( part)
2

Outside FANUC dellivery scope

Code pin
No.1 pin No.1 pin

Code pin

User cabel (signal usable to force sensor and 3D Laser Vision sensor) interface User cabel (signal usable to force sensor and 3D Laser Vision sensor) interface
input output

Fig. 5.3 (h) Pin layout for user cable (signal line usable to force sensor and 3D Laser Vision sensor) (ASi)
interface and code pin layout (option)

- 46 -
 5. PIPING AND WIRING TO
B-83444EN/06 THE END EFFECTOR
4 User cable (power line) (AP) Interface (option)
Fig. 5.3 (i) shows the pin layout for the user cable (power line) interface.
The connector has a code pin for preventing improper insertion. The code pin is required for the cable
which is prepared by the user.

User cable (power) interface (output)

F TYPE Han 15D (HARTING K.K.)

C1 B1 A1
P11 P6 P1
C2 B2 A2 End effector
P12 P7 P2 etc.
C3 B3 A3
P13 P8 P3
C4 B4 A4
P14 P9 P4
C5 B5 A5
P15 P10 P5
G
FG
Outside FANUC delivery scope

User cable (power) interface (input)

F TYPE Han 15D (HARTING K.K.)

A1 B1 C1
P1 P6 P11
A2 B2 C2
P2 P7 P12
A3 B3 C3
P3 P8 P13
A4 B4 C4
P4 P9 P14 1.25mm2 15pcs
A5 B5 C5
P5 P10 P15
G
FG

Outside FANUC delivery scope

Code pin

A No.1 pin
A No.1 pin

Code pin
User cable (power )
User cable (power )
interface input
interface output

Fig. 5.3 (i) Pin layout for user cable (power line) (AP) interface and code pin layout (option)

- 47 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83444EN/06

5 DeviceNet cable (signal line) (DS) interface (option)

Fig. 5.3 (j) shows the pin layout for the DeviceNet cable (signal line) interface.

Fig. 5.3 (j) Pin layout for DeviceNet cable (signal line) (DS) interface (option)

6 DeviceNet cable (power line) (DP) interface (option)

Fig. 5.3 (k) shows the pin layout for the DeviceNet cable (power line) interface.

Fig. 5.3 (k) Pin layout for DeviceNet cable (power line) (DP) interface (option)

- 48 -
 5. PIPING AND WIRING TO
B-83444EN/06 THE END EFFECTOR
7 Additional axis motor cable (Pulsecoder cable) (ARP) interface (option)
Fig. 5.3 (l) shows the pin layout of the additional axis motor cable (Pulsecoder cable) interface.
The connector has a code pin for preventing improper insertion.

Additional axis motor cable (pulsecoder) interface (output)

FEMALE TYPE Han24DD (HARTING)
Additional axis
G G
21 5V(J8A1) 17 0V(J8A1) 13 SPDJ8 9 5V(J7A1) 5 0V(J7A1) 1 SPDJ7 motor
22 5V(J8A2) 18 0V(J8A1) 14 XSPDJ8 10 5V(J7A2) 6 0V(J7A2) 2 XSPDJ7
23 19 15 PRQJ8 11 7 3 PRQJ7
24 6V(BT8) 20 0V(BT8) 16 XPRQJ8 12 6V(BT7) 8 0V(BT7) 4 XPRQJ7

Additional axis motor cable (pulsecoder) interface (input)

MALE TYPE Han24DD (HARTING)
Controller G G
1 5 0V(J7A1) 9 5V(J7A1) 13 17 0V(J8A1) 21 5V(J8A1) 6V(BT7,BT8)
2
SPDJ7
XSPDJ7 6 0V(J7A2) 10 5V(J7A2) 14
SPDJ8
XSPDJ8 18 0V(J8A1) 22 5V(J8A2) Battery
3 PRQJ7 7 11 15 PRQJ8 19 23 0V(BT7,BT8) box
4 XPRQJ7 8 0V(BT7) 12 6V(BT7) 16 XPRQJ8 20 0V(BT8) 24 6V(BT8)

Code pin
No.1 pin

No.1 pin

Code pin

Additional axis motor cable (pulsecoder) interface Additional axis motor cable (pulsecoder) interface
code pin position(input) code pin position(output)

Fig. 5.3 (l) Pin layout and code pin position of the additional axis motor cable (Pulsecoder cable)
(ARP) interface and layout position of the code pin (option)

Table 5.3 (a) Comparative table of signal name according to the motor
ARP α motor, β motor αi, αi –B motor, βi, βi-B motor
SPD SD -
XSPD *SD -
PRQ REQ RD
XPRQ *REQ *RD

- 49 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83444EN/06

8 Additional axis motor cable (power and brake cables) (ARM) interface (option)
Fig. 5.3 (m) shows the pin layout of the additional axis motor cable (power and brake cables) interface.
The connector has a code pin for preventing improper insertion.

Additional axis motor cable (power,brake) interface (output)

FEMALE TYPE Han15D (HARTING)
C1 J8U1 B1 BK(J7) A1 J7U1
Additional axis
C2 J8V1 B2 BKC(J7) A2 J7V1 motor
C3 J8W1 B3 BK(J8) A3 J7W1
C4 J8G1 B4 BKC(J8) A4 J7G1
C5 B5 A5
G G

Additional axis motor cable (power,brake) interface (input)

MALE TYPE Han15D (HARTING)
Controller A1 J7U1 B1 BK(J7) C1 J8U1
A2 J7V1 B2 BKC(J7) C2 J8V1
A3 J7W1 B3 BK(J8) C3 J8W1
A4 J7G1 B4 BKC(J8) C4 J8G1
A5 B5 C5
G G

Code pin
A No.1 pin

A No.1 pin

Code pin
Additional axis motor cable (power,brake) interface Additional axis motor cable (power,brake) interface
code pin position (input) code pin position (output)

Fig. 5.3 (m) Pin layout and code pin position of the additional axis motor cable (power and brake cables)
(ARM) interface and layout position of the code pin (option)

9 Ethernet cable (signal line) (ES) interface (option)

Fig. 5.3 (n) shows the pin layout of the Ethernet cable (signal line) (ES) interface.

Ethernet cable (signal line) interface (output)

イーサネットケーブル(信号線)インタフェース(出力側)
FFTYPE
TYPEHan
HanM12
M124PIN
4PIND-coded
D-coded((HARTING
ハーティング㈱ K.K.)) End
エンド
2 3 effector
エフェクタ
RX+
1
TX-
4
etc.
など
TX+ RX-

Outside FANUC delivery scope

お客様にてご用意ください。

Ethernet cable (signal line) interface (input)

イーサネットケーブル(信号線)インタフェース(入力側)

F FTYPE
TYPEHan
HanM12
M124PIN
4PIND-coded (HARTING
D-coded( ハーティング㈱K.K.) )
2 3
RX+ TX-
1 4
TX+ RX-

Outside FANUC delivery scope

お客様にてご用意ください。
Fig. 5.3 (n) Pin layout for Ethernet cable (signal line) (ES) interface (option)

- 50 -
 5. PIPING AND WIRING TO
B-83444EN/06 THE END EFFECTOR

Connector specifications
Table 5.3 (b) Connector specifications (Mechanical unit side)
Maker
Cable Input side (J1 base) Output side (J3 arm)
/dealer
EE Fujikura
─── JMWR2524F
(RI/RO) Ltd.
Housing 09 30 006 0301 Housing 09 30 006 0301
AS Insert 09 16 024 3001 Insert 09 16 024 3101
ASi Contact 09 15 000 6103 Contact 09 15 000 6203
Code pin 09 30 000 9901 Code pin 09 30 000 9901
Housing 09 20 010 0301 Housing 09 20 010 0301
Insert 09 21 015 3001 Insert 09 21 015 3101
AP
Contact 09 15 000 6103 Contact 09 15 000 6203
Code pin 09 30 000 9901 Code pin 09 30 000 9901
Housing 09 30 006 0301 Housing 09 30 006 0301
Insert 09 16 024 3001 Insert 09 16 024 3101
ARP
Contact 09 15 000 6103 Contact 09 15 000 6203
Code pin 09 30 000 9901 Code pin 09 30 000 9901
HARTING
Housing 09 20 010 0301 Housing 09 20 010 0301
K.K.
Insert 09 21 015 3001 Insert 09 21 015 3101
ARM
Contact 09 15 000 6101 Contact 09 15 000 6201
Code pin 09 30 000 9901 Code pin 09 30 000 9901
Connector 21 03 882 2425 Connector 21 03 882 2425
ES
Contact 09 67 000 7476 Contact 09 67 000 7476
EE
(RI/RO) Housing 09 30 006 0301
(When Insert 09 16 024 3101
severe ─── ─── Contact 09 15 000 6204
dust/liquid
protection Guide pin 09 33 000 9908
package is Bush 09 33 000 9909
specified)

Table 5.3 (c) Connector specifications (DeviceNet cable) (mechanical unit side)
Maker Output side Output side Maker
Cable Input side (J1 base)
/dealer (J2 base) (J3 casing) /dealer
Fujikura Fujikura
DS CM03A-R5P-S-2 CM03A-PR5S-S-2 CM03A-PR5S-S-2
Ltd. Ltd.
Housing 09 30 006 0301 HARTING
Fujikura
DP Insert 09 32 010 3001 Electronic CM03A-PR4S-S-2 CM03A-PR4S-S-2
Ltd.
Contact 09 33 000 6104 CO., LTD.

- 51 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83444EN/06

Table 5.3 (d) Connector specifications (User side)

Maker
Cable Input side (J1 base) Output side (J3 arm)
/Dealer
EE JMSP2524M (*1) Straight Fujikura
───
(RI/RO) JMLP2524M Angle Ltd.
09 30 006 1540 Side entry
1541
0542
Hood 0543 Hood
←Same as left
(NOTE 2) 1440 Top entry (NOTE 2)
1441
0442
0443
Insert 09 16 024 3101 Insert 09 16 024 3001
09 15 000 6204 AWG 26-22 09 15 000 6104 AWG 26-22
AS 6203 AWG 20 6103 AWG 20 HARTING
ASi Contact 6205 AWG 18 Contact 6105 AWG 18 K.K.
(NOTE 2) 6202 AWG 18 (NOTE 2) 6102 AWG 18
6201 AWG 16 6101 AWG 16
6206 AWG 14 6106 AWG 14
09 00 000 5083
Clamp 5086 Clamp
5090 ←Same as left
(NOTE 2) 5094 etc. (NOTE 2)
Many other types are available
Code Code
09 30 000 9901 09 30 000 9901
pin pin

- 52 -
 5. PIPING AND WIRING TO
B-83444EN/06 THE END EFFECTOR
Table 5.3 (e) Connector specification (user side)
Maker
Cable Input side (J1 base) Output side (J3 arm)
/Dealer
09 20 010 1541 Side entry
0540
Hood 0541 Hood
1440 Top entry ←Same as left
(NOTE 2) (NOTE 2)
0440
0441

Insert 09 21 015 3101 Insert 09 21 015 3001

09 15 000 6204 AWG 26-22 09 15 000 6104 AWG 26-22
6203 AWG 20 6103 AWG 20
Contact 6205 AWG 18 Contact 6105 AWG 18
AP
(NOTE 2) 6202 AWG 18 (NOTE 2) 6102 AWG 18
6201 AWG 16 6101 AWG 16
6206 AWG 14 6106 AWG 14
09 00 000 5083
5086
Clamp Clamp
5090 ←Same as left
(NOTE 2) (NOTE 2)
5094 etc.
Many other types are available
Code Code
09 30 000 9901 09 30 000 9901
pin pin
Connec Connec
21 03 882 1415 ←Same as left
tor tor
09 67 000 7576 AWG 28-24
ES
Contact 5576 AWG 26-22 Contact
←Same as left
(NOTE 2) 8576 AWG 24-20 (NOTE 2)
HARTING
3576 AWG 22-18
K.K
09 30 006 1540 Side entry
1541
0542
Hood 0543
(NOTE 2) 1440(*2) Top entry
1441
0442
0443
Insert 09 16 024 3001 (*3)
EE 09 15 000 6104 (*4) AWG 26-22
(RI/RO) 6103 AWG 20
(When Contact 6105 AWG 18
severe ─── (24 pcs) 6102 AWG 18
dust/liquid
protection
6101 AWG 16
package is 6106 AWG 14
specified) 09 00 000 5085 (*5)
5086
Clamp
5090
(NOTE 2)
5094
Many other types are available
Guide
pin 09 33 000 9908 (*6)
(2 pcs)
Bush
09 33 000 9909 (*7)
(2 pcs)

- 53 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83444EN/06

NOTE 1
Underlined parts are attached. Below shows spec. to order in our company.
(*1) A63L-0001-0234#S2524M
(*2) A63L-0001-0453#06B1440
(*3) A63L-0001-0453#24DDM
(*4) A63L-0001-0453#CA6104
(*5) A63L-0001-0453#A-152D
(*6) A63L-0001-0453#A-9908
(*7) A63L-0001-0453#A-9909

Table 5.3 (f) Connector specifications (DeviceNet cable, user side)

Maker Output side Output side Maker
Cable Input side (J1 base)
/Dealer (J2 base) (J3 arm) /Dealer
MINI connector for use on the device MINI connector for MINI connector for
net, 5-pin female use on the device use on the device
Fujikura. Fujikura.
DS net, 5-pin male net, 5-pin male
Ltd Ltd
CM03A-P5S
CM03-J5P CM03-J5P
09 30 006 1540 Side entry
1541
0542
Hood 0543
(NOTE 2) 1440 Top entry
1441
0442
0443 MINI connector for MINI connector for
Insert 09 32 010 3101 use on the device use on the device
HARTING Fujikura.
DP 09 33 000 6220 AWG20 net, 4-pin male net, 4-pin male
K.K Ltd
6214 AWG18
Contact 6205 AWG18 CM03-J4P CM03-J4P
(NOTE 2) 6204 AWG16
6202 AWG14
6207 AWG12
09 00 000 5083
Clamp 5086
(NOTE 2) 5090
5094 etc.

NOTE 2
For details, such as the dimensions, of the parts listed above, refer to the related
catalogs offered by the respective manufactures, or contact your local FANUC
representative.

- 54 -
B-83444EN/06 6. AXIS LIMIT SETUP

6 AXIS LIMIT SETUP

By setting the motion range of each axis, you can change the robot’s motion range from the standard values.
Changing the motion range of the robot is effective under the following circumstances:
 Used motion range of the robot is limited.
 There is an area where tool and peripheral devices interfere with the robot.
 The length of cables and hoses attached for application is limited.
There are three methods used to prevent the robot from going beyond the necessary motion range.
- Limit axis motion range by DCS (All axes (option))
- Limit axis motion range adjustable mechanical stopper (J1/J2/J3-axes (option))
- Limit axis motion range by limit switches (J1/J2/J3-axes (option))

WARNING
1 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.
2 For J1-axis, use adjustable mechanical stoppers, for J2/J3-axis, use the
adjustable mechanical stoppers or DCS function so that damage to peripheral
equipment and injuries to human bodies can be avoided.
3 Mechanical stoppers are physical obstacles. For J1 to J3-axis, it is possible to
re-position the adjustable mechanical stoppers. But the robot cannot move
beyond them. For J5-axis, the mechanical stoppers are fixed. For the J4 and J6-
axes, only DCS-specified limits are available.
4 For changing J2 andJ3-axes interference angles, only adjustable mechanical
stoppers are available; DCS specified movable range cannot be changed.
5 Adjustable mechanical stoppers (J1, J2, and J3-axes) are deformed in a collision
to stop the robot. Once a stopper is subject to a collision, it can no longer assure
its original strength and, therefore, may not stop the robot. When this happens,
replace it with a new one.

6.1 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 adjustable mechanical stopper described in Section 6.2 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
notified body. 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 ±30º for J2-axis in here. Refer to Dual check safety
function Operator’s Manual (B-83184EN) for details of other setting, function and DCS stop position
prediction.

- 55 -
6. AXIS LIMIT SETUP B-83444EN/06

Setting procedure
1 Press the [MENU] key to display the screen menu.
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 “30”, then press the [ENTER] key.
11 Move the cursor to [Lower limit] right side, then input “-30”, then press the [ENTER] key.

- 56 -
B-83444EN/06 6. AXIS LIMIT SETUP

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

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

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

[CHGD] on the right side of [1 Joint position check] will change to [PEND].

- 57 -
6. AXIS LIMIT SETUP B-83444EN/06

AUTO
DCS JOINT 1%

1 Joint position check UNSF PEND

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

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.

6.2 ADJUSTABLE MECHANICAL STOPPER AND LIMIT

SWITCH SETTING (OPTION)
For the J1, J2, and J3 axes, Adjustable mechanical stopper (option) can be installed in addition to standard
mechanical stopper. Motion range can be changed by changing mounting position of adjustable mechanical
stopper. Change the position of the mechanical stoppers according to the desired movable range. For the J,
J2, and J3 axes, the limit switch-based movable range can be used together. Refer to Section 6.3 and 6.4
for details

Table 6.2 (a) motion range that can be set by the adjustable mechanical stopper and space
between the upper and lower limits
Item
J1-axis Settable in steps of 7.5° degrees in a range of –180° to +180°
Upper limit
adjustable degrees.
mechanical Settable in steps of 7.5° degrees in a range of -180° to +180°
Lower limit
stopper, limit degrees.
switch Space between the A space of 37.5° degrees or more is required.
upper and lower limit
J2-axis adjustable Settable in steps of 15° degrees in a range of –60° to +75° degrees.
mechanical stopper Upper limit A fixed mechanical stopper is also provided at the upper limit +90°
degrees of the standard movable range.
Settable in steps of 15° degrees in a range of –60° to +75° degrees.
Lower limit A fixed mechanical stopper is also provided at the upper limit -64°
degrees of the standard movable range.
Space between the A space of 15° degrees or more is required.
upper and lower limit
J2-axis limit switch Upper limit Settable in steps of 15° degrees in a range of –60° to +90° degrees.
Settable in steps of 15° degrees in a range of –60° to +75° degrees.
Lower limit A fixed mechanical stopper is also provided at the upper limit -64°
degrees of the standard movable range.
Space between the A space of 15° degrees or more is required.
upper and lower limit

- 58 -
B-83444EN/06 6. AXIS LIMIT SETUP

Item
J3-axis adjustable Settable in steps of 15° degrees in a range of –120° to +15°
mechanical stopper Upper limit degrees. A mechanical stopper is also provided at the upper limit
+30° degrees of the standard movable range.
Settable in steps of 15° degrees in a range of –120° to +15°
Lower limit degrees. A mechanical stopper is also provided at the upper limit -
130° degrees of the standard movable range.
Space between the A space of 15° degrees or more is required.
upper and lower limit
J3-axis limit switch Settable in steps of 15° degrees in a range of –120° to +30°
Upper limit degrees. Also settable to the upper limit +30° degrees of the
standard movable range.
Settable in steps of 15° degrees in a range of –130° to +15°
Lower limit
degrees.
Space between the A space of 15° degrees or more is required.
upper and lower limit

NOTE
If the newly set operation range does not include 0º, it is necessary to change it
by zero degree mastering so that 0º is included.

6.2.1 Installing adjustable mechanical stopper option

Attach adjustable mechanical stoppers referring to Fig. 6.2.1 (a) to (c).

+82.5v +90v +97.5v

+75v +105v
+67.5v +112.5v
+60v +120v
+52.5v +127.5v

+45v +135v

+37.5v +142.5v

+30v +150v

+22.5v +157.5v

+15v +165v

Position of movable +7.5v +172.5v

-0vの時の
Stopper at -0º
可動ストッパの位置
Front
正 u0v u180v
面
Position
+0vの時のof movable
Stopper at +0º
可動ストッパの位置 -7.5v -172.5v

-15v -165v

-22.5v -157.5v

-30v -150v

-37.5v -142.5v

-45v -135v

-52.5v -127.5v
A290-7332-X315
-60v -120v
-67.5v -112.5v
-75v -105v
-82.5v -90v -97.5v
NOTE)
注） attention with movable stopper at +0º and -0º.
Make
Stopper mounting bolts and washers
ストッパ取付けボルト、ワッシャ
+0°、-0°では、可動ストッパの位置に注意 Plus side:
プラス側M16：M16×85（3本）
x 85 (3 pcs)
Washers (3 pcs)
ワッシャ (3個)
Minus side: M16 x 85 (3 pcs)
マイナス側：M16×85（3本）
Washers (3 pcs)
ワッシャ (3個)

Fig. 6.2.1 (a) Change the J1-axis mechanical adjustable Stopper (Option)

- 59 -
6. AXIS LIMIT SETUP B-83444EN/06

NOTE)注) ストッパ（A290-7332-X361,A290-7332-X362）は、リミットスイッチ用ドグと
Since the stopper (A290-7332-X361 and A290-7332-X362) are integrated with limit switch dogs,
一体になっておりますので、ストッパとリミットスイッチを併設する際はドグ
Dogs (A290-7328-X365 and A290-7328-X366) are not required when the stoppers and limit switches are
（A290-7328-X365、A290-7328-X366）は不要です。
both installed.

正
Front 正
Front
面 面

-60v

-45v

-60v
-30v
+75v
-15v +60v
+75v -30v
A290-7332-X361
+15v +30v
0v +45v -45v 0v
+45v
A290-7332-X362
+30v +60v -15v +15v
Minus side stopper
マイナス側ストッパ取付図 Plus side stopper
プラス側ストッパ取付図
Mounting figure Mounting figure

Minus side stopper

マイナス側ストッパ

Plus side stopper

プラス側ストッパ

Stopper mounting bolts and washers

ストッパ取付けボルト、ワッシャ
Plus side: M12
プラス側 x 30 (3 pcs)
：M12×30（3本）
Washers
ワッシャ(3個)(3 pcs)
マイナス側：M12×30（3本）
Minus side: M12 x 30 (3 pcs)
ワッシャ(3個)
Washers (3 pcs)

Stopper
ストッパ取付例 setting example
(J2-axis motion range is
(J2軸動作範囲が、-60 -60ºvの場合)
v～+75 to +75º)

Fig. 6.2.1 (b) Change the J2-axis mechanical adjustable Stopper (Option)

- 60 -
B-83444EN/06 6. AXIS LIMIT SETUP
NOTE)
Since the stopper (A290-7332-X363 and A290-7332-X364) are integrated with limit switch dogs,
注) ストッパ（A290-7332-X363,A290-7332-X364）は、リミットスイッチ用ドグと
Dogs (A290-7328-X365 and A290-7328-X366) are not required when the stoppers and limit switches are
一体になっておりますので、ストッパとリミットスイッチを併設する際はドグ
both installed.
（A290-7328-X365、A290-7328-X366）は不要です。
-120v
(*)
(*)
-120v
-90v
-105v
-105v

-90v
-75v
-60v
-75v
正 -60v
Front
面 Front 正
面
-45v

-30v
-30v
-15v -45v
0v

+15v A290-7332-X364
-15v
0v +15v A290-7332-X363
Minus side stopper Plus side stopper
マイナス側ストッパ取付図
Mounting figure プラス側ストッパ取付図
Mounting figure
Minus side stopper
マイナス側ストッパ

Plusプラス側ストッパ
side stopper
Stopper mounting bolts and washers
ストッパ取付けボルト
Plus side:
プラス側 M12：M12×30（3本）
x 30 (3 pcs)
When ただし(*)の箇所を使用する場合のみ
(*) are used, M12 x 60 (3 pcs) M12X60 (3本)
ワッシャ(3個)Washers (3 pcs)
Minusマイナス側：M12×30（3本）
side: M12 x 30 (3 pcs)
ただし(*)の箇所を使用する場合のみ M12X60 (3本)
When ワッシャ(3個)
(*) are used, M12 x 60 (3 pcs)
Stopper setting example Washers (3 pcs)
ストッパ取付例
(J3-axis motion range is -120º
(J3軸動作範囲が、-120 tovの場合)
v～+15 +15º)

Fig. 6.2.1 (c) Change the J3-axis mechanical adjustable Stopper (Option)

6.2.2 Changing the parameter setting

Setting procedure
1 Press the [MENU] key to display the screen menu.
2 Select [0 NEXT] and press [6 SYSTEM].
3 Press F1 [TYPE].
4 Select [Axis Limits]. The following screen will be displayed.

System Axis Limits JOINT 100%

Group1 1/16
AXIS GROUP LOWER UPPER
1 1 -180.00 180.00 deg
2 1 -64.00 90.00 deg
3 1 -130.00 30.00 deg
4 1 -360.00 360.00 deg
5 1 -122.00 122.00 deg
6 1 -360.00 360.00 deg
7 1 0.00 0.00 mm
8 1 0.00 0.00 mm
9 1 0.00 0.00 mm

[ TYPE]

- 61 -
6. AXIS LIMIT SETUP B-83444EN/06

NOTE
0.00 indicates the robot does not have these axes.

5 Move the cursor to the axis limit to be set. Type the new value using the numeric keys on the teach
pendant. In this time, set the axial upper limit and the lower limit at the position same as adjustable
mechanical stoppers are attached.

System Axis Limits

2/16
AXIS GROUP LOWER UPPER
2 1 -64.00 90.00 deg

[ TYPE]

6 Cycle power of the controller and then turn it back on again in the cold start mode so the new
information can be used.

WARNING
1 You must cycle power of the controller to use the new information; otherwise, the
old settings remain valid and could cause personnel injury or equipment
damage.
2 After changing system variables, be sure to run the robot at a low speed and
make sure that the robot stops at the ends of the stroke.
3 If a collision should occur, the adjustable mechanical stopper becomes deformed
to absorb energy, so that the robot can stop safely. If the stopper is deformed by
mistake, replace it.
4 Do not depend on parameter settings to control the motion range of your robot.

6.2.3 The maximum stopping distance (position) of adjustable

mechanical stopper
The adjustable mechanical stopper is a mechanism that can be adjusted in its position. The robot can work
safely inside the adjusted motion range, up to the maximum range as shown in Table 6.2.3 (a) and Fig. 6.2.3
(a) to (c).
A robot attempting to travel beyond this set range of motion, will be stopped by these stoppers, by collision;
and therefore the robot will remain contained within the setup range.
Stopping the robot will cause the mechanical stopper to be “transformed” (permanently damaged). Be sure
to replace the deformed stopper before using the robot again.

Table 6.2.3 (a) The maximum stopping distance (position) of adjustable mechanical stopper
Plus side Minus side
J1-axis +36° -36°
J2-axis + 6° - 6°
J3-axis + 8° - 8°

- 62 -
B-83444EN/06 6. AXIS LIMIT SETUP

Specified motion range

of plus side

°
36
The maximum stopping
distance (position)

The maximum stopping

distance (position)
36
°

Specified motion range

of minus side

Fig. 6.2.3 (a) The maximum stopping distance of adjustable mechanical stopper of J1-axis

The maximum stopping

distance (position)
6°

The maximum stopping

distance (position)
6°

Specified motion range

of minus side

Specified motion range

of plus side

Fig. 6.2.3 (b) The maximum stopping distance of adjustable mechanical stopper of J2-axis

- 63 -
6. AXIS LIMIT SETUP B-83444EN/06

8°

The maximum stopping

distance (position)

Specified motion range 8°

of minus side The maximum stopping
distance (position)
Specified motion range
of plus side

Fig. 6.2.3 (c) The maximum stopping distance of adjustable mechanical stopper of J3-axis

- 64 -
B-83444EN/06 6. AXIS LIMIT SETUP

6.3 CHANGING THE MOTION RANGE BY THE LIMIT SWITCH

(OPTION)
The limit switch is an over travel switch, which interrupts power to the servo motor and stops the robot
when turned on. The limit switch is optionally provided for the J1,J2,J3-axis.
To change the motion range by the limit switch, move the dog. The following figure shows the relationship
between the dog position and the motion range.
The dog is placed in the same position as with the adjustable mechanical stopper.

+90v +97.5v+105v
+75v+82.5v Plate
+67.5v +112.5v
+60v +120v プレート
A290-7329-X218
+52.5v A290-7329-X218
Bolt
+127.5v
ボルト
+45v +135v M6 x 16 (2)
M6X16 (2 pcs)
Dog
+142.5v ドグ
+37.5v A290-7313-X220
A290-7313-X220
Shoulder bolt
+30v +150v ショルダーボルト
M8 x 10
M8X10
+22.5v +157.5v

+15v +165v

+7.5v +172.5v

u0v u180v

-7.5v -172.5v

-15v -165v

-22.5v -157.5v Plate

プレート
A290-7329-X218
A290-7329-X218 Mechanical
機械式ストッパ stopper
-30v -150v Bolt
ボルト
-37.5v M6 x 16 (2
M6X16 (2)pcs)
-142.5v Dog
ドグ
-45v -135v A290-7313-X220
A290-7313-X220
Shoulder bolt
ショルダーボルト
-52.5v -127.5v M8 x 10
-60v -120v M8X10
-67.5v -112.5v
-75v-82.5v -105 v
-90v -97.5v
NOTE)
1) 注）
Dog is mounted on the mechanical stopper. Dog (stopper) setting example
ドグ(ストッパ)取付例
2) Minimum J1-axis motion range is 37.5°by 2 dogs and mechanical stoppers. (J1-axis motion range is -120º
(J1軸動作範囲が、-120 tovの場合)
v～+180 +180º)
1) ドグは機械式ストッパと同じ位置に取り付けること。
2) 2個のドグと機械式ストッパによるJ1軸動作範囲の最小角度は37.5°。

Fig. 6.3 (a) Change of J1-axis dog (option)

- 65 -
6. AXIS LIMIT SETUP B-83444EN/06

-64v
-60v

-45v
+90v
-60v
-45v
-30v +75v
-15v -15v
+75v +15v +60v
-30v +45v
0v +15v +45v
+60v
+30v 0v +30v
Minus side dog mounting figure
マイナス側ドグ取付図 Plus side dog mounting figure
プラス側ドグ取付図
Minus
マイナス側ドグside dog
A290-7328-X366
A290-7328-X366
When J2=-64°
Bolts
J2=-64°のとき
M6
ボルト x 30 (2 pcs)
Washer
M6X30 (2 pcs)
(2本)
other
ワッシャ case(2個)
Bolt (Attachment) M12 x 30 (2 pcs)
Washers
それ以外(Attachment) (2 pcs)
ボルト(添付品) M12X30 (2本)
ワッシャ(添付品) (2本)
Plus side dog
プラス側ドグ
A290-7328-X365
A290-7328-X365
Bolt
ボルト
M12 x 30 (2 pcs)
M12X30(2(2本)
Washers pcs)
ワッシャ (2個)

Dog setting example

ドグ取付例
(J2-axis motion range is -64º
(J2軸動作範囲が、-64 to v+90º)
v～+90 の場合)

Fig. 6.3 (b) Change of J2-axis dog (option)

- 66 -
B-83444EN/06 6. AXIS LIMIT SETUP

-120v

-105v -120v
-130v
-90v
-105v
-75v
-90v
-60v
-75v
-45v
-60v
-45v
-30v -15v

+15v -15v
-30v
0v
Minus side dog mounting figure
マイナス側ドグ取付図 +15v
Minus side dog 0v +30v
A290-7328-X366 Plus side dog mounting figure
マイナス側ドグ プラス側ドグ取付図
A290-7328-X366
When J3=-130°
Bolts
J3=-130
M6 x 30 (2)vの時のみ
ボルト (2)
Washers
M6X30 (2本)
Other case(2個) Plus side dog
ワッシャ プラス側ドグ
A290-7328-X365
Bolts (Attachment) M12 x 30 (2 pcs)
Washers (Attachment) (2 pcs) A290-7328-X365
Bolt
ボルト
M12 M12X30
x 30 (2 pcs) (2本)
Washers
ワッシャ (2 pcs)
(2個)
それ以外
ボルト (添付品) M12X30 (2本)
ワッシャ (添付品) (2個)

Bolt (Attachment)
ボルト
M12 x 60(添付品)
(2 pcs)
M12X60
Only when (2本)
these
この3箇所の穴を
3 holes are used
使用する時のみ

Dog setting example

ドグ取付例
(J3-axis motion range is -130º
(J3軸動作範囲が、-130 to +30º)
v～+30 vの場合)

Fig. 6.3 (c) Dog position and motion range of J3-axis (Option)

- 67 -
6. AXIS LIMIT SETUP B-83444EN/06

6.4 ADJUSTING LIMIT SWITCH (OPTION)

After the motion range is changed by the limit switch, be sure to make adjustment.

ADJUSTING PROCEDURE
1 Set the $MOR_GRP.$CAL_DONE system parameter to FALSE. This disables the motion limit
specified by the software. As a result, the operator can rotate the robot by a jog feed which goes beyond
the motion limit.
2 Loosen the following bolts that hold the limit switch.
J1-axis : M8 x 12 2 pcs M4 x 25 2 pcs
J2-axis : M8 x 16 2 pcs M6 x 10 2 pcs
J3-axis : M8 x 16 2 pcs M6 x 10 2 pcs
3 Move the limit switch so that the robot activates it at about 0.5° before the stroke end. Step on the
dog, and position the limit switch in such a place that only one of the step-on allowance indication
lines at the tip of the switch is hidden.
4 When the limit switch operates and detects overtravel (OT), the robot stops, and an error message,
"OVERTRAVEL", is displayed. To restart the robot, hold on the SHIFT key and press the RESET
key. Then, while holding on the SHIFT key, move the adjusting axis off the OT limit switch by jogging
in joint mode.
5 Check that the robot also activates the limit switch when the robot is approx. 0.5° from the opposite
stroke end in the same way as above. If the limit switch does not operate at the position, adjust the
position of the switch again.
6 Set the $MOR_GRP.$CAL_DONE system parameter to TRUE.
7 Turn off the power, then turn it on again to restart the controller.

MAX 1.5 mm
(PT)
MIN 3 mm
(OT)

M8 x 12
Adjusting vertical
direction

PT : Pre-travel (Moving before operation) M4 x 25

OT : Over-travel (Moving over operation) Adjusting horizontal
direction

Fig. 6.4 (a) Adjusting J1-axis limit switch (Option)

- 68 -
B-83444EN/06 6. AXIS LIMIT SETUP

M6 x 10
Adjusting central
direction
(OT 3 mm
MIN
)

SECTION A-A
1:2
mm
(PT X 1.5

A
MA
)

M8 x 16
Adjusting tangential
PT : Pre-travel (Moving before operation) direction
OT : Over-travel (Moving over operation) A

Dog mounting example

(J2-axis motion range is -64v to +90v)

Fig. 6.4 (b) Adjusting J2-axis limit switch (Option)

M6 x 10
Adjusting central
direction

M8 x 16
(PT 3 mm

Adjusting tangential
direction
MIN
)

SECTION B-B
1:2
mm

B
(PT X 1.5
MA
)

PT : Pre-travel (Moving before operation)

OT : Over-travel (Moving over operation) B
Dog mounting example
(J3-axis motion range is -130v to +30v)

Fig. 6.4 (c) Adjusting J3-axis limit switch (Option)

- 69 -
7. CHECKS AND MAINTENANCE B-83444EN/06

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 operation 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 with a recommended maintenance interval of
3 years or 11520 hours, use the following calculation to determine the
maintenance frequency: 3 years / 2 = perform maintenance every 1.5 years.

7.1 CHECKS AND MAINTENANCE

7.1.1 Daily Checks

Check the following items when necessary before daily system operation.

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”
(When air control set is used)
Air control set
⇒”7.2.2 Confirmation of the Air Control Set”
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 whether the taught positions of the robot have not deviated from the previous
taught positions. When the displacement occurs, perform the measures as described in
Positioning accuracy
the following section:
⇒”9.1 TROUBLESHOOTING”(Symptom：Displacement)
Peripheral equipment Check whether the peripheral equipment operate properly according to commands from
for proper operation the robot and the peripheral equipment.
Check that the droppage of the end effector is within 0.3 mm when the servo power
turned off. If the end effector (hand) drops, perform the measures as described in the
Brakes for each axis
following 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)”

- 70 -
B-83444EN/06 7. CHECKS AND MAINTENANCE

7.1.2 Periodic Checks 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 Check and Periodic
(Period, Accumulated Check points, management and
maintenance maintenance
operating time) maintenance methods
1 3 1 1.5 3 4
items table No.
month months year years years years
320h 960h 3840h 5760h 11520h 15360h

○ ○ Cleaning the Confirm the controller ventilation system is not

Only controller dusty. If dust has accumulated, remove it.
23
1st ventilation
check system
○ Check the Check whether the robot has external damage or
external peeling paint due to the interference with the
damage or peripheral devices. If an interference occurs,
1
peeling paint eliminate the cause. Also, if the external damage
is serious, and causes a problem in which the
robot will not operate, replace the damaged parts.
○ Check the Check whether the cable protective sleeves of the
damages mechanical unit cable have holes or tears. If damage
of the cable is found, replace the cable protective sleeve. If the
protective sleeves cable protective sleeve is damaged due to the 2
interference with peripheral devices, eliminate the
cause.
⇒”7.2.3 Check the Mechanical Unit Cables
and Connectors”
○ Check the wear Check whether wear debris is generated on the
debris of the J1- J1-axis swing stopper rotation part.
3
axis swing If serious wear occurs on the part that generated
stopper the wear debris, replace the part.
○ Check for water Check whether the robot is subjected to water or
cutting oils. If liquid was found, remove the cause, 4
and wipe the liquid off.
○ ○ Check for Check whether the cable connected to the teach
Only damages pendant, operation box and robot are unevenly
1st
to the teach twisted or damaged. If damage is found, replace
pendant cable, the the damaged cables.
check 22
operation box
connection cable
or the robot
connection cable
○ ○ Check for Observe the movable part of the mechanical unit
Only damage to the cable, and check for damage. Also, check
1st mechanical unit whether the cables are excessively bent or 5
check cable (movable unevenly twisted.
part) ⇒”7.2.3 Check the Mechanical Unit Cables
and Connectors”
○ ○ Check for Check whether the end effector cables are
Only damage to the unevenly twisted or damaged. If damage is found,
6
1st end effector replace the damaged cables.
Check (hand) cable
○ ○ Check the Check the connection of each axis motor and other
Only
connection of exposed connectors.
each axis motor ⇒”7.2.3 Check the Mechanical Unit Cables
1st
and other 7
and Connectors”
check exposed
connectors
- 71 -
7. CHECKS AND MAINTENANCE B-83444EN/06

Check and maintenance

intervals Check and Periodic
(Period, Accumulated Check points, management and
maintenance maintenance
operating time) maintenance methods
1 3 1 1.5 3 4
items table No.
month months year years years years
320h 960h 3840h 5760h 11520h 15360h

○ ○ Retightening the Retighten the end effector mounting bolts.

Only end effector Refer to the following section for tightening torque
1st mounting bolts information: 8
check ⇒”4.1 END EFFECTOR INSTALLATION TO
WRIST”
○ ○ Retightening the Retighten the bolts which are installed, removed
Only external main during the inspection, and exposed. Refer to the
1st bolts recommended bolt tightening torque guidelines at
check the end of the manual. Some bolts are attached
with adhesive. Tightening the bolts with a torque
9
greater than what is recommended, might
damage the adhesive.
Therefore, follow the recommended bolt
tightening torque guidelines when retightening the
bolts.
○ ○ Check the Check that there is no evidence of a collision on the
Only mechanical mechanical stopper, the adjustable mechanical
1st stopper and the stopper, and check the looseness of the stopper
check adjustable mounting bolts.
10
mechanical Check that the J1-axis swing stopper rotates
stopper smoothly.
⇒”7.2.4 Check of Fixed Mechanical Stopper
and Adjustable Mechanical Stopper”
○ ○ Clean spatters, Check that spatters, sawdust, or dust does not
Only sawdust and exist on the robot main body. If dust has
1st dust accumulated, remove it. 11
check Especially, clean the robot movable parts well
(each joint, and the cable protective sleeve).
○ ○ Check the (When cooling fans are installed on the each axis
Only operation of the motor) Check whether the cooling fans are
12
1st cooling fan operating correctly. If the cooling fans do not
check operate, replace them.
○ Replacing the Replace the mechanical unit batteries. Regardless
mechanical unit of operating time, replace batteries at 1.5 years. 13
batteries
⇒”7.3.2 Replacing the Batteries”
○ Supply grease to Supply grease to J3 link taper roller part and
J2/J3-axis J2/J3-axis connection part bearing
19
connection part ⇒”7.3.1 Greasing of J3 Link Taper Roller
20
bearing Part and J2/J3-axis Connection Part Taper
Roller Part”
○ Replacing the Replace the grease of each axis reducer and
grease of drive gearbox.
14 - 18
mechanism ⇒”7.3.3 Replacing the Grease of the Drive
Mechanism”
○ Replacing the Replace the mechanical unit cable
mechanical unit Contact your local FANUC representative for 21
cable information regarding replacing the cable.
○ Replacing the Replace the controller batteries. Regardless of
controller operating time, replace batteries at 4 years.
24
batteries ⇒Chapter 7 Replacing batteries of
MAINTENANCE MANUAL (B-83195EN)”

- 72 -
B-83444EN/06 7. CHECKS AND MAINTENANCE

7.2 CHECK POINTS

7.2.1 Confirmation of Oil Seepage

Check items
Confirm whether there is oil seepage on the rotating parts of each joint axis.

Fig. 7.2.1 (a) Check parts 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 viscosity changes, the oil might drip depending on the axis
movement. To prevent oil spots, be sure to wipe away any accumulated oil under the axis components
in Fig. 7.2.1 (a) before you operate the robot.
- Also, drive mechanisms 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 pressure can be restored by venting the grease outlet. (When opening the grease outlet, refer
to Subsection 7.3.3 and ensure that grease is not expelled onto the machine or tooling.)

WARNING
Hot grease might eject suddenly when you open the grease outlet. Attach bags
for collecting grease, and use appropriate protective equipment such as heat-
resistant gloves, protective glasses, a face shield, or a body suit if necessary.

- 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)

- 73 -
7. CHECKS AND MAINTENANCE B-83444EN/06

7.2.2 Confirmation of the Air Control Set (option)

When an air control set is used, check the items below.

Item Check items Check points

Check the air pressure using the pressure gauge on the air regulator as
1 Air pressure shown in Fig.7.2.2 (a). If it does not meet the specified pressure of 0.49 to
0.69 MPa (5-7 kgf/cm2), adjust it using the regulator pressure-setting handle.
Check the number of oil drops during operation. If it does not meet the
2 Lubricator oil mist quantity specified value (1 drop/10-20 sec), adjust it using the lubricator control knob.
The lubricator becomes empty in about 10 to 20 days under normal operation.
3 Lubricator oil level Check to see that the air control set oil level is within the specified level.
Check the joints, tubes, etc. for leaks. Retighten the joints or replace parts, as
4 Leakage from hose
required.
Check the drain and release it. When quantity of the drain is remarkable,
5 Drain
examine the setting of the air dryer to the air supply side.

Handle for lubricator adjustment

ルブリケータ調整ハンドル
Pressure
圧力計gauge Lubricator oil drop amount check
ルブリケータオイル滴下量確認

Lubricator
ルブリケータ給油口 oil inlet

Lubricator
ルブリケータ

Air filter
エアフィルタ

Regulator
レギュレータ pressure
setting
圧力設定 handle
ハンドル

Drain port
ドレインポート
Fig. 7.2.2 (a) Air control set (option)

- 74 -
B-83444EN/06 7. CHECKS AND MAINTENANCE

7.2.3 Check the Mechanical Unit Cables and Connectors

Check points of the mechanical unit cables
Fixed part cables likely to interfere with the J1, J2, and J3 movable parts and peripheral devices
For the J1-axis, remove plate of side of J1 base and inspect the cables from above the J2 base and side of
J1 base.

Remove the cover.

Fig. 7.2.3 (a) Inspection points of the mechanical unit cables

Check items
＜Cable protective sleeve＞
- Check that no holes or tears exist on the cable protective sleeves.
- If there is damage as shown in Fig. 7.2.3 (b), replace the cable protective sleeves.

Fig. 7.2.3 (b) Damage on the cable protective sleeve

- 75 -
7. CHECKS AND MAINTENANCE B-83444EN/06

＜Cables＞
- Check that there is no wear or damage on the coating.
- If the inside wire strands are exposed due to wear or damage, replace the cables.

Open the sleeves Check the coating

If the coating has damage as

shown here, replace the cable.

Fig. 7.2.3 (c) Cable check method

Inspection points of the connectors

- Power/brake connectors of the motor exposed externally
- Robot connection cables, earth terminal and user cables

Check items
- Circular connector : Check the connector for tightness by turning it by hand.
- Square connector : Check the connector for engagement of its lever.
- Earth terminal : Check the terminal for tightness.

Fig. 7.2.3 (d) Connector Inspection points

- 76 -
B-83444EN/06 7. CHECKS AND MAINTENANCE

7.2.4 Check of Fixed Mechanical Stopper and Adjustable

Mechanical Stopper
- Check that there is no evidence of a collision on the mechanical stopper and the adjustable mechanical
stopper. If there is evidence of a collision on the stopper, replace the parts.
- Check the tightness of the stopper mounting bolts. If they are loose, retighten them. Be sure to check
the tightness of the mounting bolts of the J1-axis swing stopper.
- Check that the J1-axis swing stopper rotates smoothly.
- Refer to Section 6.2 of the operator’s manual for details regarding the adjustable mechanical stopper.

Minus side stopper

Check the tightness of

Check
the bolts andthe looseness
that the
of bolts and stopoper
stopperrotates
rotates smoothly.
smoothly.
Plus side stopper

J2-axis
Plus side stopper

J1-axis

J3-axis Minus side stopper

Fig. 7.2.4 (a) Check of fixed mechanical stopper and adjustable mechanical stopper

- 77 -
7. CHECKS AND MAINTENANCE B-83444EN/06

7.3 MAINTENANCE

7.3.1 Greasing of J3 Link Taper Roller Part and

J2/J3-axis Connection Part Taper Roller Part
(3-year check (11,520 hours))
Be sure to supply grease to J3 link taper roller part and J2/J3-axis connection part taper roller part specified
in Table 7.3.1 (a), 7.3.1 (b).Adjust the greasing timing if your robot is installed in an adverse environment.
Supply grease immediately if water is splashed to the robot.
Fig. 7.3.1 (a), (b) indicate greasing points of J3 link taper roller part and J2/J3-axis connection part taper
roller.

Table 7.3.1 (a) Greasing of J3 link taper roller part and J2/J3-axis connection part taper roller part
Supply position Recommended grease Amount of grease Greasing interval

J3 link taper roller part 30ml

Shell Lubricants
Grease inlet (2 points) 3 years or every 11520
Shell Alvania Grease S2
hours of accumulated
J2/J3-axis connection part (Spec. :
20ml operation
Taper roller A98L-0004-0602#CTG)
(2 points)
Grease inlet

NOTE
1 After grease is supplied, old grease is pushed out from the bearing's rotating
section. Wipe off the old grease immediately after greasing and when required
after operations of 50 to 100 hours since the greasing.
2 If the robot is used at the high-duty that requires a cooling unit (fan), shorten the
standard greasing cycle to half.

Table 7.3.1 (b) Substitutes for ALVANIA GREASE S2

Exxon Mobil Mobilux EP2
ENEOS Multinoc 2
ENEOS Epinoc grease AP(N)2
Idemitsu Kosan Co., Ltd. Eponex grease No. 2
Cosmo Oil Co., Ltd. Dynamax No. 2
Shell Lubricants Shell Gadus S2 V100 2

J3 link taper roller part

grease nipple
Fig. 7.3.1 (a) J3 link taper roller part grease supply position

- 78 -
B-83444EN/06 7. CHECKS AND MAINTENANCE

J2/J3-axis connection part J2/J3-axis connection part

taper roller grease inlet taper roller grease inlet
grease nipple grease nipple

Fig. 7.3.1 (b) J2/J3-axis connection part taper roller grease supply position

Table 7.3.1 (c) Spec. of the grease nipple

Parts name Specifications
Grease nipple A97L-0218-0013#A610

CAUTION
Using a manual greasing pump, grease gently and slowly.

- 79 -
7. CHECKS AND MAINTENANCE B-83444EN/06

7.3.2 Replacing the Batteries (1.5 year checks)

The position data of each axis is preserved by the backup batteries. The batteries need to be replaced every
1.5 years. Also, use the following procedure to replace when the backup battery voltage drop alarm occurs.

1 Press the EMERGENCY STOP button to prohibit robot motion.

CAUTION
Be sure to keep the power turning on. Replacing the batteries with the power
turned off causes all current position data to be lost. Therefore, mastering will be
required again.

2 Remove the battery case cap. (Fig. 7.3.2 (a))

3 Take out the old batteries from the battery case.
4 Insert new batteries into the battery case. Pay attention to the direction of batteries.
5 lose the battery case cap.

CAUTION
When using a robot with the severe dust/liquid protection option, remove the
cover from the battery case as shown in Fig.7.3.2 (b) to replace the battery. After
replacing the battery, reinstall the cover. At this time, please be sure to replace
gasket with new one for severe dust/liquid protection.

Battery spec.:A98L-0031-0005
Battery case Spec.
(1.5V of battery:A98L-0031-0005
-Volt D LR20 Alkaline Batteries 4 pcs) Case cap
(D battery (alkali) 4 pcs)

Fig. 7.3.2 (a) Replacing batteries

- 80 -
B-83444EN/06 7. CHECKS AND MAINTENANCE

Gasket
A290-7125-X820
(It is attached to the plate.)
Plate
Bolt
M4 x 10 (6)

Fig. 7.3.2 (b) Removing the battery cover plate (When severe dust/liquid protection is specified)

7.3.3 Replacing the Grease of the Drive Mechanism

(3 years (11520 hours) checks)
According to below, replace the grease of the reducers of J1/J2/J3, J4/J5/J6-axis gearbox and the wrist at
the intervals based on every 3 years or 11520 hours, whichever comes first. See Table 7.3.3 (a) for the
grease name and the quantity.

Table 7.3.3 (a) Grease for 3-year (11520 hours) periodical replacement
Grease supplying
Models Quantity Gun tip pressure Grease bane
position
J1-axis reducer 6100g (7000ml)
J2-axis reducer 4500g (5200ml)
M-900iB/700
J3-axis reducer 4500g (5200ml) 0.15MPa or less
M-900iB/700E Spec:A98L-0040-0174
J4/J5/J6-axis gearbox 4000g (4600ml) (NOTE)
M-900iB/400L
Wrist 1 2440g (2800ml)
Wrist 2 2440g (2800ml)

NOTE
When using a hand pump, apply grease at a rate of approximately twice per
three seconds.

WARNING
Hot grease might eject suddenly when you open the grease outlet. Attach bags
for collecting grease, and use appropriate protective equipment such as heat-
resistant gloves, protective glasses, a face shield, or a body suit if necessary.

- 81 -
7. CHECKS AND MAINTENANCE B-83444EN/06

For grease replacement or replenishment, use the postures indicated below.

Table 7.3.3 (b) Postures for greasing

Posture
Supply position
J1 J2 J3 J4 J5 J6
J1-axis reducer
J2-axis reducer Arbitrary
Arbitrary Arbitrary Arbitrary
J3-axis reducer Arbitrary Arbitrary
J4/J5/J6-axis gearbox 0°
Wrist 0° 0° 0° 0°

CAUTION
Failure to follow proper greasing procedures may cause a sudden increase of
the grease bath internal pressure and damage to the seal. This could lead to
grease leakage and abnormal operation. When greasing, observe the following
cautions.
(1) Before starting to grease, remove the plug or bolt from the grease outlet and the
ventilator hole to allow the grease to come out.
(2) Supply grease slowly, using a manual pump.
(3) Whenever possible, avoid using an air pump, which is powered by the factory air
supply. If the use of an air pump is unavoidable, supply grease with the pump at
a pressure lower than or equal to the gun tip pressure (Table 7.3.3 (a)).
(4) Use specified grease. Use of non-approved grease may damage the reducer or
lead to other problems.
(5) After greasing, release remaining pressure from the grease bath using the
procedure given in Subsection 7.3.4, and then close the grease inlet, the grease
outlet and the ventilator hole.
(6) To prevent an accident such as a fall or fire, remove all the excess grease from
the floor and robot.

Grease replacement procedure for the J1-axis reducer and J4/J5/J6-axis

gearbox
1 Move the robot to the greasing posture described in Table 7.3.3 (b).
2 Turn off the controller power.
3 Remove the seal bolt of grease outlet and ventilator hole. (See Fig. 7.3.3 (a), (b))
4 Supply new grease until new grease is output from the grease outlet.
5 After applying grease, release the remaining pressure within the grease bath as described in the
procedure in Subsection 7.3.4.

Grease replacement procedure for the J2-axis, J3-axis reducers

1 Move the robot to the greasing posture described in Table 7.3.3 (b).
2 Turn off the controller power.
3 Remove the taper plug or seal bolt of grease outlet 1. (See Fig. 7.3.3 (a), (b))
4 Supply new grease until new grease is output from the grease outlet 1.
5 Attach the taper plug or seal bolt of grease outlet 1.
6 Remove the seal bolt of the grease outlet 2
7 Supply new grease until new grease is output from the grease outlet 2.
8 After applying grease, release the remaining pressure within the grease bath as described in the
procedure in Subsection 7.3.4.

- 82 -
B-83444EN/06 7. CHECKS AND MAINTENANCE

Wrist grease outlet 2 J4/J5/J6-axis gearbox

M6X8 (seal bolt) grease outlet
M12X15 (seal bolt)

Wrist grease inlet 2

grease nipple

J3-axis grease outlet 2

M12X15 (seal bolt) J3-axis grease outlet 1
M12X15 (seal bolt)

J1-axis grease inlet

J3-axis grease inlet grease nipple
grease nipple

Left side figure

J4/J5/J6-axis gearbox
ventilator hole
M12X15 (seal bolt)

Fig. 7.3.3 (a) replacing grease of reducers (1/2)

J4/J5/J6-axis gearbox Wrist grease inlet 1

grease inlet grease nipple Wrist grease outlet 1
grease nipple taper plug R1/4

J2-axis grease outlet 1

taper plug R1/4
J2-axis grease outlet 2
M12X15 (seal bolt)

J1-axis grease outlet J2-axis grease inlet

M12X15 (seal bolt) grease nipple

Right side figure

Fig. 7.3.3 (b) replacing grease of reducers (2/2)

Table 7.3.3 (c) Spec. of the seal bolt, the taper plug and the grease nipple
Parts name Specifications
Seal bolt (M12) A97L-0218-0417#121515
Taper plug (R1/4) A97L-0001-0436#2-2D
Grease nipple A97L-0218-0013#A610

- 83 -
7. CHECKS AND MAINTENANCE B-83444EN/06

Grease replacement procedure for the wrist

1 Move the robot to the greasing posture described in Table 7.3.3 (b).
2 Turn off the controller power.
3 Remove the taper plug of wrist grease outlet 1.
4 Supply grease to the wrist grease inlet until new grease outputs from wrist grease outlet 1.
5 Attach the taper plug to wrist grease outlet 1.
6 Next, remove the seal bolt of wrist grease outlet 2.
7 Supply new grease through the wrist grease inlet until new grease is output from wrist grease outlet 2
8 Release remaining pressure using the procedure given in Subsection 7.3.4.

7.3.4 Procedure for Releasing Remaining Pressure from the

Grease Bath
After applying grease, operate the robot as instructed below to release the remaining pressure within the
grease bath. Attach a recovery bag below the grease inlet and outlet to prevent output grease from
splattering.

Operating
Grease replacement position Motion angle OVR Open points
time
J1-axis reducer 80° or more 50% 20 minutes Grease inlet, outlet
J2-axis reducer 90° or more 50% 20 minutes
All grease inlets, outlets
J3-axis reducer 70° or more 50% 20 minutes
J4 : 60° or more
J4/J5/J6-axis gearbox J5 : 120° or more 100% 20 minutes Grease outlet
J6 : 60° or more
J4 : 60° or more
Wrist J5 : 120° or more 100% 20 minutes All grease inlets, outlets
J6 : 60° or more

When the above operation is impossible due to ambient conditions, perform the program operation for a
time equivalent to the above. (When the maximum allowable axis angle is half the specified angle, run the
program for twice the specified time.) Upon completion of the above operation, attach the grease nipple or
the seal bolt to each the grease inlet and outlet. When reusing the grease nipple and the seal bolt, be sure to
seal it with seal tape.

7.4 STORAGE
When storing the robot, place it on a level surface with the same posture for transportation. (See Section
1.1.)

- 84 -
B-83444EN/06 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 is required under the following conditions:

 Motor replacement.
 Pulsecoder replacement
 Reducer replacement
 Wrist unit 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 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

Fixture position mastering Mastering performed with the mastering fixture before shipping.
Mastering which performed with all axes set at the 0-degree position. A zero-position
Zero-position mastering
mark (witness mark) is attached to each robot axis. This mastering is performed with
(witness mark mastering)
all 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.
Mastering which performed for one axis at a time. The mastering position for each
Single axis mastering
axis can be specified by the user. Useful in performing mastering on a specific axis.
Single axis This is performed for one axis at a time with high precision by using vision. This is
vision axis mastering useful in performing mastering on a specific axis.
(option)
Mastering data entry Enter the Mastering data directly.

- 85 -
8. MASTERING B-83444EN/06

Once mastering is performed, it is necessary to carry out positioning, or calibration. Positioning is an

operation in which the controller reads the current pulse count value to sense the current position of the
robot.

This section describes zero-position mastering, quick mastering, single-axis mastering, vision 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.

8.2 ENABLING/DISABLING OF THE iRCalibration SIGNATURE

FUNCTION
When iRCalibration signature function (A05B-2600-R726) is specified, setting the iRCalibration
signature to DISABLE is required before performing mastering.

NOTE
If iRCalibration signature function is set to disable, TCP position will change.

Procedure for setting of enabling/disabling

1 Press the [MENU] key.
2 Press [0 NEXT] and select [4 STATUS].
3 Press F1[TYPE], select “Signature status” from the menu. Signature status screen will be displayed.
4 Select “2 Signature”, then press F4[ENABLE]/F5[DISABLE].
5 Cycle power of the controller.
6 Display the signature status screen. Then confirm the “2 Signature” is change to
F4[ENABLE]/F5[DISABLE].

- 86 -
B-83444EN/06 8. MASTERING

8.3 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.

If“SRVO-062 BZAL” alarm or “SRVO-068 DTERR” alarm occurred, and you cannot release the alarm,
Please check there is no faulty wiring or disconnected part.

- 87 -
8. MASTERING B-83444EN/06

8.4 ZERO POSITION MASTERING (WHEN iRCalibration

SIGNATURE FUNCTION IS NOT SPECIFIED)
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. 8.4 (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

1 Press the [MENU] key to display the screen menu.
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 (disabled) or TRUE
(enabled)
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.

5 Press the [MENU] key to display the screen menu.

6 Select [0 NEXT] and press [6 SYSTEM].
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

9 Jog the robot into a posture for mastering.

10 Select [2 ZERO POSITION MASTER]. Press F4 [YES].

- 88 -
B-83444EN/06 8. MASTERING

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
Robot Mastered! Mastering Data:
<0> <11808249> <38767856>
<9873638> <12200039> <2000319>
[ TYPE ] LOAD RES_PCA DONE

11 Select [7 CALIBRATE] and press F4 [YES]. Mastering will be performed automatically.

Alternatively, turn off the controller power and on again.

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
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 the original setting, and cycle power of the controller.

Table 8.3 (a) Posture with zero-position marks (witness mark) aligned
Axis Position
J1-axis 0 deg
J2-axis 0 deg
J3-axis 0 deg (NOTE) When J2-axis is 0 deg.
J4-axis 0 deg
J5-axis 0 deg
J6-axis 0 deg

- 89 -
8. MASTERING B-83444EN/06

A J3

J6

J2 View A

J5

J4

J1

Vernier mark J1 J2 J3

Scribe mark

J4 J5 J6
Fig. 8.3 (a) Zero-position mark (witness mark) for each axis

- 90 -
B-83444EN/06 8. MASTERING

8.5 ZERO POSITION MASTERING (WHEN iRCalibration

SIGNATURE FUNCTION IS SPECIFIED)
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. 8.4 (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

1 According to Subsection 8.2, set the signature to disable.
2 Press the [MENU] key to display the screen menu.
3 Select [0 NEXT] and press [6 SYSTEM].
4 Press F1 [TYPE], display the screen change menu.
5 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

6 Jog the robot into a posture for mastering.

7 Select [2 Zero Position Master]. Press F4 [YES].

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
Robot Mastered! Mastering Data:
<0> <11808249> <38767856>
<9873638> <12200039> <2000319>
[ TYPE ] LOAD RES_PCA DONE

8 Select [7 CALIBRATE] and press F4 [YES]. Mastering will be performed automatically.

Alternatively, turn off the controller power and on again.

- 91 -
8. MASTERING B-83444EN/06

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
Robot Calibrated! Cur Jnt Ang(deg):
< 0.0000> < 0.0000> < 0.0000>
< 0.0000> < 0.0000> < 0.0000>

9 After positioning is completed, press F5 [DONE].

DONE

F5

10 Cycle power of the controller.

11 Set the signature to enable referring to Subsection 8.2.

Table 8.4 (a) Posture with position marks (witness mark) aligned
Axis Position
J1-axis 0 deg
J2-axis 0 deg
J3-axis 0 deg (NOTE) When J2-axis is 0 deg.
J4-axis 0 deg
J5-axis 0 deg
J6-axis 0 deg

- 92 -
B-83444EN/06 8. MASTERING

8.6 QUICK MASTERING (WHEN iRCalibration SIGNATURE

FUNCTION IS NOT SPECIFIED)
Quick mastering 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 character 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 motor is replaced or after the
mastering data is lost from the robot controller.

Procedure Recording the Quick Mastering Reference Position

1 Press the [MENU] key to display the screen menu.
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 (disabled) or TRUE
(enabled)
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.

5 Select [6 SYSTEM].
6 Select [Master/Cal]. The positioning screen will be displayed.

- 93 -
8. MASTERING B-83444EN/06

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

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.

5 SINGLE AXIS MASTER

6 SET QUICK MASTER REF
7 CALIBRATE

[ TYPE ] YES NO

9 Return the setting of the gravity compensation.

10 Return brake control to the original setting, and cycle power of the controller.

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

1 Press the [MENU] key to display the screen menu.
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 (disabled) or TRUE
(enabled)
Brake control can be released by setting the system variables as follows:
$PARAM_GROUP.SV_OFF_ALL : FALSE
$PARAM_GROUP.SV_OFF_ENB[*] f: FALSE (for all axes)
After changing the system variables, cycle power of the controller.

- 94 -
B-83444EN/06 8. MASTERING
5 Display the Master/Cal screen.

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
Robot Not Mastered!

Quick master? [NO]

6 Jog the robot to the quick mastering reference position.

7 Move the cursor to [3 QUICK MASTER] and press the [ENTER] key. Press F4 [YES]. Quick
mastering data is saved.

2 ZERO POSITION MASTER

3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS

8 Select [7 CALIBRATE] and press the [ENTER] key. Calibration is executed. Calibration is
executed by cycling power.
9 After completing the calibration, press F5 [DONE].

DONE

F5

10 Return the setting of the gravity compensation.

11 Return brake control to the original setting, and cycle power of the controller.

- 95 -
8. MASTERING B-83444EN/06

8.7 QUICK MASTERING (WHEN iRCalibration SIGNATURE

FUNCTION IS SPECIFIED)
Quick mastering is performed at a user-specified position. 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 8.4 (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 mastering data is lost from the robot
controller.

Procedure Recording the Quick Mastering Reference Position

1 Select [6 SYSTEM].
2 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

3 Jog the robot to the quick mastering reference position.

4 Select [6 SET QUICK MASTER REF] and press F4 [YES]. Quick mastering reference position is
saved.
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE

5 Cycle power of the controller.

- 96 -
B-83444EN/06 8. MASTERING

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

1 According to Subsection 8.2, set the signature to disable.
2 Press the [MENU] key to display the screen menu.
3 Select [0 NEXT] and press [6 SYSTEM].
4 Display the Master/Cal screen.

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
Robot Not Mastered!

Quick master? [NO]

5 Jog the robot to the quick mastering reference position.

6 Move the cursor to [3 QUICK MASTER] and press [ENTER]. Press F4 [YES]. Quick mastering data
is saved.

2 ZERO POSITION MASTER

3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS

7 Select [7 CALIBRATE] and press F4 [YES]. Calibration is executed. Calibration is also executed by
cycling power.
8 After completing the calibration, press F5 [Done].

DONE

F5

9 Cycle power of the controller.

10 According to Subsection 8.2, set the signature to enable.

- 97 -
8. MASTERING B-83444EN/06

8.8 QUICK MASTERING FOR SINGLE AXIS (WHEN

iRCalibration SIGNATURE FUNCTION IS NOT SPECIFIED)
Quick mastering 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 character 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 8.4 (a). Do not change the setting
unless there is any problem.

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 motor is replaced or after the
mastering data is lost from the robot controller.

Procedure Recording the Quick Mastering Reference Position

1 Press the [MENU] key to display the screen menu.
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 (disabled) or TRUE
(enabled)
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.

5 Select [6 SYSTEM].
6 Select [Master/Cal]. The positioning screen will be displayed.

- 98 -
B-83444EN/06 8. MASTERING

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

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.
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE

[ TYPE ] YES NO

9 Return the setting of the gravity compensation.

10 Return brake control to the original setting, and cycle power of the controller.

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

1 Press the [MENU] key to display the screen menu.
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 (disabled) or TRUE
(enabled)
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.

- 99 -
8. MASTERING B-83444EN/06

5 Display the Master/Cal screen.

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

6 Select [4 QUICK MASTER FOR SINGLE AXIS]. You will see the quick master for single axis screen.

AUTO JOINT 1%

[ QUICK MASTER FOR SINGLE AXIS

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.

AUTO JOIN 1%

QUICK MASTER FOR SINGLE AXIS

1/9
ACTUAL POS (MSTR POS) (SEL) [ST]
J5 0.000 ( 0.000) (1) [2]
J6 0.000 ( 0.000) (1) [2]
EXEC

8 Jog the robot to the quick mastering reference position.

9 Press F5 [EXEC]. Mastering is performed. So, (SEL] is reset to 0, and [ST] is re-set to 2.
10 Select [7 CALIBRATE] and press F4 [YES]. Calibration is executed. Calibration is executed by
cycling power.
11 After completing the calibration, press F5 [DONE].

DONE

F5

12 Return the setting of the gravity compensation.

13 Return brake control to the original setting, and cycle power of the controller.

- 100 -
B-83444EN/06 8. MASTERING

8.9 QUICK MASTERING FOR SINGLE AXIS (WHEN

iRCalibration SIGNATURE FUNCTION IS SPECIFIED)
Quick mastering for 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 mastering data is lost from the robot
controller.

Procedure Recording the Quick Mastering Reference Position

1 Select [6 SYSTEM].
2 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

3 Jog the robot to the quick mastering reference position.

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

5 SINGLE AXIS MASTER

6 SET QUICK MASTER REF
7 CALIBRATE

5 Cycle power of the controller.

- 101 -
8. MASTERING B-83444EN/06

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

1 According to Subsection 8.2, set the signature to disable.
2 Press the [MENU] key to display the screen menu.
3 Select [0 NEXT] and press [6 SYSTEM].
4 Display the Master/Cal screen.

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
Robot Not Mastered!

Quick master? [NO]

5 Select [4 QUICK MASTER FOR SINGLE AXIS]. You will see the quick master for single axis screen.

SINGLE AXIS MASTER AUTO J OINT 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

6 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.

SINGLE AXIS MASTER AUTO JOINT 10%

1/9
ACTUAL POS (MSTR POS) (SEL) [ST]
J5 0.000 ( 0.000) (1) [2]
J6 0.000 ( 0.000) (1) [2]
EXEC

7 Jog the robot to the quick mastering reference position.

8 Press F5 [EXEC]. Mastering is performed. So, (SEL) is reset to 0, and [ST] is re-set to 2.
9 Select [7 CALIBRATE] and press F4 [YES]. Calibration is executed. Calibration is also executed by
cycling power.
10 After completing the calibration, press F5 Done.

- 102 -
B-83444EN/06 8. MASTERING

DONE

F5

11 Cycle power of the controller.

12 According to Subsection 8.2, set the signature to enable.

8.10 SINGLE AXIS MASTERING (WHEN iRCalibration

SIGNATURE FUNCTION IS NOT SPECIFIED)
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.

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

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 would
(MSTR POS) be convenient if it is set to 0 degree 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.

- 103 -
8. MASTERING B-83444EN/06

Procedure of Single axis mastering

1 Press the [MENU] key to display the screen menu.
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 (disabled) or TRUE
(enabled)
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.

5 Select [6 SYSTEM].
6 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

7 Select [5 SINGLE AXIS MASTER]. The following screen will be displayed.

SINGLE AXIS MASTER AUTO JO INT 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

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.

- 104 -
B-83444EN/06 8. MASTERING
11 Press F5 [EXEC]. Mastering is performed. So, [SEL] is reset to 0, and [ST] is re-set to 2 or 1.

SINGLE AXIS MASTER AUTO JOINT 10%

6/9
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 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.

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

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

15 Return the setting of the gravity compensation.

16 Return brake control to the original setting, and cycle power of the controller.

- 105 -
8. MASTERING B-83444EN/06

8.11 SINGLE AXIS MASTERING (WHEN iRCalibration

SIGNATURE FUNCTION IS SPECIFIED)
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.

SINGLE AXIS MASTER AUTO J OINT 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

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.

Procedure of Single axis mastering

1 According to Subsection 8.2, set the signature to disable.
2 Press the [MENU] key to display the screen menu.
3 Select [0 NEXT] and press [6 SYSTEM].
4 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

- 106 -
B-83444EN/06 8. MASTERING
5 Select [5 SINGLE AXIS MASTER]. The following screen will be displayed.

SINGLE AXIS MASTER AUTO JO INT 10%

1/9
ACTUAL POS (MST R 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

6 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.
7 Jog the robot to the mastering position.
8 Enter axis data for the mastering position.
9 Press F5 [EXEC]. Mastering is performed. So, (SEL) is reset to 0, and [ST] is re-set to 2 or 1.

SINGLE AXIS MASTER AUTO JOINT 10%

6/9
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 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

10 When single axis mastering is completed, press the [PREV] key to resume the previous screen.

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

11 Select [7 CALIBRATE], then press F4 [YES]. Positioning is performed. Alternatively, turn off the
controller power and on again. Positioning is performed.
12 After positioning is completed, press F5 [DONE].

- 107 -
8. MASTERING B-83444EN/06

DONE

F5

13 Cycle power of the controller.

14 According to Subsection 8.2, set the signature to enable.

8.12 SINGLE AXIS VISION AXIS MASTERING

Single axis mastering can be performed with high precision by using vision axis master. Target mark have
cover plate as Fig. 8.12 (a). Refer to Fig. 8.12 (b) about target jig. Refer to VISION AXIS MASTER chapter
of iRCalibration operator’s manual (B-83724EN) about vision axis master. Refer to Table 8.12 (a) about
measurement position. (Only M-900iB/700)

Table 8.12 (a) Measurement position for vision axis mastering

Measured posture
axis J1-axis J2-axis J3-axis J4-axis J5-axis J6-axis
J1-axis 0° Arbitrary
J2-axis Arbitrary 0°
J3-axis Arbitrary 0°
J4-axis Arbitrary 0°
J5-axis Arbitrary 0°
J6-axis Arbitrary 0°

Reference data setting function is executed in the FANUC robot factory before shipping the robot.
There is not tool attached. However, the weight of a tool can cause an error in the reference data.
After a tool is attached, the reference data setting function should be performed and saved again.
(This new reference data needs to be used if the mastering status needs to be recovered.)

- 108 -
B-83444EN/06 8. MASTERING

J2

After removing the covers

カバー取り外し後

J1 J1 J1

J2 J2

J3
J3 J3

J5 J6

J5

J6
J4

J4

Fig. 8.12 (a) Target mark cover plate

- 109 -
8. MASTERING B-83444EN/06

Target
A290-7329-X871 Target assembly
Cover bolt A290-7328-V607
A97L-0218-0785#5-6-16(2)

Target assembly
A290-7328-V606

Target assembly
A290-7332-V601

Fig. 8.12 (b) Target jig

8.13 MASTERING DATA ENTRY (WHEN iRCalibration

SIGNATURE FUNCTION IS SPECIFIED)
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.

SYSTEM Variables AUTO JOINT 10%

1/669
135 $DMR_GRP DMR_GRP_T
136 $DMSW_CFG DMSW_CFG_T

[ TYPE ]

- 110 -
B-83444EN/06 8. MASTERING
4 Select $DMR_GRP.

SYSTEM Variables AUTO JOINT 10%

$DMR_GRP 1/1
1 [1] DMR_GRP_T

[ TYPE ] DETAIL

SYSTEM Variables AUTO JOINT 10%

$DMR_GRP 1/29
1 $MASTER_DONE FALSE
2 $OT_MINUS [9] of BOO LEAN
3 $OT_PLUS [9] of BO OLEAN
4 $NASTER_COUN [9] of INTEGER
5 $REF_DONE FALSE
6 $REF_POS [9] of REAL

[ TYPE ] TRUE FALSE

5 Select $MASTER_COUN, and enter the mastering data you have recorded.

SYSTEM Variables AUTO J OINT 10%

$DMR_GRP[1].$MASTER_CO UN 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 [PREV] key.

7 Set $MASTER_DONE to TRUE.

SYSTEM Variables AUTO J OINT 10%

$DMR_GRP 1/29
1 $MASTER_DONE TRUE
2 $OT_MINUS [9] of BOO LEAN

[ TYPE ] TRUE FALSE

8 Display the positioning screen, and select [7 CALIBRATE], then press F4 [YES].
9 After completing positioning, press F5 [DONE].

- 111 -
8. MASTERING B-83444EN/06

8.14 MASTERING DATA ENTRY (WHEN iRCalibration

SIGNATURE FUNCTION IS SPECIFIED)
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.

NOTE
Mastering data entry needs the back up of $SYSMAST.SV file.

Mastering data entry method

1 Turn off the controller power.
2 With [PREV] key and [NEXT] key held down, turn on the controller power. The configuration menu
will be displayed.
3 Select [3. Controlled start]. The setting screen for the controlled start menu will be displayed.
4 Press the [MENU] key and select [5 FILE].
5 Place the cursor on the back up of $SYSMAST.SV file, then press F3 [LOAD] and press F4 [YES].
6 Press [FCTN] key and select [1 START (COLD)]. A cold start is performed.
7 Press the [MENU] key, then select [0 NEXT] and press [6 SYSTEM].
8 Select [Variables]. The system variable screen will be displayed.
9 Select $DMR_GRP.

AUTO
SYSTEM Variables JOINT 1%
$DMR_GRP 1/1
1 [1] DMR_GRP_T

AUTO
SYSTEM Variables JOINT 1%

$DMR_GRP 1/29
1 $MASTER_DONE FALSE
2 $OT_MINUS [9] of BOOLEAN
3 $OT_PLUS [9] of BOOLEAN
4 $MASTER_COUNT [9] of INTEGER
5 $REF_DONE FALSE
6 $REF_POS [9] of REAL
7 $REF_COUNT [9] of INTEGER
8 $BCKLSH SIGN [9] of BOOLEAN

[ TYPE ] TRUE FALSE

10 Set $MASTER_DONE to TRUE.

AUTO
SYSTEM Variables JOINT 1%

$DMR GRP 1/1

1 $MASTER_DONE TRUE
2 $OT MINUS [9] of BOOLEAN
[TYPE] TRUE FALSE

11 Display the positioning screen, and select [7 CALIBRATE], then press F4 [YES].
12 After completing positioning, press F5 [DONE].

- 112 -
B-83444EN/06 8. MASTERING

DONE

F5

8.15 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 meets the actual
robot position by using the procedure 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 8.4 of 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 in this section. 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 type 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. Confirm if the alarm
will disappear by performing a pulse reset (See Section 8.2.). Then, cycle power of the controller
to 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 in this section.
(3) Alarm notification like CKAL, RCAL, PHAL, CSAL, DTERR, CRCERR, STBERR, and
SPHAL may have trouble with Pulsecoder, contact your local FANUC representative.

- 113 -
9. TROUBLESHOOTING B-83444EN/06

9 TROUBLESHOOTING
The source of mechanical unit problems may be difficult to be identified 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) shows the major troubleshooting symptoms that may occur in the mechanical unit and their
probable causes. If you cannot pinpoint a failure cause or which measures to take, contact your local
FANUC representative. For troubleshooting except the mechanical unit, refer to “CONTROLLER
MAINTENANCE MANUAL (B-83195EN etc.)” and Alarm Code List (B-83284EN-1).

Table 9.1 (a) Troubleshooting

Symptom Description Cause Measure
Vibration - As the robot operates, its [Base plate and floor plate - Re-weld the base plate to
noise base plate lifts off the floor fastening] the floor plate.
plate. - It is likely that the base - If the weld is not strong
- There is a gap between the plate is not securely enough, increase its width
base plate and the floor fastened to the floor plate and length.
plate. because of poor welding.
- There is a crack in the weld - If the robot is not securely
that fastens the base plate fastened to the floor plate,
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 J1 base lifts off the [J1 base fastening] - If a bolt is loose, apply
base 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 between the fastened to the base plate. - Adjust the base plate
J1 base and base plate. - Probable causes are a surface flatness to within
- A J1 base retaining bolt is loose bolt, an insufficient the specified tolerance.
loose. degree of surface flatness, - If there is any
or contamination caught contamination, eliminate
between the base plate and them.
floor plate. - Apply adhesive between
- If the robot is not securely the J1 base and base plate.
fastened to the floor plate,
the J1 base lift from the
ground. Thus may cause
the collision, and lead 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 can deform the robot control program;
the rack or floor, and cause doing so might reduce the
vibration. vibration.

- 114 -
B-83444EN/06 9. TROUBLESHOOTING

Symptom Description Cause Measure

Vibration - Vibration becomes more [Overload] - Check the maximum load
noise serious when the robot is in - It is likely that the load on that the robot can handle or
a specific posture. the robot is heavier than not. If the robot is
- If the operating speed of the maximum rating. overloaded, reduce the
the robot is reduced, - It is likely that the robot load, or modify the robot
vibration stops. control program is too control program.
- Vibration is most noticeable demanding for the robot - Vibration can be reduced
when the robot is hardware. by re-modifying the robot
accelerating. - It is likely that the control program; reducing
- Vibration occurs when two ACCELERATION value is speed or acceleration with
or more axes operate at the excessive. minimizing the influence on
same time. the entire cycle time.
- Vibration or noise was first [Gear, bearing, or reducer] - Operate each axis at
noticed after the robot - It is likely that collision or individually to judge which
collided with an object or overload applied an axis has been vibrating.
the robot was overloaded excessive force on the - Remove the motor, and
for a long period. drive mechanism, thus replace the gear, the
- The grease of the vibrating damaging the gear tooth bearing, and the reducer.
or noise occurring axis has surface or rolling surface of For the specification of
not been exchanged for a a bearing, or reducer. parts and the procedure of
long period. - Prolonged use with replacement, contact your
- Cyclical vibration and noise overloaded may cause the local FANUC
occur. fretting fatigue on gear representative.
tooth surface or rolling - Using the robot within its
surface of bearing and maximum rating prevents
reducer. problems with the drive
- It is likely that mechanism.
contamination caught in a - Regularly greasing with the
gear, bearing, or within a specified grease can help
reducer has caused prevent problems.
damage on the gear tooth
surface or rolling surface of
the bearing, or reducer.
- It is likely that
contamination caught in a
gear, bearing, or within a
reducer is causing
vibration.
- It is likely that, because the
grease has not been
changed for a long period,
fretting occurred on the
gear tooth surface or rolling
surface of a bearing, or
reducer due to metal
fatigue by neglect greasing.

- 115 -
9. TROUBLESHOOTING B-83444EN/06

Symptom Description Cause Measure

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
rack, or mechanical unit. control commands from the controller and amplifier.
being supplied to the motor - Replace the motor of the
normally, or preventing axis that is vibrating, and
motor information from check whether vibration still
being sent to the controller occurs. For the method of
normally, vibration might replacement, contact your
occur. local FANUC
- Pulsecoder defect may be representative.
the cause of the vibration - If vibration occurs only
as the motor cannot when the robot assumes a
propagate the accurate specific posture, it is likely
position to the controller. that a cable in the
- If the motor becomes mechanical unit is broken.
defective, vibration might - Shake the movable part
occur because the motor cable while the robot is at
cannot deliver its rated rest, and check whether an
performance. alarm occurs. If an alarm or
- If a power line in a movable any other abnormal
cable of the mechanical condition occurs, replace
unit has an intermittent the mechanical unit cable.
break, vibration might occur - Check whether the jacket of
because the motor cannot the robot connection cable
accurately respond to is damaged. If so, replace
commands. the connection cable, and
- If a Pulsecoder wire in a check whether vibration still
movable part of the occurs.
mechanical unit has an - Check whether the power
intermittent break, vibration cable jacket is damaged. If
might occur because so, replace the power
commands cannot be sent cable, and check whether
to the motor accurately. vibration still occurs.
- If a robot connection cable - Check that the robot is
has an intermittent break, supplied with the rated
vibration might occur. voltage.
- If the power supply cable is - Check that the robot control
about to be snapped, parameter is set to a valid
vibration might occur. value. If it is set to an
- If the power source voltage invalid value, correct it.
drops below the rating, Contact FANUC for further
vibration might occur. information if necessary.
- It may vibrate when an
invalid value parameter
was set.

- 116 -
B-83444EN/06 9. TROUBLESHOOTING

Symptom Description Cause Measure

Vibration - There is some relationship [Noise from Peripheral] - Connect the grounding wire
Noise between the vibration of the - If the robot is not grounded firmly to ensure a reliable
(Continued) robot and the operation of a properly, electrical noise ground potential thereby
machine near the robot. can be induced on the preventing extraneous
grounding wire, preventing electrical noise.
commands from being
transferred accurately, thus
will lead to vibrate.
- 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
will lead to vibrate.
- There is an unusual sound - There may be an unusual - Use the specified grease.
after replacement of sound when using other - When there is an abnormal
grease. than the specified grease. noise even when using the
- There is an unusual sound - Even for the specified specified grease, operate
after a long period of time. grease, there may be an for one or two days as an
- There is an unusual sound unusual sound during experiment. Generally, the
during operation at low operation at low speed abnormal noise will
speed. immediately after disappear.
replacement or after a long
period of time.
Rattling - While the robot is not [Mechanical unit coupling bolt] - Check the following
supplied with power, - It is likely that overloading retaining bolts tightness for
pushing it with the hand or a collision has loosened each axis. If any of these
causes tottering part of the a mounting bolt in the robot bolts is loose, apply
mechanical unit. mechanical unit. LOCTITE and bolt down
- There is a gap on the with appropriate torque.
mounting face of the - Motor
mechanical unit. - Reducer
- Reducer shaft
- Base
- Arm
- End effector

- 117 -
9. TROUBLESHOOTING B-83444EN/06

Symptom Description Cause Measure

Motor - The motor overheated due [Ambient temperature] - Reducing the ambient
overheating to a rise in temperature in - It is likely that a rise in the temperature is the most
the installation area. ambient temperature or effective means of
- After a cover was attached attaching the motor cover preventing overheat.
to the motor, the motor prevented the motor from - Having the surroundings of
overheated. releasing heat efficiently, the motor well ventilated
- After changing the Robot thus leading to overheating. enables the motor to
control program or the load, [Operating condition] release heat efficiently,
the motor overheated. - It is likely that the thus preventing
overcurrent is above the overheating.
specified permissive - If there is a source of heat
average current. near the motor, it is
advisable to install
shielding to protect the
motor from heat radiation.
- Relaxing the robot control
program and load condition
is an effective way to
reduce the average current.
Thus, prevent overheating.
- The teach pendant can
monitor the average
current. Check the average
current when the robot
control program launched.
- After a control parameter [Parameter] - As for load setting, Input an
(load setting etc.) was - If data input for a workpiece appropriate parameter
changed, the motor is invalid, the robot cannot referring to Section 4.3 of
overheated. be accelerate or decelerate the operator’s manual.
normally, so the average
current increases, leading
to the motor overheating.
- Symptom other than stated [Mechanical unit problems] - Repair the mechanical unit
above - It is likely that problems 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 motor brake If the brake remains applied
failure locked on the break, to the motor all the time,
and cause the motor replace the motor.
overloaded. - Judgment is possible if the
- It is likely that a failure of average current decreased
the motor prevented it from after replacing the motor,
delivering its rated the former motor had been
performance, thus causing defected.
an excessive current to flow - If the cooling fan is broken,
into the motor. replace it by new one.
- It is likely that cooling fan is
broken.

- 118 -
B-83444EN/06 9. TROUBLESHOOTING

Symptom Description Cause Measure

Grease - Grease leaks from the [Poor sealing] - If a crack develops exist in
leakage mechanical unit. - Probable cause is a crack the casting, sealant can be
in the casting, a broken O- used as a quick-fix to
ring, a damaged oil seal, or prevent further grease
a loose seal bolt. leakage. However, the
- The casting may crack with component should be
excessive force caused in replaced as soon as
collision. possible, because the crack
- An O-ring can be damaged might propagate.
if it is trapped or cut during - O-rings are used in the
disassembling or re- locations listed below.
assembling. - Motor coupling section
- An oil seal may be - Reducer (case and shaft)
damaged if extraneous dust coupling section
scratches the lip of the oil - Wrist coupling section
seal. - J3 arm coupling section
- A loose seal bolt may allow - Inside the wrist
grease to leak along the - Oil seals are used in the
threads. locations stated below.
- Problems with the grease - Inside the reducer
nipple or threads - Inside the wrist
- Seal bolts are used in the
locations stated below.
- Grease drain outlet
- Replace the grease nipple.
Dropping - An axis falls because the [Brake drive relay and motor] - Check whether the brake
axis brake went out. - It is likely that brake drive drive relays are stuck to
- An axis falls while standing relay contacts are stuck to each other or not. If they
still. each other and keep the are found to be stuck,
brake current flowing, thus replace the relays.
preventing the brake from - Replace the motor after
operating when the motor is confirming whether the
reenergized. 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
soak through the motor,
causing the brake to slip.

- 119 -
9. TROUBLESHOOTING B-83444EN/06

Symptom Description Cause Measure

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 referring
- The repeatability is not are a failure in the drive to the above descriptions of
within the tolerance. mechanism or a loose bolt, vibration, noise, and
and so on. rattling.
- If the repeatability is stable, - If the repeatability is stable,
it is likely that collision by correct the taught program.
an excessive load caused Variation will not occur
slip on the fasting surface unless another collision
of each axis arm, and occurs.
reducer. - If the Pulsecoder is
- It is likely that the abnormal, replace the
Pulsecoder is abnormal. motor or the Pulsecoder.
- Displacement occurs only [Peripheral unit displacement] - Correct the setting of the
in a specific peripheral unit. - It is likely that an external peripheral unit position.
force was applied to the - Correct the taught program.
peripheral unit, thus shifting
its position relative to the
robot.
- Displacement occurred [Parameter] - Re-enter the previous
after a parameter was - It is likely that the mastering optimal mastering data.
changed. data was overwritten, and - If optimal mastering data is
the origin had misaligned. unavailable, perform
mastering again.

- 120 -
B-83444EN/06 9. TROUBLESHOOTING

Symptom Description Cause Measure

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 temperature
low, CLALM alarm is operation for several
Move error environment that is near to
displayed on the teach minutes.
excess 0ºC, or the robot is not
pendant screen.
alarm operated for a long time in
- Ambient temperature of the
occurred. an environment that is less
robot installation position is
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 alarm [RESET] key while pressing
is displayed. 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 influence on cycle time by
to a large “ACC reducing the speed or
(value)”. acceleration, and changing
 Tight motion such as the motion program.
reverse motion using - Check that the load setting
“CNT”. is performed correctly.
 Linear motion occurs
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 - The voltage of the memory - Replace the battery.
displayed teach pendant screen backup battery may be low. - Replace the cable.
- The Pulsecoder cable may
be broken.

- 121 -
10.SEVERE DUST/LIQUID
PROTECTION OPTION B-83444EN/06

10 SEVERE DUST/LIQUID PROTECTION

OPTION
10.1 SEVERE DUST/LIQUID PROTECTION PACKAGE
(OPTION)
The package is intended to improve the dustproof and waterproof characteristics of the robot so that it can
be used in a severe environment.
Refer to Section 3.1 about dustproof and waterproof characteristics of the M-900iB.

NOTE
Contact your FANUC representative for confirmation that the Severe Dust/liquid
protection package is suitable for your environment.

Model Severe dust/liquid protection specification

M-900iB/700 A05B-1332-J801
M-900iB/400L A05B-1332-J802

10.2 PROTECTION PACKAGE

The following table lists the major differences between the M-900iB standard specification and severe
dust/liquid protection package.

Standard specification Dust-proof/drip-proof enhancement option

Entire mechanical unit Main unit J3 arm and wrist
Bolts Black oxide finish steel bolt FR coating bolt FR coating bolt
Black oxide finish washer Black chromate washer Stainless bolt
Stainless bolt Black chromate washer
Black oxide finish steel
bolt
Cover J1-axis motor cover
J2-axis motor cover
J3-axis motor cover
J4, J5, J6-axis motor cover
Battery box cover
Cable cover in mechanical unit (for all exposed cables)
J3 connector plate Non-waterproof connector Waterproof connector
EE (RI/RO) connector

- 122 -
 10.SEVERE DUST/LIQUID
B-83444EN/06 PROTECTION OPTION

J4,J5,J6-axis motor cover

J1-axis motor cover J2,J3-axis motor cover

Battery box cover

Fig. 10.2 (a) Configuration of the severe dust/liquid protection package

- 123 -
APPENDIX
B-83444EN/06 APPENDIX A. PERIODIC MAINTENANCE TABLE

A PERIODIC MAINTENANCE TABLE

- 127 -
A. PERIODIC MAINTENANCE TABLE APPENDIX B-83444EN/06

FANUC Robot M-900iB/700/700E/400L Periodic Maintenance Table

Accumulated operating
Check Grease First 3 6 9 1 2
time (H)
time amount check months months months year years
Items 320 960 1920 2880 3840 4800 5760 6720 7680 8640 9600 10560
Check for external
1 damage or peeling paint 0.1H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Check damages
2 of the cable protective 0.1H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
sleeves
Check wear debris of J1-axis
3 swing stopper 0.1H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

4 Check for water 0.1H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

Check the mechanical cable.
5 (damaged or twisted) 0.2H ― ○ ○ ○
Check the end effector
6 (hand) cable 0.1H ― ○ ○ ○
Check the motor connector.
7 (loosening) 0.2H ― ○ ○ ○

8 Tighten the end effector bolt. 0.1H ― ○ ○ ○

Tighten the cover and main
9 bolt. 2.0H ― ○ ○ ○
Check the mechanical
Mechanical unit

10 stopper and adjustable 0.1H ― ○ ○ ○

mechanical stopper
Clean spatters, sawdust and
11 dust 0.1H ― ○ ○ ○
Check the operation of the
12 cooling fan 0.1H ― ○ ○ ○

13 Replacing batteries *3 0.1H ― ●

Replacing grease of J1 axis
14 reducer 1.0H 7000ml

Replacing grease of J2 axis

15 reducer
1.0H 5200ml

Replacing grease of J3 axis

16 reducer
1.0H 5200ml

Replacing grease of
17 J4/J5/J6- axis gearbox
1.0H 4600ml

Replacing grease of the wrist

18 axis (J5/J6)
1.0H 5600ml

Supply grease to J2/J3-axis Each

19 connection part taper roller 0.1H
20ml
Supply grease to J3 link
Each
20 taper 0.1H
Roller part 30ml

Replacing cable of
21 mechanical unit 4.0H ―
Check the robot cable, teach
22 pendant cable and robot 0.2H ― ○ ○ ○
Controller

connecting cable

23 Cleaning the ventilator 0.2H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

24 Replacing batteries *1 *3 0.1H ―

*1 Refer to “REPLACING UNITS Chapter of MAINTENANCE” of the following manuals.

MAINTENANCE MANUAL (B-83195EN)
*2 ●: requires order of parts ○: does not require order of parts
*3 Regardless of the operating time, replace the mechanical unit batteries at 1.5 year, replace controller
batteries at 4 years.
- 128 -
B-83444EN/06 APPENDIX A. PERIODIC MAINTENANCE TABLE

3 4 5 6 7 8
years years years years years years
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720 Item

○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 1

○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 2

○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 3

○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 4

○ ○ ○ ○ ○ 5

○ ○ ○ ○ ○ 6

○ ○ ○ ○ ○ 7

○ ○ ○ ○ ○ 8

○ ○ ○ ○ ○ 9

○ ○ ○ ○ ○ 10

○ ○ ○ ○ ○ 11

○ ○ ○ ○ ○ 12

Overhaul
● ● ● ● 13

● ● 14

● ● 15

● ● 16

● ● 17

● ● 18

● ● 19

● ● 20

● 21

○ ○ ○ ○ ○ 22

○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 23

● 24

- 129 -
B. STRENGTH OF BOLT AND
BOLT TORQUE LIST APPENDIX B-83444EN/06

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 M20 or less: Tensile strength 1200N/mm2 or more
Size M22 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 steel) flush bolt (steel)
(steel)
Low-head bolt
diameter
(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 ―――― ―――― ―――― ―――― ―――― ――――

- 130 -
B-83444EN/06 INDEX

INDEX
MASTERING DATA ENTRY (WHEN iRCalibration
<A> SIGNATURE FUNCTION IS SPECIFIED) ..... 110,112
Actual Installation Example ............................................. 8 MECHANICAL UNIT EXTERNAL DIMENSIONS
ADJUSTABLE MECHANICAL STOPPER AND AND OPERATING SPACE ..................................... 14
LIMIT SWITCH SETTING (OPTION) ..................... 58
ADJUSTING LIMIT SWITCH (OPTION).................... 68 <O>
AIR PIPING (OPTION) ................................................. 38 OVERVIEW .................................................................. 85
AIR SUPPLY (OPTION) ............................................... 37
AXIS LIMIT SETUP ..................................................... 55 <P>
Periodic Checks and Maintenance ................................. 71
<B> PERIODIC MAINTENANCE TABLE ....................... 127
BASIC SPECIFICATIONS............................................ 11 PIPING AND WIRING TO THE END EFFECTOR ..... 36
PREFACE .................................................................... p-1
<C> Procedure for Releasing Remaining Pressure from the
CHANGE AXIS LIMIT BY DCS (OPTION) ................ 55 Grease Bath ................................................................ 84
CHANGING THE MOTION RANGE BY THE LIMIT PROTECTION PACKAGE ......................................... 122
SWITCH (OPTION)................................................... 65
Changing the parameter setting ...................................... 61 <Q>
Check of Fixed Mechanical Stopper and Adjustable QUICK MASTERING (WHEN iRCalibration
Mechanical Stopper .................................................... 77 SIGNATURE FUNCTION IS NOT SPECIFIED) ..... 93
CHECK POINTS ........................................................... 73 QUICK MASTERING (WHEN iRCalibration
Check the Mechanical Unit Cables and Connectors....... 75 SIGNATURE FUNCTION IS SPECIFIED) .............. 96
CHECKS AND MAINTENANCE ................................ 70 QUICK MASTERING FOR SINGLE AXIS (WHEN
Confirmation of Oil Seepage.......................................... 73 iRCalibration SIGNATURE FUNCTION IS NOT
Confirmation of the Air Control Set (option) ................. 74 SPECIFIED) ............................................................... 98
CONNECTION WITH THE CONTROLLER ............... 10 QUICK MASTERING FOR SINGLE AXIS (WHEN
iRCalibration SIGNATURE FUNCTION IS
<D> SPECIFIED) ............................................................. 101
Daily Checks .................................................................. 70
<R>
<E> Replacing the Batteries (1.5 year checks) ...................... 80
ENABLING/DISABLING OF THE iRCalibration Replacing the Grease of the Drive Mechanism (3 years
SIGNATURE FUNCTION ........................................ 86 (11520 hours) checks) ................................................ 81
END EFFECTOR INSTALLATION TO WRIST ......... 28 RESETTING ALARMS AND PREPARING FOR
EQUIPMENT INSTALLATION TO THE ROBOT ...... 28 MASTERING............................................................. 87
EQUIPMENT MOUNTING FACE ............................... 29 ROBOT CONFIGURATION......................................... 11

<G> <S>
Greasing of J3 Link Taper Roller Part and J2/J3-axis SAFETY PRECAUTIONS ........................................... s-1
Connection Part Taper Roller Part (3-year check SEVERE DUST/LIQUID PROTECTION OPTION ... 122
(11,520 hours)) ........................................................... 78 SEVERE DUST/LIQUID PROTECTION PACKAGE
(OPTION) ................................................................ 122
<I> SINGLE AXIS MASTERING (WHEN iRCalibration
INSTALLATION ............................................................. 5 SIGNATURE FUNCTION IS NOT SPECIFIED) ... 103
INSTALLATION CONDITIONS .................................... 9 SINGLE AXIS MASTERING (WHEN iRCalibration
Installing adjustable mechanical stopper option ............. 59 SIGNATURE FUNCTION IS SPECIFIED) ............ 106
INTERFACE FOR OPTION CABLE (OPTION).......... 40 SINGLE AXIS VISION AXIS MASTERING............. 108
STORAGE ..................................................................... 84
<L> STRENGTH OF BOLT AND BOLT TORQUE LIST 130
LOAD CONDITIONS ON J2 BASE/J3 ARM............... 27
LOAD SETTING ........................................................... 34 <T>
The maximum stopping distance (position) of adjustable
<M> mechanical stopper ..................................................... 62
MAINTENANCE........................................................... 78 TRANSPORTATION ...................................................... 1
MAINTENANCE AREA ................................................. 9 TRANSPORTATION AND INSTALLATION ............... 1
MASTERING ................................................................ 85 TROUBLESHOOTING ............................................... 114
i-1
INDEX B-83444EN/06

<V>
VERIFYING MASTERING ........................................ 113

<W>
WRIST LOAD CONDITIONS ...................................... 21

<Z>
ZERO POINT POSITION AND MOTION LIMIT ....... 16
ZERO POSITION MASTERING (WHEN
iRCalibration SIGNATURE FUNCTION IS NOT
SPECIFIED) ............................................................... 88
ZERO POSITION MASTERING (WHEN
iRCalibration SIGNATURE FUNCTION IS
SPECIFIED) ............................................................... 91

i-2
B-83444EN/06 REVISION RECORD

REVISION RECORD
Edition Date Contents
• Addition of M-900iB/700E
06 Jan, 2023 • Addition of mastering procedure for iRCalibration signature function
• Correction of errors
• Addition of option cables
05 Feb, 2022
• Correction of errors
• Addition of R-30iB Plus Controller
04 Jun, 2017
• Correction of errors
• Addition of quick mastering for single axis
03 Sep., 2015
• Correction of errors
• Addition of M-900iB/400L
• Addition of severe dust/liquid protection option
02 Oct., 2013
• Change of grease replacing procedure of J2/J3-axes
• Correction of errors
01 Aug., 2012

r-1
 B-83444EN/06

* B - 8 3 4 4 4 E N / 0 6 *